| (define (problem LIBERO_Kitchen_Tabletop_Manipulation) | |
| (:domain robosuite) | |
| (:language Reach the white bowl on the table) | |
| (:regions | |
| (white_bowl_init_region | |
| (:target kitchen_table) | |
| (:ranges ( | |
| (-1e-06 -1e-06 1e-06 1e-06) | |
| ) | |
| ) | |
| (:yaw_rotation ( | |
| (0.0 0.0) | |
| ) | |
| ) | |
| ) | |
| (cream_cheese_1_1_1_region | |
| (:target kitchen_table) | |
| (:ranges ( | |
| (0.08625855561785223 0.06058841652767562 0.08626055561785223 0.06059041652767562) | |
| ) | |
| ) | |
| (:yaw_rotation ( | |
| (0.0 0.0) | |
| ) | |
| ) | |
| (:pitch_rotation ( | |
| (0.0 0.0) | |
| ) | |
| ) | |
| (:roll_rotation ( | |
| (0.0 0.0) | |
| ) | |
| ) | |
| ) | |
| (orange_juice_1_2_1_region | |
| (:target kitchen_table) | |
| (:ranges ( | |
| (-9.999999999938768e-07 0.08999900000000001 1.0000000000061232e-06 0.09000100000000001) | |
| ) | |
| ) | |
| (:yaw_rotation ( | |
| (1.57 1.57) | |
| ) | |
| ) | |
| (:pitch_rotation ( | |
| (0.0 0.0) | |
| ) | |
| ) | |
| (:roll_rotation ( | |
| (1.57 1.57) | |
| ) | |
| ) | |
| ) | |
| (ketchup_1_2_2_region | |
| (:target kitchen_table) | |
| (:ranges ( | |
| (-0.010000999999999987 0.199999 -0.009998999999999989 0.200001) | |
| ) | |
| ) | |
| (:yaw_rotation ( | |
| (1.57 1.57) | |
| ) | |
| ) | |
| (:pitch_rotation ( | |
| (0.0 0.0) | |
| ) | |
| ) | |
| (:roll_rotation ( | |
| (1.57 1.57) | |
| ) | |
| ) | |
| ) | |
| (milk_1_3_1_region | |
| (:target kitchen_table) | |
| (:ranges ( | |
| (-0.06819261668581288 0.09132387778958802 -0.06819061668581287 0.09132587778958802) | |
| ) | |
| ) | |
| (:yaw_rotation ( | |
| (1.57 1.57) | |
| ) | |
| ) | |
| (:pitch_rotation ( | |
| (0.0 0.0) | |
| ) | |
| ) | |
| (:roll_rotation ( | |
| (1.57 1.57) | |
| ) | |
| ) | |
| ) | |
| (tomato_sauce_1_3_2_region | |
| (:target kitchen_table) | |
| (:ranges ( | |
| (-0.10638423337162577 0.16264875557917605 -0.10638223337162576 0.16265075557917605) | |
| ) | |
| ) | |
| (:yaw_rotation ( | |
| (1.57 1.57) | |
| ) | |
| ) | |
| (:pitch_rotation ( | |
| (0.0 0.0) | |
| ) | |
| ) | |
| (:roll_rotation ( | |
| (1.57 1.57) | |
| ) | |
| ) | |
| ) | |
| (salad_dressing_1_4_1_region | |
| (:target kitchen_table) | |
| (:ranges ( | |
| (-0.08249989596247376 -0.038000397965276475 -0.08249789596247376 -0.03799839796527647) | |
| ) | |
| ) | |
| (: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 | |
| cream_cheese_1 - cream_cheese | |
| orange_juice_1 - orange_juice | |
| ketchup_1 - ketchup | |
| milk_1 - milk | |
| tomato_sauce_1 - tomato_sauce | |
| salad_dressing_1 - salad_dressing | |
| ) | |
| (:obj_of_interest | |
| white_bowl_1 | |
| ) | |
| (:init | |
| (On white_bowl_1 kitchen_table_white_bowl_init_region) | |
| (On cream_cheese_1 kitchen_table_cream_cheese_1_1_1_region) | |
| (On orange_juice_1 kitchen_table_orange_juice_1_2_1_region) | |
| (On ketchup_1 kitchen_table_ketchup_1_2_2_region) | |
| (On milk_1 kitchen_table_milk_1_3_1_region) | |
| (On tomato_sauce_1 kitchen_table_tomato_sauce_1_3_2_region) | |
| (On salad_dressing_1 kitchen_table_salad_dressing_1_4_1_region) | |
| ) | |
| (:goal | |
| (And (reached white_bowl_1)) | |
| ) | |
| ) | |