You have access to the following set of skills expressed as pddl predicates followed by descriptions. 
You have no other skills you can use, and you must exactly follow the number of inputs described below.
The coordinate system is defined relative to the whiteboard, using x and y axes. The x-axis runs horizontally along the whiteboard, while the y-axis runs vertically on it. The origin (0, 0) is located at the lower-left corner of the whiteboard.