bddl/random/random_level_4/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 (
              (0.08853413550195958 0.03649125507167463 0.08853613550195959 0.036493255071674634)
            )
          )
          (:yaw_rotation (
              (0.0 0.0)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (0.0 0.0)
            )
          )
      )
      (butter_1_2_2_region
          (:target kitchen_table)
          (:ranges (
              (-0.10000099999999999 0.149999 -0.09999899999999999 0.150001)
            )
          )
          (:yaw_rotation (
              (0.0 0.0)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (0.0 0.0)
            )
          )
      )
      (orange_juice_1_2_3_region
          (:target kitchen_table)
          (:ranges (
              (-9.999999999877536e-07 0.20999900000000002 1.0000000000122464e-06 0.21000100000000002)
            )
          )
          (: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 (
              (-0.1075637065964391 0.02194252482116627 -0.1075617065964391 0.02194452482116627)
            )
          )
          (:yaw_rotation (
              (1.57 1.57)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (1.57 1.57)
            )
          )
      )
      (butter_2_3_2_region
          (:target kitchen_table)
          (:ranges (
              (-0.24634505989465866 0.0329142872317494 -0.24634305989465866 0.0329162872317494)
            )
          )
          (:yaw_rotation (
              (0.0 0.0)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (0.0 0.0)
            )
          )
      )
      (salad_dressing_1_4_1_region
          (:target kitchen_table)
          (:ranges (
              (-0.08406217662482846 -0.03394941751765209 -0.08406017662482845 -0.03394741751765209)
            )
          )
          (:yaw_rotation (
              (1.57 1.57)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (1.57 1.57)
            )
          )
      )
      (tomato_sauce_1_5_3_region
          (:target kitchen_table)
          (:ranges (
              (0.009998999999999965 -0.21000100000000002 0.010000999999999963 -0.20999900000000002)
            )
          )
          (:yaw_rotation (
              (1.57 1.57)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (1.57 1.57)
            )
          )
      )
      (butter_3_6_3_region
          (:target kitchen_table)
          (:ranges (
              (0.06869407069067768 -0.10743457540670076 0.06869607069067768 -0.10743257540670076)
            )
          )
          (: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
    butter_1 butter_2 butter_3 - butter
    orange_juice_1 - orange_juice
    milk_1 - milk
    salad_dressing_1 - salad_dressing
    tomato_sauce_1 - tomato_sauce
  )

  (: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 butter_1 kitchen_table_butter_1_2_2_region)
    (On orange_juice_1 kitchen_table_orange_juice_1_2_3_region)
    (On milk_1 kitchen_table_milk_1_3_1_region)
    (On butter_2 kitchen_table_butter_2_3_2_region)
    (On salad_dressing_1 kitchen_table_salad_dressing_1_4_1_region)
    (On tomato_sauce_1 kitchen_table_tomato_sauce_1_5_3_region)
    (On butter_3 kitchen_table_butter_3_6_3_region)
  )

  (:goal
    (And (reached white_bowl_1))
  )

)