make_cookies-0


Synsets

Transition Paths By Task Scope Objects

graph TD; initial-nutmegn02(initial: nutmeg.n.02); future-spice_cookien01(future: spice_cookie.n.01); initial-baking_powdern01(initial: baking_powder.n.01); initial-granulated_sugarn01(initial: granulated_sugar.n.01); initial-cinnamonn03(initial: cinnamon.n.03); spice_cookie_doughn01(spice_cookie_dough.n.01); initial-vanillan02(initial: vanilla.n.02); initial-flourn01(initial: flour.n.01); initial-raw_eggn01(initial: raw_egg.n.01); recipe-spice_cookie_dough(recipe: spice_cookie_dough); initial-saltn02(initial: salt.n.02); recipe-spice_cookies(recipe: spice_cookies); initial-buttern01(initial: butter.n.01); initial-nutmegn02 --> recipe-spice_cookie_dough; initial-baking_powdern01 --> recipe-spice_cookie_dough; initial-granulated_sugarn01 --> recipe-spice_cookie_dough; initial-cinnamonn03 --> recipe-spice_cookie_dough; spice_cookie_doughn01 --> recipe-spice_cookies; initial-vanillan02 --> recipe-spice_cookie_dough; initial-flourn01 --> recipe-spice_cookie_dough; initial-raw_eggn01 --> recipe-spice_cookie_dough; recipe-spice_cookie_dough --> spice_cookie_doughn01; initial-saltn02 --> recipe-spice_cookie_dough; recipe-spice_cookies --> future-spice_cookien01; initial-buttern01 --> recipe-spice_cookie_dough;

Scenes

Full Definition

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

    (:objects
        flour.n.01_1 - flour.n.01
        granulated_sugar.n.01_1 - granulated_sugar.n.01
        raw_egg.n.01_1 raw_egg.n.01_2 - raw_egg.n.01
        vanilla.n.02_1 - vanilla.n.02
        butter.n.01_1 - butter.n.01
        baking_powder.n.01_1 - baking_powder.n.01
        salt.n.02_1 - salt.n.02
        cinnamon.n.03_1 - cinnamon.n.03
        nutmeg.n.02_1 - nutmeg.n.02
        cinnamon__shaker.n.01_1 - cinnamon__shaker.n.01
        nutmeg__shaker.n.01_1 - nutmeg__shaker.n.01
        electric_mixer.n.01_1 - electric_mixer.n.01
        spice_cookie.n.01_1 spice_cookie.n.01_2 spice_cookie.n.01_3 spice_cookie.n.01_4 spice_cookie.n.01_5 spice_cookie.n.01_6 - spice_cookie.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
        sugar__sack.n.01_1 - sugar__sack.n.01
        butter__package.n.01_1 - butter__package.n.01
        baking_powder__jar.n.01_1 - baking_powder__jar.n.01
        salt__shaker.n.01_1 - salt__shaker.n.01
        countertop.n.01_1 - countertop.n.01
        vanilla__bottle.n.01_1 - vanilla__bottle.n.01
        cabinet.n.01_1 cabinet.n.01_2 - cabinet.n.01
        tupperware.n.01_1 - tupperware.n.01
        electric_refrigerator.n.01_1 - electric_refrigerator.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_2) 
        (filled sugar__sack.n.01_1 granulated_sugar.n.01_1) 
        (ontop sugar__sack.n.01_1 cabinet.n.01_1) 
        (inside raw_egg.n.01_1 tupperware.n.01_1) 
        (inside raw_egg.n.01_2 tupperware.n.01_1) 
        (inside tupperware.n.01_1 electric_refrigerator.n.01_1) 
        (insource vanilla__bottle.n.01_1 vanilla.n.02_1)
        (inside vanilla__bottle.n.01_1 cabinet.n.01_1) 
        (inside butter.n.01_1 butter__package.n.01_1) 
        (inside butter__package.n.01_1 electric_refrigerator.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_2) 
        (insource salt__shaker.n.01_1 salt.n.02_1)
        (inside salt__shaker.n.01_1 cabinet.n.01_1)
        (insource cinnamon__shaker.n.01_1 cinnamon.n.03_1) 
        (inside cinnamon__shaker.n.01_1 cabinet.n.01_1) 
        (insource nutmeg__shaker.n.01_1 nutmeg.n.02_1) 
        (inside nutmeg__shaker.n.01_1 cabinet.n.01_1) 
        (ontop electric_mixer.n.01_1 countertop.n.01_1) 
        (inroom oven.n.01_1 kitchen) 
        (inroom countertop.n.01_1 kitchen) 
        (inroom cabinet.n.01_1 kitchen) 
        (inroom cabinet.n.01_2 kitchen) 
        (inroom electric_refrigerator.n.01_1 kitchen) 
        (inside cookie_sheet.n.01_1 oven.n.01_1) 
        (future spice_cookie.n.01_4) 
        (future spice_cookie.n.01_1) 
        (future spice_cookie.n.01_2) 
        (future spice_cookie.n.01_6) 
        (future spice_cookie.n.01_3) 
        (future spice_cookie.n.01_5) 
        (inroom floor.n.01_1 kitchen) 
        (ontop agent.n.01_1 floor.n.01_1)
    )
    
    (:goal 
        (and 
            (real ?spice_cookie.n.01_1) 
            (real ?spice_cookie.n.01_2) 
            (real ?spice_cookie.n.01_3) 
            (real ?spice_cookie.n.01_4) 
            (real ?spice_cookie.n.01_5) 
            (real ?spice_cookie.n.01_6) 
            (forall 
                (?spice_cookie.n.01 - spice_cookie.n.01) 
                (cooked ?spice_cookie.n.01)
            )
        )
    )
)

  

Debugging: All Possible Recipes Resulting in Future Synsets

graph TD; initial-granulated_sugarn01(initial: granulated_sugar.n.01); initial-cinnamonn03(initial: cinnamon.n.03); initial-baking_powdern01(initial: baking_powder.n.01); recipe-spice_cookies(recipe: spice_cookies); initial-raw_eggn01(initial: raw_egg.n.01); initial-nutmegn02(initial: nutmeg.n.02); future-spice_cookien01(future: spice_cookie.n.01); recipe-spice_cookie_dough(recipe: spice_cookie_dough); initial-flourn01(initial: flour.n.01); initial-vanillan02(initial: vanilla.n.02); missing-spice_cookie_doughn01(missing: spice_cookie_dough.n.01); initial-saltn02(initial: salt.n.02); initial-buttern01(initial: butter.n.01); initial-granulated_sugarn01 --> recipe-spice_cookie_dough; initial-cinnamonn03 --> recipe-spice_cookie_dough; initial-baking_powdern01 --> recipe-spice_cookie_dough; recipe-spice_cookies --> future-spice_cookien01; initial-raw_eggn01 --> recipe-spice_cookie_dough; initial-nutmegn02 --> recipe-spice_cookie_dough; recipe-spice_cookie_dough --> missing-spice_cookie_doughn01; initial-flourn01 --> recipe-spice_cookie_dough; initial-vanillan02 --> recipe-spice_cookie_dough; missing-spice_cookie_doughn01 --> recipe-spice_cookies; initial-saltn02 --> recipe-spice_cookie_dough; initial-buttern01 --> recipe-spice_cookie_dough;