make_a_milkshake-0


Synsets

Transition Paths By Task Scope Objects

graph TD; future-milkshaken01(future: milkshake.n.01); initial-chocolate_saucen01(initial: chocolate_sauce.n.01); initial-scoop_of_ice_creamn01(initial: scoop_of_ice_cream.n.01); recipe-milkshake_1(recipe: milkshake_1); initial-whole_milkn01(initial: whole_milk.n.01); initial-chocolate_saucen01 --> recipe-milkshake_1; initial-scoop_of_ice_creamn01 --> recipe-milkshake_1; recipe-milkshake_1 --> future-milkshaken01; initial-whole_milkn01 --> recipe-milkshake_1;

Scenes

Full Definition

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

    (:objects
        whole_milk.n.01_1 - whole_milk.n.01
        chocolate_sauce.n.01_1 - chocolate_sauce.n.01
        scoop_of_ice_cream.n.01_1 - scoop_of_ice_cream.n.01
        milkshake.n.01_1 - milkshake.n.01
        blender.n.01_1 - blender.n.01
        cup.n.01_1 - cup.n.01
        ice_cream__carton.n.01_1 - ice_cream__carton.n.01
        countertop.n.01_1 - countertop.n.01
        milk__carton.n.01_1 - milk__carton.n.01
        chocolate_sauce__bottle.n.01_1 - chocolate_sauce__bottle.n.01
        electric_refrigerator.n.01_1 - electric_refrigerator.n.01
        tablespoon.n.02_1 - tablespoon.n.02
        agent.n.01_1 - agent.n.01
        floor.n.01_1 - floor.n.01
    )

    (:init
        (filled milk__carton.n.01_1 whole_milk.n.01_1)
        (ontop tablespoon.n.02_1 countertop.n.01_1)
        (insource chocolate_sauce__bottle.n.01_1 chocolate_sauce.n.01_1)
        (inside scoop_of_ice_cream.n.01_1 ice_cream__carton.n.01_1)
        (ontop blender.n.01_1 countertop.n.01_1) 
        (ontop cup.n.01_1 countertop.n.01_1) 
        (inside ice_cream__carton.n.01_1 electric_refrigerator.n.01_1) 
        (inside chocolate_sauce__bottle.n.01_1 electric_refrigerator.n.01_1) 
        (inside milk__carton.n.01_1 electric_refrigerator.n.01_1) 
        (inroom electric_refrigerator.n.01_1 kitchen) 
        (inroom countertop.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) 
            (contains ?cup.n.01_1 ?milkshake.n.01_1)
        )
    )
)
  

Debugging: All Possible Recipes Resulting in Future Synsets

graph TD; recipe-milkshake_1(recipe: milkshake_1); missing-cane_sugarn02(missing: cane_sugar.n.02); initial-chocolate_saucen01(initial: chocolate_sauce.n.01); missing-drip_coffeen01(missing: drip_coffee.n.01); missing-ice_cuben01(missing: ice_cube.n.01); initial-scoop_of_ice_creamn01(initial: scoop_of_ice_cream.n.01); future-milkshaken01(future: milkshake.n.01); initial-whole_milkn01(initial: whole_milk.n.01); recipe-milkshake_0(recipe: milkshake_0); recipe-milkshake_1 --> future-milkshaken01; missing-cane_sugarn02 --> recipe-milkshake_0; initial-chocolate_saucen01 --> recipe-milkshake_1; missing-drip_coffeen01 --> recipe-milkshake_0; missing-ice_cuben01 --> recipe-milkshake_0; initial-scoop_of_ice_creamn01 --> recipe-milkshake_0; initial-scoop_of_ice_creamn01 --> recipe-milkshake_1; initial-whole_milkn01 --> recipe-milkshake_1; recipe-milkshake_0 --> future-milkshaken01;