make_nachos-0
Synsets
Transition Paths By Task Scope Objects
graph TD;
initial-avocadon01(initial: avocado.n.01);
initial-beefsteak_tomaton01(initial: beefsteak_tomato.n.01);
future-cooked__diced__beefsteak_tomaton01(future: cooked__diced__beefsteak_tomato.n.01);
future-cooked__diced__green_onionn01(future: cooked__diced__green_onion.n.01);
future-cooked__paprikan01(future: cooked__paprika.n.01);
future-cooked__salsan01(future: cooked__salsa.n.01);
future-diced__avocadon01(future: diced__avocado.n.01);
future-diced__beefsteak_tomaton01(future: diced__beefsteak_tomato.n.01);
future-diced__green_onionn01(future: diced__green_onion.n.01);
initial-grated_cheesen01(initial: grated_cheese.n.01);
initial-green_onionn01(initial: green_onion.n.01);
future-melted__grated_cheesen01(future: melted__grated_cheese.n.01);
future-paprikan02(future: paprika.n.02);
future-salsan01(future: salsa.n.01);
recipe-diced__beefsteak_tomaton01-cooking(recipe: diced__beefsteak_tomato.n.01-cooking);
recipe-cooked-half__beefsteak_tomaton01-dicing(recipe: cooked-half__beefsteak_tomato.n.01-dicing);
half__beefsteak_tomaton01(half__beefsteak_tomato.n.01);
recipe-beefsteak_tomaton01-slicing(recipe: beefsteak_tomato.n.01-slicing);
recipe-uncooked-half__beefsteak_tomaton01-dicing(recipe: uncooked-half__beefsteak_tomato.n.01-dicing);
recipe-diced__green_onionn01-cooking(recipe: diced__green_onion.n.01-cooking);
recipe-cooked-half__green_onionn01-dicing(recipe: cooked-half__green_onion.n.01-dicing);
half__green_onionn01(half__green_onion.n.01);
recipe-green_onionn01-slicing(recipe: green_onion.n.01-slicing);
recipe-uncooked-half__green_onionn01-dicing(recipe: uncooked-half__green_onion.n.01-dicing);
recipe-uncooked-half__avocadon01-dicing(recipe: uncooked-half__avocado.n.01-dicing);
half__avocadon01(half__avocado.n.01);
recipe-avocadon01-slicing(recipe: avocado.n.01-slicing);
recipe-grated_cheesen01-melting(recipe: grated_cheese.n.01-melting);
initial-avocadon01 --> recipe-avocadon01-slicing;
initial-beefsteak_tomaton01 --> recipe-beefsteak_tomaton01-slicing;
future-diced__beefsteak_tomaton01 --> recipe-diced__beefsteak_tomaton01-cooking;
future-diced__green_onionn01 --> recipe-diced__green_onionn01-cooking;
initial-grated_cheesen01 --> recipe-grated_cheesen01-melting;
initial-green_onionn01 --> recipe-green_onionn01-slicing;
recipe-diced__beefsteak_tomaton01-cooking --> future-cooked__diced__beefsteak_tomaton01;
recipe-cooked-half__beefsteak_tomaton01-dicing --> future-cooked__diced__beefsteak_tomaton01;
half__beefsteak_tomaton01 --> recipe-cooked-half__beefsteak_tomaton01-dicing;
half__beefsteak_tomaton01 --> recipe-uncooked-half__beefsteak_tomaton01-dicing;
recipe-beefsteak_tomaton01-slicing --> half__beefsteak_tomaton01;
recipe-uncooked-half__beefsteak_tomaton01-dicing --> future-diced__beefsteak_tomaton01;
recipe-diced__green_onionn01-cooking --> future-cooked__diced__green_onionn01;
recipe-cooked-half__green_onionn01-dicing --> future-cooked__diced__green_onionn01;
half__green_onionn01 --> recipe-cooked-half__green_onionn01-dicing;
half__green_onionn01 --> recipe-uncooked-half__green_onionn01-dicing;
recipe-green_onionn01-slicing --> half__green_onionn01;
recipe-uncooked-half__green_onionn01-dicing --> future-diced__green_onionn01;
recipe-uncooked-half__avocadon01-dicing --> future-diced__avocadon01;
half__avocadon01 --> recipe-uncooked-half__avocadon01-dicing;
recipe-avocadon01-slicing --> half__avocadon01;
recipe-grated_cheesen01-melting --> future-melted__grated_cheesen01;
Unreachable Goal Synsets
Scenes
- Matched:
- Planned:
- Unmatched:
Full Definition
(define (problem make_nachos-0)
(:domain omnigibson)
(:objects
tortilla_chip.n.01_1 tortilla_chip.n.01_2 tortilla_chip.n.01_3 tortilla_chip.n.01_4 tortilla_chip.n.01_5 tortilla_chip.n.01_6 tortilla_chip.n.01_7 tortilla_chip.n.01_8 - tortilla_chip.n.01
carving_knife.n.01_1 - carving_knife.n.01
grated_cheese.n.01_1 - grated_cheese.n.01
melted__grated_cheese.n.01_1 - melted__grated_cheese.n.01
beefsteak_tomato.n.01_1 - beefsteak_tomato.n.01
diced__beefsteak_tomato.n.01_1 - diced__beefsteak_tomato.n.01
cooked__diced__beefsteak_tomato.n.01_1 - cooked__diced__beefsteak_tomato.n.01
cooked__ground_beef.n.01_1 - cooked__ground_beef.n.01
paprika.n.02_1 - paprika.n.02
cooked__paprika.n.01_1 - cooked__paprika.n.01
paprika__shaker.n.01_1 - paprika__shaker.n.01
green_onion.n.01_1 - green_onion.n.01
diced__green_onion.n.01_1 - diced__green_onion.n.01
cooked__diced__green_onion.n.01_1 - cooked__diced__green_onion.n.01
salsa.n.01_1 - salsa.n.01
cooked__salsa.n.01_1 - cooked__salsa.n.01
avocado.n.01_1 - avocado.n.01
diced__avocado.n.01_1 - diced__avocado.n.01
oven.n.01_1 - oven.n.01
cookie_sheet.n.01_1 - cookie_sheet.n.01
sack.n.01_1 - sack.n.01
tupperware.n.01_1 tupperware.n.01_2 - tupperware.n.01
salsa__bottle.n.01_1 - salsa__bottle.n.01
chopping_board.n.01_1 - chopping_board.n.01
countertop.n.01_1 - countertop.n.01
electric_refrigerator.n.01_1 - electric_refrigerator.n.01
cabinet.n.01_1 - cabinet.n.01
agent.n.01_1 - agent.n.01
floor.n.01_1 - floor.n.01
)
(:init
(inside tortilla_chip.n.01_1 sack.n.01_1)
(inside tortilla_chip.n.01_2 sack.n.01_1)
(inside tortilla_chip.n.01_3 sack.n.01_1)
(inside tortilla_chip.n.01_4 sack.n.01_1)
(inside tortilla_chip.n.01_5 sack.n.01_1)
(inside tortilla_chip.n.01_6 sack.n.01_1)
(inside tortilla_chip.n.01_7 sack.n.01_1)
(inside tortilla_chip.n.01_8 sack.n.01_1)
(ontop sack.n.01_1 countertop.n.01_1)
(filled tupperware.n.01_1 grated_cheese.n.01_1)
(inside tupperware.n.01_1 electric_refrigerator.n.01_1)
(filled tupperware.n.01_2 cooked__ground_beef.n.01_1)
(inside tupperware.n.01_2 electric_refrigerator.n.01_1)
(inside beefsteak_tomato.n.01_1 electric_refrigerator.n.01_1)
(inside green_onion.n.01_1 electric_refrigerator.n.01_1)
(insource salsa__bottle.n.01_1 salsa.n.01_1)
(inside salsa__bottle.n.01_1 electric_refrigerator.n.01_1)
(inside avocado.n.01_1 electric_refrigerator.n.01_1)
(insource paprika__shaker.n.01_1 paprika.n.02_1)
(inside paprika__shaker.n.01_1 cabinet.n.01_1)
(ontop chopping_board.n.01_1 countertop.n.01_1)
(ontop carving_knife.n.01_1 chopping_board.n.01_1)
(inroom oven.n.01_1 kitchen)
(inroom countertop.n.01_1 kitchen)
(inroom electric_refrigerator.n.01_1 kitchen)
(inroom cabinet.n.01_1 kitchen)
(ontop cookie_sheet.n.01_1 countertop.n.01_1)
(future melted__grated_cheese.n.01_1)
(future diced__beefsteak_tomato.n.01_1)
(future cooked__diced__beefsteak_tomato.n.01_1)
(future diced__green_onion.n.01_1)
(future cooked__diced__green_onion.n.01_1)
(future cooked__paprika.n.01_1)
(future cooked__salsa.n.01_1)
(future diced__avocado.n.01_1)
(inroom floor.n.01_1 kitchen)
(ontop agent.n.01_1 floor.n.01_1)
)
(:goal
(and
(real ?melted__grated_cheese.n.01_1)
(or
(real ?diced__beefsteak_tomato.n.01_1)
(real ?cooked__diced__beefsteak_tomato.n.01_1)
)
(or
(real ?diced__green_onion.n.01_1)
(real ?cooked__diced__green_onion.n.01_1)
)
(or
(real ?cooked__paprika.n.01_1)
(real ?paprika.n.02_1)
)
(or
(real ?cooked__salsa.n.01_1)
(real ?salsa.n.01_1)
)
(real ?diced__avocado.n.01_1)
(forall
(?tortilla_chip.n.01 - tortilla_chip.n.01)
(and
(covered ?tortilla_chip.n.01 ?melted__grated_cheese.n.01_1)
(or
(covered ?tortilla_chip.n.01 ?diced__beefsteak_tomato.n.01_1)
(covered ?tortilla_chip.n.01 ?cooked__diced__beefsteak_tomato.n.01_1)
)
(or
(covered ?tortilla_chip.n.01 ?diced__green_onion.n.01_1)
(covered ?tortilla_chip.n.01 ?cooked__diced__green_onion.n.01_1)
)
(or
(covered ?tortilla_chip.n.01 ?paprika.n.02_1)
(covered ?tortilla_chip.n.01 ?cooked__paprika.n.01_1)
)
(or
(covered ?tortilla_chip.n.01 ?salsa.n.01_1)
(covered ?tortilla_chip.n.01 ?cooked__salsa.n.01_1)
)
(covered ?tortilla_chip.n.01_1 ?diced__avocado.n.01_1)
)
)
(ontop ?tortilla_chip.n.01_1 ?cookie_sheet.n.01_1)
)
)
)
Debugging: All Possible Recipes Resulting in Future Synsets
graph TD;
missing-half__green_onionn01(missing: half__green_onion.n.01);
recipe-diced__green_onionn01-cooking(recipe: diced__green_onion.n.01-cooking);
recipe-green_onionn01-slicing(recipe: green_onion.n.01-slicing);
recipe-avocadon01-slicing(recipe: avocado.n.01-slicing);
initial-avocadon01(initial: avocado.n.01);
recipe-uncooked-half__beefsteak_tomaton01-dicing(recipe: uncooked-half__beefsteak_tomato.n.01-dicing);
recipe-cooked-half__green_onionn01-dicing(recipe: cooked-half__green_onion.n.01-dicing);
future-diced__avocadon01(future: diced__avocado.n.01);
recipe-beefsteak_tomaton01-slicing(recipe: beefsteak_tomato.n.01-slicing);
recipe-grated_cheesen01-melting(recipe: grated_cheese.n.01-melting);
recipe-uncooked-half__avocadon01-dicing(recipe: uncooked-half__avocado.n.01-dicing);
initial-grated_cheesen01(initial: grated_cheese.n.01);
future-diced__green_onionn01(future: diced__green_onion.n.01);
missing-half__avocadon01(missing: half__avocado.n.01);
future-diced__beefsteak_tomaton01(future: diced__beefsteak_tomato.n.01);
recipe-diced__beefsteak_tomaton01-cooking(recipe: diced__beefsteak_tomato.n.01-cooking);
recipe-uncooked-half__green_onionn01-dicing(recipe: uncooked-half__green_onion.n.01-dicing);
future-cooked__diced__green_onionn01(future: cooked__diced__green_onion.n.01);
missing-half__beefsteak_tomaton01(missing: half__beefsteak_tomato.n.01);
initial-beefsteak_tomaton01(initial: beefsteak_tomato.n.01);
future-cooked__diced__beefsteak_tomaton01(future: cooked__diced__beefsteak_tomato.n.01);
recipe-cooked-half__beefsteak_tomaton01-dicing(recipe: cooked-half__beefsteak_tomato.n.01-dicing);
future-melted__grated_cheesen01(future: melted__grated_cheese.n.01);
initial-green_onionn01(initial: green_onion.n.01);
missing-half__green_onionn01 --> recipe-cooked-half__green_onionn01-dicing;
missing-half__green_onionn01 --> recipe-uncooked-half__green_onionn01-dicing;
recipe-diced__green_onionn01-cooking --> future-cooked__diced__green_onionn01;
recipe-green_onionn01-slicing --> missing-half__green_onionn01;
recipe-avocadon01-slicing --> missing-half__avocadon01;
initial-avocadon01 --> recipe-avocadon01-slicing;
recipe-uncooked-half__beefsteak_tomaton01-dicing --> future-diced__beefsteak_tomaton01;
recipe-cooked-half__green_onionn01-dicing --> future-cooked__diced__green_onionn01;
recipe-beefsteak_tomaton01-slicing --> missing-half__beefsteak_tomaton01;
recipe-grated_cheesen01-melting --> future-melted__grated_cheesen01;
recipe-uncooked-half__avocadon01-dicing --> future-diced__avocadon01;
initial-grated_cheesen01 --> recipe-grated_cheesen01-melting;
future-diced__green_onionn01 --> recipe-diced__green_onionn01-cooking;
missing-half__avocadon01 --> recipe-uncooked-half__avocadon01-dicing;
future-diced__beefsteak_tomaton01 --> recipe-diced__beefsteak_tomaton01-cooking;
recipe-diced__beefsteak_tomaton01-cooking --> future-cooked__diced__beefsteak_tomaton01;
recipe-uncooked-half__green_onionn01-dicing --> future-diced__green_onionn01;
missing-half__beefsteak_tomaton01 --> recipe-cooked-half__beefsteak_tomaton01-dicing;
missing-half__beefsteak_tomaton01 --> recipe-uncooked-half__beefsteak_tomaton01-dicing;
initial-beefsteak_tomaton01 --> recipe-beefsteak_tomaton01-slicing;
recipe-cooked-half__beefsteak_tomaton01-dicing --> future-cooked__diced__beefsteak_tomaton01;
initial-green_onionn01 --> recipe-green_onionn01-slicing;