clean_cups-0

Required Synsets

Name	State	Definition
countertop.n.01	Matched	the top side of a counter
floor.n.01	Matched	the inside lower horizontal surface (as of a room, hallway, tent, or other structure)
liquid_soap.n.01	Substance	soap in liquid form
liquid_soap__bottle.n.01	Matched
low-fat_milk.n.01	Substance	milk from which some of the cream has been removed
mug.n.04	Matched	with handle and usually cylindrical
sink.n.01	Matched	plumbing fixture consisting of a water basin fixed to a wall or floor and having a drainpipe
sponge.n.01	Matched	a porous mass of interlacing fibers that forms the internal skeleton of various marine animals and usable to absorb water or any porous rubber or cellulose product similarly used
tea.n.01	Substance	a beverage made by steeping tea leaves in water
teacup.n.02	Matched	a cup from which tea is drunk
water.n.06	Substance	a liquid necessary for the life of most animals and plants

Transition Paths By Task Scope Objects

graph TD;

Scene Matching Status

Scene	Status	Reason
Beechwood_0_garden	Unmatched	Cannot find suitable kitchen: kitchen_0 is missing 1 sink.n.01.
Beechwood_0_int	Unmatched	Cannot find suitable kitchen: kitchen_0 is missing 1 sink.n.01.
Beechwood_1_int	Unmatched	Cannot find suitable kitchen.
Benevolence_0_int	Unmatched	Cannot find suitable kitchen.
Benevolence_1_int	Unmatched	Cannot find suitable kitchen: kitchen_0 is missing 1 countertop.n.01, 1 sink.n.01.
Benevolence_2_int	Unmatched	Cannot find suitable kitchen.
Ihlen_0_int	Unmatched	Cannot find suitable kitchen.
Ihlen_1_int	Unmatched	Cannot find suitable kitchen: kitchen_0 is missing 1 countertop.n.01, 1 sink.n.01.
Merom_0_garden	Unmatched	Cannot find suitable kitchen.
Merom_0_int	Unmatched	Cannot find suitable kitchen.
Merom_1_int	Unmatched	Cannot find suitable kitchen: kitchen_0 is missing 1 countertop.n.01, 1 sink.n.01.
Pomaria_0_garden	Unmatched	Cannot find suitable kitchen.
Pomaria_0_int	Unmatched	Cannot find suitable kitchen.
Pomaria_1_int	Unmatched	Cannot find suitable kitchen: kitchen_0 is missing 1 countertop.n.01, 1 sink.n.01.
Pomaria_2_int	Unmatched	Cannot find suitable kitchen.
Rs_garden	Unmatched	Cannot find suitable kitchen: kitchen_0 is missing 1 countertop.n.01, 1 sink.n.01.
Rs_int	Unmatched	Cannot find suitable kitchen: kitchen_0 is missing 1 countertop.n.01, 1 sink.n.01.
Wainscott_0_garden	Unmatched	Cannot find suitable kitchen: kitchen_0 is missing 1 countertop.n.01, 1 sink.n.01.
Wainscott_0_int	Unmatched	Cannot find suitable kitchen: kitchen_0 is missing 1 countertop.n.01, 1 sink.n.01.
Wainscott_1_int	Unmatched	Cannot find suitable kitchen.
gates_bedroom	Unmatched	Cannot find suitable kitchen.
grocery_store_asian	Unmatched	Cannot find suitable kitchen.
grocery_store_cafe	Unmatched	Cannot find suitable kitchen.
grocery_store_convenience	Unmatched	Cannot find suitable kitchen.
grocery_store_half_stocked	Unmatched	Cannot find suitable kitchen.
hall_arch_wood	Unmatched	Cannot find suitable kitchen.
hall_conference_large	Unmatched	Cannot find suitable kitchen.
hall_glass_ceiling	Unmatched	Cannot find suitable kitchen.
hall_train_station	Unmatched	Cannot find suitable kitchen.
hotel_gym_spa	Unmatched	Cannot find suitable kitchen.
hotel_suite_large	Unmatched	Cannot find suitable kitchen.
hotel_suite_small	Unmatched	Cannot find suitable kitchen.
house_double_floor_lower	Unmatched	Cannot find suitable kitchen: kitchen_0 is missing 1 countertop.n.01.
house_double_floor_upper	Unmatched	Cannot find suitable kitchen.
house_single_floor	Ready
office_bike	Unmatched	Cannot find suitable kitchen.
office_cubicles_left	Unmatched	Cannot find suitable kitchen.
office_cubicles_right	Unmatched	Cannot find suitable kitchen.
office_large	Unmatched	Cannot find suitable kitchen.
office_vendor_machine	Unmatched	Cannot find suitable kitchen.
restaurant_asian	Ready
restaurant_brunch	Ready
restaurant_cafeteria	Unmatched	Cannot find suitable kitchen: kitchen_0 is missing 1 sink.n.01.
restaurant_diner	Ready
restaurant_hotel	Ready
restaurant_urban	Ready
school_biology	Unmatched	Cannot find suitable kitchen.
school_chemistry	Unmatched	Cannot find suitable kitchen.
school_computer_lab_and_infirmary	Unmatched	Cannot find suitable kitchen.
school_geography	Unmatched	Cannot find suitable kitchen.
school_gym	Unmatched	Cannot find suitable kitchen.

Full Definition

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

    (:objects
        mug.n.04_1 - mug.n.04
        sink.n.01_1 - sink.n.01
        teacup.n.02_1 teacup.n.02_2 - teacup.n.02
        liquid_soap.n.01_1 - liquid_soap.n.01
        liquid_soap__bottle.n.01_1 - liquid_soap__bottle.n.01
        water.n.06_1 - water.n.06
        sponge.n.01_1 - sponge.n.01
        tea.n.01_1 - tea.n.01
        low-fat_milk.n.01_1 - low-fat_milk.n.01
        countertop.n.01_1 - countertop.n.01
        floor.n.01_1 - floor.n.01
        agent.n.01_1 - agent.n.01
    )
    
    (:init 
        (ontop mug.n.04_1 countertop.n.01_1)
        (ontop teacup.n.02_1 countertop.n.01_1) 
        (ontop teacup.n.02_2 countertop.n.01_1) 
        (filled liquid_soap__bottle.n.01_1 liquid_soap.n.01_1) 
        (ontop liquid_soap__bottle.n.01_1 countertop.n.01_1) 
        (ontop sponge.n.01_1 countertop.n.01_1)
        (covered mug.n.04_1 low-fat_milk.n.01_1)
        (covered teacup.n.02_1 tea.n.01_1) 
        (covered teacup.n.02_2 tea.n.01_1) 
        (insource sink.n.01_1 water.n.06_1) 
        (ontop agent.n.01_1 floor.n.01_1)
        (inroom floor.n.01_1 kitchen) 
        (inroom countertop.n.01_1 kitchen)
        (inroom sink.n.01_1 kitchen)
    )
    
    (:goal 
        (and 
            (forall 
                (?mug.n.04 - mug.n.04)
                (not
                    (covered ?mug.n.04 ?low-fat_milk.n.01_1)
                )
            ) 
            (forall 
                (?teacup.n.02 - teacup.n.02) 
                (not 
                    (covered ?teacup.n.02 ?tea.n.01_1)
                )
            )
        )
    )
)

Debugging: All Possible Recipes Resulting in Future Synsets

graph TD;