make_bagels-0


Synsets

Transition Paths By Task Scope Objects

graph TD; recipe-bagels(recipe: bagels); bagel_doughn01(bagel_dough.n.01); recipe-bagel_dough(recipe: bagel_dough); initial-raw_eggn01(initial: raw_egg.n.01); initial-flourn01(initial: flour.n.01); initial-sesame_seedn01(initial: sesame_seed.n.01); initial-watern06(initial: water.n.06); future-bageln01(future: bagel.n.01); initial-saltn02(initial: salt.n.02); initial-honeyn01(initial: honey.n.01); initial-yeastn01(initial: yeast.n.01); recipe-bagels --> future-bageln01; bagel_doughn01 --> recipe-bagels; recipe-bagel_dough --> bagel_doughn01; initial-raw_eggn01 --> recipe-bagels; initial-flourn01 --> recipe-bagel_dough; initial-sesame_seedn01 --> recipe-bagels; initial-watern06 --> recipe-bagel_dough; initial-saltn02 --> recipe-bagel_dough; initial-honeyn01 --> recipe-bagel_dough; initial-yeastn01 --> recipe-bagel_dough;

Scenes

Full Definition

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

    (:objects
        flour.n.01_1 - flour.n.01
        salt.n.02_1 - salt.n.02
        honey.n.01_1 - honey.n.01
        yeast.n.01_1 - yeast.n.01
        water.n.06_1 - water.n.06
        electric_mixer.n.01_1 - electric_mixer.n.01
        bagel.n.01_1 bagel.n.01_2 bagel.n.01_3 bagel.n.01_4 - bagel.n.01
        raw_egg.n.01_1 - raw_egg.n.01
        sesame_seed.n.01_1 - sesame_seed.n.01
        oven.n.01_1 - oven.n.01
        sink.n.01_1 - sink.n.01
        cookie_sheet.n.01_1 - cookie_sheet.n.01
        flour__sack.n.01_1 - flour__sack.n.01
        salt__shaker.n.01_1 - salt__shaker.n.01
        honey__jar.n.01_1 - honey__jar.n.01
        yeast__jar.n.01_1 - yeast__jar.n.01
        sesame_seed__shaker.n.01_1 - sesame_seed__shaker.n.01
        countertop.n.01_1 countertop.n.01_2 countertop.n.01_3 - countertop.n.01
        bowl.n.01_1 - bowl.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 flour__sack.n.01_1 flour.n.01_1) 
        (ontop flour__sack.n.01_1 countertop.n.01_1) 
        (ontop tablespoon.n.02_1 countertop.n.01_1) 
        (insource salt__shaker.n.01_1 salt.n.02_1)
        (ontop salt__shaker.n.01_1 countertop.n.01_1)
        (filled honey__jar.n.01_1 honey.n.01_1) 
        (ontop honey__jar.n.01_1 countertop.n.01_1) 
        (filled yeast__jar.n.01_1 yeast.n.01_1) 
        (ontop yeast__jar.n.01_1 countertop.n.01_1) 
        (insource sink.n.01_1 water.n.06_1) 
        (ontop electric_mixer.n.01_1 countertop.n.01_2) 
        (inside raw_egg.n.01_1 bowl.n.01_1) 
        (insource sesame_seed__shaker.n.01_1 sesame_seed.n.01_1) 
        (ontop sesame_seed__shaker.n.01_1 countertop.n.01_3) 
        (inside bowl.n.01_1 electric_refrigerator.n.01_1) 
        (inroom electric_refrigerator.n.01_1 kitchen) 
        (inroom oven.n.01_1 kitchen) 
        (inroom countertop.n.01_1 kitchen) 
        (inroom countertop.n.01_2 kitchen) 
        (inroom countertop.n.01_3 kitchen) 
        (inroom sink.n.01_1 kitchen) 
        (ontop cookie_sheet.n.01_1 countertop.n.01_3) 
        (future bagel.n.01_1) 
        (future bagel.n.01_3) 
        (future bagel.n.01_2) 
        (future bagel.n.01_4) 
        (inroom floor.n.01_1 kitchen) 
        (ontop agent.n.01_1 floor.n.01_1)
    )
    
    (:goal 
        (and 
            (real ?bagel.n.01_1) 
            (real ?bagel.n.01_2) 
            (real ?bagel.n.01_3) 
            (real ?bagel.n.01_4) 
            (forall 
                (?bagel.n.01 - bagel.n.01) 
                (and 
                    (ontop ?bagel.n.01 ?cookie_sheet.n.01_1) 
                    (cooked ?bagel.n.01)
                )
            )
        )
    )
)

  

Debugging: All Possible Recipes Resulting in Future Synsets

graph TD; recipe-bagel_dough(recipe: bagel_dough); initial-yeastn01(initial: yeast.n.01); recipe-bagels(recipe: bagels); missing-bagel_doughn01(missing: bagel_dough.n.01); initial-raw_eggn01(initial: raw_egg.n.01); initial-watern06(initial: water.n.06); initial-flourn01(initial: flour.n.01); future-bageln01(future: bagel.n.01); initial-saltn02(initial: salt.n.02); initial-honeyn01(initial: honey.n.01); initial-sesame_seedn01(initial: sesame_seed.n.01); recipe-bagel_dough --> missing-bagel_doughn01; initial-yeastn01 --> recipe-bagel_dough; recipe-bagels --> future-bageln01; missing-bagel_doughn01 --> recipe-bagels; initial-raw_eggn01 --> recipe-bagels; initial-watern06 --> recipe-bagel_dough; initial-flourn01 --> recipe-bagel_dough; initial-saltn02 --> recipe-bagel_dough; initial-honeyn01 --> recipe-bagel_dough; initial-sesame_seedn01 --> recipe-bagels;