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FOON-pour_water_domain.pddl
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FOON-pour_water_domain.pddl
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(define (domain universal_FOON)
(:requirements :adl)
(:types
object - object
)
(:constants
; objects used in Agostini et al. 2021 - https://arxiv.org/abs/2007.08251
air - object
table - object
; objects from provided FOON subgraph:
cup - object
bowl - object
water - object
bottle - object
)
(:predicates
; object-state predicates (from Agostini et al. 2021 - https://arxiv.org/abs/2007.08251)
(in ?obj_1 - object ?obj_2 - object)
(on ?obj_1 - object ?obj_2 - object)
(under ?obj_1 - object ?obj_2 - object)
; physical state predicates (from FOON)
(is-whole ?obj_1 - object)
(is-diced ?obj_1 - object)
(is-chopped ?obj_1 - object)
(is-sliced ?obj_1 - object)
(is-mixed ?obj_1 - object)
(is-ground ?obj_1 - object)
(is-juiced ?obj_1 - object)
(is-spread ?obj_1 - object)
)
(:action fill_0
; description: <bottle cup water fill cup water >
:parameters (
)
:precondition (and
(on table bottle)
(under bottle table)
(in cup air)
(on table cup)
(under cup table)
(in bottle water)
(under water bottle)
)
:effect (and
; new effects of executing this functional unit:
(in cup water)
(under water cup)
; preconditions that did not get changed in some way:
(under bottle table)
(in bottle water)
(on table cup)
(under cup table)
; negated preconditions:
(not (in cup air) )
)
)
(:action pour_water_1
; description: <cup water bowl pour bowl water cup >
:parameters (
)
:precondition (and
(on table cup)
(under cup table)
(in cup water)
(under water cup)
(in bowl air)
(on table bowl)
(under bowl table)
)
:effect (and
; new effects of executing this functional unit:
(in bowl water)
(under water bowl)
(in cup air)
; preconditions that did not get changed in some way:
(on table bowl)
(under bowl table)
(on table cup)
(under cup table)
; negated preconditions:
(not (in bowl air) )
(not (in cup water) )
)
)
)