treating_stains-0


Synsets

Transition Paths By Task Scope Objects

graph TD;

Scenes

Full Definition

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

    (:objects
        stain.n.01_1 - stain.n.01
        table_linen.n.01_1 - table_linen.n.01
        detergent.n.02_1 - detergent.n.02
        detergent__bottle.n.01_1 - detergent__bottle.n.01
        rag.n.01_1 - rag.n.01
        sink.n.01_1 - sink.n.01
        water.n.06_1 - water.n.06
        floor.n.01_1 - floor.n.01
        agent.n.01_1 - agent.n.01
    )
    
    (:init 
        (covered table_linen.n.01_1 stain.n.01_1) 
        (filled detergent__bottle.n.01_1 detergent.n.02_1) 
        (ontop detergent__bottle.n.01_1 floor.n.01_1)
        (ontop table_linen.n.01_1 floor.n.01_1) 
        (ontop rag.n.01_1 floor.n.01_1)
        (insource sink.n.01_1 water.n.06_1) 
        (inroom sink.n.01_1 bathroom) 
        (inroom floor.n.01_1 bathroom) 
        (ontop agent.n.01_1 floor.n.01_1)
    )
    
    (:goal 
        (and 
            (not 
                (covered ?table_linen.n.01_1 ?stain.n.01_1)
            ) 
        )
    )
)
  

Debugging: All Possible Recipes Resulting in Future Synsets

graph TD;