bddl/random/random_level_4/random_clutter_task4.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 (
              (-0.120001 -1e-06 -0.119999 1e-06)
            )
          )
          (:yaw_rotation (
              (0.0 0.0)
            )
          )
      )
      (cream_cheese_1_1_1_region
          (:target kitchen_table)
          (:ranges (
              (-0.044338295005659584 0.05538367001476275 -0.04433629500565958 0.05538567001476275)
            )
          )
          (: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 (
              (-0.22000099999999997 0.149999 -0.21999899999999997 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 (
              (-0.12000099999999998 0.20999900000000002 -0.11999899999999998 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 (
              (-0.18994140620136166 0.08004366068649281 -0.18993940620136165 0.08004566068649281)
            )
          )
          (: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 (
              (-0.3099116093020425 0.12006599102973921 -0.30990960930204253 0.12006799102973921)
            )
          )
          (: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 (
              (-0.20572261080618792 -0.028938401829961952 -0.20572061080618792 -0.02893640182996195)
            )
          )
          (: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 (
              (-0.11000100000000004 -0.21000100000000002 -0.10999900000000004 -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 (
              (-0.020523168709685735 -0.014443812181598256 -0.020521168709685733 -0.014441812181598257)
            )
          )
          (: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))
  )

)