make_tacos-0


Synsets

Transition Paths By Task Scope Objects

graph TD; future-diced__vidalia_onionn01(future: diced__vidalia_onion.n.01); initial-chilin02(initial: chili.n.02); recipe-vidalia_onionn01-slicing(recipe: vidalia_onion.n.01-slicing); recipe-uncooked-half__vidalia_onionn01-dicing(recipe: uncooked-half__vidalia_onion.n.01-dicing); future-diced__chilin01(future: diced__chili.n.01); recipe-chilin02-slicing(recipe: chili.n.02-slicing); half__chilin01(half__chili.n.01); initial-vidalia_onionn01(initial: vidalia_onion.n.01); half__vidalia_onionn01(half__vidalia_onion.n.01); recipe-uncooked-half__chilin01-dicing(recipe: uncooked-half__chili.n.01-dicing); initial-chilin02 --> recipe-chilin02-slicing; recipe-vidalia_onionn01-slicing --> half__vidalia_onionn01; recipe-uncooked-half__vidalia_onionn01-dicing --> future-diced__vidalia_onionn01; recipe-chilin02-slicing --> half__chilin01; half__chilin01 --> recipe-uncooked-half__chilin01-dicing; initial-vidalia_onionn01 --> recipe-vidalia_onionn01-slicing; half__vidalia_onionn01 --> recipe-uncooked-half__vidalia_onionn01-dicing; recipe-uncooked-half__chilin01-dicing --> future-diced__chilin01;

Scenes

Full Definition

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

    (:objects
        tortilla.n.01_1 tortilla.n.01_2 tortilla.n.01_3 - tortilla.n.01
        countertop.n.01_1 - countertop.n.01
        cooked__ground_beef.n.01_1 - cooked__ground_beef.n.01
        tupperware.n.01_1 - tupperware.n.01
        grated_cheese.n.01_1 - grated_cheese.n.01
        sack.n.01_1 - sack.n.01
        vidalia_onion.n.01_1 - vidalia_onion.n.01
        diced__vidalia_onion.n.01_1 - diced__vidalia_onion.n.01
        salsa.n.01_1 - salsa.n.01
        salsa__bottle.n.01_1 - salsa__bottle.n.01
        chopping_board.n.01_1 - chopping_board.n.01
        carving_knife.n.01_1 - carving_knife.n.01
        chili.n.02_1 - chili.n.02
        diced__chili.n.01_1 - diced__chili.n.01
        electric_refrigerator.n.01_1 - electric_refrigerator.n.01
        platter.n.01_1 - platter.n.01
        plate.n.04_1 - plate.n.04
        tablespoon.n.02_1 - tablespoon.n.02
        floor.n.01_1 - floor.n.01
        agent.n.01_1 - agent.n.01
    )
    
    (:init 
        (ontop tortilla.n.01_1 plate.n.04_1) 
        (ontop tortilla.n.01_2 plate.n.04_1) 
        (ontop tortilla.n.01_3 plate.n.04_1) 
        (inside plate.n.04_1 electric_refrigerator.n.01_1)
        (filled tupperware.n.01_1 cooked__ground_beef.n.01_1) 
        (inside tupperware.n.01_1 electric_refrigerator.n.01_1)
        (filled sack.n.01_1 grated_cheese.n.01_1) 
        (inside sack.n.01_1 electric_refrigerator.n.01_1)
        (inside chili.n.02_1 electric_refrigerator.n.01_1) 
        (ontop vidalia_onion.n.01_1 countertop.n.01_1)
        (insource salsa__bottle.n.01_1 salsa.n.01_1)
        (inside salsa__bottle.n.01_1 electric_refrigerator.n.01_1)
        (ontop tablespoon.n.02_1 platter.n.01_1)
        (ontop platter.n.01_1 chopping_board.n.01_1) 
        (ontop chopping_board.n.01_1 countertop.n.01_1)
        (ontop carving_knife.n.01_1 platter.n.01_1)
        (inroom countertop.n.01_1 kitchen) 
        (inroom floor.n.01_1 kitchen) 
        (inroom electric_refrigerator.n.01_1 kitchen) 
        (future diced__chili.n.01_1)
        (future diced__vidalia_onion.n.01_1)
        (ontop agent.n.01_1 floor.n.01_1)
    )
    
    (:goal 
        (and 
            (real ?diced__chili.n.01_1)
            (real ?diced__vidalia_onion.n.01_1)
            (forall 
                (?tortilla.n.01 - tortilla.n.01)
                (and
                    (ontop ?tortilla.n.01 ?platter.n.01_1)
                    (covered ?tortilla.n.01_1 ?cooked__ground_beef.n.01_1)
                    (covered ?tortilla.n.01_1 ?grated_cheese.n.01_1)
                    (covered ?tortilla.n.01_1 ?salsa.n.01_1)
                    (covered ?tortilla.n.01_1 ?diced__vidalia_onion.n.01_1)
                    (covered ?tortilla.n.01_1 ?diced__chili.n.01_1)
                )
            )
        )
    )
)
  

Debugging: All Possible Recipes Resulting in Future Synsets

graph TD; initial-chilin02(initial: chili.n.02); future-diced__chilin01(future: diced__chili.n.01); recipe-vidalia_onionn01-slicing(recipe: vidalia_onion.n.01-slicing); recipe-uncooked-half__vidalia_onionn01-dicing(recipe: uncooked-half__vidalia_onion.n.01-dicing); missing-half__chilin01(missing: half__chili.n.01); initial-vidalia_onionn01(initial: vidalia_onion.n.01); recipe-uncooked-half__chilin01-dicing(recipe: uncooked-half__chili.n.01-dicing); future-diced__vidalia_onionn01(future: diced__vidalia_onion.n.01); missing-half__vidalia_onionn01(missing: half__vidalia_onion.n.01); recipe-chilin02-slicing(recipe: chili.n.02-slicing); initial-chilin02 --> recipe-chilin02-slicing; recipe-vidalia_onionn01-slicing --> missing-half__vidalia_onionn01; recipe-uncooked-half__vidalia_onionn01-dicing --> future-diced__vidalia_onionn01; missing-half__chilin01 --> recipe-uncooked-half__chilin01-dicing; initial-vidalia_onionn01 --> recipe-vidalia_onionn01-slicing; recipe-uncooked-half__chilin01-dicing --> future-diced__chilin01; missing-half__vidalia_onionn01 --> recipe-uncooked-half__vidalia_onionn01-dicing; recipe-chilin02-slicing --> missing-half__chilin01;