pick up in drawer

(:action pick_up_object_in_object_on_left
    :parameters (?arg0 - block ?arg1 - drawer)
    :precondition
      (and
        (gripper_empty)
        (in ?arg1 ?arg0)
        (not (gripper_holding_block ?arg0))
        (not (on_right ?arg1))
        (not (on_top_of_left_block_drawer ?arg0 ?arg1))
        (on_left ?arg1)
        (open ?arg1)
      )
    :effect
      (and
        (decrease (total-reward) 23.536364)
        (probabilistic
          ; fixed: add=['gripper_holding_block(?arg0)'], del=['gripper_empty()', 'in(?arg1,?arg0)']
          ; bucket: pick_up_object_in_object_on_left_success, success: true, variant_rank: 0
          0.636364
          (and
            (gripper_holding_block ?arg0)
            (not (gripper_empty))
            (not (in ?arg1 ?arg0))
          )
          ; bucket: pick_up_object_in_object_on_left_failure, success: false, variant_rank: 0
          0.363636
          (and)
        )
      )
  )

(:action pick_up_object_in_object_on_right
    :parameters (?arg0 - block ?arg1 - drawer)
    :precondition
      (and
        (gripper_empty)
        (in ?arg1 ?arg0)
        (not (gripper_holding_block ?arg0))
        (not (on_left ?arg1))
        (not (on_top_of_left_block_drawer ?arg0 ?arg1))
        (on_right ?arg1)
        (open ?arg1)
      )
    :effect
      (and
        (decrease (total-reward) 23.475)
        (probabilistic
          ; fixed: add=['gripper_holding_block(?arg0)'], del=['gripper_empty()', 'in(?arg1,?arg0)']
          ; bucket: pick_up_object_in_object_on_right_success, success: true, variant_rank: 0
          1.000000
          (and
            (gripper_holding_block ?arg0)
            (not (gripper_empty))
            (not (in ?arg1 ?arg0))
          )
        )
      )
  )