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default | assembling_gift_baskets_0_Beechwood_0_int_0_2021-10-26_12-46-37 | assembling_gift_baskets | Put one candle, one cheese, one cookie, and one bow into each basket. | (define (problem assembling_gift_baskets_0)
(:domain igibson)
(:objects
basket.n.01_1 basket.n.01_2 basket.n.01_3 basket.n.01_4 - basket.n.01
floor.n.01_1 - floor.n.01
candle.n.01_1 candle.n.01_2 candle.n.01_3 candle.n.01_4 - candle.n.01
cookie.n.01_1 cookie.n.01_2 cookie.n.01_3 cookie.n.01_4 - cookie.n.01
cheese.n.01_1 cheese.n.01_2 cheese.n.01_3 cheese.n.01_4 - cheese.n.01
bow.n.08_1 bow.n.08_2 bow.n.08_3 bow.n.08_4 - bow.n.08
table.n.02_1 table.n.02_2 - table.n.02
agent.n.01_1 - agent.n.01
)
(:init
(onfloor basket.n.01_1 floor.n.01_1)
(onfloor basket.n.01_2 floor.n.01_1)
(onfloor basket.n.01_3 floor.n.01_1)
(onfloor basket.n.01_4 floor.n.01_1)
(ontop candle.n.01_1 table.n.02_1)
(ontop candle.n.01_2 table.n.02_1)
(ontop candle.n.01_3 table.n.02_1)
(ontop candle.n.01_4 table.n.02_1)
(ontop cookie.n.01_1 table.n.02_1)
(ontop cookie.n.01_2 table.n.02_1)
(ontop cookie.n.01_3 table.n.02_1)
(ontop cookie.n.01_4 table.n.02_1)
(ontop cheese.n.01_1 table.n.02_2)
(ontop cheese.n.01_2 table.n.02_2)
(ontop cheese.n.01_3 table.n.02_2)
(ontop cheese.n.01_4 table.n.02_2)
(ontop bow.n.08_1 table.n.02_2)
(ontop bow.n.08_2 table.n.02_2)
(ontop bow.n.08_3 table.n.02_2)
(ontop bow.n.08_4 table.n.02_2)
(inroom floor.n.01_1 living_room)
(inroom table.n.02_1 living_room)
(inroom table.n.02_2 living_room)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(forpairs
(?basket.n.01 - basket.n.01)
(?candle.n.01 - candle.n.01)
(inside ?candle.n.01 ?basket.n.01)
)
(forpairs
(?basket.n.01 - basket.n.01)
(?cheese.n.01 - cheese.n.01)
(inside ?cheese.n.01 ?basket.n.01)
)
(forpairs
(?basket.n.01 - basket.n.01)
(?cookie.n.01 - cookie.n.01)
(inside ?cookie.n.01 ?basket.n.01)
)
(forpairs
(?basket.n.01 - basket.n.01)
(?bow.n.08 - bow.n.08)
(inside ?bow.n.08 ?basket.n.01)
)
)
)
) | forall x0. (not basket_n_01(x0) or forn 1. x1. (not candle_n_01(x1) or inside(x1, x0))) and forall x1. (not candle_n_01(x1) or forn 1. x0. (not basket_n_01(x0) or inside(x1, x0))) and forall x0. (not basket_n_01(x0) or forn 1. x1. (not cheese_n_01(x1) or inside(x1, x0))) and forall x1. (not cheese_n_01(x1) or forn 1. x0. (not basket_n_01(x0) or inside(x1, x0))) and forall x0. (not basket_n_01(x0) or forn 1. x1. (not cookie_n_01(x1) or inside(x1, x0))) and forall x1. (not cookie_n_01(x1) or forn 1. x0. (not basket_n_01(x0) or inside(x1, x0))) and forall x0. (not basket_n_01(x0) or forn 1. x1. (not bow_n_08(x1) or inside(x1, x0))) and forall x1. (not bow_n_08(x1) or forn 1. x0. (not basket_n_01(x0) or inside(x1, x0))) | [{'action': 'RIGHT_GRASP', 'object': 'bow_0'}, {'action': 'LEFT_GRASP', 'object': 'bow_1'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'basket_0'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'basket_1'}, {'action': 'RIGHT_GRASP', 'object': 'bow_2'}, {'action': 'LEFT_GRASP', 'object': 'bow_3'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'basket_2'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'basket_3'}, {'action': 'RIGHT_GRASP', 'object': 'cheese_0'}, {'action': 'LEFT_GRASP', 'object': 'cheese_1'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'basket_0'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'basket_1'}, {'action': 'RIGHT_GRASP', 'object': 'cheese_2'}, {'action': 'LEFT_GRASP', 'object': 'cheese_3'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'basket_2'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'basket_3'}, {'action': 'RIGHT_GRASP', 'object': 'cookie_0'}, {'action': 'LEFT_GRASP', 'object': 'cookie_1'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'basket_0'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'basket_1'}, {'action': 'RIGHT_GRASP', 'object': 'cookie_2'}, {'action': 'LEFT_GRASP', 'object': 'cookie_3'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'basket_2'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'basket_3'}, {'action': 'RIGHT_GRASP', 'object': 'candle_0'}, {'action': 'LEFT_GRASP', 'object': 'candle_1'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'basket_0'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'basket_1'}, {'action': 'RIGHT_GRASP', 'object': 'candle_2'}, {'action': 'LEFT_GRASP', 'object': 'candle_3'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'basket_2'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'basket_3'}] | (define (problem assembling_gift_baskets)
(:domain igibson)
(:objects agent_n_01_1 - agent basket_n_01_1 basket_n_01_2 - basket_n_01 bow_n_08_2 - bow_n_08 candle_n_01_1 - candle_n_01 cheese_n_01_1 - cheese_n_01 cookie_n_01_1 - cookie_n_01 floor_n_01_1 - floor_n_01 table_n_02_1 table_n_02_2 - table_n_02)
(:init (onfloor basket_n_01_1 floor_n_01_1) (onfloor basket_n_01_2 floor_n_01_1) (ontop bow_n_08_2 table_n_02_2) (ontop candle_n_01_1 table_n_02_1) (ontop cheese_n_01_1 table_n_02_2) (ontop cookie_n_01_1 table_n_02_1) (same_obj basket_n_01_1 basket_n_01_1) (same_obj basket_n_01_2 basket_n_01_2) (same_obj bow_n_08_2 bow_n_08_2) (same_obj candle_n_01_1 candle_n_01_1) (same_obj cheese_n_01_1 cheese_n_01_1) (same_obj cookie_n_01_1 cookie_n_01_1) (same_obj floor_n_01_1 floor_n_01_1) (same_obj table_n_02_1 table_n_02_1) (same_obj table_n_02_2 table_n_02_2))
(:goal (and (inside bow_n_08_2 basket_n_01_2) (inside candle_n_01_1 basket_n_01_2) (inside cheese_n_01_1 basket_n_01_1) (inside cookie_n_01_1 basket_n_01_1)))
) |
default | brushing_lint_off_clothing_0_Pomaria_2_int_0_2021-06-04_17-41-56 | brushing_lint_off_clothing | Check every sweater for lint, make sure none of them are dusty, and put them on the bed. | (define (problem brushing_lint_off_clothing_0)
(:domain igibson)
(:objects
sweater.n.01_1 sweater.n.01_2 sweater.n.01_3 sweater.n.01_4 - sweater.n.01
floor.n.01_1 - floor.n.01
bed.n.01_1 - bed.n.01
scrub_brush.n.01_1 - scrub_brush.n.01
agent.n.01_1 - agent.n.01
)
(:init
(onfloor sweater.n.01_1 floor.n.01_1)
(onfloor sweater.n.01_2 floor.n.01_1)
(ontop sweater.n.01_3 bed.n.01_1)
(ontop sweater.n.01_4 bed.n.01_1)
(dusty sweater.n.01_1)
(dusty sweater.n.01_2)
(dusty sweater.n.01_3)
(dusty sweater.n.01_4)
(onfloor scrub_brush.n.01_1 floor.n.01_1)
(not
(dusty scrub_brush.n.01_1)
)
(inroom floor.n.01_1 bedroom)
(inroom bed.n.01_1 bedroom)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(forall
(?sweater.n.01 - sweater.n.01)
(not
(dusty ?sweater.n.01)
)
)
(forall
(?sweater.n.01 - sweater.n.01)
(ontop ?sweater.n.01 ?bed.n.01_1)
)
)
)
) | forall x0. (not sweater_n_01(x0) or (not dusty(x0))) and forall x0. (not sweater_n_01(x0) or ontop(x0, bed.11)) | [{'action': 'RIGHT_GRASP', 'object': 'scrub_brush_40'}, {'action': 'CLEAN', 'object': 'sweater_36'}, {'action': 'LEFT_GRASP', 'object': 'sweater_36'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'bed_11'}, {'action': 'CLEAN', 'object': 'sweater_37'}, {'action': 'LEFT_GRASP', 'object': 'sweater_37'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'bed_11'}, {'action': 'CLEAN', 'object': 'sweater_38'}, {'action': 'LEFT_GRASP', 'object': 'sweater_38'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'bed_11'}, {'action': 'CLEAN', 'object': 'sweater_39'}, {'action': 'LEFT_GRASP', 'object': 'sweater_39'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'bed_11'}] | (define (problem brushing_lint_off_clothing)
(:domain igibson)
(:objects agent_n_01_1 - agent bed_n_01_1 - bed_n_01 floor_n_01_1 - floor_n_01 scrub_brush_n_01_1 - scrub_brush_n_01 sweater_n_01_1 sweater_n_01_2 sweater_n_01_3 sweater_n_01_4 - sweater_n_01)
(:init (dusty sweater_n_01_1) (dusty sweater_n_01_2) (dusty sweater_n_01_3) (not (dusty scrub_brush_n_01_1)) (onfloor scrub_brush_n_01_1 floor_n_01_1) (onfloor sweater_n_01_1 floor_n_01_1) (onfloor sweater_n_01_2 floor_n_01_1) (ontop sweater_n_01_3 bed_n_01_1) (ontop sweater_n_01_4 bed_n_01_1) (same_obj bed_n_01_1 bed_n_01_1) (same_obj floor_n_01_1 floor_n_01_1) (same_obj scrub_brush_n_01_1 scrub_brush_n_01_1) (same_obj sweater_n_01_1 sweater_n_01_1) (same_obj sweater_n_01_2 sweater_n_01_2) (same_obj sweater_n_01_3 sweater_n_01_3) (same_obj sweater_n_01_4 sweater_n_01_4))
(:goal (and (ontop sweater_n_01_1 bed_n_01_1) (not (dusty sweater_n_01_1)) (ontop sweater_n_01_2 bed_n_01_1) (ontop sweater_n_01_3 bed_n_01_1)))
) |
default | boxing_books_up_for_storage_0_Benevolence_1_int_0_2021-09-10_15-35-47 | boxing_books_up_for_storage | Place the books into the carton for storage. | (define (problem boxing_books_up_for_storage_0)
(:domain igibson)
(:objects
book.n.02_1 book.n.02_2 book.n.02_3 book.n.02_4 book.n.02_5 book.n.02_6 book.n.02_7 - book.n.02
floor.n.01_1 - floor.n.01
shelf.n.01_1 - shelf.n.01
carton.n.02_1 - carton.n.02
agent.n.01_1 - agent.n.01
)
(:init
(onfloor book.n.02_1 floor.n.01_1)
(onfloor book.n.02_2 floor.n.01_1)
(onfloor book.n.02_3 floor.n.01_1)
(onfloor book.n.02_4 floor.n.01_1)
(onfloor book.n.02_5 floor.n.01_1)
(ontop book.n.02_6 shelf.n.01_1)
(ontop book.n.02_7 shelf.n.01_1)
(onfloor carton.n.02_1 floor.n.01_1)
(inroom floor.n.01_1 living_room)
(inroom shelf.n.01_1 living_room)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(forall
(?book.n.02 - book.n.02)
(inside ?book.n.02 ?carton.n.02_1)
)
)
)
) | forall x0. (not book_n_02(x0) or inside(x0, carton.66)) | [{'action': 'RIGHT_GRASP', 'object': 'notebook_60'}, {'action': 'LEFT_GRASP', 'object': 'hardback_65'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'carton_66'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'carton_66'}, {'action': 'RIGHT_GRASP', 'object': 'hardback_64'}, {'action': 'LEFT_GRASP', 'object': 'notebook_59'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'carton_66'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'carton_66'}, {'action': 'RIGHT_GRASP', 'object': 'notebook_62'}, {'action': 'LEFT_GRASP', 'object': 'hardback_65'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'carton_66'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'carton_66'}, {'action': 'RIGHT_GRASP', 'object': 'notebook_63'}, {'action': 'LEFT_GRASP', 'object': 'notebook_61'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'carton_66'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'carton_66'}] | (define (problem boxing_books_up_for_storage)
(:domain igibson)
(:objects agent_n_01_1 - agent book_n_02_2 book_n_02_5 book_n_02_6 book_n_02_7 - book_n_02 carton_n_02_1 - carton_n_02 floor_n_01_1 - floor_n_01 shelf_n_01_1 - shelf_n_01)
(:init (onfloor book_n_02_2 floor_n_01_1) (onfloor book_n_02_5 floor_n_01_1) (onfloor carton_n_02_1 floor_n_01_1) (ontop book_n_02_6 shelf_n_01_1) (ontop book_n_02_7 shelf_n_01_1) (same_obj book_n_02_2 book_n_02_2) (same_obj book_n_02_5 book_n_02_5) (same_obj book_n_02_6 book_n_02_6) (same_obj book_n_02_7 book_n_02_7) (same_obj carton_n_02_1 carton_n_02_1) (same_obj floor_n_01_1 floor_n_01_1) (same_obj shelf_n_01_1 shelf_n_01_1))
(:goal (and (inside book_n_02_5 carton_n_02_1) (inside book_n_02_2 carton_n_02_1) (inside book_n_02_7 carton_n_02_1) (inside book_n_02_6 carton_n_02_1)))
) |
default | collecting_aluminum_cans_0_Ihlen_1_int_0_2021-06-06_20-13-28 | collecting_aluminum_cans | Collect all aluminum cans and place them into the bucket. | (define (problem collecting_aluminum_cans_0)
(:domain igibson)
(:objects
pop.n.02_1 pop.n.02_2 pop.n.02_3 pop.n.02_4 pop.n.02_5 pop.n.02_6 - pop.n.02
bed.n.01_1 - bed.n.01
floor.n.01_1 - floor.n.01
bucket.n.01_1 - bucket.n.01
agent.n.01_1 - agent.n.01
)
(:init
(ontop pop.n.02_1 bed.n.01_1)
(ontop pop.n.02_2 bed.n.01_1)
(ontop pop.n.02_3 bed.n.01_1)
(onfloor pop.n.02_4 floor.n.01_1)
(onfloor pop.n.02_5 floor.n.01_1)
(onfloor pop.n.02_6 floor.n.01_1)
(ontop bucket.n.01_1 bed.n.01_1)
(inroom bed.n.01_1 bedroom)
(inroom floor.n.01_1 bedroom)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(forall
(?pop.n.02 - pop.n.02)
(inside ?pop.n.02 ?bucket.n.01_1)
)
)
)
) | forall x0. (not pop_n_02(x0) or inside(x0, bucket.118)) | [{'action': 'RIGHT_GRASP', 'object': 'pop_113'}, {'action': 'LEFT_GRASP', 'object': 'pop_117'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'bucket_118'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'bucket_118'}, {'action': 'RIGHT_GRASP', 'object': 'pop_115'}, {'action': 'LEFT_GRASP', 'object': 'pop_114'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'bucket_118'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'bucket_118'}, {'action': 'RIGHT_GRASP', 'object': 'pop_112'}, {'action': 'LEFT_GRASP', 'object': 'pop_116'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'bucket_118'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'bucket_118'}] | (define (problem collecting_aluminum_cans)
(:domain igibson)
(:objects agent_n_01_1 - agent bed_n_01_1 - bed_n_01 bucket_n_01_1 - bucket_n_01 floor_n_01_1 - floor_n_01 pop_n_02_1 pop_n_02_4 pop_n_02_5 pop_n_02_6 - pop_n_02)
(:init (onfloor pop_n_02_4 floor_n_01_1) (onfloor pop_n_02_5 floor_n_01_1) (onfloor pop_n_02_6 floor_n_01_1) (ontop bucket_n_01_1 bed_n_01_1) (ontop pop_n_02_1 bed_n_01_1) (same_obj bed_n_01_1 bed_n_01_1) (same_obj bucket_n_01_1 bucket_n_01_1) (same_obj floor_n_01_1 floor_n_01_1) (same_obj pop_n_02_1 pop_n_02_1) (same_obj pop_n_02_4 pop_n_02_4) (same_obj pop_n_02_5 pop_n_02_5) (same_obj pop_n_02_6 pop_n_02_6))
(:goal (and (inside pop_n_02_1 bucket_n_01_1) (inside pop_n_02_5 bucket_n_01_1) (inside pop_n_02_4 bucket_n_01_1) (inside pop_n_02_6 bucket_n_01_1)))
) |
default | mopping_floors_0_Benevolence_2_int_0_2021-10-25_21-01-58 | mopping_floors | Use the bucket, soap and broom to clean the stained floor, when you are done, leave the soap in the bucket and place the bucket and broom next to the sink. | (define (problem mopping_floors_0)
(:domain igibson)
(:objects
broom.n.01_1 - broom.n.01
floor.n.01_1 floor.n.01_2 - floor.n.01
soap.n.01_1 - soap.n.01
bucket.n.01_1 - bucket.n.01
piece_of_cloth.n.01_1 - piece_of_cloth.n.01
sink.n.01_1 - sink.n.01
agent.n.01_1 - agent.n.01
)
(:init
(onfloor broom.n.01_1 floor.n.01_2)
(onfloor soap.n.01_1 floor.n.01_1)
(onfloor bucket.n.01_1 floor.n.01_1)
(onfloor piece_of_cloth.n.01_1 floor.n.01_1)
(stained floor.n.01_1)
(inroom floor.n.01_1 bathroom)
(inroom floor.n.01_2 corridor)
(inroom sink.n.01_1 bathroom)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(not
(stained ?floor.n.01_1)
)
(nextto ?bucket.n.01_1 ?sink.n.01_1)
(inside ?soap.n.01_1 ?bucket.n.01_1)
(nextto ?broom.n.01_1 ?sink.n.01_1)
)
)
) | not stained(room_floor_bathroom.0) and nextto(bucket.0, sink.28) and inside(soap.0, bucket.0) and nextto(broom.0, sink.28) | [{'action': 'RIGHT_GRASP', 'object': 'bucket_0'}, {'action': 'RIGHT_PLACE_NEXTTO', 'object': 'sink_28'}, {'action': 'RIGHT_GRASP', 'object': 'broom_0'}, {'action': 'RIGHT_PLACE_NEXTTO', 'object': 'sink_28'}, {'action': 'RIGHT_GRASP', 'object': 'soap_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'bucket_0'}, {'action': 'RIGHT_GRASP', 'object': 'dishtowel_0'}, {'action': 'TOGGLE_ON', 'object': 'sink_28'}, {'action': 'RIGHT_GRASP', 'object': 'dishtowel_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_28'}, {'action': 'SOAK', 'object': 'dishtowel_0'}, {'action': 'TOGGLE_OFF', 'object': 'sink_28'}, {'action': 'RIGHT_GRASP', 'object': 'dishtowel_0'}, {'action': 'CLEAN', 'object': 'room_floor_corridor_0'}, {'action': 'CLEAN', 'object': 'room_floor_bathroom_0'}] | (define (problem mopping_floors)
(:domain igibson)
(:objects agent_n_01_1 - agent broom_n_01_1 - broom_n_01 bucket_n_01_1 - bucket_n_01 floor_n_01_1 floor_n_01_2 - floor_n_01 piece_of_cloth_n_01_1 - piece_of_cloth_n_01 sink_n_01_1 - sink_n_01 soap_n_01_1 - soap_n_01)
(:init (onfloor agent_n_01_1 floor_n_01_1) (onfloor broom_n_01_1 floor_n_01_2) (onfloor bucket_n_01_1 floor_n_01_1) (onfloor piece_of_cloth_n_01_1 floor_n_01_1) (onfloor soap_n_01_1 floor_n_01_1) (same_obj agent_n_01_1 agent_n_01_1) (same_obj broom_n_01_1 broom_n_01_1) (same_obj bucket_n_01_1 bucket_n_01_1) (same_obj floor_n_01_1 floor_n_01_1) (same_obj floor_n_01_2 floor_n_01_2) (same_obj piece_of_cloth_n_01_1 piece_of_cloth_n_01_1) (same_obj sink_n_01_1 sink_n_01_1) (same_obj soap_n_01_1 soap_n_01_1) (stained floor_n_01_1))
(:goal (and (nextto broom_n_01_1 sink_n_01_1) (inside soap_n_01_1 bucket_n_01_1) (nextto bucket_n_01_1 sink_n_01_1) (not (stained floor_n_01_1))))
) |
default | preserving_food_0_Rs_int_0_2021-08-25_15-53-33 | preserving_food | Slice and cook all the strawberries, then seal them inside the jar, remember to freeze the beef. | (define (problem preserving_food_0)
(:domain igibson)
(:objects
strawberry.n.01_1 strawberry.n.01_2 - strawberry.n.01
beef.n.02_1 - beef.n.02
jar.n.01_1 - jar.n.01
pan.n.01_1 - pan.n.01
electric_refrigerator.n.01_1 - electric_refrigerator.n.01
cabinet.n.01_1 - cabinet.n.01
countertop.n.01_1 - countertop.n.01
carving_knife.n.01_1 - carving_knife.n.01
floor.n.01_1 - floor.n.01
agent.n.01_1 - agent.n.01
)
(:init
(ontop strawberry.n.01_1 countertop.n.01_1)
(ontop strawberry.n.01_2 countertop.n.01_1)
(ontop beef.n.02_1 countertop.n.01_1)
(ontop jar.n.01_1 countertop.n.01_1)
(open jar.n.01_1)
(ontop pan.n.01_1 countertop.n.01_1)
(ontop carving_knife.n.01_1 countertop.n.01_1)
(inroom electric_refrigerator.n.01_1 kitchen)
(inroom cabinet.n.01_1 kitchen)
(inroom countertop.n.01_1 kitchen)
(inroom floor.n.01_1 kitchen)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(forall
(?strawberry.n.01 - strawberry.n.01)
(sliced ?strawberry.n.01)
)
(forall
(?strawberry.n.01 - strawberry.n.01)
(cooked ?strawberry.n.01)
)
(forall
(?strawberry.n.01 - strawberry.n.01)
(inside ?strawberry.n.01 ?jar.n.01_1)
)
(not
(open ?jar.n.01_1)
)
(inside ?beef.n.02_1 ?electric_refrigerator.n.01_1)
(frozen ?beef.n.02_1)
)
)
) | forall x0. (not strawberry_n_01(x0) or sliced(x0)) and forall x0. (not strawberry_n_01(x0) or cooked(x0)) and forall x0. (not strawberry_n_01(x0) or inside(x0, jar.64)) and not open(jar.64) and inside(beef.63, fridge.40) and frozen(beef.63) | [{'action': 'RIGHT_GRASP', 'object': 'strawberry_62'}, {'action': 'LEFT_GRASP', 'object': 'strawberry_61'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'saucepan_65'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'saucepan_65'}, {'action': 'RIGHT_GRASP', 'object': 'carving_knife_66'}, {'action': 'SLICE', 'object': 'strawberry_62'}, {'action': 'SLICE', 'object': 'strawberry_61'}, {'action': 'COOK', 'object': 'strawberry_62_part_0'}, {'action': 'COOK', 'object': 'strawberry_62_part_1'}, {'action': 'COOK', 'object': 'strawberry_61_part_0'}, {'action': 'COOK', 'object': 'strawberry_61_part_1'}, {'action': 'RIGHT_REALEASE', 'object': 'carving_knife_66'}, {'action': 'RIGHT_GRASP', 'object': 'saucepan_65'}, {'action': 'RIGHT_TRANSFER_CONTENTS_INSIDE', 'object': 'jar_64'}, {'action': 'CLOSE', 'object': 'jar_64'}, {'action': 'OPEN', 'object': 'fridge_40'}, {'action': 'LEFT_GRASP', 'object': 'beef_63'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'fridge_40'}, {'action': 'FREEZE', 'object': 'beef_63'}, {'action': 'CLOSE', 'object': 'fridge_40'}] | (define (problem preserving_food)
(:domain igibson)
(:objects agent_n_01_1 - agent beef_n_02_1 - beef_n_02 carving_knife_n_01_1 - carving_knife_n_01 countertop_n_01_1 - countertop_n_01 jar_n_01_1 - jar_n_01 pan_n_01_1 - pan_n_01 strawberry_n_01_1 strawberry_n_01_2 - strawberry_n_01)
(:init (ontop beef_n_02_1 countertop_n_01_1) (ontop carving_knife_n_01_1 countertop_n_01_1) (ontop jar_n_01_1 countertop_n_01_1) (ontop pan_n_01_1 countertop_n_01_1) (ontop strawberry_n_01_1 countertop_n_01_1) (ontop strawberry_n_01_2 countertop_n_01_1) (open jar_n_01_1) (same_obj beef_n_02_1 beef_n_02_1) (same_obj carving_knife_n_01_1 carving_knife_n_01_1) (same_obj countertop_n_01_1 countertop_n_01_1) (same_obj jar_n_01_1 jar_n_01_1) (same_obj pan_n_01_1 pan_n_01_1) (same_obj strawberry_n_01_1 strawberry_n_01_1) (same_obj strawberry_n_01_2 strawberry_n_01_2))
(:goal (and (inside strawberry_n_01_2 jar_n_01_1) (inside strawberry_n_01_1 jar_n_01_1) (cooked strawberry_n_01_2) (sliced strawberry_n_01_1)))
) |
default | re-shelving_library_books_0_Rs_int_0_2021-10-25_21-22-26 | re-shelving_library_books | Place books 1 through 4 on the shelf, and place books 5 through 8 on the table. | (define (problem re-shelving_library_books_0)
(:domain igibson)
(:objects
book.n.02_1 book.n.02_2 book.n.02_3 book.n.02_4 book.n.02_5 book.n.02_6 book.n.02_7 book.n.02_8 - book.n.02
table.n.02_1 - table.n.02
shelf.n.01_1 - shelf.n.01
floor.n.01_1 - floor.n.01
agent.n.01_1 - agent.n.01
)
(:init
(ontop book.n.02_1 table.n.02_1)
(ontop book.n.02_2 table.n.02_1)
(ontop book.n.02_3 table.n.02_1)
(ontop book.n.02_4 table.n.02_1)
(ontop book.n.02_5 table.n.02_1)
(ontop book.n.02_6 table.n.02_1)
(ontop book.n.02_7 table.n.02_1)
(ontop book.n.02_8 table.n.02_1)
(inroom table.n.02_1 living_room)
(inroom shelf.n.01_1 living_room)
(inroom floor.n.01_1 living_room)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(ontop ?book.n.02_1 ?shelf.n.01_1)
(ontop ?book.n.02_2 ?shelf.n.01_1)
(ontop ?book.n.02_3 ?shelf.n.01_1)
(ontop ?book.n.02_4 ?shelf.n.01_1)
(ontop ?book.n.02_5 ?table.n.02_1)
(ontop ?book.n.02_6 ?table.n.02_1)
(ontop ?book.n.02_7 ?table.n.02_1)
(ontop ?book.n.02_8 ?table.n.02_1)
)
)
) | ontop(hardback.0, shelf.19) and ontop(hardback.1, shelf.19) and ontop(hardback.2, shelf.19) and ontop(notebook.0, shelf.19) and ontop(hardback.3, breakfast_table.9) and ontop(notebook.1, breakfast_table.9) and ontop(notebook.2, breakfast_table.9) and ontop(notebook.3, breakfast_table.9) | [{'action': 'RIGHT_GRASP', 'object': 'hardback_2'}, {'action': 'LEFT_GRASP', 'object': 'hardback_0'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'shelf_19'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'shelf_19'}, {'action': 'RIGHT_GRASP', 'object': 'hardback_1'}, {'action': 'LEFT_GRASP', 'object': 'notebook_0'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'shelf_19'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'shelf_19'}] | (define (problem re-shelving_library_books)
(:domain igibson)
(:objects agent_n_01_1 - agent book_n_02_1 book_n_02_2 book_n_02_3 book_n_02_4 book_n_02_5 book_n_02_6 book_n_02_7 book_n_02_8 - book_n_02 shelf_n_01_1 - shelf_n_01 table_n_02_1 - table_n_02)
(:init (ontop book_n_02_1 table_n_02_1) (ontop book_n_02_2 table_n_02_1) (ontop book_n_02_3 table_n_02_1) (ontop book_n_02_4 table_n_02_1) (ontop book_n_02_5 table_n_02_1) (ontop book_n_02_6 table_n_02_1) (ontop book_n_02_7 table_n_02_1) (ontop book_n_02_8 table_n_02_1) (same_obj book_n_02_1 book_n_02_1) (same_obj book_n_02_2 book_n_02_2) (same_obj book_n_02_3 book_n_02_3) (same_obj book_n_02_4 book_n_02_4) (same_obj book_n_02_5 book_n_02_5) (same_obj book_n_02_6 book_n_02_6) (same_obj book_n_02_7 book_n_02_7) (same_obj book_n_02_8 book_n_02_8) (same_obj shelf_n_01_1 shelf_n_01_1) (same_obj table_n_02_1 table_n_02_1))
(:goal (and (ontop book_n_02_8 table_n_02_1) (ontop book_n_02_4 shelf_n_01_1) (ontop book_n_02_5 table_n_02_1) (ontop book_n_02_2 shelf_n_01_1)))
) |
default | polishing_silver_0_Merom_1_int_0_2021-10-26_11-43-15 | polishing_silver | Polish all spoons and put them inside the cabinet. | (define (problem polishing_silver_0)
(:domain igibson)
(:objects
spoon.n.01_1 spoon.n.01_2 spoon.n.01_3 spoon.n.01_4 - spoon.n.01
rag.n.01_1 - rag.n.01
cabinet.n.01_1 - cabinet.n.01
floor.n.01_1 - floor.n.01
agent.n.01_1 - agent.n.01
)
(:init
(dusty spoon.n.01_1)
(dusty spoon.n.01_2)
(dusty spoon.n.01_3)
(dusty spoon.n.01_4)
(inside rag.n.01_1 cabinet.n.01_1)
(inside spoon.n.01_1 cabinet.n.01_1)
(inside spoon.n.01_2 cabinet.n.01_1)
(inside spoon.n.01_3 cabinet.n.01_1)
(inside spoon.n.01_4 cabinet.n.01_1)
(inroom cabinet.n.01_1 kitchen)
(inroom floor.n.01_1 kitchen)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(not
(dusty ?spoon.n.01_1)
)
(not
(dusty ?spoon.n.01_2)
)
(not
(dusty ?spoon.n.01_3)
)
(not
(dusty ?spoon.n.01_4)
)
(not
(inside ?rag.n.01_1 ?cabinet.n.01_1)
)
(inside ?spoon.n.01_1 ?cabinet.n.01_1)
(inside ?spoon.n.01_2 ?cabinet.n.01_1)
(inside ?spoon.n.01_3 ?cabinet.n.01_1)
(inside ?spoon.n.01_4 ?cabinet.n.01_1)
)
)
) | not dusty(spoon.97) and not dusty(spoon.98) and not dusty(spoon.99) and not dusty(spoon.100) and not inside(rag.101, bottom_cabinet.49) and inside(spoon.97, bottom_cabinet.49) and inside(spoon.98, bottom_cabinet.49) and inside(spoon.99, bottom_cabinet.49) and inside(spoon.100, bottom_cabinet.49) | [{'action': 'OPEN', 'object': 'bottom_cabinet_49'}, {'action': 'RIGHT_GRASP', 'object': 'rag_101'}, {'action': 'CLEAN', 'object': 'spoon_97'}, {'action': 'CLEAN', 'object': 'spoon_99'}, {'action': 'CLEAN', 'object': 'spoon_98'}, {'action': 'CLEAN', 'object': 'spoon_100'}] | (define (problem polishing_silver)
(:domain igibson)
(:objects agent_n_01_1 - agent cabinet_n_01_1 - cabinet_n_01 rag_n_01_1 - rag_n_01 spoon_n_01_1 spoon_n_01_2 spoon_n_01_3 spoon_n_01_4 - spoon_n_01)
(:init (dusty spoon_n_01_1) (dusty spoon_n_01_3) (dusty spoon_n_01_4) (inside rag_n_01_1 cabinet_n_01_1) (inside spoon_n_01_1 cabinet_n_01_1) (inside spoon_n_01_2 cabinet_n_01_1) (inside spoon_n_01_3 cabinet_n_01_1) (inside spoon_n_01_4 cabinet_n_01_1) (same_obj cabinet_n_01_1 cabinet_n_01_1) (same_obj rag_n_01_1 rag_n_01_1) (same_obj spoon_n_01_1 spoon_n_01_1) (same_obj spoon_n_01_2 spoon_n_01_2) (same_obj spoon_n_01_3 spoon_n_01_3) (same_obj spoon_n_01_4 spoon_n_01_4))
(:goal (and (inside spoon_n_01_4 cabinet_n_01_1) (not (dusty spoon_n_01_3)) (inside spoon_n_01_3 cabinet_n_01_1) (not (dusty spoon_n_01_1))))
) |
default | packing_boxes_for_household_move_or_trip_0_Ihlen_1_int_0_2021-06-08_19-16-19 | packing_boxes_for_household_move_or_trip | Pack all plates, the dishtowel, books, shirts, and the sweater inside separate cartons. | (define (problem packing_boxes_for_household_move_or_trip_0)
(:domain igibson)
(:objects
carton.n.02_1 carton.n.02_2 - carton.n.02
floor.n.01_1 - floor.n.01
book.n.02_1 book.n.02_2 - book.n.02
table.n.02_1 - table.n.02
sweater.n.01_1 - sweater.n.01
shirt.n.01_1 shirt.n.01_2 - shirt.n.01
plate.n.04_1 plate.n.04_2 plate.n.04_3 plate.n.04_4 - plate.n.04
dishtowel.n.01_1 - dishtowel.n.01
agent.n.01_1 - agent.n.01
)
(:init
(onfloor carton.n.02_1 floor.n.01_1)
(onfloor carton.n.02_2 floor.n.01_1)
(ontop book.n.02_2 table.n.02_1)
(ontop book.n.02_1 table.n.02_1)
(onfloor sweater.n.01_1 floor.n.01_1)
(onfloor shirt.n.01_1 floor.n.01_1)
(onfloor shirt.n.01_2 floor.n.01_1)
(ontop plate.n.04_1 table.n.02_1)
(onfloor plate.n.04_2 floor.n.01_1)
(onfloor plate.n.04_3 floor.n.01_1)
(onfloor plate.n.04_4 floor.n.01_1)
(onfloor dishtowel.n.01_1 floor.n.01_1)
(inroom floor.n.01_1 living_room)
(inroom table.n.02_1 living_room)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(exists
(?carton.n.02 - carton.n.02)
(and
(forall
(?plate.n.04 - plate.n.04)
(inside ?plate.n.04 ?carton.n.02)
)
(inside ?dishtowel.n.01_1 ?carton.n.02)
)
)
(exists
(?carton.n.02 - carton.n.02)
(and
(forall
(?book.n.02 - book.n.02)
(inside ?book.n.02 ?carton.n.02)
)
(forall
(?shirt.n.01 - shirt.n.01)
(inside ?shirt.n.01 ?carton.n.02)
)
(inside ?sweater.n.01_1 ?carton.n.02)
)
)
)
)
) | exists x0. (not carton_n_02(x0) or ((forall x1. (not plate_n_04(x1) or inside(x1, x0))) and inside(dishtowel.0, x0))) and exists x0. (not carton_n_02(x0) or ((forall x1. (not book_n_02(x1) or inside(x1, x0))) and (forall x1. (not shirt_n_01(x1) or inside(x1, x0))) and inside(sweater.0, x0))) | [{'action': 'RIGHT_GRASP', 'object': 't-shirt_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'LEFT_GRASP', 'object': 't-shirt_1'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'RIGHT_GRASP', 'object': 'notebook_0'}, {'action': 'LEFT_GRASP', 'object': 'hardback_0'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'RIGHT_GRASP', 'object': 'sweater_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'RIGHT_GRASP', 'object': 'plate_3'}, {'action': 'LEFT_GRASP', 'object': 'plate_0'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'carton_1'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'carton_1'}, {'action': 'RIGHT_GRASP', 'object': 'plate_1'}, {'action': 'LEFT_GRASP', 'object': 'dishtowel_0'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'carton_1'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'carton_1'}, {'action': 'RIGHT_GRASP', 'object': 'plate_2'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'carton_1'}] | (define (problem packing_boxes_for_household_move_or_trip)
(:domain igibson)
(:objects agent_n_01_1 - agent carton_n_02_1 carton_n_02_2 - carton_n_02 dishtowel_n_01_1 - dishtowel_n_01 floor_n_01_1 - floor_n_01 plate_n_04_2 - plate_n_04 shirt_n_01_1 shirt_n_01_2 - shirt_n_01)
(:init (onfloor carton_n_02_1 floor_n_01_1) (onfloor carton_n_02_2 floor_n_01_1) (onfloor dishtowel_n_01_1 floor_n_01_1) (onfloor plate_n_04_2 floor_n_01_1) (onfloor shirt_n_01_1 floor_n_01_1) (onfloor shirt_n_01_2 floor_n_01_1) (same_obj carton_n_02_1 carton_n_02_1) (same_obj carton_n_02_2 carton_n_02_2) (same_obj dishtowel_n_01_1 dishtowel_n_01_1) (same_obj floor_n_01_1 floor_n_01_1) (same_obj plate_n_04_2 plate_n_04_2) (same_obj shirt_n_01_1 shirt_n_01_1) (same_obj shirt_n_01_2 shirt_n_01_2))
(:goal (and (inside shirt_n_01_1 carton_n_02_1) (inside plate_n_04_2 carton_n_02_2) (inside dishtowel_n_01_1 carton_n_02_2) (inside shirt_n_01_2 carton_n_02_1)))
) |
default | cleaning_freezer_0_Pomaria_1_int_0_2021-10-26_12-59-25 | cleaning_freezer | Clean the stained freezer and remove all food items from the freezer. | (define (problem cleaning_freezer_0)
(:domain igibson)
(:objects
electric_refrigerator.n.01_1 - electric_refrigerator.n.01
food.n.01_1 food.n.01_2 food.n.01_3 - food.n.01
cleansing_agent.n.01_1 - cleansing_agent.n.01
table.n.02_1 - table.n.02
towel.n.01_1 - towel.n.01
floor.n.01_1 - floor.n.01
sink.n.01_1 - sink.n.01
countertop.n.01_1 - countertop.n.01
stove.n.01_1 - stove.n.01
door.n.01_1 - door.n.01
chair.n.01_1 - chair.n.01
agent.n.01_1 - agent.n.01
)
(:init
(stained electric_refrigerator.n.01_1)
(inside food.n.01_1 electric_refrigerator.n.01_1)
(inside food.n.01_2 electric_refrigerator.n.01_1)
(inside food.n.01_3 electric_refrigerator.n.01_1)
(ontop cleansing_agent.n.01_1 table.n.02_1)
(ontop towel.n.01_1 table.n.02_1)
(inroom floor.n.01_1 kitchen)
(inroom sink.n.01_1 kitchen)
(inroom countertop.n.01_1 kitchen)
(inroom stove.n.01_1 kitchen)
(inroom electric_refrigerator.n.01_1 kitchen)
(inroom door.n.01_1 kitchen)
(inroom table.n.02_1 kitchen)
(inroom chair.n.01_1 kitchen)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(not
(stained ?electric_refrigerator.n.01_1)
)
(forall
(?food.n.01 - food.n.01)
(not
(inside ?food.n.01 ?electric_refrigerator.n.01_1)
)
)
)
)
) | not stained(fridge.20) and forall x0. (not food_n_01(x0) or (not inside(x0, fridge.20))) | [{'action': 'OPEN', 'object': 'fridge_20'}, {'action': 'RIGHT_GRASP', 'object': 'pop_1'}, {'action': 'LEFT_GRASP', 'object': 'pop_2'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'countertop_31'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'countertop_31'}, {'action': 'RIGHT_GRASP', 'object': 'pop_0'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'countertop_31'}, {'action': 'RIGHT_GRASP', 'object': 'hand_towel_0'}, {'action': 'TOGGLE_ON', 'object': 'sink_37'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_37'}, {'action': 'SOAK', 'object': 'hand_towel_0'}, {'action': 'TOGGLE_OFF', 'object': 'sink_37'}, {'action': 'RIGHT_GRASP', 'object': 'hand_towel_0'}, {'action': 'CLEAN', 'object': 'fridge_20'}, {'action': 'CLOSE', 'object': 'fridge_20'}] | (define (problem cleaning_freezer)
(:domain igibson)
(:objects agent_n_01_1 - agent electric_refrigerator_n_01_1 - electric_refrigerator_n_01 food_n_01_1 food_n_01_2 food_n_01_3 - food_n_01 sink_n_01_1 - sink_n_01 table_n_02_1 - table_n_02 towel_n_01_1 - towel_n_01)
(:init (inside food_n_01_1 electric_refrigerator_n_01_1) (inside food_n_01_2 electric_refrigerator_n_01_1) (inside food_n_01_3 electric_refrigerator_n_01_1) (ontop towel_n_01_1 table_n_02_1) (same_obj electric_refrigerator_n_01_1 electric_refrigerator_n_01_1) (same_obj food_n_01_1 food_n_01_1) (same_obj food_n_01_2 food_n_01_2) (same_obj food_n_01_3 food_n_01_3) (same_obj sink_n_01_1 sink_n_01_1) (same_obj table_n_02_1 table_n_02_1) (same_obj towel_n_01_1 towel_n_01_1) (stained electric_refrigerator_n_01_1))
(:goal (and (not (inside food_n_01_2 electric_refrigerator_n_01_1)) (not (inside food_n_01_1 electric_refrigerator_n_01_1)) (not (stained electric_refrigerator_n_01_1)) (not (inside food_n_01_3 electric_refrigerator_n_01_1))))
) |
default | installing_a_modem_0_Beechwood_0_int_0_2021-10-25_20-28-55 | installing_a_modem | Place the modem under the table and make sure it is turned on. | (define (problem installing_a_modem_0)
(:domain igibson)
(:objects
modem.n.01_1 - modem.n.01
table.n.02_1 - table.n.02
floor.n.01_1 - floor.n.01
agent.n.01_1 - agent.n.01
)
(:init
(not
(toggled_on modem.n.01_1)
)
(ontop modem.n.01_1 table.n.02_1)
(inroom table.n.02_1 home_office)
(inroom floor.n.01_1 home_office)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(toggled_on ?modem.n.01_1)
(under ?modem.n.01_1 ?table.n.02_1)
)
)
) | toggledon(modem.0) and under(modem.0, breakfast_table.37) | [{'action': 'RIGHT_GRASP', 'object': 'modem_0'}, {'action': 'TOGGLE_ON', 'object': 'modem_0'}, {'action': 'RIGHT_PLACE_UNDER', 'object': 'breakfast_table_37'}] | (define (problem installing_a_modem)
(:domain igibson)
(:objects agent_n_01_1 - agent modem_n_01_1 - modem_n_01 table_n_02_1 - table_n_02)
(:init (not (toggled_on modem_n_01_1)) (ontop modem_n_01_1 table_n_02_1) (same_obj modem_n_01_1 modem_n_01_1) (same_obj table_n_02_1 table_n_02_1))
(:goal (and (under modem_n_01_1 table_n_02_1) (toggled_on modem_n_01_1)))
) |
default | cleaning_up_after_a_meal_0_Wainscott_0_int_0_2021-10-20_05-33-24 | cleaning_up_after_a_meal | Clean all the stained tableware, put all hamburgers into sack1 which is on the floor, and clean the stained floor, chair, and table. | (define (problem cleaning_up_after_a_meal_0)
(:domain igibson)
(:objects
bowl.n.01_1 bowl.n.01_2 - bowl.n.01
table.n.02_1 - table.n.02
sack.n.01_1 - sack.n.01
chair.n.01_1 chair.n.01_2 - chair.n.01
plate.n.04_1 plate.n.04_2 plate.n.04_3 plate.n.04_4 - plate.n.04
cup.n.01_1 cup.n.01_2 - cup.n.01
hamburger.n.01_1 hamburger.n.01_2 - hamburger.n.01
floor.n.01_1 floor.n.01_2 - floor.n.01
detergent.n.02_1 - detergent.n.02
dishwasher.n.01_1 - dishwasher.n.01
sink.n.01_1 - sink.n.01
agent.n.01_1 - agent.n.01
)
(:init
(ontop bowl.n.01_1 table.n.02_1)
(ontop bowl.n.01_2 table.n.02_1)
(stained bowl.n.01_1)
(stained bowl.n.01_2)
(ontop sack.n.01_1 table.n.02_1)
(ontop plate.n.04_1 table.n.02_1)
(ontop plate.n.04_2 table.n.02_1)
(ontop plate.n.04_3 table.n.02_1)
(ontop plate.n.04_4 table.n.02_1)
(stained plate.n.04_1)
(stained plate.n.04_2)
(stained plate.n.04_3)
(stained plate.n.04_4)
(ontop cup.n.01_1 table.n.02_1)
(ontop cup.n.01_2 table.n.02_1)
(stained cup.n.01_1)
(stained cup.n.01_2)
(ontop hamburger.n.01_1 chair.n.01_2)
(onfloor hamburger.n.01_2 floor.n.01_1)
(onfloor detergent.n.02_1 floor.n.01_1)
(stained chair.n.01_1)
(stained chair.n.01_2)
(stained table.n.02_1)
(inroom dishwasher.n.01_1 kitchen)
(inroom floor.n.01_1 dining_room)
(inroom floor.n.01_2 kitchen)
(inroom table.n.02_1 dining_room)
(inroom chair.n.01_1 dining_room)
(inroom chair.n.01_2 dining_room)
(inroom sink.n.01_1 kitchen)
(onfloor agent.n.01_1 floor.n.01_2)
)
(:goal
(and
(forall
(?bowl.n.01 - bowl.n.01)
(not
(stained ?bowl.n.01)
)
)
(forall
(?plate.n.04 - plate.n.04)
(not
(stained ?plate.n.04)
)
)
(forall
(?cup.n.01 - cup.n.01)
(not
(stained ?cup.n.01)
)
)
(forall
(?hamburger.n.01 - hamburger.n.01)
(inside ?hamburger.n.01 ?sack.n.01_1)
)
(onfloor ?sack.n.01_1 ?floor.n.01_1)
(not
(stained ?floor.n.01_1)
)
(not
(stained ?chair.n.01_2)
)
(not
(stained ?floor.n.01_1)
)
(not
(stained ?table.n.02_1)
)
)
)
) | forall x0. (not bowl_n_01(x0) or (not stained(x0))) and forall x0. (not plate_n_04(x0) or (not stained(x0))) and forall x0. (not cup_n_01(x0) or (not stained(x0))) and forall x0. (not hamburger_n_01(x0) or inside(x0, paper_bag.145)) and onfloor(paper_bag.145, room_floor_dining_room.0) and not stained(room_floor_dining_room.0) and not stained(straight_chair.3) and not stained(room_floor_dining_room.0) and not stained(breakfast_table.1) | [{'action': 'OPEN', 'object': 'dishwasher_83'}, {'action': 'LEFT_GRASP', 'object': 'plate_147'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'dishwasher_83'}, {'action': 'LEFT_GRASP', 'object': 'cup_151'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'dishwasher_83'}, {'action': 'LEFT_GRASP', 'object': 'plate_149'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'dishwasher_83'}, {'action': 'LEFT_GRASP', 'object': 'bowl_144'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'dishwasher_83'}, {'action': 'LEFT_GRASP', 'object': 'bowl_143'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'dishwasher_83'}, {'action': 'LEFT_GRASP', 'object': 'plate_148'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'dishwasher_83'}, {'action': 'LEFT_GRASP', 'object': 'cup_150'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'dishwasher_83'}, {'action': 'LEFT_GRASP', 'object': 'plate_146'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'dishwasher_83'}, {'action': 'CLOSE', 'object': 'dishwasher_83'}, {'action': 'TOGGLE_ON', 'object': 'dishwasher_83'}, {'action': 'TOGGLE_OFF', 'object': 'dishwasher_83'}, {'action': 'OPEN', 'object': 'dishwasher_83'}, {'action': 'LEFT_GRASP', 'object': 'detergent_154'}, {'action': 'CLEAN', 'object': 'straight_chair_3'}, {'action': 'CLEAN', 'object': 'breakfast_table_1'}, {'action': 'LEFT_RELEASE', 'object': 'detergent_154'}, {'action': 'LEFT_GRASP', 'object': 'hamburger_152'}, {'action': 'RIGHT_GRASP', 'object': 'hamburger_153'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'paper_bag_145'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'paper_bag_145'}, {'action': 'LEFT_GRASP', 'object': 'paper_bag_145'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'room_floor_dining_room_0'}] | (define (problem cleaning_up_after_a_meal)
(:domain igibson)
(:objects agent_n_01_1 - agent bowl_n_01_1 bowl_n_01_2 - bowl_n_01 cup_n_01_1 cup_n_01_2 - cup_n_01 dishwasher_n_01_1 - dishwasher_n_01 plate_n_04_1 plate_n_04_2 plate_n_04_3 plate_n_04_4 - plate_n_04 sack_n_01_1 - sack_n_01 sink_n_01_1 - sink_n_01 table_n_02_1 - table_n_02)
(:init (ontop bowl_n_01_1 table_n_02_1) (ontop bowl_n_01_2 table_n_02_1) (ontop cup_n_01_1 table_n_02_1) (ontop cup_n_01_2 table_n_02_1) (ontop plate_n_04_1 table_n_02_1) (ontop plate_n_04_2 table_n_02_1) (ontop plate_n_04_3 table_n_02_1) (ontop plate_n_04_4 table_n_02_1) (ontop sack_n_01_1 table_n_02_1) (same_obj bowl_n_01_1 bowl_n_01_1) (same_obj bowl_n_01_2 bowl_n_01_2) (same_obj cup_n_01_1 cup_n_01_1) (same_obj cup_n_01_2 cup_n_01_2) (same_obj dishwasher_n_01_1 dishwasher_n_01_1) (same_obj plate_n_04_1 plate_n_04_1) (same_obj plate_n_04_2 plate_n_04_2) (same_obj plate_n_04_3 plate_n_04_3) (same_obj plate_n_04_4 plate_n_04_4) (same_obj sack_n_01_1 sack_n_01_1) (same_obj sink_n_01_1 sink_n_01_1) (same_obj table_n_02_1 table_n_02_1) (stained bowl_n_01_1) (stained bowl_n_01_2) (stained plate_n_04_4) (stained table_n_02_1))
(:goal (and (not (stained bowl_n_01_2)) (not (stained plate_n_04_4)) (not (stained table_n_02_1)) (not (stained bowl_n_01_1))))
) |
default | putting_away_Christmas_decorations_0_Wainscott_0_int_0_2021-06-06_17-03-25 | putting_away_Christmas_decorations | Place all wreaths and bows next to the cabinet, and put all ribbons inside the cabinet. | (define (problem putting_away_Christmas_decorations_0)
(:domain igibson)
(:objects
wreath.n.01_1 wreath.n.01_2 - wreath.n.01
floor.n.01_1 - floor.n.01
bow.n.08_1 bow.n.08_2 bow.n.08_3 - bow.n.08
ribbon.n.01_1 ribbon.n.01_2 ribbon.n.01_3 - ribbon.n.01
cabinet.n.01_1 - cabinet.n.01
agent.n.01_1 - agent.n.01
)
(:init
(onfloor wreath.n.01_1 floor.n.01_1)
(onfloor wreath.n.01_2 floor.n.01_1)
(onfloor bow.n.08_1 floor.n.01_1)
(onfloor bow.n.08_2 floor.n.01_1)
(onfloor bow.n.08_3 floor.n.01_1)
(onfloor ribbon.n.01_1 floor.n.01_1)
(onfloor ribbon.n.01_2 floor.n.01_1)
(onfloor ribbon.n.01_3 floor.n.01_1)
(inroom floor.n.01_1 living_room)
(inroom cabinet.n.01_1 living_room)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(forall
(?wreath.n.01 - wreath.n.01)
(nextto ?wreath.n.01 ?cabinet.n.01_1)
)
(forall
(?bow.n.08 - bow.n.08)
(nextto ?bow.n.08 ?cabinet.n.01_1)
)
(forall
(?ribbon.n.01 - ribbon.n.01)
(inside ?ribbon.n.01 ?cabinet.n.01_1)
)
)
)
)
| forall x0. (not wreath_n_01(x0) or nextto(x0, bottom_cabinet.79)) and forall x0. (not bow_n_08(x0) or nextto(x0, bottom_cabinet.79)) and forall x0. (not ribbon_n_01(x0) or inside(x0, bottom_cabinet.79)) | [{'action': 'OPEN', 'object': 'bottom_cabinet_79'}, {'action': 'RIGHT_GRASP', 'object': 'ribbon_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'bottom_cabinet_79'}, {'action': 'LEFT_GRASP', 'object': 'ribbon_1'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'bottom_cabinet_79'}, {'action': 'RIGHT_GRASP', 'object': 'ribbon_2'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'bottom_cabinet_79'}, {'action': 'RIGHT_GRASP', 'object': 'wreath_0'}, {'action': 'RIGHT_PLACE_NEXTTO', 'object': 'bottom_cabinet_79'}, {'action': 'RIGHT_GRASP', 'object': 'wreath_1'}, {'action': 'RIGHT_PLACE_NEXTTO', 'object': 'bottom_cabinet_79'}, {'action': 'RIGHT_GRASP', 'object': 'bow_0'}, {'action': 'RIGHT_PLACE_NEXTTO', 'object': 'bottom_cabinet_79'}, {'action': 'RIGHT_GRASP', 'object': 'bow_1'}, {'action': 'RIGHT_PLACE_NEXTTO', 'object': 'bottom_cabinet_79'}, {'action': 'RIGHT_GRASP', 'object': 'bow_2'}, {'action': 'RIGHT_PLACE_NEXTTO', 'object': 'bottom_cabinet_79'}] | (define (problem putting_away_Christmas_decorations)
(:domain igibson)
(:objects agent_n_01_1 - agent bow_n_08_1 bow_n_08_2 - bow_n_08 cabinet_n_01_1 - cabinet_n_01 floor_n_01_1 - floor_n_01 ribbon_n_01_1 ribbon_n_01_3 - ribbon_n_01)
(:init (onfloor bow_n_08_1 floor_n_01_1) (onfloor bow_n_08_2 floor_n_01_1) (onfloor ribbon_n_01_1 floor_n_01_1) (onfloor ribbon_n_01_3 floor_n_01_1) (same_obj bow_n_08_1 bow_n_08_1) (same_obj bow_n_08_2 bow_n_08_2) (same_obj cabinet_n_01_1 cabinet_n_01_1) (same_obj floor_n_01_1 floor_n_01_1) (same_obj ribbon_n_01_1 ribbon_n_01_1) (same_obj ribbon_n_01_3 ribbon_n_01_3))
(:goal (and (inside ribbon_n_01_3 cabinet_n_01_1) (nextto bow_n_08_2 cabinet_n_01_1) (nextto bow_n_08_1 cabinet_n_01_1) (inside ribbon_n_01_1 cabinet_n_01_1)))
) |
default | setting_up_candles_0_Wainscott_0_int_0_2021-10-26_13-40-51 | setting_up_candles | Place 3 candles on each table. | (define (problem setting_up_candles_0)
(:domain igibson)
(:objects
candle.n.01_1 candle.n.01_2 candle.n.01_3 candle.n.01_4 candle.n.01_5 candle.n.01_6 - candle.n.01
table.n.02_1 table.n.02_2 - table.n.02
floor.n.01_1 floor.n.01_2 - floor.n.01
carton.n.02_1 carton.n.02_2 - carton.n.02
agent.n.01_1 - agent.n.01
)
(:init
(onfloor carton.n.02_1 floor.n.01_1)
(onfloor carton.n.02_2 floor.n.01_1)
(inside candle.n.01_1 carton.n.02_1)
(inside candle.n.01_2 carton.n.02_1)
(inside candle.n.01_3 carton.n.02_1)
(inside candle.n.01_4 carton.n.02_2)
(inside candle.n.01_5 carton.n.02_2)
(inside candle.n.01_6 carton.n.02_2)
(inroom floor.n.01_1 living_room)
(inroom floor.n.01_2 dining_room)
(inroom table.n.02_1 living_room)
(inroom table.n.02_2 dining_room)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(forn
(3)
(?candle.n.01 - candle.n.01)
(ontop ?candle.n.01 ?table.n.02_1)
)
(forn
(3)
(?candle.n.01 - candle.n.01)
(ontop ?candle.n.01 ?table.n.02_2)
)
)
)
) | forn 3. x0. (not candle_n_01(x0) or ontop(x0, coffee_table.33)) and forn 3. x0. (not candle_n_01(x0) or ontop(x0, breakfast_table.1)) | [{'action': 'RIGHT_GRASP', 'object': 'candle_3'}, {'action': 'LEFT_GRASP', 'object': 'candle_5'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'coffee_table_33'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'coffee_table_33'}, {'action': 'RIGHT_GRASP', 'object': 'candle_4'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'coffee_table_33'}, {'action': 'RIGHT_GRASP', 'object': 'candle_0'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'breakfast_table_1'}, {'action': 'RIGHT_GRASP', 'object': 'candle_2'}, {'action': 'LEFT_GRASP', 'object': 'candle_1'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'breakfast_table_1'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'breakfast_table_1'}] | (define (problem setting_up_candles)
(:domain igibson)
(:objects agent_n_01_1 - agent candle_n_01_1 candle_n_01_3 candle_n_01_5 candle_n_01_6 - candle_n_01 carton_n_02_1 carton_n_02_2 - carton_n_02 table_n_02_1 table_n_02_2 - table_n_02)
(:init (inside candle_n_01_1 carton_n_02_1) (inside candle_n_01_3 carton_n_02_1) (inside candle_n_01_5 carton_n_02_2) (inside candle_n_01_6 carton_n_02_2) (same_obj candle_n_01_1 candle_n_01_1) (same_obj candle_n_01_3 candle_n_01_3) (same_obj candle_n_01_5 candle_n_01_5) (same_obj candle_n_01_6 candle_n_01_6) (same_obj carton_n_02_1 carton_n_02_1) (same_obj carton_n_02_2 carton_n_02_2) (same_obj table_n_02_1 table_n_02_1) (same_obj table_n_02_2 table_n_02_2))
(:goal (and (ontop candle_n_01_3 table_n_02_1) (ontop candle_n_01_1 table_n_02_1) (ontop candle_n_01_5 table_n_02_2) (ontop candle_n_01_6 table_n_02_1)))
) |
default | cleaning_shoes_0_Pomaria_2_int_0_2021-09-11_13-59-22 | cleaning_shoes | Clean all the shoes, and leave the towel on the floor. | (define (problem cleaning_shoes_0)
(:domain igibson)
(:objects
soap.n.01_1 - soap.n.01
bed.n.01_1 - bed.n.01
floor.n.01_1 - floor.n.01
rag.n.01_1 - rag.n.01
towel.n.01_1 - towel.n.01
shoe.n.01_1 shoe.n.01_2 shoe.n.01_3 shoe.n.01_4 - shoe.n.01
sink.n.01_1 - sink.n.01
agent.n.01_1 - agent.n.01
)
(:init
(ontop soap.n.01_1 bed.n.01_1)
(ontop rag.n.01_1 bed.n.01_1)
(onfloor towel.n.01_1 floor.n.01_1)
(ontop shoe.n.01_1 bed.n.01_1)
(ontop shoe.n.01_2 bed.n.01_1)
(ontop shoe.n.01_3 bed.n.01_1)
(ontop shoe.n.01_4 bed.n.01_1)
(stained shoe.n.01_1)
(stained shoe.n.01_2)
(dusty shoe.n.01_3)
(dusty shoe.n.01_4)
(not
(soaked rag.n.01_1)
)
(inroom floor.n.01_1 bedroom)
(inroom bed.n.01_1 bedroom)
(inroom sink.n.01_1 bathroom)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(forall
(?shoe.n.01 - shoe.n.01)
(not
(stained ?shoe.n.01)
)
)
(forall
(?shoe.n.01 - shoe.n.01)
(not
(dusty ?shoe.n.01)
)
)
(onfloor ?towel.n.01_1 ?floor.n.01_1)
)
)
) | forall x0. (not shoe_n_01(x0) or (not stained(x0))) and forall x0. (not shoe_n_01(x0) or (not dusty(x0))) and onfloor(paper_towel.38, room_floor_bedroom.0) | [{'action': 'RIGHT_GRASP', 'object': 'rag_37'}, {'action': 'TOGGLE_ON', 'object': 'sink_18'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_18'}, {'action': 'SOAK', 'object': 'rag_37'}, {'action': 'TOGGLE_OFF', 'object': 'sink_18'}, {'action': 'RIGHT_GRASP', 'object': 'rag_37'}, {'action': 'CLEAN', 'object': 'sandal_41'}, {'action': 'CLEAN', 'object': 'sandal_40'}, {'action': 'CLEAN', 'object': 'walker_42'}, {'action': 'CLEAN', 'object': 'sandal_39'}] | (define (problem cleaning_shoes)
(:domain igibson)
(:objects agent_n_01_1 - agent bed_n_01_1 - bed_n_01 floor_n_01_1 - floor_n_01 rag_n_01_1 - rag_n_01 shoe_n_01_1 shoe_n_01_2 shoe_n_01_3 shoe_n_01_4 - shoe_n_01 sink_n_01_1 - sink_n_01 towel_n_01_1 - towel_n_01)
(:init (dusty shoe_n_01_3) (dusty shoe_n_01_4) (not (soaked rag_n_01_1)) (onfloor towel_n_01_1 floor_n_01_1) (ontop rag_n_01_1 bed_n_01_1) (ontop shoe_n_01_1 bed_n_01_1) (ontop shoe_n_01_2 bed_n_01_1) (ontop shoe_n_01_3 bed_n_01_1) (ontop shoe_n_01_4 bed_n_01_1) (same_obj bed_n_01_1 bed_n_01_1) (same_obj floor_n_01_1 floor_n_01_1) (same_obj rag_n_01_1 rag_n_01_1) (same_obj shoe_n_01_1 shoe_n_01_1) (same_obj shoe_n_01_2 shoe_n_01_2) (same_obj shoe_n_01_3 shoe_n_01_3) (same_obj shoe_n_01_4 shoe_n_01_4) (same_obj sink_n_01_1 sink_n_01_1) (same_obj towel_n_01_1 towel_n_01_1) (stained shoe_n_01_1) (stained shoe_n_01_2))
(:goal (and (not (dusty shoe_n_01_4)) (not (dusty shoe_n_01_2)) (not (stained shoe_n_01_1)) (not (stained shoe_n_01_3))))
) |
default | cleaning_sneakers_0_Pomaria_1_int_0_2021-10-26_13-36-08 | cleaning_sneakers | Place the towel on the countertop, the brush next to the towel, and the soap into the sink. Clean the dusty and stained sneakers, place 2 sneakers next to the table and 2 other sneakers under the table. | (define (problem cleaning_sneakers_0)
(:domain igibson)
(:objects
gym_shoe.n.01_1 gym_shoe.n.01_2 gym_shoe.n.01_3 gym_shoe.n.01_4 - gym_shoe.n.01
countertop.n.01_1 - countertop.n.01
soap.n.01_1 - soap.n.01
cabinet.n.01_1 - cabinet.n.01
towel.n.01_1 - towel.n.01
brush.n.02_1 - brush.n.02
sink.n.01_1 - sink.n.01
floor.n.01_1 floor.n.01_2 - floor.n.01
table.n.02_1 - table.n.02
agent.n.01_1 - agent.n.01
)
(:init
(onfloor gym_shoe.n.01_1 floor.n.01_2)
(stained gym_shoe.n.01_1)
(onfloor gym_shoe.n.01_2 floor.n.01_2)
(stained gym_shoe.n.01_2)
(onfloor gym_shoe.n.01_3 floor.n.01_2)
(dusty gym_shoe.n.01_3)
(onfloor gym_shoe.n.01_4 floor.n.01_2)
(dusty gym_shoe.n.01_4)
(inside soap.n.01_1 cabinet.n.01_1)
(ontop towel.n.01_1 countertop.n.01_1)
(not
(stained towel.n.01_1)
)
(ontop brush.n.02_1 countertop.n.01_1)
(not
(stained brush.n.02_1)
)
(inroom sink.n.01_1 kitchen)
(inroom countertop.n.01_1 kitchen)
(inroom cabinet.n.01_1 kitchen)
(inroom floor.n.01_1 living_room)
(inroom table.n.02_1 living_room)
(inroom floor.n.01_2 kitchen)
(onfloor agent.n.01_1 floor.n.01_2)
)
(:goal
(and
(ontop ?towel.n.01_1 ?countertop.n.01_1)
(nextto ?brush.n.02_1 ?towel.n.01_1)
(inside ?soap.n.01_1 ?sink.n.01_1)
(forall
(?gym_shoe.n.01 - gym_shoe.n.01)
(not
(dusty ?gym_shoe.n.01)
)
)
(forall
(?gym_shoe.n.01 - gym_shoe.n.01)
(not
(stained ?gym_shoe.n.01)
)
)
(forn
(2)
(?gym_shoe.n.01 - gym_shoe.n.01)
(nextto ?gym_shoe.n.01 ?table.n.02_1)
)
(forn
(2)
(?gym_shoe.n.01 - gym_shoe.n.01)
(under ?gym_shoe.n.01 ?table.n.02_1)
)
(forall
(?gym_shoe.n.01 - gym_shoe.n.01)
(onfloor ?gym_shoe.n.01 ?floor.n.01_1)
)
)
)
) | ontop(hand_towel.83, countertop.31) and nextto(scrub_brush.84, hand_towel.83) and inside(soap.82, sink.37) and forall x0. (not gym_shoe_n_01(x0) or (not dusty(x0))) and forall x0. (not gym_shoe_n_01(x0) or (not stained(x0))) and forn 2. x0. (not gym_shoe_n_01(x0) or nextto(x0, coffee_table.4)) and forn 2. x0. (not gym_shoe_n_01(x0) or under(x0, coffee_table.4)) and forall x0. (not gym_shoe_n_01(x0) or onfloor(x0, room_floor_living_room.0)) | [{'action': 'OPEN', 'object': 'top_cabinet_24'}, {'action': 'RIGHT_GRASP', 'object': 'scrub_brush_84'}, {'action': 'LEFT_GRASP', 'object': 'soap_82'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_37'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'sink_37'}, {'action': 'TOGGLE_ON', 'object': 'sink_37'}, {'action': 'SOAK', 'object': 'scrub_brush_84'}, {'action': 'TOGGLE_OFF', 'object': 'sink_37'}, {'action': 'RIGHT_GRASP', 'object': 'scrub_brush_84'}, {'action': 'LEFT_GRASP', 'object': 'gym_shoe_78'}, {'action': 'CLEAN', 'object': 'gym_shoe_78'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'room_floor_living_room_0'}, {'action': 'LEFT_GRASP', 'object': 'gym_shoe_80'}, {'action': 'CLEAN', 'object': 'gym_shoe_80'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'room_floor_living_room_0'}, {'action': 'LEFT_GRASP', 'object': 'gym_shoe_79'}, {'action': 'CLEAN', 'object': 'gym_shoe_79'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'room_floor_living_room_0'}, {'action': 'LEFT_GRASP', 'object': 'gym_shoe_81'}, {'action': 'CLEAN', 'object': 'gym_shoe_81'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'room_floor_living_room_0'}, {'action': 'LEFT_GRASP', 'object': 'gym_shoe_78'}, {'action': 'LEFT_PLACE_UNDER', 'object': 'coffee_table_4'}, {'action': 'LEFT_GRASP', 'object': 'gym_shoe_79'}, {'action': 'LEFT_PLACE_UNDER', 'object': 'coffee_table_4'}, {'action': 'LEFT_GRASP', 'object': 'gym_shoe_80'}, {'action': 'LEFT_PLACE_NEXTTO', 'object': 'coffee_table_4'}, {'action': 'LEFT_GRASP', 'object': 'gym_shoe_81'}, {'action': 'LEFT_PLACE_NEXTTO', 'object': 'coffee_table_4'}, {'action': 'RIGHT_PLACE_NEXTTO', 'object': 'hand_towel_83'}] | (define (problem cleaning_sneakers)
(:domain igibson)
(:objects agent_n_01_1 - agent countertop_n_01_1 - countertop_n_01 floor_n_01_1 floor_n_01_2 - floor_n_01 gym_shoe_n_01_1 gym_shoe_n_01_4 - gym_shoe_n_01 sink_n_01_1 - sink_n_01 towel_n_01_1 - towel_n_01)
(:init (dusty gym_shoe_n_01_4) (not (stained towel_n_01_1)) (onfloor gym_shoe_n_01_1 floor_n_01_2) (onfloor gym_shoe_n_01_4 floor_n_01_2) (ontop towel_n_01_1 countertop_n_01_1) (same_obj countertop_n_01_1 countertop_n_01_1) (same_obj floor_n_01_1 floor_n_01_1) (same_obj floor_n_01_2 floor_n_01_2) (same_obj gym_shoe_n_01_1 gym_shoe_n_01_1) (same_obj gym_shoe_n_01_4 gym_shoe_n_01_4) (same_obj sink_n_01_1 sink_n_01_1) (same_obj towel_n_01_1 towel_n_01_1) (stained gym_shoe_n_01_1))
(:goal (and (onfloor gym_shoe_n_01_1 floor_n_01_1) (not (stained gym_shoe_n_01_4)) (not (dusty gym_shoe_n_01_4)) (not (stained gym_shoe_n_01_1))))
) |
default | locking_every_window_0_Merom_1_int_0_2021-11-01_14-51-10 | locking_every_window | Close and lock all the windows. | (define (problem locking_every_window_0)
(:domain igibson)
(:objects
window.n.01_1 window.n.01_2 window.n.01_3 window.n.01_4 - window.n.01
bed.n.01_1 - bed.n.01
sofa.n.01_1 - sofa.n.01
floor.n.01_1 - floor.n.01
agent.n.01_1 - agent.n.01
)
(:init
(open window.n.01_1)
(open window.n.01_2)
(open window.n.01_3)
(open window.n.01_4)
(inroom window.n.01_1 bedroom)
(inroom window.n.01_2 kitchen)
(inroom window.n.01_3 living_room)
(inroom window.n.01_4 living_room)
(inroom bed.n.01_1 bedroom)
(inroom sofa.n.01_1 living_room)
(inroom floor.n.01_1 living_room)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(not
(open ?window.n.01_1)
)
(not
(open ?window.n.01_2)
)
(not
(open ?window.n.01_3)
)
(not
(open ?window.n.01_4)
)
)
)
) | not open(window.79) and not open(window.76) and not open(window.82) and not open(window.81) | [{'action': 'CLOSE', 'object': 'window_82'}, {'action': 'CLOSE', 'object': 'window_81'}, {'action': 'CLOSE', 'object': 'window_79'}, {'action': 'CLOSE', 'object': 'window_76'}] | (define (problem locking_every_window)
(:domain igibson)
(:objects agent_n_01_1 - agent window_n_01_1 window_n_01_2 window_n_01_3 window_n_01_4 - window_n_01)
(:init (open window_n_01_1) (open window_n_01_2) (open window_n_01_3) (open window_n_01_4) (same_obj window_n_01_1 window_n_01_1) (same_obj window_n_01_2 window_n_01_2) (same_obj window_n_01_3 window_n_01_3) (same_obj window_n_01_4 window_n_01_4))
(:goal (and (not (open window_n_01_4)) (not (open window_n_01_1)) (not (open window_n_01_2)) (not (open window_n_01_3))))
) |
default | washing_cars_or_other_vehicles_0_Ihlen_0_int_0_2021-10-25_22-38-10 | washing_cars_or_other_vehicles | Wash all dust and stains from the car or vehicle. | (define (problem washing_cars_or_other_vehicles_0)
(:domain igibson)
(:objects
soap.n.01_1 - soap.n.01
car.n.01_1 - car.n.01
floor.n.01_1 - floor.n.01
bucket.n.01_1 - bucket.n.01
rag.n.01_1 - rag.n.01
agent.n.01_1 - agent.n.01
sink.n.01_1 - sink.n.01
)
(:init
(ontop soap.n.01_1 car.n.01_1)
(onfloor car.n.01_1 floor.n.01_1)
(ontop bucket.n.01_1 car.n.01_1)
(ontop rag.n.01_1 car.n.01_1)
(dusty car.n.01_1)
(stained car.n.01_1)
(inroom floor.n.01_1 garage)
(inroom sink.n.01_1 storage_room)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(not
(dusty car.n.01_1)
)
(not
(stained car.n.01_1)
)
)
)
) | not dusty(car.0) and not stained(car.0) | [{'action': 'RIGHT_GRASP', 'object': 'rag_0'}, {'action': 'TOGGLE_ON', 'object': 'sink_32'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_32'}, {'action': 'SOAK', 'object': 'rag_0'}, {'action': 'TOGGLE_OFF', 'object': 'sink_32'}, {'action': 'RIGHT_GRASP', 'object': 'rag_0'}, {'action': 'CLEAN', 'object': 'car_0'}, {'action': 'RIGHT_RELEASE', 'object': 'rag_0'}] | (define (problem washing_cars_or_other_vehicles)
(:domain igibson)
(:objects agent_n_01_1 - agent bucket_n_01_1 - bucket_n_01 car_n_01_1 - car_n_01 floor_n_01_1 - floor_n_01 rag_n_01_1 - rag_n_01 sink_n_01_1 - sink_n_01 soap_n_01_1 - soap_n_01)
(:init (dusty car_n_01_1) (onfloor car_n_01_1 floor_n_01_1) (ontop bucket_n_01_1 car_n_01_1) (ontop rag_n_01_1 car_n_01_1) (ontop soap_n_01_1 car_n_01_1) (same_obj bucket_n_01_1 bucket_n_01_1) (same_obj car_n_01_1 car_n_01_1) (same_obj floor_n_01_1 floor_n_01_1) (same_obj rag_n_01_1 rag_n_01_1) (same_obj sink_n_01_1 sink_n_01_1) (same_obj soap_n_01_1 soap_n_01_1) (stained car_n_01_1))
(:goal (and (not (dusty car_n_01_1)) (not (stained car_n_01_1))))
) |
default | washing_dishes_0_Benevolence_1_int_0_2021-06-08_18-07-48 | washing_dishes | Wash all the stained plates, cups, and bowls. | (define (problem washing_dishes_0)
(:domain igibson)
(:objects
plate.n.04_1 plate.n.04_2 - plate.n.04
cup.n.01_1 - cup.n.01
sink.n.01_1 - sink.n.01
bowl.n.01_1 - bowl.n.01
floor.n.01_1 - floor.n.01
countertop.n.01_1 - countertop.n.01
scrub_brush.n.01_1 - scrub_brush.n.01
agent.n.01_1 - agent.n.01
)
(:init
(ontop plate.n.04_1 countertop.n.01_1)
(ontop plate.n.04_2 countertop.n.01_1)
(ontop bowl.n.01_1 countertop.n.01_1)
(ontop cup.n.01_1 countertop.n.01_1)
(inside scrub_brush.n.01_1 sink.n.01_1)
(stained plate.n.04_1)
(stained plate.n.04_2)
(stained cup.n.01_1)
(stained bowl.n.01_1)
(inroom sink.n.01_1 kitchen)
(inroom countertop.n.01_1 kitchen)
(inroom floor.n.01_1 kitchen)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(forall
(?plate.n.04 - plate.n.04)
(not
(stained ?plate.n.04)
)
)
(not
(stained ?cup.n.01_1)
)
(not
(stained ?bowl.n.01_1)
)
)
)
) | forall x0. (not plate_n_04(x0) or (not stained(x0))) and not stained(cup.61) and not stained(bowl.62) | [{'action': 'RIGHT_GRASP', 'object': 'scrub_brush_63'}, {'action': 'TOGGLE_ON', 'object': 'sink_19'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_19'}, {'action': 'SOAK', 'object': 'scrub_brush_63'}, {'action': 'TOGGLE_OFF', 'object': 'sink_19'}, {'action': 'RIGHT_GRASP', 'object': 'scrub_brush_63'}, {'action': 'CLEAN', 'object': 'cup_61'}, {'action': 'CLEAN', 'object': 'bowl_62'}, {'action': 'CLEAN', 'object': 'plate_60'}, {'action': 'CLEAN', 'object': 'plate_59'}, {'action': 'RIGHT_RELEASE', 'object': 'scrub_brush_63'}] | (define (problem washing_dishes)
(:domain igibson)
(:objects agent_n_01_1 - agent bowl_n_01_1 - bowl_n_01 countertop_n_01_1 - countertop_n_01 cup_n_01_1 - cup_n_01 plate_n_04_1 plate_n_04_2 - plate_n_04 scrub_brush_n_01_1 - scrub_brush_n_01 sink_n_01_1 - sink_n_01)
(:init (inside scrub_brush_n_01_1 sink_n_01_1) (ontop bowl_n_01_1 countertop_n_01_1) (ontop cup_n_01_1 countertop_n_01_1) (ontop plate_n_04_1 countertop_n_01_1) (ontop plate_n_04_2 countertop_n_01_1) (same_obj bowl_n_01_1 bowl_n_01_1) (same_obj countertop_n_01_1 countertop_n_01_1) (same_obj cup_n_01_1 cup_n_01_1) (same_obj plate_n_04_1 plate_n_04_1) (same_obj plate_n_04_2 plate_n_04_2) (same_obj scrub_brush_n_01_1 scrub_brush_n_01_1) (same_obj sink_n_01_1 sink_n_01_1) (stained bowl_n_01_1) (stained cup_n_01_1) (stained plate_n_04_1) (stained plate_n_04_2))
(:goal (and (not (stained plate_n_04_1)) (not (stained plate_n_04_2)) (not (stained cup_n_01_1)) (not (stained bowl_n_01_1))))
) |
default | putting_away_Halloween_decorations_0_Rs_int_0_2021-10-25_22-42-17 | putting_away_Halloween_decorations | Place all pumpkins and candles into the cabinet, arrange the sheet either next to or on the table, and position the caldron next to the table. | (define (problem putting_away_Halloween_decorations_0)
(:domain igibson)
(:objects
pumpkin.n.02_1 pumpkin.n.02_2 - pumpkin.n.02
floor.n.01_1 - floor.n.01
caldron.n.01_1 - caldron.n.01
sheet.n.03_1 - sheet.n.03
table.n.02_1 - table.n.02
candle.n.01_1 candle.n.01_2 candle.n.01_3 - candle.n.01
cabinet.n.01_1 - cabinet.n.01
sofa.n.01_1 - sofa.n.01
agent.n.01_1 - agent.n.01
)
(:init
(onfloor pumpkin.n.02_1 floor.n.01_1)
(onfloor pumpkin.n.02_2 floor.n.01_1)
(onfloor caldron.n.01_1 floor.n.01_1)
(ontop sheet.n.03_1 table.n.02_1)
(onfloor candle.n.01_1 floor.n.01_1)
(onfloor candle.n.01_2 floor.n.01_1)
(onfloor candle.n.01_3 floor.n.01_1)
(inroom floor.n.01_1 living_room)
(inroom cabinet.n.01_1 living_room)
(inroom table.n.02_1 living_room)
(inroom sofa.n.01_1 living_room)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(forall
(?pumpkin.n.02 - pumpkin.n.02)
(inside ?pumpkin.n.02 ?cabinet.n.01_1)
)
(forall
(?candle.n.01 - candle.n.01)
(inside ?candle.n.01 ?cabinet.n.01_1)
)
(or
(nextto ?sheet.n.03_1 ?table.n.02_1)
(ontop ?sheet.n.03_1 ?table.n.02_1)
)
(nextto ?caldron.n.01_1 ?table.n.02_1)
)
)
) | forall x0. (not pumpkin_n_02(x0) or inside(x0, bottom_cabinet.13)) and forall x0. (not candle_n_01(x0) or inside(x0, bottom_cabinet.13)) and nextto(sheet.0, coffee_table.5) or ontop(sheet.0, coffee_table.5) and nextto(cauldron.0, coffee_table.5) | [{'action': 'OPEN', 'object': 'bottom_cabinet_13'}, {'action': 'RIGHT_GRASP', 'object': 'pumpkin_1'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'bottom_cabinet_13'}, {'action': 'LEFT_GRASP', 'object': 'candle_2'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'bottom_cabinet_13'}, {'action': 'RIGHT_GRASP', 'object': 'pumpkin_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'bottom_cabinet_13'}, {'action': 'RIGHT_GRASP', 'object': 'candle_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'bottom_cabinet_13'}, {'action': 'LEFT_GRASP', 'object': 'candle_1'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'bottom_cabinet_13'}, {'action': 'LEFT_GRASP', 'object': 'cauldron_0'}, {'action': 'LEFT_PLACE_NEXTTO', 'object': 'coffee_table_5'}, {'action': 'LEFT_GRASP', 'object': 'sheet_0'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'coffee_table_5'}] | (define (problem putting_away_Halloween_decorations)
(:domain igibson)
(:objects agent_n_01_1 - agent cabinet_n_01_1 - cabinet_n_01 caldron_n_01_1 - caldron_n_01 candle_n_01_2 candle_n_01_3 - candle_n_01 floor_n_01_1 - floor_n_01 pumpkin_n_02_1 - pumpkin_n_02 sheet_n_03_1 - sheet_n_03 table_n_02_1 - table_n_02)
(:init (onfloor caldron_n_01_1 floor_n_01_1) (onfloor candle_n_01_2 floor_n_01_1) (onfloor candle_n_01_3 floor_n_01_1) (onfloor pumpkin_n_02_1 floor_n_01_1) (ontop sheet_n_03_1 table_n_02_1) (same_obj cabinet_n_01_1 cabinet_n_01_1) (same_obj caldron_n_01_1 caldron_n_01_1) (same_obj candle_n_01_2 candle_n_01_2) (same_obj candle_n_01_3 candle_n_01_3) (same_obj floor_n_01_1 floor_n_01_1) (same_obj pumpkin_n_02_1 pumpkin_n_02_1) (same_obj sheet_n_03_1 sheet_n_03_1) (same_obj table_n_02_1 table_n_02_1))
(:goal (and (inside candle_n_01_2 cabinet_n_01_1) (inside pumpkin_n_02_1 cabinet_n_01_1) (nextto caldron_n_01_1 table_n_02_1) (inside candle_n_01_3 cabinet_n_01_1)))
) |
default | collect_misplaced_items_0_Wainscott_0_int_1_2021-10-26_18-48-11 | collect_misplaced_items | Collect all misplaced items including the gym shoe, necklace, notebook, and socks. Then place them on the table. | (define (problem collect_misplaced_items_0)
(:domain igibson)
(:objects
gym_shoe.n.01_1 - gym_shoe.n.01
necklace.n.01_1 - necklace.n.01
notebook.n.01_1 - notebook.n.01
sock.n.01_1 sock.n.01_2 - sock.n.01
table.n.02_1 table.n.02_2 - table.n.02
cabinet.n.01_1 - cabinet.n.01
sofa.n.01_1 - sofa.n.01
floor.n.01_1 floor.n.01_2 - floor.n.01
agent.n.01_1 - agent.n.01
)
(:init
(under gym_shoe.n.01_1 table.n.02_1)
(onfloor gym_shoe.n.01_1 floor.n.01_2)
(inside necklace.n.01_1 cabinet.n.01_1)
(under notebook.n.01_1 table.n.02_2)
(ontop sock.n.01_1 sofa.n.01_1)
(onfloor sock.n.01_2 floor.n.01_1)
(inroom table.n.02_1 living_room)
(inroom cabinet.n.01_1 living_room)
(inroom table.n.02_2 dining_room)
(inroom sofa.n.01_1 living_room)
(inroom floor.n.01_1 living_room)
(inroom floor.n.01_2 dining_room)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(ontop ?gym_shoe.n.01_1 ?table.n.02_2)
(ontop ?necklace.n.01_1 ?table.n.02_2)
(ontop ?notebook.n.01_1 ?table.n.02_2)
(forall
(?sock.n.01 - sock.n.01)
(ontop ?sock.n.01 ?table.n.02_2)
)
)
)
) | ontop(gym_shoe.0, breakfast_table.1) and ontop(necklace.0, breakfast_table.1) and ontop(notebook.0, breakfast_table.1) and forall x0. (not sock_n_01(x0) or ontop(x0, breakfast_table.1)) | [{'action': 'OPEN', 'object': 'bottom_cabinet_79'}, {'action': 'RIGHT_GRASP', 'object': 'necklace_0'}, {'action': 'LEFT_GRASP', 'object': 'sock_0'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'breakfast_table_1'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'breakfast_table_1'}, {'action': 'RIGHT_GRASP', 'object': 'sock_1'}, {'action': 'LEFT_GRASP', 'object': 'gym_shoe_0'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'breakfast_table_1'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'breakfast_table_1'}, {'action': 'RIGHT_GRASP', 'object': 'notebook_0'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'breakfast_table_1'}] | (define (problem collect_misplaced_items)
(:domain igibson)
(:objects agent_n_01_1 - agent cabinet_n_01_1 - cabinet_n_01 floor_n_01_1 - floor_n_01 necklace_n_01_1 - necklace_n_01 notebook_n_01_1 - notebook_n_01 sock_n_01_1 sock_n_01_2 - sock_n_01 sofa_n_01_1 - sofa_n_01 table_n_02_2 - table_n_02)
(:init (inside necklace_n_01_1 cabinet_n_01_1) (onfloor sock_n_01_2 floor_n_01_1) (ontop sock_n_01_1 sofa_n_01_1) (same_obj cabinet_n_01_1 cabinet_n_01_1) (same_obj floor_n_01_1 floor_n_01_1) (same_obj necklace_n_01_1 necklace_n_01_1) (same_obj notebook_n_01_1 notebook_n_01_1) (same_obj sock_n_01_1 sock_n_01_1) (same_obj sock_n_01_2 sock_n_01_2) (same_obj sofa_n_01_1 sofa_n_01_1) (same_obj table_n_02_2 table_n_02_2) (under notebook_n_01_1 table_n_02_2))
(:goal (and (ontop sock_n_01_1 table_n_02_2) (ontop necklace_n_01_1 table_n_02_2) (ontop sock_n_01_2 table_n_02_2) (ontop notebook_n_01_1 table_n_02_2)))
) |
default | cleaning_high_chair_0_Wainscott_0_int_0_2021-06-05_18-03-15 | cleaning_high_chair | Clean the high chair. | (define (problem cleaning_high_chair_0)
(:domain igibson)
(:objects
highchair.n.01_1 - highchair.n.01
piece_of_cloth.n.01_1 - piece_of_cloth.n.01
cabinet.n.01_1 - cabinet.n.01
sink.n.01_1 - sink.n.01
floor.n.01_1 floor.n.01_2 - floor.n.01
agent.n.01_1 - agent.n.01
)
(:init
(dusty highchair.n.01_1)
(inside piece_of_cloth.n.01_1 cabinet.n.01_1)
(onfloor highchair.n.01_1 floor.n.01_2)
(inroom cabinet.n.01_1 kitchen)
(inroom sink.n.01_1 kitchen)
(inroom floor.n.01_2 dining_room)
(inroom floor.n.01_1 kitchen)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(not
(dusty ?highchair.n.01_1)
)
)
)
) | not dusty(highchair.0) | [{'action': 'OPEN', 'object': 'bottom_cabinet_no_top_80'}, {'action': 'RIGHT_GRASP', 'object': 'paper_towel_0'}, {'action': 'LEFT_GRASP', 'object': 'highchair_0'}, {'action': 'CLEAN', 'object': 'highchair_0'}] | (define (problem cleaning_high_chair)
(:domain igibson)
(:objects agent_n_01_1 - agent cabinet_n_01_1 - cabinet_n_01 floor_n_01_2 - floor_n_01 highchair_n_01_1 - highchair_n_01 piece_of_cloth_n_01_1 - piece_of_cloth_n_01)
(:init (dusty highchair_n_01_1) (inside piece_of_cloth_n_01_1 cabinet_n_01_1) (onfloor highchair_n_01_1 floor_n_01_2) (same_obj cabinet_n_01_1 cabinet_n_01_1) (same_obj floor_n_01_2 floor_n_01_2) (same_obj highchair_n_01_1 highchair_n_01_1) (same_obj piece_of_cloth_n_01_1 piece_of_cloth_n_01_1))
(:goal (not (dusty highchair_n_01_1)))
) |
default | washing_floor_0_Ihlen_1_int_1_2021-10-26_14-53-28 | washing_floor | Clean the dust and stain off the floor. | (define (problem washing_floor_0)
(:domain igibson)
(:objects
bucket.n.01_1 - bucket.n.01
floor.n.01_1 - floor.n.01
soap.n.01_1 - soap.n.01
towel.n.01_1 - towel.n.01
shower.n.01_1 - shower.n.01
toilet.n.02_1 - toilet.n.02
bed.n.01_1 - bed.n.01
sink.n.01_1 - sink.n.01
agent.n.01_1 - agent.n.01
)
(:init
(onfloor bucket.n.01_1 floor.n.01_1)
(ontop soap.n.01_1 towel.n.01_1)
(onfloor soap.n.01_1 floor.n.01_1)
(onfloor towel.n.01_1 floor.n.01_1)
(not
(stained towel.n.01_1)
)
(dusty floor.n.01_1)
(stained floor.n.01_1)
(inroom floor.n.01_1 bathroom)
(inroom shower.n.01_1 bathroom)
(inroom toilet.n.02_1 bathroom)
(inroom bed.n.01_1 bedroom)
(inroom sink.n.01_1 bathroom)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(not
(or
(dusty ?floor.n.01_1)
(stained ?floor.n.01_1)
)
)
)
)
) | not (dusty(room_floor_bathroom.0) or stained(room_floor_bathroom.0)) | [{'action': 'RIGHT_GRASP', 'object': 'bath_towel_0'}, {'action': 'TOGGLE_ON', 'object': 'sink_49'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_49'}, {'action': 'SOAK', 'object': 'bath_towel_0'}, {'action': 'TOGGLE_OFF', 'object': 'sink_49'}, {'action': 'RIGHT_GRASP', 'object': 'bath_towel_0'}, {'action': 'CLEAN', 'object': 'room_floor_bathroom_0'}, {'action': 'RIGHT_RELEASE', 'object': 'bath_towel_0'}] | (define (problem washing_floor)
(:domain igibson)
(:objects agent_n_01_1 - agent bucket_n_01_1 - bucket_n_01 floor_n_01_1 - floor_n_01 sink_n_01_1 - sink_n_01 soap_n_01_1 - soap_n_01 towel_n_01_1 - towel_n_01)
(:init (dusty floor_n_01_1) (not (stained towel_n_01_1)) (onfloor agent_n_01_1 floor_n_01_1) (onfloor bucket_n_01_1 floor_n_01_1) (onfloor soap_n_01_1 floor_n_01_1) (onfloor towel_n_01_1 floor_n_01_1) (ontop soap_n_01_1 towel_n_01_1) (same_obj agent_n_01_1 agent_n_01_1) (same_obj bucket_n_01_1 bucket_n_01_1) (same_obj floor_n_01_1 floor_n_01_1) (same_obj sink_n_01_1 sink_n_01_1) (same_obj soap_n_01_1 soap_n_01_1) (same_obj towel_n_01_1 towel_n_01_1) (stained floor_n_01_1))
(:goal (and (not (stained floor_n_01_1)) (not (dusty floor_n_01_1))))
) |
default | sorting_mail_0_Wainscott_0_int_1_2021-10-26_14-38-16 | sorting_mail | Sort the envelopes and newspapers into two stacked piles. | (define (problem sorting_mail_0)
(:domain igibson)
(:objects
envelope.n.01_1 envelope.n.01_2 envelope.n.01_3 envelope.n.01_4 - envelope.n.01
floor.n.01_1 - floor.n.01
sofa.n.01_1 - sofa.n.01
newspaper.n.03_1 newspaper.n.03_2 newspaper.n.03_3 newspaper.n.03_4 - newspaper.n.03
agent.n.01_1 - agent.n.01
)
(:init
(onfloor envelope.n.01_1 floor.n.01_1)
(onfloor envelope.n.01_2 floor.n.01_1)
(onfloor envelope.n.01_3 floor.n.01_1)
(onfloor envelope.n.01_4 floor.n.01_1)
(onfloor newspaper.n.03_1 floor.n.01_1)
(onfloor newspaper.n.03_2 floor.n.01_1)
(onfloor newspaper.n.03_3 floor.n.01_1)
(onfloor newspaper.n.03_4 floor.n.01_1)
(inroom sofa.n.01_1 living_room)
(inroom floor.n.01_1 living_room)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(forall
(?envelope.n.01 - envelope.n.01)
(or
(touching ?envelope.n.01 ?envelope.n.01_1)
(touching ?envelope.n.01 ?envelope.n.01_2)
(touching ?envelope.n.01 ?envelope.n.01_3)
(touching ?envelope.n.01 ?envelope.n.01_4)
)
)
(forall
(?newspaper.n.03 - newspaper.n.03)
(or
(touching ?newspaper.n.03 ?newspaper.n.03_1)
(touching ?newspaper.n.03 ?newspaper.n.03_2)
(touching ?newspaper.n.03 ?newspaper.n.03_3)
(touching ?newspaper.n.03 ?newspaper.n.03_4)
)
)
)
)
) | forall x0. (not envelope_n_01(x0) or (touching(x0, envelope.143) or touching(x0, envelope.144) or touching(x0, envelope.145) or touching(x0, envelope.146))) and forall x0. (not newspaper_n_03(x0) or (touching(x0, newspaper.147) or touching(x0, newspaper.148) or touching(x0, newspaper.149) or touching(x0, newspaper.150))) | [{'action': 'RIGHT_GRASP', 'object': 'envelope_143'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'envelope_146'}, {'action': 'LEFT_GRASP', 'object': 'envelope_144'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'envelope_146'}, {'action': 'RIGHT_GRASP', 'object': 'envelope_145'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'envelope_146'}, {'action': 'RIGHT_GRASP', 'object': 'newspaper_147'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'newspaper_148'}, {'action': 'LEFT_GRASP', 'object': 'newspaper_149'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'newspaper_148'}, {'action': 'RIGHT_GRASP', 'object': 'newspaper_150'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'newspaper_148'}] | (define (problem sorting_mail)
(:domain igibson)
(:objects agent_n_01_1 - agent envelope_n_01_1 envelope_n_01_2 envelope_n_01_3 envelope_n_01_4 - envelope_n_01 floor_n_01_1 - floor_n_01 newspaper_n_03_1 newspaper_n_03_2 - newspaper_n_03)
(:init (onfloor envelope_n_01_1 floor_n_01_1) (onfloor envelope_n_01_2 floor_n_01_1) (onfloor envelope_n_01_3 floor_n_01_1) (onfloor envelope_n_01_4 floor_n_01_1) (onfloor newspaper_n_03_1 floor_n_01_1) (onfloor newspaper_n_03_2 floor_n_01_1) (same_obj envelope_n_01_1 envelope_n_01_1) (same_obj envelope_n_01_2 envelope_n_01_2) (same_obj envelope_n_01_3 envelope_n_01_3) (same_obj envelope_n_01_4 envelope_n_01_4) (same_obj floor_n_01_1 floor_n_01_1) (same_obj newspaper_n_03_1 newspaper_n_03_1) (same_obj newspaper_n_03_2 newspaper_n_03_2))
(:goal (and (ontop envelope_n_01_3 envelope_n_01_2) (ontop newspaper_n_03_1 newspaper_n_03_1) (ontop envelope_n_01_4 envelope_n_01_1) (ontop newspaper_n_03_2 newspaper_n_03_2)))
) |
default | cleaning_bathrooms_0_Benevolence_0_int_1_2021-06-12_19-33-28 | cleaning_bathrooms | Use the rag and bucket to clean stains off the toilet, the bathtub, the sink, and the floor. | (define (problem cleaning_bathrooms_0)
(:domain igibson)
(:objects
sink.n.01_1 - sink.n.01
bathtub.n.01_1 - bathtub.n.01
toilet.n.02_1 - toilet.n.02
floor.n.01_1 - floor.n.01
bucket.n.01_1 - bucket.n.01
soap.n.01_1 - soap.n.01
brush.n.02_1 - brush.n.02
rag.n.01_1 - rag.n.01
agent.n.01_1 - agent.n.01
)
(:init
(stained sink.n.01_1)
(stained bathtub.n.01_1)
(stained toilet.n.02_1)
(stained floor.n.01_1)
(inside soap.n.01_1 sink.n.01_1)
(inside brush.n.02_1 bathtub.n.01_1)
(onfloor bucket.n.01_1 floor.n.01_1)
(not
(soaked rag.n.01_1)
)
(onfloor rag.n.01_1 floor.n.01_1)
(onfloor agent.n.01_1 floor.n.01_1)
(inroom floor.n.01_1 bathroom)
(inroom toilet.n.02_1 bathroom)
(inroom sink.n.01_1 bathroom)
(inroom bathtub.n.01_1 bathroom)
)
(:goal
(and
(not
(stained ?toilet.n.02_1)
)
(not
(stained ?bathtub.n.01_1)
)
(not
(stained ?sink.n.01_1)
)
(not
(stained ?floor.n.01_1)
)
(and
(soaked ?rag.n.01_1)
(inside ?rag.n.01_1 ?bucket.n.01_1)
)
)
)
) | not stained(toilet.6) and not stained(bathtub.4) and not stained(sink.7) and not stained(room_floor_bathroom.0) and soaked(rag.0) and inside(rag.0, bucket.0) | [{'action': 'RIGHT_GRASP', 'object': 'rag_0'}, {'action': 'TOGGLE_ON', 'object': 'sink_7'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_7'}, {'action': 'SOAK', 'object': 'rag_0'}, {'action': 'TOGGLE_OFF', 'object': 'sink_7'}, {'action': 'RIGHT_GRASP', 'object': 'rag_0'}, {'action': 'CLEAN', 'object': 'sink_7'}, {'action': 'CLEAN', 'object': 'bathtub_4'}, {'action': 'CLEAN', 'object': 'room_floor_bathroom_0'}, {'action': 'CLEAN', 'object': 'bathtub_4'}, {'action': 'CLEAN', 'object': 'toilet_6'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'bucket_0'}] | (define (problem cleaning_bathrooms)
(:domain igibson)
(:objects agent_n_01_1 - agent bucket_n_01_1 - bucket_n_01 floor_n_01_1 - floor_n_01 rag_n_01_1 - rag_n_01 sink_n_01_1 - sink_n_01 soap_n_01_1 - soap_n_01 toilet_n_02_1 - toilet_n_02)
(:init (inside soap_n_01_1 sink_n_01_1) (not (soaked rag_n_01_1)) (onfloor agent_n_01_1 floor_n_01_1) (onfloor bucket_n_01_1 floor_n_01_1) (onfloor rag_n_01_1 floor_n_01_1) (same_obj agent_n_01_1 agent_n_01_1) (same_obj bucket_n_01_1 bucket_n_01_1) (same_obj floor_n_01_1 floor_n_01_1) (same_obj rag_n_01_1 rag_n_01_1) (same_obj sink_n_01_1 sink_n_01_1) (same_obj soap_n_01_1 soap_n_01_1) (same_obj toilet_n_02_1 toilet_n_02_1) (stained floor_n_01_1) (stained sink_n_01_1) (stained toilet_n_02_1))
(:goal (and (not (stained toilet_n_02_1)) (not (stained floor_n_01_1)) (inside rag_n_01_1 bucket_n_01_1) (not (stained sink_n_01_1))))
) |
default | cleaning_kitchen_cupboard_0_Pomaria_1_int_0_2021-10-26_13-05-36 | cleaning_kitchen_cupboard | Clean all dusty cabinets, put all bowls in one cabinet and all cups in another. | (define (problem cleaning_kitchen_cupboard_0)
(:domain igibson)
(:objects
cabinet.n.01_1 cabinet.n.01_2 - cabinet.n.01
countertop.n.01_1 - countertop.n.01
piece_of_cloth.n.01_1 - piece_of_cloth.n.01
cleansing_agent.n.01_1 - cleansing_agent.n.01
bowl.n.01_1 bowl.n.01_2 - bowl.n.01
cup.n.01_1 cup.n.01_2 - cup.n.01
sink.n.01_1 - sink.n.01
floor.n.01_1 - floor.n.01
agent.n.01_1 - agent.n.01
)
(:init
(dusty cabinet.n.01_1)
(dusty cabinet.n.01_2)
(ontop piece_of_cloth.n.01_1 countertop.n.01_1)
(ontop cleansing_agent.n.01_1 countertop.n.01_1)
(inside bowl.n.01_2 cabinet.n.01_2)
(inside cup.n.01_1 cabinet.n.01_2)
(inside cup.n.01_2 cabinet.n.01_1)
(ontop bowl.n.01_1 countertop.n.01_1)
(inroom cabinet.n.01_1 kitchen)
(inroom cabinet.n.01_2 kitchen)
(inroom sink.n.01_1 kitchen)
(inroom floor.n.01_1 kitchen)
(inroom countertop.n.01_1 kitchen)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(forall
(?cabinet.n.01 - cabinet.n.01)
(not
(dusty ?cabinet.n.01)
)
)
(exists
(?cabinet.n.01 - cabinet.n.01)
(forall
(?bowl.n.01 - bowl.n.01)
(and
(inside ?bowl.n.01 ?cabinet.n.01)
(not
(inside ?cup.n.01_1 ?cabinet.n.01)
)
)
)
)
(exists
(?cabinet.n.01 - cabinet.n.01)
(forall
(?cup.n.01 - cup.n.01)
(and
(inside ?cup.n.01 ?cabinet.n.01)
(not
(inside ?bowl.n.01_1 ?cabinet.n.01)
)
)
)
)
)
)
) | forall x0. (not cabinet_n_01(x0) or (not dusty(x0))) and exists x0. (not cabinet_n_01(x0) or (forall x1. (not bowl_n_01(x1) or (inside(x1, x0) and (not inside(cup.0, x0)))))) and exists x0. (not cabinet_n_01(x0) or (forall x1. (not cup_n_01(x1) or (inside(x1, x0) and (not inside(bowl.0, x0)))))) | [{'action': 'TOGGLE_ON', 'object': 'sink_37'}, {'action': 'TOGGLE_OFF', 'object': 'sink_37'}, {'action': 'RIGHT_GRASP', 'object': 'paper_towel_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_37'}, {'action': 'SOAK', 'object': 'paper_towel_0'}, {'action': 'RIGHT_GRASP', 'object': 'paper_towel_0'}, {'action': 'OPEN', 'object': 'top_cabinet_24'}, {'action': 'CLEAN', 'object': 'top_cabinet_24'}, {'action': 'OPEN', 'object': 'top_cabinet_25'}, {'action': 'CLEAN', 'object': 'top_cabinet_25'}, {'action': 'RIGHT_RELEASE', 'object': 'paper_towel_0'}, {'action': 'RIGHT_GRASP', 'object': 'bowl_1'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'top_cabinet_25'}, {'action': 'RIGHT_GRASP', 'object': 'bowl_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'top_cabinet_25'}, {'action': 'RIGHT_GRASP', 'object': 'cup_1'}, {'action': 'CLOSE', 'object': 'top_cabinet_25'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'top_cabinet_24'}] | (define (problem cleaning_kitchen_cupboard)
(:domain igibson)
(:objects agent_n_01_1 - agent bowl_n_01_1 bowl_n_01_2 - bowl_n_01 cabinet_n_01_1 cabinet_n_01_2 - cabinet_n_01 countertop_n_01_1 - countertop_n_01 cup_n_01_1 cup_n_01_2 - cup_n_01 piece_of_cloth_n_01_1 - piece_of_cloth_n_01)
(:init (dusty cabinet_n_01_1) (dusty cabinet_n_01_2) (inside bowl_n_01_2 cabinet_n_01_2) (inside cup_n_01_1 cabinet_n_01_2) (inside cup_n_01_2 cabinet_n_01_1) (ontop bowl_n_01_1 countertop_n_01_1) (ontop piece_of_cloth_n_01_1 countertop_n_01_1) (same_obj bowl_n_01_1 bowl_n_01_1) (same_obj bowl_n_01_2 bowl_n_01_2) (same_obj cabinet_n_01_1 cabinet_n_01_1) (same_obj cabinet_n_01_2 cabinet_n_01_2) (same_obj countertop_n_01_1 countertop_n_01_1) (same_obj cup_n_01_1 cup_n_01_1) (same_obj cup_n_01_2 cup_n_01_2) (same_obj piece_of_cloth_n_01_1 piece_of_cloth_n_01_1))
(:goal (and (not (inside bowl_n_01_1 cabinet_n_01_2)) (inside bowl_n_01_2 cabinet_n_01_1) (not (dusty cabinet_n_01_1))))
) |
default | preparing_salad_0_Pomaria_1_int_1_2021-10-26_14-17-24 | preparing_salad | Place a whole lettuce, a sliced apple, a sliced tomato, and a whole radish on separate plates. | (define (problem preparing_salad_0)
(:domain igibson)
(:objects
electric_refrigerator.n.01_1 - electric_refrigerator.n.01
lettuce.n.03_1 lettuce.n.03_2 - lettuce.n.03
countertop.n.01_1 - countertop.n.01
apple.n.01_1 apple.n.01_2 - apple.n.01
tomato.n.01_1 tomato.n.01_2 - tomato.n.01
radish.n.01_1 radish.n.01_2 - radish.n.01
carving_knife.n.01_1 - carving_knife.n.01
plate.n.04_1 plate.n.04_2 - plate.n.04
cabinet.n.01_1 - cabinet.n.01
sink.n.01_1 - sink.n.01
floor.n.01_1 - floor.n.01
agent.n.01_1 - agent.n.01
)
(:init
(ontop lettuce.n.03_1 countertop.n.01_1)
(ontop lettuce.n.03_2 countertop.n.01_1)
(ontop apple.n.01_1 countertop.n.01_1)
(ontop apple.n.01_2 countertop.n.01_1)
(inside tomato.n.01_1 electric_refrigerator.n.01_1)
(inside tomato.n.01_2 electric_refrigerator.n.01_1)
(ontop radish.n.01_1 countertop.n.01_1)
(ontop radish.n.01_2 countertop.n.01_1)
(inside plate.n.04_1 cabinet.n.01_1)
(not
(dusty plate.n.04_1)
)
(inside plate.n.04_2 cabinet.n.01_1)
(not
(dusty plate.n.04_2)
)
(inside carving_knife.n.01_1 cabinet.n.01_1)
(inroom sink.n.01_1 kitchen)
(inroom countertop.n.01_1 kitchen)
(inroom electric_refrigerator.n.01_1 kitchen)
(inroom cabinet.n.01_1 kitchen)
(inroom floor.n.01_1 kitchen)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(forpairs
(?lettuce.n.03 - lettuce.n.03)
(?plate.n.04 - plate.n.04)
(ontop ?lettuce.n.03 ?plate.n.04)
)
(forpairs
(?apple.n.01 - apple.n.01)
(?plate.n.04 - plate.n.04)
(and
(sliced ?apple.n.01)
(ontop ?apple.n.01 ?plate.n.04)
)
)
(forpairs
(?tomato.n.01 - tomato.n.01)
(?plate.n.04 - plate.n.04)
(and
(ontop ?tomato.n.01 ?plate.n.04)
(sliced ?tomato.n.01)
)
)
(forpairs
(?radish.n.01 - radish.n.01)
(?plate.n.04 - plate.n.04)
(ontop ?radish.n.01 ?plate.n.04)
)
)
)
)
| forall x0. (not lettuce_n_03(x0) or forn 1. x1. (not plate_n_04(x1) or ontop(x0, x1))) and forall x1. (not plate_n_04(x1) or forn 1. x0. (not lettuce_n_03(x0) or ontop(x0, x1))) and forall x0. (not apple_n_01(x0) or forn 1. x1. (not plate_n_04(x1) or (sliced(x0) and ontop(x0, x1)))) and forall x1. (not plate_n_04(x1) or forn 1. x0. (not apple_n_01(x0) or (sliced(x0) and ontop(x0, x1)))) and forall x0. (not tomato_n_01(x0) or forn 1. x1. (not plate_n_04(x1) or (ontop(x0, x1) and sliced(x0)))) and forall x1. (not plate_n_04(x1) or forn 1. x0. (not tomato_n_01(x0) or (ontop(x0, x1) and sliced(x0)))) and forall x0. (not radish_n_01(x0) or forn 1. x1. (not plate_n_04(x1) or ontop(x0, x1))) and forall x1. (not plate_n_04(x1) or forn 1. x0. (not radish_n_01(x0) or ontop(x0, x1))) | [{'action': 'OPEN', 'object': 'top_cabinet_27'}, {'action': 'LEFT_GRASP', 'object': 'plate_87'}, {'action': 'RIGHT_GRASP', 'object': 'plate_88'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'countertop_31'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'countertop_31'}, {'action': 'OPEN', 'object': 'fridge_20'}, {'action': 'RIGHT_GRASP', 'object': 'tomato_83'}, {'action': 'LEFT_GRASP', 'object': 'tomato_82'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'countertop_31'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'countertop_31'}, {'action': 'CLOSE', 'object': 'fridge_20'}, {'action': 'UNFREEZE', 'object': 'tomato_83'}, {'action': 'UNFREEZE', 'object': 'tomato_82'}, {'action': 'RIGHT_GRASP', 'object': 'carving_knife_86'}, {'action': 'LEFT_GRASP', 'object': 'radish_84'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'plate_88'}, {'action': 'LEFT_GRASP', 'object': 'radish_85'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'plate_87'}, {'action': 'LEFT_GRASP', 'object': 'lettuce_78'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'plate_88'}, {'action': 'LEFT_GRASP', 'object': 'lettuce_79'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'plate_87'}, {'action': 'LEFT_GRASP', 'object': 'apple_80'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'plate_88'}, {'action': 'SLICE', 'object': 'apple_80'}, {'action': 'LEFT_GRASP', 'object': 'apple_81'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'plate_87'}, {'action': 'SLICE', 'object': 'apple_81'}, {'action': 'LEFT_GRASP', 'object': 'tomato_83'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'plate_88'}, {'action': 'SLICE', 'object': 'tomato_83'}, {'action': 'LEFT_GRASP', 'object': 'tomato_82'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'plate_87'}, {'action': 'SLICE', 'object': 'tomato_82'}] | (define (problem preparing_salad)
(:domain igibson)
(:objects agent_n_01_1 - agent apple_n_01_1 apple_n_01_2 - apple_n_01 cabinet_n_01_1 - cabinet_n_01 carving_knife_n_01_1 - carving_knife_n_01 countertop_n_01_1 - countertop_n_01 electric_refrigerator_n_01_1 - electric_refrigerator_n_01 lettuce_n_03_1 lettuce_n_03_2 - lettuce_n_03 plate_n_04_2 - plate_n_04 radish_n_01_1 radish_n_01_2 - radish_n_01 tomato_n_01_2 - tomato_n_01)
(:init (inside carving_knife_n_01_1 cabinet_n_01_1) (inside plate_n_04_2 cabinet_n_01_1) (inside tomato_n_01_2 electric_refrigerator_n_01_1) (not (dusty plate_n_04_2)) (ontop apple_n_01_1 countertop_n_01_1) (ontop apple_n_01_2 countertop_n_01_1) (ontop lettuce_n_03_1 countertop_n_01_1) (ontop lettuce_n_03_2 countertop_n_01_1) (ontop radish_n_01_1 countertop_n_01_1) (ontop radish_n_01_2 countertop_n_01_1) (same_obj apple_n_01_1 apple_n_01_1) (same_obj apple_n_01_2 apple_n_01_2) (same_obj cabinet_n_01_1 cabinet_n_01_1) (same_obj carving_knife_n_01_1 carving_knife_n_01_1) (same_obj countertop_n_01_1 countertop_n_01_1) (same_obj electric_refrigerator_n_01_1 electric_refrigerator_n_01_1) (same_obj lettuce_n_03_1 lettuce_n_03_1) (same_obj lettuce_n_03_2 lettuce_n_03_2) (same_obj plate_n_04_2 plate_n_04_2) (same_obj radish_n_01_1 radish_n_01_1) (same_obj radish_n_01_2 radish_n_01_2) (same_obj tomato_n_01_2 tomato_n_01_2))
(:goal (and (sliced apple_n_01_1) (ontop tomato_n_01_2 plate_n_04_2) (ontop lettuce_n_03_1 plate_n_04_2) (sliced apple_n_01_2)))
) |
default | putting_leftovers_away_0_Ihlen_1_int_0_2021-06-08_13-42-57 | putting_leftovers_away | Put all pasta and sauce inside the fridge. | (define (problem putting_leftovers_away_0)
(:domain igibson)
(:objects
pasta.n.02_1 pasta.n.02_2 pasta.n.02_3 pasta.n.02_4 - pasta.n.02
floor.n.01_1 - floor.n.01
sauce.n.01_1 sauce.n.01_2 sauce.n.01_3 sauce.n.01_4 - sauce.n.01
electric_refrigerator.n.01_1 - electric_refrigerator.n.01
countertop.n.01_1 - countertop.n.01
agent.n.01_1 - agent.n.01
)
(:init
(ontop pasta.n.02_1 countertop.n.01_1)
(ontop pasta.n.02_2 countertop.n.01_1)
(ontop pasta.n.02_3 countertop.n.01_1)
(ontop pasta.n.02_4 countertop.n.01_1)
(ontop sauce.n.01_1 countertop.n.01_1)
(ontop sauce.n.01_2 countertop.n.01_1)
(ontop sauce.n.01_3 countertop.n.01_1)
(ontop sauce.n.01_4 countertop.n.01_1)
(inroom countertop.n.01_1 kitchen)
(inroom electric_refrigerator.n.01_1 kitchen)
(inroom floor.n.01_1 kitchen)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(forall
(?pasta.n.02 - pasta.n.02)
(inside ?pasta.n.02 ?electric_refrigerator.n.01_1)
)
(forall
(?sauce.n.01 - sauce.n.01)
(inside ?sauce.n.01 ?electric_refrigerator.n.01_1)
)
)
)
) | forall x0. (not pasta_n_02(x0) or inside(x0, fridge.61)) and forall x0. (not sauce_n_01(x0) or inside(x0, fridge.61)) | [{'action': 'OPEN', 'object': 'fridge_61'}, {'action': 'RIGHT_GRASP', 'object': 'spaghetti_sauce_2'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'fridge_61'}, {'action': 'LEFT_GRASP', 'object': 'spaghetti_sauce_1'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'fridge_61'}, {'action': 'RIGHT_GRASP', 'object': 'spaghetti_sauce_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'fridge_61'}, {'action': 'RIGHT_GRASP', 'object': 'pasta_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'fridge_61'}, {'action': 'LEFT_GRASP', 'object': 'pasta_1'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'fridge_61'}, {'action': 'RIGHT_GRASP', 'object': 'pasta_2'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'fridge_61'}, {'action': 'LEFT_GRASP', 'object': 'pasta_3'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'fridge_61'}, {'action': 'LEFT_GRASP', 'object': 'mayonnaise_0'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'fridge_61'}, {'action': 'CLOSE', 'object': 'fridge_61'}] | (define (problem putting_leftovers_away)
(:domain igibson)
(:objects agent_n_01_1 - agent countertop_n_01_1 - countertop_n_01 electric_refrigerator_n_01_1 - electric_refrigerator_n_01 pasta_n_02_2 - pasta_n_02 sauce_n_01_2 sauce_n_01_3 sauce_n_01_4 - sauce_n_01)
(:init (ontop pasta_n_02_2 countertop_n_01_1) (ontop sauce_n_01_2 countertop_n_01_1) (ontop sauce_n_01_3 countertop_n_01_1) (ontop sauce_n_01_4 countertop_n_01_1) (same_obj countertop_n_01_1 countertop_n_01_1) (same_obj electric_refrigerator_n_01_1 electric_refrigerator_n_01_1) (same_obj pasta_n_02_2 pasta_n_02_2) (same_obj sauce_n_01_2 sauce_n_01_2) (same_obj sauce_n_01_3 sauce_n_01_3) (same_obj sauce_n_01_4 sauce_n_01_4))
(:goal (and (inside pasta_n_02_2 electric_refrigerator_n_01_1) (inside sauce_n_01_4 electric_refrigerator_n_01_1) (inside sauce_n_01_2 electric_refrigerator_n_01_1) (inside sauce_n_01_3 electric_refrigerator_n_01_1)))
) |
default | preparing_a_shower_for_child_0_Ihlen_0_int_0_2021-10-25_21-36-25 | preparing_a_shower_for_child | Place the towel, shampoo, and soap on the floor near the sink for the child's shower. | (define (problem preparing_a_shower_for_child_0)
(:domain igibson)
(:objects
shampoo.n.01_1 - shampoo.n.01
floor.n.01_1 - floor.n.01
soap.n.01_1 - soap.n.01
towel.n.01_1 - towel.n.01
shower.n.01_1 - shower.n.01
sink.n.01_1 - sink.n.01
agent.n.01_1 - agent.n.01
)
(:init
(onfloor shampoo.n.01_1 floor.n.01_1)
(onfloor soap.n.01_1 floor.n.01_1)
(onfloor towel.n.01_1 floor.n.01_1)
(inroom shower.n.01_1 bathroom)
(inroom floor.n.01_1 bathroom)
(inroom sink.n.01_1 bathroom)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(onfloor ?towel.n.01_1 ?floor.n.01_1)
(onfloor ?shampoo.n.01_1 ?floor.n.01_1)
(nextto ?soap.n.01_1 ?sink.n.01_1)
)
)
) | onfloor(dishtowel.0, room_floor_bathroom.0) and onfloor(shampoo.0, room_floor_bathroom.0) and nextto(soap.0, sink.38) | [{'action': 'RIGHT_GRASP', 'object': 'soap_0'}, {'action': 'RIGHT_PLACE_NEXTTO', 'object': 'sink_38'}, {'action': 'TOGGLE_ON', 'object': 'sink_38'}, {'action': 'TOGGLE_OFF', 'object': 'sink_38'}, {'action': 'RIGHT_GRASP', 'object': 'dishtowel_0'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'room_floor_bathroom_0'}, {'action': 'RIGHT_GRASP', 'object': 'shampoo_0'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'room_floor_bathroom_0'}] | (define (problem preparing_a_shower_for_child)
(:domain igibson)
(:objects agent_n_01_1 - agent floor_n_01_1 - floor_n_01 shampoo_n_01_1 - shampoo_n_01 sink_n_01_1 - sink_n_01 soap_n_01_1 - soap_n_01 towel_n_01_1 - towel_n_01)
(:init (onfloor agent_n_01_1 floor_n_01_1) (onfloor shampoo_n_01_1 floor_n_01_1) (onfloor soap_n_01_1 floor_n_01_1) (onfloor towel_n_01_1 floor_n_01_1) (same_obj agent_n_01_1 agent_n_01_1) (same_obj floor_n_01_1 floor_n_01_1) (same_obj shampoo_n_01_1 shampoo_n_01_1) (same_obj sink_n_01_1 sink_n_01_1) (same_obj soap_n_01_1 soap_n_01_1) (same_obj towel_n_01_1 towel_n_01_1))
(:goal (and (nextto soap_n_01_1 sink_n_01_1) (onfloor towel_n_01_1 floor_n_01_1) (onfloor shampoo_n_01_1 floor_n_01_1)))
) |
default | cleaning_stove_0_Wainscott_0_int_0_2021-09-11_12-51-07 | cleaning_stove | Use the rag and dishtowel to clean the dusty and stained stove, then leave them next to the sink. | (define (problem cleaning_stove_0)
(:domain igibson)
(:objects
stove.n.01_1 - stove.n.01
soap.n.01_1 - soap.n.01
cabinet.n.01_1 - cabinet.n.01
rag.n.01_1 - rag.n.01
sink.n.01_1 - sink.n.01
dishtowel.n.01_1 - dishtowel.n.01
floor.n.01_1 - floor.n.01
agent.n.01_1 - agent.n.01
)
(:init
(dusty stove.n.01_1)
(stained stove.n.01_1)
(inside soap.n.01_1 cabinet.n.01_1)
(inside rag.n.01_1 cabinet.n.01_1)
(not
(soaked rag.n.01_1)
)
(not
(stained rag.n.01_1)
)
(inside dishtowel.n.01_1 cabinet.n.01_1)
(not
(soaked dishtowel.n.01_1)
)
(inroom sink.n.01_1 kitchen)
(inroom stove.n.01_1 kitchen)
(inroom cabinet.n.01_1 kitchen)
(inroom floor.n.01_1 kitchen)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(not
(dusty ?stove.n.01_1)
)
(not
(stained ?stove.n.01_1)
)
(nextto ?rag.n.01_1 ?sink.n.01_1)
(nextto ?dishtowel.n.01_1 ?sink.n.01_1)
)
)
) | not dusty(stove.88) and not stained(stove.88) and nextto(rag.0, sink.82) and nextto(dishtowel.0, sink.82) | [{'action': 'OPEN', 'object': 'bottom_cabinet_no_top_80'}, {'action': 'RIGHT_GRASP', 'object': 'rag_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_82'}, {'action': 'RIGHT_GRASP', 'object': 'dishtowel_0'}, {'action': 'RIGHT_PLACE_NEXTTO', 'object': 'sink_82'}, {'action': 'TOGGLE_ON', 'object': 'sink_82'}, {'action': 'SOAK', 'object': 'rag_0'}, {'action': 'SOAK', 'object': 'dishtowel_0'}, {'action': 'TOGGLE_OFF', 'object': 'sink_82'}, {'action': 'RIGHT_GRASP', 'object': 'rag_0'}, {'action': 'OPEN', 'object': 'stove_88'}, {'action': 'CLEAN', 'object': 'stove_88'}, {'action': 'RIGHT_PLACE_NEXTTO', 'object': 'sink_82'}, {'action': 'LEFT_PLACE_NEXTTO', 'object': 'sink_82'}] | (define (problem cleaning_stove)
(:domain igibson)
(:objects agent_n_01_1 - agent cabinet_n_01_1 - cabinet_n_01 dishtowel_n_01_1 - dishtowel_n_01 rag_n_01_1 - rag_n_01 sink_n_01_1 - sink_n_01 stove_n_01_1 - stove_n_01)
(:init (dusty stove_n_01_1) (inside dishtowel_n_01_1 cabinet_n_01_1) (inside rag_n_01_1 cabinet_n_01_1) (not (soaked dishtowel_n_01_1)) (not (soaked rag_n_01_1)) (not (stained rag_n_01_1)) (same_obj cabinet_n_01_1 cabinet_n_01_1) (same_obj dishtowel_n_01_1 dishtowel_n_01_1) (same_obj rag_n_01_1 rag_n_01_1) (same_obj sink_n_01_1 sink_n_01_1) (same_obj stove_n_01_1 stove_n_01_1) (stained stove_n_01_1))
(:goal (and (nextto rag_n_01_1 sink_n_01_1) (not (dusty stove_n_01_1)) (nextto dishtowel_n_01_1 sink_n_01_1) (not (stained stove_n_01_1))))
) |
default | cleaning_carpets_0_Wainscott_1_int_0_2021-09-11_01-12-41 | cleaning_carpets | Clean the stained carpets. | (define (problem cleaning_carpets_0)
(:domain igibson)
(:objects
floor.n.01_1 floor.n.01_2 - floor.n.01
hand_towel.n.01_1 - hand_towel.n.01
shampoo.n.01_1 - shampoo.n.01
cabinet.n.01_1 - cabinet.n.01
washer.n.03_1 - washer.n.03
dryer.n.01_1 - dryer.n.01
door.n.01_1 - door.n.01
sink.n.01_1 - sink.n.01
agent.n.01_1 - agent.n.01
)
(:init
(stained floor.n.01_1)
(onfloor hand_towel.n.01_1 floor.n.01_2)
(inside shampoo.n.01_1 cabinet.n.01_1)
(inroom floor.n.01_1 corridor)
(inroom floor.n.01_2 utility_room)
(inroom washer.n.03_1 utility_room)
(inroom dryer.n.01_1 utility_room)
(inroom door.n.01_1 corridor)
(inroom cabinet.n.01_1 utility_room)
(inroom sink.n.01_1 utility_room)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(not
(stained ?floor.n.01_1)
)
)
)
) | not stained(room_floor_corridor.0) | [{'action': 'RIGHT_GRASP', 'object': 'hand_towel_102'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_51'}, {'action': 'TOGGLE_ON', 'object': 'sink_51'}, {'action': 'SOAK', 'object': 'hand_towel_102'}, {'action': 'RIGHT_GRASP', 'object': 'hand_towel_102'}, {'action': 'CLEAN', 'object': 'room_floor_utility_room_0'}, {'action': 'CLEAN', 'object': 'room_floor_corridor_0'}] | (define (problem cleaning_carpets)
(:domain igibson)
(:objects agent_n_01_1 - agent floor_n_01_1 floor_n_01_2 - floor_n_01 hand_towel_n_01_1 - hand_towel_n_01 sink_n_01_1 - sink_n_01)
(:init (onfloor agent_n_01_1 floor_n_01_1) (onfloor hand_towel_n_01_1 floor_n_01_2) (same_obj agent_n_01_1 agent_n_01_1) (same_obj floor_n_01_1 floor_n_01_1) (same_obj floor_n_01_2 floor_n_01_2) (same_obj hand_towel_n_01_1 hand_towel_n_01_1) (same_obj sink_n_01_1 sink_n_01_1) (stained floor_n_01_1))
(:goal (not (stained floor_n_01_1)))
) |
default | serving_a_meal_0_Merom_1_int_0_2021-10-26_00-34-17 | serving_a_meal | Serve the meal by placing all food and drinks on the table along with the appropriate utensils. | (define (problem serving_a_meal_0)
(:domain igibson)
(:objects
chicken.n.01_1 chicken.n.01_2 - chicken.n.01
knife.n.01_1 knife.n.01_2 - knife.n.01
fork.n.01_1 fork.n.01_2 - fork.n.01
spoon.n.01_1 spoon.n.01_2 - spoon.n.01
plate.n.04_1 plate.n.04_2 - plate.n.04
soup.n.01_1 soup.n.01_2 - soup.n.01
table.n.02_1 - table.n.02
bread.n.01_1 bread.n.01_2 - bread.n.01
electric_refrigerator.n.01_1 - electric_refrigerator.n.01
salad.n.01_1 salad.n.01_2 - salad.n.01
water.n.06_1 water.n.06_2 - water.n.06
cake.n.03_1 cake.n.03_2 - cake.n.03
stove.n.01_1 - stove.n.01
cabinet.n.01_1 cabinet.n.01_2 - cabinet.n.01
floor.n.01_1 - floor.n.01
agent.n.01_1 - agent.n.01
)
(:init
(cooked chicken.n.01_1)
(cooked chicken.n.01_2)
(inside knife.n.01_1 cabinet.n.01_1)
(inside knife.n.01_2 cabinet.n.01_1)
(inside fork.n.01_1 cabinet.n.01_1)
(inside fork.n.01_2 cabinet.n.01_1)
(inside spoon.n.01_1 cabinet.n.01_1)
(inside spoon.n.01_2 cabinet.n.01_1)
(inside plate.n.04_1 cabinet.n.01_2)
(inside plate.n.04_2 cabinet.n.01_1)
(ontop soup.n.01_1 table.n.02_1)
(ontop soup.n.01_2 table.n.02_1)
(inside bread.n.01_2 electric_refrigerator.n.01_1)
(inside bread.n.01_1 electric_refrigerator.n.01_1)
(inside salad.n.01_1 electric_refrigerator.n.01_1)
(inside salad.n.01_2 electric_refrigerator.n.01_1)
(inside chicken.n.01_1 electric_refrigerator.n.01_1)
(inside chicken.n.01_2 electric_refrigerator.n.01_1)
(inside water.n.06_1 electric_refrigerator.n.01_1)
(inside water.n.06_2 electric_refrigerator.n.01_1)
(inside cake.n.03_1 electric_refrigerator.n.01_1)
(inside cake.n.03_2 electric_refrigerator.n.01_1)
(inroom table.n.02_1 dining_room)
(inroom electric_refrigerator.n.01_1 kitchen)
(inroom stove.n.01_1 kitchen)
(inroom cabinet.n.01_1 kitchen)
(inroom cabinet.n.01_2 kitchen)
(inroom floor.n.01_1 kitchen)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(forall
(?plate.n.04 - plate.n.04)
(ontop ?plate.n.04 ?table.n.02_1)
)
(forall
(?knife.n.01 - knife.n.01)
(ontop ?knife.n.01 ?table.n.02_1)
)
(forall
(?fork.n.01 - fork.n.01)
(ontop ?fork.n.01 ?table.n.02_1)
)
(forpairs
(?spoon.n.01 - spoon.n.01)
(?soup.n.01 - soup.n.01)
(nextto ?spoon.n.01 ?soup.n.01)
)
(forall
(?water.n.06 - water.n.06)
(ontop ?water.n.06 ?table.n.02_1)
)
(forpairs
(?chicken.n.01 - chicken.n.01)
(?plate.n.04 - plate.n.04)
(ontop ?chicken.n.01 ?plate.n.04)
)
(forpairs
(?salad.n.01 - salad.n.01)
(?plate.n.04 - plate.n.04)
(nextto ?salad.n.01 ?plate.n.04)
)
(forpairs
(?bread.n.01 - bread.n.01)
(?plate.n.04 - plate.n.04)
(nextto ?bread.n.01 ?plate.n.04)
)
(forpairs
(?cake.n.03 - cake.n.03)
(?plate.n.04 - plate.n.04)
(nextto ?cake.n.03 ?plate.n.04)
)
)
)
) | forall x0. (not plate_n_04(x0) or ontop(x0, breakfast_table.20)) and forall x0. (not knife_n_01(x0) or ontop(x0, breakfast_table.20)) and forall x0. (not fork_n_01(x0) or ontop(x0, breakfast_table.20)) and forall x0. (not spoon_n_01(x0) or forn 1. x1. (not soup_n_01(x1) or nextto(x0, x1))) and forall x1. (not soup_n_01(x1) or forn 1. x0. (not spoon_n_01(x0) or nextto(x0, x1))) and forall x0. (not water_n_06(x0) or ontop(x0, breakfast_table.20)) and forall x0. (not chicken_n_01(x0) or forn 1. x1. (not plate_n_04(x1) or ontop(x0, x1))) and forall x1. (not plate_n_04(x1) or forn 1. x0. (not chicken_n_01(x0) or ontop(x0, x1))) and forall x0. (not salad_n_01(x0) or forn 1. x1. (not plate_n_04(x1) or nextto(x0, x1))) and forall x1. (not plate_n_04(x1) or forn 1. x0. (not salad_n_01(x0) or nextto(x0, x1))) and forall x0. (not bread_n_01(x0) or forn 1. x1. (not plate_n_04(x1) or nextto(x0, x1))) and forall x1. (not plate_n_04(x1) or forn 1. x0. (not bread_n_01(x0) or nextto(x0, x1))) and forall x0. (not cake_n_03(x0) or forn 1. x1. (not plate_n_04(x1) or nextto(x0, x1))) and forall x1. (not plate_n_04(x1) or forn 1. x0. (not cake_n_03(x0) or nextto(x0, x1))) | [{'action': 'OPEN', 'object': 'fridge_57'}, {'action': 'OPEN', 'object': 'bottom_cabinet_49'}, {'action': 'OPEN', 'object': 'bottom_cabinet_50'}, {'action': 'RIGHT_GRASP', 'object': 'plate_1'}, {'action': 'LEFT_GRASP', 'object': 'plate_0'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'breakfast_table_20'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'breakfast_table_20'}, {'action': 'RIGHT_GRASP', 'object': 'chicken_0'}, {'action': 'LEFT_GRASP', 'object': 'chicken_1'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'plate_0'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'plate_1'}, {'action': 'LEFT_GRASP', 'object': 'spoon_0'}, {'action': 'RIGHT_GRASP', 'object': 'soup_1'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'breakfast_table_20'}, {'action': 'LEFT_PLACE_NEXTTO', 'object': 'soup_1'}, {'action': 'RIGHT_GRASP', 'object': 'table_knife_0'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'breakfast_table_20'}, {'action': 'LEFT_GRASP', 'object': 'tablefork_0'}, {'action': 'RIGHT_GRASP', 'object': 'toasting_fork_0'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'breakfast_table_20'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'breakfast_table_20'}, {'action': 'LEFT_GRASP', 'object': 'carving_knife_0'}, {'action': 'RIGHT_GRASP', 'object': 'water_0'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'breakfast_table_20'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'breakfast_table_20'}, {'action': 'LEFT_GRASP', 'object': 'water_1'}, {'action': 'RIGHT_GRASP', 'object': 'salad_0'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'breakfast_table_20'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'breakfast_table_20'}, {'action': 'LEFT_GRASP', 'object': 'salad_1'}, {'action': 'RIGHT_GRASP', 'object': 'soup_0'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'breakfast_table_20'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'breakfast_table_20'}, {'action': 'LEFT_GRASP', 'object': 'spoon_1'}, {'action': 'LEFT_PLACE_NEXTTO', 'object': 'soup_0'}, {'action': 'LEFT_GRASP', 'object': 'cupcake_0'}, {'action': 'RIGHT_GRASP', 'object': 'muffin_0'}, {'action': 'LEFT_PLACE_NEXTTO', 'object': 'plate_0'}, {'action': 'RIGHT_PLACE_NEXTTO', 'object': 'plate_1'}, {'action': 'LEFT_GRASP', 'object': 'bagel_0'}, {'action': 'RIGHT_GRASP', 'object': 'cookie_0'}, {'action': 'LEFT_PLACE_NEXTTO', 'object': 'plate_0'}, {'action': 'RIGHT_PLACE_NEXTTO', 'object': 'plate_1'}, {'action': 'CLOSE', 'object': 'fridge_57'}] | (define (problem serving_a_meal)
(:domain igibson)
(:objects agent_n_01_1 - agent cabinet_n_01_1 - cabinet_n_01 cake_n_03_2 - cake_n_03 electric_refrigerator_n_01_1 - electric_refrigerator_n_01 fork_n_01_2 - fork_n_01 plate_n_04_2 - plate_n_04 salad_n_01_2 - salad_n_01 soup_n_01_1 soup_n_01_2 - soup_n_01 spoon_n_01_2 - spoon_n_01 table_n_02_1 - table_n_02)
(:init (inside cake_n_03_2 electric_refrigerator_n_01_1) (inside fork_n_01_2 cabinet_n_01_1) (inside plate_n_04_2 cabinet_n_01_1) (inside salad_n_01_2 electric_refrigerator_n_01_1) (inside spoon_n_01_2 cabinet_n_01_1) (ontop soup_n_01_1 table_n_02_1) (ontop soup_n_01_2 table_n_02_1) (same_obj cabinet_n_01_1 cabinet_n_01_1) (same_obj cake_n_03_2 cake_n_03_2) (same_obj electric_refrigerator_n_01_1 electric_refrigerator_n_01_1) (same_obj fork_n_01_2 fork_n_01_2) (same_obj plate_n_04_2 plate_n_04_2) (same_obj salad_n_01_2 salad_n_01_2) (same_obj soup_n_01_1 soup_n_01_1) (same_obj soup_n_01_2 soup_n_01_2) (same_obj spoon_n_01_2 spoon_n_01_2) (same_obj table_n_02_1 table_n_02_1))
(:goal (and (ontop fork_n_01_2 table_n_02_1) (nextto salad_n_01_2 plate_n_04_2) (nextto spoon_n_01_2 soup_n_01_1) (nextto cake_n_03_2 plate_n_04_2)))
) |
default | polishing_shoes_0_Wainscott_0_int_0_2021-06-10_21-28-31 | polishing_shoes | Soak the rag, polish both shoes, and place the rag next to the sink. | (define (problem polishing_shoes_0)
(:domain igibson)
(:objects
shoe.n.01_1 shoe.n.01_2 - shoe.n.01
rag.n.01_1 - rag.n.01
floor.n.01_1 - floor.n.01
sink.n.01_1 - sink.n.01
agent.n.01_1 - agent.n.01
)
(:init
(stained shoe.n.01_1)
(stained shoe.n.01_2)
(onfloor rag.n.01_1 floor.n.01_1)
(not
(soaked rag.n.01_1)
)
(onfloor shoe.n.01_1 floor.n.01_1)
(onfloor shoe.n.01_2 floor.n.01_1)
(inroom sink.n.01_1 bathroom)
(inroom floor.n.01_1 bathroom)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(nextto ?rag.n.01_1 ?sink.n.01_1)
(soaked ?rag.n.01_1)
(and
(not
(stained ?shoe.n.01_1)
)
(not
(stained ?shoe.n.01_2)
)
)
)
)
) | nextto(rag.145, sink.67) and soaked(rag.145) and (not stained(sandal.143)) and (not stained(walker.144)) | [{'action': 'RIGHT_GRASP', 'object': 'rag_145'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_67'}, {'action': 'TOGGLE_ON', 'object': 'sink_67'}, {'action': 'SOAK', 'object': 'rag_145'}, {'action': 'TOGGLE_OFF', 'object': 'sink_67'}, {'action': 'RIGHT_GRASP', 'object': 'rag_145'}, {'action': 'CLEAN', 'object': 'walker_144'}, {'action': 'CLEAN', 'object': 'sandal_143'}, {'action': 'RIGHT_PLACE_NEXTTO', 'object': 'sink_67'}] | (define (problem polishing_shoes)
(:domain igibson)
(:objects agent_n_01_1 - agent floor_n_01_1 - floor_n_01 rag_n_01_1 - rag_n_01 shoe_n_01_1 shoe_n_01_2 - shoe_n_01 sink_n_01_1 - sink_n_01)
(:init (not (soaked rag_n_01_1)) (onfloor rag_n_01_1 floor_n_01_1) (onfloor shoe_n_01_1 floor_n_01_1) (onfloor shoe_n_01_2 floor_n_01_1) (same_obj floor_n_01_1 floor_n_01_1) (same_obj rag_n_01_1 rag_n_01_1) (same_obj shoe_n_01_1 shoe_n_01_1) (same_obj shoe_n_01_2 shoe_n_01_2) (same_obj sink_n_01_1 sink_n_01_1) (stained shoe_n_01_1) (stained shoe_n_01_2))
(:goal (and (soaked rag_n_01_1) (nextto rag_n_01_1 sink_n_01_1) (not (stained shoe_n_01_2)) (not (stained shoe_n_01_1))))
) |
default | packing_picnics_0_Wainscott_0_int_0_2021-10-26_11-07-29 | packing_picnics | Pack all chips and sandwiches inside one carton. Pack all fruits inside one carton. Pack all drinks inside one carton. | (define (problem packing_picnics_0)
(:domain igibson)
(:objects
carton.n.02_1 carton.n.02_2 carton.n.02_3 - carton.n.02
floor.n.01_1 floor.n.01_2 - floor.n.01
chip.n.04_1 chip.n.04_2 - chip.n.04
cabinet.n.01_1 - cabinet.n.01
sandwich.n.01_1 sandwich.n.01_2 sandwich.n.01_3 sandwich.n.01_4 - sandwich.n.01
countertop.n.01_1 - countertop.n.01
melon.n.01_1 - melon.n.01
strawberry.n.01_1 strawberry.n.01_2 strawberry.n.01_3 strawberry.n.01_4 - strawberry.n.01
electric_refrigerator.n.01_1 - electric_refrigerator.n.01
grape.n.01_1 grape.n.01_2 grape.n.01_3 grape.n.01_4 - grape.n.01
peach.n.03_1 peach.n.03_2 - peach.n.03
pop.n.02_1 pop.n.02_2 - pop.n.02
beer.n.01_1 beer.n.01_2 - beer.n.01
water.n.06_1 water.n.06_2 water.n.06_3 water.n.06_4 - water.n.06
sink.n.01_1 - sink.n.01
agent.n.01_1 - agent.n.01
)
(:init
(onfloor carton.n.02_1 floor.n.01_1)
(onfloor carton.n.02_2 floor.n.01_2)
(onfloor carton.n.02_3 floor.n.01_2)
(inside chip.n.04_1 cabinet.n.01_1)
(inside chip.n.04_2 cabinet.n.01_1)
(ontop sandwich.n.01_1 countertop.n.01_1)
(ontop sandwich.n.01_2 countertop.n.01_1)
(ontop sandwich.n.01_3 countertop.n.01_1)
(ontop sandwich.n.01_4 countertop.n.01_1)
(ontop melon.n.01_1 countertop.n.01_1)
(inside strawberry.n.01_1 electric_refrigerator.n.01_1)
(inside strawberry.n.01_2 electric_refrigerator.n.01_1)
(inside strawberry.n.01_3 electric_refrigerator.n.01_1)
(inside strawberry.n.01_4 electric_refrigerator.n.01_1)
(inside grape.n.01_1 electric_refrigerator.n.01_1)
(inside grape.n.01_2 electric_refrigerator.n.01_1)
(inside grape.n.01_3 electric_refrigerator.n.01_1)
(inside grape.n.01_4 electric_refrigerator.n.01_1)
(inside peach.n.03_1 electric_refrigerator.n.01_1)
(inside peach.n.03_2 electric_refrigerator.n.01_1)
(inside pop.n.02_1 electric_refrigerator.n.01_1)
(inside pop.n.02_2 electric_refrigerator.n.01_1)
(inside beer.n.01_1 electric_refrigerator.n.01_1)
(inside beer.n.01_2 electric_refrigerator.n.01_1)
(inside water.n.06_1 cabinet.n.01_1)
(inside water.n.06_2 cabinet.n.01_1)
(inside water.n.06_3 cabinet.n.01_1)
(inside water.n.06_4 cabinet.n.01_1)
(inroom floor.n.01_1 kitchen)
(inroom electric_refrigerator.n.01_1 kitchen)
(inroom countertop.n.01_1 kitchen)
(inroom cabinet.n.01_1 kitchen)
(inroom sink.n.01_1 kitchen)
(inroom floor.n.01_2 living_room)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(exists
(?carton.n.02 - carton.n.02)
(and
(forall
(?chip.n.04 - chip.n.04)
(inside ?chip.n.04 ?carton.n.02)
)
(forall
(?sandwich.n.01 - sandwich.n.01)
(inside ?sandwich.n.01 ?carton.n.02)
)
)
)
(exists
(?carton.n.02 - carton.n.02)
(and
(forall
(?strawberry.n.01 - strawberry.n.01)
(inside ?strawberry.n.01 ?carton.n.02)
)
(forall
(?grape.n.01 - grape.n.01)
(inside ?grape.n.01 ?carton.n.02)
)
(forall
(?peach.n.03 - peach.n.03)
(inside ?peach.n.03 ?carton.n.02)
)
(nextto ?melon.n.01_1 ?carton.n.02)
)
)
(exists
(?carton.n.02 - carton.n.02)
(and
(forall
(?pop.n.02 - pop.n.02)
(inside ?pop.n.02 ?carton.n.02)
)
(forall
(?beer.n.01 - beer.n.01)
(inside ?beer.n.01 ?carton.n.02)
)
(forall
(?water.n.06 - water.n.06)
(inside ?water.n.06 ?carton.n.02)
)
)
)
)
)
) | exists x0. (not carton_n_02(x0) or ((forall x1. (not chip_n_04(x1) or inside(x1, x0))) and (forall x1. (not sandwich_n_01(x1) or inside(x1, x0))))) and exists x0. (not carton_n_02(x0) or ((forall x1. (not strawberry_n_01(x1) or inside(x1, x0))) and (forall x1. (not grape_n_01(x1) or inside(x1, x0))) and (forall x1. (not peach_n_03(x1) or inside(x1, x0))) and nextto(cantaloup.0, x0))) and exists x0. (not carton_n_02(x0) or ((forall x1. (not pop_n_02(x1) or inside(x1, x0))) and (forall x1. (not beer_n_01(x1) or inside(x1, x0))) and (forall x1. (not water_n_06(x1) or inside(x1, x0))))) | [{'action': 'OPEN', 'object': 'bottom_cabinet_no_top_80'}, {'action': 'OPEN', 'object': 'fridge_97'}, {'action': 'RIGHT_GRASP', 'object': 'cantaloup_0'}, {'action': 'RIGHT_PLACE_NEXTTO', 'object': 'carton_0'}, {'action': 'LEFT_GRASP', 'object': 'hamburger_0'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'RIGHT_GRASP', 'object': 'hamburger_3'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'LEFT_GRASP', 'object': 'hamburger_1'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'RIGHT_GRASP', 'object': 'hamburger_2'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'LEFT_GRASP', 'object': 'chip_1'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'RIGHT_GRASP', 'object': 'chip_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'LEFT_GRASP', 'object': 'water_0'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'RIGHT_GRASP', 'object': 'water_2'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'LEFT_GRASP', 'object': 'water_3'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'RIGHT_GRASP', 'object': 'water_1'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'RIGHT_GRASP', 'object': 'grape_1'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'LEFT_GRASP', 'object': 'grape_3'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'UNFREEZE', 'object': 'grape_1'}, {'action': 'UNFREEZE', 'object': 'grape_3'}, {'action': 'RIGHT_GRASP', 'object': 'strawberry_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'LEFT_GRASP', 'object': 'strawberry_3'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'UNFREEZE', 'object': 'strawberry_0'}, {'action': 'UNFREEZE', 'object': 'strawberry_3'}, {'action': 'RIGHT_GRASP', 'object': 'peach_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'LEFT_GRASP', 'object': 'strawberry_2'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'UNFREEZE', 'object': 'peach_0'}, {'action': 'UNFREEZE', 'object': 'strawberry_2'}, {'action': 'RIGHT_GRASP', 'object': 'beer_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'LEFT_GRASP', 'object': 'peach_1'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'UNFREEZE', 'object': 'beer_0'}, {'action': 'UNFREEZE', 'object': 'peach_1'}, {'action': 'RIGHT_GRASP', 'object': 'beer_1'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'LEFT_GRASP', 'object': 'grape_0'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'UNFREEZE', 'object': 'beer_1'}, {'action': 'UNFREEZE', 'object': 'grape_0'}, {'action': 'RIGHT_GRASP', 'object': 'pop_1'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'LEFT_GRASP', 'object': 'pop_0'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'UNFREEZE', 'object': 'pop_1'}, {'action': 'UNFREEZE', 'object': 'pop_0'}, {'action': 'RIGHT_GRASP', 'object': 'grape_2'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'LEFT_GRASP', 'object': 'strawberry_1'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'UNFREEZE', 'object': 'grape_2'}, {'action': 'UNFREEZE', 'object': 'strawberry_1'}, {'action': 'CLOSE', 'object': 'fridge_97'}] | (define (problem packing_picnics)
(:domain igibson)
(:objects agent_n_01_1 - agent carton_n_02_2 carton_n_02_3 - carton_n_02 electric_refrigerator_n_01_1 - electric_refrigerator_n_01 floor_n_01_2 - floor_n_01 grape_n_01_3 - grape_n_01 pop_n_02_2 - pop_n_02 strawberry_n_01_1 strawberry_n_01_4 - strawberry_n_01)
(:init (inside grape_n_01_3 electric_refrigerator_n_01_1) (inside pop_n_02_2 electric_refrigerator_n_01_1) (inside strawberry_n_01_1 electric_refrigerator_n_01_1) (inside strawberry_n_01_4 electric_refrigerator_n_01_1) (onfloor carton_n_02_2 floor_n_01_2) (onfloor carton_n_02_3 floor_n_01_2) (same_obj carton_n_02_2 carton_n_02_2) (same_obj carton_n_02_3 carton_n_02_3) (same_obj electric_refrigerator_n_01_1 electric_refrigerator_n_01_1) (same_obj floor_n_01_2 floor_n_01_2) (same_obj grape_n_01_3 grape_n_01_3) (same_obj pop_n_02_2 pop_n_02_2) (same_obj strawberry_n_01_1 strawberry_n_01_1) (same_obj strawberry_n_01_4 strawberry_n_01_4))
(:goal (and (inside strawberry_n_01_1 carton_n_02_2) (inside grape_n_01_3 carton_n_02_2) (inside pop_n_02_2 carton_n_02_3) (inside strawberry_n_01_4 carton_n_02_2)))
) |
default | moving_boxes_to_storage_0_Merom_0_int_0_2021-06-11_20-04-35 | moving_boxes_to_storage | Move carton1 to floor2 and place carton2 on top of carton1. | (define (problem moving_boxes_to_storage_0)
(:domain igibson)
(:objects
carton.n.02_1 carton.n.02_2 - carton.n.02
floor.n.01_1 floor.n.01_2 - floor.n.01
shelf.n.01_1 - shelf.n.01
agent.n.01_1 - agent.n.01
)
(:init
(onfloor carton.n.02_1 floor.n.01_1)
(onfloor carton.n.02_2 floor.n.01_1)
(inroom floor.n.01_1 living_room)
(inroom floor.n.01_2 storage_room)
(inroom shelf.n.01_1 living_room)
(onfloor agent.n.01_1 floor.n.01_2)
)
(:goal
(and
(onfloor ?carton.n.02_1 ?floor.n.01_2)
(ontop ?carton.n.02_2 ?carton.n.02_1)
)
)
) | onfloor(carton.70, room_floor_storage_room.0) and ontop(carton.71, carton.70) | [{'action': 'RIGHT_GRASP', 'object': 'carton_70'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'room_floor_storage_room_0'}, {'action': 'RIGHT_GRASP', 'object': 'carton_71'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'carton_70'}] | (define (problem moving_boxes_to_storage)
(:domain igibson)
(:objects agent_n_01_1 - agent carton_n_02_1 carton_n_02_2 - carton_n_02 floor_n_01_1 floor_n_01_2 - floor_n_01)
(:init (onfloor agent_n_01_1 floor_n_01_2) (onfloor carton_n_02_1 floor_n_01_1) (onfloor carton_n_02_2 floor_n_01_1) (same_obj agent_n_01_1 agent_n_01_1) (same_obj carton_n_02_1 carton_n_02_1) (same_obj carton_n_02_2 carton_n_02_2) (same_obj floor_n_01_1 floor_n_01_1) (same_obj floor_n_01_2 floor_n_01_2))
(:goal (and (ontop carton_n_02_2 carton_n_02_1) (onfloor carton_n_02_1 floor_n_01_2)))
) |
default | filling_a_Christmas_stocking_0_Rs_int_0_2021-06-04_18-47-42 | filling_a_Christmas_stocking | Fill each stocking with one cube, one candy, and one pen. | (define (problem filling_a_Christmas_stocking_0)
(:domain igibson)
(:objects
cube.n.05_1 cube.n.05_2 cube.n.05_3 cube.n.05_4 - cube.n.05
floor.n.01_1 - floor.n.01
candy.n.01_1 candy.n.01_2 candy.n.01_3 candy.n.01_4 - candy.n.01
cabinet.n.01_1 cabinet.n.01_2 - cabinet.n.01
pen.n.01_1 pen.n.01_2 pen.n.01_3 pen.n.01_4 - pen.n.01
stocking.n.01_1 stocking.n.01_2 stocking.n.01_3 stocking.n.01_4 - stocking.n.01
agent.n.01_1 - agent.n.01
)
(:init
(onfloor cube.n.05_1 floor.n.01_1)
(onfloor cube.n.05_2 floor.n.01_1)
(onfloor cube.n.05_3 floor.n.01_1)
(onfloor cube.n.05_4 floor.n.01_1)
(inside candy.n.01_1 cabinet.n.01_1)
(inside candy.n.01_2 cabinet.n.01_1)
(inside candy.n.01_3 cabinet.n.01_1)
(inside candy.n.01_4 cabinet.n.01_1)
(inside pen.n.01_1 cabinet.n.01_1)
(inside pen.n.01_2 cabinet.n.01_1)
(inside pen.n.01_3 cabinet.n.01_1)
(inside pen.n.01_4 cabinet.n.01_1)
(onfloor stocking.n.01_1 floor.n.01_1)
(onfloor stocking.n.01_2 floor.n.01_1)
(onfloor stocking.n.01_3 floor.n.01_1)
(onfloor stocking.n.01_4 floor.n.01_1)
(inroom floor.n.01_1 living_room)
(inroom cabinet.n.01_1 kitchen)
(inroom cabinet.n.01_2 kitchen)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(forpairs
(?stocking.n.01 - stocking.n.01)
(?cube.n.05 - cube.n.05)
(inside ?cube.n.05 ?stocking.n.01)
)
(forpairs
(?stocking.n.01 - stocking.n.01)
(?candy.n.01 - candy.n.01)
(inside ?candy.n.01 ?stocking.n.01)
)
(forpairs
(?stocking.n.01 - stocking.n.01)
(?pen.n.01 - pen.n.01)
(inside ?pen.n.01 ?stocking.n.01)
)
)
)
) | forall x0. (not stocking_n_01(x0) or forn 1. x1. (not cube_n_05(x1) or inside(x1, x0))) and forall x1. (not cube_n_05(x1) or forn 1. x0. (not stocking_n_01(x0) or inside(x1, x0))) and forall x0. (not stocking_n_01(x0) or forn 1. x1. (not candy_n_01(x1) or inside(x1, x0))) and forall x1. (not candy_n_01(x1) or forn 1. x0. (not stocking_n_01(x0) or inside(x1, x0))) and forall x0. (not stocking_n_01(x0) or forn 1. x1. (not pen_n_01(x1) or inside(x1, x0))) and forall x1. (not pen_n_01(x1) or forn 1. x0. (not stocking_n_01(x0) or inside(x1, x0))) | [{'action': 'RIGHT_GRASP', 'object': 'ice_cube_2'}, {'action': 'LEFT_GRASP', 'object': 'stocking_2'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'stocking_2'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'room_floor_living_room_0'}, {'action': 'RIGHT_GRASP', 'object': 'ice_cube_3'}, {'action': 'LEFT_GRASP', 'object': 'stocking_1'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'stocking_1'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'room_floor_living_room_0'}, {'action': 'RIGHT_GRASP', 'object': 'ice_cube_1'}, {'action': 'LEFT_GRASP', 'object': 'stocking_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'stocking_0'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'room_floor_living_room_0'}, {'action': 'RIGHT_GRASP', 'object': 'ice_cube_0'}, {'action': 'LEFT_GRASP', 'object': 'stocking_3'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'stocking_3'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'room_floor_living_room_0'}, {'action': 'OPEN', 'object': 'bottom_cabinet_41'}, {'action': 'RIGHT_GRASP', 'object': 'pen_0'}, {'action': 'LEFT_GRASP', 'object': 'lollipop_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'stocking_0'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'stocking_0'}, {'action': 'LEFT_GRASP', 'object': 'candy_cane_0'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'stocking_0'}, {'action': 'RIGHT_GRASP', 'object': 'pen_1'}, {'action': 'LEFT_GRASP', 'object': 'lollipop_1'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'stocking_1'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'stocking_1'}, {'action': 'LEFT_GRASP', 'object': 'lollipop_0'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'stocking_1'}, {'action': 'RIGHT_GRASP', 'object': 'pen_2'}, {'action': 'LEFT_GRASP', 'object': 'lollipop_2'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'stocking_2'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'stocking_2'}, {'action': 'LEFT_GRASP', 'object': 'lollipop_1'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'stocking_2'}, {'action': 'RIGHT_GRASP', 'object': 'pen_3'}, {'action': 'LEFT_GRASP', 'object': 'candy_cane_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'stocking_3'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'stocking_3'}, {'action': 'LEFT_GRASP', 'object': 'lollipop_2'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'stocking_3'}] | (define (problem filling_a_Christmas_stocking)
(:domain igibson)
(:objects agent_n_01_1 - agent cabinet_n_01_1 - cabinet_n_01 candy_n_01_4 - candy_n_01 cube_n_05_1 cube_n_05_3 - cube_n_05 floor_n_01_1 - floor_n_01 pen_n_01_2 - pen_n_01 stocking_n_01_1 stocking_n_01_2 stocking_n_01_4 - stocking_n_01)
(:init (inside candy_n_01_4 cabinet_n_01_1) (inside pen_n_01_2 cabinet_n_01_1) (onfloor cube_n_05_1 floor_n_01_1) (onfloor cube_n_05_3 floor_n_01_1) (onfloor stocking_n_01_1 floor_n_01_1) (onfloor stocking_n_01_2 floor_n_01_1) (onfloor stocking_n_01_4 floor_n_01_1) (same_obj cabinet_n_01_1 cabinet_n_01_1) (same_obj candy_n_01_4 candy_n_01_4) (same_obj cube_n_05_1 cube_n_05_1) (same_obj cube_n_05_3 cube_n_05_3) (same_obj floor_n_01_1 floor_n_01_1) (same_obj pen_n_01_2 pen_n_01_2) (same_obj stocking_n_01_1 stocking_n_01_1) (same_obj stocking_n_01_2 stocking_n_01_2) (same_obj stocking_n_01_4 stocking_n_01_4))
(:goal (and (inside pen_n_01_2 stocking_n_01_2) (inside candy_n_01_4 stocking_n_01_4) (inside cube_n_05_3 stocking_n_01_4) (inside cube_n_05_1 stocking_n_01_1)))
) |
default | cleaning_a_car_0_Ihlen_0_int_0_2021-09-11_16-37-11 | cleaning_a_car | Use the soap, rag and bucket to clean dust off the car. | (define (problem cleaning_a_car_0)
(:domain igibson)
(:objects
car.n.01_1 - car.n.01
floor.n.01_1 - floor.n.01
rag.n.01_1 - rag.n.01
shelf.n.01_1 - shelf.n.01
soap.n.01_1 - soap.n.01
bucket.n.01_1 - bucket.n.01
sink.n.01_1 - sink.n.01
agent.n.01_1 - agent.n.01
)
(:init
(onfloor car.n.01_1 floor.n.01_1)
(ontop rag.n.01_1 shelf.n.01_1)
(not
(soaked rag.n.01_1)
)
(ontop soap.n.01_1 shelf.n.01_1)
(dusty car.n.01_1)
(onfloor bucket.n.01_1 floor.n.01_1)
(inroom floor.n.01_1 garage)
(inroom sink.n.01_1 bathroom)
(inroom shelf.n.01_1 garage)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(not
(dusty ?car.n.01_1)
)
(inside ?soap.n.01_1 ?bucket.n.01_1)
(inside ?rag.n.01_1 ?bucket.n.01_1)
)
)
) | not dusty(car.0) and inside(soap.0, bucket.0) and inside(rag.0, bucket.0) | [{'action': 'RIGHT_GRASP', 'object': 'rag_0'}, {'action': 'LEFT_GRASP', 'object': 'soap_0'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'bucket_0'}, {'action': 'CLEAN', 'object': 'car_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'bucket_0'}] | (define (problem cleaning_a_car)
(:domain igibson)
(:objects agent_n_01_1 - agent bucket_n_01_1 - bucket_n_01 car_n_01_1 - car_n_01 floor_n_01_1 - floor_n_01 rag_n_01_1 - rag_n_01 shelf_n_01_1 - shelf_n_01 soap_n_01_1 - soap_n_01)
(:init (dusty car_n_01_1) (not (soaked rag_n_01_1)) (onfloor bucket_n_01_1 floor_n_01_1) (onfloor car_n_01_1 floor_n_01_1) (ontop rag_n_01_1 shelf_n_01_1) (ontop soap_n_01_1 shelf_n_01_1) (same_obj bucket_n_01_1 bucket_n_01_1) (same_obj car_n_01_1 car_n_01_1) (same_obj floor_n_01_1 floor_n_01_1) (same_obj rag_n_01_1 rag_n_01_1) (same_obj shelf_n_01_1 shelf_n_01_1) (same_obj soap_n_01_1 soap_n_01_1))
(:goal (and (inside soap_n_01_1 bucket_n_01_1) (not (dusty car_n_01_1)) (inside rag_n_01_1 bucket_n_01_1)))
) |
default | defrosting_freezer_0_Beechwood_0_int_0_2021-10-25_23-10-43 | defrosting_freezer | Place the receptacle next to the refrigerator, the bucket next to the countertop, the scraper on top of the refrigerator, the towel on the countertop, the soaked rag inside the sink, and all the food inside the bucket. | (define (problem defrosting_freezer_0)
(:domain igibson)
(:objects
floor.n.01_1 - floor.n.01
electric_refrigerator.n.01_1 - electric_refrigerator.n.01
sink.n.01_1 - sink.n.01
countertop.n.01_1 - countertop.n.01
receptacle.n.01_1 - receptacle.n.01
bucket.n.01_1 - bucket.n.01
scraper.n.01_1 - scraper.n.01
towel.n.01_1 - towel.n.01
rag.n.01_1 - rag.n.01
food.n.02_1 food.n.02_2 food.n.02_3 - food.n.02
agent.n.01_1 - agent.n.01
)
(:init
(not
(stained sink.n.01_1)
)
(onfloor receptacle.n.01_1 floor.n.01_1)
(onfloor bucket.n.01_1 floor.n.01_1)
(ontop scraper.n.01_1 countertop.n.01_1)
(ontop towel.n.01_1 countertop.n.01_1)
(not
(stained towel.n.01_1)
)
(ontop rag.n.01_1 countertop.n.01_1)
(not
(soaked rag.n.01_1)
)
(inside food.n.02_1 electric_refrigerator.n.01_1)
(inside food.n.02_2 electric_refrigerator.n.01_1)
(inside food.n.02_3 electric_refrigerator.n.01_1)
(inroom floor.n.01_1 kitchen)
(inroom electric_refrigerator.n.01_1 kitchen)
(inroom sink.n.01_1 kitchen)
(inroom countertop.n.01_1 kitchen)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(nextto ?receptacle.n.01_1 ?electric_refrigerator.n.01_1)
(nextto ?bucket.n.01_1 ?countertop.n.01_1)
(ontop ?scraper.n.01_1 ?electric_refrigerator.n.01_1)
(ontop ?towel.n.01_1 ?countertop.n.01_1)
(inside ?rag.n.01_1 ?sink.n.01_1)
(soaked ?rag.n.01_1)
(forall
(?food.n.02 - food.n.02)
(inside ?food.n.02 ?bucket.n.01_1)
)
)
)
) | nextto(dustpan.0, fridge.57) and nextto(bucket.0, countertop.56) and ontop(scraper.0, fridge.57) and ontop(paper_towel.0, countertop.56) and inside(rag.0, sink.64) and soaked(rag.0) and forall x0. (not food_n_02(x0) or inside(x0, bucket.0)) | [{'action': 'RIGHT_GRASP', 'object': 'rag_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_64'}, {'action': 'TOGGLE_ON', 'object': 'sink_64'}, {'action': 'SOAK', 'object': 'rag_0'}, {'action': 'TOGGLE_OFF', 'object': 'sink_64'}, {'action': 'RIGHT_GRASP', 'object': 'bucket_0'}, {'action': 'OPEN', 'object': 'fridge_57'}, {'action': 'LEFT_GRASP', 'object': 'pear_0'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'bucket_0'}, {'action': 'UNFREEZE', 'object': 'pear_0'}, {'action': 'LEFT_GRASP', 'object': 'pea_0'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'bucket_0'}, {'action': 'UNFREEZE', 'object': 'pea_0'}, {'action': 'LEFT_GRASP', 'object': 'pomelo_0'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'bucket_0'}, {'action': 'UNFREEZE', 'object': 'pomelo_0'}, {'action': 'CLOSE', 'object': 'fridge_57'}, {'action': 'RIGHT_PLACE_NEXTTO', 'object': 'countertop_56'}, {'action': 'RIGHT_GRASP', 'object': 'scraper_0'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'fridge_57'}, {'action': 'RIGHT_GRASP', 'object': 'dustpan_0'}, {'action': 'RIGHT_PLACE_NEXTTO', 'object': 'fridge_57'}] | (define (problem defrosting_freezer)
(:domain igibson)
(:objects agent_n_01_1 - agent bucket_n_01_1 - bucket_n_01 countertop_n_01_1 - countertop_n_01 electric_refrigerator_n_01_1 - electric_refrigerator_n_01 floor_n_01_1 - floor_n_01 food_n_02_1 food_n_02_2 food_n_02_3 - food_n_02 rag_n_01_1 - rag_n_01 receptacle_n_01_1 - receptacle_n_01 scraper_n_01_1 - scraper_n_01 towel_n_01_1 - towel_n_01)
(:init (inside food_n_02_1 electric_refrigerator_n_01_1) (inside food_n_02_2 electric_refrigerator_n_01_1) (inside food_n_02_3 electric_refrigerator_n_01_1) (not (stained towel_n_01_1)) (onfloor bucket_n_01_1 floor_n_01_1) (onfloor receptacle_n_01_1 floor_n_01_1) (ontop rag_n_01_1 countertop_n_01_1) (ontop scraper_n_01_1 countertop_n_01_1) (ontop towel_n_01_1 countertop_n_01_1) (same_obj bucket_n_01_1 bucket_n_01_1) (same_obj countertop_n_01_1 countertop_n_01_1) (same_obj electric_refrigerator_n_01_1 electric_refrigerator_n_01_1) (same_obj floor_n_01_1 floor_n_01_1) (same_obj food_n_02_1 food_n_02_1) (same_obj food_n_02_2 food_n_02_2) (same_obj food_n_02_3 food_n_02_3) (same_obj rag_n_01_1 rag_n_01_1) (same_obj receptacle_n_01_1 receptacle_n_01_1) (same_obj scraper_n_01_1 scraper_n_01_1) (same_obj towel_n_01_1 towel_n_01_1))
(:goal (and (ontop scraper_n_01_1 electric_refrigerator_n_01_1) (ontop towel_n_01_1 countertop_n_01_1) (inside food_n_02_1 bucket_n_01_1) (nextto receptacle_n_01_1 electric_refrigerator_n_01_1)))
) |
default | packing_lunches_0_Beechwood_0_int_0_2021-10-26_11-03-14 | packing_lunches | Place chips, cookies, salad, juice, sandwich, and pop in separate cartons, ensuring the correct items are inside each carton. Additionally, put either an apple or a banana in each of carton1 and carton2. | (define (problem packing_lunches_0)
(:domain igibson)
(:objects
salad.n.01_1 - salad.n.01
electric_refrigerator.n.01_1 - electric_refrigerator.n.01
sandwich.n.01_1 - sandwich.n.01
chip.n.04_1 chip.n.04_2 - chip.n.04
cabinet.n.01_1 - cabinet.n.01
juice.n.01_1 - juice.n.01
table.n.02_1 - table.n.02
pop.n.02_1 - pop.n.02
apple.n.01_1 - apple.n.01
countertop.n.01_1 - countertop.n.01
banana.n.02_1 - banana.n.02
carton.n.02_1 carton.n.02_2 - carton.n.02
cookie.n.01_1 cookie.n.01_2 - cookie.n.01
floor.n.01_1 floor.n.01_2 - floor.n.01
agent.n.01_1 - agent.n.01
)
(:init
(inside salad.n.01_1 electric_refrigerator.n.01_1)
(inside sandwich.n.01_1 electric_refrigerator.n.01_1)
(inside chip.n.04_1 cabinet.n.01_1)
(inside chip.n.04_2 cabinet.n.01_1)
(ontop juice.n.01_1 table.n.02_1)
(ontop pop.n.02_1 table.n.02_1)
(ontop apple.n.01_1 countertop.n.01_1)
(ontop banana.n.02_1 countertop.n.01_1)
(onfloor carton.n.02_1 floor.n.01_2)
(onfloor carton.n.02_2 floor.n.01_2)
(ontop cookie.n.01_1 countertop.n.01_1)
(ontop cookie.n.01_2 countertop.n.01_1)
(inroom cabinet.n.01_1 kitchen)
(inroom countertop.n.01_1 kitchen)
(inroom table.n.02_1 kitchen)
(inroom electric_refrigerator.n.01_1 kitchen)
(inroom floor.n.01_1 kitchen)
(inroom floor.n.01_2 living_room)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(forpairs
(?chip.n.04 - chip.n.04)
(?carton.n.02 - carton.n.02)
(inside ?chip.n.04 ?carton.n.02)
)
(forpairs
(?cookie.n.01 - cookie.n.01)
(?carton.n.02 - carton.n.02)
(inside ?cookie.n.01 ?carton.n.02)
)
(exists
(?carton.n.02 - carton.n.02)
(and
(inside ?salad.n.01_1 ?carton.n.02)
(inside ?juice.n.01_1 ?carton.n.02)
(not
(inside ?sandwich.n.01_1 ?carton.n.02)
)
)
)
(exists
(?carton.n.02 - carton.n.02)
(and
(inside ?sandwich.n.01_1 ?carton.n.02)
(inside ?pop.n.02_1 ?carton.n.02)
(not
(inside ?salad.n.01_1 ?carton.n.02)
)
)
)
(or
(inside ?apple.n.01_1 ?carton.n.02_1)
(inside ?banana.n.02_1 ?carton.n.02_1)
)
(or
(inside ?apple.n.01_1 ?carton.n.02_2)
(inside ?banana.n.02_1 ?carton.n.02_2)
)
)
)
) | forall x0. (not chip_n_04(x0) or forn 1. x1. (not carton_n_02(x1) or inside(x0, x1))) and forall x1. (not carton_n_02(x1) or forn 1. x0. (not chip_n_04(x0) or inside(x0, x1))) and forall x0. (not cookie_n_01(x0) or forn 1. x1. (not carton_n_02(x1) or inside(x0, x1))) and forall x1. (not carton_n_02(x1) or forn 1. x0. (not cookie_n_01(x0) or inside(x0, x1))) and exists x0. (not carton_n_02(x0) or (inside(salad.0, x0) and inside(juice.0, x0) and (not inside(hamburger.0, x0)))) and exists x0. (not carton_n_02(x0) or (inside(hamburger.0, x0) and inside(pop.0, x0) and (not inside(salad.0, x0)))) and inside(apple.0, carton.0) or inside(banana.0, carton.0) and inside(apple.0, carton.1) or inside(banana.0, carton.1) | [{'action': 'RIGHT_GRASP', 'object': 'apple_0'}, {'action': 'LEFT_GRASP', 'object': 'banana_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'carton_1'}, {'action': 'RIGHT_GRASP', 'object': 'cookie_0'}, {'action': 'LEFT_GRASP', 'object': 'cookie_1'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'carton_1'}, {'action': 'OPEN', 'object': 'bottom_cabinet_no_top_54'}, {'action': 'RIGHT_GRASP', 'object': 'chip_0'}, {'action': 'LEFT_GRASP', 'object': 'chip_1'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'carton_1'}, {'action': 'OPEN', 'object': 'fridge_57'}, {'action': 'RIGHT_GRASP', 'object': 'salad_0'}, {'action': 'LEFT_GRASP', 'object': 'hamburger_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'carton_1'}, {'action': 'RIGHT_GRASP', 'object': 'juice_0'}, {'action': 'LEFT_GRASP', 'object': 'pop_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'carton_1'}, {'action': 'CLOSE', 'object': 'fridge_57'}] | (define (problem packing_lunches)
(:domain igibson)
(:objects agent_n_01_1 - agent apple_n_01_1 - apple_n_01 carton_n_02_1 carton_n_02_2 - carton_n_02 countertop_n_01_1 - countertop_n_01 electric_refrigerator_n_01_1 - electric_refrigerator_n_01 floor_n_01_2 - floor_n_01 juice_n_01_1 - juice_n_01 pop_n_02_1 - pop_n_02 sandwich_n_01_1 - sandwich_n_01 table_n_02_1 - table_n_02)
(:init (inside sandwich_n_01_1 electric_refrigerator_n_01_1) (onfloor carton_n_02_1 floor_n_01_2) (onfloor carton_n_02_2 floor_n_01_2) (ontop apple_n_01_1 countertop_n_01_1) (ontop juice_n_01_1 table_n_02_1) (ontop pop_n_02_1 table_n_02_1) (same_obj apple_n_01_1 apple_n_01_1) (same_obj carton_n_02_1 carton_n_02_1) (same_obj carton_n_02_2 carton_n_02_2) (same_obj countertop_n_01_1 countertop_n_01_1) (same_obj electric_refrigerator_n_01_1 electric_refrigerator_n_01_1) (same_obj floor_n_01_2 floor_n_01_2) (same_obj juice_n_01_1 juice_n_01_1) (same_obj pop_n_02_1 pop_n_02_1) (same_obj sandwich_n_01_1 sandwich_n_01_1) (same_obj table_n_02_1 table_n_02_1))
(:goal (and (inside apple_n_01_1 carton_n_02_1) (not (inside sandwich_n_01_1 carton_n_02_2)) (inside juice_n_01_1 carton_n_02_2) (inside pop_n_02_1 carton_n_02_1)))
) |
default | vacuuming_floors_0_Ihlen_1_int_0_2021-06-08_18-03-55 | vacuuming_floors | Vacuum the dusty floors. | (define (problem vacuuming_floors_0)
(:domain igibson)
(:objects
floor.n.01_1 - floor.n.01
vacuum.n.04_1 - vacuum.n.04
ashcan.n.01_1 - ashcan.n.01
agent.n.01_1 - agent.n.01
)
(:init
(dusty floor.n.01_1)
(onfloor vacuum.n.04_1 floor.n.01_1)
(onfloor ashcan.n.01_1 floor.n.01_1)
(inroom floor.n.01_1 bedroom)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(not
(dusty ?floor.n.01_1)
)
)
)
) | not dusty(room_floor_bedroom.0) | [{'action': 'RIGHT_GRASP', 'object': 'vacuum_0'}, {'action': 'CLEAN', 'object': 'room_floor_bedroom_0'}] | (define (problem vacuuming_floors)
(:domain igibson)
(:objects agent_n_01_1 - agent ashcan_n_01_1 - ashcan_n_01 floor_n_01_1 - floor_n_01 vacuum_n_04_1 - vacuum_n_04)
(:init (dusty floor_n_01_1) (onfloor agent_n_01_1 floor_n_01_1) (onfloor ashcan_n_01_1 floor_n_01_1) (onfloor vacuum_n_04_1 floor_n_01_1) (same_obj agent_n_01_1 agent_n_01_1) (same_obj ashcan_n_01_1 ashcan_n_01_1) (same_obj floor_n_01_1 floor_n_01_1) (same_obj vacuum_n_04_1 vacuum_n_04_1))
(:goal (not (dusty floor_n_01_1)))
) |
default | installing_a_scanner_0_Pomaria_0_int_0_2021-06-08_18-34-59 | installing_a_scanner | Turn on the scanner and place it under the table. | (define (problem installing_a_scanner_0)
(:domain igibson)
(:objects
scanner.n.02_1 - scanner.n.02
table.n.02_1 - table.n.02
floor.n.01_1 - floor.n.01
agent.n.01_1 - agent.n.01
)
(:init
(ontop scanner.n.02_1 table.n.02_1)
(not
(toggled_on scanner.n.02_1)
)
(inroom table.n.02_1 home_office)
(inroom floor.n.01_1 home_office)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(toggled_on ?scanner.n.02_1)
(under ?scanner.n.02_1 ?table.n.02_1)
)
)
) | toggledon(scanner.0) and under(scanner.0, breakfast_table.3) | [{'action': 'RIGHT_GRASP', 'object': 'scanner_0'}, {'action': 'RIGHT_PLACE_UNDER', 'object': 'breakfast_table_3'}, {'action': 'TOGGLE_ON', 'object': 'scanner_0'}] | (define (problem installing_a_scanner)
(:domain igibson)
(:objects agent_n_01_1 - agent scanner_n_02_1 - scanner_n_02 table_n_02_1 - table_n_02)
(:init (not (toggled_on scanner_n_02_1)) (ontop scanner_n_02_1 table_n_02_1) (same_obj scanner_n_02_1 scanner_n_02_1) (same_obj table_n_02_1 table_n_02_1))
(:goal (and (toggled_on scanner_n_02_1) (under scanner_n_02_1 table_n_02_1)))
) |
default | installing_a_fax_machine_0_Beechwood_0_int_0_2021-10-25_20-22-22 | installing_a_fax_machine | Place the fax machine on the table and turn it on. | (define (problem installing_a_fax_machine_0)
(:domain igibson)
(:objects
facsimile.n.02_1 - facsimile.n.02
floor.n.01_1 - floor.n.01
table.n.02_1 - table.n.02
agent.n.01_1 - agent.n.01
)
(:init
(onfloor facsimile.n.02_1 floor.n.01_1)
(not
(toggled_on facsimile.n.02_1)
)
(inroom table.n.02_1 home_office)
(inroom floor.n.01_1 home_office)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(ontop ?facsimile.n.02_1 ?table.n.02_1)
(toggled_on ?facsimile.n.02_1)
)
)
) | ontop(facsimile.0, breakfast_table.37) and toggledon(facsimile.0) | [{'action': 'RIGHT_GRASP', 'object': 'facsimile_0'}, {'action': 'TOGGLE_ON', 'object': 'facsimile_0'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'breakfast_table_37'}] | (define (problem installing_a_fax_machine)
(:domain igibson)
(:objects agent_n_01_1 - agent facsimile_n_02_1 - facsimile_n_02 floor_n_01_1 - floor_n_01 table_n_02_1 - table_n_02)
(:init (not (toggled_on facsimile_n_02_1)) (onfloor facsimile_n_02_1 floor_n_01_1) (same_obj facsimile_n_02_1 facsimile_n_02_1) (same_obj floor_n_01_1 floor_n_01_1) (same_obj table_n_02_1 table_n_02_1))
(:goal (and (toggled_on facsimile_n_02_1) (ontop facsimile_n_02_1 table_n_02_1)))
) |
default | bringing_in_wood_0_Benevolence_1_int_0_2021-09-15_18-42-25 | bringing_in_wood | Bring all plywood pieces inside and put them down. | (define (problem bringing_in_wood_0)
(:domain igibson)
(:objects
plywood.n.01_1 plywood.n.01_2 plywood.n.01_3 - plywood.n.01
floor.n.01_1 floor.n.01_2 - floor.n.01
agent.n.01_1 - agent.n.01
)
(:init
(onfloor plywood.n.01_1 floor.n.01_1)
(onfloor plywood.n.01_2 floor.n.01_1)
(onfloor plywood.n.01_3 floor.n.01_1)
(inroom floor.n.01_1 living_room)
(inroom floor.n.01_2 kitchen)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(forall
(?plywood.n.01 - plywood.n.01)
(onfloor ?plywood.n.01 ?floor.n.01_2)
)
)
)
) | forall x0. (not plywood_n_01(x0) or onfloor(x0, room_floor_kitchen.0)) | [{'action': 'RIGHT_GRASP', 'object': 'plywood_2'}, {'action': 'LEFT_GRASP', 'object': 'plywood_0'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'room_floor_kitchen_0'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'room_floor_kitchen_0'}, {'action': 'RIGHT_GRASP', 'object': 'plywood_1'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'room_floor_kitchen_0'}] | (define (problem bringing_in_wood)
(:domain igibson)
(:objects agent_n_01_1 - agent floor_n_01_1 floor_n_01_2 - floor_n_01 plywood_n_01_1 plywood_n_01_2 plywood_n_01_3 - plywood_n_01)
(:init (onfloor plywood_n_01_1 floor_n_01_1) (onfloor plywood_n_01_2 floor_n_01_1) (onfloor plywood_n_01_3 floor_n_01_1) (same_obj floor_n_01_1 floor_n_01_1) (same_obj floor_n_01_2 floor_n_01_2) (same_obj plywood_n_01_1 plywood_n_01_1) (same_obj plywood_n_01_2 plywood_n_01_2) (same_obj plywood_n_01_3 plywood_n_01_3))
(:goal (and (onfloor plywood_n_01_1 floor_n_01_2) (onfloor plywood_n_01_3 floor_n_01_2) (onfloor plywood_n_01_2 floor_n_01_2)))
) |
default | cleaning_oven_0_Benevolence_1_int_0_2021-09-11_12-20-40 | cleaning_oven | Clean the oven using wet rags and scrub brushes. | (define (problem cleaning_oven_0)
(:domain igibson)
(:objects
receptacle.n.01_1 - receptacle.n.01
floor.n.01_1 - floor.n.01
soap.n.01_1 - soap.n.01
cabinet.n.01_1 - cabinet.n.01
rag.n.01_1 rag.n.01_2 - rag.n.01
newspaper.n.03_1 - newspaper.n.03
sink.n.01_1 - sink.n.01
scrub_brush.n.01_1 - scrub_brush.n.01
oven.n.01_1 - oven.n.01
agent.n.01_1 - agent.n.01
)
(:init
(onfloor receptacle.n.01_1 floor.n.01_1)
(inside soap.n.01_1 cabinet.n.01_1)
(inside rag.n.01_1 cabinet.n.01_1)
(inside rag.n.01_2 cabinet.n.01_1)
(not
(soaked rag.n.01_1)
)
(not
(soaked rag.n.01_2)
)
(onfloor newspaper.n.03_1 floor.n.01_1)
(inside scrub_brush.n.01_1 cabinet.n.01_1)
(not
(soaked scrub_brush.n.01_1)
)
(stained oven.n.01_1)
(inroom oven.n.01_1 kitchen)
(inroom cabinet.n.01_1 kitchen)
(inroom sink.n.01_1 kitchen)
(inroom floor.n.01_1 kitchen)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(forall
(?rag.n.01 - rag.n.01)
(soaked ?rag.n.01)
)
(soaked ?scrub_brush.n.01_1)
(not
(stained ?oven.n.01_1)
)
)
)
) | forall x0. (not rag_n_01(x0) or soaked(x0)) and soaked(scrub_brush.0) and not stained(oven.24) | [{'action': 'OPEN', 'object': 'bottom_cabinet_no_top_15'}, {'action': 'TOGGLE_ON', 'object': 'sink_19'}, {'action': 'RIGHT_GRASP', 'object': 'scrub_brush_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_19'}, {'action': 'SOAK', 'object': 'scrub_brush_0'}, {'action': 'RIGHT_GRASP', 'object': 'scrub_brush_0'}, {'action': 'LEFT_GRASP', 'object': 'rag_0'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'sink_19'}, {'action': 'SOAK', 'object': 'rag_0'}, {'action': 'LEFT_GRASP', 'object': 'rag_0'}, {'action': 'TOGGLE_OFF', 'object': 'sink_19'}, {'action': 'CLEAN', 'object': 'oven_24'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_19'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'sink_19'}, {'action': 'LEFT_GRASP', 'object': 'rag_1'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'sink_19'}, {'action': 'SOAK', 'object': 'rag_1'}, {'action': 'TOGGLE_OFF', 'object': 'sink_19'}] | (define (problem cleaning_oven)
(:domain igibson)
(:objects agent_n_01_1 - agent cabinet_n_01_1 - cabinet_n_01 oven_n_01_1 - oven_n_01 rag_n_01_1 rag_n_01_2 - rag_n_01 scrub_brush_n_01_1 - scrub_brush_n_01 sink_n_01_1 - sink_n_01)
(:init (inside rag_n_01_1 cabinet_n_01_1) (inside rag_n_01_2 cabinet_n_01_1) (inside scrub_brush_n_01_1 cabinet_n_01_1) (not (soaked rag_n_01_1)) (not (soaked rag_n_01_2)) (not (soaked scrub_brush_n_01_1)) (same_obj cabinet_n_01_1 cabinet_n_01_1) (same_obj oven_n_01_1 oven_n_01_1) (same_obj rag_n_01_1 rag_n_01_1) (same_obj rag_n_01_2 rag_n_01_2) (same_obj scrub_brush_n_01_1 scrub_brush_n_01_1) (same_obj sink_n_01_1 sink_n_01_1) (stained oven_n_01_1))
(:goal (and (soaked rag_n_01_2) (soaked scrub_brush_n_01_1) (not (stained oven_n_01_1)) (soaked rag_n_01_1)))
) |
default | cleaning_toilet_0_Merom_0_int_1_2021-06-23_17-35-48 | cleaning_toilet | Use the scrub brush and detergent to clean the stained toilet, and leave them on the floor when finished. | (define (problem cleaning_toilet_0)
(:domain igibson)
(:objects
toilet.n.02_1 - toilet.n.02
scrub_brush.n.01_1 - scrub_brush.n.01
floor.n.01_1 - floor.n.01
detergent.n.02_1 - detergent.n.02
sink.n.01_1 - sink.n.01
agent.n.01_1 - agent.n.01
)
(:init
(stained toilet.n.02_1)
(onfloor scrub_brush.n.01_1 floor.n.01_1)
(onfloor detergent.n.02_1 floor.n.01_1)
(inroom toilet.n.02_1 bathroom)
(inroom floor.n.01_1 bathroom)
(inroom sink.n.01_1 bathroom)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(not
(stained ?toilet.n.02_1)
)
(onfloor ?scrub_brush.n.01_1 ?floor.n.01_1)
(onfloor ?detergent.n.02_1 ?floor.n.01_1)
)
)
) | not stained(toilet.45) and onfloor(scrub_brush.70, room_floor_bathroom.0) and onfloor(detergent.71, room_floor_bathroom.0) | [{'action': 'RIGHT_GRASP', 'object': 'scrub_brush_70'}, {'action': 'TOGGLE_ON', 'object': 'sink_48'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_48'}, {'action': 'SOAK', 'object': 'scrub_brush_70'}, {'action': 'TOGGLE_OFF', 'object': 'sink_48'}, {'action': 'RIGHT_GRASP', 'object': 'scrub_brush_70'}, {'action': 'CLEAN', 'object': 'toilet_45'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'room_floor_bathroom_0'}] | (define (problem cleaning_toilet)
(:domain igibson)
(:objects agent_n_01_1 - agent detergent_n_02_1 - detergent_n_02 floor_n_01_1 - floor_n_01 scrub_brush_n_01_1 - scrub_brush_n_01 sink_n_01_1 - sink_n_01 toilet_n_02_1 - toilet_n_02)
(:init (onfloor agent_n_01_1 floor_n_01_1) (onfloor detergent_n_02_1 floor_n_01_1) (onfloor scrub_brush_n_01_1 floor_n_01_1) (same_obj agent_n_01_1 agent_n_01_1) (same_obj detergent_n_02_1 detergent_n_02_1) (same_obj floor_n_01_1 floor_n_01_1) (same_obj scrub_brush_n_01_1 scrub_brush_n_01_1) (same_obj sink_n_01_1 sink_n_01_1) (same_obj toilet_n_02_1 toilet_n_02_1) (stained toilet_n_02_1))
(:goal (and (onfloor detergent_n_02_1 floor_n_01_1) (not (stained toilet_n_02_1)) (onfloor scrub_brush_n_01_1 floor_n_01_1)))
) |
default | unpacking_suitcase_0_Benevolence_1_int_0_2021-06-08_17-58-34 | unpacking_suitcase | Place the carton on the floor, then take everything from the carton and place them on the sofa. | (define (problem unpacking_suitcase_0)
(:domain igibson)
(:objects
sock.n.01_1 sock.n.01_2 - sock.n.01
floor.n.01_1 - floor.n.01
carton.n.02_1 - carton.n.02
perfume.n.02_1 - perfume.n.02
toothbrush.n.01_1 - toothbrush.n.01
notebook.n.01_1 - notebook.n.01
sofa.n.01_1 - sofa.n.01
agent.n.01_1 - agent.n.01
)
(:init
(onfloor carton.n.02_1 floor.n.01_1)
(inside sock.n.01_1 carton.n.02_1)
(inside sock.n.01_2 carton.n.02_1)
(inside perfume.n.02_1 carton.n.02_1)
(inside toothbrush.n.01_1 carton.n.02_1)
(inside notebook.n.01_1 carton.n.02_1)
(inroom floor.n.01_1 living_room)
(inroom sofa.n.01_1 living_room)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(onfloor ?carton.n.02_1 ?floor.n.01_1)
(forall
(?sock.n.01 - sock.n.01)
(ontop ?sock.n.01 ?sofa.n.01_1)
)
(ontop ?perfume.n.02_1 ?sofa.n.01_1)
(ontop ?toothbrush.n.01_1 ?sofa.n.01_1)
(ontop ?notebook.n.01_1 ?sofa.n.01_1)
)
)
) | onfloor(carton.0, room_floor_living_room.0) and forall x0. (not sock_n_01(x0) or ontop(x0, sofa.10)) and ontop(cologne.0, sofa.10) and ontop(toothbrush.0, sofa.10) and ontop(notebook.0, sofa.10) | [{'action': 'RIGHT_GRASP', 'object': 'toothbrush_0'}, {'action': 'LEFT_GRASP', 'object': 'notebook_0'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'sofa_10'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'sofa_10'}, {'action': 'RIGHT_GRASP', 'object': 'sock_1'}, {'action': 'LEFT_GRASP', 'object': 'cologne_0'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'sofa_10'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'sofa_10'}, {'action': 'RIGHT_GRASP', 'object': 'sock_0'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'sofa_10'}] | (define (problem unpacking_suitcase)
(:domain igibson)
(:objects agent_n_01_1 - agent carton_n_02_1 - carton_n_02 floor_n_01_1 - floor_n_01 notebook_n_01_1 - notebook_n_01 perfume_n_02_1 - perfume_n_02 sock_n_01_1 sock_n_01_2 - sock_n_01 sofa_n_01_1 - sofa_n_01 toothbrush_n_01_1 - toothbrush_n_01)
(:init (inside notebook_n_01_1 carton_n_02_1) (inside perfume_n_02_1 carton_n_02_1) (inside sock_n_01_1 carton_n_02_1) (inside sock_n_01_2 carton_n_02_1) (inside toothbrush_n_01_1 carton_n_02_1) (onfloor agent_n_01_1 floor_n_01_1) (onfloor carton_n_02_1 floor_n_01_1) (same_obj agent_n_01_1 agent_n_01_1) (same_obj carton_n_02_1 carton_n_02_1) (same_obj floor_n_01_1 floor_n_01_1) (same_obj notebook_n_01_1 notebook_n_01_1) (same_obj perfume_n_02_1 perfume_n_02_1) (same_obj sock_n_01_1 sock_n_01_1) (same_obj sock_n_01_2 sock_n_01_2) (same_obj sofa_n_01_1 sofa_n_01_1) (same_obj toothbrush_n_01_1 toothbrush_n_01_1))
(:goal (and (ontop notebook_n_01_1 sofa_n_01_1) (ontop perfume_n_02_1 sofa_n_01_1) (onfloor carton_n_02_1 floor_n_01_1) (ontop toothbrush_n_01_1 sofa_n_01_1)))
) |
default | locking_every_door_0_Merom_1_int_0_2021-10-20_05-53-14 | locking_every_door | Close and lock all the doors. | (define (problem locking_every_door_0)
(:domain igibson)
(:objects
door.n.01_1 door.n.01_2 - door.n.01
bed.n.01_1 - bed.n.01
floor.n.01_1 - floor.n.01
agent.n.01_1 - agent.n.01
)
(:init
(open door.n.01_1)
(open door.n.01_2)
(inroom door.n.01_1 bedroom)
(inroom door.n.01_2 bathroom)
(inroom bed.n.01_1 bedroom)
(inroom floor.n.01_1 bedroom)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(not
(open ?door.n.01_1)
)
(not
(open ?door.n.01_2)
)
)
)
)
| not open(door.85) and not open(door.89) | [{'action': 'RIGHT_GRASP', 'object': 'door_89'}, {'action': 'CLOSE', 'object': 'door_89'}, {'action': 'RIGHT_RELEASE', 'object': 'door_89'}, {'action': 'RIGHT_GRASP', 'object': 'door_85'}, {'action': 'CLOSE', 'object': 'door_85'}, {'action': 'RIGHT_RELEASE', 'object': 'door_85'}] | (define (problem locking_every_door)
(:domain igibson)
(:objects agent_n_01_1 - agent door_n_01_1 door_n_01_2 - door_n_01)
(:init (open door_n_01_1) (open door_n_01_2) (same_obj door_n_01_1 door_n_01_1) (same_obj door_n_01_2 door_n_01_2))
(:goal (and (not (open door_n_01_1)) (not (open door_n_01_2))))
) |
default | cleaning_table_after_clearing_0_Merom_1_int_0_2021-06-06_19-48-44 | cleaning_table_after_clearing | Clean the table after clearing it. | (define (problem cleaning_table_after_clearing_0)
(:domain igibson)
(:objects
table.n.02_1 - table.n.02
soap.n.01_1 - soap.n.01
sink.n.01_1 - sink.n.01
floor.n.01_1 - floor.n.01
dishtowel.n.01_1 - dishtowel.n.01
cabinet.n.01_1 - cabinet.n.01
agent.n.01_1 - agent.n.01
)
(:init
(stained table.n.02_1)
(inside soap.n.01_1 cabinet.n.01_1)
(inside dishtowel.n.01_1 cabinet.n.01_1)
(inroom table.n.02_1 dining_room)
(inroom floor.n.01_1 dining_room)
(inroom cabinet.n.01_1 kitchen)
(inroom sink.n.01_1 kitchen)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(not
(stained ?table.n.02_1)
)
)
)
) | not stained(breakfast_table.20) | [{'action': 'OPEN', 'object': 'bottom_cabinet_49'}, {'action': 'LEFT_GRASP', 'object': 'dishtowel_0'}, {'action': 'TOGGLE_ON', 'object': 'sink_53'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'sink_53'}, {'action': 'SOAK', 'object': 'dishtowel_0'}, {'action': 'TOGGLE_OFF', 'object': 'sink_53'}, {'action': 'LEFT_GRASP', 'object': 'dishtowel_0'}, {'action': 'CLEAN', 'object': 'breakfast_table_20'}] | (define (problem cleaning_table_after_clearing)
(:domain igibson)
(:objects agent_n_01_1 - agent cabinet_n_01_1 - cabinet_n_01 dishtowel_n_01_1 - dishtowel_n_01 sink_n_01_1 - sink_n_01 table_n_02_1 - table_n_02)
(:init (inside dishtowel_n_01_1 cabinet_n_01_1) (same_obj cabinet_n_01_1 cabinet_n_01_1) (same_obj dishtowel_n_01_1 dishtowel_n_01_1) (same_obj sink_n_01_1 sink_n_01_1) (same_obj table_n_02_1 table_n_02_1) (stained table_n_02_1))
(:goal (not (stained table_n_02_1)))
) |
default | sorting_books_0_Pomaria_1_int_0_2021-10-26_13-27-18 | sorting_books | Place all types of books on the shelf. | (define (problem sorting_books_0)
(:domain igibson)
(:objects
hardback.n.01_1 hardback.n.01_2 - hardback.n.01
table.n.02_1 - table.n.02
floor.n.01_1 - floor.n.01
shelf.n.01_1 - shelf.n.01
book.n.02_1 book.n.02_2 - book.n.02
agent.n.01_1 - agent.n.01
)
(:init
(ontop hardback.n.01_1 table.n.02_1)
(onfloor hardback.n.01_2 floor.n.01_1)
(onfloor book.n.02_1 floor.n.01_1)
(ontop book.n.02_2 table.n.02_1)
(inroom table.n.02_1 living_room)
(inroom shelf.n.01_1 living_room)
(inroom floor.n.01_1 living_room)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(forall
(?hardback.n.01 - hardback.n.01)
(ontop ?hardback.n.01 ?shelf.n.01_1)
)
(forall
(?book.n.02 - book.n.02)
(ontop ?book.n.02 ?shelf.n.01_1)
)
)
)
) | forall x0. (not hardback_n_01(x0) or ontop(x0, shelf.15)) and forall x0. (not book_n_02(x0) or ontop(x0, shelf.15)) | [{'action': 'RIGHT_GRASP', 'object': 'notebook_80'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'shelf_15'}, {'action': 'RIGHT_GRASP', 'object': 'hardback_81'}, {'action': 'LEFT_GRASP', 'object': 'hardback_79'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'shelf_15'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'shelf_15'}, {'action': 'RIGHT_GRASP', 'object': 'hardback_78'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'shelf_15'}] | (define (problem sorting_books)
(:domain igibson)
(:objects agent_n_01_1 - agent book_n_02_1 book_n_02_2 - book_n_02 floor_n_01_1 - floor_n_01 hardback_n_01_1 hardback_n_01_2 - hardback_n_01 shelf_n_01_1 - shelf_n_01 table_n_02_1 - table_n_02)
(:init (onfloor book_n_02_1 floor_n_01_1) (onfloor hardback_n_01_2 floor_n_01_1) (ontop book_n_02_2 table_n_02_1) (ontop hardback_n_01_1 table_n_02_1) (same_obj book_n_02_1 book_n_02_1) (same_obj book_n_02_2 book_n_02_2) (same_obj floor_n_01_1 floor_n_01_1) (same_obj hardback_n_01_1 hardback_n_01_1) (same_obj hardback_n_01_2 hardback_n_01_2) (same_obj shelf_n_01_1 shelf_n_01_1) (same_obj table_n_02_1 table_n_02_1))
(:goal (and (ontop hardback_n_01_1 shelf_n_01_1) (ontop book_n_02_2 shelf_n_01_1) (ontop hardback_n_01_2 shelf_n_01_1) (ontop book_n_02_1 shelf_n_01_1)))
) |
default | cleaning_barbecue_grill_0_Ihlen_0_int_0_2021-09-10_16-02-39 | cleaning_barbecue_grill | Clean stains and dust off of the barbecue grill. | (define (problem cleaning_barbecue_grill_0)
(:domain igibson)
(:objects
grill.n.02_1 - grill.n.02
floor.n.01_1 - floor.n.01
rag.n.01_1 - rag.n.01
bucket.n.01_1 - bucket.n.01
table.n.02_1 - table.n.02
sink.n.01_1 - sink.n.01
agent.n.01_1 - agent.n.01
)
(:init
(onfloor grill.n.02_1 floor.n.01_1)
(stained grill.n.02_1)
(dusty grill.n.02_1)
(ontop bucket.n.01_1 table.n.02_1)
(ontop rag.n.01_1 table.n.02_1)
(inroom floor.n.01_1 garage)
(inroom table.n.02_1 storage_room)
(inroom sink.n.01_1 storage_room)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(not
(stained ?grill.n.02_1)
)
(not
(dusty ?grill.n.02_1)
)
)
)
) | not stained(grill.50) and not dusty(grill.50) | [{'action': 'RIGHT_GRASP', 'object': 'grill_50'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'room_floor_garage_0'}, {'action': 'TOGGLE_ON', 'object': 'sink_32'}, {'action': 'RIGHT_GRASP', 'object': 'rag_51'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_32'}, {'action': 'SOAK', 'object': 'rag_51'}, {'action': 'TOGGLE_OFF', 'object': 'sink_32'}, {'action': 'RIGHT_GRASP', 'object': 'rag_51'}, {'action': 'CLEAN', 'object': 'grill_50'}] | (define (problem cleaning_barbecue_grill)
(:domain igibson)
(:objects agent_n_01_1 - agent floor_n_01_1 - floor_n_01 grill_n_02_1 - grill_n_02 rag_n_01_1 - rag_n_01 sink_n_01_1 - sink_n_01 table_n_02_1 - table_n_02)
(:init (dusty grill_n_02_1) (onfloor grill_n_02_1 floor_n_01_1) (ontop rag_n_01_1 table_n_02_1) (same_obj floor_n_01_1 floor_n_01_1) (same_obj grill_n_02_1 grill_n_02_1) (same_obj rag_n_01_1 rag_n_01_1) (same_obj sink_n_01_1 sink_n_01_1) (same_obj table_n_02_1 table_n_02_1) (stained grill_n_02_1))
(:goal (and (not (dusty grill_n_02_1)) (not (stained grill_n_02_1))))
) |
default | cleaning_the_hot_tub_0_Ihlen_0_int_0_2021-08-24_22-19-07 | cleaning_the_hot_tub | Clean the stained hot tub located on floor1. | (define (problem cleaning_the_hot_tub_0)
(:domain igibson)
(:objects
pool.n.01_1 - pool.n.01
floor.n.01_1 - floor.n.01
scrub_brush.n.01_1 - scrub_brush.n.01
sink.n.01_1 - sink.n.01
agent.n.01_1 - agent.n.01
)
(:init
(onfloor pool.n.01_1 floor.n.01_1)
(stained pool.n.01_1)
(onfloor scrub_brush.n.01_1 floor.n.01_1)
(inroom floor.n.01_1 garage)
(inroom sink.n.01_1 bathroom)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(onfloor ?pool.n.01_1 ?floor.n.01_1)
(not
(stained ?pool.n.01_1)
)
)
)
) | onfloor(pool.50, room_floor_garage.0) and not stained(pool.50) | [{'action': 'RIGHT_GRASP', 'object': 'scrub_brush_51'}, {'action': 'TOGGLE_ON', 'object': 'sink_38'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_38'}, {'action': 'SOAK', 'object': 'scrub_brush_51'}, {'action': 'TOGGLE_OFF', 'object': 'sink_38'}, {'action': 'RIGHT_GRASP', 'object': 'scrub_brush_51'}, {'action': 'CLEAN', 'object': 'pool_50'}] | (define (problem cleaning_the_hot_tub)
(:domain igibson)
(:objects agent_n_01_1 - agent floor_n_01_1 - floor_n_01 pool_n_01_1 - pool_n_01 scrub_brush_n_01_1 - scrub_brush_n_01 sink_n_01_1 - sink_n_01)
(:init (onfloor agent_n_01_1 floor_n_01_1) (onfloor pool_n_01_1 floor_n_01_1) (onfloor scrub_brush_n_01_1 floor_n_01_1) (same_obj agent_n_01_1 agent_n_01_1) (same_obj floor_n_01_1 floor_n_01_1) (same_obj pool_n_01_1 pool_n_01_1) (same_obj scrub_brush_n_01_1 scrub_brush_n_01_1) (same_obj sink_n_01_1 sink_n_01_1) (stained pool_n_01_1))
(:goal (and (onfloor pool_n_01_1 floor_n_01_1) (not (stained pool_n_01_1))))
) |
default | serving_hors_d_oeuvres_0_Wainscott_0_int_0_2021-10-26_14-00-22 | serving_hors_d_oeuvres | Place the tray on the table, put the crackers on the table, place the salads next to the crackers, and put the parsley on top of the cheese. | (define (problem serving_hors_d_oeuvres_0)
(:domain igibson)
(:objects
cabinet.n.01_1 - cabinet.n.01
salad.n.01_1 salad.n.01_2 salad.n.01_3 salad.n.01_4 - salad.n.01
electric_refrigerator.n.01_1 - electric_refrigerator.n.01
tray.n.01_1 - tray.n.01
parsley.n.02_1 parsley.n.02_2 parsley.n.02_3 parsley.n.02_4 - parsley.n.02
cracker.n.01_1 cracker.n.01_2 cracker.n.01_3 cracker.n.01_4 - cracker.n.01
table.n.02_1 - table.n.02
cheese.n.01_1 cheese.n.01_2 cheese.n.01_3 cheese.n.01_4 - cheese.n.01
floor.n.01_1 - floor.n.01
agent.n.01_1 - agent.n.01
)
(:init
(inside salad.n.01_1 electric_refrigerator.n.01_1)
(inside salad.n.01_2 electric_refrigerator.n.01_1)
(inside salad.n.01_3 electric_refrigerator.n.01_1)
(inside salad.n.01_4 electric_refrigerator.n.01_1)
(inside parsley.n.02_1 electric_refrigerator.n.01_1)
(inside parsley.n.02_2 electric_refrigerator.n.01_1)
(inside parsley.n.02_3 electric_refrigerator.n.01_1)
(inside parsley.n.02_4 electric_refrigerator.n.01_1)
(onfloor tray.n.01_1 floor.n.01_1)
(ontop cracker.n.01_1 table.n.02_1)
(ontop cracker.n.01_2 table.n.02_1)
(ontop cracker.n.01_3 table.n.02_1)
(ontop cracker.n.01_4 table.n.02_1)
(inside cheese.n.01_1 electric_refrigerator.n.01_1)
(inside cheese.n.01_2 electric_refrigerator.n.01_1)
(inside cheese.n.01_3 electric_refrigerator.n.01_1)
(inside cheese.n.01_4 electric_refrigerator.n.01_1)
(inroom table.n.02_1 dining_room)
(inroom electric_refrigerator.n.01_1 kitchen)
(inroom cabinet.n.01_1 kitchen)
(inroom floor.n.01_1 dining_room)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(ontop ?tray.n.01_1 ?table.n.02_1)
(forall
(?cracker.n.01 - cracker.n.01)
(ontop ?cracker.n.01 ?table.n.02_1)
)
(forpairs
(?salad.n.01 - salad.n.01)
(?cracker.n.01 - cracker.n.01)
(nextto ?salad.n.01 ?cracker.n.01)
)
(forpairs
(?cheese.n.01 - cheese.n.01)
(?parsley.n.02 - parsley.n.02)
(ontop ?parsley.n.02 ?cheese.n.01)
)
)
)
)
| ontop(tray.147, breakfast_table.1) and forall x0. (not cracker_n_01(x0) or ontop(x0, breakfast_table.1)) and forall x0. (not salad_n_01(x0) or forn 1. x1. (not cracker_n_01(x1) or nextto(x0, x1))) and forall x1. (not cracker_n_01(x1) or forn 1. x0. (not salad_n_01(x0) or nextto(x0, x1))) and forall x0. (not cheese_n_01(x0) or forn 1. x1. (not parsley_n_02(x1) or ontop(x1, x0))) and forall x1. (not parsley_n_02(x1) or forn 1. x0. (not cheese_n_01(x0) or ontop(x1, x0))) | [{'action': 'OPEN', 'object': 'fridge_97'}, {'action': 'LEFT_GRASP', 'object': 'salad_143'}, {'action': 'RIGHT_GRASP', 'object': 'salad_144'}, {'action': 'UNFREEZE', 'object': 'salad_143'}, {'action': 'UNFREEZE', 'object': 'salad_144'}, {'action': 'LEFT_PLACE_NEXTTO', 'object': 'pretzel_153'}, {'action': 'RIGHT_PLACE_NEXTTO', 'object': 'pretzel_152'}, {'action': 'LEFT_GRASP', 'object': 'salad_145'}, {'action': 'RIGHT_GRASP', 'object': 'salad_146'}, {'action': 'UNFREEZE', 'object': 'salad_145'}, {'action': 'UNFREEZE', 'object': 'salad_146'}, {'action': 'LEFT_PLACE_NEXTTO', 'object': 'pretzel_154'}, {'action': 'RIGHT_PLACE_NEXTTO', 'object': 'pretzel_155'}, {'action': 'LEFT_GRASP', 'object': 'tray_147'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'breakfast_table_1'}, {'action': 'LEFT_GRASP', 'object': 'cheese_156'}, {'action': 'RIGHT_GRASP', 'object': 'cheese_157'}, {'action': 'UNFREEZE', 'object': 'cheese_156'}, {'action': 'UNFREEZE', 'object': 'cheese_157'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'breakfast_table_1'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'breakfast_table_1'}, {'action': 'LEFT_GRASP', 'object': 'cheese_158'}, {'action': 'RIGHT_GRASP', 'object': 'cheese_159'}, {'action': 'UNFREEZE', 'object': 'cheese_158'}, {'action': 'UNFREEZE', 'object': 'cheese_159'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'breakfast_table_1'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'breakfast_table_1'}, {'action': 'LEFT_GRASP', 'object': 'parsley_148'}, {'action': 'RIGHT_GRASP', 'object': 'parsley_149'}, {'action': 'UNFREEZE', 'object': 'parsley_148'}, {'action': 'UNFREEZE', 'object': 'parsley_149'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'cheese_156'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'cheese_157'}, {'action': 'LEFT_GRASP', 'object': 'parsley_150'}, {'action': 'RIGHT_GRASP', 'object': 'parsley_151'}, {'action': 'UNFREEZE', 'object': 'parsley_150'}, {'action': 'UNFREEZE', 'object': 'parsley_151'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'cheese_158'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'cheese_159'}, {'action': 'CLOSE', 'object': 'fridge_97'}] | (define (problem serving_hors_d_oeuvres)
(:domain igibson)
(:objects agent_n_01_1 - agent cheese_n_01_2 - cheese_n_01 cracker_n_01_1 cracker_n_01_2 cracker_n_01_3 cracker_n_01_4 - cracker_n_01 electric_refrigerator_n_01_1 - electric_refrigerator_n_01 floor_n_01_1 - floor_n_01 parsley_n_02_3 - parsley_n_02 salad_n_01_3 - salad_n_01 table_n_02_1 - table_n_02 tray_n_01_1 - tray_n_01)
(:init (inside cheese_n_01_2 electric_refrigerator_n_01_1) (inside parsley_n_02_3 electric_refrigerator_n_01_1) (inside salad_n_01_3 electric_refrigerator_n_01_1) (onfloor tray_n_01_1 floor_n_01_1) (ontop cracker_n_01_1 table_n_02_1) (ontop cracker_n_01_2 table_n_02_1) (ontop cracker_n_01_3 table_n_02_1) (ontop cracker_n_01_4 table_n_02_1) (same_obj cheese_n_01_2 cheese_n_01_2) (same_obj cracker_n_01_1 cracker_n_01_1) (same_obj cracker_n_01_2 cracker_n_01_2) (same_obj cracker_n_01_3 cracker_n_01_3) (same_obj cracker_n_01_4 cracker_n_01_4) (same_obj electric_refrigerator_n_01_1 electric_refrigerator_n_01_1) (same_obj floor_n_01_1 floor_n_01_1) (same_obj parsley_n_02_3 parsley_n_02_3) (same_obj salad_n_01_3 salad_n_01_3) (same_obj table_n_02_1 table_n_02_1) (same_obj tray_n_01_1 tray_n_01_1))
(:goal (and (ontop cracker_n_01_1 table_n_02_1) (ontop parsley_n_02_3 cheese_n_01_2) (ontop tray_n_01_1 table_n_02_1) (nextto salad_n_01_3 cracker_n_01_4)))
) |
default | packing_adult_s_bags_0_Ihlen_1_int_0_2021-10-26_09-54-15 | packing_adult_s_bags | Pack all jewelry, makeup, toothbrush, and mouse inside the backpack, and place the backpack on the second floor. | (define (problem packing_adult_s_bags_0)
(:domain igibson)
(:objects
backpack.n.01_1 - backpack.n.01
floor.n.01_1 floor.n.01_2 - floor.n.01
hanger.n.02_1 - hanger.n.02
bed.n.01_1 - bed.n.01
makeup.n.01_1 makeup.n.01_2 - makeup.n.01
jewelry.n.01_1 jewelry.n.01_2 - jewelry.n.01
toothbrush.n.01_1 - toothbrush.n.01
mouse.n.04_1 - mouse.n.04
door.n.01_1 - door.n.01
agent.n.01_1 - agent.n.01
)
(:init
(onfloor backpack.n.01_1 floor.n.01_1)
(ontop hanger.n.02_1 bed.n.01_1)
(ontop makeup.n.01_1 bed.n.01_1)
(ontop makeup.n.01_2 bed.n.01_1)
(ontop toothbrush.n.01_1 bed.n.01_1)
(onfloor jewelry.n.01_1 floor.n.01_1)
(onfloor jewelry.n.01_2 floor.n.01_1)
(ontop mouse.n.04_1 bed.n.01_1)
(open door.n.01_1)
(inroom floor.n.01_1 bedroom)
(inroom floor.n.01_2 corridor)
(inroom door.n.01_1 bedroom)
(inroom bed.n.01_1 bedroom)
(onfloor agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(forall
(?jewelry.n.01 - jewelry.n.01)
(inside ?jewelry.n.01 ?backpack.n.01_1)
)
(forall
(?makeup.n.01 - makeup.n.01)
(inside ?makeup.n.01 ?backpack.n.01_1)
)
(inside ?toothbrush.n.01_1 ?backpack.n.01_1)
(inside ?mouse.n.04_1 ?backpack.n.01_1)
(onfloor ?backpack.n.01_1 ?floor.n.01_2)
)
)
) | forall x0. (not jewelry_n_01(x0) or inside(x0, backpack.112)) and forall x0. (not makeup_n_01(x0) or inside(x0, backpack.112)) and inside(toothbrush.118, backpack.112) and inside(mouse.119, backpack.112) and onfloor(backpack.112, room_floor_corridor.0) | [{'action': 'OPEN', 'object': 'backpack_112'}, {'action': 'RIGHT_GRASP', 'object': 'mouse_119'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'backpack_112'}, {'action': 'RIGHT_GRASP', 'object': 'bracelet_116'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'backpack_112'}, {'action': 'RIGHT_GRASP', 'object': 'necklace_117'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'backpack_112'}, {'action': 'RIGHT_GRASP', 'object': 'toothbrush_118'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'backpack_112'}, {'action': 'RIGHT_GRASP', 'object': 'lipstick_115'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'backpack_112'}, {'action': 'RIGHT_GRASP', 'object': 'lipstick_114'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'backpack_112'}, {'action': 'RIGHT_GRASP', 'object': 'backpack_112'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'room_floor_corridor_0'}] | (define (problem packing_adult_s_bags)
(:domain igibson)
(:objects agent_n_01_1 - agent backpack_n_01_1 - backpack_n_01 bed_n_01_1 - bed_n_01 floor_n_01_1 - floor_n_01 jewelry_n_01_1 jewelry_n_01_2 - jewelry_n_01 makeup_n_01_1 - makeup_n_01 mouse_n_04_1 - mouse_n_04)
(:init (onfloor backpack_n_01_1 floor_n_01_1) (onfloor jewelry_n_01_1 floor_n_01_1) (onfloor jewelry_n_01_2 floor_n_01_1) (ontop makeup_n_01_1 bed_n_01_1) (ontop mouse_n_04_1 bed_n_01_1) (same_obj backpack_n_01_1 backpack_n_01_1) (same_obj bed_n_01_1 bed_n_01_1) (same_obj floor_n_01_1 floor_n_01_1) (same_obj jewelry_n_01_1 jewelry_n_01_1) (same_obj jewelry_n_01_2 jewelry_n_01_2) (same_obj makeup_n_01_1 makeup_n_01_1) (same_obj mouse_n_04_1 mouse_n_04_1))
(:goal (and (inside makeup_n_01_1 backpack_n_01_1) (inside mouse_n_04_1 backpack_n_01_1) (inside jewelry_n_01_2 backpack_n_01_1) (inside jewelry_n_01_1 backpack_n_01_1)))
) |
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