Interaction 1
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Observation:
Station table1:
table1 is a table
table1 has bread1
table1 has bread1 directly on top of it
table1 has no players at it

Station board1:
board1 is a cutting board
board1 has lettuce1
board1 has lettuce1 directly on top of it
board1 has no players at it

Station sink1:
sink1 is a sink
sink1 has nothing on it
sink1 has no players at it

Station stove1:
stove1 is a stove
stove1 is occupied by robot1
stove1 has bread2
stove1 has bread2 directly on top of it

Station fryer1:
fryer1 is a fryer
fryer1 has onion1
fryer1 has onion1 directly on top of it
fryer1 has no players at it

Station table2:
table2 is a table
table2 has nothing on it
table2 has no players at it

Station board2:
board2 is a cutting board
board2 has bottombun1
board2 has bottombun1 directly on top of it
board2 has no players at it

Station table3:
table3 is a table
table3 has nothing on it
table3 has no players at it

Station sink2:
sink2 is a sink
sink2 has potato1
sink2 has potato1 directly on top of it
sink2 has no players at it

Station sink3:
sink3 is a sink
sink3 has cheese1
sink3 has cheese1 directly on top of it
sink3 has no players at it

Station sink4:
sink4 is a sink
sink4 has onion2
sink4 has onion2 directly on top of it
sink4 has no players at it

Station fryer2:
fryer2 is a fryer
fryer2 has nothing on it
fryer2 has no players at it

Item bread1:
bread1 is a bread slice
bread1 is at table1
bread1 is directly on top of table1
bread1 has nothing above it

Item lettuce1:
lettuce1 is a head of lettuce
lettuce1 can be cut on a cutting board
lettuce1 is at board1
lettuce1 is directly on top of board1
lettuce1 has nothing above it

Item bread2:
bread2 is a bread slice
bread2 is at stove1
bread2 is directly on top of stove1
bread2 has nothing above it

Item onion1:
onion1 is an onion
onion1 can be cut on a cutting board
onion1 is at fryer1
onion1 is directly on top of fryer1
onion1 has nothing above it

Item bottombun1:
bottombun1 is a bottom bun
bottombun1 is at board2
bottombun1 is directly on top of board2
bottombun1 has nothing above it

Item potato1:
potato1 is a potato
potato1 is at sink2
potato1 is directly on top of sink2
potato1 has nothing above it

Item cheese1:
cheese1 is a cheese slice
cheese1 is at sink3
cheese1 is directly on top of sink3
cheese1 has nothing above it

Item onion2:
onion2 is an onion
onion2 can be cut on a cutting board
onion2 is at sink4
onion2 is directly on top of sink4
onion2 has nothing above it

Player robot1:
robot1 is a robot
robot1 is at stove1
robot1 is holding nothing

Valid Actions:
Move robot1 from stove1 to table1
Move robot1 from stove1 to board1
Move robot1 from stove1 to sink1
Move robot1 from stove1 to fryer1
Move robot1 from stove1 to table2
Move robot1 from stove1 to board2
Move robot1 from stove1 to table3
Move robot1 from stove1 to sink2
Move robot1 from stove1 to sink3
Move robot1 from stove1 to sink4
Move robot1 from stove1 to fryer2
Pick up bread2 from stove1 using robot1
Do nothing

Goal: Prepare a onion cheese sandwich on a table


Action: Move robot1 from stove1 to board1
Next State Change: robot1 is at board1, robot1 is not at stove1
Action: Pick up lettuce1 from board1 using robot1
Next State Change: lettuce1 is held by robot1, lettuce1 is not at board1
Action: Move robot1 from board1 to table3
Next State Change: robot1 is at table3, robot1 is not at board1
Action: Place lettuce1 on table3 using robot1
Next State Change: lettuce1 is at table3, lettuce1 is not held by robot1
Action: Move robot1 from table3 to fryer1
Next State Change: robot1 is at fryer1, robot1 is not at table3
Action: Pick up onion1 from fryer1 using robot1
Next State Change: onion1 is held by robot1, onion1 is not at fryer1
Action: Move robot1 from fryer1 to board1
Next State Change: robot1 is at board1, robot1 is not at fryer1
Action: Place onion1 on board1 using robot1
Next State Change: onion1 is on board1, onion1 is not held by robot1
Action: Cut onion1 on board1 using robot1
Next State Change: onion1 is being cut (2)
Action: Cut onion1 on board1 using robot1
Next State Change: onion1 is being cut (1)
Action: Cut onion1 on board1 using robot1
Next State Change: onion1 has been cut
Action: Pick up onion1 from board1 using robot1
Next State Change: onion1 is held by robot1, onion1 is not at board1
Action: Move robot1 from board1 to table1
Next State Change: robot1 is at table1, robot1 is not at board1
Action: Stack onion1 on top of bread1 using robot1
Next State Change: onion1 is atop bread1, onion1 is not held by robot1
Action: Move robot1 from table1 to sink3
Next State Change: robot1 is at sink3, robot1 is not at table1
Action: Pick up cheese1 from sink3 using robot1
Next State Change: cheese1 is held by robot1, cheese1 is not at sink3
Action: Move robot1 from sink3 to table1
Next State Change: robot1 is at table1, robot1 is not at sink3
Action: Stack cheese1 on top of onion1 using robot1
Next State Change: cheese1 is atop onion1, cheese1 is not held by robot1
Action: Move robot1 from table1 to stove1
Next State Change: robot1 is at stove1, robot1 is not at table1
Action: Pick up bread2 from stove1 using robot1
Next State Change: bread2 is held by robot1, bread2 is not at stove1
Action: Move robot1 from stove1 to table1
Next State Change: robot1 is at table1, robot1 is not at stove1
Action: Stack bread2 on top of cheese1 using robot1
Next State Change: bread2 is atop cheese1, bread2 is not held by robot1. Goal achieved!