#The template looking of prompt starts line 340, 

#lines before that are few-shot examples for filling.

# Task Description: Put an Egg in the Fridge, and place a pot containing Apple slices into the refrigerator.

# GENERAL TASK DECOMPOSITION 

# Decompose and parallel subtasks where ever possible

# Independent subtasks:

# SubTask 1: Put an Egg in the Fridge. (Skills Required: GoToObject, PickupObject, OpenObject, PutObject, CloseObject)

# SubTask 2: Prepare Apple Slices. (Skills Required: GoToObject, PickupObject, SliceObject, PutObject)

# SubTask 3: Place the Pot with Apple Slices in the Fridge. (Skills Required: GoToObject, PickupObject, PutObject, OpenObject, CloseObject)

# We can parallelize SubTask 1 and SubTask 2 because they don't depend on each other.

# action description from domain for tasks required

#Subtask 1 Put an Egg in the Fridge

# Initial condition analyze due to previous subtask:

#1. Robot not at egg location

#2. Robot not holding egg

#3. fridge is fridge, and initally closed

GoToObject: Robot goes to the egg.

Parameters: ?robot , ?egg ,

Preconditions: (not (inaction ?robot))

Effects: (at ?robot ?egg), (not (inaction ?robot))

PickupObject: Robot picks up the egg.

Parameters: ?robot , ?egg , ?location  (where egg is initially located)

Preconditions: (at-location ?egg ?location), (at ?robot ?location), (not (inaction ?robot))

Effects: (holding ?robot ?egg), (not (inaction ?robot))

GoToObject: Robot goes to the fridge.

Parameters: ?robot , ?fridge  ,

Preconditions: (not (inaction ?robot))

effects: (at ?robot ?fridge), (not (inaction ?robot))

OpenObject: Robot opens the fridge.

Parameters: ?robot , ?fridge ,

Preconditions: (not (inaction ?robot)), (at ?robot ?fridge)

Effects: (object-open ?robot ?fridge), (not (inaction ?robot))

PutObject: Robot puts the egg inside the fridge.

Parameters: ?robot  , ?egg   ?fridge   ,(location inside the fridge)

Preconditions: (holding ?robot ?egg), (at ?robot ?fridge), (not (inaction ?robot))

Effects: (at-location ?egg ?fridge), (not (holding ?robot ?egg)), (not (inaction ?robot))

CloseObject: Robot closes the fridge.

Parameters: ?robot  ?fridge 

Preconditions: (not (inaction ?robot)), (at ?robot ?fridge)

Effects: (object-close ?robot ?fridge), (not (inaction ?robot))

#Subtask 2: Prepare Apple Slices

# Initial condition analyze due to previous subtask:

#1. Robot not at apple location

#2. Robot not holding apple

#3. Robot not holding knife

GoToObject : Robot goes to the apple

Parameters: ?robot , ?Apple ,

Preconditions: (not (inaction Robot))

Effects: (at Robot Apple), (not (inaction Robot))

PickupObject (Robot, Apple, AppleLocation)

Parameters: ?robot , ?Apple , ?AppleLocation 

Preconditions: (at-location Apple AppleLocation), (at Robot AppleLocation), (not (inaction Robot))

Effects: (holding Robot Apple), (not (inaction Robot))

GoToObject (Robot, Knife)

Parameters: ?robot , ?Knife  ,

Preconditions: (not (inaction Robot))

Effects: (at Robot CuttingBoard), (not (inaction Robot))

PickupObject (Robot, Knife, KnifeLocation)

Parameters: ?robot , ?Knife , ?KnifeLocation 

Preconditions: (at-location Knife KnifeLocation), (at Robot KnifeLocation), (not (inaction Robot))

Effects: (holding Robot Knife), (not (inaction Robot))

SliceObject (Robot, Apple)

Parameters: ?robot , ?Apple,

Preconditions: (holding robot knife), (holding Robot Apple), (not (inaction Robot))

Effects: (sliced Apple), (not (inaction Robot))

GoToObject (Robot, Pot)

Parameters: ?robot , ?Pot  ,

Preconditions: (not (inaction Robot))

Effects: (at Robot Pot), (not (inaction Robot))

PutObject (Robot, AppleSlices, Pot)

Parameters: ?robot , ?AppleSlices, ?Pot

Preconditions: (holding Robot AppleSlices), (at Robot Pot), (not (inaction Robot))

Effects: (at-location AppleSlices Pot), (not (holding Robot AppleSlices)), (not (inaction Robot))

#subtask 3: Place the Pot with Apple Slices in the Fridge

# Inital condition analyze due to previous subtask:

#1. Robot at pot location

#2. Fridge is Fridge, and initally closed

#3. Robot not holding pot initally.

PickupObject (Robot, Pot, PotLocation)

Parameters: ?robot - robot, ?Apple - object ,

Preconditions: (at-location Pot PotLocation), (at Robot PotLocation), (not (inaction Robot))

Effects: (holding Robot Pot), (not (inaction Robot))

GoToObject (Robot, Fridge)

Parameters: ?robot - robot, ?Apple - object ,

Preconditions: (not (inaction Robot))

Effects: (at Robot Fridge), (not (inaction Robot))

OpenObject (Robot, Fridge)

Parameters: ?robot - robot, ?Apple - object ,

Preconditions: (not (inaction Robot)), (at Robot Fridge)

Effects: (object-open Robot Fridge), (not (inaction Robot))

PutObject (Robot, Pot, Fridge)

Parameters: ?robot - robot, ?Apple - object ,

Preconditions: (holding Robot Pot), (at Robot Fridge), (not (inaction Robot))

Effects: (at-location Pot Fridge), (not (holding Robot Pot)), (not (inaction Robot))

CloseObject (Robot, Fridge)

Parameters: ?robot - robot, ?Apple - object ,

Preconditions: (not (inaction Robot)), (at Robot Fridge)

Effects: (object-close Robot Fridge), (not (inaction Robot))

# Task Put an Egg in the Fridge, and place a pot containing Apple slices into the refrigerator is done.

# Task Description: Make a sandwich with sliced lettuce, sliced tomato, sliced bread and serve it on a washed plate.

# GENERAL TASK DECOMPOSITION

# Decompose and parallelize subtasks where ever possible

# Independent subtasks:

# SubTask 1: Slice the Lettuce, Tomato, and Bread. (Skills Required: GoToObject, PickupObject, SliceObject, PutObject)

# SubTask 2: Wash the Plate. (Skills Required: GoToObject, PickupObject, PutObject, SwitchOn, SwitchOff)

# SubTask 3: Assemble the Sandwich. (Skills Required: GoToObject, PickupObject, PutObject)

# We can parallelize SubTask 1 and SubTask 2 because they don't depend on each other.

# action description from domain for tasks required

#Subtask 1: Prepare Lettuce Slices

# Initial Precondition analyze due to previous subtask:

# 1. Robot not holding lettuce.

# 2. Robot not at lettuce location.

GoToObject (Robot, Knife)

Parameters: ?robot , ?Knife  ,

Preconditions: (not (inaction Robot))

Effects: (at Robot CuttingBoard), (not (inaction Robot))

PickupObject (Robot, Knife, KnifeLocation)

Parameters: ?robot , ?Knife , ?KnifeLocation 

Preconditions: (at-location Knife KnifeLocation), (at Robot KnifeLocation), (not (inaction Robot))

Effects: (holding Robot Knife), (not (inaction Robot))

GoToObject: Robot goes to the lettuce.

Parameters: ?robot, ?lettuce

Preconditions: (not (inaction ?robot))

Effects: (at ?robot ?lettuce), (not (inaction ?robot))

SliceObject: Robot slices the lettuce.

Parameters: ?robot, ?lettuce

Preconditions: (holding robot knife), (holding ?robot ?lettuce), (not (inaction ?robot))

Effects: (sliced ?lettuce), (not (inaction ?robot))

#Subtask 2: Prepare Tomato Slices

# Initial Precondition analyze due to previous subtask:

#1. Robot not holding tomate

#2. Robot not at tomate location

#3. Robot not holding knife

GoToObject (Robot, Knife)

Parameters: ?robot , ?Knife  ,

Preconditions: (not (inaction Robot))

Effects: (at Robot CuttingBoard), (not (inaction Robot))

PickupObject (Robot, Knife, KnifeLocation)

Parameters: ?robot , ?Knife , ?KnifeLocation 

Preconditions: (at-location Knife KnifeLocation), (at Robot KnifeLocation), (not (inaction Robot))

Effects: (holding Robot Knife), (not (inaction Robot))

GoToObject: Robot goes to the tomato.

Parameters: ?robot, ?tomato

Preconditions: (not (inaction ?robot))

Effects: (at ?robot ?tomato), (not (inaction ?robot))

SliceObject: Robot slices the tomato.

Parameters: ?robot, ?tomato

Preconditions: (holding robot knife), (holding ?robot ?tomato), (not (inaction ?robot))

Effects: (sliced ?tomato), (not (inaction ?robot))

#Subtask 3: Prepare Bread Slices

#1. Robot not holding bread

#2. Robot not at  bread location.

GoToObject (Robot, Knife)

Parameters: ?robot , ?Knife  ,

Preconditions: (not (inaction Robot))

Effects: (at Robot CuttingBoard), (not (inaction Robot))

PickupObject (Robot, Knife, KnifeLocation)

Parameters: ?robot , ?Knife , ?KnifeLocation 

Preconditions: (at-location Knife KnifeLocation), (at Robot KnifeLocation), (not (inaction Robot))

Effects: (holding Robot Knife), (not (inaction Robot))

GoToObject: Robot goes to the bread.

Parameters: ?robot, ?bread

Preconditions: (not (inaction ?robot))

Effects: (at ?robot ?bread), (not (inaction ?robot))

SliceObject: Robot slices the bread.

Parameters: ?robot, ?bread

Preconditions: (holding robot knife), (holding ?robot ?bread), (not (inaction ?robot))

Effects: (sliced ?bread), (not (inaction ?robot))

#Subtask 4: Wash Plate

#1. Robot not holding plate

#2. Robot not at plate location

GoToObject: Robot goes to the plate.

Parameters: ?robot, ?plate

Preconditions: (not (inaction ?robot))

Effects: (at ?robot ?plate), (not (inaction ?robot))

PickupObject: Robot picks up the plate.

Parameters: ?robot, ?plate, ?location (where plate is initially located)

Preconditions: (at-location ?plate ?location), (at ?robot ?location), (not (inaction ?robot))

Effects: (holding ?robot ?plate), (not (inaction ?robot))

GoToObject: Robot goes to the sink.

Parameters: ?robot, ?sink

Preconditions: (not (inaction ?robot))

Effects: (at ?robot ?sink), (not (inaction ?robot))

CleanObject: Robot cleans the plate.

Parameters: ?robot, ?plate

Preconditions: (at ?robot ?sink), (holding ?robot ?plate), (not (inaction ?robot))

Effects: (cleaned ?robot ?plate), (not (inaction ?robot))

#Subtask 5: Assemble Sandwich on Plate

#1. Robot not holding bread, lettuce, or tomato

#2. Robot holding plate

#3. Robot not at bread, lettuce, or tomato location

GoToObject: Robot goes to the sliced bread.

Parameters: ?robot, ?bread

Preconditions: (not (inaction ?robot))

Effects: (at ?robot ?bread), (not (inaction ?robot))

PickupObject: Robot picks up the sliced bread.

Parameters: ?robot, ?bread, ?cuttingBoard

Preconditions: (at-location ?bread ?cuttingBoard), (at ?robot ?cuttingBoard), (not (inaction ?robot))

Effects: (holding ?robot ?bread), (not (inaction ?robot))

GoToObject: Robot goes to the plate.

Parameters: ?robot, ?plate

Preconditions: (not (inaction ?robot))

Effects: (at ?robot ?plate), (not (inaction ?robot))

PutObject: Robot places the sliced bread on the plate.

Parameters: ?robot, ?bread, ?plate

Preconditions: (holding ?robot ?bread), (at ?robot ?plate), (not (inaction ?robot))

Effects: (at-location ?bread ?plate), (not (holding ?robot ?bread)), (not (inaction ?robot))

GoToObject: Robot goes to the lettuce.

Parameters: ?robot, ?lettuce

Preconditions: (not (inaction ?robot))

Effects: (at ?robot ?lettuce), (not (inaction ?robot))

PickupObject: Robot picks up the sliced lettuce.

Parameters: ?robot, ?lettuce, ?cuttingBoard

Preconditions: (at-location ?lettuce ?cuttingBoard), (at ?robot ?cuttingBoard), (not (inaction ?robot))

Effects: (holding ?robot ?lettuce), (not (inaction ?robot))

GoToObject: Robot goes to the plate.

Parameters: ?robot, ?plate

Preconditions: (not (inaction ?robot))

Effects: (at ?robot ?plate), (not (inaction ?robot))

PutObject: Robot places the sliced lettuce on the bread.

Parameters: ?robot, ?lettuce, ?plate

Preconditions: (holding ?robot ?lettuce), (at ?robot ?plate), (not (inaction ?robot))

Effects: (at-location ?lettuce ?plate), (not (holding ?robot ?lettuce)), (not (inaction ?robot))

GoToObject: Robot goes to the sliced tomato.

Parameters: ?robot, ?tomato

Preconditions: (not (inaction ?robot))

Effects: (at ?robot ?tomato), (not (inacti

PickupObject: Robot picks up the sliced tomato.

Parameters: ?robot, ?tomato, ?cuttingBoard

Preconditions: (at-location ?tomato ?cuttingBoard), (at ?robot ?cuttingBoard), (not (inaction ?robot))

Effects: (holding ?robot ?tomato), (not (inaction ?robot))

GoToObject: Robot goes to the plate.

Parameters: ?robot, ?plate

Preconditions: (not (inaction ?robot))

Effects: (at ?robot ?plate), (not (inaction ?robot))

PutObject: Robot places the sliced tomato on the lettuce.

Parameters: ?robot, ?tomato, ?plate

Preconditions: (holding ?robot ?tomato), (at ?robot ?plate), (not (inaction ?robot))

Effects: (at-location ?tomato ?plate), (not (holding ?robot ?tomato)), (not (inaction ?robot))

GoToObject: Robot goes to another sliced bread.

Parameters: ?robot, ?bread

Preconditions: (not (inaction ?robot))

Effects: (at ?robot ?bread), (not (inaction ?robot))

PickupObject: Robot picks up another sliced bread.

Parameters: ?robot, ?bread, ?cuttingBoard

Preconditions: (at-location ?bread ?cuttingBoard), (at ?robot ?cuttingBoard), (not (inaction ?robot))

Effects: (holding ?robot ?bread), (not (inaction ?robot))

GoToObject: Robot goes to the plate.

Parameters: ?robot, ?plate

Preconditions: (not (inaction ?robot))

Effects: (at ?robot ?plate), (not (inaction ?robot))

PutObject: Robot places the sliced bread on the sandwich.

Parameters: ?robot, ?bread, ?plate

Preconditions: (holding ?robot ?bread), (at ?robot ?plate), (not (inaction ?robot))

Effects: (at-location ?bread ?plate), (not (holding ?robot ?bread)), (not (inaction ?robot))

# Task Make a sandwich with sliced lettuce, sliced tomato, sliced bread and serve it on a washed plate is done.

#The actual Prompt Template:

# prepare train decompostion demonstration for ai2thor samples

    allaction_pddldomain = open(os.getcwd() + "/resources/allactionrobot.pddl","r")

    prompt = f"from pddl domain file with all possible actions: " +"\n" + allaction_pddldomain.read()

    objects_ai = f"\n\nobjects = {get_ai2_thor_objects(args.floor_plan)}"

    prompt += objects_ai

    prompt +=  decompose_prompt #the above examples

    prompt += "robot initaite 'as not inaction robot' (which defaults location too)\n\n" + decompose_prompt

    prompt += "# GENERAL TASK DECOMPOSITION \n Decompose and parallel subtasks where ever possible."