make_a_frappe-0


Synsets

Transition Paths By Task Scope Objects

graph TD; future-milkshaken01(future: milkshake.n.01); recipe-instant_coffee(recipe: instant_coffee); drip_coffeen01(drip_coffee.n.01); initial-ice_cuben01(initial: ice_cube.n.01); initial-scoop_of_ice_creamn01(initial: scoop_of_ice_cream.n.01); initial-cane_sugarn02(initial: cane_sugar.n.02); recipe-milkshake_0(recipe: milkshake_0); initial-watern06(initial: water.n.06); initial-instant_coffeen01(initial: instant_coffee.n.01); recipe-instant_coffee --> drip_coffeen01; drip_coffeen01 --> recipe-milkshake_0; initial-ice_cuben01 --> recipe-milkshake_0; initial-scoop_of_ice_creamn01 --> recipe-milkshake_0; initial-cane_sugarn02 --> recipe-milkshake_0; recipe-milkshake_0 --> future-milkshaken01; initial-watern06 --> recipe-instant_coffee; initial-instant_coffeen01 --> recipe-instant_coffee;

Scenes

Full Definition

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

    (:objects
        water.n.06_1 - water.n.06
        instant_coffee.n.01_1 - instant_coffee.n.01
        cane_sugar.n.02_1 - cane_sugar.n.02
        ice_cube.n.01_1 ice_cube.n.01_2 ice_cube.n.01_3 ice_cube.n.01_4 - ice_cube.n.01
        milkshake.n.01_1 - milkshake.n.01
        blender.n.01_1 - blender.n.01
        cup.n.01_1 - cup.n.01
        bowl.n.01_1 - bowl.n.01
        instant_coffee__jar.n.01_1 - instant_coffee__jar.n.01
        sugar__sack.n.01_1 - sugar__sack.n.01
        countertop.n.01_1 countertop.n.01_2 - countertop.n.01
        sink.n.01_1 - sink.n.01
        electric_refrigerator.n.01_1 - electric_refrigerator.n.01
        tablespoon.n.02_1 - tablespoon.n.02
        ice_cream__carton.n.01_1 - ice_cream__carton.n.01
        scoop_of_ice_cream.n.01_1 - scoop_of_ice_cream.n.01
        agent.n.01_1 - agent.n.01
        floor.n.01_1 - floor.n.01
    )
    
    (:init 
        (insource sink.n.01_1 water.n.06_1) 
        (ontop tablespoon.n.02_1 countertop.n.01_1) 
        (filled instant_coffee__jar.n.01_1 instant_coffee.n.01_1) 
        (ontop instant_coffee__jar.n.01_1 countertop.n.01_1) 
        (filled sugar__sack.n.01_1 cane_sugar.n.02_1)
        (ontop sugar__sack.n.01_1 countertop.n.01_1) 
        (inside ice_cube.n.01_1 bowl.n.01_1) 
        (inside ice_cube.n.01_2 bowl.n.01_1) 
        (inside ice_cube.n.01_3 bowl.n.01_1) 
        (inside ice_cube.n.01_4 bowl.n.01_1) 
        (ontop cup.n.01_1 countertop.n.01_1) 
        (ontop blender.n.01_1 countertop.n.01_1) 
        (inside scoop_of_ice_cream.n.01_1 ice_cream__carton.n.01_1)
        (inside ice_cream__carton.n.01_1 electric_refrigerator.n.01_1) 
        (inside bowl.n.01_1 electric_refrigerator.n.01_1) 
        (inroom electric_refrigerator.n.01_1 kitchen) 
        (inroom countertop.n.01_1 kitchen) 
        (inroom countertop.n.01_2 kitchen) 
        (inroom sink.n.01_1 kitchen) 
        (future milkshake.n.01_1) 
        (inroom floor.n.01_1 kitchen) 
        (ontop agent.n.01_1 floor.n.01_1)
    )
    
    (:goal 
        (and 
            (real ?milkshake.n.01_1) 
            (exists 
                (?cup.n.01 - cup.n.01) 
                (contains ?cup.n.01 ?milkshake.n.01_1)
            )
        )
    )
)
  

Debugging: All Possible Recipes Resulting in Future Synsets

graph TD; missing-granulated_sugarn01(missing: granulated_sugar.n.01); recipe-ice_cuben01-melting(recipe: ice_cube.n.01-melting); missing-whole_milkn01(missing: whole_milk.n.01); missing-drip_coffeen01(missing: drip_coffee.n.01); recipe-instant_coffee(recipe: instant_coffee); missing-coffee_beann01(missing: coffee_bean.n.01); initial-watern06(initial: water.n.06); recipe-salt_water(recipe: salt_water); missing-vanillan02(missing: vanilla.n.02); recipe-drip_coffee_1(recipe: drip_coffee_1); recipe-milkshake_1(recipe: milkshake_1); initial-ice_cuben01(initial: ice_cube.n.01); recipe-drip_coffee_0(recipe: drip_coffee_0); missing-cocoa_powdern01(missing: cocoa_powder.n.01); future-milkshaken01(future: milkshake.n.01); recipe-chocolate_syrup(recipe: chocolate_syrup); recipe-milkshake_0(recipe: milkshake_0); missing-chocolate_saucen01(missing: chocolate_sauce.n.01); initial-scoop_of_ice_creamn01(initial: scoop_of_ice_cream.n.01); initial-instant_coffeen01(initial: instant_coffee.n.01); initial-cane_sugarn02(initial: cane_sugar.n.02); missing-seawatern01(missing: seawater.n.01); missing-saltn02(missing: salt.n.02); recipe-ice_cubes(recipe: ice_cubes); missing-granulated_sugarn01 --> recipe-chocolate_syrup; recipe-ice_cuben01-melting --> initial-watern06; missing-whole_milkn01 --> recipe-milkshake_1; missing-drip_coffeen01 --> recipe-milkshake_0; recipe-instant_coffee --> missing-drip_coffeen01; missing-coffee_beann01 --> recipe-drip_coffee_0; missing-coffee_beann01 --> recipe-drip_coffee_1; initial-watern06 --> recipe-drip_coffee_0; initial-watern06 --> recipe-drip_coffee_1; initial-watern06 --> recipe-ice_cubes; initial-watern06 --> recipe-instant_coffee; initial-watern06 --> recipe-salt_water; recipe-salt_water --> missing-seawatern01; missing-vanillan02 --> recipe-chocolate_syrup; recipe-drip_coffee_1 --> missing-drip_coffeen01; recipe-milkshake_1 --> future-milkshaken01; initial-ice_cuben01 --> recipe-ice_cuben01-melting; initial-ice_cuben01 --> recipe-milkshake_0; recipe-drip_coffee_0 --> missing-drip_coffeen01; missing-cocoa_powdern01 --> recipe-chocolate_syrup; recipe-chocolate_syrup --> missing-chocolate_saucen01; recipe-milkshake_0 --> future-milkshaken01; missing-chocolate_saucen01 --> recipe-milkshake_1; initial-scoop_of_ice_creamn01 --> recipe-milkshake_0; initial-scoop_of_ice_creamn01 --> recipe-milkshake_1; initial-instant_coffeen01 --> recipe-instant_coffee; initial-cane_sugarn02 --> recipe-milkshake_0; missing-seawatern01 --> recipe-chocolate_syrup; missing-saltn02 --> recipe-salt_water; recipe-ice_cubes --> initial-ice_cuben01;