bddl/random/random_level_5/random_clutter_task2.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)
            )
          )
      )
      (tomato_sauce_1_1_1_region
          (:target kitchen_table)
          (:ranges (
              (0.08965666284518263 0.044287864211442124 0.08965866284518263 0.044289864211442126)
            )
          )
          (:yaw_rotation (
              (1.57 1.57)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (1.57 1.57)
            )
          )
      )
      (wine_bottle_1_2_1_region
          (:target kitchen_table)
          (:ranges (
              (-9.999999999938768e-07 0.099999 1.0000000000061232e-06 0.100001)
            )
          )
          (: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 0.199999 -0.09999899999999999 0.200001)
            )
          )
          (:yaw_rotation (
              (0.0 0.0)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (0.0 0.0)
            )
          )
      )
      (popcorn_1_2_3_region
          (:target kitchen_table)
          (:ranges (
              (-9.999999999816304e-07 0.299999 1.0000000000183696e-06 0.30000099999999996)
            )
          )
          (:yaw_rotation (
              (0.0 0.0)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (0.0 0.0)
            )
          )
      )
      (milk_1_3_1_region
          (:target kitchen_table)
          (:ranges (
              (-0.0839808677615936 0.05428879472005078 -0.08397886776159359 0.05429079472005078)
            )
          )
          (:yaw_rotation (
              (1.57 1.57)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (1.57 1.57)
            )
          )
      )
      (wine_bottle_2_3_2_region
          (:target kitchen_table)
          (:ranges (
              (-0.1679607355231872 0.10857858944010156 -0.16795873552318719 0.10858058944010156)
            )
          )
          (: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 (
              (-0.08304049176552034 -0.05571852693115589 -0.08303849176552033 -0.05571652693115589)
            )
          )
          (:yaw_rotation (
              (1.57 1.57)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (1.57 1.57)
            )
          )
      )
      (bbq_sauce_1_5_1_region
          (:target kitchen_table)
          (:ranges (
              (-1.0000000000183696e-06 -0.100001 9.999999999816304e-07 -0.099999)
            )
          )
          (:yaw_rotation (
              (0.0 0.0)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (0.0 0.0)
            )
          )
      )
      (orange_juice_1_5_2_region
          (:target kitchen_table)
          (:ranges (
              (-1.0000000000367394e-06 -0.200001 9.999999999632605e-07 -0.199999)
            )
          )
          (:yaw_rotation (
              (1.57 1.57)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (1.57 1.57)
            )
          )
      )
      (cream_cheese_1_6_3_region
          (:target kitchen_table)
          (:ranges (
              (0.2767725549933312 -0.11574381513922782 0.27677455499333115 -0.11574181513922782)
            )
          )
          (: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
    tomato_sauce_1 - tomato_sauce
    wine_bottle_1 wine_bottle_2 - wine_bottle
    butter_1 - butter
    popcorn_1 - popcorn
    milk_1 - milk
    salad_dressing_1 - salad_dressing
    bbq_sauce_1 - bbq_sauce
    orange_juice_1 - orange_juice
    cream_cheese_1 - cream_cheese
  )

  (:obj_of_interest
    white_bowl_1
  )

  (:init
    (On white_bowl_1 kitchen_table_white_bowl_init_region)
    (On tomato_sauce_1 kitchen_table_tomato_sauce_1_1_1_region)
    (On wine_bottle_1 kitchen_table_wine_bottle_1_2_1_region)
    (On butter_1 kitchen_table_butter_1_2_2_region)
    (On popcorn_1 kitchen_table_popcorn_1_2_3_region)
    (On milk_1 kitchen_table_milk_1_3_1_region)
    (On wine_bottle_2 kitchen_table_wine_bottle_2_3_2_region)
    (On salad_dressing_1 kitchen_table_salad_dressing_1_4_1_region)
    (On bbq_sauce_1 kitchen_table_bbq_sauce_1_5_1_region)
    (On orange_juice_1 kitchen_table_orange_juice_1_5_2_region)
    (On cream_cheese_1 kitchen_table_cream_cheese_1_6_3_region)
  )

  (:goal
    (And (reached white_bowl_1))
  )

)