make_green_tea_latte-0


Synsets

Transition Paths By Task Scope Objects

graph TD; initial-green_tean01(initial: green_tea.n.01); future-green_tea_latten01(future: green_tea_latte.n.01); initial-low-fat_milkn01(initial: low-fat_milk.n.01); initial-watern06(initial: water.n.06); recipe-green_tea(recipe: green_tea); tean01(tea.n.01); recipe-green_tea_latte(recipe: green_tea_latte); initial-green_tean01 --> recipe-green_tea; initial-low-fat_milkn01 --> recipe-green_tea_latte; initial-watern06 --> recipe-green_tea; recipe-green_tea --> tean01; tean01 --> recipe-green_tea_latte; recipe-green_tea_latte --> future-green_tea_latten01;

Scenes

Full Definition

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

    (:objects
        water.n.06_1 - water.n.06
        green_tea.n.01_1 - green_tea.n.01
        mason_jar.n.01_1 - mason_jar.n.01
        cup.n.01_1 - cup.n.01
        low-fat_milk.n.01_1 - low-fat_milk.n.01
        green_tea_latte.n.01_1 - green_tea_latte.n.01
        whisk.n.01_1 - whisk.n.01
        mug.n.04_1 - mug.n.04
        countertop.n.01_1 countertop.n.01_2 - countertop.n.01
        carafe.n.01_1 carafe.n.01_2 - carafe.n.01
        agent.n.01_1 - agent.n.01
        floor.n.01_1 - floor.n.01
    )
    
    (:init 
        (filled carafe.n.01_1 water.n.06_1) 
        (ontop carafe.n.01_1 countertop.n.01_1) 
        (filled mason_jar.n.01_1 green_tea.n.01_1)
        (ontop mason_jar.n.01_1 countertop.n.01_1)
        (ontop cup.n.01_1 countertop.n.01_1) 
        (filled carafe.n.01_2 low-fat_milk.n.01_1) 
        (ontop carafe.n.01_2 countertop.n.01_1) 
        (ontop whisk.n.01_1 countertop.n.01_2) 
        (ontop mug.n.04_1 countertop.n.01_2)
        (inroom countertop.n.01_1 kitchen) 
        (inroom countertop.n.01_2 kitchen) 
        (future green_tea_latte.n.01_1) 
        (inroom floor.n.01_1 kitchen) 
        (ontop agent.n.01_1 floor.n.01_1)
    )
    
    (:goal 
        (and 
            (real ?green_tea_latte.n.01_1) 
            (contains ?mug.n.04_1 ?green_tea_latte.n.01_1)
        )
    )
)

  

Debugging: All Possible Recipes Resulting in Future Synsets

graph TD; initial-low-fat_milkn01(initial: low-fat_milk.n.01); future-green_tea_latten01(future: green_tea_latte.n.01); initial-green_tean01(initial: green_tea.n.01); initial-watern06(initial: water.n.06); recipe-green_tea(recipe: green_tea); recipe-green_tea_latte(recipe: green_tea_latte); missing-tean01(missing: tea.n.01); initial-low-fat_milkn01 --> recipe-green_tea_latte; initial-green_tean01 --> recipe-green_tea; initial-watern06 --> recipe-green_tea; recipe-green_tea --> missing-tean01; recipe-green_tea_latte --> future-green_tea_latten01; missing-tean01 --> recipe-green_tea_latte;