make_biscuits-0


Synsets

Transition Paths By Task Scope Objects

graph TD; initial-baking_powdern01(initial: baking_powder.n.01); recipe-biscuit_dough(recipe: biscuit_dough); initial-flourn01(initial: flour.n.01); initial-shorteningn01(initial: shortening.n.01); recipe-biscuits(recipe: biscuits); biscuit_doughn01(biscuit_dough.n.01); initial-saltn02(initial: salt.n.02); future-biscuitn01(future: biscuit.n.01); initial-whole_milkn01(initial: whole_milk.n.01); initial-baking_powdern01 --> recipe-biscuit_dough; recipe-biscuit_dough --> biscuit_doughn01; initial-flourn01 --> recipe-biscuit_dough; initial-shorteningn01 --> recipe-biscuit_dough; recipe-biscuits --> future-biscuitn01; biscuit_doughn01 --> recipe-biscuits; initial-saltn02 --> recipe-biscuit_dough; initial-whole_milkn01 --> recipe-biscuit_dough;

Scenes

Full Definition

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

    (:objects
        flour.n.01_1 - flour.n.01
        baking_powder.n.01_1 - baking_powder.n.01
        salt.n.02_1 - salt.n.02
        shortening.n.01_1 - shortening.n.01
        whole_milk.n.01_1 - whole_milk.n.01
        electric_mixer.n.01_1 - electric_mixer.n.01
        biscuit.n.01_1 biscuit.n.01_2 biscuit.n.01_3 biscuit.n.01_4 biscuit.n.01_5 biscuit.n.01_6 - biscuit.n.01
        oven.n.01_1 - oven.n.01
        cookie_sheet.n.01_1 - cookie_sheet.n.01
        flour__sack.n.01_1 - flour__sack.n.01
        baking_powder__jar.n.01_1 - baking_powder__jar.n.01
        salt__shaker.n.01_1 - salt__shaker.n.01
        tablespoon.n.02_1 - tablespoon.n.02
        countertop.n.01_1 - countertop.n.01
        electric_refrigerator.n.01_1 - electric_refrigerator.n.01
        cabinet.n.01_1 - cabinet.n.01
        milk__carton.n.01_1 - milk__carton.n.01
        shortening__carton.n.01_1 - shortening__carton.n.01
        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) 
        (inside flour__sack.n.01_1 cabinet.n.01_1) 
        (filled baking_powder__jar.n.01_1 baking_powder.n.01_1) 
        (inside baking_powder__jar.n.01_1 cabinet.n.01_1) 
        (insource salt__shaker.n.01_1 salt.n.02_1)
        (ontop salt__shaker.n.01_1 countertop.n.01_1)
        (filled shortening__carton.n.01_1 shortening.n.01_1) 
        (inside shortening__carton.n.01_1 electric_refrigerator.n.01_1) 
        (filled milk__carton.n.01_1 whole_milk.n.01_1) 
        (inside milk__carton.n.01_1 electric_refrigerator.n.01_1) 
        (ontop electric_mixer.n.01_1 countertop.n.01_1) 
        (ontop tablespoon.n.02_1 countertop.n.01_1) 
        (ontop cookie_sheet.n.01_1 countertop.n.01_1) 
        (inroom oven.n.01_1 kitchen) 
        (inroom countertop.n.01_1 kitchen) 
        (inroom electric_refrigerator.n.01_1 kitchen) 
        (inroom cabinet.n.01_1 kitchen) 
        (future biscuit.n.01_3) 
        (future biscuit.n.01_5) 
        (future biscuit.n.01_6) 
        (future biscuit.n.01_4) 
        (future biscuit.n.01_1) 
        (future biscuit.n.01_2) 
        (inroom floor.n.01_1 kitchen) 
        (ontop agent.n.01_1 floor.n.01_1)
    )
    
    (:goal 
        (and 
            (real ?biscuit.n.01_1) 
            (real ?biscuit.n.01_2) 
            (real ?biscuit.n.01_3) 
            (real ?biscuit.n.01_4) 
            (real ?biscuit.n.01_5) 
            (real ?biscuit.n.01_6) 
            (forall 
                (?biscuit.n.01 - biscuit.n.01) 
                (cooked ?biscuit.n.01)
            )
        )
    )
)

  

Debugging: All Possible Recipes Resulting in Future Synsets

graph TD; initial-baking_powdern01(initial: baking_powder.n.01); recipe-biscuits(recipe: biscuits); initial-whole_milkn01(initial: whole_milk.n.01); recipe-biscuit_dough(recipe: biscuit_dough); initial-flourn01(initial: flour.n.01); future-biscuitn01(future: biscuit.n.01); missing-biscuit_doughn01(missing: biscuit_dough.n.01); initial-saltn02(initial: salt.n.02); initial-shorteningn01(initial: shortening.n.01); initial-baking_powdern01 --> recipe-biscuit_dough; recipe-biscuits --> future-biscuitn01; initial-whole_milkn01 --> recipe-biscuit_dough; recipe-biscuit_dough --> missing-biscuit_doughn01; initial-flourn01 --> recipe-biscuit_dough; missing-biscuit_doughn01 --> recipe-biscuits; initial-saltn02 --> recipe-biscuit_dough; initial-shorteningn01 --> recipe-biscuit_dough;