# Prompt for skill sequence proposal.
# Prompts are categorized by env name
---

dorfl:
  system_prompt: >
    A robot with two arms is attempting to learn the preconditions and effects 
    for a finite set of skills by executing exploratory skill sequences and exploring the environment.

  prompt: |
    Propose a set of skill sequences for a robot to execute.
    The robot is attempting to learn the preconditions and effects for a finite set of operators. 
    The robot can navigate the environment freely but only has one gripper. 
    The robot has access to the following skills with their associated arguments:

    [SKILL_PROMPT]
    
    The list of objects the robot has previously encountered in the environment are: 
    [OBJECT_IN_SCENE]
    [ENV_DESCRIPTION]

    The pairs of consecutive skills (skill1, skill2) that have been least explored are: 
    [[LEAST_EXPLORED_SKILLS]].

    Certain skills have similar names and arguments, but different preconditions and effects. 
    Using the list of objects and the skill preconditions / effects learned, 
    generate 5 skill sequences and their sequence of skills such that: 
    (1) the skill sequences should violate their preconditions occasionally.
    (2) at least 1 unexplored skill pair is used in each skill sequence.
    (3) all skill sequences have at least 15 skills in sequence.
    (4) there are no same skills with same arguments consecutively in the sequence.

    Output only the sequence of skills to execute, 
    ensuring to follow the naming/syntax/arguments for skills provided. 
    Output 1 skill every new line, following the format below:
    Skill Sequence 1: 
    GoTo(CounterTop)
    PickUp(Apple, CounterTop)
  
    Skill Sequence 2:

franka:
  system_prompt: >
    A robot with one arm is attempting to learn the preconditions and effects 
    for a finite set of skills by executing exploratory skill sequences and exploring the environment.

  prompt: |
    Propose a set of skill sequences for a robot to execute.
    The robot is attempting to learn the preconditions and effects for a finite set of operators. 
    The robot can navigate the environment freely but only has one gripper. 
    The robot has access to the following skills with their associated arguments:

    [SKILL_PROMPT]
    
    The list of objects the robot has previously encountered in the environment are: 
    [OBJECT_IN_SCENE]
    [ENV_DESCRIPTION]

    The pairs of consecutive skills (skill1, skill2) that have been least explored are: 
    [[LEAST_EXPLORED_SKILLS]].

    Certain skills have similar names and arguments, but different preconditions and effects. 
    Using the list of objects and the skill preconditions / effects learned, 
    generate 5 skill sequences and their sequence of skills such that: 
    (1) the skill sequences should violate their preconditions occasionally.
    (2) at least 1 unexplored skill pair is used in each skill sequence.
    (3) all skill sequences have at least 15 skills in sequence.
    (4) there are no same skills with same arguments consecutively in the sequence.

    Output only the sequence of skills to execute, 
    ensuring to follow the naming/syntax/arguments for skills provided. 
    Output 1 skill every new line, following the format below:
    Skill Sequence 1: 
    GoTo(CounterTop)
    PickUp(Apple, CounterTop)
  
    Skill Sequence 2:

burger:
  system_prompt: >
    A robot with one arm is roaming around a kitchen and attempting to learn the preconditions and effects
    for a finite set of skills by executing exploratory skill sequences and exploring the environment.
  prompt: |
      Propose a set of skill sequences for a robot to execute.
      The robot can navigate the environment freely but only has one gripper. 
      The robot has access to the following skills with their associated arguments:

      [SKILL_PROMPT]
      
      The list of objects the robot has previously encountered in the environment are: 
      [OBJECT_IN_SCENE]
      [ENV_DESCRIPTION]

      The pairs of consecutive skills (skill1, skill2) that have been least explored are: 
      [[LEAST_EXPLORED_SKILLS]].

      Certain skills have similar names and arguments, but different preconditions and effects. 
      Using the list of objects and the skill preconditions / effects learned, 
      generate 5 skill sequences and their sequence of skills such that: 
      (1) the skill sequences should violate their preconditions occasionally.
      (2) at least 1 unexplored skill pair is used in each skill sequence.
      (3) all skill sequences have at least 15 skills in sequence.
      (4) there are no same skills with same arguments consecutively in the sequence.

      Output only the sequence of skills to execute, 
      ensuring to follow the naming/syntax/arguments for skills provided. 
      Output 1 skill every new line, following the format below:
      Skill Sequence 1: 
      GoTo(CounterTop)
      PickUp(Apple, CounterTop)
    
      Skill Sequence 2: