cleaning_shoes-0

---

Required Synsets

Name	State	Definition
bar_soap.n.01	Matched	soap in the form of a bar
bed.n.01	Matched	a piece of furniture that provides a place to sleep
dust.n.01	Substance	fine powdery material such as dry earth or pollen that can be blown about in the air
floor.n.01	Matched	the inside lower horizontal surface (as of a room, hallway, tent, or other structure)
gym_shoe.n.01	Matched	a canvas shoe with a pliable rubber sole
rag.n.01	Matched	a small piece of cloth or paper
sink.n.01	Matched	plumbing fixture consisting of a water basin fixed to a wall or floor and having a drainpipe
stain.n.01	Substance	a soiled or discolored appearance
towel.n.01	Matched	a rectangular piece of absorbent cloth (or paper) for drying or wiping

Transition Paths By Task Scope Objects

Scene Matching Status

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

Full Definition

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

    (:objects
        stain.n.01_1 - stain.n.01
        dust.n.01_1 - dust.n.01
     	bar_soap.n.01_1 - bar_soap.n.01
    	bed.n.01_1 - bed.n.01
    	floor.n.01_1 - floor.n.01
    	rag.n.01_1 - rag.n.01
    	towel.n.01_1 - towel.n.01
    	gym_shoe.n.01_1 gym_shoe.n.01_2 gym_shoe.n.01_3 gym_shoe.n.01_4 - gym_shoe.n.01
        sink.n.01_1 - sink.n.01
    	agent.n.01_1 - agent.n.01
    )
    
    (:init 
        (ontop bar_soap.n.01_1 bed.n.01_1) 
        (ontop rag.n.01_1 bed.n.01_1) 
        (ontop towel.n.01_1 floor.n.01_1) 
        (ontop gym_shoe.n.01_1 bed.n.01_1) 
        (ontop gym_shoe.n.01_2 bed.n.01_1) 
        (ontop gym_shoe.n.01_3 bed.n.01_1) 
        (ontop gym_shoe.n.01_4 bed.n.01_1) 
        (covered gym_shoe.n.01_1 stain.n.01_1) 
        (covered gym_shoe.n.01_2 stain.n.01_1) 
        (covered gym_shoe.n.01_3 dust.n.01_1) 
        (covered gym_shoe.n.01_4 dust.n.01_1) 
        (inroom floor.n.01_1 bedroom) 
        (inroom bed.n.01_1 bedroom) 
        (inroom sink.n.01_1 bathroom)
        (ontop agent.n.01_1 floor.n.01_1)
    )
    
    (:goal 
        (and 
            (forall 
                (?gym_shoe.n.01 - gym_shoe.n.01) 
                (not 
                    (covered ?gym_shoe.n.01 stain.n.01_1)
                )
            ) 
            (forall 
                (?gym_shoe.n.01 - gym_shoe.n.01) 
                (not 
                    (covered ?gym_shoe.n.01 dust.n.01_1)
                )
            ) 
            (ontop ?towel.n.01_1 ?floor.n.01_1)
        )
    )
)


  

Debugging: All Possible Recipes Resulting in Future Synsets