make_lemonade-0


Synsets

Transition Paths By Task Scope Objects

graph TD; initial-lemon_juicen01(initial: lemon_juice.n.01); recipe-lemonade(recipe: lemonade); future-lemonaden01(future: lemonade.n.01); initial-watern06(initial: water.n.06); initial-granulated_sugarn01(initial: granulated_sugar.n.01); initial-lemon_juicen01 --> recipe-lemonade; recipe-lemonade --> future-lemonaden01; initial-watern06 --> recipe-lemonade; initial-granulated_sugarn01 --> recipe-lemonade;

Scenes

Full Definition

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

    (:objects
        water.n.06_1 - water.n.06
        granulated_sugar.n.01_1 - granulated_sugar.n.01
        lemon_juice.n.01_1 - lemon_juice.n.01
        pitcher.n.02_1 - pitcher.n.02
        lemonade.n.01_1 - lemonade.n.01
        wooden_spoon.n.02_1 - wooden_spoon.n.02
        sugar__sack.n.01_1 - sugar__sack.n.01
        countertop.n.01_1 - countertop.n.01
        lemon_juice__bottle.n.01_1 - lemon_juice__bottle.n.01
        electric_refrigerator.n.01_1 - electric_refrigerator.n.01
        cabinet.n.01_1 - cabinet.n.01
        sink.n.01_1 - sink.n.01
        agent.n.01_1 - agent.n.01
        floor.n.01_1 - floor.n.01
    )
    
    (:init 
        (insource sink.n.01_1 water.n.06_1) 
        (filled sugar__sack.n.01_1 granulated_sugar.n.01_1) 
        (ontop sugar__sack.n.01_1 countertop.n.01_1) 
        (filled lemon_juice__bottle.n.01_1 lemon_juice.n.01_1) 
        (inside lemon_juice__bottle.n.01_1 electric_refrigerator.n.01_1) 
        (inside pitcher.n.02_1 cabinet.n.01_1) 
        (ontop wooden_spoon.n.02_1 countertop.n.01_1) 
        (inroom sink.n.01_1 kitchen) 
        (inroom cabinet.n.01_1 kitchen) 
        (inroom countertop.n.01_1 kitchen) 
        (future lemonade.n.01_1) 
        (inroom floor.n.01_1 kitchen) 
        (inroom electric_refrigerator.n.01_1 kitchen) 
        (ontop agent.n.01_1 floor.n.01_1)
    )
    
    (:goal 
        (and 
            (real ?lemonade.n.01_1) 
            (contains ?pitcher.n.02_1 ?lemonade.n.01_1)
        )
    )
)
  

Debugging: All Possible Recipes Resulting in Future Synsets

graph TD; initial-granulated_sugarn01(initial: granulated_sugar.n.01); recipe-lemonade(recipe: lemonade); initial-lemon_juicen01(initial: lemon_juice.n.01); initial-watern06(initial: water.n.06); future-lemonaden01(future: lemonade.n.01); initial-granulated_sugarn01 --> recipe-lemonade; recipe-lemonade --> future-lemonaden01; initial-lemon_juicen01 --> recipe-lemonade; initial-watern06 --> recipe-lemonade;