bddl/grid/grid_level_3/GRID_SCENE_task2.bddl

(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
  (:domain robosuite)
  (:language Reach the white bowl on the table)
    (:regions
      (butter_1_region
          (:target kitchen_table)
          (:ranges (
              (-0.160001 -0.155001 -0.159999 -0.154999)
            )
          )
          (:yaw_rotation (
              (0.0 0.0)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (0.0 0.0)
            )
          )
      )
      (white_bowl_1_region
          (:target kitchen_table)
          (:ranges (
              (-1e-06 -0.150001 1e-06 -0.149999)
            )
          )
          (:yaw_rotation (
              (0.0 0.0)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (0.0 0.0)
            )
          )
      )
      (tomato_sauce_1_region
          (:target kitchen_table)
          (:ranges (
              (0.159999 -0.145001 0.160001 -0.144999)
            )
          )
          (: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 (
              (-0.155001 -0.005001 -0.154999 -0.004999)
            )
          )
          (:yaw_rotation (
              (1.57 1.57)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (1.57 1.57)
            )
          )
      )
      (milk_1_region
          (:target kitchen_table)
          (:ranges (
              (-0.005001 0.004999 -0.004999 0.005001)
            )
          )
          (: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 (
              (0.159999 -0.005001 0.160001 -0.004999)
            )
          )
          (: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 (
              (-0.150001 0.159999 -0.149999 0.160001)
            )
          )
          (: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 (
              (0.007999000000000001 0.153999 0.008001 0.154001)
            )
          )
          (:yaw_rotation (
              (1.57 1.57)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (1.57 1.57)
            )
          )
      )
      (bbq_sauce_1_region
          (:target kitchen_table)
          (:ranges (
              (0.149999 0.141999 0.150001 0.142001)
            )
          )
          (:yaw_rotation (
              (0.0 0.0)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (1.57 1.57)
            )
          )
      )
    )

  (:fixtures
    kitchen_table - kitchen_table
  )

  (:objects
    butter_1 - butter
    white_bowl_1 - white_bowl
    tomato_sauce_1 - tomato_sauce
    ketchup_1 - ketchup
    milk_1 - milk
    orange_juice_1 - orange_juice
    cream_cheese_1 - cream_cheese
    salad_dressing_1 - salad_dressing
    bbq_sauce_1 - bbq_sauce
  )

  (:obj_of_interest
    white_bowl_1
  )

  (:init
    (On butter_1 kitchen_table_butter_1_region)
    (On white_bowl_1 kitchen_table_white_bowl_1_region)
    (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region)
    (On ketchup_1 kitchen_table_ketchup_1_region)
    (On milk_1 kitchen_table_milk_1_region)
    (On orange_juice_1 kitchen_table_orange_juice_1_region)
    (On cream_cheese_1 kitchen_table_cream_cheese_1_region)
    (On salad_dressing_1 kitchen_table_salad_dressing_1_region)
    (On bbq_sauce_1 kitchen_table_bbq_sauce_1_region)
  )

  (:goal
    (And (reached white_bowl_1))
  )

)