make_an_iced_espresso-0

Required Synsets

Name	State	Definition
cafe_au_lait.n.01	Substance	equal parts of coffee and hot milk
countertop.n.01	Matched	the top side of a counter
cup.n.01	Matched	a small open container usually used for drinking; usually has a handle
espresso.n.01	Substance	strong black coffee brewed by forcing hot water under pressure through finely ground coffee beans
floor.n.01	Matched	the inside lower horizontal surface (as of a room, hallway, tent, or other structure)
ice_cube.n.01	Matched	a small cube of artificial ice; used for cooling drinks
low-fat_milk.n.01	Substance	milk from which some of the cream has been removed
milk__carton.n.01	Matched
mug.n.04	Matched	with handle and usually cylindrical
sugar_syrup.n.01	Substance	sugar and water and sometimes corn syrup boiled together; used as sweetening especially in drinks
sugar_syrup__bottle.n.01	Matched
teaspoon.n.02	Matched	a small spoon used for stirring tea or coffee; holds about one fluid dram

Transition Paths By Task Scope Objects

graph TD; future-cafe_au_laitn01(future: cafe_au_lait.n.01); initial-low-fat_milkn01(initial: low-fat_milk.n.01); initial-sugar_syrupn01(initial: sugar_syrup.n.01); recipe-cafe_au_lait(recipe: cafe_au_lait); initial-espresson01(initial: espresso.n.01); initial-low-fat_milkn01 --> recipe-cafe_au_lait; initial-sugar_syrupn01 --> recipe-cafe_au_lait; recipe-cafe_au_lait --> future-cafe_au_laitn01; initial-espresson01 --> recipe-cafe_au_lait;

Scene Matching Status

Scene	Status	Reason
Beechwood_0_garden	Ready
Beechwood_0_int	Ready
Beechwood_1_int	Unmatched	Cannot find suitable kitchen.
Benevolence_0_int	Unmatched	Cannot find suitable kitchen.
Benevolence_1_int	Ready
Benevolence_2_int	Unmatched	Cannot find suitable kitchen.
Ihlen_0_int	Unmatched	Cannot find suitable kitchen.
Ihlen_1_int	Ready
Merom_0_garden	Unmatched	Cannot find suitable kitchen.
Merom_0_int	Unmatched	Cannot find suitable kitchen.
Merom_1_int	Unmatched	Cannot find suitable kitchen: kitchen_0 is missing 1 countertop.n.01.
Pomaria_0_garden	Unmatched	Cannot find suitable kitchen.
Pomaria_0_int	Unmatched	Cannot find suitable kitchen.
Pomaria_1_int	Ready
Pomaria_2_int	Unmatched	Cannot find suitable kitchen.
Rs_garden	Ready
Rs_int	Ready
Wainscott_0_garden	Ready
Wainscott_0_int	Ready
Wainscott_1_int	Unmatched	Cannot find suitable kitchen.
gates_bedroom	Unmatched	Cannot find suitable kitchen.
grocery_store_asian	Unmatched	Cannot find suitable kitchen.
grocery_store_cafe	Unmatched	Cannot find suitable kitchen.
grocery_store_convenience	Unmatched	Cannot find suitable kitchen.
grocery_store_half_stocked	Unmatched	Cannot find suitable kitchen.
hall_arch_wood	Unmatched	Cannot find suitable kitchen.
hall_conference_large	Unmatched	Cannot find suitable kitchen.
hall_glass_ceiling	Unmatched	Cannot find suitable kitchen.
hall_train_station	Unmatched	Cannot find suitable kitchen.
hotel_gym_spa	Unmatched	Cannot find suitable kitchen.
hotel_suite_large	Unmatched	Cannot find suitable kitchen.
hotel_suite_small	Unmatched	Cannot find suitable kitchen.
house_double_floor_lower	Ready
house_double_floor_upper	Unmatched	Cannot find suitable kitchen.
house_single_floor	Ready
office_bike	Unmatched	Cannot find suitable kitchen.
office_cubicles_left	Unmatched	Cannot find suitable kitchen.
office_cubicles_right	Unmatched	Cannot find suitable kitchen.
office_large	Unmatched	Cannot find suitable kitchen.
office_vendor_machine	Unmatched	Cannot find suitable kitchen.
restaurant_asian	Ready
restaurant_brunch	Ready
restaurant_cafeteria	Ready
restaurant_diner	Ready
restaurant_hotel	Ready
restaurant_urban	Ready
school_biology	Unmatched	Cannot find suitable kitchen.
school_chemistry	Unmatched	Cannot find suitable kitchen.
school_computer_lab_and_infirmary	Unmatched	Cannot find suitable kitchen.
school_geography	Unmatched	Cannot find suitable kitchen.
school_gym	Unmatched	Cannot find suitable kitchen.

Full Definition

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

    (:objects
        espresso.n.01_1 - espresso.n.01
        cafe_au_lait.n.01_1 - cafe_au_lait.n.01
        low-fat_milk.n.01_1 - low-fat_milk.n.01
        sugar_syrup.n.01_1 - sugar_syrup.n.01
        ice_cube.n.01_1 ice_cube.n.01_2 - ice_cube.n.01
        teaspoon.n.02_1 - teaspoon.n.02
        mug.n.04_1 - mug.n.04
        sugar_syrup__bottle.n.01_1 - sugar_syrup__bottle.n.01
        countertop.n.01_1 - countertop.n.01
        cup.n.01_1 cup.n.01_2 - cup.n.01
        milk__carton.n.01_1 - milk__carton.n.01
        agent.n.01_1 - agent.n.01
        floor.n.01_1 - floor.n.01
    )
    
    (:init 
        (filled cup.n.01_1 espresso.n.01_1) 
        (ontop cup.n.01_1 countertop.n.01_1) 
        (filled milk__carton.n.01_1 low-fat_milk.n.01_1) 
        (ontop milk__carton.n.01_1 countertop.n.01_1) 
        (insource sugar_syrup__bottle.n.01_1 sugar_syrup.n.01_1)
        (ontop sugar_syrup__bottle.n.01_1 countertop.n.01_1) 
        (inside ice_cube.n.01_1 cup.n.01_2) 
        (inside ice_cube.n.01_2 cup.n.01_2) 
        (ontop cup.n.01_2 countertop.n.01_1) 
        (ontop teaspoon.n.02_1 countertop.n.01_1) 
        (ontop mug.n.04_1 countertop.n.01_1) 
        (inroom countertop.n.01_1 kitchen) 
        (future cafe_au_lait.n.01_1) 
        (inroom floor.n.01_1 kitchen) 
        (ontop agent.n.01_1 floor.n.01_1)
    )
    
    (:goal 
        (and 
            (real ?cafe_au_lait.n.01_1) 
            (contains ?mug.n.04_1 ?cafe_au_lait.n.01_1) 
            (forall 
                (?ice_cube.n.01 - ice_cube.n.01) 
                (inside ?ice_cube.n.01 ?mug.n.04_1)
            )
        )
    )
)

Debugging: All Possible Recipes Resulting in Future Synsets

graph TD; recipe-ice_lollyn01-washer-cover(recipe: ice_lolly.n.01-washer-cover); missing-lemon_juicen01(missing: lemon_juice.n.01); recipe-teaspoonn02-washer-cover(recipe: teaspoon.n.02-washer-cover); missing-smoothien02(missing: smoothie.n.02); recipe-floorn01-washer-cover(recipe: floor.n.01-washer-cover); initial-espresson01(initial: espresso.n.01); recipe-ice_cuben01-washer-cover(recipe: ice_cube.n.01-washer-cover); initial-ice_cuben01(initial: ice_cube.n.01); initial-teaspoonn02(initial: teaspoon.n.02); recipe-popsicles(recipe: popsicles); missing-watern06(missing: water.n.06); missing-ice_lollyn01(missing: ice_lolly.n.01); recipe-coffeemaker_espresso(recipe: coffeemaker_espresso); future-cafe_au_laitn01(future: cafe_au_lait.n.01); initial-countertopn01(initial: countertop.n.01); initial-low-fat_milkn01(initial: low-fat_milk.n.01); missing-instant_coffeen01(missing: instant_coffee.n.01); recipe-countertopn01-washer-cover(recipe: countertop.n.01-washer-cover); recipe-sugar_syrup__bottlen01-washer-cover(recipe: sugar_syrup__bottle.n.01-washer-cover); missing-mintn04(missing: mint.n.04); initial-mugn04(initial: mug.n.04); missing-strawberryn01(missing: strawberry.n.01); initial-floorn01(initial: floor.n.01); recipe-smoothie_0(recipe: smoothie_0); initial-sugar_syrupn01(initial: sugar_syrup.n.01); initial-milk__cartonn01(initial: milk__carton.n.01); recipe-sugar_syrup(recipe: sugar_syrup); recipe-ice_cuben01-melting(recipe: ice_cube.n.01-melting); recipe-mugn04-washer-cover(recipe: mug.n.04-washer-cover); missing-granulated_sugarn01(missing: granulated_sugar.n.01); recipe-milk__cartonn01-washer-cover(recipe: milk__carton.n.01-washer-cover); recipe-cafe_au_lait(recipe: cafe_au_lait); initial-sugar_syrup__bottlen01(initial: sugar_syrup__bottle.n.01); recipe-ice_lollyn01-washer-cover --> missing-ice_lollyn01; recipe-ice_lollyn01-washer-cover --> missing-watern06; missing-lemon_juicen01 --> recipe-smoothie_0; recipe-teaspoonn02-washer-cover --> initial-teaspoonn02; recipe-teaspoonn02-washer-cover --> missing-watern06; missing-smoothien02 --> recipe-popsicles; recipe-floorn01-washer-cover --> initial-floorn01; recipe-floorn01-washer-cover --> missing-watern06; initial-espresson01 --> recipe-cafe_au_lait; recipe-ice_cuben01-washer-cover --> initial-ice_cuben01; recipe-ice_cuben01-washer-cover --> missing-watern06; initial-ice_cuben01 --> recipe-ice_cuben01-melting; initial-ice_cuben01 --> recipe-ice_cuben01-washer-cover; initial-ice_cuben01 --> recipe-smoothie_0; initial-teaspoonn02 --> recipe-teaspoonn02-washer-cover; recipe-popsicles --> missing-ice_lollyn01; missing-watern06 --> recipe-coffeemaker_espresso; missing-watern06 --> recipe-sugar_syrup; missing-ice_lollyn01 --> recipe-ice_lollyn01-washer-cover; recipe-coffeemaker_espresso --> initial-espresson01; initial-countertopn01 --> recipe-countertopn01-washer-cover; initial-low-fat_milkn01 --> recipe-cafe_au_lait; missing-instant_coffeen01 --> recipe-coffeemaker_espresso; recipe-countertopn01-washer-cover --> initial-countertopn01; recipe-countertopn01-washer-cover --> missing-watern06; recipe-sugar_syrup__bottlen01-washer-cover --> missing-watern06; recipe-sugar_syrup__bottlen01-washer-cover --> initial-sugar_syrup__bottlen01; missing-mintn04 --> recipe-sugar_syrup; initial-mugn04 --> recipe-mugn04-washer-cover; missing-strawberryn01 --> recipe-smoothie_0; initial-floorn01 --> recipe-floorn01-washer-cover; recipe-smoothie_0 --> missing-smoothien02; initial-sugar_syrupn01 --> recipe-cafe_au_lait; initial-milk__cartonn01 --> recipe-milk__cartonn01-washer-cover; recipe-sugar_syrup --> initial-sugar_syrupn01; recipe-ice_cuben01-melting --> missing-watern06; recipe-mugn04-washer-cover --> initial-mugn04; recipe-mugn04-washer-cover --> missing-watern06; missing-granulated_sugarn01 --> recipe-sugar_syrup; recipe-milk__cartonn01-washer-cover --> initial-milk__cartonn01; recipe-milk__cartonn01-washer-cover --> missing-watern06; recipe-cafe_au_lait --> future-cafe_au_laitn01; initial-sugar_syrup__bottlen01 --> recipe-sugar_syrup__bottlen01-washer-cover;