# # id2skill = {
# #     0: 'put paper kitchentable',
# #     1: 'put bananas kitchentable',
# #     2: 'find apple',
# #     3: 'find coffeetable',
# #     4: 'put salmon desk',
# #     5: 'put cat desk',
# #     6: 'put facecream bathroomcounter',
# #     7: 'find bed',
# #     8: 'put facecream desk',
# #     9: 'put salmon coffeetable',
# #     10: 'find book',
# #     11: 'find sofa',
# #     12: 'grab pillow',
# #     13: 'grab facecream',
# #     14: 'find bananas',
# #     15: 'find paper',
# #     16: 'grab cellphone',
# #     17: 'grab salmon',
# #     18: 'find salmon',
# #     19: 'sit sofa',
# #     20: 'find pillow',
# #     21: 'find kitchentable',
# #     22: 'grab cat',
# #     23: 'find cat',
# #     24: 'put salmon kitchentable',
# #     25: 'grab bananas',
# #     26: 'sit bed',
# #     27: 'put cat sofa',
# #     28: 'put apple coffeetable',
# #     29: 'put cat bed',
# #     30: 'find bathroomcounter',
# #     31: 'grab apple',
# #     32: 'find desk',
# #     33: 'find facecream',
# #     34: 'find cellphone',
# #     35: 'grab book',
# #     36: 'grab paper',
# #     37: "put apple kitchentable"
# # }

# id2skill  = {
#     0: 'put bananas kitchentable',
#     1: 'find apple',
#     2: 'find coffeetable',
#     3: 'put salmon desk',
#     4: 'put cat desk',
#     5: 'put facecream bathroomcounter',
#     6: 'find bed',
#     7: 'put facecream desk',
#     8: 'put salmon coffeetable',
#     9: 'find book',
#     10: 'find sofa',
#     11: 'grab pillow',
#     12: 'grab facecream',
#     13: 'find bananas',
#     14: 'grab cellphone',
#     15: 'grab salmon',
#     16: 'find salmon',
#     17: 'sit sofa',
#     18: 'find pillow',
#     19: 'find kitchentable',
#     20: 'grab cat',
#     21: 'find cat',
#     22: 'put salmon kitchentable',
#     23: 'grab bananas',
#     24: 'sit bed',
#     25: 'put cat sofa',
#     26: 'put apple coffeetable',
#     27: 'put cat bed',
#     28: 'find bathroomcounter',
#     29: 'grab apple',
#     30: 'find desk',
#     31: 'find facecream',
#     32: 'find cellphone',
#     33: 'grab book',
#     34: 'put apple kitchentable'
# }



# skill2id = {v: k for (k, v) in id2skill.items()}

# # stopwords = {"character", "livingroom", "bedroom", "kitchen", "floor", "bathroom", "photoframe", "deodorant", "keyboard",
# #              "wallpictureframe", "clock","wallphone", "perfume","doorjamb", "powersocket", "mincedmeat" "door", "walllamp",
# #              "ceilinglamp", "lightswitch", "closetdrawer", "hanger", "curtains", "folder", "mousemat", "chocolatesyrup", "toy",
# #              "folder", "faucet", "painkillers", "orchid", "hairproduct", "coffeemaker", "nightstand", "condimentshaker", "whippedcream",
# #              "candle", "bellpepper","chicken", "towelrack", "wallshelf", "knifeblock", "cutleryfork", "juice", "cookingpot", "hairproduct", "window"}

# n_skills = len(id2skill)

# init_pos = {
#     "livingroom": {
#         "env0": [
#             "character",
#             "livingroom",
#             "sofa",
#             "bookshelf",
#             "pillow",
#             "pillow",
#             "box",
#             "rug",
#             "plate",
#             "dishbowl",
#             "cat",
#             "clothespants",
#             "tv",
#             "hanger",
#             "coffeetable",
#             "apple"
#         ],
#         "env1":[
#             "livingroom",
#             "sofa",
#             "coffeetable",
#             "closet",
#             "pillow",
#             "orchid",
#             "remotecontrol",
#             "livingroom",
#             "bookshelf",
#             "breadslice",
#             "window",
#             "curtains",
#             "hanger",
#             "rug"
#         ],
#         "env2": [
#             "character",
#             "clothespile",
#             "folder",
#             "bookshelf",
#             "livingroom",
#             "tvstand",
#             "bookshelf",
#             "bookshelf",
#             "rug",
#             "book",
#             "book",
#             "book",
#             "book",
#             "slippers",
#             "tv",
#             "wallpictureframe",
#             "towel",
#             "bed",
#             "book",
#             "plate",
#             "kitchencounter",
#             "tv",
#             "lightswitch",
#             "rug",
#             "powersocket",
#             "coffeetable"
#         ]
#     },
#     "bedroom": {
    
#     "env0": [
#             "character",
#             "bathroom",
#             "door",
#             "bedroom",
#             "bookshelf",
#             "radio",
#             "photoframe",
#             "book",
#             "book",
#             "folder",
#             "folder",
#             "kitchen",
#             "clothespants",
#             "mouse",
#             "computer",
#             "sofa",
#             "computer",
#             "waterglass",
#             "wallshelf",
#             "hanger"
#     ],
#     "env1": [
#             "character",
#             "bedroom",
#             "desk",
#             "chair",
#             "bed",
#             "paper",
#             "pillow",
#             "tablelamp",
#             "tablelamp",
#             "folder",
#             "livingroom",
#             "cpuscreen",
#             "book",
#             "ceilinglamp",
#             "kitchencabinet",
#             "rug",
#             "cutlets"
#     ] ,
#     "env2": [
#            "character",
#             "bathroom",
#             "bedroom",
#             "tablelamp",
#             "photoframe",
#             "book",
#             "book",
#             "pillow",
#             "remotecontrol",
#             "bookshelf",
#             "bed",
#             "rug",
#             "toilet",
#             "photoframe",
#             "window",
#             "bananas",
#             "rug",
#             "ceiling",
#             "ceilinglamp",
#             "cutleryknife",
#             "candle"
#     ]  
        
#     },
#     "bathroom": {
#         "env0": [
#             "character",
#             "bathroom",
#             "bathtub",
#             "wallshelf",
#             "bathroomcounter",
#             "facecream",
#             "toothpaste",
#             "painkillers",
#             "candle",
#             "wallpictureframe",
#             "cupcake",
#             "pillow",
#             "towelrack",
#             "washingsponge",
#             "rug",
#             "plate",
#             "sink",
#             "clothesshirt",
#             "toothpaste"
#         ],
#         "env1":[
#             "character",
#             "bathroom",
#             "bathroomcabinet",
#             "toothbrush",
#             "barsoap",
#             "hairproduct",
#             "hairproduct",
#             "toothpaste",
#             "washingmachine",
#             "remotecontrol",
#             "chair",
#             "barsoap",
#             "kitchencabinet",
#             "creamybuns"
#           ] ,
#         "env2": [
#             "character",
#             "bathroom",
#             "bathtub",
#             "stall",
#             "hairproduct",
#             "washingmachine",
#             "bookshelf",
#             "bathtub",
#             "condimentbottle",
#             "plate"
#         ]
#     },
#     "kitchen": {
#         "env0": ["character",
#             "kitchen",
#             "wallshelf",
#             "wallshelf",
#             "wallpictureframe",
#             "stove",
#             "chips",
#             "chips",
#             "livingroom",
#             "wallpictureframe",
#             "wallpictureframe",
#             "wallshelf",
#             "stovefan",
#             "plate",
#             "faucet",
#             "hanger",
#             "clothesshirt",
#             "hanger"],
#         "env1": [
#              "character",
#             "kitchen",
#             "cutleryknife",
#             "knifeblock",
#             "fryingpan",
#             "cookingpot",
#             "dishwashingliquid",
#             "kitchencabinet",
#             "kitchencabinet",
#             "kitchencabinet",
#             "kitchencabinet",
#             "kitchencabinet",
#             "kitchencounter",
#             "kitchencounterdrawer",
#             "kitchencounterdrawer",
#             "kitchencounterdrawer",
#             "faucet",
#             "kitchencounter",
#             "stove",
#             "chicken",
#             "cutlets",
#             "fridge",
#             "cookingpot",
#             "walllamp",
#             "livingroom",
#             "toaster",
#             "kitchencabinet",
#             "walllamp",
#             "chicken",
#             "lime",
#             "hanger",
#             "bathroomcabinet",
#             "lightswitch"
#         ]
#         ,
#         "env2":  [
#             "character",
#             "kitchen",
#             "plate",
#             "cutleryknife",
#             "cutleryknife",
#             "plate",
#             "kitchencounter",
#             "kitchencabinet",
#             "kitchencabinet",
#             "kitchencabinet",
#             "dishwasher",
#             "toaster",
#             "breadslice",
#             "coffeemaker",
#             "coffeepot",
#             "cat",
#             "book",
#             "bench",
#             "kitchentable",
#             "dishbowl",
#             "perfume",
#             "kitchencabinet",
#             "radio",
#             "curtains",
#             "dishwasher",
#             "dishbowl",
#             "walllamp",
#             "bathtub",
#             "towelrack",
#             "sink",
#             "wallshelf",
#             "barsoap",
#             "bedroom",
#             "condimentshaker",
#             "condimentbottle",
#             "ceiling",
#             "tablelamp",
#             "wallpictureframe"
#         ]
#     }
# }


# # available = ['waterglass', 'computer', 'peach', 'whippedcream', 'mug', 'keyboard', 'condimentbottle', 'kitchencounterdrawer', 'apple', 'mouse', 'tvstand', 'walllamp', 'tv', 'dishwashingliquid', 'plate', 'radio', 'kitchentable', 
# #  'pie', 'cellphone', 'bathroomcounter', 'tablelamp', 'stall','plum', 'hairproduct', 'dishbowl', 'desk', 'condimentshaker','barsoap', 'towel' , 'chair',  'bathroomcabinet','salmon', 'bathtub', 'bed', 'toothpaste', 'cpuscreen', 'pillow', 'toothbrush','bookshelf', 'paper', 'towelrack', 'cabinet', 'kitchencabinet', 
# #  'remotecontrol', 'sofa', 'ceilinglamp', 'microwave', 'kitchencounter', 'bananas', 'sink', 'fryingpan', 'fridge', 'faucet', 'coffeetable', 'facecream', 'rug',  'book','toilet', 'lime', 'cat', 'wineglass', 'nightstand' ]

# VH_SKILL= [ "put bananas kitchentable", "find apple", "find coffeetable", "put salmon desk", 
#     "put cat desk", "put facecream bathroomcounter", "find bed", "put facecream desk", "put salmon coffeetable", 
#     "find book", "find sofa", "grab pillow", "grab facecream", "find bananas", "grab cellphone", "grab salmon", 
#     "find salmon", "sit sofa", "find pillow", "find kitchentable", "grab cat", "find cat", "put salmon kitchentable", 
#     "grab bananas", "sit bed", "put cat sofa", "put apple coffeetable", "put cat bed", "find bathroomcounter", "grab apple", 
#     "find desk", "find facecream", "find cellphone", "grab book", "put apple kitchentable"]
# available = [
#     'waterglass', 'computer', 'peach', 'whippedcream', 'mug', 'keyboard', 'condimentbottle', 'kitchencounterdrawer', 
#     'apple', 'mouse', 'tvstand', 'walllamp', 'tv', 'dishwashingliquid', 'plate', 'radio', 'kitchentable', 
#     'pie', 'cellphone', 'bathroomcounter', 'tablelamp', 'stall','plum', 'hairproduct', 'dishbowl', 'desk',
#     'condimentshaker','barsoap', 'towel' , 'chair',  'bathroomcabinet','salmon', 'bathtub', 'bed', 'toothpaste', 
#     'cpuscreen', 'pillow', 'toothbrush','bookshelf', 'towelrack', 'cabinet', 'kitchencabinet', 
#     'remotecontrol', 'sofa', 'ceilinglamp', 'microwave', 'kitchencounter', 'bananas', 'sink', 'fryingpan',
#     'fridge', 'faucet', 'coffeetable', 'facecream', 'rug',  'book','toilet', 'lime', 'cat', 'wineglass', 'nightstand' ]

# stopwords = {"character", "livingroom", "bedroom", "kitchen", "floor", "bathroom", "photoframe", "door", "curtains"}