fold_towels-0

Required Synsets

Name	State	Definition
bath_towel.n.01	Matched	a large towel; to dry yourself after a bath
clothes_dryer.n.01	Matched	a dryer that dries clothes wet from washing
floor.n.01	Matched	the inside lower horizontal surface (as of a room, hallway, tent, or other structure)
hamper.n.02	Matched	a basket usually with a cover
hand_towel.n.01	Matched	a small towel used to dry the hands or face
rag.n.01	Matched	a small piece of cloth or paper
washer.n.03	Matched	a home appliance for washing clothes and linens automatically

Transition Paths By Task Scope Objects

graph TD;

Scene Matching Status

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

Full Definition

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

    (:objects
        hamper.n.02_1 - hamper.n.02
        washer.n.03_1 - washer.n.03
        hand_towel.n.01_1 hand_towel.n.01_2 - hand_towel.n.01
        clothes_dryer.n.01_1 - clothes_dryer.n.01
        bath_towel.n.01_1 - bath_towel.n.01
        rag.n.01_1 - rag.n.01
        floor.n.01_1 - floor.n.01
        agent.n.01_1 - agent.n.01
    )
    
    (:init 
        (ontop hamper.n.02_1 floor.n.01_1) 
        (ontop hand_towel.n.01_1 washer.n.03_1)
        (ontop hand_towel.n.01_2 washer.n.03_1)
        (ontop bath_towel.n.01_1 clothes_dryer.n.01_1)
        (inside rag.n.01_1 clothes_dryer.n.01_1)
        (inroom floor.n.01_1 utility_room) 
        (inroom washer.n.03_1 utility_room) 
        (inroom clothes_dryer.n.01_1 utility_room)
        (ontop agent.n.01_1 floor.n.01_1)
    )
    
    (:goal 
        (and 
            (forall 
                (?hand_towel.n.01 - hand_towel.n.01) 
                (folded ?hand_towel.n.01)
            ) 
            (forall 
                (?bath_towel.n.01 - bath_towel.n.01) 
                (folded ?bath_towel.n.01)
            ) 
            (folded ?rag.n.01_1) 
            (forall 
                (?bath_towel.n.01 - bath_towel.n.01) 
                (inside ?bath_towel.n.01 ?hamper.n.02_1)
            ) 
            (forall 
                (?hand_towel.n.01 - hand_towel.n.01) 
                (inside ?hand_towel.n.01 ?hamper.n.02_1)
            ) 
            (inside ?rag.n.01_1 ?hamper.n.02_1) 
        )
    )
)

Debugging: All Possible Recipes Resulting in Future Synsets

graph TD;