diff --git a/pddl/pddl_planner/demos/2011_saito/solve-knock-door.l b/pddl/pddl_planner/demos/2011_saito/solve-knock-door.l
index 48efff95..48d15156 100755
--- a/pddl/pddl_planner/demos/2011_saito/solve-knock-door.l
+++ b/pddl/pddl_planner/demos/2011_saito/solve-knock-door.l
@@ -10,101 +10,101 @@
 (send *domain* :requirements '(:typing))
 (send *domain* :types '(object spot))
 (send *domain* :predicates
-	  '(
-		(AT ?SPOT - spot) ;; the spot which robot is in
-		(ENABLE ?OBJ - object) ;; the object is enable (door -> close)
-		(CLEAN ?OBJ - object)
-		(GRASP ?OBJ - object)
-		(ON ?OBJ ?BASE - object) ;; the current position of OBJ
-		(STRAGE ?OBJ ?BASE - object) ;; proper position of OBJ
-		(REACHABLE ?OBJ - object ?SPOT - spot)
-		(SALE-AT ?OBJ - object ?SPOT - spot)
-		(SEPARATE ?OBJ - object ?FROM ?TO - spot)
-		))
+      '(
+        (AT ?SPOT - spot) ;; the spot which robot is in
+        (ENABLE ?OBJ - object) ;; the object is enable (door -> close)
+        (CLEAN ?OBJ - object)
+        (GRASP ?OBJ - object)
+        (ON ?OBJ ?BASE - object) ;; the current position of OBJ
+        (STRAGE ?OBJ ?BASE - object) ;; proper position of OBJ
+        (REACHABLE ?OBJ - object ?SPOT - spot)
+        (SALE-AT ?OBJ - object ?SPOT - spot)
+        (SEPARATE ?OBJ - object ?FROM ?TO - spot)
+        ))
 ;;making action
 (setq *actlist*
       (list
        (instance pddl-action :init
-         :name "move"
-		 :parameters '((?FROM ?TO spot))
-		 :precondition '((AT ?FROM)
-						 (NOT (= ?FROM ?TO))
-						 (forall (?obs - object)
-								 (NOT (SEPARATE ?obs ?FROM ?TO))))
-		 :effect '((AT ?TO)
-				   (NOT (AT ?FROM))))
+                 :name "move"
+                 :parameters '((?FROM ?TO spot))
+                 :precondition '((AT ?FROM)
+                                 (NOT (= ?FROM ?TO))
+                                 (forall (?obs - object)
+                                  (NOT (SEPARATE ?obs ?FROM ?TO))))
+                 :effect '((AT ?TO)
+                           (NOT (AT ?FROM))))
 
        (instance pddl-action :init
-		 :name "pick"
-		 :parameters '((?OBJ object))
-		 :precondition '((exists (?base - object ?spot - spot)
-								 (AND (ON ?OBJ ?base)
-									  (REACHABLE ?base ?spot)
-									  (AT ?spot)))
-						 (forall (?objx - object)
-								  (NOT (GRASP ?objx)))
-						 )
-		 :effect '((GRASP ?OBJ)
-				   (forall (?base - object)
-						   (NOT (ON ?OBJ ?base)))
-				   ))
+                 :name "pick"
+                 :parameters '((?OBJ object))
+                 :precondition '((exists (?base - object ?spot - spot)
+                                  (AND (ON ?OBJ ?base)
+                                   (REACHABLE ?base ?spot)
+                                   (AT ?spot)))
+                                 (forall (?objx - object)
+                                  (NOT (GRASP ?objx)))
+                                 )
+                 :effect '((GRASP ?OBJ)
+                           (forall (?base - object)
+                            (NOT (ON ?OBJ ?base)))
+                           ))
        (instance pddl-action :init
-		 :name "put"
-		 :parameters '((?OBJ ?BASE object))
-		 :precondition '((exists (?spot - spot)
-								 (AND (REACHABLE ?BASE ?spot)
-									  (AT ?spot)))
-						 (GRASP ?OBJ))
-		 :effect '((NOT (GRASP ?OBJ))
-				   (ON ?OBJ ?BASE)))
-
-	   (instance pddl-action :init
-		 :name "buy"
-		 :parameters '((?OBJ object))
-		 :precondition '((exists (?spot - spot)
-								 (AND (SALE-AT ?OBJ ?spot)
-									  (AT ?spot))))
-		 :effect '((GRASP ?OBJ)))
+                 :name "put"
+                 :parameters '((?OBJ ?BASE object))
+                 :precondition '((exists (?spot - spot)
+                                  (AND (REACHABLE ?BASE ?spot)
+                                   (AT ?spot)))
+                                 (GRASP ?OBJ))
+                 :effect '((NOT (GRASP ?OBJ))
+                           (ON ?OBJ ?BASE)))
+
+       (instance pddl-action :init
+                 :name "buy"
+                 :parameters '((?OBJ object))
+                 :precondition '((exists (?spot - spot)
+                                  (AND (SALE-AT ?OBJ ?spot)
+                                   (AT ?spot))))
+                 :effect '((GRASP ?OBJ)))
 
 
        (instance pddl-action :init
-		 :name "wipe"
-		 :parameters '((?OBJ object))
-		 :precondition '((exists (?spot - spot)
-								 (AND (REACHABLE ?OBJ ?spot)
-									  (AT ?spot)))
-						 (forall (?gomi - object)
-								  (NOT (ON ?gomi ?OBJ)))
-						 (NOT (CLEAN ?OBJ)))
-		 :effect '((CLEAN ?OBJ)))
+                 :name "wipe"
+                 :parameters '((?OBJ object))
+                 :precondition '((exists (?spot - spot)
+                                  (AND (REACHABLE ?OBJ ?spot)
+                                   (AT ?spot)))
+                                 (forall (?gomi - object)
+                                  (NOT (ON ?gomi ?OBJ)))
+                                 (NOT (CLEAN ?OBJ)))
+                 :effect '((CLEAN ?OBJ)))
 
        (instance pddl-action :init
-		 :name "open"
-		 :parameters '((?OBJ object))
-		 :precondition '((exists (?spt - spot)
-								 (AND (REACHABLE ?OBJ ?spt)
-									  (AT ?spt)))
-		                 (ENABLE ?OBJ))
-		 :effect '((NOT (ENABLE ?OBJ))))
+                 :name "open"
+                 :parameters '((?OBJ object))
+                 :precondition '((exists (?spt - spot)
+                                  (AND (REACHABLE ?OBJ ?spt)
+                                   (AT ?spt)))
+                                 (ENABLE ?OBJ))
+                 :effect '((NOT (ENABLE ?OBJ))))
 
        (instance pddl-action :init
-		 :name "check_open"
-		 :parameters '((?OBJ object))
-		 :precondition '((exists (?spot - spot)
-								 (AND (REACHABLE ?OBJ ?spot)
-									  (AT ?spot)))
-						 (NOT (ENABLE ?OBJ)))
-		 :effect '((forall (?S1 ?S2 - spot)
-						   (NOT (SEPARATE ?OBJ ?S1 ?S2)))
-				   ))
+                 :name "check_open"
+                 :parameters '((?OBJ object))
+                 :precondition '((exists (?spot - spot)
+                                  (AND (REACHABLE ?OBJ ?spot)
+                                   (AT ?spot)))
+                                 (NOT (ENABLE ?OBJ)))
+                 :effect '((forall (?S1 ?S2 - spot)
+                            (NOT (SEPARATE ?OBJ ?S1 ?S2)))
+                           ))
        (instance pddl-action :init
-		 :name "check_open_f"
-		 :parameters '((?OBJ object))
-		 :precondition '((exists (?spot - spot)
-								 (AND (REACHABLE ?OBJ ?spot)
-									  (AT ?spot)))
-						 (NOT (ENABLE ?OBJ)))
-		 :effect '((ENABLE ?OBJ)))
+                 :name "check_open_f"
+                 :parameters '((?OBJ object))
+                 :precondition '((exists (?spot - spot)
+                                  (AND (REACHABLE ?OBJ ?spot)
+                                   (AT ?spot)))
+                                 (NOT (ENABLE ?OBJ)))
+                 :effect '((ENABLE ?OBJ)))
        ))
 
 ;;add action to domain
@@ -121,36 +121,36 @@
 ;; one object and three spots
 (send *problem* :objects
       '((RM73B2-DOOR . object)
-		(RM73B2-TABLE . object)
-		(PLASTIC-BOTTLE . object)
-		(TRASHBOX . object)
-		(SAITO-TABLE . object)
-		(SANDWITCH . object)
-		(RM73B2-DOORFRONT . spot)
+        (RM73B2-TABLE . object)
+        (PLASTIC-BOTTLE . object)
+        (TRASHBOX . object)
+        (SAITO-TABLE . object)
+        (SANDWITCH . object)
+        (RM73B2-DOORFRONT . spot)
         (RM73B2-TABLEFRONT . spot)
-		(TRASHBOXFRONT . spot)
-		(SHOPFRONT . spot)
+        (TRASHBOXFRONT . spot)
+        (SHOPFRONT . spot)
         (RM73A3-CENTER . spot))
       )
 
 ;; initial condition
 (send *problem* :initial-condition
       '(;; from sensor-data or heuristics
-		(AT RM73A3-CENTER)
-		(ENABLE RM73B2-DOOR)
-		;; generate from knowledge-base/manip-planner
-		(ON PLASTIC-BOTTLE RM73B2-TABLE)
-		(REACHABLE RM73B2-DOOR RM73B2-DOORFRONT)
-		(REACHABLE RM73B2-TABLE RM73B2-TABLEFRONT)
-		(REACHABLE TRASHBOX TRASHBOXFRONT)
-		(REACHABLE SAITO-TABLE RM73A3-CENTER)
-		(SALE-AT SANDWITCH SHOPFRONT)
-		;; generate fron jsk_map
-		(SEPARATE RM73B2-DOOR RM73A3-CENTER RM73B2-TABLEFRONT)
-		(SEPARATE RM73B2-DOOR RM73B2-DOORFRONT RM73B2-TABLEFRONT)
-		(SEPARATE RM73B2-DOOR TRASHBOXFRONT RM73B2-TABLEFRONT)
-		(SEPARATE RM73B2-DOOR SHOPFRONT RM73B2-TABLEFRONT)
-		))
+        (AT RM73A3-CENTER)
+        (ENABLE RM73B2-DOOR)
+        ;; generate from knowledge-base/manip-planner
+        (ON PLASTIC-BOTTLE RM73B2-TABLE)
+        (REACHABLE RM73B2-DOOR RM73B2-DOORFRONT)
+        (REACHABLE RM73B2-TABLE RM73B2-TABLEFRONT)
+        (REACHABLE TRASHBOX TRASHBOXFRONT)
+        (REACHABLE SAITO-TABLE RM73A3-CENTER)
+        (SALE-AT SANDWITCH SHOPFRONT)
+        ;; generate fron jsk_map
+        (SEPARATE RM73B2-DOOR RM73A3-CENTER RM73B2-TABLEFRONT)
+        (SEPARATE RM73B2-DOOR RM73B2-DOORFRONT RM73B2-TABLEFRONT)
+        (SEPARATE RM73B2-DOOR TRASHBOXFRONT RM73B2-TABLEFRONT)
+        (SEPARATE RM73B2-DOOR SHOPFRONT RM73B2-TABLEFRONT)
+        ))
 
 ;;
 ;; solve planning
@@ -165,13 +165,13 @@
 ;; we want to go to in front of a trash box
 (send *problem* :goal-condition
       '((ON PLASTIC-BOTTLE TRASHBOX)
-		(AT RM73A3-CENTER)))
+        (AT RM73A3-CENTER)))
 (pprint (setq *result2* (solve-pddl-planning *domain* *problem* :debug nil)))
 
 (send *problem* :goal-condition
       '((ON SANDWITCH SAITO-TABLE)
-		(CLEAN SAITO-TABLE)
-		(AT RM73A3-CENTER)))
+        (CLEAN SAITO-TABLE)
+        (AT RM73A3-CENTER)))
 (pprint (setq *result3* (solve-pddl-planning *domain* *problem* :debug nil)))
 
 (setq results (list *result1* *result2* *result3*))