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---
domain_intro: |
I am playing with a set of blocks where I need to arrange the blocks into stacks. Here are the actions I can do
Pick up a block
Unstack a block from on top of another block
Put down a block
Stack a block on top of another block
I have the following restrictions on my actions:
I can only pick up or unstack one block at a time.
I can only pick up or unstack a block if my hand is empty.
I can only pick up a block if the block is on the table and the block is clear. A block is clear if the block has no other blocks on top of it and if the block is not picked up.
I can only unstack a block from on top of another block if the block I am unstacking was really on top of the other block.
I can only unstack a block from on top of another block if the block I am unstacking is clear.
Once I pick up or unstack a block, I am holding the block.
I can only put down a block that I am holding.
I can only stack a block on top of another block if I am holding the block being stacked.
I can only stack a block on top of another block if the block onto which I am stacking the block is clear.
Once I put down or stack a block, my hand becomes empty.
domain_intro_cost: |
I am playing with a set of blocks where I need to arrange the blocks into stacks. Here are the actions I can do:
Pick up a block. It takes 1 minute to pick up a block.
Unstack a block from on top of another block. It takes 1 minute to unstack a block from on top of another block.
Put down a block. It takes 1 minute to put down a block.
Stack a block on top of another block. It takes 1 minute to stack a block on top of another block.
I have the following restrictions on my actions:
I can only pick up or unstack one block at a time.
I can only pick up or unstack a block if my hand is empty.
I can only pick up a block if the block is on the table and the block is clear. A block is clear if the block has no other blocks on top of it and if the block is not picked up.
I can only unstack a block from on top of another block if the block I am unstacking was really on top of the other block.
I can only unstack a block from on top of another block if the block I am unstacking is clear.
Once I pick up or unstack a block, I am holding the block.
I can only put down a block that I am holding.
I can only stack a block on top of another block if I am holding the block being stacked.
I can only stack a block on top of another block if the block onto which I am stacking the block is clear.
Once I put down or stack a block, my hand becomes empty.
actions:
{pick-up: "pick up the {}",
put-down: "put down the {}",
stack: "stack the {} on top of the {}",
unstack: "unstack the {} from on top of the {}"}
objects:
- blue block
- orange block
- red block
- yellow block
predicates:
{ontable: "the {} is on the table",
clear: "the {} is clear",
handempty: "the hand is empty",
"on": "the {} is on top of the {}"}
# encoded_objects: dictionary of object names, have to be alphabetical
encoded_objects:
{"a": "red block", "b": "blue block", "c": "orange block", "d": "yellow block",
"e": "white block", "f": "magenta block", "g": "black block", "h": "cyan block",
"i": "green block", "j": "violet block", "k": "silver block", "l": "gold block" }
callbacks:
- t1_gen_goal_directed_instances |