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(define (problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
banana1 - food
home1 wp1s wp2s wp1f wp2f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object plate1 wp1f))
(task1 (move_to_container banana1 plate1))
)
:ordering (and
... | |
(define (problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
banana1 - food
home1 wp1s wp2s wp1f wp2f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object plate1 wp1f))
(task1 (move_to_container banana1 plate1))
)
:ordering (and
... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
banana1 - food
home1 wp1s wp2s wp1f wp2f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object plate1 wp1f))
(task1 (move_to_container banana1 plate1))
)
:ordering (and
)
)
... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
banana1 - food
home1 wp1s wp2s wp1f wp2f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object plate1 wp1f))
(task1 (move_to_container banana1 plate1))
)
:ordering (and
)
)
... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
banana1 - food
home1 wp1s wp2s wp1f wp2f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object plate1 wp1f))
(task1 (move_to_container banana1 plate1))
)
:ordering (and
)
)
... | |
(define (problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
banana1 - food
home1 wp1s wp2s wp1f wp2f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object plate1 wp1f))
(task1 (move_to_container banana1 plate1))
)
:ordering (and
... | |
(define (problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
banana1 - food
home1 wp1s wp2s wp1f wp2f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object plate1 wp1f))
(task1 (move_to_container banana1 plate1))
)
:ordering (and
... | |
(define (problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
banana1 - food
home1 wp1s wp2s wp1f wp2f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object plate1 wp1f))
(task1 (move_to_container banana1 plate1))
)
:ordering (and
... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
bowl1 - container
pear1 - food
home1 wp1s wp2s wp1f wp2f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object bowl1 wp1f))
(task1 (move_to_container pear1 bowl1))
)
:ordering (and
)
)
(:ini... | |
(define (problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
banana1 - food
home1 wp1s wp2s wp1f wp2f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object plate1 wp1f))
(task1 (move_to_container banana1 plate1))
)
:ordering (and
... | |
(define (problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
banana1 - food
home1 wp1s wp2s wp1f wp2f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object plate1 wp1f))
(task1 (move_to_container banana1 plate1))
)
:ordering (and
... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
bowl1 - container
pear1 - food
home1 wp1s wp2s wp1f wp2f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object bowl1 wp1f))
(task1 (move_to_container pear1 bowl1))
)
:ordering (and
)
)
(:i... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
bowl1 - container
pear1 - food
home1 wp1s wp2s wp1f wp2f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object bowl1 wp1f))
(task1 (move_to_container pear1 bowl1))
)
:ordering (and
)
)
(:i... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
bowl1 - container
pear1 - food
home1 wp1s wp2s wp1f wp2f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object bowl1 wp1f))
(task1 (move_to_container pear1 bowl1))
)
:ordering (and
)
)
(:i... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
bowl1 - container
pear1 - food
home1 wp1s wp2s wp1f wp2f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object bowl1 wp1f))
(task1 (move_to_container pear1 bowl1))
)
:ordering (and
)
)
(:in... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
bowl1 - container
pear1 - food
home1 wp1s wp2s wp1f wp2f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object bowl1 wp1f))
(task1 (move_to_container pear1 bowl1))
)
:ordering (and
)
)
(:ini... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
bowl1 - container
pear1 - food
home1 wp1s wp2s wp1f wp2f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object bowl1 wp1f))
(task1 (move_to_container pear1 bowl1))
)
:ordering (and
)
)
(:in... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
pear1 - food
home1 wp1s wp2s wp1f wp2f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object plate1 wp1f))
(task1 (move_to_container pear1 plate1))
)
:ordering (and
)
)
(:... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
pear1 - food
home1 wp1s wp2s wp1f wp2f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object plate1 wp1f))
(task1 (move_to_container pear1 plate1))
)
:ordering (and
)
)
(:... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
pear1 - food
home1 wp1s wp2s wp1f wp2f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object plate1 wp1f))
(task1 (move_to_container pear1 plate1))
)
:ordering (and
)
)
(:... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
pear1 - food
home1 wp1s wp2s wp1f wp2f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object plate1 wp1f))
(task1 (move_to_container pear1 plate1))
)
:ordering (and
)
)
... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
pear1 - food
home1 wp1s wp2s wp1f wp2f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object plate1 wp1f))
(task1 (move_to_container pear1 plate1))
)
:ordering (and
)
)
... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
pear1 - food
home1 wp1s wp2s wp1f wp2f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object plate1 wp1f))
(task1 (move_to_container pear1 plate1))
)
:ordering (and
)
)
... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
pear1 - food
home1 wp1s wp2s wp1f wp2f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object plate1 wp1f))
(task1 (move_to_container pear1 plate1))
)
:ordering (and
)
)
(... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
pear1 - food
home1 wp1s wp2s wp1f wp2f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object plate1 wp1f))
(task1 (move_to_container pear1 plate1))
)
:ordering (and
)
)
(... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
pear1 - food
home1 wp1s wp2s wp1f wp2f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object plate1 wp1f))
(task1 (move_to_container pear1 plate1))
)
:ordering (and
)
)
(... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
ball1 - food
home1 wp1s wp2s wp1f wp2f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object plate1 wp1f))
(task1 (move_object ball1 wp2f))
)
:ordering (and
)
)
(:init
... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
ball1 - food
home1 wp1s wp2s wp1f wp2f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object plate1 wp1f))
(task1 (move_object ball1 wp2f))
)
:ordering (and
)
)
(:init
... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
ball1 - food
home1 wp1s wp2s wp1f wp2f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object plate1 wp1f))
(task1 (move_object ball1 wp2f))
)
:ordering (and
)
)
(:init
... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
ball1 - item
home1 wp1s wp2s wp1f wp2f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object ball1 wp2f))
(task1 (move_object plate1 wp1f))
)
:ordering (and
)
)
(:init
(... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
ball1 - item
home1 wp1s wp2s wp1f wp2f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object ball1 wp2f))
(task1 (move_object plate1 wp1f))
)
:ordering (and
)
)
(:init
(... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
ball1 - item
home1 wp1s wp2s wp1f wp2f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object ball1 wp2f))
(task1 (move_object plate1 wp1f))
)
:ordering (and
)
)
(:init
(... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
ball1 - item
home1 wp1s wp2s wp1f wp2f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object ball1 wp2f))
(task1 (move_object plate1 wp1f))
)
:ordering (and
)
)
(:init
(... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
ball1 - item
home1 wp1s wp2s wp1f wp2f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object ball1 wp2f))
(task1 (move_object plate1 wp1f))
)
:ordering (and
)
)
(:init
... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
ball1 - item
home1 wp1s wp2s wp1f wp2f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object ball1 wp2f))
(task1 (move_object plate1 wp1f))
)
:ordering (and
)
)
(:init
... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
banana1 pear1 - food
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_to_container banana1 plate1))
(task1 (move_to_container pear1 plate1))
(t... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
banana1 pear1 - food
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_to_container banana1 plate1))
(task1 (move_to_container pear1 plate1))
(t... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
banana1 pear1 - food
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_to_container banana1 plate1))
(task1 (move_to_container pear1 plate1))
(t... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
banana1 pear1 - food
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object plate1 wp1f))
(task1 (move_to_container banana1 plate1))
(task2 (m... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
banana1 pear1 - food
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object plate1 wp1f))
(task1 (move_to_container banana1 plate1))
(task2 (m... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
banana1 pear1 - food
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object plate1 wp1f))
(task1 (move_to_container banana1 plate1))
(task2 (m... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
banana1 pear1 - food
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_to_container banana1 plate1))
(task1 (move_to_container pear1 plate1))
(t... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
banana1 pear1 - food
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_to_container banana1 plate1))
(task1 (move_to_container pear1 plate1))
(t... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
banana1 pear1 - food
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_to_container banana1 plate1))
(task1 (move_to_container pear1 plate1))
(t... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
banana1 - food
tennis_ball1 - item
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object plate1 wp1f))
(task1 (move_to_container banana1 plate1... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
banana1 - food
tennis_ball1 - item
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object plate1 wp1f))
(task1 (move_to_container banana1 plate1... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
banana1 - food
tennis_ball1 - item
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object plate1 wp1f))
(task1 (move_to_container banana1 plate1... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
banana1 - food
tennis_ball1 - item
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object plate1 wp1f))
(task1 (move_object tennis_ball1 wp2f))
... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
banana1 - food
tennis_ball1 - item
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object plate1 wp1f))
(task1 (move_object tennis_ball1 wp2f))
... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
banana1 - food
tennis_ball1 - item
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object plate1 wp1f))
(task1 (move_object tennis_ball1 wp2f))
... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
banana1 - food
tennis_ball1 - item
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object plate1 wp1f))
(task1 (move_to_container banana1 plate1... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
banana1 - food
tennis_ball1 - item
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object plate1 wp1f))
(task1 (move_to_container banana1 plate1... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
plate1 - container
banana1 - food
tennis_ball1 - item
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object plate1 wp1f))
(task1 (move_to_container banana1 plate1... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
bowl1 - container
banana1 pear1 - food
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_to_container banana1 bowl1))
(task1 (move_to_container pear1 bowl1))
(task2... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
bowl1 - container
banana1 pear1 - food
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_to_container banana1 bowl1))
(task1 (move_to_container pear1 bowl1))
(task2... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
bowl1 - container
banana1 pear1 - food
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_to_container banana1 bowl1))
(task1 (move_to_container pear1 bowl1))
(task2... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
bowl1 - container
banana1 pear1 - food
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object bowl1 wp1f))
(task1 (move_to_container banana1 bowl1))
(task2 (move_... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
bowl1 - container
banana1 pear1 - food
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object bowl1 wp1f))
(task1 (move_to_container banana1 bowl1))
(task2 (move_... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
bowl1 - container
banana1 pear1 - food
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object bowl1 wp1f))
(task1 (move_to_container banana1 bowl1))
(task2 (move_... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
bowl1 - container
banana1 pear1 - food
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_to_container banana1 bowl1))
(task1 (move_to_container pear1 bowl1))
(task2... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
bowl1 - container
banana1 pear1 - food
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_to_container banana1 bowl1))
(task1 (move_to_container pear1 bowl1))
(task2... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
bowl1 - container
banana1 pear1 - food
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_to_container banana1 bowl1))
(task1 (move_to_container pear1 bowl1))
(task2... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
basket1 - container
screwdriver1 highlighter1 - item
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object screwdriver1... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
basket1 - container
screwdriver1 highlighter1 - item
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object screwdriver1... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
basket1 - container
screwdriver1 highlighter1 - item
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object screwdriver1... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
basket1 - container
screwdriver1 highlighter1 - item
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object screwdriver1... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
basket1 - container
screwdriver1 highlighter1 - item
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object screwdriver1... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
basket1 - container
screwdriver1 highlighter1 - item
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object screwdriver1... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
basket1 - container
screwdriver1 highlighter1 - item
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object screwdriver1... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
basket1 - container
screwdriver1 highlighter1 - item
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object screwdriver1... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
basket1 - container
screwdriver1 highlighter1 - item
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object screwdriver1... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
basket1 - container
scissors1 tapemeasure1 - item
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object scissors1 wp2f))
(task1 (move_object tapemeasure1 wp3f))
... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
basket1 - container
scissors1 tapemeasure1 - item
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object scissors1 wp2f))
(task1 (move_object tapemeasure1 wp3f))
... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
basket1 - container
scissors1 tapemeasure1 - item
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object scissors1 wp2f))
(task1 (move_object tapemeasure1 wp3f))
... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
basket1 - container
scissors1 tapemeasure1 - item
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object scissors1 wp2f))
(task1 (move_object tapemeasure1 wp3f))
... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
basket1 - container
scissors1 tapemeasure1 - item
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object scissors1 wp2f))
(task1 (move_object tapemeasure1 wp3f))
... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
basket1 - container
scissors1 tapemeasure1 - item
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object scissors1 wp2f))
(task1 (move_object tapemeasure1 wp3f))
... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
basket1 - container
scissors1 tapemeasure1 - item
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object scissors1 wp2f))
(task1 (move_object tapemeasure1 wp3f))
... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
basket1 - container
scissors1 tapemeasure1 - item
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object scissors1 wp2f))
(task1 (move_object tapemeasure1 wp3f))
... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
basket1 - container
scissors1 tapemeasure1 - item
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object scissors1 wp2f))
(task1 (move_object tapemeasure1 wp3f))
... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
cup1 - glass
tape_measure1 highlighter1 - item
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object cup1 wp1f))
(task1 (move_object tape_measure1 wp2f))
(task2 ... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
cup1 - glass
tape_measure1 highlighter1 - item
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object cup1 wp1f))
(task1 (move_object tape_measure1 wp2f))
(task2 ... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
cup1 - glass
tape_measure1 highlighter1 - item
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object cup1 wp1f))
(task1 (move_object tape_measure1 wp2f))
(task2 ... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
cup1 - glass
tape_measure1 highlighter1 - item
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
) (:htn
:parameters ()
:subtasks (and
(task0 (move_object cup1 wp1f))
(task1 (move_object tape_measure1 wp2f))
(task2 (m... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
cup1 - glass
tape_measure1 highlighter1 - item
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
) (:htn
:parameters ()
:subtasks (and
(task0 (move_object cup1 wp1f))
(task1 (move_object tape_measure1 wp2f))
(task2 (m... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
cup1 - glass
tape_measure1 highlighter1 - item
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
) (:htn
:parameters ()
:subtasks (and
(task0 (move_object cup1 wp1f))
(task1 (move_object tape_measure1 wp2f))
(task2 (m... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
cup1 - glass
tape_measure1 highlighter1 - item
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
) (:htn
:parameters ()
:subtasks (and
(task0 (move_object cup1 wp1f))
(task1 (move_object tape_measure1 wp2f))
(task2 (m... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
cup1 - glass
tape_measure1 highlighter1 - item
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
) (:htn
:parameters ()
:subtasks (and
(task0 (move_object cup1 wp1f))
(task1 (move_object tape_measure1 wp2f))
(task2 (m... | |
(define
(problem pfile01)
(:domain domain_htn)
(:objects
cup1 - glass
tape_measure1 highlighter1 - item
home1 wp1s wp2s wp3s wp1f wp2f wp3f - location
robot1 - robot
) (:htn
:parameters ()
:subtasks (and
(task0 (move_object cup1 wp1f))
(task1 (move_object tape_measure1 wp2f))
(task2 (m... | |
(define
(problem pfile_image)
(:domain domain_htn)
(:objects
basket1 - container
pear1 banana1 - food
tape1 scissors1 - item
home1 wp1s wp2s wp3s wp4s wp5s wp1f wp2f wp3f wp4f wp5f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_to_container pear1 basket1)... | |
(define
(problem pfile_image)
(:domain domain_htn)
(:objects
basket1 - container
pear1 banana1 - food
tape1 scissors1 - item
home1 wp1s wp2s wp3s wp4s wp5s wp1f wp2f wp3f wp4f wp5f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_to_container pear1 basket1)... | |
(define
(problem pfile_image)
(:domain domain_htn)
(:objects
basket1 - container
pear1 banana1 - food
tape1 scissors1 - item
home1 wp1s wp2s wp3s wp4s wp5s wp1f wp2f wp3f wp4f wp5f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_to_container pear1 basket1)... | |
(define
(problem pfile_image)
(:domain domain_htn)
(:objects
basket1 - container
pear1 banana1 - food
tape1 scissors1 - item
home1 wp1s wp2s wp3s wp4s wp5s wp1f wp2f wp3f wp4f wp5f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object tape1 wp2f))
(tas... | |
(define
(problem pfile_image)
(:domain domain_htn)
(:objects
basket1 - container
pear1 banana1 - food
tape1 scissors1 - item
home1 wp1s wp2s wp3s wp4s wp5s wp1f wp2f wp3f wp4f wp5f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object tape1 wp2f))
(tas... | |
(define
(problem pfile_image)
(:domain domain_htn)
(:objects
basket1 - container
pear1 banana1 - food
tape1 scissors1 - item
home1 wp1s wp2s wp3s wp4s wp5s wp1f wp2f wp3f wp4f wp5f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object tape1 wp2f))
(tas... | |
(define
(problem pfile_image)
(:domain domain_htn)
(:objects
basket1 - container
pear1 banana1 - food
tape1 scissors1 - item
home1 wp1s wp2s wp3s wp4s wp5s wp1f wp2f wp3f wp4f wp5f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object tape1 wp2f))
(tas... | |
(define
(problem pfile_image)
(:domain domain_htn)
(:objects
basket1 - container
pear1 banana1 - food
tape1 scissors1 - item
home1 wp1s wp2s wp3s wp4s wp5s wp1f wp2f wp3f wp4f wp5f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object tape1 wp2f))
(tas... | |
(define
(problem pfile_image)
(:domain domain_htn)
(:objects
basket1 - container
pear1 banana1 - food
tape1 scissors1 - item
home1 wp1s wp2s wp3s wp4s wp5s wp1f wp2f wp3f wp4f wp5f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_object tape1 wp2f))
(tas... | |
(define
(problem pfile_image)
(:domain domain_htn)
(:objects
basket1 - container
pear1 banana1 - food
tape1 scissors1 - item
home1 wp1s wp2s wp3s wp4s wp5s wp1f wp2f wp3f wp4f wp5f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_to_container pear1 basket1)... | |
(define
(problem pfile_image)
(:domain domain_htn)
(:objects
basket1 - container
pear1 banana1 - food
tape1 scissors1 - item
home1 wp1s wp2s wp3s wp4s wp5s wp1f wp2f wp3f wp4f wp5f - location
robot1 - robot
)
(:htn
:parameters ()
:subtasks (and
(task0 (move_to_container pear1 basket1)... |
End of preview. Expand in Data Studio
🧠 Image–PDDL Dataset for Visual Symbolic Planning
This dataset contains pairs of RGB images and their corresponding planning problem definitions written in PDDL (Planning Domain Definition Language). It is designed for use in vision-based symbolic reasoning, task grounding, and neuro-symbolic planning.
📁 Dataset Structure
Each sample in the dataset consists of:
image: a file path or binary blob of an RGB image (loaded as a PIL.Image)hddl: a string containing a symbolic task description in PDDL or HDDL format
{
"image": "images/0001.jpg",
"hddl": "(define (problem clean-room-01) ... )"
}
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