| (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 0.119999 1e-06 0.120001) | |
| ) | |
| ) | |
| (:yaw_rotation ( | |
| (0.0 0.0) | |
| ) | |
| ) | |
| ) | |
| (cream_cheese_1_1_1_region | |
| (:target kitchen_table) | |
| (:ranges ( | |
| (0.09450995328938629 0.1426743685263295 0.09451195328938629 0.1426763685263295) | |
| ) | |
| ) | |
| (: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 0.229999 1.0000000000061232e-06 0.230001) | |
| ) | |
| ) | |
| (: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 ( | |
| (-0.10848380997344821 0.13735227461125674 -0.10848180997344821 0.13735427461125674) | |
| ) | |
| ) | |
| (: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 ( | |
| (-0.20666318194158606 0.14817620414476482 -0.20666118194158606 0.14817820414476482) | |
| ) | |
| ) | |
| (: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 ( | |
| (-0.06009952709899189 0.05868142503735913 -0.06009752709899189 0.058683425037359134) | |
| ) | |
| ) | |
| (:yaw_rotation ( | |
| (1.57 1.57) | |
| ) | |
| ) | |
| (:pitch_rotation ( | |
| (0.0 0.0) | |
| ) | |
| ) | |
| (:roll_rotation ( | |
| (1.57 1.57) | |
| ) | |
| ) | |
| ) | |
| (ketchup_1_4_2_region | |
| (:target kitchen_table) | |
| (:ranges ( | |
| (-0.15421775961778217 -0.03689966491780991 -0.15421575961778217 -0.03689766491780991) | |
| ) | |
| ) | |
| (:yaw_rotation ( | |
| (1.57 1.57) | |
| ) | |
| ) | |
| (:pitch_rotation ( | |
| (0.0 0.0) | |
| ) | |
| ) | |
| (:roll_rotation ( | |
| (1.57 1.57) | |
| ) | |
| ) | |
| ) | |
| (cookies_1_5_2_region | |
| (:target kitchen_table) | |
| (:ranges ( | |
| (-1.0000000000404134e-06 -0.100001 9.999999999595865e-07 -0.099999) | |
| ) | |
| ) | |
| (:yaw_rotation ( | |
| (0.0 0.0) | |
| ) | |
| ) | |
| (:pitch_rotation ( | |
| (0.0 0.0) | |
| ) | |
| ) | |
| (:roll_rotation ( | |
| (0.0 0.0) | |
| ) | |
| ) | |
| ) | |
| ) | |
| (:fixtures | |
| kitchen_table - kitchen_table | |
| ) | |
| (:objects | |
| white_bowl_1 - white_bowl | |
| cream_cheese_1 - cream_cheese | |
| orange_juice_1 - orange_juice | |
| milk_1 - milk | |
| tomato_sauce_1 - tomato_sauce | |
| salad_dressing_1 - salad_dressing | |
| ketchup_1 - ketchup | |
| cookies_1 - cookies | |
| ) | |
| (: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 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) | |
| (On ketchup_1 kitchen_table_ketchup_1_4_2_region) | |
| (On cookies_1 kitchen_table_cookies_1_5_2_region) | |
| ) | |
| (:goal | |
| (And (reached white_bowl_1)) | |
| ) | |
| ) | |