- !Predicate
  name: hand_empty
  params: !!python/tuple []
  semantic: "The `robot` is not holding anything in its gripper."
  types: !!python/tuple
  - robot

- !Predicate
  name: is_holding
  params: !!python/tuple []
  semantic: "The `robot` is holding a `pickupable` object in its gripper."
  types: !!python/tuple
  - robot
  - pickupable

- !Predicate
  name: is_clean
  params: !!python/tuple []
  semantic: "The `plate` object is cleaned after wiping."
  types: !!python/tuple
  - plate

- !Predicate
  name: is_on_top
  params: !!python/tuple []
  semantic: "A `pickupable` object is on top of a `plate` object."
  types: !!python/tuple
  - pickupable
  - plate

- !Predicate
  name: plate_empty
  params: !!python/tuple []
  semantic: "A `plate` object has nothing on top of it."
  types: !!python/tuple
  - plate


- !Predicate
  name: is_filled
  params: !!python/tuple []
  semantic: "A `container` has something inside of it."
  types: !!python/tuple
  - container