make_muffins-0


Synsets

Transition Paths By Task Scope Objects

graph TD; initial-baking_powdern01(initial: baking_powder.n.01); recipe-muffins(recipe: muffins); initial-cooking_oiln01(initial: cooking_oil.n.01); future-muffinn01(future: muffin.n.01); muffin_battern01(muffin_batter.n.01); initial-flourn01(initial: flour.n.01); initial-raw_eggn01(initial: raw_egg.n.01); recipe-muffin_batter(recipe: muffin_batter); initial-saltn02(initial: salt.n.02); initial-granulated_sugarn01(initial: granulated_sugar.n.01); initial-whole_milkn01(initial: whole_milk.n.01); initial-baking_powdern01 --> recipe-muffin_batter; recipe-muffins --> future-muffinn01; initial-cooking_oiln01 --> recipe-muffin_batter; muffin_battern01 --> recipe-muffins; initial-flourn01 --> recipe-muffin_batter; initial-raw_eggn01 --> recipe-muffin_batter; recipe-muffin_batter --> muffin_battern01; initial-saltn02 --> recipe-muffin_batter; initial-granulated_sugarn01 --> recipe-muffin_batter; initial-whole_milkn01 --> recipe-muffin_batter;

Scenes

Full Definition

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

    (:objects
        flour.n.01_1 - flour.n.01
        baking_powder.n.01_1 - baking_powder.n.01
        salt.n.02_1 - salt.n.02
        raw_egg.n.01_1 - raw_egg.n.01
        granulated_sugar.n.01_1 - granulated_sugar.n.01
        whole_milk.n.01_1 - whole_milk.n.01
        cooking_oil.n.01_1 - cooking_oil.n.01
        electric_mixer.n.01_1 - electric_mixer.n.01
        muffin.n.01_1 muffin.n.01_2 muffin.n.01_3 muffin.n.01_4 muffin.n.01_5 muffin.n.01_6 - muffin.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
        baking_powder__jar.n.01_1 - baking_powder__jar.n.01
        salt__shaker.n.01_1 - salt__shaker.n.01
        sugar__sack.n.01_1 - sugar__sack.n.01
        countertop.n.01_1 countertop.n.01_2 - countertop.n.01
        milk__carton.n.01_1 - milk__carton.n.01
        floor.n.01_1 - floor.n.01
        cabinet.n.01_1 - cabinet.n.01
        bowl.n.01_1 - bowl.n.01
        electric_refrigerator.n.01_1 - electric_refrigerator.n.01
        cooking_oil__bottle.n.01_1 - cooking_oil__bottle.n.01
        agent.n.01_1 - agent.n.01
    )
    
    (:init 
        (filled flour__sack.n.01_1 flour.n.01_1) 
        (ontop flour__sack.n.01_1 floor.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_1) 
        (insource salt__shaker.n.01_1 salt.n.02_1)
        (ontop salt__shaker.n.01_1 countertop.n.01_1)
        (inside raw_egg.n.01_1 bowl.n.01_1) 
        (inside bowl.n.01_1 electric_refrigerator.n.01_1) 
        (filled sugar__sack.n.01_1 granulated_sugar.n.01_1) 
        (ontop sugar__sack.n.01_1 floor.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 cooking_oil__bottle.n.01_1 cooking_oil.n.01_1) 
        (inside cooking_oil__bottle.n.01_1 cabinet.n.01_1) 
        (ontop electric_mixer.n.01_1 countertop.n.01_2) 
        (inroom oven.n.01_1 kitchen) 
        (inroom floor.n.01_1 kitchen) 
        (inroom electric_refrigerator.n.01_1 kitchen) 
        (inroom cabinet.n.01_1 kitchen) 
        (inroom countertop.n.01_1 kitchen) 
        (inroom countertop.n.01_2 kitchen) 
        (ontop cookie_sheet.n.01_1 countertop.n.01_2) 
        (future muffin.n.01_5) 
        (future muffin.n.01_6) 
        (future muffin.n.01_1) 
        (future muffin.n.01_2) 
        (future muffin.n.01_3) 
        (future muffin.n.01_4) 
        (ontop agent.n.01_1 floor.n.01_1)
    )
    
    (:goal 
        (and 
            (real ?muffin.n.01_1) 
            (real ?muffin.n.01_2) 
            (real ?muffin.n.01_3) 
            (real ?muffin.n.01_4) 
            (real ?muffin.n.01_5) 
            (real ?muffin.n.01_6) 
            (forall 
                (?muffin.n.01 - muffin.n.01) 
                (and 
                    (cooked ?muffin.n.01) 
                    (ontop ?muffin.n.01 ?cookie_sheet.n.01_1)
                )
            )
        )
    )
)

  

Debugging: All Possible Recipes Resulting in Future Synsets

graph TD; initial-granulated_sugarn01(initial: granulated_sugar.n.01); initial-baking_powdern01(initial: baking_powder.n.01); initial-raw_eggn01(initial: raw_egg.n.01); future-muffinn01(future: muffin.n.01); initial-whole_milkn01(initial: whole_milk.n.01); recipe-muffins(recipe: muffins); missing-muffin_battern01(missing: muffin_batter.n.01); recipe-muffin_batter(recipe: muffin_batter); initial-cooking_oiln01(initial: cooking_oil.n.01); initial-flourn01(initial: flour.n.01); initial-saltn02(initial: salt.n.02); initial-granulated_sugarn01 --> recipe-muffin_batter; initial-baking_powdern01 --> recipe-muffin_batter; initial-raw_eggn01 --> recipe-muffin_batter; initial-whole_milkn01 --> recipe-muffin_batter; recipe-muffins --> future-muffinn01; missing-muffin_battern01 --> recipe-muffins; recipe-muffin_batter --> missing-muffin_battern01; initial-cooking_oiln01 --> recipe-muffin_batter; initial-flourn01 --> recipe-muffin_batter; initial-saltn02 --> recipe-muffin_batter;