fold_a_cloth_napkin-0

Required Synsets

Name	State	Definition
breakfast_table.n.01	Matched	a table where breakfast is eaten
floor.n.01	Matched	the inside lower horizontal surface (as of a room, hallway, tent, or other structure)
iron.n.04	Matched	home appliance consisting of a flat metal base that is heated and used to smooth cloth
napkin.n.01	Matched	a small piece of table linen that is used to wipe the mouth and to cover the lap in order to protect clothing
wrinkle.n.01	Substance	a slight depression in the smoothness of a surface

Transition Paths By Task Scope Objects

graph TD;

Scene Matching Status

Scene	Status	Reason
Beechwood_0_garden	Unmatched	Cannot find suitable dining_room: dining_room_0 is missing 1 breakfast_table.n.01.
Beechwood_0_int	Unmatched	Cannot find suitable dining_room: dining_room_0 is missing 1 breakfast_table.n.01.
Beechwood_1_int	Unmatched	Cannot find suitable dining_room.
Benevolence_0_int	Unmatched	Cannot find suitable dining_room.
Benevolence_1_int	Unmatched	Cannot find suitable dining_room: dining_room_0 is missing 1 breakfast_table.n.01.
Benevolence_2_int	Unmatched	Cannot find suitable dining_room.
Ihlen_0_int	Unmatched	Cannot find suitable dining_room: dining_room_0 is missing 1 breakfast_table.n.01.
Ihlen_1_int	Unmatched	Cannot find suitable dining_room: dining_room_0 is missing 1 breakfast_table.n.01.
Merom_0_garden	Unmatched	Cannot find suitable dining_room.
Merom_0_int	Unmatched	Cannot find suitable dining_room.
Merom_1_int	Unmatched	Cannot find suitable dining_room: dining_room_0 is missing 1 breakfast_table.n.01.
Pomaria_0_garden	Unmatched	Cannot find suitable dining_room.
Pomaria_0_int	Unmatched	Cannot find suitable dining_room.
Pomaria_1_int	Unmatched	Cannot find suitable dining_room.
Pomaria_2_int	Unmatched	Cannot find suitable dining_room.
Rs_garden	Unmatched	Cannot find suitable dining_room.
Rs_int	Unmatched	Cannot find suitable dining_room.
Wainscott_0_garden	Unmatched	Cannot find suitable dining_room: dining_room_0 is missing 1 breakfast_table.n.01.
Wainscott_0_int	Unmatched	Cannot find suitable dining_room: dining_room_0 is missing 1 breakfast_table.n.01.
Wainscott_1_int	Unmatched	Cannot find suitable dining_room.
gates_bedroom	Unmatched	Cannot find suitable dining_room.
grocery_store_asian	Unmatched	Cannot find suitable dining_room.
grocery_store_cafe	Unmatched	Cannot find suitable dining_room: dining_room_0 is missing 1 breakfast_table.n.01.
grocery_store_convenience	Unmatched	Cannot find suitable dining_room.
grocery_store_half_stocked	Unmatched	Cannot find suitable dining_room.
hall_arch_wood	Unmatched	Cannot find suitable dining_room.
hall_conference_large	Unmatched	Cannot find suitable dining_room.
hall_glass_ceiling	Unmatched	Cannot find suitable dining_room.
hall_train_station	Unmatched	Cannot find suitable dining_room.
hotel_gym_spa	Unmatched	Cannot find suitable dining_room: dining_room_0 is missing 1 floor.n.01, 1 breakfast_table.n.01.
hotel_suite_large	Unmatched	Cannot find suitable dining_room.
hotel_suite_small	Unmatched	Cannot find suitable dining_room.
house_double_floor_lower	Unmatched	Cannot find suitable dining_room.
house_double_floor_upper	Unmatched	Cannot find suitable dining_room.
house_single_floor	Ready
office_bike	Unmatched	Cannot find suitable dining_room.
office_cubicles_left	Unmatched	Cannot find suitable dining_room.
office_cubicles_right	Unmatched	Cannot find suitable dining_room.
office_large	Unmatched	Cannot find suitable dining_room.
office_vendor_machine	Unmatched	Cannot find suitable dining_room.
restaurant_asian	Ready
restaurant_brunch	Ready
restaurant_cafeteria	Ready
restaurant_diner	Unmatched	Cannot find suitable dining_room: dining_room_0 is missing 1 breakfast_table.n.01.
restaurant_hotel	Ready
restaurant_urban	Ready
school_biology	Unmatched	Cannot find suitable dining_room.
school_chemistry	Unmatched	Cannot find suitable dining_room.
school_computer_lab_and_infirmary	Unmatched	Cannot find suitable dining_room.
school_geography	Unmatched	Cannot find suitable dining_room.
school_gym	Unmatched	Cannot find suitable dining_room.

Full Definition

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

    (:objects
        napkin.n.01_1 - napkin.n.01
        breakfast_table.n.01_1 - breakfast_table.n.01
        wrinkle.n.01_1 - wrinkle.n.01
        iron.n.04_1 - iron.n.04
        floor.n.01_1 - floor.n.01
        agent.n.01_1 - agent.n.01
    )
    
    (:init 
        (ontop napkin.n.01_1 breakfast_table.n.01_1) 
        (covered napkin.n.01_1 wrinkle.n.01_1) 
        (ontop iron.n.04_1 breakfast_table.n.01_1)
        (inroom floor.n.01_1 dining_room) 
        (inroom breakfast_table.n.01_1 dining_room) 
        (ontop agent.n.01_1 floor.n.01_1)
    )
    
    (:goal 
        (and 
            (and 
                (not 
                    (covered ?napkin.n.01_1 ?wrinkle.n.01_1)
                ) 
                (folded ?napkin.n.01_1)
            )
        )
    )
)

Debugging: All Possible Recipes Resulting in Future Synsets

graph TD;