File size: 8,362 Bytes
0525869 |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 |
(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
(:domain robosuite)
(:language Reach the white bowl on the table)
(:regions
(white_bowl_1_region
(:target kitchen_table)
(:ranges (
(-0.155001 -0.195001 -0.154999 -0.194999)
)
)
(:yaw_rotation (
(0.0 0.0)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(0.0 0.0)
)
)
)
(milk_1_region
(:target kitchen_table)
(:ranges (
(-0.07000100000000001 -0.190001 -0.069999 -0.189999)
)
)
(:yaw_rotation (
(1.57 1.57)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(1.57 1.57)
)
)
)
(tomato_sauce_1_region
(:target kitchen_table)
(:ranges (
(0.074999 -0.190001 0.075001 -0.189999)
)
)
(:yaw_rotation (
(1.57 1.57)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(1.57 1.57)
)
)
)
(orange_juice_1_region
(:target kitchen_table)
(:ranges (
(0.20699900000000002 -0.200001 0.20700100000000002 -0.199999)
)
)
(:yaw_rotation (
(1.57 1.57)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(1.57 1.57)
)
)
)
(ketchup_1_region
(:target kitchen_table)
(:ranges (
(-0.201001 -0.07100100000000001 -0.200999 -0.070999)
)
)
(:yaw_rotation (
(1.57 1.57)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(1.57 1.57)
)
)
)
(cream_cheese_1_region
(:target kitchen_table)
(:ranges (
(-0.065001 -0.055001 -0.064999 -0.054999)
)
)
(:yaw_rotation (
(0.0 0.0)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(0.0 0.0)
)
)
)
(salad_dressing_1_region
(:target kitchen_table)
(:ranges (
(0.07299900000000001 -0.061001 0.07300100000000001 -0.060999)
)
)
(:yaw_rotation (
(1.57 1.57)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(1.57 1.57)
)
)
)
(butter_1_region
(:target kitchen_table)
(:ranges (
(0.154999 -0.07000100000000001 0.155001 -0.069999)
)
)
(:yaw_rotation (
(0.0 0.0)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(0.0 0.0)
)
)
)
(chocolate_pudding_1_region
(:target kitchen_table)
(:ranges (
(-0.199001 0.070999 -0.198999 0.07100100000000001)
)
)
(:yaw_rotation (
(0.0 0.0)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(0.0 0.0)
)
)
)
(wine_bottle_1_region
(:target kitchen_table)
(:ranges (
(-0.025001000000000002 0.064999 -0.024999 0.065001)
)
)
(:yaw_rotation (
(0.0 0.0)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(0.0 0.0)
)
)
)
(macaroni_and_cheese_1_region
(:target kitchen_table)
(:ranges (
(0.068999 0.060999 0.069001 0.061001)
)
)
(:yaw_rotation (
(0.0 0.0)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(0.0 0.0)
)
)
)
(popcorn_1_region
(:target kitchen_table)
(:ranges (
(0.200999 0.070999 0.201001 0.07100100000000001)
)
)
(:yaw_rotation (
(0.0 0.0)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(0.0 0.0)
)
)
)
(white_yellow_mug_1_region
(:target kitchen_table)
(:ranges (
(-0.201001 0.198999 -0.200999 0.199001)
)
)
(:yaw_rotation (
(0.0 0.0)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(0.0 0.0)
)
)
)
(milk_2_region
(:target kitchen_table)
(:ranges (
(-0.07000100000000001 0.199999 -0.069999 0.200001)
)
)
(:yaw_rotation (
(1.57 1.57)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(1.57 1.57)
)
)
)
(tomato_sauce_2_region
(:target kitchen_table)
(:ranges (
(0.074999 0.199999 0.075001 0.200001)
)
)
(:yaw_rotation (
(1.57 1.57)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(1.57 1.57)
)
)
)
(orange_juice_2_region
(:target kitchen_table)
(:ranges (
(0.20699900000000002 0.189999 0.20700100000000002 0.190001)
)
)
(:yaw_rotation (
(1.57 1.57)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(1.57 1.57)
)
)
)
)
(:fixtures
kitchen_table - kitchen_table
)
(:objects
white_bowl_1 - white_bowl
milk_1 milk_2 - milk
tomato_sauce_1 tomato_sauce_2 - tomato_sauce
orange_juice_1 orange_juice_2 - orange_juice
ketchup_1 - ketchup
cream_cheese_1 - cream_cheese
salad_dressing_1 - salad_dressing
butter_1 - butter
chocolate_pudding_1 - chocolate_pudding
wine_bottle_1 - wine_bottle
macaroni_and_cheese_1 - macaroni_and_cheese
popcorn_1 - popcorn
white_yellow_mug_1 - white_yellow_mug
)
(:obj_of_interest
white_bowl_1
)
(:init
(On white_bowl_1 kitchen_table_white_bowl_1_region)
(On milk_1 kitchen_table_milk_1_region)
(On tomato_sauce_1 kitchen_table_tomato_sauce_1_region)
(On orange_juice_1 kitchen_table_orange_juice_1_region)
(On ketchup_1 kitchen_table_ketchup_1_region)
(On cream_cheese_1 kitchen_table_cream_cheese_1_region)
(On salad_dressing_1 kitchen_table_salad_dressing_1_region)
(On butter_1 kitchen_table_butter_1_region)
(On chocolate_pudding_1 kitchen_table_chocolate_pudding_1_region)
(On wine_bottle_1 kitchen_table_wine_bottle_1_region)
(On macaroni_and_cheese_1 kitchen_table_macaroni_and_cheese_1_region)
(On popcorn_1 kitchen_table_popcorn_1_region)
(On white_yellow_mug_1 kitchen_table_white_yellow_mug_1_region)
(On milk_2 kitchen_table_milk_2_region)
(On tomato_sauce_2 kitchen_table_tomato_sauce_2_region)
(On orange_juice_2 kitchen_table_orange_juice_2_region)
)
(:goal
(And (reached white_bowl_1))
)
)
|