- !Predicate
  name: hand_empty
  params: null
  semantic: "The agent's hand is empty."
  types: !!python/tuple []

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

- !Predicate
  name: obj_free
  params: !!python/tuple []
  semantic: "A `pickupable` object is free for picking."
  types: !!python/tuple
  - pickupable

- !Predicate
  name: station_free
  params: !!python/tuple []
  semantic: "A `station` is free for cooking ingredients."
  types: !!python/tuple
  - station

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

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

- !Predicate
  name: is_cut
  params: !!python/tuple []
  semantic: "The `cuttable` object is cut or sliced."
  types: !!python/tuple
  - cuttable

- !Predicate
  name: is_cooked
  params: !!python/tuple []
  semantic: "The `cookable` object is cooked and ready for consumption or further meal preparation."
  types: !!python/tuple
  - cookable