make_chocolate_milk-0


Synsets

Transition Paths By Task Scope Objects

graph TD; initial-low-fat_milkn01(initial: low-fat_milk.n.01); future-chocolate_milkn01(future: chocolate_milk.n.01); initial-cocoa_powdern01(initial: cocoa_powder.n.01); recipe-chocolate_milk(recipe: chocolate_milk); initial-granulated_sugarn01(initial: granulated_sugar.n.01); initial-low-fat_milkn01 --> recipe-chocolate_milk; initial-cocoa_powdern01 --> recipe-chocolate_milk; recipe-chocolate_milk --> future-chocolate_milkn01; initial-granulated_sugarn01 --> recipe-chocolate_milk;

Scenes

Full Definition

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

    (:objects
        granulated_sugar.n.01_1 - granulated_sugar.n.01
        cocoa_powder.n.01_1 - cocoa_powder.n.01
        low-fat_milk.n.01_1 - low-fat_milk.n.01
        chocolate_milk.n.01_1 - chocolate_milk.n.01
        blender.n.01_1 - blender.n.01
        water_glass.n.02_1 - water_glass.n.02
        sugar__sack.n.01_1 - sugar__sack.n.01
        cocoa__box.n.01_1 - cocoa__box.n.01
        countertop.n.01_1 - countertop.n.01
        milk__carton.n.01_1 - milk__carton.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 sugar__sack.n.01_1 granulated_sugar.n.01_1) 
        (ontop sugar__sack.n.01_1 countertop.n.01_1) 
        (filled cocoa__box.n.01_1 cocoa_powder.n.01_1) 
        (ontop cocoa__box.n.01_1 countertop.n.01_1) 
        (ontop tablespoon.n.02_1 countertop.n.01_1) 
        (filled milk__carton.n.01_1 low-fat_milk.n.01_1) 
        (ontop blender.n.01_1 countertop.n.01_1) 
        (ontop water_glass.n.02_1 countertop.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 chocolate_milk.n.01_1) 
        (inroom floor.n.01_1 kitchen) 
        (ontop agent.n.01_1 floor.n.01_1)
    )
    
    (:goal 
        (and 
            (real ?chocolate_milk.n.01_1) 
            (contains ?water_glass.n.02_1 ?chocolate_milk.n.01_1)
        )
    )
)
  

Debugging: All Possible Recipes Resulting in Future Synsets

graph TD; initial-low-fat_milkn01(initial: low-fat_milk.n.01); initial-granulated_sugarn01(initial: granulated_sugar.n.01); recipe-chocolate_milk(recipe: chocolate_milk); initial-cocoa_powdern01(initial: cocoa_powder.n.01); future-chocolate_milkn01(future: chocolate_milk.n.01); initial-low-fat_milkn01 --> recipe-chocolate_milk; initial-granulated_sugarn01 --> recipe-chocolate_milk; recipe-chocolate_milk --> future-chocolate_milkn01; initial-cocoa_powdern01 --> recipe-chocolate_milk;