make_macaroni_and_cheese-0


Synsets

Transition Paths By Task Scope Objects

graph TD; initial-breadcrumbn01(initial: breadcrumb.n.01); initial-buttern01(initial: butter.n.01); initial-cream_cheesen01(initial: cream_cheese.n.01); initial-grated_cheesen01(initial: grated_cheese.n.01); future-macaroni_and_cheesen01(future: macaroni_and_cheese.n.01); initial-noodlen01(initial: noodle.n.01); initial-parmesann01(initial: parmesan.n.01); initial-saltn02(initial: salt.n.02); initial-watern06(initial: water.n.06); initial-whole_milkn01(initial: whole_milk.n.01); recipe-noodlen01-cooking(recipe: noodle.n.01-cooking); cooked__watern01(cooked__water.n.01); cooked__noodlen01(cooked__noodle.n.01); recipe-watern06-cooking(recipe: water.n.06-cooking); recipe-macaroni_and_cheese(recipe: macaroni_and_cheese); cheese_saucen01(cheese_sauce.n.01); recipe-cheese_sauce(recipe: cheese_sauce); initial-breadcrumbn01 --> recipe-macaroni_and_cheese; initial-buttern01 --> recipe-cheese_sauce; initial-cream_cheesen01 --> recipe-cheese_sauce; initial-grated_cheesen01 --> recipe-cheese_sauce; initial-noodlen01 --> recipe-noodlen01-cooking; initial-parmesann01 --> recipe-cheese_sauce; initial-saltn02 --> recipe-cheese_sauce; initial-watern06 --> recipe-watern06-cooking; initial-whole_milkn01 --> recipe-cheese_sauce; recipe-noodlen01-cooking --> cooked__noodlen01; cooked__watern01 --> recipe-noodlen01-cooking; cooked__noodlen01 --> recipe-macaroni_and_cheese; recipe-watern06-cooking --> cooked__watern01; recipe-macaroni_and_cheese --> future-macaroni_and_cheesen01; cheese_saucen01 --> recipe-macaroni_and_cheese; recipe-cheese_sauce --> cheese_saucen01;

Scenes

Full Definition

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

    (:objects
        cream_cheese.n.01_1 - cream_cheese.n.01
        butter.n.01_1 - butter.n.01
        whole_milk.n.01_1 - whole_milk.n.01
        grated_cheese.n.01_1 - grated_cheese.n.01
        parmesan.n.01_1 - parmesan.n.01
        salt.n.02_1 - salt.n.02
        saucepan.n.01_1 - saucepan.n.01
        noodle.n.01_1 - noodle.n.01
        breadcrumb.n.01_1 - breadcrumb.n.01
        macaroni_and_cheese.n.01_1 - macaroni_and_cheese.n.01
        wooden_spoon.n.02_1 - wooden_spoon.n.02
        oven.n.01_1 - oven.n.01
        casserole.n.02_1 - casserole.n.02
        cream_cheese__box.n.01_1 - cream_cheese__box.n.01
        bowl.n.01_1 bowl.n.01_2 bowl.n.01_3 - bowl.n.01
        salt__shaker.n.01_1 - salt__shaker.n.01
        noodle__jar.n.01_1 - noodle__jar.n.01
        stockpot.n.01_1 - stockpot.n.01
        countertop.n.01_1 countertop.n.01_2 - countertop.n.01
        cup.n.01_1 - cup.n.01
        electric_refrigerator.n.01_1 - electric_refrigerator.n.01
        milk__carton.n.01_1 - milk__carton.n.01
        water.n.06_1 - water.n.06
        stove.n.01_1 - stove.n.01
        sink.n.01_1 - sink.n.01
        agent.n.01_1 - agent.n.01
        floor.n.01_1 - floor.n.01
    )
    
    (:init 
        (filled cream_cheese__box.n.01_1 cream_cheese.n.01_1) 
        (inside cream_cheese__box.n.01_1 electric_refrigerator.n.01_1) 
        (inside butter.n.01_1 bowl.n.01_1) 
        (inside bowl.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) 
        (filled bowl.n.01_2 grated_cheese.n.01_1) 
        (inside bowl.n.01_2 electric_refrigerator.n.01_1) 
        (filled bowl.n.01_3 parmesan.n.01_1) 
        (inside bowl.n.01_3 electric_refrigerator.n.01_1) 
        (insource salt__shaker.n.01_1 salt.n.02_1)
        (ontop salt__shaker.n.01_1 countertop.n.01_1)
        (ontop saucepan.n.01_1 countertop.n.01_1) 
        (filled noodle__jar.n.01_1 noodle.n.01_1) 
        (ontop noodle__jar.n.01_1 countertop.n.01_2) 
        (ontop wooden_spoon.n.02_1 countertop.n.01_1)
        (filled cup.n.01_1 breadcrumb.n.01_1) 
        (ontop cup.n.01_1 countertop.n.01_2) 
        (inroom oven.n.01_1 kitchen) 
        (ontop casserole.n.02_1 countertop.n.01_2)
        (ontop stockpot.n.01_1 countertop.n.01_2) 
        (insource sink.n.01_1 water.n.06_1)
        (future macaroni_and_cheese.n.01_1) 
        (inroom floor.n.01_1 kitchen) 
        (inroom electric_refrigerator.n.01_1 kitchen)
        (inroom countertop.n.01_1 kitchen) 
        (inroom countertop.n.01_2 kitchen) 
        (inroom stove.n.01_1 kitchen) 
        (inroom sink.n.01_1 kitchen) 
        (ontop agent.n.01_1 floor.n.01_1)
    )
    
    (:goal 
        (and 
            (real ?macaroni_and_cheese.n.01_1) 
            (cooked ?macaroni_and_cheese.n.01_1) 
            (inside ?macaroni_and_cheese.n.01_1 ?casserole.n.02_1)
        )
    )
)

  

Debugging: All Possible Recipes Resulting in Future Synsets

graph TD; recipe-noodlen01-cooking(recipe: noodle.n.01-cooking); recipe-macaroni_and_cheese(recipe: macaroni_and_cheese); initial-whole_milkn01(initial: whole_milk.n.01); initial-noodlen01(initial: noodle.n.01); initial-watern06(initial: water.n.06); initial-cream_cheesen01(initial: cream_cheese.n.01); future-macaroni_and_cheesen01(future: macaroni_and_cheese.n.01); recipe-watern06-cooking(recipe: water.n.06-cooking); missing-cooked__watern01(missing: cooked__water.n.01); initial-parmesann01(initial: parmesan.n.01); missing-cooked__noodlen01(missing: cooked__noodle.n.01); initial-grated_cheesen01(initial: grated_cheese.n.01); missing-cheese_saucen01(missing: cheese_sauce.n.01); recipe-cheese_sauce(recipe: cheese_sauce); initial-breadcrumbn01(initial: breadcrumb.n.01); initial-saltn02(initial: salt.n.02); initial-buttern01(initial: butter.n.01); recipe-noodlen01-cooking --> missing-cooked__noodlen01; recipe-macaroni_and_cheese --> future-macaroni_and_cheesen01; initial-whole_milkn01 --> recipe-cheese_sauce; initial-noodlen01 --> recipe-noodlen01-cooking; initial-watern06 --> recipe-watern06-cooking; initial-cream_cheesen01 --> recipe-cheese_sauce; recipe-watern06-cooking --> missing-cooked__watern01; missing-cooked__watern01 --> recipe-noodlen01-cooking; initial-parmesann01 --> recipe-cheese_sauce; missing-cooked__noodlen01 --> recipe-macaroni_and_cheese; initial-grated_cheesen01 --> recipe-cheese_sauce; missing-cheese_saucen01 --> recipe-macaroni_and_cheese; recipe-cheese_sauce --> missing-cheese_saucen01; initial-breadcrumbn01 --> recipe-macaroni_and_cheese; initial-saltn02 --> recipe-cheese_sauce; initial-buttern01 --> recipe-cheese_sauce;