clean_a_kitchen_table-0


Synsets

Transition Paths By Task Scope Objects

graph TD;

Scenes

Full Definition

(define (problem clean_a_kitchen_table-0)
    (:domain omnigibson)

    (:objects
        chopping_board.n.01_1 - chopping_board.n.01
        cooking_oil.n.01_1 - cooking_oil.n.01
        sink.n.01_1 - sink.n.01
        dust.n.01_1 - dust.n.01
        liquid_soap.n.01_1 - liquid_soap.n.01
        liquid_soap__bottle.n.01_1 - liquid_soap__bottle.n.01
        rag.n.01_1 - rag.n.01
        crumb.n.03_1 - crumb.n.03
        water.n.06_1 - water.n.06
        table.n.02_1 - table.n.02
        countertop.n.01_1 - countertop.n.01
        floor.n.01_1 - floor.n.01
        agent.n.01_1 - agent.n.01
    )
    
    (:init 
        (ontop chopping_board.n.01_1 table.n.02_1) 
        (ontop rag.n.01_1 floor.n.01_1) 
        (covered table.n.02_1 dust.n.01_1)
        (covered chopping_board.n.01_1 cooking_oil.n.01_1)
        (covered table.n.02_1 crumb.n.03_1)
        (insource sink.n.01_1 water.n.06_1)
        (filled liquid_soap__bottle.n.01_1 liquid_soap.n.01_1)
        (ontop liquid_soap__bottle.n.01_1 countertop.n.01_1)
        (inroom countertop.n.01_1 kitchen) 
        (inroom sink.n.01_1 kitchen) 
        (inroom floor.n.01_1 kitchen)
        (inroom table.n.02_1 dining_room)
        (ontop agent.n.01_1 floor.n.01_1)
    )
    
    (:goal 
        (and 
            (not
                (covered ?table.n.02_1 ?dust.n.01_1)
            )
            (not
                (covered ?table.n.02_1 ?crumb.n.03_1)
            )
            (or
                (inside ?chopping_board.n.01_1 ?sink.n.01_1)
                (ontop ?chopping_board.n.01_1 ?sink.n.01_1)
            )
        )
    )
)
  

Debugging: All Possible Recipes Resulting in Future Synsets

graph TD;