bddl/random/random_level_2/random_clutter_task1.bddl

(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))
  )

)