tidying_bathroom-0

---

Required Synsets

Name	State	Definition
bottle__of__shampoo.n.01	Matched
deodorant__atomizer.n.01	Matched
floor.n.01	Matched	the inside lower horizontal surface (as of a room, hallway, tent, or other structure)
hamper.n.02	Matched	a basket usually with a cover
hand_towel.n.01	Planned	a small towel used to dry the hands or face
legging.n.01	Planned	a garment covering the leg (usually extending from the knee to the ankle)
packing_box.n.02	Matched	a large crate in which goods are packed for shipment or storage
short_pants.n.01	Planned	trousers that end at or above the knee
tank_top.n.01	Planned	a tight-fitting sleeveless shirt with wide shoulder straps and low neck and no front opening; often worn over a shirt or blouse
toilet.n.02	Matched	a plumbing fixture for defecation and urination
toilet_tissue.n.01	Matched	a soft thin absorbent paper for use in toilets
toothbrush.n.01	Matched	small brush; has long handle; used to clean teeth
undergarment.n.01	Matched	a garment worn under other garments
wicker_basket.n.01	Matched	a basket made of wickerwork

Transition Paths By Task Scope Objects

Scene Matching Status

Scene	Status	Reason
Beechwood_0_garden	Matched
Beechwood_0_int	Matched
Beechwood_1_int	Matched
Benevolence_0_int	Matched
Benevolence_1_int	Unmatched	Cannot find suitable bathroom.
Benevolence_2_int	Matched
Ihlen_0_int	Matched
Ihlen_1_int	Matched
Merom_0_garden	Matched
Merom_0_int	Matched
Merom_1_int	Matched
Pomaria_0_garden	Matched
Pomaria_0_int	Matched
Pomaria_1_int	Matched
Pomaria_2_int	Matched
Rs_garden	Matched
Rs_int	Matched
Wainscott_0_garden	Matched
Wainscott_0_int	Matched
Wainscott_1_int	Matched
gates_bedroom	Unmatched	Cannot find suitable bathroom.
grocery_store_asian	Matched
grocery_store_cafe	Matched
grocery_store_convenience	Matched
grocery_store_half_stocked	Matched
hall_arch_wood	Matched
hall_conference_large	Matched
hall_glass_ceiling	Matched
hall_train_station	Matched
hotel_gym_spa	Matched
hotel_suite_large	Matched
hotel_suite_small	Matched
house_double_floor_lower	Matched
house_double_floor_upper	Matched
house_single_floor	Matched
office_bike	Unmatched	Cannot find suitable bathroom.
office_cubicles_left	Matched
office_cubicles_right	Matched
office_large	Matched
office_vendor_machine	Matched
restaurant_asian	Matched
restaurant_brunch	Matched
restaurant_cafeteria	Matched
restaurant_diner	Matched
restaurant_hotel	Matched
restaurant_urban	Matched
school_biology	Matched
school_chemistry	Matched
school_computer_lab_and_infirmary	Matched
school_geography	Matched
school_gym	Matched

Full Definition

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

    (:objects
        hand_towel.n.01_1 hand_towel.n.01_2 - hand_towel.n.01
        wicker_basket.n.01_1 - wicker_basket.n.01
        packing_box.n.02_1 - packing_box.n.02
        toilet_tissue.n.01_1 toilet_tissue.n.01_2 - toilet_tissue.n.01
        floor.n.01_1 - floor.n.01
        toilet.n.02_1 - toilet.n.02
        deodorant__atomizer.n.01_1 - deodorant__atomizer.n.01
        toothbrush.n.01_1 - toothbrush.n.01
        bottle__of__shampoo.n.01_1 - bottle__of__shampoo.n.01
        hamper.n.02_1 - hamper.n.02
        undergarment.n.01_1 - undergarment.n.01
        short_pants.n.01_1 - short_pants.n.01
        tank_top.n.01_1 tank_top.n.01_2 - tank_top.n.01
        legging.n.01_1 - legging.n.01
        agent.n.01_1 - agent.n.01
    )
    
    (:init 
        (inside hand_towel.n.01_1 wicker_basket.n.01_1) 
        (inside hand_towel.n.01_2 wicker_basket.n.01_1) 
        (unfolded hand_towel.n.01_1)
        (unfolded hand_towel.n.01_2)
        (inside toilet_tissue.n.01_1 wicker_basket.n.01_1) 
        (inside toilet_tissue.n.01_2 wicker_basket.n.01_1) 
        (ontop wicker_basket.n.01_1 floor.n.01_1) 
        (ontop packing_box.n.02_1 toilet.n.02_1)
        (ontop deodorant__atomizer.n.01_1 floor.n.01_1)
        (ontop toothbrush.n.01_1 toilet.n.02_1)
        (inside bottle__of__shampoo.n.01_1 wicker_basket.n.01_1) 
        (ontop hamper.n.02_1 floor.n.01_1) 
        (ontop undergarment.n.01_1 floor.n.01_1) 
        (ontop short_pants.n.01_1 toilet.n.02_1)
        (inside tank_top.n.01_1 hamper.n.02_1) 
        (ontop tank_top.n.01_2 floor.n.01_1) 
        (ontop legging.n.01_1 floor.n.01_1) 
        (inroom toilet.n.02_1 bathroom) 
        (inroom floor.n.01_1 bathroom) 
        (ontop agent.n.01_1 floor.n.01_1)
    )
    
    (:goal 
        (and 
            (forall 
                (?toilet_tissue.n.01 - toilet_tissue.n.01) 
                (ontop ?toilet_tissue.n.01 ?toilet.n.02_1)
            ) 
            (ontop ?wicker_basket.n.01_1 ?floor.n.01_1) 
            (forall 
                (?hand_towel.n.01 - hand_towel.n.01) 
                (and 
                    (folded ?hand_towel.n.01)
                    (inside ?hand_towel.n.01 ?wicker_basket.n.01_1)
                )
            ) 
            (forall 
                (?tank_top.n.01 - tank_top.n.01) 
                (inside ?tank_top.n.01 ?hamper.n.02_1)
            ) 
            (inside ?deodorant__atomizer.n.01_1 ?packing_box.n.02_1)
            (inside ?toothbrush.n.01_1 ?packing_box.n.02_1) 
            (inside ?bottle__of__shampoo.n.01_1 ?packing_box.n.02_1) 
            (inside ?undergarment.n.01_1 ?hamper.n.02_1) 
            (inside ?short_pants.n.01_1 ?hamper.n.02_1) 
            (inside ?legging.n.01_1 ?hamper.n.02_1) 
            (nextto ?hamper.n.02_1 ?wicker_basket.n.01_1)
            (nextto ?packing_box.n.02_1 ?wicker_basket.n.01_1)
        )
    )
)
  

Debugging: All Possible Recipes Resulting in Future Synsets