I have java ee6 web profile sdk & I am using eclipse ee. I installed Glassfish plugin for eclipse using Download additional server adapters in the New Serve
Go to /glassfish/config directory.
/glassfish/config
Edit asenv and point to your JDK installation for set AS_JAVA=C:\Java\jdk.
asenv
set AS_JAVA=C:\Java\jdk
Now you should be able to run asadmin.
asadmin
Create a new domain using asadmin create-domain domain1 (inside bin directory).
asadmin create-domain domain1
Server setup in eclipse will now find your newly created domain.