cleaning_toilet-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)
scrub_brush.n.01	Matched	a brush with short stiff bristles for heavy cleaning
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
toilet.n.02	Matched	a plumbing fixture for defecation and urination

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	Unmatched	Cannot find suitable bathroom: bathroom_1 is missing 1 sink.n.01; bathroom_0 is missing 1 toilet.n.02.
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 cleaning_toilet-0)
    (:domain omnigibson)

    (:objects
        stain.n.01_1 - stain.n.01
     	toilet.n.02_1 - toilet.n.02
    	scrub_brush.n.01_1 - scrub_brush.n.01
    	floor.n.01_1 - floor.n.01
    	detergent.n.02_1 - detergent.n.02
    	detergent__bottle.n.01_1 - detergent__bottle.n.01
        sink.n.01_1 - sink.n.01
    	agent.n.01_1 - agent.n.01
    )
    
    (:init 
        (covered toilet.n.02_1 stain.n.01_1) 
        (ontop scrub_brush.n.01_1 floor.n.01_1)
        (filled detergent__bottle.n.01_1 detergent.n.02_1)
        (ontop detergent__bottle.n.01_1 floor.n.01_1)
        (inroom toilet.n.02_1 bathroom) 
        (inroom floor.n.01_1 bathroom) 
        (inroom sink.n.01_1 bathroom)
        (ontop agent.n.01_1 floor.n.01_1)
    )
    
    (:goal 
        (and 
            (not 
                (covered ?toilet.n.02_1 stain.n.01_1)
            ) 
            (ontop ?scrub_brush.n.01_1 ?floor.n.01_1) 
        )
    )
)

  

Debugging: All Possible Recipes Resulting in Future Synsets