prepare_wine_and_cheese-0


Synsets

Transition Paths By Task Scope Objects

graph TD; recipe-uncooked-half__fetan01-dicing(recipe: uncooked-half__feta.n.01-dicing); future-diced__fetan01(future: diced__feta.n.01); half__fetan01(half__feta.n.01); initial-cheddarn02(initial: cheddar.n.02); recipe-cheddarn02-slicing(recipe: cheddar.n.02-slicing); recipe-uncooked-half__cheddarn01-dicing(recipe: uncooked-half__cheddar.n.01-dicing); half__cheddarn01(half__cheddar.n.01); future-diced__cheddarn01(future: diced__cheddar.n.01); recipe-fetan01-slicing(recipe: feta.n.01-slicing); initial-fetan01(initial: feta.n.01); recipe-uncooked-half__fetan01-dicing --> future-diced__fetan01; half__fetan01 --> recipe-uncooked-half__fetan01-dicing; initial-cheddarn02 --> recipe-cheddarn02-slicing; recipe-cheddarn02-slicing --> half__cheddarn01; recipe-uncooked-half__cheddarn01-dicing --> future-diced__cheddarn01; half__cheddarn01 --> recipe-uncooked-half__cheddarn01-dicing; recipe-fetan01-slicing --> half__fetan01; initial-fetan01 --> recipe-fetan01-slicing;

Scenes

Full Definition

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

    (:objects
        wine_bottle.n.01_1 wine_bottle.n.01_2 - wine_bottle.n.01
        cheddar.n.02_1 - cheddar.n.02
        diced__cheddar.n.01_1 - diced__cheddar.n.01
        feta.n.01_1 - feta.n.01
        diced__feta.n.01_1 - diced__feta.n.01
        plate.n.04_1 plate.n.04_2 - plate.n.04
        white_wine.n.01_1 - white_wine.n.01
        champagne.n.01_1 - champagne.n.01
        carafe.n.01_1 - carafe.n.01
        pretzel.n.01_1 pretzel.n.01_2 - pretzel.n.01
        floor.n.01_1 - floor.n.01
        wineglass.n.01_1 wineglass.n.01_2 - wineglass.n.01
        chopping_board.n.01_1 - chopping_board.n.01
        carving_knife.n.01_1 - carving_knife.n.01
        breakfast_table.n.01_1 - breakfast_table.n.01
        electric_refrigerator.n.01_1 - electric_refrigerator.n.01
        countertop.n.01_1 - countertop.n.01
        agent.n.01_1 - agent.n.01
    )

    (:init
        (ontop cheddar.n.02_1 plate.n.04_1)
        (ontop feta.n.01_1 plate.n.04_1)
        (filled wine_bottle.n.01_1 white_wine.n.01_1)
        (filled wine_bottle.n.01_2 champagne.n.01_1)
        (ontop wine_bottle.n.01_1 electric_refrigerator.n.01_1)
        (ontop wine_bottle.n.01_2 electric_refrigerator.n.01_1)
        (ontop pretzel.n.01_1 plate.n.04_1)
        (ontop pretzel.n.01_2 plate.n.04_2)
        (ontop plate.n.04_1 countertop.n.01_1)
        (ontop plate.n.04_2 countertop.n.01_1)
        (ontop carafe.n.01_1 countertop.n.01_1)
        (ontop wineglass.n.01_1 countertop.n.01_1)
        (ontop wineglass.n.01_2 countertop.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 electric_refrigerator.n.01_1 kitchen)
        (inroom countertop.n.01_1 kitchen)
        (inroom breakfast_table.n.01_1 dining_room) 
        (inroom floor.n.01_1 dining_room) 
        (future diced__feta.n.01_1)
        (future diced__cheddar.n.01_1)
        (ontop agent.n.01_1 floor.n.01_1)
    )
    
    (:goal 
        (and 
            (real ?diced__cheddar.n.01_1)
            (real ?diced__feta.n.01_1)
            (filled ?carafe.n.01_1 ?white_wine.n.01_1)
            (ontop ?carafe.n.01_1 ?breakfast_table.n.01_1)
            (filled ?wine_bottle.n.01_2 ?champagne.n.01_1)
            (ontop ?wine_bottle.n.01_2 ?breakfast_table.n.01_1)
            (exists 
                (?plate.n.04 - plate.n.04)
                (and 
                    (contains ?plate.n.04 ?diced__cheddar.n.01_1)
                    (contains ?plate.n.04 ?diced__feta.n.01_1)
                    (forall 
                        (?pretzel.n.01 - pretzel.n.01)
                        (not 
                            (ontop ?pretzel.n.01 ?plate.n.04)
                        )
                    )
                )
            )
            (exists 
                (?plate.n.04 - plate.n.04)
                (and 
                    (forall 
                        (?pretzel.n.01 - pretzel.n.01)
                        (ontop ?pretzel.n.01 ?plate.n.04)
                    )
                    (not 
                        (contains ?plate.n.04 ?diced__cheddar.n.01_1)
                    )
                    (not 
                        (contains ?plate.n.04 ?diced__feta.n.01_1)
                    )
                )
            )
            (forall 
                (?plate.n.04 - plate.n.04)
                (ontop ?plate.n.04 ?breakfast_table.n.01_1)
            )
            (forall 
                (?wineglass.n.01 - wineglass.n.01)
                (ontop ?wineglass.n.01 ?breakfast_table.n.01_1)
            )
        )
    )
)

  

Debugging: All Possible Recipes Resulting in Future Synsets

graph TD; recipe-uncooked-half__fetan01-dicing(recipe: uncooked-half__feta.n.01-dicing); missing-half__fetan01(missing: half__feta.n.01); recipe-fetan01-slicing(recipe: feta.n.01-slicing); initial-fetan01(initial: feta.n.01); initial-cheddarn02(initial: cheddar.n.02); future-diced__fetan01(future: diced__feta.n.01); recipe-cheddarn02-slicing(recipe: cheddar.n.02-slicing); future-diced__cheddarn01(future: diced__cheddar.n.01); missing-half__cheddarn01(missing: half__cheddar.n.01); recipe-uncooked-half__cheddarn01-dicing(recipe: uncooked-half__cheddar.n.01-dicing); recipe-uncooked-half__fetan01-dicing --> future-diced__fetan01; missing-half__fetan01 --> recipe-uncooked-half__fetan01-dicing; recipe-fetan01-slicing --> missing-half__fetan01; initial-fetan01 --> recipe-fetan01-slicing; initial-cheddarn02 --> recipe-cheddarn02-slicing; recipe-cheddarn02-slicing --> missing-half__cheddarn01; missing-half__cheddarn01 --> recipe-uncooked-half__cheddarn01-dicing; recipe-uncooked-half__cheddarn01-dicing --> future-diced__cheddarn01;