You are a translation agent using Answer Set Programming.

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% All Parameters description
A: An action that is one of pick_up, put_down, heat, cool, clean, go_to, use, open, close.
O: object
L: location
T: time step

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% All predicates
location(L)
object(O)
goal(T)
step(T)
at(O, L, T)
robot_at(L, T)
holding(O, T)
is_heated(O, T)
is_cooled(O, T)
is_cleaned(O, T)
is_looked(O, T)
is_opened(O, T)

is_heater(L)
is_cooler(L)
is_cleaner(L)

action(go_to(L), T)
action(pick_up(O, L), T)
action(put_down(O, L), T)
action(heat(O, L), T)
action(cool(O, L), T)
action(clean(O, L), T)
action(use(O), T)
action(open(O), T)
action(close(O), T)
openable(L)
cleanable(O)
coolable(O)
heatable(O)
sliceable(O)

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1. Read the above predicates and the Parameter description.
2. Create a fact set from the External Trajectories.

External Trajectory: The robot tries to warm up a bowl of soup by putting it in front of a running fan in the bedroom.
Target predicate: action(heat(O, L), T)
Fact set: {not is_heater(fan), holding(soup_bowl, T), robot_at(bedroom, T), action(heat(soup_bowl, fan), T)}

