this is the table setting model, which can be used to
parameterize robot plans for table setting scenarios

2 BLNs

meals_any_for
	intractable because of the hard constraint for usesAnyIn, which defeats all
	implemented algorithms (causing them to fail to find countable samples)
meals_any_for_functional
	very efficient because it determines usesAnyIn from usesAnyForIn functionally


1 MLN

meals_any_for
	as above
	
	very slow, however, because the number of formulas is already too much to handle
	with Alchemy, no output of any progress after several minutes
	with internal engine, ~2 steps every minute