| (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 -0.120001 1e-06 -0.119999) | |
| ) | |
| ) | |
| (:yaw_rotation ( | |
| (0.0 0.0) | |
| ) | |
| ) | |
| ) | |
| (cream_cheese_1_1_1_region | |
| (:target kitchen_table) | |
| (:ranges ( | |
| (0.09302915024610002 -0.0733214260495292 0.09303115024610002 -0.0733194260495292) | |
| ) | |
| ) | |
| (: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 -0.030000999999999993 1.0000000000061232e-06 -0.02999899999999999) | |
| ) | |
| ) | |
| (: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 0.07999900000000001 -0.009998999999999989 0.08000100000000002) | |
| ) | |
| ) | |
| (: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 ( | |
| (-0.07601234986911477 -0.034884412694283544 -0.07601034986911477 -0.03488241269428354) | |
| ) | |
| ) | |
| (: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 ( | |
| (-0.12202369973822956 0.030232174611432905 -0.12202169973822956 0.030234174611432907) | |
| ) | |
| ) | |
| (: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 ( | |
| (-0.08215257946007148 -0.15883508815736674 -0.08215057946007148 -0.15883308815736674) | |
| ) | |
| ) | |
| (: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)) | |
| ) | |
| ) | |