bddl/random/random_level_5/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 (
              (0.06602376518063037 0.0651037960042674 0.06602576518063037 0.0651057960042674)
            )
          )
          (: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 (
              (-0.09735231492056612 0.04867905527572954 -0.09735031492056612 0.048681055275729544)
            )
          )
          (: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 (
              (-0.23102797238084918 0.07301908291359431 -0.23102597238084918 0.07302108291359431)
            )
          )
          (: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 (
              (-0.08311720440250762 -0.03646156057811538 -0.08311520440250762 -0.03645956057811538)
            )
          )
          (: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 (
              (0.08395770309677486 -0.07848154252458148 0.08395970309677486 -0.07847954252458147)
            )
          )
          (: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))
  )

)