clean_couch_pillows-0

---

Required Synsets

Name	State	Definition
detergent.n.02	Substance	a cleansing agent that differs from soap but can also emulsify oils and hold dirt in suspension
detergent__bottle.n.01	Matched
floor.n.01	Matched	the inside lower horizontal surface (as of a room, hallway, tent, or other structure)
pillow.n.01	Matched	a cushion to support the head of a sleeping person
scrub_brush.n.01	Matched	a brush with short stiff bristles for heavy cleaning
sofa.n.01	Matched	an upholstered seat for more than one person
stain.n.01	Substance	a soiled or discolored appearance
water.n.06	Substance	a liquid necessary for the life of most animals and plants
water_bottle.n.01	Matched	a bottle for holding water

Transition Paths By Task Scope Objects

Scene Matching Status

Scene	Status	Reason
Beechwood_0_garden	Ready
Beechwood_0_int	Ready
Beechwood_1_int	Unmatched	Cannot find suitable living_room.
Benevolence_0_int	Unmatched	Cannot find suitable living_room.
Benevolence_1_int	Ready
Benevolence_2_int	Unmatched	Cannot find suitable living_room.
Ihlen_0_int	Unmatched	Cannot find suitable living_room: living_room_0 is missing 1 sofa.n.01.
Ihlen_1_int	Ready
Merom_0_garden	Ready
Merom_0_int	Ready
Merom_1_int	Ready
Pomaria_0_garden	Unmatched	Cannot find suitable living_room.
Pomaria_0_int	Unmatched	Cannot find suitable living_room.
Pomaria_1_int	Unmatched	Cannot find suitable living_room: living_room_0 is missing 1 sofa.n.01.
Pomaria_2_int	Unmatched	Cannot find suitable living_room.
Rs_garden	Ready
Rs_int	Ready
Wainscott_0_garden	Ready
Wainscott_0_int	Ready
Wainscott_1_int	Unmatched	Cannot find suitable living_room.
gates_bedroom	Unmatched	Cannot find suitable living_room.
grocery_store_asian	Unmatched	Cannot find suitable living_room.
grocery_store_cafe	Unmatched	Cannot find suitable living_room.
grocery_store_convenience	Unmatched	Cannot find suitable living_room.
grocery_store_half_stocked	Unmatched	Cannot find suitable living_room.
hall_arch_wood	Unmatched	Cannot find suitable living_room.
hall_conference_large	Unmatched	Cannot find suitable living_room.
hall_glass_ceiling	Unmatched	Cannot find suitable living_room.
hall_train_station	Unmatched	Cannot find suitable living_room.
hotel_gym_spa	Unmatched	Cannot find suitable living_room.
hotel_suite_large	Unmatched	Cannot find suitable living_room.
hotel_suite_small	Unmatched	Cannot find suitable living_room.
house_double_floor_lower	Ready
house_double_floor_upper	Unmatched	Cannot find suitable living_room.
house_single_floor	Ready
office_bike	Unmatched	Cannot find suitable living_room.
office_cubicles_left	Unmatched	Cannot find suitable living_room.
office_cubicles_right	Unmatched	Cannot find suitable living_room.
office_large	Unmatched	Cannot find suitable living_room.
office_vendor_machine	Unmatched	Cannot find suitable living_room.
restaurant_asian	Unmatched	Cannot find suitable living_room.
restaurant_brunch	Unmatched	Cannot find suitable living_room.
restaurant_cafeteria	Unmatched	Cannot find suitable living_room.
restaurant_diner	Unmatched	Cannot find suitable living_room.
restaurant_hotel	Unmatched	Cannot find suitable living_room.
restaurant_urban	Unmatched	Cannot find suitable living_room.
school_biology	Unmatched	Cannot find suitable living_room.
school_chemistry	Unmatched	Cannot find suitable living_room.
school_computer_lab_and_infirmary	Unmatched	Cannot find suitable living_room.
school_geography	Unmatched	Cannot find suitable living_room.
school_gym	Unmatched	Cannot find suitable living_room.

Full Definition

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

    (:objects
        pillow.n.01_1 - pillow.n.01
        floor.n.01_1 - floor.n.01
        stain.n.01_1 - stain.n.01
        detergent.n.02_1 - detergent.n.02
        detergent__bottle.n.01_1 - detergent__bottle.n.01
        water.n.06_1 - water.n.06
        water_bottle.n.01_1 - water_bottle.n.01
        scrub_brush.n.01_1 - scrub_brush.n.01
        sofa.n.01_1 - sofa.n.01
        agent.n.01_1 - agent.n.01
    )
    
    (:init 
        (ontop pillow.n.01_1 sofa.n.01_1) 
        (covered pillow.n.01_1 stain.n.01_1) 
        (filled detergent__bottle.n.01_1 detergent.n.02_1) 
        (filled water_bottle.n.01_1 water.n.06_1) 
        (ontop detergent__bottle.n.01_1 floor.n.01_1) 
        (ontop water_bottle.n.01_1 floor.n.01_1) 
        (ontop scrub_brush.n.01_1 floor.n.01_1) 
        (ontop agent.n.01_1 floor.n.01_1) 
        (inroom sofa.n.01_1 living_room) 
        (inroom floor.n.01_1 living_room)
    )
    
    (:goal 
        (and 
            (forall 
                (?pillow.n.01 - pillow.n.01) 
                (not 
                    (covered ?pillow.n.01 ?stain.n.01_1)
                )
            ) 
        )
    )
)
  

Debugging: All Possible Recipes Resulting in Future Synsets