go to obj 1
Precondition: None (the agent can move to any object).
Effect: After execution, the agent is located at obj 1.

open obj 1
Precondition: The agent must be at obj 1.
Effect: obj 1 becomes open.

close obj 1
Precondition: The agent must be at obj 1.
Effect: obj 1 becomes closed.

take obj 1 from obj 1
Precondition:

The agent must be at the obj 1.

The agent’s hand must be empty.

Effect: The agent is now holding the target obj 1.

put obj 1 in/on obj 1
Precondition:

The agent must be at the receiving/supporting obj 1.

The agent must be holding the object to be placed.
Effect: The held object is released and placed inside/on the receiving obj 1. The agent’s hand becomes empty.

clean obj 1 with obj 1
Precondition:

The agent must be at obj 1.

The agent must be holding a cleaning tool or object.
Effect: The target obj 1 becomes clean.

heat obj 1 with obj 1
Precondition:

The agent must be at obj 1.

The heating appliance/tool must be usable.
Effect: The target obj 1 becomes heated.

cool obj 1 with obj 1
Precondition:

The agent must be at obj 1.

Effect: The target obj 1 becomes cool.

turn on obj 1
Precondition: The agent must be at obj 1.
Effect: obj 1 is switched to the “on”.

turn off obj 1
Precondition: The agent must be at obj 1.
Effect: obj 1 is switched to the “off”.
