cleaning_up_after_a_meal-0

graph TD;

Full Definition

```(define (problem cleaning_up_after_a_meal-0)
(:domain omnigibson)

(:objects
stain.n.01_1 - stain.n.01
bowl.n.01_1 bowl.n.01_2 - bowl.n.01
table.n.02_1 - table.n.02
sack.n.01_1 - sack.n.01
chair.n.01_1 chair.n.01_2 - chair.n.01
plate.n.04_1 plate.n.04_2 plate.n.04_3 plate.n.04_4 - plate.n.04
cup.n.01_1 cup.n.01_2 - cup.n.01
hamburger.n.01_1 hamburger.n.01_2 - hamburger.n.01
floor.n.01_1 floor.n.01_2 - floor.n.01
detergent.n.02_1 - detergent.n.02
detergent__bottle.n.01_1 - detergent__bottle.n.01
dishwasher.n.01_1 - dishwasher.n.01
sink.n.01_1 - sink.n.01
agent.n.01_1 - agent.n.01
)

(:init
(ontop bowl.n.01_1 table.n.02_1)
(ontop bowl.n.01_2 table.n.02_1)
(covered bowl.n.01_1 stain.n.01_1)
(covered bowl.n.01_2 stain.n.01_1)
(ontop sack.n.01_1 table.n.02_1)
(ontop plate.n.04_1 table.n.02_1)
(ontop plate.n.04_2 table.n.02_1)
(ontop plate.n.04_3 table.n.02_1)
(ontop plate.n.04_4 table.n.02_1)
(covered plate.n.04_1 stain.n.01_1)
(covered plate.n.04_2 stain.n.01_1)
(covered plate.n.04_3 stain.n.01_1)
(covered plate.n.04_4 stain.n.01_1)
(ontop cup.n.01_1 table.n.02_1)
(ontop cup.n.01_2 table.n.02_1)
(covered cup.n.01_1 stain.n.01_1)
(covered cup.n.01_2 stain.n.01_1)
(ontop hamburger.n.01_1 chair.n.01_2)
(ontop hamburger.n.01_2 floor.n.01_1)
(filled detergent__bottle.n.01_1 detergent.n.02_1)
(ontop detergent__bottle.n.01_1 floor.n.01_1)
(covered chair.n.01_1 stain.n.01_1)
(covered chair.n.01_2 stain.n.01_1)
(covered table.n.02_1 stain.n.01_1)
(inroom dishwasher.n.01_1 kitchen)
(inroom floor.n.01_1 dining_room)
(inroom floor.n.01_2 kitchen)
(inroom table.n.02_1 dining_room)
(inroom chair.n.01_1 dining_room)
(inroom chair.n.01_2 dining_room)
(inroom sink.n.01_1 kitchen)
(ontop agent.n.01_1 floor.n.01_2)
)

(:goal
(and
(forall
(?bowl.n.01 - bowl.n.01)
(not
(covered ?bowl.n.01 ?stain.n.01_1)
)
)
(forall
(?plate.n.04 - plate.n.04)
(not
(covered ?plate.n.04 ?stain.n.01_1)
)
)
(forall
(?cup.n.01 - cup.n.01)
(not
(covered ?cup.n.01 ?stain.n.01_1)
)
)
(forall
(?hamburger.n.01 - hamburger.n.01)
(inside ?hamburger.n.01 ?sack.n.01_1)
)
(ontop ?sack.n.01_1 ?floor.n.01_1)
(not
(covered ?table.n.02_1 ?stain.n.01_1)
)
(forall
(?chair.n.01 - chair.n.01)
(not
(covered ?chair.n.01 ?stain.n.01_1)
)
)
)
)
)

```

graph TD;