clean_tennis_balls-0

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Required Synsets

Name	State	Definition
bucket.n.01	Matched	a roughly cylindrical vessel that is open at the top
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
mud.n.03	Substance
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
stain.n.01	Substance	a soiled or discolored appearance
tennis_ball.n.01	Matched	ball about the size of a fist used in playing tennis
water.n.06	Substance	a liquid necessary for the life of most animals and plants

Transition Paths By Task Scope Objects

Scene Matching Status

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

Full Definition

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

    (:objects
        stain.n.01_1 - stain.n.01
        mud.n.03_1 - mud.n.03
        tennis_ball.n.01_1 tennis_ball.n.01_2 - tennis_ball.n.01
        water.n.06_1 - water.n.06
        bucket.n.01_1 - bucket.n.01
        liquid_soap.n.01_1 - liquid_soap.n.01
        liquid_soap__bottle.n.01_1 - liquid_soap__bottle.n.01
        sponge.n.01_1 - sponge.n.01
        sink.n.01_1 - sink.n.01
        floor.n.01_1 - floor.n.01
        agent.n.01_1 - agent.n.01
    )
    
    (:init 
        (covered tennis_ball.n.01_1 stain.n.01_1) 
        (covered tennis_ball.n.01_2 stain.n.01_1) 
        (covered tennis_ball.n.01_1 mud.n.03_1)
        (covered tennis_ball.n.01_2 mud.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 sink.n.01_1)
        (inside tennis_ball.n.01_1 bucket.n.01_1) 
        (inside tennis_ball.n.01_2 bucket.n.01_1) 
        (inside sponge.n.01_1 bucket.n.01_1) 
        (ontop bucket.n.01_1 floor.n.01_1) 
        (inroom sink.n.01_1 bathroom) 
        (inroom floor.n.01_1 bathroom) 
        (ontop agent.n.01_1 floor.n.01_1)
    )
    
    (:goal 
        (and 
            (forall 
                (?tennis_ball.n.01 - tennis_ball.n.01)
                (and
                    (not 
                        (covered ?tennis_ball.n.01 ?stain.n.01_1)
                    )
                    (not 
                        (covered ?tennis_ball.n.01 ?mud.n.03_1)
                    )
                )
            )
        )
    )
)

  

Debugging: All Possible Recipes Resulting in Future Synsets