make_waffles-0


Synsets

Transition Paths By Task Scope Objects

graph TD; initial-buttern01(initial: butter.n.01); initial-flourn01(initial: flour.n.01); initial-granulated_sugarn01(initial: granulated_sugar.n.01); initial-raw_eggn01(initial: raw_egg.n.01); initial-saltn02(initial: salt.n.02); initial-vanillan02(initial: vanilla.n.02); future-wafflen01(future: waffle.n.01); initial-whole_milkn01(initial: whole_milk.n.01); initial-yogurtn01(initial: yogurt.n.01); recipe-buttern01-slicing(recipe: butter.n.01-slicing); half__buttern01(half__butter.n.01); recipe-uncooked-half__buttern01-dicing(recipe: uncooked-half__butter.n.01-dicing); diced__buttern01(diced__butter.n.01); recipe-buttern01-melting(recipe: butter.n.01-melting); melted__buttern01(melted__butter.n.01); recipe-waffle_batter(recipe: waffle_batter); waffle_battern01(waffle_batter.n.01); recipe-waffle(recipe: waffle); recipe-half__buttern01-melting(recipe: half__butter.n.01-melting); recipe-diced__buttern01-melting(recipe: diced__butter.n.01-melting); initial-buttern01 --> recipe-buttern01-slicing; initial-buttern01 --> recipe-buttern01-melting; initial-flourn01 --> recipe-waffle_batter; initial-granulated_sugarn01 --> recipe-waffle_batter; initial-raw_eggn01 --> recipe-waffle_batter; initial-saltn02 --> recipe-waffle_batter; initial-vanillan02 --> recipe-waffle_batter; initial-whole_milkn01 --> recipe-waffle_batter; initial-yogurtn01 --> recipe-waffle_batter; recipe-buttern01-slicing --> half__buttern01; half__buttern01 --> recipe-uncooked-half__buttern01-dicing; half__buttern01 --> recipe-half__buttern01-melting; recipe-uncooked-half__buttern01-dicing --> diced__buttern01; diced__buttern01 --> recipe-diced__buttern01-melting; recipe-buttern01-melting --> melted__buttern01; melted__buttern01 --> recipe-waffle_batter; recipe-waffle_batter --> waffle_battern01; waffle_battern01 --> recipe-waffle; recipe-waffle --> future-wafflen01; recipe-half__buttern01-melting --> melted__buttern01; recipe-diced__buttern01-melting --> melted__buttern01;

Scenes

Full Definition

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

    (:objects
        raw_egg.n.01_1 raw_egg.n.01_2 - raw_egg.n.01
        butter.n.01_1 - butter.n.01
        vanilla.n.02_1 - vanilla.n.02
        flour.n.01_1 - flour.n.01
        yogurt.n.01_1 - yogurt.n.01
        salt.n.02_1 - salt.n.02
        granulated_sugar.n.01_1 - granulated_sugar.n.01
        whole_milk.n.01_1 - whole_milk.n.01
        electric_mixer.n.01_1 - electric_mixer.n.01
        bowl.n.01_1 - bowl.n.01
        waffle.n.01_1 waffle.n.01_2 waffle.n.01_3 waffle.n.01_4 - waffle.n.01
        waffle_iron.n.01_1 - waffle_iron.n.01
        plate.n.04_1 - plate.n.04
        flour__sack.n.01_1 - flour__sack.n.01
        yogurt__carton.n.01_1 - yogurt__carton.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
        vanilla__bottle.n.01_1 - vanilla__bottle.n.01
        milk__carton.n.01_1 - milk__carton.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 
        (ontop raw_egg.n.01_1 plate.n.04_1)
        (ontop raw_egg.n.01_2 plate.n.04_1)
        (inside bowl.n.01_1 electric_refrigerator.n.01_1)
        (inside butter.n.01_1 bowl.n.01_1)
        (insource vanilla__bottle.n.01_1 vanilla.n.02_1)
        (ontop vanilla__bottle.n.01_1 countertop.n.01_1)
        (filled flour__sack.n.01_1 flour.n.01_1) 
        (ontop flour__sack.n.01_1 countertop.n.01_1) 
        (filled yogurt__carton.n.01_1 yogurt.n.01_1) 
        (inside yogurt__carton.n.01_1 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)
        (filled sugar__sack.n.01_1 granulated_sugar.n.01_1) 
        (ontop sugar__sack.n.01_1 countertop.n.01_1) 
        (filled milk__carton.n.01_1 whole_milk.n.01_1) 
        (ontop milk__carton.n.01_1 countertop.n.01_1)
        (ontop electric_mixer.n.01_1 countertop.n.01_2) 
        (ontop waffle_iron.n.01_1 countertop.n.01_2)
        (ontop plate.n.04_1 countertop.n.01_2) 
        (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)
        (future waffle.n.01_1) 
        (future waffle.n.01_2) 
        (future waffle.n.01_3) 
        (future waffle.n.01_4) 
        (inroom floor.n.01_1 kitchen) 
        (ontop agent.n.01_1 floor.n.01_1)
    )
    
    (:goal 
        (and 
            (real ?waffle.n.01_1) 
            (real ?waffle.n.01_2) 
            (real ?waffle.n.01_3) 
            (real ?waffle.n.01_4) 
            (forall 
                (?waffle.n.01 - waffle.n.01) 
                (cooked ?waffle.n.01)
            )
        )
    )
)

  

Debugging: All Possible Recipes Resulting in Future Synsets

graph TD; initial-granulated_sugarn01(initial: granulated_sugar.n.01); missing-diced__buttern01(missing: diced__butter.n.01); initial-flourn01(initial: flour.n.01); initial-vanillan02(initial: vanilla.n.02); missing-melted__buttern01(missing: melted__butter.n.01); initial-buttern01(initial: butter.n.01); initial-raw_eggn01(initial: raw_egg.n.01); initial-saltn02(initial: salt.n.02); missing-waffle_battern01(missing: waffle_batter.n.01); future-wafflen01(future: waffle.n.01); recipe-buttern01-melting(recipe: butter.n.01-melting); recipe-waffle(recipe: waffle); recipe-half__buttern01-melting(recipe: half__butter.n.01-melting); recipe-buttern01-slicing(recipe: butter.n.01-slicing); missing-half__buttern01(missing: half__butter.n.01); initial-yogurtn01(initial: yogurt.n.01); recipe-uncooked-half__buttern01-dicing(recipe: uncooked-half__butter.n.01-dicing); recipe-waffle_batter(recipe: waffle_batter); initial-whole_milkn01(initial: whole_milk.n.01); recipe-diced__buttern01-melting(recipe: diced__butter.n.01-melting); initial-granulated_sugarn01 --> recipe-waffle_batter; missing-diced__buttern01 --> recipe-diced__buttern01-melting; initial-flourn01 --> recipe-waffle_batter; initial-vanillan02 --> recipe-waffle_batter; missing-melted__buttern01 --> recipe-waffle_batter; initial-buttern01 --> recipe-buttern01-melting; initial-buttern01 --> recipe-buttern01-slicing; initial-raw_eggn01 --> recipe-waffle_batter; initial-saltn02 --> recipe-waffle_batter; missing-waffle_battern01 --> recipe-waffle; recipe-buttern01-melting --> missing-melted__buttern01; recipe-waffle --> future-wafflen01; recipe-half__buttern01-melting --> missing-melted__buttern01; recipe-buttern01-slicing --> missing-half__buttern01; missing-half__buttern01 --> recipe-half__buttern01-melting; missing-half__buttern01 --> recipe-uncooked-half__buttern01-dicing; initial-yogurtn01 --> recipe-waffle_batter; recipe-uncooked-half__buttern01-dicing --> missing-diced__buttern01; recipe-waffle_batter --> missing-waffle_battern01; initial-whole_milkn01 --> recipe-waffle_batter; recipe-diced__buttern01-melting --> missing-melted__buttern01;