| (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 ( | |
| (-0.120001 -1e-06 -0.119999 1e-06) | |
| ) | |
| ) | |
| (:yaw_rotation ( | |
| (0.0 0.0) | |
| ) | |
| ) | |
| ) | |
| (cream_cheese_1_1_1_region | |
| (:target kitchen_table) | |
| (:ranges ( | |
| (-0.050790110131412367 0.06217830952564062 -0.050788110131412365 0.062180309525640624) | |
| ) | |
| ) | |
| (: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 ( | |
| (-0.120001 0.109999 -0.119999 0.110001) | |
| ) | |
| ) | |
| (: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 ( | |
| (-0.22999864718775967 0.0006849715098641171 -0.22999664718775967 0.0006869715098641172) | |
| ) | |
| ) | |
| (: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 ( | |
| (-0.3299958238130712 -0.008491862678298942 -0.32999382381307124 -0.008489862678298944) | |
| ) | |
| ) | |
| (: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 ( | |
| (-0.16597590186665342 -0.07286721966168434 -0.16597390186665342 -0.07286521966168434) | |
| ) | |
| ) | |
| (: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 ( | |
| (-0.24314578410663756 -0.1823066832557055 -0.24314378410663756 -0.1823046832557055) | |
| ) | |
| ) | |
| (: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 ( | |
| (-0.12000100000000004 -0.220001 -0.11999900000000004 -0.219999) | |
| ) | |
| ) | |
| (: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)) | |
| ) | |
| ) | |