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-cooked-half__beefsteak_tomaton01-dicing(recipe: cooked-half__beefsteak_tomato.n.01-dicing); half__beefsteak_tomaton01(half__beefsteak_tomato.n.01); recipe-uncooked-half__beefsteak_tomaton01-dicing(recipe: uncooked-half__beefsteak_tomato.n.01-dicing); recipe-beefsteak_tomaton01-slicing(recipe: beefsteak_tomato.n.01-slicing); recipe-diced__beefsteak_tomaton01-cooking(recipe: diced__beefsteak_tomato.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-uncooked-half__green_onionn01-dicing(recipe: uncooked-half__green_onion.n.01-dicing); recipe-diced__green_onionn01-cooking(recipe: diced__green_onion.n.01-cooking); recipe-green_onionn01-slicing(recipe: green_onion.n.01-slicing); 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-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-uncooked-half__beefsteak_tomaton01-dicing --> future-diced__beefsteak_tomaton01; recipe-beefsteak_tomaton01-slicing --> half__beefsteak_tomaton01; recipe-diced__beefsteak_tomaton01-cooking --> future-cooked__diced__beefsteak_tomaton01; 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-uncooked-half__green_onionn01-dicing --> future-diced__green_onionn01; recipe-diced__green_onionn01-cooking --> future-cooked__diced__green_onionn01; recipe-green_onionn01-slicing --> half__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

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; recipe-grated_cheesen01-melting(recipe: grated_cheese.n.01-melting); recipe-diced__green_onionn01-cooking(recipe: diced__green_onion.n.01-cooking); future-diced__green_onionn01(future: diced__green_onion.n.01); missing-half__green_onionn01(missing: half__green_onion.n.01); future-cooked__diced__green_onionn01(future: cooked__diced__green_onion.n.01); initial-grated_cheesen01(initial: grated_cheese.n.01); recipe-cooked-half__green_onionn01-dicing(recipe: cooked-half__green_onion.n.01-dicing); missing-half__avocadon01(missing: half__avocado.n.01); initial-beefsteak_tomaton01(initial: beefsteak_tomato.n.01); recipe-uncooked-half__avocadon01-dicing(recipe: uncooked-half__avocado.n.01-dicing); recipe-diced__beefsteak_tomaton01-cooking(recipe: diced__beefsteak_tomato.n.01-cooking); future-diced__avocadon01(future: diced__avocado.n.01); recipe-avocadon01-slicing(recipe: avocado.n.01-slicing); future-melted__grated_cheesen01(future: melted__grated_cheese.n.01); future-cooked__diced__beefsteak_tomaton01(future: cooked__diced__beefsteak_tomato.n.01); initial-avocadon01(initial: avocado.n.01); recipe-beefsteak_tomaton01-slicing(recipe: beefsteak_tomato.n.01-slicing); recipe-green_onionn01-slicing(recipe: green_onion.n.01-slicing); recipe-cooked-half__beefsteak_tomaton01-dicing(recipe: cooked-half__beefsteak_tomato.n.01-dicing); recipe-uncooked-half__beefsteak_tomaton01-dicing(recipe: uncooked-half__beefsteak_tomato.n.01-dicing); missing-half__beefsteak_tomaton01(missing: half__beefsteak_tomato.n.01); future-diced__beefsteak_tomaton01(future: diced__beefsteak_tomato.n.01); recipe-uncooked-half__green_onionn01-dicing(recipe: uncooked-half__green_onion.n.01-dicing); initial-green_onionn01(initial: green_onion.n.01); recipe-grated_cheesen01-melting --> future-melted__grated_cheesen01; recipe-diced__green_onionn01-cooking --> future-cooked__diced__green_onionn01; future-diced__green_onionn01 --> recipe-diced__green_onionn01-cooking; missing-half__green_onionn01 --> recipe-cooked-half__green_onionn01-dicing; missing-half__green_onionn01 --> recipe-uncooked-half__green_onionn01-dicing; initial-grated_cheesen01 --> recipe-grated_cheesen01-melting; recipe-cooked-half__green_onionn01-dicing --> future-cooked__diced__green_onionn01; missing-half__avocadon01 --> recipe-uncooked-half__avocadon01-dicing; initial-beefsteak_tomaton01 --> recipe-beefsteak_tomaton01-slicing; recipe-uncooked-half__avocadon01-dicing --> future-diced__avocadon01; recipe-diced__beefsteak_tomaton01-cooking --> future-cooked__diced__beefsteak_tomaton01; recipe-avocadon01-slicing --> missing-half__avocadon01; initial-avocadon01 --> recipe-avocadon01-slicing; recipe-beefsteak_tomaton01-slicing --> missing-half__beefsteak_tomaton01; recipe-green_onionn01-slicing --> missing-half__green_onionn01; recipe-cooked-half__beefsteak_tomaton01-dicing --> future-cooked__diced__beefsteak_tomaton01; recipe-uncooked-half__beefsteak_tomaton01-dicing --> future-diced__beefsteak_tomaton01; missing-half__beefsteak_tomaton01 --> recipe-cooked-half__beefsteak_tomaton01-dicing; missing-half__beefsteak_tomaton01 --> recipe-uncooked-half__beefsteak_tomaton01-dicing; future-diced__beefsteak_tomaton01 --> recipe-diced__beefsteak_tomaton01-cooking; recipe-uncooked-half__green_onionn01-dicing --> future-diced__green_onionn01; initial-green_onionn01 --> recipe-green_onionn01-slicing;