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zhouxueyang
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LIBERO-Pro

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vla
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4

Add seven-case robustness BDDL evaluation set

#4
by racingemperor - opened
base: refs/heads/main
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from: refs/pr/4
Discussion Files changed
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This view is limited to 50 files because it contains too many changes. See the raw diff here.
Files changed (50) hide show
  1. .gitattributes +2 -0
  2. README.md +43 -1
  3. SHA256SUMS.txt +353 -0
  4. bddl_files/01_visual_noise_glare/bddl/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl +143 -0
  5. bddl_files/01_visual_noise_glare/bddl/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl +169 -0
  6. bddl_files/01_visual_noise_glare/bddl/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl +158 -0
  7. bddl_files/01_visual_noise_glare/bddl/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl +144 -0
  8. bddl_files/01_visual_noise_glare/bddl/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl +170 -0
  9. bddl_files/01_visual_noise_glare/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl +209 -0
  10. bddl_files/01_visual_noise_glare/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl +209 -0
  11. bddl_files/01_visual_noise_glare/bddl/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl +167 -0
  12. bddl_files/01_visual_noise_glare/bddl/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl +176 -0
  13. bddl_files/01_visual_noise_glare/bddl/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl +163 -0
  14. bddl_files/01_visual_noise_glare/bddl/libero_goal/open_the_middle_drawer_of_the_cabinet.bddl +202 -0
  15. bddl_files/01_visual_noise_glare/bddl/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.bddl +203 -0
  16. bddl_files/01_visual_noise_glare/bddl/libero_goal/push_the_plate_to_the_front_of_the_stove.bddl +203 -0
  17. bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_bowl_on_the_plate.bddl +203 -0
  18. bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_bowl_on_the_stove.bddl +203 -0
  19. bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_bowl_on_top_of_the_cabinet.bddl +203 -0
  20. bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_cream_cheese_in_the_bowl.bddl +203 -0
  21. bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_wine_bottle_on_the_rack.bddl +203 -0
  22. bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.bddl +203 -0
  23. bddl_files/01_visual_noise_glare/bddl/libero_goal/turn_on_the_stove.bddl +202 -0
  24. bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl +167 -0
  25. bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl +167 -0
  26. bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl +167 -0
  27. bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl +167 -0
  28. bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl +167 -0
  29. bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl +167 -0
  30. bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl +167 -0
  31. bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl +167 -0
  32. bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl +167 -0
  33. bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl +167 -0
  34. bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl +210 -0
  35. bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl +210 -0
  36. bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl +211 -0
  37. bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl +210 -0
  38. bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl +210 -0
  39. bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl +210 -0
  40. bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl +210 -0
  41. bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl +210 -0
  42. bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl +210 -0
  43. bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl +210 -0
  44. bddl_files/02_camera_view_angle/bddl/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl +143 -0
  45. bddl_files/02_camera_view_angle/bddl/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl +169 -0
  46. bddl_files/02_camera_view_angle/bddl/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl +158 -0
  47. bddl_files/02_camera_view_angle/bddl/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl +144 -0
  48. bddl_files/02_camera_view_angle/bddl/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl +170 -0
  49. bddl_files/02_camera_view_angle/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl +209 -0
  50. bddl_files/02_camera_view_angle/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl +209 -0
.gitattributes CHANGED
@@ -57,3 +57,5 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
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  # Video files - compressed
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  *.mp4 filter=lfs diff=lfs merge=lfs -text
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  *.webm filter=lfs diff=lfs merge=lfs -text
 
 
 
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  # Video files - compressed
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  *.mp4 filter=lfs diff=lfs merge=lfs -text
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  *.webm filter=lfs diff=lfs merge=lfs -text
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+ init_files/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.init filter=lfs diff=lfs merge=lfs -text
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+ init_files/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.init filter=lfs diff=lfs merge=lfs -text
README.md CHANGED
@@ -38,6 +38,48 @@ Each perturbation includes corresponding **`init` files** (initial environment c
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  ---
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  ## Uses
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  **How to use:**
@@ -94,4 +136,4 @@ If you use this dataset, please cite both the original LIBERO benchmark and the
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  ## Dataset Card Contact
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  For questions or issues, please contact:
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- 📧 **d202480819@hust.edu.cn**
 
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  ---
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+ ## Seven-Case Robustness Extension
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+
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+ The repository also includes a 40-task evaluation set covering seven
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+ BDDL-configured robustness cases. Each category contains
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+ 10 tasks from each of `libero_spatial`, `libero_object`, `libero_goal`, and
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+ `libero_10`.
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+
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+ | Folder | Evaluation case |
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+ | --- | --- |
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+ | `01_visual_noise_glare` | Lighting and observation noise |
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+ | `02_camera_view_angle` | Camera position and orientation |
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+ | `03_runtime_object_move` | Runtime target-object movement |
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+ | `04_object_texture` | Object appearance and texture |
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+ | `05_view_occlusion` | View occlusion by scene objects |
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+ | `06_object_shape` | Target-object shape scaling |
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+ | `07_initial_pose_position_angle` | Initial position and yaw changes |
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+
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+ The 280 BDDL files use this layout:
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+
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+ ```text
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+ bddl_files/<category>/bddl/<suite>/<task>.bddl
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+ ```
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+
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+ Shared original initialization states are stored under:
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+
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+ ```text
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+ init_files/<suite>/<task>.pruned_init
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+ ```
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+
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+ Where available, the corresponding `.init` files are included as well. The
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+ runtime object movement case uses a near-grasp trigger with a maximum
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+ end-effector-to-target distance of `0.09 m` and a step-160 fallback.
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+
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+ The `metadata/` directory contains a portable dataset index, task-specific
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+ perturbation manifest, and the latest static validation report. File checksums
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+ are listed in `SHA256SUMS.txt`.
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+
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+ The custom `:perturbation_config` fields require the LIBERO-Pro-aware parser
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+ and evaluation integration from the project codebase.
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+
81
+ ---
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+
83
  ## Uses
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85
  **How to use:**
 
136
  ## Dataset Card Contact
137
 
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  For questions or issues, please contact:
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+ 📧 **d202480819@hust.edu.cn**
SHA256SUMS.txt ADDED
@@ -0,0 +1,353 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ 07bcadf75e130feaf140a7d37b213e17f06084a6a927db11f4b1d7f2387bfafc bddl_files/01_visual_noise_glare/bddl/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl
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+ a59420bb77ad53afc937631c0a6c8909455ccd48bccd782b4bed883d39a73a8d bddl_files/01_visual_noise_glare/bddl/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl
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+ ca8d6d9f50f763e92cf1415bc4c4823eeac474729fdd0e3bfd94091224361a98 bddl_files/01_visual_noise_glare/bddl/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl
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+ 11dad447e58ec1fa7fee31fefd316e2c4a0f95c3c512fa077f541f841a62039a bddl_files/01_visual_noise_glare/bddl/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl
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+ e9681ee52b780e2f57185f0053c6013a8f7c238fb95a5d949395ea5923c4ee93 bddl_files/01_visual_noise_glare/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl
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+ f6d5f52d5b2c7977733cb6b92defdf22c5628fe30df0c3e1ea41c0f197207aa8 bddl_files/01_visual_noise_glare/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl
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+ 1084a32980d1c04b8483c6f6e20248e9cbfb5d18c3d769dad4e430b1f875a0a3 bddl_files/01_visual_noise_glare/bddl/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl
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+ ab8acd65d73c07c521c29f48e7cee81c23e86d48513889c58f0f8c6191c90fba bddl_files/01_visual_noise_glare/bddl/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl
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+ cabdd8242badeffd264d24be76792c143d84ce0bb36f7dc3d87b2152ab7f0879 bddl_files/01_visual_noise_glare/bddl/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl
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+ 2e0dbb92a5d70ed1f9085125fa1b0b05626b2f607ba02e53ec035f33f45db95b bddl_files/01_visual_noise_glare/bddl/libero_goal/open_the_middle_drawer_of_the_cabinet.bddl
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+ 86cdade31e22d0b26b03e26a46689396c884b335432cc37297c10201aa2efdc6 bddl_files/01_visual_noise_glare/bddl/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.bddl
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+ 4444a1222326bef0d56fb7420295c7a5bfb4b2101d42d219ee5ac46a6d0a2970 bddl_files/01_visual_noise_glare/bddl/libero_goal/push_the_plate_to_the_front_of_the_stove.bddl
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+ 7fa057b8626b242cf22021f87d9e82b3116107f8dcbe53f625aaf8f9b09bbd7d bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_bowl_on_the_plate.bddl
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+ 094685692c1b411aec2feb7a492a0061b6e0d6c7bae8d356b998a257700aa037 bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_bowl_on_the_stove.bddl
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+ aec263cfbdac70d9077c771cf1da965486b0cee6503e5bc5f2fdab09bdfa8465 bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_bowl_on_top_of_the_cabinet.bddl
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+ 22774530bd760f0df76ac63c224eda317c398c9839b8575f0f1219a6a03feb2a bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_cream_cheese_in_the_bowl.bddl
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+ 666d2407818e7d20ef2d72a098240ebe9d5f4efa011b3051d3ba1a51fe055a4f bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_wine_bottle_on_the_rack.bddl
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+ 4f098bb066c26cf486f38621334702933b9bcf99b0e2bd7b0f6584c0832d4f36 bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.bddl
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+ bec9da0136265d75d643ef96b04e9660d423194379ac905ee1849c6c3b53676e bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl
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+ 8146258b83ffe59596a7b21dc1be0ff224b352638270d9e871218f1c42318b78 bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl
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+ 466ea88acdda9bbd865b8391b3ba77d1c4a6230c6431a0368fc639476ea54a03 bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl
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+ 3768e13e9206f3d70a635644203703963a417f58fc47d6553062d61e815f8149 bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl
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+ c0631d3a7d4eb6a0e9224c363700428f277a482c99ae00bddb392a1f5c41f6d6 bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl
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bddl_files/01_visual_noise_glare/bddl/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl ADDED
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1
+ (define (problem LIBERO_Kitchen_Tabletop_Manipulation)
2
+ (:domain robosuite)
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+ (:language turn on the stove and put the moka pot on it)
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+ (:regions
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+ (flat_stove_init_region
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+ (:target kitchen_table)
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+ (:ranges (
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+ (-0.21000000000000002 0.19 -0.19 0.21000000000000002)
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+ )
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+ )
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+ (:yaw_rotation (
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+ (0.0 0.0)
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+ )
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+ )
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+ )
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+ (frypan_init_region
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+ (:target kitchen_table)
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+ (:ranges (
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+ (-0.07500000000000001 -0.275 -0.025 -0.225)
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+ )
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+ )
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+ (:yaw_rotation (
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+ (0.0 0.0)
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+ )
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+ )
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+ )
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+ (moka_pot_init_region
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+ (:target kitchen_table)
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+ (:ranges (
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+ (0.025 -0.025 0.07500000000000001 0.025)
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+ )
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+ )
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+ (:yaw_rotation (
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+ (0.0 0.0)
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+ )
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+ )
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+ )
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+ (cook_region
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+ (:target flat_stove_1)
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+ )
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+ )
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+
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+ (:fixtures
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+ kitchen_table - kitchen_table
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+ flat_stove_1 - flat_stove
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+ )
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+
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+ (:objects
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+ chefmate_8_frypan_1 - chefmate_8_frypan
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+ moka_pot_1 - moka_pot
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+ )
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+
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+ (:obj_of_interest
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+ moka_pot_1
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+ flat_stove_1
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+ )
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+
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+ (:init
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+ (On flat_stove_1 kitchen_table_flat_stove_init_region)
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+ (On chefmate_8_frypan_1 kitchen_table_frypan_init_region)
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+ (On moka_pot_1 kitchen_table_moka_pot_init_region)
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+ )
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+
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+ (:goal
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+ (And (Turnon flat_stove_1) (On moka_pot_1 flat_stove_1_cook_region))
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+ )
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+
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+ (:perturbation_config
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+ (:case visual_noise_glare)
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+ (:category visual_noise_glare)
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+ (:source_suite libero_10)
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+ (:source_task KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it)
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+ (:bddl_only true)
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+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
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+ (:lighting
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+ (:enabled true)
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+ (:mode dark_lighting)
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+ (:ambient 0.020)
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+ (:diffuse 0.16)
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+ (:specular 0.010)
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+ )
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+ (:observation
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+ (:enabled true)
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+ (:mode dark_noise)
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+ (:brightness 0.68)
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+ (:sigma 12.0)
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+ )
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+ (:camera
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+ (:enabled false)
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+ (:mode none)
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+ (:name agentview)
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+ (:pos 0.0 0.0 0.0)
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+ (:quat 1.0 0.0 0.0 0.0)
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+ )
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+ (:runtime_move
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+ (:enabled false)
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+ (:mode none)
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+ (:object moka_pot_1)
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+ (:step 0)
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+ (:delta_xy 0.0 0.0)
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+ (:min_delta_norm 0.0)
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+ )
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+ (:object_appearance
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+ (:enabled false)
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+ (:mode none)
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+ (:targets flat_stove_1)
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+ (:rgba 0.72 0.63 0.50 1.0)
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+ (:override_material_rgba false)
109
+ (:disable_material_texture false)
110
+ (:apply_visible_geom_rgba false)
111
+ )
112
+ (:object_placement
113
+ (:enabled false)
114
+ (:mode none)
115
+ (:reference moka_pot_1)
116
+ (:front_direction 1.0 0.0)
117
+ (:targets black_book_occluder_1)
118
+ (:offsets_xy (
119
+ (0.0 0.0)
120
+ ))
121
+ (:target_quat 1.0 0.0 0.0 0.0)
122
+ (:z_offset 0.0)
123
+ (:mesh_scale 1.0 1.0 1.0)
124
+ (:min_reference_distance 0.0)
125
+ (:pin_targets false)
126
+ )
127
+ (:object_shape
128
+ (:enabled false)
129
+ (:mode none)
130
+ (:target moka_pot_1)
131
+ (:mesh_scale 1.0 1.0 1.0)
132
+ )
133
+ (:initial_pose
134
+ (:enabled false)
135
+ (:mode none)
136
+ (:target moka_pot_1)
137
+ (:delta_xy 0.0 0.0)
138
+ (:min_delta_norm 0.0)
139
+ (:yaw 0.0)
140
+ )
141
+ )
142
+
143
+ )
bddl_files/01_visual_noise_glare/bddl/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl ADDED
@@ -0,0 +1,169 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Kitchen_Tabletop_Manipulation)
2
+ (:domain robosuite)
3
+ (:language put the black bowl in the bottom drawer of the cabinet and close it)
4
+ (:regions
5
+ (white_cabinet_init_region
6
+ (:target kitchen_table)
7
+ (:ranges (
8
+ (-0.01 0.29 0.01 0.31)
9
+ )
10
+ )
11
+ (:yaw_rotation (
12
+ (0.0 0.0)
13
+ )
14
+ )
15
+ )
16
+ (wine_rack_init_region
17
+ (:target kitchen_table)
18
+ (:ranges (
19
+ (-0.11 -0.31 -0.09000000000000001 -0.29)
20
+ )
21
+ )
22
+ (:yaw_rotation (
23
+ (3.141592653589793 3.141592653589793)
24
+ )
25
+ )
26
+ )
27
+ (akita_black_bowl_init_region
28
+ (:target kitchen_table)
29
+ (:ranges (
30
+ (0.0049999999999999975 -0.07500000000000001 0.055 -0.025)
31
+ )
32
+ )
33
+ (:yaw_rotation (
34
+ (0.0 0.0)
35
+ )
36
+ )
37
+ )
38
+ (wine_bottle_init_region
39
+ (:target kitchen_table)
40
+ (:ranges (
41
+ (-0.175 0.025 -0.125 0.07500000000000001)
42
+ )
43
+ )
44
+ (:yaw_rotation (
45
+ (0.0 0.0)
46
+ )
47
+ )
48
+ )
49
+ (top_side
50
+ (:target white_cabinet_1)
51
+ )
52
+ (top_region
53
+ (:target white_cabinet_1)
54
+ )
55
+ (middle_region
56
+ (:target white_cabinet_1)
57
+ )
58
+ (bottom_region
59
+ (:target white_cabinet_1)
60
+ )
61
+ (top_region
62
+ (:target wine_rack_1)
63
+ )
64
+ )
65
+
66
+ (:fixtures
67
+ kitchen_table - kitchen_table
68
+ white_cabinet_1 - white_cabinet
69
+ wine_rack_1 - wine_rack
70
+ )
71
+
72
+ (:objects
73
+ akita_black_bowl_1 - akita_black_bowl
74
+ wine_bottle_1 - wine_bottle
75
+ )
76
+
77
+ (:obj_of_interest
78
+ akita_black_bowl_1
79
+ white_cabinet_1
80
+ )
81
+
82
+ (:init
83
+ (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region)
84
+ (On wine_bottle_1 kitchen_table_wine_bottle_init_region)
85
+ (On white_cabinet_1 kitchen_table_white_cabinet_init_region)
86
+ (On wine_rack_1 kitchen_table_wine_rack_init_region)
87
+ (Open white_cabinet_1_bottom_region)
88
+ )
89
+
90
+ (:goal
91
+ (And (Close white_cabinet_1_bottom_region) (In akita_black_bowl_1 white_cabinet_1_bottom_region))
92
+ )
93
+
94
+ (:perturbation_config
95
+ (:case visual_noise_glare)
96
+ (:category visual_noise_glare)
97
+ (:source_suite libero_10)
98
+ (:source_task KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it)
99
+ (:bddl_only true)
100
+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
101
+ (:lighting
102
+ (:enabled true)
103
+ (:mode dark_lighting)
104
+ (:ambient 0.020)
105
+ (:diffuse 0.16)
106
+ (:specular 0.010)
107
+ )
108
+ (:observation
109
+ (:enabled true)
110
+ (:mode dark_noise)
111
+ (:brightness 0.68)
112
+ (:sigma 12.0)
113
+ )
114
+ (:camera
115
+ (:enabled false)
116
+ (:mode none)
117
+ (:name agentview)
118
+ (:pos 0.0 0.0 0.0)
119
+ (:quat 1.0 0.0 0.0 0.0)
120
+ )
121
+ (:runtime_move
122
+ (:enabled false)
123
+ (:mode none)
124
+ (:object akita_black_bowl_1)
125
+ (:step 0)
126
+ (:delta_xy 0.0 0.0)
127
+ (:min_delta_norm 0.0)
128
+ )
129
+ (:object_appearance
130
+ (:enabled false)
131
+ (:mode none)
132
+ (:targets white_cabinet_1)
133
+ (:rgba 0.72 0.63 0.50 1.0)
134
+ (:override_material_rgba false)
135
+ (:disable_material_texture false)
136
+ (:apply_visible_geom_rgba false)
137
+ )
138
+ (:object_placement
139
+ (:enabled false)
140
+ (:mode none)
141
+ (:reference akita_black_bowl_1)
142
+ (:front_direction 1.0 0.0)
143
+ (:targets black_book_occluder_1)
144
+ (:offsets_xy (
145
+ (0.0 0.0)
146
+ ))
147
+ (:target_quat 1.0 0.0 0.0 0.0)
148
+ (:z_offset 0.0)
149
+ (:mesh_scale 1.0 1.0 1.0)
150
+ (:min_reference_distance 0.0)
151
+ (:pin_targets false)
152
+ )
153
+ (:object_shape
154
+ (:enabled false)
155
+ (:mode none)
156
+ (:target akita_black_bowl_1)
157
+ (:mesh_scale 1.0 1.0 1.0)
158
+ )
159
+ (:initial_pose
160
+ (:enabled false)
161
+ (:mode none)
162
+ (:target akita_black_bowl_1)
163
+ (:delta_xy 0.0 0.0)
164
+ (:min_delta_norm 0.0)
165
+ (:yaw 0.0)
166
+ )
167
+ )
168
+
169
+ )
bddl_files/01_visual_noise_glare/bddl/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl ADDED
@@ -0,0 +1,158 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Kitchen_Tabletop_Manipulation)
2
+ (:domain robosuite)
3
+ (:language put the yellow and white mug in the microwave and close it)
4
+ (:regions
5
+ (microwave_init_region
6
+ (:target kitchen_table)
7
+ (:ranges (
8
+ (-0.01 0.33999999999999997 0.01 0.36)
9
+ )
10
+ )
11
+ (:yaw_rotation (
12
+ (0 0)
13
+ )
14
+ )
15
+ )
16
+ (white_yellow_mug_init_region
17
+ (:target kitchen_table)
18
+ (:ranges (
19
+ (-0.025 -0.025 0.025 0.025)
20
+ )
21
+ )
22
+ (:yaw_rotation (
23
+ (0.0 0.0)
24
+ )
25
+ )
26
+ )
27
+ (porcelain_mug_init_region
28
+ (:target kitchen_table)
29
+ (:ranges (
30
+ (-0.125 -0.275 -0.07500000000000001 -0.225)
31
+ )
32
+ )
33
+ (:yaw_rotation (
34
+ (0.0 0.0)
35
+ )
36
+ )
37
+ )
38
+ (porcelain_mug_front_region
39
+ (:target kitchen_table)
40
+ (:ranges (
41
+ (-0.05 -0.3 0.05 -0.2)
42
+ )
43
+ )
44
+ (:yaw_rotation (
45
+ (0.0 0.0)
46
+ )
47
+ )
48
+ )
49
+ (top_side
50
+ (:target microwave_1)
51
+ )
52
+ (heating_region
53
+ (:target microwave_1)
54
+ )
55
+ )
56
+
57
+ (:fixtures
58
+ kitchen_table - kitchen_table
59
+ microwave_1 - microwave
60
+ )
61
+
62
+ (:objects
63
+ porcelain_mug_1 - porcelain_mug
64
+ white_yellow_mug_1 - white_yellow_mug
65
+ )
66
+
67
+ (:obj_of_interest
68
+ white_yellow_mug_1
69
+ microwave_1
70
+ )
71
+
72
+ (:init
73
+ (On porcelain_mug_1 kitchen_table_porcelain_mug_init_region)
74
+ (On white_yellow_mug_1 kitchen_table_white_yellow_mug_init_region)
75
+ (On microwave_1 kitchen_table_microwave_init_region)
76
+ (Open microwave_1)
77
+ )
78
+
79
+ (:goal
80
+ (And (In white_yellow_mug_1 microwave_1_heating_region) (Close microwave_1))
81
+ )
82
+
83
+ (:perturbation_config
84
+ (:case visual_noise_glare)
85
+ (:category visual_noise_glare)
86
+ (:source_suite libero_10)
87
+ (:source_task KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it)
88
+ (:bddl_only true)
89
+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
90
+ (:lighting
91
+ (:enabled true)
92
+ (:mode dark_lighting)
93
+ (:ambient 0.020)
94
+ (:diffuse 0.16)
95
+ (:specular 0.010)
96
+ )
97
+ (:observation
98
+ (:enabled true)
99
+ (:mode dark_noise)
100
+ (:brightness 0.68)
101
+ (:sigma 12.0)
102
+ )
103
+ (:camera
104
+ (:enabled false)
105
+ (:mode none)
106
+ (:name agentview)
107
+ (:pos 0.0 0.0 0.0)
108
+ (:quat 1.0 0.0 0.0 0.0)
109
+ )
110
+ (:runtime_move
111
+ (:enabled false)
112
+ (:mode none)
113
+ (:object white_yellow_mug_1)
114
+ (:step 0)
115
+ (:delta_xy 0.0 0.0)
116
+ (:min_delta_norm 0.0)
117
+ )
118
+ (:object_appearance
119
+ (:enabled false)
120
+ (:mode none)
121
+ (:targets microwave_1)
122
+ (:rgba 0.72 0.63 0.50 1.0)
123
+ (:override_material_rgba false)
124
+ (:disable_material_texture false)
125
+ (:apply_visible_geom_rgba false)
126
+ )
127
+ (:object_placement
128
+ (:enabled false)
129
+ (:mode none)
130
+ (:reference white_yellow_mug_1)
131
+ (:front_direction 1.0 0.0)
132
+ (:targets black_book_occluder_1)
133
+ (:offsets_xy (
134
+ (0.0 0.0)
135
+ ))
136
+ (:target_quat 1.0 0.0 0.0 0.0)
137
+ (:z_offset 0.0)
138
+ (:mesh_scale 1.0 1.0 1.0)
139
+ (:min_reference_distance 0.0)
140
+ (:pin_targets false)
141
+ )
142
+ (:object_shape
143
+ (:enabled false)
144
+ (:mode none)
145
+ (:target white_yellow_mug_1)
146
+ (:mesh_scale 1.0 1.0 1.0)
147
+ )
148
+ (:initial_pose
149
+ (:enabled false)
150
+ (:mode none)
151
+ (:target white_yellow_mug_1)
152
+ (:delta_xy 0.0 0.0)
153
+ (:min_delta_norm 0.0)
154
+ (:yaw 0.0)
155
+ )
156
+ )
157
+
158
+ )
bddl_files/01_visual_noise_glare/bddl/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl ADDED
@@ -0,0 +1,144 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Kitchen_Tabletop_Manipulation)
2
+ (:domain robosuite)
3
+ (:language put both moka pots on the stove)
4
+ (:regions
5
+ (flat_stove_init_region
6
+ (:target kitchen_table)
7
+ (:ranges (
8
+ (-0.21000000000000002 -0.21000000000000002 -0.19 -0.19)
9
+ )
10
+ )
11
+ (:yaw_rotation (
12
+ (0.0 0.0)
13
+ )
14
+ )
15
+ )
16
+ (moka_pot_right_init_region
17
+ (:target kitchen_table)
18
+ (:ranges (
19
+ (-0.07500000000000001 0.225 -0.025 0.275)
20
+ )
21
+ )
22
+ (:yaw_rotation (
23
+ (0.0 0.0)
24
+ )
25
+ )
26
+ )
27
+ (moka_pot_left_init_region
28
+ (:target kitchen_table)
29
+ (:ranges (
30
+ (0.025 0.025 0.07500000000000001 0.07500000000000001)
31
+ )
32
+ )
33
+ (:yaw_rotation (
34
+ (0.0 0.0)
35
+ )
36
+ )
37
+ )
38
+ (cook_region
39
+ (:target flat_stove_1)
40
+ )
41
+ )
42
+
43
+ (:fixtures
44
+ kitchen_table - kitchen_table
45
+ flat_stove_1 - flat_stove
46
+ )
47
+
48
+ (:objects
49
+ moka_pot_1 moka_pot_2 - moka_pot
50
+ )
51
+
52
+ (:obj_of_interest
53
+ moka_pot_1
54
+ moka_pot_2
55
+ flat_stove_1
56
+ )
57
+
58
+ (:init
59
+ (On flat_stove_1 kitchen_table_flat_stove_init_region)
60
+ (On moka_pot_1 kitchen_table_moka_pot_right_init_region)
61
+ (On moka_pot_2 kitchen_table_moka_pot_left_init_region)
62
+ (Turnon flat_stove_1)
63
+ )
64
+
65
+ (:goal
66
+ (And (On moka_pot_1 flat_stove_1_cook_region) (On moka_pot_2 flat_stove_1_cook_region) (Turnon flat_stove_1))
67
+ )
68
+
69
+ (:perturbation_config
70
+ (:case visual_noise_glare)
71
+ (:category visual_noise_glare)
72
+ (:source_suite libero_10)
73
+ (:source_task KITCHEN_SCENE8_put_both_moka_pots_on_the_stove)
74
+ (:bddl_only true)
75
+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
76
+ (:lighting
77
+ (:enabled true)
78
+ (:mode dark_lighting)
79
+ (:ambient 0.020)
80
+ (:diffuse 0.16)
81
+ (:specular 0.010)
82
+ )
83
+ (:observation
84
+ (:enabled true)
85
+ (:mode dark_noise)
86
+ (:brightness 0.68)
87
+ (:sigma 12.0)
88
+ )
89
+ (:camera
90
+ (:enabled false)
91
+ (:mode none)
92
+ (:name agentview)
93
+ (:pos 0.0 0.0 0.0)
94
+ (:quat 1.0 0.0 0.0 0.0)
95
+ )
96
+ (:runtime_move
97
+ (:enabled false)
98
+ (:mode none)
99
+ (:object moka_pot_1)
100
+ (:step 0)
101
+ (:delta_xy 0.0 0.0)
102
+ (:min_delta_norm 0.0)
103
+ )
104
+ (:object_appearance
105
+ (:enabled false)
106
+ (:mode none)
107
+ (:targets flat_stove_1)
108
+ (:rgba 0.72 0.63 0.50 1.0)
109
+ (:override_material_rgba false)
110
+ (:disable_material_texture false)
111
+ (:apply_visible_geom_rgba false)
112
+ )
113
+ (:object_placement
114
+ (:enabled false)
115
+ (:mode none)
116
+ (:reference moka_pot_1)
117
+ (:front_direction 1.0 0.0)
118
+ (:targets black_book_occluder_1)
119
+ (:offsets_xy (
120
+ (0.0 0.0)
121
+ ))
122
+ (:target_quat 1.0 0.0 0.0 0.0)
123
+ (:z_offset 0.0)
124
+ (:mesh_scale 1.0 1.0 1.0)
125
+ (:min_reference_distance 0.0)
126
+ (:pin_targets false)
127
+ )
128
+ (:object_shape
129
+ (:enabled false)
130
+ (:mode none)
131
+ (:target moka_pot_1)
132
+ (:mesh_scale 1.0 1.0 1.0)
133
+ )
134
+ (:initial_pose
135
+ (:enabled false)
136
+ (:mode none)
137
+ (:target moka_pot_1)
138
+ (:delta_xy 0.0 0.0)
139
+ (:min_delta_norm 0.0)
140
+ (:yaw 0.0)
141
+ )
142
+ )
143
+
144
+ )
bddl_files/01_visual_noise_glare/bddl/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl ADDED
@@ -0,0 +1,170 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Living_Room_Tabletop_Manipulation)
2
+ (:domain robosuite)
3
+ (:language put both the alphabet soup and the cream cheese box in the basket)
4
+ (:regions
5
+ (basket_init_region
6
+ (:target living_room_table)
7
+ (:ranges (
8
+ (-0.01 0.25 0.01 0.27)
9
+ )
10
+ )
11
+ (:yaw_rotation (
12
+ (0.0 0.0)
13
+ )
14
+ )
15
+ )
16
+ (alphabet_soup_init_region
17
+ (:target living_room_table)
18
+ (:ranges (
19
+ (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
20
+ )
21
+ )
22
+ (:yaw_rotation (
23
+ (0.0 0.0)
24
+ )
25
+ )
26
+ )
27
+ (cream_cheese_init_region
28
+ (:target living_room_table)
29
+ (:ranges (
30
+ (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
31
+ )
32
+ )
33
+ (:yaw_rotation (
34
+ (0.0 0.0)
35
+ )
36
+ )
37
+ )
38
+ (tomato_sauce_init_region
39
+ (:target living_room_table)
40
+ (:ranges (
41
+ (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
42
+ )
43
+ )
44
+ (:yaw_rotation (
45
+ (0.0 0.0)
46
+ )
47
+ )
48
+ )
49
+ (ketchup_init_region
50
+ (:target living_room_table)
51
+ (:ranges (
52
+ (-0.225 -0.175 -0.17500000000000002 -0.125)
53
+ )
54
+ )
55
+ (:yaw_rotation (
56
+ (0.0 0.0)
57
+ )
58
+ )
59
+ )
60
+ (contain_region
61
+ (:target basket_1)
62
+ )
63
+ )
64
+
65
+ (:fixtures
66
+ living_room_table - living_room_table
67
+ )
68
+
69
+ (:objects
70
+ alphabet_soup_1 - alphabet_soup
71
+ cream_cheese_1 - cream_cheese
72
+ tomato_sauce_1 - tomato_sauce
73
+ ketchup_1 - ketchup
74
+ basket_1 - basket
75
+ )
76
+
77
+ (:obj_of_interest
78
+ alphabet_soup_1
79
+ cream_cheese_1
80
+ basket_1
81
+ )
82
+
83
+ (:init
84
+ (On alphabet_soup_1 living_room_table_alphabet_soup_init_region)
85
+ (On cream_cheese_1 living_room_table_cream_cheese_init_region)
86
+ (On tomato_sauce_1 living_room_table_tomato_sauce_init_region)
87
+ (On ketchup_1 living_room_table_ketchup_init_region)
88
+ (On basket_1 living_room_table_basket_init_region)
89
+ )
90
+
91
+ (:goal
92
+ (And (In alphabet_soup_1 basket_1_contain_region) (In cream_cheese_1 basket_1_contain_region))
93
+ )
94
+
95
+ (:perturbation_config
96
+ (:case visual_noise_glare)
97
+ (:category visual_noise_glare)
98
+ (:source_suite libero_10)
99
+ (:source_task LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket)
100
+ (:bddl_only true)
101
+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
102
+ (:lighting
103
+ (:enabled true)
104
+ (:mode dark_lighting)
105
+ (:ambient 0.020)
106
+ (:diffuse 0.16)
107
+ (:specular 0.010)
108
+ )
109
+ (:observation
110
+ (:enabled true)
111
+ (:mode dark_noise)
112
+ (:brightness 0.68)
113
+ (:sigma 12.0)
114
+ )
115
+ (:camera
116
+ (:enabled false)
117
+ (:mode none)
118
+ (:name agentview)
119
+ (:pos 0.0 0.0 0.0)
120
+ (:quat 1.0 0.0 0.0 0.0)
121
+ )
122
+ (:runtime_move
123
+ (:enabled false)
124
+ (:mode none)
125
+ (:object alphabet_soup_1)
126
+ (:step 0)
127
+ (:delta_xy 0.0 0.0)
128
+ (:min_delta_norm 0.0)
129
+ )
130
+ (:object_appearance
131
+ (:enabled false)
132
+ (:mode none)
133
+ (:targets basket_1)
134
+ (:rgba 0.30 0.20 0.12 1.0)
135
+ (:override_material_rgba false)
136
+ (:disable_material_texture false)
137
+ (:apply_visible_geom_rgba false)
138
+ )
139
+ (:object_placement
140
+ (:enabled false)
141
+ (:mode none)
142
+ (:reference alphabet_soup_1)
143
+ (:front_direction 1.0 0.0)
144
+ (:targets black_book_occluder_1)
145
+ (:offsets_xy (
146
+ (0.0 0.0)
147
+ ))
148
+ (:target_quat 1.0 0.0 0.0 0.0)
149
+ (:z_offset 0.0)
150
+ (:mesh_scale 1.0 1.0 1.0)
151
+ (:min_reference_distance 0.0)
152
+ (:pin_targets false)
153
+ )
154
+ (:object_shape
155
+ (:enabled false)
156
+ (:mode none)
157
+ (:target alphabet_soup_1)
158
+ (:mesh_scale 1.0 1.0 1.0)
159
+ )
160
+ (:initial_pose
161
+ (:enabled false)
162
+ (:mode none)
163
+ (:target alphabet_soup_1)
164
+ (:delta_xy 0.0 0.0)
165
+ (:min_delta_norm 0.0)
166
+ (:yaw 0.0)
167
+ )
168
+ )
169
+
170
+ )
bddl_files/01_visual_noise_glare/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl ADDED
@@ -0,0 +1,209 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Living_Room_Tabletop_Manipulation)
2
+ (:domain robosuite)
3
+ (:language put both the alphabet soup and the tomato sauce in the basket)
4
+ (:regions
5
+ (basket_init_region
6
+ (:target living_room_table)
7
+ (:ranges (
8
+ (-0.01 0.25 0.01 0.27)
9
+ )
10
+ )
11
+ (:yaw_rotation (
12
+ (0.0 0.0)
13
+ )
14
+ )
15
+ )
16
+ (milk_init_region
17
+ (:target living_room_table)
18
+ (:ranges (
19
+ (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
20
+ )
21
+ )
22
+ (:yaw_rotation (
23
+ (0.0 0.0)
24
+ )
25
+ )
26
+ )
27
+ (cream_cheese_init_region
28
+ (:target living_room_table)
29
+ (:ranges (
30
+ (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
31
+ )
32
+ )
33
+ (:yaw_rotation (
34
+ (0.0 0.0)
35
+ )
36
+ )
37
+ )
38
+ (orange_juice_init_region
39
+ (:target living_room_table)
40
+ (:ranges (
41
+ (-0.025 -0.275 0.025 -0.225)
42
+ )
43
+ )
44
+ (:yaw_rotation (
45
+ (0.0 0.0)
46
+ )
47
+ )
48
+ )
49
+ (tomato_sauce_init_region
50
+ (:target living_room_table)
51
+ (:ranges (
52
+ (-0.125 0.025 -0.07500000000000001 0.07500000000000001)
53
+ )
54
+ )
55
+ (:yaw_rotation (
56
+ (0.0 0.0)
57
+ )
58
+ )
59
+ )
60
+ (alphabet_soup_init_region
61
+ (:target living_room_table)
62
+ (:ranges (
63
+ (-0.125 -0.175 -0.07500000000000001 -0.125)
64
+ )
65
+ )
66
+ (:yaw_rotation (
67
+ (0.0 0.0)
68
+ )
69
+ )
70
+ )
71
+ (butter_init_region
72
+ (:target living_room_table)
73
+ (:ranges (
74
+ (0.025 0.025 0.07500000000000001 0.07500000000000001)
75
+ )
76
+ )
77
+ (:yaw_rotation (
78
+ (0.0 0.0)
79
+ )
80
+ )
81
+ )
82
+ (ketchup_init_region
83
+ (:target living_room_table)
84
+ (:ranges (
85
+ (-0.275 -0.175 -0.225 -0.125)
86
+ )
87
+ )
88
+ (:yaw_rotation (
89
+ (0.0 0.0)
90
+ )
91
+ )
92
+ )
93
+ (contain_region
94
+ (:target basket_1)
95
+ )
96
+ )
97
+
98
+ (:fixtures
99
+ living_room_table - living_room_table
100
+ )
101
+
102
+ (:objects
103
+ alphabet_soup_1 - alphabet_soup
104
+ cream_cheese_1 - cream_cheese
105
+ tomato_sauce_1 - tomato_sauce
106
+ ketchup_1 - ketchup
107
+ orange_juice_1 - orange_juice
108
+ milk_1 - milk
109
+ butter_1 - butter
110
+ basket_1 - basket
111
+ )
112
+
113
+ (:obj_of_interest
114
+ alphabet_soup_1
115
+ tomato_sauce_1
116
+ basket_1
117
+ )
118
+
119
+ (:init
120
+ (On alphabet_soup_1 living_room_table_alphabet_soup_init_region)
121
+ (On cream_cheese_1 living_room_table_cream_cheese_init_region)
122
+ (On tomato_sauce_1 living_room_table_tomato_sauce_init_region)
123
+ (On ketchup_1 living_room_table_ketchup_init_region)
124
+ (On milk_1 living_room_table_milk_init_region)
125
+ (On orange_juice_1 living_room_table_orange_juice_init_region)
126
+ (On butter_1 living_room_table_butter_init_region)
127
+ (On basket_1 living_room_table_basket_init_region)
128
+ )
129
+
130
+ (:goal
131
+ (And (In alphabet_soup_1 basket_1_contain_region) (In tomato_sauce_1 basket_1_contain_region))
132
+ )
133
+
134
+ (:perturbation_config
135
+ (:case visual_noise_glare)
136
+ (:category visual_noise_glare)
137
+ (:source_suite libero_10)
138
+ (:source_task LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket)
139
+ (:bddl_only true)
140
+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
141
+ (:lighting
142
+ (:enabled true)
143
+ (:mode dark_lighting)
144
+ (:ambient 0.020)
145
+ (:diffuse 0.16)
146
+ (:specular 0.010)
147
+ )
148
+ (:observation
149
+ (:enabled true)
150
+ (:mode dark_noise)
151
+ (:brightness 0.68)
152
+ (:sigma 12.0)
153
+ )
154
+ (:camera
155
+ (:enabled false)
156
+ (:mode none)
157
+ (:name agentview)
158
+ (:pos 0.0 0.0 0.0)
159
+ (:quat 1.0 0.0 0.0 0.0)
160
+ )
161
+ (:runtime_move
162
+ (:enabled false)
163
+ (:mode none)
164
+ (:object alphabet_soup_1)
165
+ (:step 0)
166
+ (:delta_xy 0.0 0.0)
167
+ (:min_delta_norm 0.0)
168
+ )
169
+ (:object_appearance
170
+ (:enabled false)
171
+ (:mode none)
172
+ (:targets basket_1)
173
+ (:rgba 0.30 0.20 0.12 1.0)
174
+ (:override_material_rgba false)
175
+ (:disable_material_texture false)
176
+ (:apply_visible_geom_rgba false)
177
+ )
178
+ (:object_placement
179
+ (:enabled false)
180
+ (:mode none)
181
+ (:reference alphabet_soup_1)
182
+ (:front_direction 1.0 0.0)
183
+ (:targets black_book_occluder_1)
184
+ (:offsets_xy (
185
+ (0.0 0.0)
186
+ ))
187
+ (:target_quat 1.0 0.0 0.0 0.0)
188
+ (:z_offset 0.0)
189
+ (:mesh_scale 1.0 1.0 1.0)
190
+ (:min_reference_distance 0.0)
191
+ (:pin_targets false)
192
+ )
193
+ (:object_shape
194
+ (:enabled false)
195
+ (:mode none)
196
+ (:target alphabet_soup_1)
197
+ (:mesh_scale 1.0 1.0 1.0)
198
+ )
199
+ (:initial_pose
200
+ (:enabled false)
201
+ (:mode none)
202
+ (:target alphabet_soup_1)
203
+ (:delta_xy 0.0 0.0)
204
+ (:min_delta_norm 0.0)
205
+ (:yaw 0.0)
206
+ )
207
+ )
208
+
209
+ )
bddl_files/01_visual_noise_glare/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl ADDED
@@ -0,0 +1,209 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Living_Room_Tabletop_Manipulation)
2
+ (:domain robosuite)
3
+ (:language put both the cream cheese box and the butter in the basket)
4
+ (:regions
5
+ (basket_init_region
6
+ (:target living_room_table)
7
+ (:ranges (
8
+ (-0.01 0.25 0.01 0.27)
9
+ )
10
+ )
11
+ (:yaw_rotation (
12
+ (0.0 0.0)
13
+ )
14
+ )
15
+ )
16
+ (milk_init_region
17
+ (:target living_room_table)
18
+ (:ranges (
19
+ (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
20
+ )
21
+ )
22
+ (:yaw_rotation (
23
+ (0.0 0.0)
24
+ )
25
+ )
26
+ )
27
+ (cream_cheese_init_region
28
+ (:target living_room_table)
29
+ (:ranges (
30
+ (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
31
+ )
32
+ )
33
+ (:yaw_rotation (
34
+ (0.0 0.0)
35
+ )
36
+ )
37
+ )
38
+ (orange_juice_init_region
39
+ (:target living_room_table)
40
+ (:ranges (
41
+ (-0.025 -0.275 0.025 -0.225)
42
+ )
43
+ )
44
+ (:yaw_rotation (
45
+ (0.0 0.0)
46
+ )
47
+ )
48
+ )
49
+ (tomato_sauce_init_region
50
+ (:target living_room_table)
51
+ (:ranges (
52
+ (-0.125 0.025 -0.07500000000000001 0.07500000000000001)
53
+ )
54
+ )
55
+ (:yaw_rotation (
56
+ (0.0 0.0)
57
+ )
58
+ )
59
+ )
60
+ (alphabet_soup_init_region
61
+ (:target living_room_table)
62
+ (:ranges (
63
+ (-0.125 -0.175 -0.07500000000000001 -0.125)
64
+ )
65
+ )
66
+ (:yaw_rotation (
67
+ (0.0 0.0)
68
+ )
69
+ )
70
+ )
71
+ (butter_init_region
72
+ (:target living_room_table)
73
+ (:ranges (
74
+ (0.025 0.025 0.07500000000000001 0.07500000000000001)
75
+ )
76
+ )
77
+ (:yaw_rotation (
78
+ (0.0 0.0)
79
+ )
80
+ )
81
+ )
82
+ (ketchup_init_region
83
+ (:target living_room_table)
84
+ (:ranges (
85
+ (-0.275 -0.175 -0.225 -0.125)
86
+ )
87
+ )
88
+ (:yaw_rotation (
89
+ (0.0 0.0)
90
+ )
91
+ )
92
+ )
93
+ (contain_region
94
+ (:target basket_1)
95
+ )
96
+ )
97
+
98
+ (:fixtures
99
+ living_room_table - living_room_table
100
+ )
101
+
102
+ (:objects
103
+ alphabet_soup_1 - alphabet_soup
104
+ cream_cheese_1 - cream_cheese
105
+ tomato_sauce_1 - tomato_sauce
106
+ ketchup_1 - ketchup
107
+ orange_juice_1 - orange_juice
108
+ milk_1 - milk
109
+ butter_1 - butter
110
+ basket_1 - basket
111
+ )
112
+
113
+ (:obj_of_interest
114
+ cream_cheese_1
115
+ butter_1
116
+ basket_1
117
+ )
118
+
119
+ (:init
120
+ (On alphabet_soup_1 living_room_table_alphabet_soup_init_region)
121
+ (On cream_cheese_1 living_room_table_cream_cheese_init_region)
122
+ (On tomato_sauce_1 living_room_table_tomato_sauce_init_region)
123
+ (On ketchup_1 living_room_table_ketchup_init_region)
124
+ (On milk_1 living_room_table_milk_init_region)
125
+ (On orange_juice_1 living_room_table_orange_juice_init_region)
126
+ (On butter_1 living_room_table_butter_init_region)
127
+ (On basket_1 living_room_table_basket_init_region)
128
+ )
129
+
130
+ (:goal
131
+ (And (In cream_cheese_1 basket_1_contain_region) (In butter_1 basket_1_contain_region))
132
+ )
133
+
134
+ (:perturbation_config
135
+ (:case visual_noise_glare)
136
+ (:category visual_noise_glare)
137
+ (:source_suite libero_10)
138
+ (:source_task LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket)
139
+ (:bddl_only true)
140
+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
141
+ (:lighting
142
+ (:enabled true)
143
+ (:mode dark_lighting)
144
+ (:ambient 0.020)
145
+ (:diffuse 0.16)
146
+ (:specular 0.010)
147
+ )
148
+ (:observation
149
+ (:enabled true)
150
+ (:mode dark_noise)
151
+ (:brightness 0.68)
152
+ (:sigma 12.0)
153
+ )
154
+ (:camera
155
+ (:enabled false)
156
+ (:mode none)
157
+ (:name agentview)
158
+ (:pos 0.0 0.0 0.0)
159
+ (:quat 1.0 0.0 0.0 0.0)
160
+ )
161
+ (:runtime_move
162
+ (:enabled false)
163
+ (:mode none)
164
+ (:object cream_cheese_1)
165
+ (:step 0)
166
+ (:delta_xy 0.0 0.0)
167
+ (:min_delta_norm 0.0)
168
+ )
169
+ (:object_appearance
170
+ (:enabled false)
171
+ (:mode none)
172
+ (:targets basket_1)
173
+ (:rgba 0.30 0.20 0.12 1.0)
174
+ (:override_material_rgba false)
175
+ (:disable_material_texture false)
176
+ (:apply_visible_geom_rgba false)
177
+ )
178
+ (:object_placement
179
+ (:enabled false)
180
+ (:mode none)
181
+ (:reference cream_cheese_1)
182
+ (:front_direction 1.0 0.0)
183
+ (:targets black_book_occluder_1)
184
+ (:offsets_xy (
185
+ (0.0 0.0)
186
+ ))
187
+ (:target_quat 1.0 0.0 0.0 0.0)
188
+ (:z_offset 0.0)
189
+ (:mesh_scale 1.0 1.0 1.0)
190
+ (:min_reference_distance 0.0)
191
+ (:pin_targets false)
192
+ )
193
+ (:object_shape
194
+ (:enabled false)
195
+ (:mode none)
196
+ (:target cream_cheese_1)
197
+ (:mesh_scale 1.0 1.0 1.0)
198
+ )
199
+ (:initial_pose
200
+ (:enabled false)
201
+ (:mode none)
202
+ (:target cream_cheese_1)
203
+ (:delta_xy 0.0 0.0)
204
+ (:min_delta_norm 0.0)
205
+ (:yaw 0.0)
206
+ )
207
+ )
208
+
209
+ )
bddl_files/01_visual_noise_glare/bddl/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl ADDED
@@ -0,0 +1,167 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Living_Room_Tabletop_Manipulation)
2
+ (:domain robosuite)
3
+ (:language put the white mug on the left plate and put the yellow and white mug on the right plate)
4
+ (:regions
5
+ (plate_left_region
6
+ (:target living_room_table)
7
+ (:ranges (
8
+ (-0.025 -0.325 0.025 -0.27499999999999997)
9
+ )
10
+ )
11
+ (:yaw_rotation (
12
+ (0.0 0.0)
13
+ )
14
+ )
15
+ )
16
+ (plate_right_region
17
+ (:target living_room_table)
18
+ (:ranges (
19
+ (-0.025 0.27499999999999997 0.025 0.325)
20
+ )
21
+ )
22
+ (:yaw_rotation (
23
+ (0.0 0.0)
24
+ )
25
+ )
26
+ )
27
+ (porcelain_mug_init_region
28
+ (:target living_room_table)
29
+ (:ranges (
30
+ (-0.125 -0.175 -0.07500000000000001 -0.125)
31
+ )
32
+ )
33
+ (:yaw_rotation (
34
+ (0.0 0.0)
35
+ )
36
+ )
37
+ )
38
+ (white_yellow_mug_init_region
39
+ (:target living_room_table)
40
+ (:ranges (
41
+ (-0.07500000000000001 0.07500000000000001 -0.025 0.125)
42
+ )
43
+ )
44
+ (:yaw_rotation (
45
+ (0.0 0.0)
46
+ )
47
+ )
48
+ )
49
+ (red_coffee_mug_init_region
50
+ (:target living_room_table)
51
+ (:ranges (
52
+ (-0.225 -0.025 -0.17500000000000002 0.025)
53
+ )
54
+ )
55
+ (:yaw_rotation (
56
+ (0.0 0.0)
57
+ )
58
+ )
59
+ )
60
+ )
61
+
62
+ (:fixtures
63
+ living_room_table - living_room_table
64
+ )
65
+
66
+ (:objects
67
+ porcelain_mug_1 - porcelain_mug
68
+ red_coffee_mug_1 - red_coffee_mug
69
+ white_yellow_mug_1 - white_yellow_mug
70
+ plate_1 plate_2 - plate
71
+ )
72
+
73
+ (:obj_of_interest
74
+ plate_1
75
+ plate_2
76
+ white_yellow_mug_1
77
+ porcelain_mug_1
78
+ )
79
+
80
+ (:init
81
+ (On plate_1 living_room_table_plate_left_region)
82
+ (On plate_2 living_room_table_plate_right_region)
83
+ (On red_coffee_mug_1 living_room_table_red_coffee_mug_init_region)
84
+ (On white_yellow_mug_1 living_room_table_white_yellow_mug_init_region)
85
+ (On porcelain_mug_1 living_room_table_porcelain_mug_init_region)
86
+ )
87
+
88
+ (:goal
89
+ (And (On porcelain_mug_1 plate_1) (On white_yellow_mug_1 plate_2))
90
+ )
91
+
92
+ (:perturbation_config
93
+ (:case visual_noise_glare)
94
+ (:category visual_noise_glare)
95
+ (:source_suite libero_10)
96
+ (:source_task LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate)
97
+ (:bddl_only true)
98
+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
99
+ (:lighting
100
+ (:enabled true)
101
+ (:mode dark_lighting)
102
+ (:ambient 0.020)
103
+ (:diffuse 0.16)
104
+ (:specular 0.010)
105
+ )
106
+ (:observation
107
+ (:enabled true)
108
+ (:mode dark_noise)
109
+ (:brightness 0.68)
110
+ (:sigma 12.0)
111
+ )
112
+ (:camera
113
+ (:enabled false)
114
+ (:mode none)
115
+ (:name agentview)
116
+ (:pos 0.0 0.0 0.0)
117
+ (:quat 1.0 0.0 0.0 0.0)
118
+ )
119
+ (:runtime_move
120
+ (:enabled false)
121
+ (:mode none)
122
+ (:object plate_1)
123
+ (:step 0)
124
+ (:delta_xy 0.0 0.0)
125
+ (:min_delta_norm 0.0)
126
+ )
127
+ (:object_appearance
128
+ (:enabled false)
129
+ (:mode none)
130
+ (:targets plate_1 plate_2)
131
+ (:rgba 0.30 0.20 0.12 1.0)
132
+ (:override_material_rgba false)
133
+ (:disable_material_texture false)
134
+ (:apply_visible_geom_rgba false)
135
+ )
136
+ (:object_placement
137
+ (:enabled false)
138
+ (:mode none)
139
+ (:reference plate_1)
140
+ (:front_direction 1.0 0.0)
141
+ (:targets black_book_occluder_1)
142
+ (:offsets_xy (
143
+ (0.0 0.0)
144
+ ))
145
+ (:target_quat 1.0 0.0 0.0 0.0)
146
+ (:z_offset 0.0)
147
+ (:mesh_scale 1.0 1.0 1.0)
148
+ (:min_reference_distance 0.0)
149
+ (:pin_targets false)
150
+ )
151
+ (:object_shape
152
+ (:enabled false)
153
+ (:mode none)
154
+ (:target plate_1)
155
+ (:mesh_scale 1.0 1.0 1.0)
156
+ )
157
+ (:initial_pose
158
+ (:enabled false)
159
+ (:mode none)
160
+ (:target plate_1)
161
+ (:delta_xy 0.0 0.0)
162
+ (:min_delta_norm 0.0)
163
+ (:yaw 0.0)
164
+ )
165
+ )
166
+
167
+ )
bddl_files/01_visual_noise_glare/bddl/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl ADDED
@@ -0,0 +1,176 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Living_Room_Tabletop_Manipulation)
2
+ (:domain robosuite)
3
+ (:language put the white mug on the plate and put the chocolate pudding to the right of the plate)
4
+ (:regions
5
+ (plate_left_region
6
+ (:target living_room_table)
7
+ (:ranges (
8
+ (0.09999999999999999 -0.15000000000000002 0.2 -0.05)
9
+ )
10
+ )
11
+ (:yaw_rotation (
12
+ (0.0 0.0)
13
+ )
14
+ )
15
+ )
16
+ (plate_right_region
17
+ (:target living_room_table)
18
+ (:ranges (
19
+ (0.09999999999999999 0.05 0.2 0.15000000000000002)
20
+ )
21
+ )
22
+ (:yaw_rotation (
23
+ (0.0 0.0)
24
+ )
25
+ )
26
+ )
27
+ (plate_init_region
28
+ (:target living_room_table)
29
+ (:ranges (
30
+ (0.125 -0.025 0.175 0.025)
31
+ )
32
+ )
33
+ (:yaw_rotation (
34
+ (0.0 0.0)
35
+ )
36
+ )
37
+ )
38
+ (porcelain_mug_init_region
39
+ (:target living_room_table)
40
+ (:ranges (
41
+ (-0.125 -0.175 -0.07500000000000001 -0.125)
42
+ )
43
+ )
44
+ (:yaw_rotation (
45
+ (0.0 0.0)
46
+ )
47
+ )
48
+ )
49
+ (chocolate_pudding_init_region
50
+ (:target living_room_table)
51
+ (:ranges (
52
+ (-0.07500000000000001 0.07500000000000001 -0.025 0.125)
53
+ )
54
+ )
55
+ (:yaw_rotation (
56
+ (0.0 0.0)
57
+ )
58
+ )
59
+ )
60
+ (red_coffee_mug_init_region
61
+ (:target living_room_table)
62
+ (:ranges (
63
+ (-0.225 -0.025 -0.17500000000000002 0.025)
64
+ )
65
+ )
66
+ (:yaw_rotation (
67
+ (0.0 0.0)
68
+ )
69
+ )
70
+ )
71
+ )
72
+
73
+ (:fixtures
74
+ living_room_table - living_room_table
75
+ )
76
+
77
+ (:objects
78
+ porcelain_mug_1 - porcelain_mug
79
+ red_coffee_mug_1 - red_coffee_mug
80
+ plate_1 - plate
81
+ chocolate_pudding_1 - chocolate_pudding
82
+ )
83
+
84
+ (:obj_of_interest
85
+ plate_1
86
+ chocolate_pudding_1
87
+ porcelain_mug_1
88
+ )
89
+
90
+ (:init
91
+ (On plate_1 living_room_table_plate_init_region)
92
+ (On red_coffee_mug_1 living_room_table_red_coffee_mug_init_region)
93
+ (On chocolate_pudding_1 living_room_table_chocolate_pudding_init_region)
94
+ (On porcelain_mug_1 living_room_table_porcelain_mug_init_region)
95
+ )
96
+
97
+ (:goal
98
+ (And (On porcelain_mug_1 plate_1) (On chocolate_pudding_1 living_room_table_plate_right_region))
99
+ )
100
+
101
+ (:perturbation_config
102
+ (:case visual_noise_glare)
103
+ (:category visual_noise_glare)
104
+ (:source_suite libero_10)
105
+ (:source_task LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate)
106
+ (:bddl_only true)
107
+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
108
+ (:lighting
109
+ (:enabled true)
110
+ (:mode dark_lighting)
111
+ (:ambient 0.020)
112
+ (:diffuse 0.16)
113
+ (:specular 0.010)
114
+ )
115
+ (:observation
116
+ (:enabled true)
117
+ (:mode dark_noise)
118
+ (:brightness 0.68)
119
+ (:sigma 12.0)
120
+ )
121
+ (:camera
122
+ (:enabled false)
123
+ (:mode none)
124
+ (:name agentview)
125
+ (:pos 0.0 0.0 0.0)
126
+ (:quat 1.0 0.0 0.0 0.0)
127
+ )
128
+ (:runtime_move
129
+ (:enabled false)
130
+ (:mode none)
131
+ (:object plate_1)
132
+ (:step 0)
133
+ (:delta_xy 0.0 0.0)
134
+ (:min_delta_norm 0.0)
135
+ )
136
+ (:object_appearance
137
+ (:enabled false)
138
+ (:mode none)
139
+ (:targets plate_1)
140
+ (:rgba 0.30 0.20 0.12 1.0)
141
+ (:override_material_rgba false)
142
+ (:disable_material_texture false)
143
+ (:apply_visible_geom_rgba false)
144
+ )
145
+ (:object_placement
146
+ (:enabled false)
147
+ (:mode none)
148
+ (:reference plate_1)
149
+ (:front_direction 1.0 0.0)
150
+ (:targets black_book_occluder_1)
151
+ (:offsets_xy (
152
+ (0.0 0.0)
153
+ ))
154
+ (:target_quat 1.0 0.0 0.0 0.0)
155
+ (:z_offset 0.0)
156
+ (:mesh_scale 1.0 1.0 1.0)
157
+ (:min_reference_distance 0.0)
158
+ (:pin_targets false)
159
+ )
160
+ (:object_shape
161
+ (:enabled false)
162
+ (:mode none)
163
+ (:target plate_1)
164
+ (:mesh_scale 1.0 1.0 1.0)
165
+ )
166
+ (:initial_pose
167
+ (:enabled false)
168
+ (:mode none)
169
+ (:target plate_1)
170
+ (:delta_xy 0.0 0.0)
171
+ (:min_delta_norm 0.0)
172
+ (:yaw 0.0)
173
+ )
174
+ )
175
+
176
+ )
bddl_files/01_visual_noise_glare/bddl/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Study_Tabletop_Manipulation)
2
+ (:domain robosuite)
3
+ (:language pick up the book and place it in the back compartment of the caddy)
4
+ (:regions
5
+ (desk_caddy_init_region
6
+ (:target study_table)
7
+ (:ranges (
8
+ (-0.21000000000000002 -0.15000000000000002 -0.19 -0.13)
9
+ )
10
+ )
11
+ (:yaw_rotation (
12
+ (3.141592653589793 3.141592653589793)
13
+ )
14
+ )
15
+ )
16
+ (black_book_init_region
17
+ (:target study_table)
18
+ (:ranges (
19
+ (-0.025 0.125 0.025 0.175)
20
+ )
21
+ )
22
+ (:yaw_rotation (
23
+ (-1.5707963267948966 -0.7853981633974483)
24
+ )
25
+ )
26
+ )
27
+ (white_yellow_mug_init_region
28
+ (:target study_table)
29
+ (:ranges (
30
+ (0.07500000000000001 -0.025 0.125 0.025)
31
+ )
32
+ )
33
+ (:yaw_rotation (
34
+ (0.0 0.0)
35
+ )
36
+ )
37
+ )
38
+ (desk_caddy_right_region
39
+ (:target study_table)
40
+ (:ranges (
41
+ (-0.25 0.09999999999999999 -0.15000000000000002 0.2)
42
+ )
43
+ )
44
+ (:yaw_rotation (
45
+ (3.141592653589793 3.141592653589793)
46
+ )
47
+ )
48
+ )
49
+ (right_contain_region
50
+ (:target desk_caddy_1)
51
+ )
52
+ (left_contain_region
53
+ (:target desk_caddy_1)
54
+ )
55
+ (back_contain_region
56
+ (:target desk_caddy_1)
57
+ )
58
+ (front_contain_region
59
+ (:target desk_caddy_1)
60
+ )
61
+ )
62
+
63
+ (:fixtures
64
+ study_table - study_table
65
+ desk_caddy_1 - desk_caddy
66
+ )
67
+
68
+ (:objects
69
+ black_book_1 - black_book
70
+ white_yellow_mug_1 - white_yellow_mug
71
+ )
72
+
73
+ (:obj_of_interest
74
+ black_book_1
75
+ desk_caddy_1
76
+ )
77
+
78
+ (:init
79
+ (On desk_caddy_1 study_table_desk_caddy_init_region)
80
+ (On black_book_1 study_table_black_book_init_region)
81
+ (On white_yellow_mug_1 study_table_white_yellow_mug_init_region)
82
+ )
83
+
84
+ (:goal
85
+ (And (In black_book_1 desk_caddy_1_back_contain_region))
86
+ )
87
+
88
+ (:perturbation_config
89
+ (:case visual_noise_glare)
90
+ (:category visual_noise_glare)
91
+ (:source_suite libero_10)
92
+ (:source_task STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy)
93
+ (:bddl_only true)
94
+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
95
+ (:lighting
96
+ (:enabled true)
97
+ (:mode dark_lighting)
98
+ (:ambient 0.020)
99
+ (:diffuse 0.16)
100
+ (:specular 0.010)
101
+ )
102
+ (:observation
103
+ (:enabled true)
104
+ (:mode dark_noise)
105
+ (:brightness 0.68)
106
+ (:sigma 12.0)
107
+ )
108
+ (:camera
109
+ (:enabled false)
110
+ (:mode none)
111
+ (:name agentview)
112
+ (:pos 0.0 0.0 0.0)
113
+ (:quat 1.0 0.0 0.0 0.0)
114
+ )
115
+ (:runtime_move
116
+ (:enabled false)
117
+ (:mode none)
118
+ (:object black_book_1)
119
+ (:step 0)
120
+ (:delta_xy 0.0 0.0)
121
+ (:min_delta_norm 0.0)
122
+ )
123
+ (:object_appearance
124
+ (:enabled false)
125
+ (:mode none)
126
+ (:targets desk_caddy_1)
127
+ (:rgba 0.50 0.36 0.20 1.0)
128
+ (:override_material_rgba false)
129
+ (:disable_material_texture false)
130
+ (:apply_visible_geom_rgba false)
131
+ )
132
+ (:object_placement
133
+ (:enabled false)
134
+ (:mode none)
135
+ (:reference black_book_1)
136
+ (:front_direction 1.0 0.0)
137
+ (:targets yellow_book_1)
138
+ (:offsets_xy (
139
+ (0.0 0.0)
140
+ ))
141
+ (:target_quat 1.0 0.0 0.0 0.0)
142
+ (:z_offset 0.0)
143
+ (:mesh_scale 1.0 1.0 1.0)
144
+ (:min_reference_distance 0.0)
145
+ (:pin_targets false)
146
+ )
147
+ (:object_shape
148
+ (:enabled false)
149
+ (:mode none)
150
+ (:target black_book_1)
151
+ (:mesh_scale 1.0 1.0 1.0)
152
+ )
153
+ (:initial_pose
154
+ (:enabled false)
155
+ (:mode none)
156
+ (:target black_book_1)
157
+ (:delta_xy 0.0 0.0)
158
+ (:min_delta_norm 0.0)
159
+ (:yaw 0.0)
160
+ )
161
+ )
162
+
163
+ )
bddl_files/01_visual_noise_glare/bddl/libero_goal/open_the_middle_drawer_of_the_cabinet.bddl ADDED
@@ -0,0 +1,202 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Tabletop_Manipulation)
2
+ (:domain robosuite)
3
+ (:language Open the middle layer of the drawer)
4
+ (:regions
5
+ (plate_region
6
+ (:target main_table)
7
+ (:ranges (
8
+ (0.04 -0.03 0.060000000000000005 -0.01)
9
+ )
10
+ )
11
+ )
12
+ (akita_black_bowl_region
13
+ (:target main_table)
14
+ (:ranges (
15
+ (-0.09999999999999999 -0.01 -0.08 0.01)
16
+ )
17
+ )
18
+ )
19
+ (wine_bottle_region
20
+ (:target main_table)
21
+ (:ranges (
22
+ (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04)
23
+ )
24
+ )
25
+ )
26
+ (cream_cheese_region
27
+ (:target main_table)
28
+ (:ranges (
29
+ (-0.060000000000000005 0.12000000000000001 -0.04 0.14)
30
+ )
31
+ )
32
+ )
33
+ (stove_front_region
34
+ (:target main_table)
35
+ (:ranges (
36
+ (-0.09 0.16999999999999998 -0.010000000000000002 0.25)
37
+ )
38
+ )
39
+ )
40
+ (cabinet_region
41
+ (:target main_table)
42
+ (:ranges (
43
+ (0.02 -0.25 0.04 -0.23)
44
+ )
45
+ )
46
+ (:yaw_rotation (
47
+ (3.141592653589793 3.141592653589793)
48
+ )
49
+ )
50
+ )
51
+ (stove_region
52
+ (:target main_table)
53
+ (:ranges (
54
+ (-0.42 0.2 -0.4 0.22)
55
+ )
56
+ )
57
+ )
58
+ (wine_rack_region
59
+ (:target main_table)
60
+ (:ranges (
61
+ (-0.27 -0.27 -0.25 -0.25)
62
+ )
63
+ )
64
+ (:yaw_rotation (
65
+ (3.141592653589793 3.141592653589793)
66
+ )
67
+ )
68
+ )
69
+ (top_region
70
+ (:target wooden_cabinet_1)
71
+ )
72
+ (middle_region
73
+ (:target wooden_cabinet_1)
74
+ )
75
+ (bottom_region
76
+ (:target wooden_cabinet_1)
77
+ )
78
+ (top_side
79
+ (:target wooden_cabinet_1)
80
+ )
81
+ (cook_region
82
+ (:target flat_stove_1)
83
+ )
84
+ (right_region
85
+ (:target bowl_drainer_1)
86
+ )
87
+ (left_region
88
+ (:target bowl_drainer_1)
89
+ )
90
+ (top_region
91
+ (:target wine_rack_1)
92
+ )
93
+ )
94
+
95
+ (:fixtures
96
+ main_table - table
97
+ wooden_cabinet_1 - wooden_cabinet
98
+ flat_stove_1 - flat_stove
99
+ wine_rack_1 - wine_rack
100
+ )
101
+
102
+ (:objects
103
+ akita_black_bowl_1 - akita_black_bowl
104
+ cream_cheese_1 - cream_cheese
105
+ wine_bottle_1 - wine_bottle
106
+ plate_1 - plate
107
+ )
108
+
109
+ (:obj_of_interest
110
+ wooden_cabinet_1_middle_region
111
+ )
112
+
113
+ (:init
114
+ (On wine_bottle_1 main_table_wine_bottle_region)
115
+ (On akita_black_bowl_1 main_table_akita_black_bowl_region)
116
+ (On plate_1 main_table_plate_region)
117
+ (On cream_cheese_1 main_table_cream_cheese_region)
118
+ (On wooden_cabinet_1 main_table_cabinet_region)
119
+ (On flat_stove_1 main_table_stove_region)
120
+ (On wine_rack_1 main_table_wine_rack_region)
121
+ )
122
+
123
+ (:goal
124
+ (And (Open wooden_cabinet_1_middle_region))
125
+ )
126
+
127
+ (:perturbation_config
128
+ (:case visual_noise_glare)
129
+ (:category visual_noise_glare)
130
+ (:source_suite libero_goal)
131
+ (:source_task open_the_middle_drawer_of_the_cabinet)
132
+ (:bddl_only true)
133
+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
134
+ (:lighting
135
+ (:enabled true)
136
+ (:mode dark_lighting)
137
+ (:ambient 0.020)
138
+ (:diffuse 0.16)
139
+ (:specular 0.010)
140
+ )
141
+ (:observation
142
+ (:enabled true)
143
+ (:mode dark_noise)
144
+ (:brightness 0.68)
145
+ (:sigma 12.0)
146
+ )
147
+ (:camera
148
+ (:enabled false)
149
+ (:mode none)
150
+ (:name agentview)
151
+ (:pos 0.0 0.0 0.0)
152
+ (:quat 1.0 0.0 0.0 0.0)
153
+ )
154
+ (:runtime_move
155
+ (:enabled false)
156
+ (:mode none)
157
+ (:object akita_black_bowl_1)
158
+ (:step 0)
159
+ (:delta_xy 0.0 0.0)
160
+ (:min_delta_norm 0.0)
161
+ )
162
+ (:object_appearance
163
+ (:enabled false)
164
+ (:mode none)
165
+ (:targets wooden_cabinet_1)
166
+ (:rgba 0.72 0.63 0.50 1.0)
167
+ (:override_material_rgba false)
168
+ (:disable_material_texture false)
169
+ (:apply_visible_geom_rgba false)
170
+ )
171
+ (:object_placement
172
+ (:enabled false)
173
+ (:mode none)
174
+ (:reference akita_black_bowl_1)
175
+ (:front_direction 1.0 0.0)
176
+ (:targets black_book_occluder_1)
177
+ (:offsets_xy (
178
+ (0.0 0.0)
179
+ ))
180
+ (:target_quat 1.0 0.0 0.0 0.0)
181
+ (:z_offset 0.0)
182
+ (:mesh_scale 1.0 1.0 1.0)
183
+ (:min_reference_distance 0.0)
184
+ (:pin_targets false)
185
+ )
186
+ (:object_shape
187
+ (:enabled false)
188
+ (:mode none)
189
+ (:target akita_black_bowl_1)
190
+ (:mesh_scale 1.0 1.0 1.0)
191
+ )
192
+ (:initial_pose
193
+ (:enabled false)
194
+ (:mode none)
195
+ (:target akita_black_bowl_1)
196
+ (:delta_xy 0.0 0.0)
197
+ (:min_delta_norm 0.0)
198
+ (:yaw 0.0)
199
+ )
200
+ )
201
+
202
+ )
bddl_files/01_visual_noise_glare/bddl/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.bddl ADDED
@@ -0,0 +1,203 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Tabletop_Manipulation)
2
+ (:domain robosuite)
3
+ (:language Open the top layer of the drawer and put the bowl inside)
4
+ (:regions
5
+ (plate_region
6
+ (:target main_table)
7
+ (:ranges (
8
+ (0.04 -0.03 0.060000000000000005 -0.01)
9
+ )
10
+ )
11
+ )
12
+ (akita_black_bowl_region
13
+ (:target main_table)
14
+ (:ranges (
15
+ (-0.09999999999999999 -0.01 -0.08 0.01)
16
+ )
17
+ )
18
+ )
19
+ (wine_bottle_region
20
+ (:target main_table)
21
+ (:ranges (
22
+ (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04)
23
+ )
24
+ )
25
+ )
26
+ (cream_cheese_region
27
+ (:target main_table)
28
+ (:ranges (
29
+ (-0.060000000000000005 0.12000000000000001 -0.04 0.14)
30
+ )
31
+ )
32
+ )
33
+ (stove_front_region
34
+ (:target main_table)
35
+ (:ranges (
36
+ (-0.09 0.16999999999999998 -0.010000000000000002 0.25)
37
+ )
38
+ )
39
+ )
40
+ (cabinet_region
41
+ (:target main_table)
42
+ (:ranges (
43
+ (0.02 -0.25 0.04 -0.23)
44
+ )
45
+ )
46
+ (:yaw_rotation (
47
+ (3.141592653589793 3.141592653589793)
48
+ )
49
+ )
50
+ )
51
+ (stove_region
52
+ (:target main_table)
53
+ (:ranges (
54
+ (-0.42 0.2 -0.4 0.22)
55
+ )
56
+ )
57
+ )
58
+ (wine_rack_region
59
+ (:target main_table)
60
+ (:ranges (
61
+ (-0.27 -0.27 -0.25 -0.25)
62
+ )
63
+ )
64
+ (:yaw_rotation (
65
+ (3.141592653589793 3.141592653589793)
66
+ )
67
+ )
68
+ )
69
+ (top_region
70
+ (:target wooden_cabinet_1)
71
+ )
72
+ (middle_region
73
+ (:target wooden_cabinet_1)
74
+ )
75
+ (bottom_region
76
+ (:target wooden_cabinet_1)
77
+ )
78
+ (top_side
79
+ (:target wooden_cabinet_1)
80
+ )
81
+ (cook_region
82
+ (:target flat_stove_1)
83
+ )
84
+ (right_region
85
+ (:target bowl_drainer_1)
86
+ )
87
+ (left_region
88
+ (:target bowl_drainer_1)
89
+ )
90
+ (top_region
91
+ (:target wine_rack_1)
92
+ )
93
+ )
94
+
95
+ (:fixtures
96
+ main_table - table
97
+ wooden_cabinet_1 - wooden_cabinet
98
+ flat_stove_1 - flat_stove
99
+ wine_rack_1 - wine_rack
100
+ )
101
+
102
+ (:objects
103
+ akita_black_bowl_1 - akita_black_bowl
104
+ cream_cheese_1 - cream_cheese
105
+ wine_bottle_1 - wine_bottle
106
+ plate_1 - plate
107
+ )
108
+
109
+ (:obj_of_interest
110
+ akita_black_bowl_1
111
+ wooden_cabinet_1_top_region
112
+ )
113
+
114
+ (:init
115
+ (On wine_bottle_1 main_table_wine_bottle_region)
116
+ (On akita_black_bowl_1 main_table_akita_black_bowl_region)
117
+ (On plate_1 main_table_plate_region)
118
+ (On cream_cheese_1 main_table_cream_cheese_region)
119
+ (On wooden_cabinet_1 main_table_cabinet_region)
120
+ (On flat_stove_1 main_table_stove_region)
121
+ (On wine_rack_1 main_table_wine_rack_region)
122
+ )
123
+
124
+ (:goal
125
+ (And (In akita_black_bowl_1 wooden_cabinet_1_top_region))
126
+ )
127
+
128
+ (:perturbation_config
129
+ (:case visual_noise_glare)
130
+ (:category visual_noise_glare)
131
+ (:source_suite libero_goal)
132
+ (:source_task open_the_top_drawer_and_put_the_bowl_inside)
133
+ (:bddl_only true)
134
+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
135
+ (:lighting
136
+ (:enabled true)
137
+ (:mode dark_lighting)
138
+ (:ambient 0.020)
139
+ (:diffuse 0.16)
140
+ (:specular 0.010)
141
+ )
142
+ (:observation
143
+ (:enabled true)
144
+ (:mode dark_noise)
145
+ (:brightness 0.68)
146
+ (:sigma 12.0)
147
+ )
148
+ (:camera
149
+ (:enabled false)
150
+ (:mode none)
151
+ (:name agentview)
152
+ (:pos 0.0 0.0 0.0)
153
+ (:quat 1.0 0.0 0.0 0.0)
154
+ )
155
+ (:runtime_move
156
+ (:enabled false)
157
+ (:mode none)
158
+ (:object akita_black_bowl_1)
159
+ (:step 0)
160
+ (:delta_xy 0.0 0.0)
161
+ (:min_delta_norm 0.0)
162
+ )
163
+ (:object_appearance
164
+ (:enabled false)
165
+ (:mode none)
166
+ (:targets wooden_cabinet_1)
167
+ (:rgba 0.72 0.63 0.50 1.0)
168
+ (:override_material_rgba false)
169
+ (:disable_material_texture false)
170
+ (:apply_visible_geom_rgba false)
171
+ )
172
+ (:object_placement
173
+ (:enabled false)
174
+ (:mode none)
175
+ (:reference akita_black_bowl_1)
176
+ (:front_direction 1.0 0.0)
177
+ (:targets black_book_occluder_1)
178
+ (:offsets_xy (
179
+ (0.0 0.0)
180
+ ))
181
+ (:target_quat 1.0 0.0 0.0 0.0)
182
+ (:z_offset 0.0)
183
+ (:mesh_scale 1.0 1.0 1.0)
184
+ (:min_reference_distance 0.0)
185
+ (:pin_targets false)
186
+ )
187
+ (:object_shape
188
+ (:enabled false)
189
+ (:mode none)
190
+ (:target akita_black_bowl_1)
191
+ (:mesh_scale 1.0 1.0 1.0)
192
+ )
193
+ (:initial_pose
194
+ (:enabled false)
195
+ (:mode none)
196
+ (:target akita_black_bowl_1)
197
+ (:delta_xy 0.0 0.0)
198
+ (:min_delta_norm 0.0)
199
+ (:yaw 0.0)
200
+ )
201
+ )
202
+
203
+ )
bddl_files/01_visual_noise_glare/bddl/libero_goal/push_the_plate_to_the_front_of_the_stove.bddl ADDED
@@ -0,0 +1,203 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Tabletop_Manipulation)
2
+ (:domain robosuite)
3
+ (:language Push the plate to the front of the stove)
4
+ (:regions
5
+ (plate_region
6
+ (:target main_table)
7
+ (:ranges (
8
+ (0.04 -0.03 0.060000000000000005 -0.01)
9
+ )
10
+ )
11
+ )
12
+ (akita_black_bowl_region
13
+ (:target main_table)
14
+ (:ranges (
15
+ (-0.09999999999999999 -0.01 -0.08 0.01)
16
+ )
17
+ )
18
+ )
19
+ (wine_bottle_region
20
+ (:target main_table)
21
+ (:ranges (
22
+ (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04)
23
+ )
24
+ )
25
+ )
26
+ (cream_cheese_region
27
+ (:target main_table)
28
+ (:ranges (
29
+ (-0.060000000000000005 0.12000000000000001 -0.04 0.14)
30
+ )
31
+ )
32
+ )
33
+ (stove_front_region
34
+ (:target main_table)
35
+ (:ranges (
36
+ (-0.09 0.16999999999999998 -0.010000000000000002 0.25)
37
+ )
38
+ )
39
+ )
40
+ (cabinet_region
41
+ (:target main_table)
42
+ (:ranges (
43
+ (0.02 -0.25 0.04 -0.23)
44
+ )
45
+ )
46
+ (:yaw_rotation (
47
+ (3.141592653589793 3.141592653589793)
48
+ )
49
+ )
50
+ )
51
+ (stove_region
52
+ (:target main_table)
53
+ (:ranges (
54
+ (-0.42 0.2 -0.4 0.22)
55
+ )
56
+ )
57
+ )
58
+ (wine_rack_region
59
+ (:target main_table)
60
+ (:ranges (
61
+ (-0.27 -0.27 -0.25 -0.25)
62
+ )
63
+ )
64
+ (:yaw_rotation (
65
+ (3.141592653589793 3.141592653589793)
66
+ )
67
+ )
68
+ )
69
+ (top_region
70
+ (:target wooden_cabinet_1)
71
+ )
72
+ (middle_region
73
+ (:target wooden_cabinet_1)
74
+ )
75
+ (bottom_region
76
+ (:target wooden_cabinet_1)
77
+ )
78
+ (top_side
79
+ (:target wooden_cabinet_1)
80
+ )
81
+ (cook_region
82
+ (:target flat_stove_1)
83
+ )
84
+ (right_region
85
+ (:target bowl_drainer_1)
86
+ )
87
+ (left_region
88
+ (:target bowl_drainer_1)
89
+ )
90
+ (top_region
91
+ (:target wine_rack_1)
92
+ )
93
+ )
94
+
95
+ (:fixtures
96
+ main_table - table
97
+ wooden_cabinet_1 - wooden_cabinet
98
+ flat_stove_1 - flat_stove
99
+ wine_rack_1 - wine_rack
100
+ )
101
+
102
+ (:objects
103
+ akita_black_bowl_1 - akita_black_bowl
104
+ cream_cheese_1 - cream_cheese
105
+ wine_bottle_1 - wine_bottle
106
+ plate_1 - plate
107
+ )
108
+
109
+ (:obj_of_interest
110
+ plate_1
111
+ main_table_stove_front_region
112
+ )
113
+
114
+ (:init
115
+ (On wine_bottle_1 main_table_wine_bottle_region)
116
+ (On akita_black_bowl_1 main_table_akita_black_bowl_region)
117
+ (On plate_1 main_table_plate_region)
118
+ (On cream_cheese_1 main_table_cream_cheese_region)
119
+ (On wooden_cabinet_1 main_table_cabinet_region)
120
+ (On flat_stove_1 main_table_stove_region)
121
+ (On wine_rack_1 main_table_wine_rack_region)
122
+ )
123
+
124
+ (:goal
125
+ (And (On plate_1 main_table_stove_front_region))
126
+ )
127
+
128
+ (:perturbation_config
129
+ (:case visual_noise_glare)
130
+ (:category visual_noise_glare)
131
+ (:source_suite libero_goal)
132
+ (:source_task push_the_plate_to_the_front_of_the_stove)
133
+ (:bddl_only true)
134
+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
135
+ (:lighting
136
+ (:enabled true)
137
+ (:mode dark_lighting)
138
+ (:ambient 0.020)
139
+ (:diffuse 0.16)
140
+ (:specular 0.010)
141
+ )
142
+ (:observation
143
+ (:enabled true)
144
+ (:mode dark_noise)
145
+ (:brightness 0.68)
146
+ (:sigma 12.0)
147
+ )
148
+ (:camera
149
+ (:enabled false)
150
+ (:mode none)
151
+ (:name agentview)
152
+ (:pos 0.0 0.0 0.0)
153
+ (:quat 1.0 0.0 0.0 0.0)
154
+ )
155
+ (:runtime_move
156
+ (:enabled false)
157
+ (:mode none)
158
+ (:object plate_1)
159
+ (:step 0)
160
+ (:delta_xy 0.0 0.0)
161
+ (:min_delta_norm 0.0)
162
+ )
163
+ (:object_appearance
164
+ (:enabled false)
165
+ (:mode none)
166
+ (:targets flat_stove_1)
167
+ (:rgba 0.72 0.63 0.50 1.0)
168
+ (:override_material_rgba false)
169
+ (:disable_material_texture false)
170
+ (:apply_visible_geom_rgba false)
171
+ )
172
+ (:object_placement
173
+ (:enabled false)
174
+ (:mode none)
175
+ (:reference plate_1)
176
+ (:front_direction 1.0 0.0)
177
+ (:targets black_book_occluder_1)
178
+ (:offsets_xy (
179
+ (0.0 0.0)
180
+ ))
181
+ (:target_quat 1.0 0.0 0.0 0.0)
182
+ (:z_offset 0.0)
183
+ (:mesh_scale 1.0 1.0 1.0)
184
+ (:min_reference_distance 0.0)
185
+ (:pin_targets false)
186
+ )
187
+ (:object_shape
188
+ (:enabled false)
189
+ (:mode none)
190
+ (:target plate_1)
191
+ (:mesh_scale 1.0 1.0 1.0)
192
+ )
193
+ (:initial_pose
194
+ (:enabled false)
195
+ (:mode none)
196
+ (:target plate_1)
197
+ (:delta_xy 0.0 0.0)
198
+ (:min_delta_norm 0.0)
199
+ (:yaw 0.0)
200
+ )
201
+ )
202
+
203
+ )
bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_bowl_on_the_plate.bddl ADDED
@@ -0,0 +1,203 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Tabletop_Manipulation)
2
+ (:domain robosuite)
3
+ (:language Put the bowl on the plate)
4
+ (:regions
5
+ (plate_region
6
+ (:target main_table)
7
+ (:ranges (
8
+ (0.04 -0.03 0.060000000000000005 -0.01)
9
+ )
10
+ )
11
+ )
12
+ (akita_black_bowl_region
13
+ (:target main_table)
14
+ (:ranges (
15
+ (-0.09999999999999999 -0.01 -0.08 0.01)
16
+ )
17
+ )
18
+ )
19
+ (wine_bottle_region
20
+ (:target main_table)
21
+ (:ranges (
22
+ (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04)
23
+ )
24
+ )
25
+ )
26
+ (cream_cheese_region
27
+ (:target main_table)
28
+ (:ranges (
29
+ (-0.060000000000000005 0.12000000000000001 -0.04 0.14)
30
+ )
31
+ )
32
+ )
33
+ (stove_front_region
34
+ (:target main_table)
35
+ (:ranges (
36
+ (-0.09 0.16999999999999998 -0.010000000000000002 0.25)
37
+ )
38
+ )
39
+ )
40
+ (cabinet_region
41
+ (:target main_table)
42
+ (:ranges (
43
+ (0.02 -0.25 0.04 -0.23)
44
+ )
45
+ )
46
+ (:yaw_rotation (
47
+ (3.141592653589793 3.141592653589793)
48
+ )
49
+ )
50
+ )
51
+ (stove_region
52
+ (:target main_table)
53
+ (:ranges (
54
+ (-0.42 0.2 -0.4 0.22)
55
+ )
56
+ )
57
+ )
58
+ (wine_rack_region
59
+ (:target main_table)
60
+ (:ranges (
61
+ (-0.27 -0.27 -0.25 -0.25)
62
+ )
63
+ )
64
+ (:yaw_rotation (
65
+ (3.141592653589793 3.141592653589793)
66
+ )
67
+ )
68
+ )
69
+ (top_region
70
+ (:target wooden_cabinet_1)
71
+ )
72
+ (middle_region
73
+ (:target wooden_cabinet_1)
74
+ )
75
+ (bottom_region
76
+ (:target wooden_cabinet_1)
77
+ )
78
+ (top_side
79
+ (:target wooden_cabinet_1)
80
+ )
81
+ (cook_region
82
+ (:target flat_stove_1)
83
+ )
84
+ (right_region
85
+ (:target bowl_drainer_1)
86
+ )
87
+ (left_region
88
+ (:target bowl_drainer_1)
89
+ )
90
+ (top_region
91
+ (:target wine_rack_1)
92
+ )
93
+ )
94
+
95
+ (:fixtures
96
+ main_table - table
97
+ wooden_cabinet_1 - wooden_cabinet
98
+ flat_stove_1 - flat_stove
99
+ wine_rack_1 - wine_rack
100
+ )
101
+
102
+ (:objects
103
+ akita_black_bowl_1 - akita_black_bowl
104
+ cream_cheese_1 - cream_cheese
105
+ wine_bottle_1 - wine_bottle
106
+ plate_1 - plate
107
+ )
108
+
109
+ (:obj_of_interest
110
+ akita_black_bowl_1
111
+ plate_1
112
+ )
113
+
114
+ (:init
115
+ (On wine_bottle_1 main_table_wine_bottle_region)
116
+ (On akita_black_bowl_1 main_table_akita_black_bowl_region)
117
+ (On plate_1 main_table_plate_region)
118
+ (On cream_cheese_1 main_table_cream_cheese_region)
119
+ (On wooden_cabinet_1 main_table_cabinet_region)
120
+ (On flat_stove_1 main_table_stove_region)
121
+ (On wine_rack_1 main_table_wine_rack_region)
122
+ )
123
+
124
+ (:goal
125
+ (And (On akita_black_bowl_1 plate_1))
126
+ )
127
+
128
+ (:perturbation_config
129
+ (:case visual_noise_glare)
130
+ (:category visual_noise_glare)
131
+ (:source_suite libero_goal)
132
+ (:source_task put_the_bowl_on_the_plate)
133
+ (:bddl_only true)
134
+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
135
+ (:lighting
136
+ (:enabled true)
137
+ (:mode dark_lighting)
138
+ (:ambient 0.020)
139
+ (:diffuse 0.16)
140
+ (:specular 0.010)
141
+ )
142
+ (:observation
143
+ (:enabled true)
144
+ (:mode dark_noise)
145
+ (:brightness 0.68)
146
+ (:sigma 12.0)
147
+ )
148
+ (:camera
149
+ (:enabled false)
150
+ (:mode none)
151
+ (:name agentview)
152
+ (:pos 0.0 0.0 0.0)
153
+ (:quat 1.0 0.0 0.0 0.0)
154
+ )
155
+ (:runtime_move
156
+ (:enabled false)
157
+ (:mode none)
158
+ (:object akita_black_bowl_1)
159
+ (:step 0)
160
+ (:delta_xy 0.0 0.0)
161
+ (:min_delta_norm 0.0)
162
+ )
163
+ (:object_appearance
164
+ (:enabled false)
165
+ (:mode none)
166
+ (:targets plate_1)
167
+ (:rgba 0.72 0.63 0.50 1.0)
168
+ (:override_material_rgba false)
169
+ (:disable_material_texture false)
170
+ (:apply_visible_geom_rgba false)
171
+ )
172
+ (:object_placement
173
+ (:enabled false)
174
+ (:mode none)
175
+ (:reference akita_black_bowl_1)
176
+ (:front_direction 1.0 0.0)
177
+ (:targets black_book_occluder_1)
178
+ (:offsets_xy (
179
+ (0.0 0.0)
180
+ ))
181
+ (:target_quat 1.0 0.0 0.0 0.0)
182
+ (:z_offset 0.0)
183
+ (:mesh_scale 1.0 1.0 1.0)
184
+ (:min_reference_distance 0.0)
185
+ (:pin_targets false)
186
+ )
187
+ (:object_shape
188
+ (:enabled false)
189
+ (:mode none)
190
+ (:target akita_black_bowl_1)
191
+ (:mesh_scale 1.0 1.0 1.0)
192
+ )
193
+ (:initial_pose
194
+ (:enabled false)
195
+ (:mode none)
196
+ (:target akita_black_bowl_1)
197
+ (:delta_xy 0.0 0.0)
198
+ (:min_delta_norm 0.0)
199
+ (:yaw 0.0)
200
+ )
201
+ )
202
+
203
+ )
bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_bowl_on_the_stove.bddl ADDED
@@ -0,0 +1,203 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Tabletop_Manipulation)
2
+ (:domain robosuite)
3
+ (:language Put the bowl on the stove)
4
+ (:regions
5
+ (plate_region
6
+ (:target main_table)
7
+ (:ranges (
8
+ (0.04 -0.03 0.060000000000000005 -0.01)
9
+ )
10
+ )
11
+ )
12
+ (akita_black_bowl_region
13
+ (:target main_table)
14
+ (:ranges (
15
+ (-0.09999999999999999 -0.01 -0.08 0.01)
16
+ )
17
+ )
18
+ )
19
+ (wine_bottle_region
20
+ (:target main_table)
21
+ (:ranges (
22
+ (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04)
23
+ )
24
+ )
25
+ )
26
+ (cream_cheese_region
27
+ (:target main_table)
28
+ (:ranges (
29
+ (-0.060000000000000005 0.12000000000000001 -0.04 0.14)
30
+ )
31
+ )
32
+ )
33
+ (stove_front_region
34
+ (:target main_table)
35
+ (:ranges (
36
+ (-0.09 0.16999999999999998 -0.010000000000000002 0.25)
37
+ )
38
+ )
39
+ )
40
+ (cabinet_region
41
+ (:target main_table)
42
+ (:ranges (
43
+ (0.02 -0.25 0.04 -0.23)
44
+ )
45
+ )
46
+ (:yaw_rotation (
47
+ (3.141592653589793 3.141592653589793)
48
+ )
49
+ )
50
+ )
51
+ (stove_region
52
+ (:target main_table)
53
+ (:ranges (
54
+ (-0.42 0.2 -0.4 0.22)
55
+ )
56
+ )
57
+ )
58
+ (wine_rack_region
59
+ (:target main_table)
60
+ (:ranges (
61
+ (-0.27 -0.27 -0.25 -0.25)
62
+ )
63
+ )
64
+ (:yaw_rotation (
65
+ (3.141592653589793 3.141592653589793)
66
+ )
67
+ )
68
+ )
69
+ (top_region
70
+ (:target wooden_cabinet_1)
71
+ )
72
+ (middle_region
73
+ (:target wooden_cabinet_1)
74
+ )
75
+ (bottom_region
76
+ (:target wooden_cabinet_1)
77
+ )
78
+ (top_side
79
+ (:target wooden_cabinet_1)
80
+ )
81
+ (cook_region
82
+ (:target flat_stove_1)
83
+ )
84
+ (right_region
85
+ (:target bowl_drainer_1)
86
+ )
87
+ (left_region
88
+ (:target bowl_drainer_1)
89
+ )
90
+ (top_region
91
+ (:target wine_rack_1)
92
+ )
93
+ )
94
+
95
+ (:fixtures
96
+ main_table - table
97
+ wooden_cabinet_1 - wooden_cabinet
98
+ flat_stove_1 - flat_stove
99
+ wine_rack_1 - wine_rack
100
+ )
101
+
102
+ (:objects
103
+ akita_black_bowl_1 - akita_black_bowl
104
+ cream_cheese_1 - cream_cheese
105
+ wine_bottle_1 - wine_bottle
106
+ plate_1 - plate
107
+ )
108
+
109
+ (:obj_of_interest
110
+ akita_black_bowl_1
111
+ flat_stove_1_cook_region
112
+ )
113
+
114
+ (:init
115
+ (On wine_bottle_1 main_table_wine_bottle_region)
116
+ (On akita_black_bowl_1 main_table_akita_black_bowl_region)
117
+ (On plate_1 main_table_plate_region)
118
+ (On cream_cheese_1 main_table_cream_cheese_region)
119
+ (On wooden_cabinet_1 main_table_cabinet_region)
120
+ (On flat_stove_1 main_table_stove_region)
121
+ (On wine_rack_1 main_table_wine_rack_region)
122
+ )
123
+
124
+ (:goal
125
+ (And (On akita_black_bowl_1 flat_stove_1_cook_region))
126
+ )
127
+
128
+ (:perturbation_config
129
+ (:case visual_noise_glare)
130
+ (:category visual_noise_glare)
131
+ (:source_suite libero_goal)
132
+ (:source_task put_the_bowl_on_the_stove)
133
+ (:bddl_only true)
134
+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
135
+ (:lighting
136
+ (:enabled true)
137
+ (:mode dark_lighting)
138
+ (:ambient 0.020)
139
+ (:diffuse 0.16)
140
+ (:specular 0.010)
141
+ )
142
+ (:observation
143
+ (:enabled true)
144
+ (:mode dark_noise)
145
+ (:brightness 0.68)
146
+ (:sigma 12.0)
147
+ )
148
+ (:camera
149
+ (:enabled false)
150
+ (:mode none)
151
+ (:name agentview)
152
+ (:pos 0.0 0.0 0.0)
153
+ (:quat 1.0 0.0 0.0 0.0)
154
+ )
155
+ (:runtime_move
156
+ (:enabled false)
157
+ (:mode none)
158
+ (:object akita_black_bowl_1)
159
+ (:step 0)
160
+ (:delta_xy 0.0 0.0)
161
+ (:min_delta_norm 0.0)
162
+ )
163
+ (:object_appearance
164
+ (:enabled false)
165
+ (:mode none)
166
+ (:targets flat_stove_1)
167
+ (:rgba 0.72 0.63 0.50 1.0)
168
+ (:override_material_rgba false)
169
+ (:disable_material_texture false)
170
+ (:apply_visible_geom_rgba false)
171
+ )
172
+ (:object_placement
173
+ (:enabled false)
174
+ (:mode none)
175
+ (:reference akita_black_bowl_1)
176
+ (:front_direction 1.0 0.0)
177
+ (:targets black_book_occluder_1)
178
+ (:offsets_xy (
179
+ (0.0 0.0)
180
+ ))
181
+ (:target_quat 1.0 0.0 0.0 0.0)
182
+ (:z_offset 0.0)
183
+ (:mesh_scale 1.0 1.0 1.0)
184
+ (:min_reference_distance 0.0)
185
+ (:pin_targets false)
186
+ )
187
+ (:object_shape
188
+ (:enabled false)
189
+ (:mode none)
190
+ (:target akita_black_bowl_1)
191
+ (:mesh_scale 1.0 1.0 1.0)
192
+ )
193
+ (:initial_pose
194
+ (:enabled false)
195
+ (:mode none)
196
+ (:target akita_black_bowl_1)
197
+ (:delta_xy 0.0 0.0)
198
+ (:min_delta_norm 0.0)
199
+ (:yaw 0.0)
200
+ )
201
+ )
202
+
203
+ )
bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_bowl_on_top_of_the_cabinet.bddl ADDED
@@ -0,0 +1,203 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Tabletop_Manipulation)
2
+ (:domain robosuite)
3
+ (:language Put the bowl on the top of the drawer)
4
+ (:regions
5
+ (plate_region
6
+ (:target main_table)
7
+ (:ranges (
8
+ (0.04 -0.03 0.060000000000000005 -0.01)
9
+ )
10
+ )
11
+ )
12
+ (akita_black_bowl_region
13
+ (:target main_table)
14
+ (:ranges (
15
+ (-0.09999999999999999 -0.01 -0.08 0.01)
16
+ )
17
+ )
18
+ )
19
+ (wine_bottle_region
20
+ (:target main_table)
21
+ (:ranges (
22
+ (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04)
23
+ )
24
+ )
25
+ )
26
+ (cream_cheese_region
27
+ (:target main_table)
28
+ (:ranges (
29
+ (-0.060000000000000005 0.12000000000000001 -0.04 0.14)
30
+ )
31
+ )
32
+ )
33
+ (stove_front_region
34
+ (:target main_table)
35
+ (:ranges (
36
+ (-0.09 0.16999999999999998 -0.010000000000000002 0.25)
37
+ )
38
+ )
39
+ )
40
+ (cabinet_region
41
+ (:target main_table)
42
+ (:ranges (
43
+ (0.02 -0.25 0.04 -0.23)
44
+ )
45
+ )
46
+ (:yaw_rotation (
47
+ (3.141592653589793 3.141592653589793)
48
+ )
49
+ )
50
+ )
51
+ (stove_region
52
+ (:target main_table)
53
+ (:ranges (
54
+ (-0.42 0.2 -0.4 0.22)
55
+ )
56
+ )
57
+ )
58
+ (wine_rack_region
59
+ (:target main_table)
60
+ (:ranges (
61
+ (-0.27 -0.27 -0.25 -0.25)
62
+ )
63
+ )
64
+ (:yaw_rotation (
65
+ (3.141592653589793 3.141592653589793)
66
+ )
67
+ )
68
+ )
69
+ (top_region
70
+ (:target wooden_cabinet_1)
71
+ )
72
+ (middle_region
73
+ (:target wooden_cabinet_1)
74
+ )
75
+ (bottom_region
76
+ (:target wooden_cabinet_1)
77
+ )
78
+ (top_side
79
+ (:target wooden_cabinet_1)
80
+ )
81
+ (cook_region
82
+ (:target flat_stove_1)
83
+ )
84
+ (right_region
85
+ (:target bowl_drainer_1)
86
+ )
87
+ (left_region
88
+ (:target bowl_drainer_1)
89
+ )
90
+ (top_region
91
+ (:target wine_rack_1)
92
+ )
93
+ )
94
+
95
+ (:fixtures
96
+ main_table - table
97
+ wooden_cabinet_1 - wooden_cabinet
98
+ flat_stove_1 - flat_stove
99
+ wine_rack_1 - wine_rack
100
+ )
101
+
102
+ (:objects
103
+ akita_black_bowl_1 - akita_black_bowl
104
+ cream_cheese_1 - cream_cheese
105
+ wine_bottle_1 - wine_bottle
106
+ plate_1 - plate
107
+ )
108
+
109
+ (:obj_of_interest
110
+ akita_black_bowl_1
111
+ wooden_cabinet_1_top_side
112
+ )
113
+
114
+ (:init
115
+ (On wine_bottle_1 main_table_wine_bottle_region)
116
+ (On akita_black_bowl_1 main_table_akita_black_bowl_region)
117
+ (On plate_1 main_table_plate_region)
118
+ (On cream_cheese_1 main_table_cream_cheese_region)
119
+ (On wooden_cabinet_1 main_table_cabinet_region)
120
+ (On flat_stove_1 main_table_stove_region)
121
+ (On wine_rack_1 main_table_wine_rack_region)
122
+ )
123
+
124
+ (:goal
125
+ (And (On akita_black_bowl_1 wooden_cabinet_1_top_side))
126
+ )
127
+
128
+ (:perturbation_config
129
+ (:case visual_noise_glare)
130
+ (:category visual_noise_glare)
131
+ (:source_suite libero_goal)
132
+ (:source_task put_the_bowl_on_top_of_the_cabinet)
133
+ (:bddl_only true)
134
+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
135
+ (:lighting
136
+ (:enabled true)
137
+ (:mode dark_lighting)
138
+ (:ambient 0.020)
139
+ (:diffuse 0.16)
140
+ (:specular 0.010)
141
+ )
142
+ (:observation
143
+ (:enabled true)
144
+ (:mode dark_noise)
145
+ (:brightness 0.68)
146
+ (:sigma 12.0)
147
+ )
148
+ (:camera
149
+ (:enabled false)
150
+ (:mode none)
151
+ (:name agentview)
152
+ (:pos 0.0 0.0 0.0)
153
+ (:quat 1.0 0.0 0.0 0.0)
154
+ )
155
+ (:runtime_move
156
+ (:enabled false)
157
+ (:mode none)
158
+ (:object akita_black_bowl_1)
159
+ (:step 0)
160
+ (:delta_xy 0.0 0.0)
161
+ (:min_delta_norm 0.0)
162
+ )
163
+ (:object_appearance
164
+ (:enabled false)
165
+ (:mode none)
166
+ (:targets wooden_cabinet_1)
167
+ (:rgba 0.72 0.63 0.50 1.0)
168
+ (:override_material_rgba false)
169
+ (:disable_material_texture false)
170
+ (:apply_visible_geom_rgba false)
171
+ )
172
+ (:object_placement
173
+ (:enabled false)
174
+ (:mode none)
175
+ (:reference akita_black_bowl_1)
176
+ (:front_direction 1.0 0.0)
177
+ (:targets black_book_occluder_1)
178
+ (:offsets_xy (
179
+ (0.0 0.0)
180
+ ))
181
+ (:target_quat 1.0 0.0 0.0 0.0)
182
+ (:z_offset 0.0)
183
+ (:mesh_scale 1.0 1.0 1.0)
184
+ (:min_reference_distance 0.0)
185
+ (:pin_targets false)
186
+ )
187
+ (:object_shape
188
+ (:enabled false)
189
+ (:mode none)
190
+ (:target akita_black_bowl_1)
191
+ (:mesh_scale 1.0 1.0 1.0)
192
+ )
193
+ (:initial_pose
194
+ (:enabled false)
195
+ (:mode none)
196
+ (:target akita_black_bowl_1)
197
+ (:delta_xy 0.0 0.0)
198
+ (:min_delta_norm 0.0)
199
+ (:yaw 0.0)
200
+ )
201
+ )
202
+
203
+ )
bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_cream_cheese_in_the_bowl.bddl ADDED
@@ -0,0 +1,203 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Tabletop_Manipulation)
2
+ (:domain robosuite)
3
+ (:language Put the cream cheese on the bowl)
4
+ (:regions
5
+ (plate_region
6
+ (:target main_table)
7
+ (:ranges (
8
+ (0.04 -0.03 0.060000000000000005 -0.01)
9
+ )
10
+ )
11
+ )
12
+ (akita_black_bowl_region
13
+ (:target main_table)
14
+ (:ranges (
15
+ (-0.09999999999999999 -0.01 -0.08 0.01)
16
+ )
17
+ )
18
+ )
19
+ (wine_bottle_region
20
+ (:target main_table)
21
+ (:ranges (
22
+ (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04)
23
+ )
24
+ )
25
+ )
26
+ (cream_cheese_region
27
+ (:target main_table)
28
+ (:ranges (
29
+ (-0.060000000000000005 0.12000000000000001 -0.04 0.14)
30
+ )
31
+ )
32
+ )
33
+ (stove_front_region
34
+ (:target main_table)
35
+ (:ranges (
36
+ (-0.09 0.16999999999999998 -0.010000000000000002 0.25)
37
+ )
38
+ )
39
+ )
40
+ (cabinet_region
41
+ (:target main_table)
42
+ (:ranges (
43
+ (0.02 -0.25 0.04 -0.23)
44
+ )
45
+ )
46
+ (:yaw_rotation (
47
+ (3.141592653589793 3.141592653589793)
48
+ )
49
+ )
50
+ )
51
+ (stove_region
52
+ (:target main_table)
53
+ (:ranges (
54
+ (-0.42 0.2 -0.4 0.22)
55
+ )
56
+ )
57
+ )
58
+ (wine_rack_region
59
+ (:target main_table)
60
+ (:ranges (
61
+ (-0.27 -0.27 -0.25 -0.25)
62
+ )
63
+ )
64
+ (:yaw_rotation (
65
+ (3.141592653589793 3.141592653589793)
66
+ )
67
+ )
68
+ )
69
+ (top_region
70
+ (:target wooden_cabinet_1)
71
+ )
72
+ (middle_region
73
+ (:target wooden_cabinet_1)
74
+ )
75
+ (bottom_region
76
+ (:target wooden_cabinet_1)
77
+ )
78
+ (top_side
79
+ (:target wooden_cabinet_1)
80
+ )
81
+ (cook_region
82
+ (:target flat_stove_1)
83
+ )
84
+ (right_region
85
+ (:target bowl_drainer_1)
86
+ )
87
+ (left_region
88
+ (:target bowl_drainer_1)
89
+ )
90
+ (top_region
91
+ (:target wine_rack_1)
92
+ )
93
+ )
94
+
95
+ (:fixtures
96
+ main_table - table
97
+ wooden_cabinet_1 - wooden_cabinet
98
+ flat_stove_1 - flat_stove
99
+ wine_rack_1 - wine_rack
100
+ )
101
+
102
+ (:objects
103
+ akita_black_bowl_1 - akita_black_bowl
104
+ cream_cheese_1 - cream_cheese
105
+ wine_bottle_1 - wine_bottle
106
+ plate_1 - plate
107
+ )
108
+
109
+ (:obj_of_interest
110
+ cream_cheese_1
111
+ akita_black_bowl_1
112
+ )
113
+
114
+ (:init
115
+ (On wine_bottle_1 main_table_wine_bottle_region)
116
+ (On akita_black_bowl_1 main_table_akita_black_bowl_region)
117
+ (On plate_1 main_table_plate_region)
118
+ (On cream_cheese_1 main_table_cream_cheese_region)
119
+ (On wooden_cabinet_1 main_table_cabinet_region)
120
+ (On flat_stove_1 main_table_stove_region)
121
+ (On wine_rack_1 main_table_wine_rack_region)
122
+ )
123
+
124
+ (:goal
125
+ (And (On cream_cheese_1 akita_black_bowl_1))
126
+ )
127
+
128
+ (:perturbation_config
129
+ (:case visual_noise_glare)
130
+ (:category visual_noise_glare)
131
+ (:source_suite libero_goal)
132
+ (:source_task put_the_cream_cheese_in_the_bowl)
133
+ (:bddl_only true)
134
+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
135
+ (:lighting
136
+ (:enabled true)
137
+ (:mode dark_lighting)
138
+ (:ambient 0.020)
139
+ (:diffuse 0.16)
140
+ (:specular 0.010)
141
+ )
142
+ (:observation
143
+ (:enabled true)
144
+ (:mode dark_noise)
145
+ (:brightness 0.68)
146
+ (:sigma 12.0)
147
+ )
148
+ (:camera
149
+ (:enabled false)
150
+ (:mode none)
151
+ (:name agentview)
152
+ (:pos 0.0 0.0 0.0)
153
+ (:quat 1.0 0.0 0.0 0.0)
154
+ )
155
+ (:runtime_move
156
+ (:enabled false)
157
+ (:mode none)
158
+ (:object cream_cheese_1)
159
+ (:step 0)
160
+ (:delta_xy 0.0 0.0)
161
+ (:min_delta_norm 0.0)
162
+ )
163
+ (:object_appearance
164
+ (:enabled false)
165
+ (:mode none)
166
+ (:targets akita_black_bowl_1)
167
+ (:rgba 0.72 0.63 0.50 1.0)
168
+ (:override_material_rgba false)
169
+ (:disable_material_texture false)
170
+ (:apply_visible_geom_rgba false)
171
+ )
172
+ (:object_placement
173
+ (:enabled false)
174
+ (:mode none)
175
+ (:reference cream_cheese_1)
176
+ (:front_direction 1.0 0.0)
177
+ (:targets black_book_occluder_1)
178
+ (:offsets_xy (
179
+ (0.0 0.0)
180
+ ))
181
+ (:target_quat 1.0 0.0 0.0 0.0)
182
+ (:z_offset 0.0)
183
+ (:mesh_scale 1.0 1.0 1.0)
184
+ (:min_reference_distance 0.0)
185
+ (:pin_targets false)
186
+ )
187
+ (:object_shape
188
+ (:enabled false)
189
+ (:mode none)
190
+ (:target cream_cheese_1)
191
+ (:mesh_scale 1.0 1.0 1.0)
192
+ )
193
+ (:initial_pose
194
+ (:enabled false)
195
+ (:mode none)
196
+ (:target cream_cheese_1)
197
+ (:delta_xy 0.0 0.0)
198
+ (:min_delta_norm 0.0)
199
+ (:yaw 0.0)
200
+ )
201
+ )
202
+
203
+ )
bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_wine_bottle_on_the_rack.bddl ADDED
@@ -0,0 +1,203 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Tabletop_Manipulation)
2
+ (:domain robosuite)
3
+ (:language Put the wine bottle on the rack)
4
+ (:regions
5
+ (plate_region
6
+ (:target main_table)
7
+ (:ranges (
8
+ (0.04 -0.03 0.060000000000000005 -0.01)
9
+ )
10
+ )
11
+ )
12
+ (akita_black_bowl_region
13
+ (:target main_table)
14
+ (:ranges (
15
+ (-0.09999999999999999 -0.01 -0.08 0.01)
16
+ )
17
+ )
18
+ )
19
+ (wine_bottle_region
20
+ (:target main_table)
21
+ (:ranges (
22
+ (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04)
23
+ )
24
+ )
25
+ )
26
+ (cream_cheese_region
27
+ (:target main_table)
28
+ (:ranges (
29
+ (-0.060000000000000005 0.12000000000000001 -0.04 0.14)
30
+ )
31
+ )
32
+ )
33
+ (stove_front_region
34
+ (:target main_table)
35
+ (:ranges (
36
+ (-0.09 0.16999999999999998 -0.010000000000000002 0.25)
37
+ )
38
+ )
39
+ )
40
+ (cabinet_region
41
+ (:target main_table)
42
+ (:ranges (
43
+ (0.02 -0.25 0.04 -0.23)
44
+ )
45
+ )
46
+ (:yaw_rotation (
47
+ (3.141592653589793 3.141592653589793)
48
+ )
49
+ )
50
+ )
51
+ (stove_region
52
+ (:target main_table)
53
+ (:ranges (
54
+ (-0.42 0.2 -0.4 0.22)
55
+ )
56
+ )
57
+ )
58
+ (wine_rack_region
59
+ (:target main_table)
60
+ (:ranges (
61
+ (-0.27 -0.27 -0.25 -0.25)
62
+ )
63
+ )
64
+ (:yaw_rotation (
65
+ (3.141592653589793 3.141592653589793)
66
+ )
67
+ )
68
+ )
69
+ (top_region
70
+ (:target wooden_cabinet_1)
71
+ )
72
+ (middle_region
73
+ (:target wooden_cabinet_1)
74
+ )
75
+ (bottom_region
76
+ (:target wooden_cabinet_1)
77
+ )
78
+ (top_side
79
+ (:target wooden_cabinet_1)
80
+ )
81
+ (cook_region
82
+ (:target flat_stove_1)
83
+ )
84
+ (right_region
85
+ (:target bowl_drainer_1)
86
+ )
87
+ (left_region
88
+ (:target bowl_drainer_1)
89
+ )
90
+ (top_region
91
+ (:target wine_rack_1)
92
+ )
93
+ )
94
+
95
+ (:fixtures
96
+ main_table - table
97
+ wooden_cabinet_1 - wooden_cabinet
98
+ flat_stove_1 - flat_stove
99
+ wine_rack_1 - wine_rack
100
+ )
101
+
102
+ (:objects
103
+ akita_black_bowl_1 - akita_black_bowl
104
+ cream_cheese_1 - cream_cheese
105
+ wine_bottle_1 - wine_bottle
106
+ plate_1 - plate
107
+ )
108
+
109
+ (:obj_of_interest
110
+ wine_bottle_1
111
+ wine_rack_1_top_region
112
+ )
113
+
114
+ (:init
115
+ (On wine_bottle_1 main_table_wine_bottle_region)
116
+ (On akita_black_bowl_1 main_table_akita_black_bowl_region)
117
+ (On plate_1 main_table_plate_region)
118
+ (On cream_cheese_1 main_table_cream_cheese_region)
119
+ (On wooden_cabinet_1 main_table_cabinet_region)
120
+ (On flat_stove_1 main_table_stove_region)
121
+ (On wine_rack_1 main_table_wine_rack_region)
122
+ )
123
+
124
+ (:goal
125
+ (And (On wine_bottle_1 wine_rack_1_top_region))
126
+ )
127
+
128
+ (:perturbation_config
129
+ (:case visual_noise_glare)
130
+ (:category visual_noise_glare)
131
+ (:source_suite libero_goal)
132
+ (:source_task put_the_wine_bottle_on_the_rack)
133
+ (:bddl_only true)
134
+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
135
+ (:lighting
136
+ (:enabled true)
137
+ (:mode dark_lighting)
138
+ (:ambient 0.020)
139
+ (:diffuse 0.16)
140
+ (:specular 0.010)
141
+ )
142
+ (:observation
143
+ (:enabled true)
144
+ (:mode dark_noise)
145
+ (:brightness 0.68)
146
+ (:sigma 12.0)
147
+ )
148
+ (:camera
149
+ (:enabled false)
150
+ (:mode none)
151
+ (:name agentview)
152
+ (:pos 0.0 0.0 0.0)
153
+ (:quat 1.0 0.0 0.0 0.0)
154
+ )
155
+ (:runtime_move
156
+ (:enabled false)
157
+ (:mode none)
158
+ (:object wine_bottle_1)
159
+ (:step 0)
160
+ (:delta_xy 0.0 0.0)
161
+ (:min_delta_norm 0.0)
162
+ )
163
+ (:object_appearance
164
+ (:enabled false)
165
+ (:mode none)
166
+ (:targets wine_rack_1)
167
+ (:rgba 0.72 0.63 0.50 1.0)
168
+ (:override_material_rgba false)
169
+ (:disable_material_texture false)
170
+ (:apply_visible_geom_rgba false)
171
+ )
172
+ (:object_placement
173
+ (:enabled false)
174
+ (:mode none)
175
+ (:reference wine_bottle_1)
176
+ (:front_direction 1.0 0.0)
177
+ (:targets black_book_occluder_1)
178
+ (:offsets_xy (
179
+ (0.0 0.0)
180
+ ))
181
+ (:target_quat 1.0 0.0 0.0 0.0)
182
+ (:z_offset 0.0)
183
+ (:mesh_scale 1.0 1.0 1.0)
184
+ (:min_reference_distance 0.0)
185
+ (:pin_targets false)
186
+ )
187
+ (:object_shape
188
+ (:enabled false)
189
+ (:mode none)
190
+ (:target wine_bottle_1)
191
+ (:mesh_scale 1.0 1.0 1.0)
192
+ )
193
+ (:initial_pose
194
+ (:enabled false)
195
+ (:mode none)
196
+ (:target wine_bottle_1)
197
+ (:delta_xy 0.0 0.0)
198
+ (:min_delta_norm 0.0)
199
+ (:yaw 0.0)
200
+ )
201
+ )
202
+
203
+ )
bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.bddl ADDED
@@ -0,0 +1,203 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Tabletop_Manipulation)
2
+ (:domain robosuite)
3
+ (:language Put the wine bottle on the top of the drawer)
4
+ (:regions
5
+ (plate_region
6
+ (:target main_table)
7
+ (:ranges (
8
+ (0.04 -0.03 0.060000000000000005 -0.01)
9
+ )
10
+ )
11
+ )
12
+ (akita_black_bowl_region
13
+ (:target main_table)
14
+ (:ranges (
15
+ (-0.09999999999999999 -0.01 -0.08 0.01)
16
+ )
17
+ )
18
+ )
19
+ (wine_bottle_region
20
+ (:target main_table)
21
+ (:ranges (
22
+ (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04)
23
+ )
24
+ )
25
+ )
26
+ (cream_cheese_region
27
+ (:target main_table)
28
+ (:ranges (
29
+ (-0.060000000000000005 0.12000000000000001 -0.04 0.14)
30
+ )
31
+ )
32
+ )
33
+ (stove_front_region
34
+ (:target main_table)
35
+ (:ranges (
36
+ (-0.09 0.16999999999999998 -0.010000000000000002 0.25)
37
+ )
38
+ )
39
+ )
40
+ (cabinet_region
41
+ (:target main_table)
42
+ (:ranges (
43
+ (0.02 -0.25 0.04 -0.23)
44
+ )
45
+ )
46
+ (:yaw_rotation (
47
+ (3.141592653589793 3.141592653589793)
48
+ )
49
+ )
50
+ )
51
+ (stove_region
52
+ (:target main_table)
53
+ (:ranges (
54
+ (-0.42 0.2 -0.4 0.22)
55
+ )
56
+ )
57
+ )
58
+ (wine_rack_region
59
+ (:target main_table)
60
+ (:ranges (
61
+ (-0.27 -0.27 -0.25 -0.25)
62
+ )
63
+ )
64
+ (:yaw_rotation (
65
+ (3.141592653589793 3.141592653589793)
66
+ )
67
+ )
68
+ )
69
+ (top_region
70
+ (:target wooden_cabinet_1)
71
+ )
72
+ (middle_region
73
+ (:target wooden_cabinet_1)
74
+ )
75
+ (bottom_region
76
+ (:target wooden_cabinet_1)
77
+ )
78
+ (top_side
79
+ (:target wooden_cabinet_1)
80
+ )
81
+ (cook_region
82
+ (:target flat_stove_1)
83
+ )
84
+ (right_region
85
+ (:target bowl_drainer_1)
86
+ )
87
+ (left_region
88
+ (:target bowl_drainer_1)
89
+ )
90
+ (top_region
91
+ (:target wine_rack_1)
92
+ )
93
+ )
94
+
95
+ (:fixtures
96
+ main_table - table
97
+ wooden_cabinet_1 - wooden_cabinet
98
+ flat_stove_1 - flat_stove
99
+ wine_rack_1 - wine_rack
100
+ )
101
+
102
+ (:objects
103
+ akita_black_bowl_1 - akita_black_bowl
104
+ cream_cheese_1 - cream_cheese
105
+ wine_bottle_1 - wine_bottle
106
+ plate_1 - plate
107
+ )
108
+
109
+ (:obj_of_interest
110
+ wine_bottle_1
111
+ wooden_cabinet_1_top_side
112
+ )
113
+
114
+ (:init
115
+ (On wine_bottle_1 main_table_wine_bottle_region)
116
+ (On akita_black_bowl_1 main_table_akita_black_bowl_region)
117
+ (On plate_1 main_table_plate_region)
118
+ (On cream_cheese_1 main_table_cream_cheese_region)
119
+ (On wooden_cabinet_1 main_table_cabinet_region)
120
+ (On flat_stove_1 main_table_stove_region)
121
+ (On wine_rack_1 main_table_wine_rack_region)
122
+ )
123
+
124
+ (:goal
125
+ (And (On wine_bottle_1 wooden_cabinet_1_top_side))
126
+ )
127
+
128
+ (:perturbation_config
129
+ (:case visual_noise_glare)
130
+ (:category visual_noise_glare)
131
+ (:source_suite libero_goal)
132
+ (:source_task put_the_wine_bottle_on_top_of_the_cabinet)
133
+ (:bddl_only true)
134
+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
135
+ (:lighting
136
+ (:enabled true)
137
+ (:mode dark_lighting)
138
+ (:ambient 0.020)
139
+ (:diffuse 0.16)
140
+ (:specular 0.010)
141
+ )
142
+ (:observation
143
+ (:enabled true)
144
+ (:mode dark_noise)
145
+ (:brightness 0.68)
146
+ (:sigma 12.0)
147
+ )
148
+ (:camera
149
+ (:enabled false)
150
+ (:mode none)
151
+ (:name agentview)
152
+ (:pos 0.0 0.0 0.0)
153
+ (:quat 1.0 0.0 0.0 0.0)
154
+ )
155
+ (:runtime_move
156
+ (:enabled false)
157
+ (:mode none)
158
+ (:object wine_bottle_1)
159
+ (:step 0)
160
+ (:delta_xy 0.0 0.0)
161
+ (:min_delta_norm 0.0)
162
+ )
163
+ (:object_appearance
164
+ (:enabled false)
165
+ (:mode none)
166
+ (:targets wooden_cabinet_1)
167
+ (:rgba 0.72 0.63 0.50 1.0)
168
+ (:override_material_rgba false)
169
+ (:disable_material_texture false)
170
+ (:apply_visible_geom_rgba false)
171
+ )
172
+ (:object_placement
173
+ (:enabled false)
174
+ (:mode none)
175
+ (:reference wine_bottle_1)
176
+ (:front_direction 1.0 0.0)
177
+ (:targets black_book_occluder_1)
178
+ (:offsets_xy (
179
+ (0.0 0.0)
180
+ ))
181
+ (:target_quat 1.0 0.0 0.0 0.0)
182
+ (:z_offset 0.0)
183
+ (:mesh_scale 1.0 1.0 1.0)
184
+ (:min_reference_distance 0.0)
185
+ (:pin_targets false)
186
+ )
187
+ (:object_shape
188
+ (:enabled false)
189
+ (:mode none)
190
+ (:target wine_bottle_1)
191
+ (:mesh_scale 1.0 1.0 1.0)
192
+ )
193
+ (:initial_pose
194
+ (:enabled false)
195
+ (:mode none)
196
+ (:target wine_bottle_1)
197
+ (:delta_xy 0.0 0.0)
198
+ (:min_delta_norm 0.0)
199
+ (:yaw 0.0)
200
+ )
201
+ )
202
+
203
+ )
bddl_files/01_visual_noise_glare/bddl/libero_goal/turn_on_the_stove.bddl ADDED
@@ -0,0 +1,202 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Tabletop_Manipulation)
2
+ (:domain robosuite)
3
+ (:language Turn on the stove)
4
+ (:regions
5
+ (plate_region
6
+ (:target main_table)
7
+ (:ranges (
8
+ (0.04 -0.03 0.060000000000000005 -0.01)
9
+ )
10
+ )
11
+ )
12
+ (akita_black_bowl_region
13
+ (:target main_table)
14
+ (:ranges (
15
+ (-0.09999999999999999 -0.01 -0.08 0.01)
16
+ )
17
+ )
18
+ )
19
+ (wine_bottle_region
20
+ (:target main_table)
21
+ (:ranges (
22
+ (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04)
23
+ )
24
+ )
25
+ )
26
+ (cream_cheese_region
27
+ (:target main_table)
28
+ (:ranges (
29
+ (-0.060000000000000005 0.12000000000000001 -0.04 0.14)
30
+ )
31
+ )
32
+ )
33
+ (stove_front_region
34
+ (:target main_table)
35
+ (:ranges (
36
+ (-0.09 0.16999999999999998 -0.010000000000000002 0.25)
37
+ )
38
+ )
39
+ )
40
+ (cabinet_region
41
+ (:target main_table)
42
+ (:ranges (
43
+ (0.02 -0.25 0.04 -0.23)
44
+ )
45
+ )
46
+ (:yaw_rotation (
47
+ (3.141592653589793 3.141592653589793)
48
+ )
49
+ )
50
+ )
51
+ (stove_region
52
+ (:target main_table)
53
+ (:ranges (
54
+ (-0.42 0.2 -0.4 0.22)
55
+ )
56
+ )
57
+ )
58
+ (wine_rack_region
59
+ (:target main_table)
60
+ (:ranges (
61
+ (-0.27 -0.27 -0.25 -0.25)
62
+ )
63
+ )
64
+ (:yaw_rotation (
65
+ (3.141592653589793 3.141592653589793)
66
+ )
67
+ )
68
+ )
69
+ (top_region
70
+ (:target wooden_cabinet_1)
71
+ )
72
+ (middle_region
73
+ (:target wooden_cabinet_1)
74
+ )
75
+ (bottom_region
76
+ (:target wooden_cabinet_1)
77
+ )
78
+ (top_side
79
+ (:target wooden_cabinet_1)
80
+ )
81
+ (cook_region
82
+ (:target flat_stove_1)
83
+ )
84
+ (right_region
85
+ (:target bowl_drainer_1)
86
+ )
87
+ (left_region
88
+ (:target bowl_drainer_1)
89
+ )
90
+ (top_region
91
+ (:target wine_rack_1)
92
+ )
93
+ )
94
+
95
+ (:fixtures
96
+ main_table - table
97
+ wooden_cabinet_1 - wooden_cabinet
98
+ flat_stove_1 - flat_stove
99
+ wine_rack_1 - wine_rack
100
+ )
101
+
102
+ (:objects
103
+ akita_black_bowl_1 - akita_black_bowl
104
+ cream_cheese_1 - cream_cheese
105
+ wine_bottle_1 - wine_bottle
106
+ plate_1 - plate
107
+ )
108
+
109
+ (:obj_of_interest
110
+ flat_stove_1
111
+ )
112
+
113
+ (:init
114
+ (On wine_bottle_1 main_table_wine_bottle_region)
115
+ (On akita_black_bowl_1 main_table_akita_black_bowl_region)
116
+ (On plate_1 main_table_plate_region)
117
+ (On cream_cheese_1 main_table_cream_cheese_region)
118
+ (On wooden_cabinet_1 main_table_cabinet_region)
119
+ (On flat_stove_1 main_table_stove_region)
120
+ (On wine_rack_1 main_table_wine_rack_region)
121
+ )
122
+
123
+ (:goal
124
+ (And (Turnon flat_stove_1))
125
+ )
126
+
127
+ (:perturbation_config
128
+ (:case visual_noise_glare)
129
+ (:category visual_noise_glare)
130
+ (:source_suite libero_goal)
131
+ (:source_task turn_on_the_stove)
132
+ (:bddl_only true)
133
+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
134
+ (:lighting
135
+ (:enabled true)
136
+ (:mode dark_lighting)
137
+ (:ambient 0.020)
138
+ (:diffuse 0.16)
139
+ (:specular 0.010)
140
+ )
141
+ (:observation
142
+ (:enabled true)
143
+ (:mode dark_noise)
144
+ (:brightness 0.68)
145
+ (:sigma 12.0)
146
+ )
147
+ (:camera
148
+ (:enabled false)
149
+ (:mode none)
150
+ (:name agentview)
151
+ (:pos 0.0 0.0 0.0)
152
+ (:quat 1.0 0.0 0.0 0.0)
153
+ )
154
+ (:runtime_move
155
+ (:enabled false)
156
+ (:mode none)
157
+ (:object akita_black_bowl_1)
158
+ (:step 0)
159
+ (:delta_xy 0.0 0.0)
160
+ (:min_delta_norm 0.0)
161
+ )
162
+ (:object_appearance
163
+ (:enabled false)
164
+ (:mode none)
165
+ (:targets flat_stove_1)
166
+ (:rgba 0.72 0.63 0.50 1.0)
167
+ (:override_material_rgba false)
168
+ (:disable_material_texture false)
169
+ (:apply_visible_geom_rgba false)
170
+ )
171
+ (:object_placement
172
+ (:enabled false)
173
+ (:mode none)
174
+ (:reference akita_black_bowl_1)
175
+ (:front_direction 1.0 0.0)
176
+ (:targets black_book_occluder_1)
177
+ (:offsets_xy (
178
+ (0.0 0.0)
179
+ ))
180
+ (:target_quat 1.0 0.0 0.0 0.0)
181
+ (:z_offset 0.0)
182
+ (:mesh_scale 1.0 1.0 1.0)
183
+ (:min_reference_distance 0.0)
184
+ (:pin_targets false)
185
+ )
186
+ (:object_shape
187
+ (:enabled false)
188
+ (:mode none)
189
+ (:target akita_black_bowl_1)
190
+ (:mesh_scale 1.0 1.0 1.0)
191
+ )
192
+ (:initial_pose
193
+ (:enabled false)
194
+ (:mode none)
195
+ (:target akita_black_bowl_1)
196
+ (:delta_xy 0.0 0.0)
197
+ (:min_delta_norm 0.0)
198
+ (:yaw 0.0)
199
+ )
200
+ )
201
+
202
+ )
bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl ADDED
@@ -0,0 +1,167 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Floor_Manipulation)
2
+ (:domain robosuite)
3
+ (:language Pick the alphabet soup and place it in the basket)
4
+ (:regions
5
+ (bin_region
6
+ (:target floor)
7
+ (:ranges (
8
+ (-0.01 0.25 0.01 0.27)
9
+ )
10
+ )
11
+ )
12
+ (target_object_region
13
+ (:target floor)
14
+ (:ranges (
15
+ (-0.145 -0.265 -0.095 -0.215)
16
+ )
17
+ )
18
+ )
19
+ (other_object_region_0
20
+ (:target floor)
21
+ (:ranges (
22
+ (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
23
+ )
24
+ )
25
+ )
26
+ (other_object_region_1
27
+ (:target floor)
28
+ (:ranges (
29
+ (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
30
+ )
31
+ )
32
+ )
33
+ (other_object_region_2
34
+ (:target floor)
35
+ (:ranges (
36
+ (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
37
+ )
38
+ )
39
+ )
40
+ (other_object_region_3
41
+ (:target floor)
42
+ (:ranges (
43
+ (0.125 0.0049999999999999975 0.175 0.055)
44
+ )
45
+ )
46
+ )
47
+ (other_object_region_4
48
+ (:target floor)
49
+ (:ranges (
50
+ (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
51
+ )
52
+ )
53
+ )
54
+ (contain_region
55
+ (:target basket_1)
56
+ )
57
+ )
58
+
59
+ (:fixtures
60
+ floor - floor
61
+ )
62
+
63
+ (:objects
64
+ alphabet_soup_1 - alphabet_soup
65
+ basket_1 - basket
66
+ salad_dressing_1 - salad_dressing
67
+ cream_cheese_1 - cream_cheese
68
+ milk_1 - milk
69
+ tomato_sauce_1 - tomato_sauce
70
+ butter_1 - butter
71
+ )
72
+
73
+ (:obj_of_interest
74
+ alphabet_soup_1
75
+ basket_1
76
+ )
77
+
78
+ (:init
79
+ (On alphabet_soup_1 floor_target_object_region)
80
+ (On salad_dressing_1 floor_other_object_region_0)
81
+ (On cream_cheese_1 floor_other_object_region_1)
82
+ (On milk_1 floor_other_object_region_2)
83
+ (On tomato_sauce_1 floor_other_object_region_3)
84
+ (On butter_1 floor_other_object_region_4)
85
+ (On basket_1 floor_bin_region)
86
+ )
87
+
88
+ (:goal
89
+ (And (In alphabet_soup_1 basket_1_contain_region))
90
+ )
91
+
92
+ (:perturbation_config
93
+ (:case visual_noise_glare)
94
+ (:category visual_noise_glare)
95
+ (:source_suite libero_object)
96
+ (:source_task pick_up_the_alphabet_soup_and_place_it_in_the_basket)
97
+ (:bddl_only true)
98
+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
99
+ (:lighting
100
+ (:enabled true)
101
+ (:mode dark_lighting)
102
+ (:ambient 0.020)
103
+ (:diffuse 0.16)
104
+ (:specular 0.010)
105
+ )
106
+ (:observation
107
+ (:enabled true)
108
+ (:mode dark_noise)
109
+ (:brightness 0.68)
110
+ (:sigma 12.0)
111
+ )
112
+ (:camera
113
+ (:enabled false)
114
+ (:mode none)
115
+ (:name agentview)
116
+ (:pos 0.0 0.0 0.0)
117
+ (:quat 1.0 0.0 0.0 0.0)
118
+ )
119
+ (:runtime_move
120
+ (:enabled false)
121
+ (:mode none)
122
+ (:object alphabet_soup_1)
123
+ (:step 0)
124
+ (:delta_xy 0.0 0.0)
125
+ (:min_delta_norm 0.0)
126
+ )
127
+ (:object_appearance
128
+ (:enabled false)
129
+ (:mode none)
130
+ (:targets basket_1)
131
+ (:rgba 0.35 0.34 0.32 1.0)
132
+ (:override_material_rgba false)
133
+ (:disable_material_texture false)
134
+ (:apply_visible_geom_rgba false)
135
+ )
136
+ (:object_placement
137
+ (:enabled false)
138
+ (:mode none)
139
+ (:reference alphabet_soup_1)
140
+ (:front_direction 1.0 0.0)
141
+ (:targets black_book_occluder_1)
142
+ (:offsets_xy (
143
+ (0.0 0.0)
144
+ ))
145
+ (:target_quat 1.0 0.0 0.0 0.0)
146
+ (:z_offset 0.0)
147
+ (:mesh_scale 1.0 1.0 1.0)
148
+ (:min_reference_distance 0.0)
149
+ (:pin_targets false)
150
+ )
151
+ (:object_shape
152
+ (:enabled false)
153
+ (:mode none)
154
+ (:target alphabet_soup_1)
155
+ (:mesh_scale 1.0 1.0 1.0)
156
+ )
157
+ (:initial_pose
158
+ (:enabled false)
159
+ (:mode none)
160
+ (:target alphabet_soup_1)
161
+ (:delta_xy 0.0 0.0)
162
+ (:min_delta_norm 0.0)
163
+ (:yaw 0.0)
164
+ )
165
+ )
166
+
167
+ )
bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl ADDED
@@ -0,0 +1,167 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Floor_Manipulation)
2
+ (:domain robosuite)
3
+ (:language Pick the bbq sauce and place it in the basket)
4
+ (:regions
5
+ (bin_region
6
+ (:target floor)
7
+ (:ranges (
8
+ (-0.01 0.25 0.01 0.27)
9
+ )
10
+ )
11
+ )
12
+ (target_object_region
13
+ (:target floor)
14
+ (:ranges (
15
+ (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
16
+ )
17
+ )
18
+ )
19
+ (other_object_region_0
20
+ (:target floor)
21
+ (:ranges (
22
+ (-0.145 -0.265 -0.095 -0.215)
23
+ )
24
+ )
25
+ )
26
+ (other_object_region_1
27
+ (:target floor)
28
+ (:ranges (
29
+ (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
30
+ )
31
+ )
32
+ )
33
+ (other_object_region_2
34
+ (:target floor)
35
+ (:ranges (
36
+ (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
37
+ )
38
+ )
39
+ )
40
+ (other_object_region_3
41
+ (:target floor)
42
+ (:ranges (
43
+ (0.125 0.0049999999999999975 0.175 0.055)
44
+ )
45
+ )
46
+ )
47
+ (other_object_region_4
48
+ (:target floor)
49
+ (:ranges (
50
+ (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
51
+ )
52
+ )
53
+ )
54
+ (contain_region
55
+ (:target basket_1)
56
+ )
57
+ )
58
+
59
+ (:fixtures
60
+ floor - floor
61
+ )
62
+
63
+ (:objects
64
+ bbq_sauce_1 - bbq_sauce
65
+ basket_1 - basket
66
+ chocolate_pudding_1 - chocolate_pudding
67
+ ketchup_1 - ketchup
68
+ salad_dressing_1 - salad_dressing
69
+ alphabet_soup_1 - alphabet_soup
70
+ cream_cheese_1 - cream_cheese
71
+ )
72
+
73
+ (:obj_of_interest
74
+ bbq_sauce_1
75
+ basket_1
76
+ )
77
+
78
+ (:init
79
+ (On bbq_sauce_1 floor_target_object_region)
80
+ (On chocolate_pudding_1 floor_other_object_region_0)
81
+ (On ketchup_1 floor_other_object_region_1)
82
+ (On salad_dressing_1 floor_other_object_region_2)
83
+ (On alphabet_soup_1 floor_other_object_region_3)
84
+ (On cream_cheese_1 floor_other_object_region_4)
85
+ (On basket_1 floor_bin_region)
86
+ )
87
+
88
+ (:goal
89
+ (And (In bbq_sauce_1 basket_1_contain_region))
90
+ )
91
+
92
+ (:perturbation_config
93
+ (:case visual_noise_glare)
94
+ (:category visual_noise_glare)
95
+ (:source_suite libero_object)
96
+ (:source_task pick_up_the_bbq_sauce_and_place_it_in_the_basket)
97
+ (:bddl_only true)
98
+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
99
+ (:lighting
100
+ (:enabled true)
101
+ (:mode dark_lighting)
102
+ (:ambient 0.020)
103
+ (:diffuse 0.16)
104
+ (:specular 0.010)
105
+ )
106
+ (:observation
107
+ (:enabled true)
108
+ (:mode dark_noise)
109
+ (:brightness 0.68)
110
+ (:sigma 12.0)
111
+ )
112
+ (:camera
113
+ (:enabled false)
114
+ (:mode none)
115
+ (:name agentview)
116
+ (:pos 0.0 0.0 0.0)
117
+ (:quat 1.0 0.0 0.0 0.0)
118
+ )
119
+ (:runtime_move
120
+ (:enabled false)
121
+ (:mode none)
122
+ (:object bbq_sauce_1)
123
+ (:step 0)
124
+ (:delta_xy 0.0 0.0)
125
+ (:min_delta_norm 0.0)
126
+ )
127
+ (:object_appearance
128
+ (:enabled false)
129
+ (:mode none)
130
+ (:targets basket_1)
131
+ (:rgba 0.35 0.34 0.32 1.0)
132
+ (:override_material_rgba false)
133
+ (:disable_material_texture false)
134
+ (:apply_visible_geom_rgba false)
135
+ )
136
+ (:object_placement
137
+ (:enabled false)
138
+ (:mode none)
139
+ (:reference bbq_sauce_1)
140
+ (:front_direction 1.0 0.0)
141
+ (:targets black_book_occluder_1)
142
+ (:offsets_xy (
143
+ (0.0 0.0)
144
+ ))
145
+ (:target_quat 1.0 0.0 0.0 0.0)
146
+ (:z_offset 0.0)
147
+ (:mesh_scale 1.0 1.0 1.0)
148
+ (:min_reference_distance 0.0)
149
+ (:pin_targets false)
150
+ )
151
+ (:object_shape
152
+ (:enabled false)
153
+ (:mode none)
154
+ (:target bbq_sauce_1)
155
+ (:mesh_scale 1.0 1.0 1.0)
156
+ )
157
+ (:initial_pose
158
+ (:enabled false)
159
+ (:mode none)
160
+ (:target bbq_sauce_1)
161
+ (:delta_xy 0.0 0.0)
162
+ (:min_delta_norm 0.0)
163
+ (:yaw 0.0)
164
+ )
165
+ )
166
+
167
+ )
bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl ADDED
@@ -0,0 +1,167 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Floor_Manipulation)
2
+ (:domain robosuite)
3
+ (:language Pick the butter and place it in the basket)
4
+ (:regions
5
+ (bin_region
6
+ (:target floor)
7
+ (:ranges (
8
+ (-0.01 0.25 0.01 0.27)
9
+ )
10
+ )
11
+ )
12
+ (target_object_region
13
+ (:target floor)
14
+ (:ranges (
15
+ (-0.145 -0.265 -0.095 -0.215)
16
+ )
17
+ )
18
+ )
19
+ (other_object_region_0
20
+ (:target floor)
21
+ (:ranges (
22
+ (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
23
+ )
24
+ )
25
+ )
26
+ (other_object_region_1
27
+ (:target floor)
28
+ (:ranges (
29
+ (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
30
+ )
31
+ )
32
+ )
33
+ (other_object_region_2
34
+ (:target floor)
35
+ (:ranges (
36
+ (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
37
+ )
38
+ )
39
+ )
40
+ (other_object_region_3
41
+ (:target floor)
42
+ (:ranges (
43
+ (0.125 0.0049999999999999975 0.175 0.055)
44
+ )
45
+ )
46
+ )
47
+ (other_object_region_4
48
+ (:target floor)
49
+ (:ranges (
50
+ (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
51
+ )
52
+ )
53
+ )
54
+ (contain_region
55
+ (:target basket_1)
56
+ )
57
+ )
58
+
59
+ (:fixtures
60
+ floor - floor
61
+ )
62
+
63
+ (:objects
64
+ butter_1 - butter
65
+ basket_1 - basket
66
+ tomato_sauce_1 - tomato_sauce
67
+ orange_juice_1 - orange_juice
68
+ chocolate_pudding_1 - chocolate_pudding
69
+ bbq_sauce_1 - bbq_sauce
70
+ ketchup_1 - ketchup
71
+ )
72
+
73
+ (:obj_of_interest
74
+ butter_1
75
+ basket_1
76
+ )
77
+
78
+ (:init
79
+ (On butter_1 floor_target_object_region)
80
+ (On tomato_sauce_1 floor_other_object_region_0)
81
+ (On orange_juice_1 floor_other_object_region_1)
82
+ (On chocolate_pudding_1 floor_other_object_region_2)
83
+ (On bbq_sauce_1 floor_other_object_region_3)
84
+ (On ketchup_1 floor_other_object_region_4)
85
+ (On basket_1 floor_bin_region)
86
+ )
87
+
88
+ (:goal
89
+ (And (In butter_1 basket_1_contain_region))
90
+ )
91
+
92
+ (:perturbation_config
93
+ (:case visual_noise_glare)
94
+ (:category visual_noise_glare)
95
+ (:source_suite libero_object)
96
+ (:source_task pick_up_the_butter_and_place_it_in_the_basket)
97
+ (:bddl_only true)
98
+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
99
+ (:lighting
100
+ (:enabled true)
101
+ (:mode dark_lighting)
102
+ (:ambient 0.020)
103
+ (:diffuse 0.16)
104
+ (:specular 0.010)
105
+ )
106
+ (:observation
107
+ (:enabled true)
108
+ (:mode dark_noise)
109
+ (:brightness 0.68)
110
+ (:sigma 12.0)
111
+ )
112
+ (:camera
113
+ (:enabled false)
114
+ (:mode none)
115
+ (:name agentview)
116
+ (:pos 0.0 0.0 0.0)
117
+ (:quat 1.0 0.0 0.0 0.0)
118
+ )
119
+ (:runtime_move
120
+ (:enabled false)
121
+ (:mode none)
122
+ (:object butter_1)
123
+ (:step 0)
124
+ (:delta_xy 0.0 0.0)
125
+ (:min_delta_norm 0.0)
126
+ )
127
+ (:object_appearance
128
+ (:enabled false)
129
+ (:mode none)
130
+ (:targets basket_1)
131
+ (:rgba 0.35 0.34 0.32 1.0)
132
+ (:override_material_rgba false)
133
+ (:disable_material_texture false)
134
+ (:apply_visible_geom_rgba false)
135
+ )
136
+ (:object_placement
137
+ (:enabled false)
138
+ (:mode none)
139
+ (:reference butter_1)
140
+ (:front_direction 1.0 0.0)
141
+ (:targets black_book_occluder_1)
142
+ (:offsets_xy (
143
+ (0.0 0.0)
144
+ ))
145
+ (:target_quat 1.0 0.0 0.0 0.0)
146
+ (:z_offset 0.0)
147
+ (:mesh_scale 1.0 1.0 1.0)
148
+ (:min_reference_distance 0.0)
149
+ (:pin_targets false)
150
+ )
151
+ (:object_shape
152
+ (:enabled false)
153
+ (:mode none)
154
+ (:target butter_1)
155
+ (:mesh_scale 1.0 1.0 1.0)
156
+ )
157
+ (:initial_pose
158
+ (:enabled false)
159
+ (:mode none)
160
+ (:target butter_1)
161
+ (:delta_xy 0.0 0.0)
162
+ (:min_delta_norm 0.0)
163
+ (:yaw 0.0)
164
+ )
165
+ )
166
+
167
+ )
bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl ADDED
@@ -0,0 +1,167 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Floor_Manipulation)
2
+ (:domain robosuite)
3
+ (:language Pick the chocolate pudding and place it in the basket)
4
+ (:regions
5
+ (bin_region
6
+ (:target floor)
7
+ (:ranges (
8
+ (-0.01 0.25 0.01 0.27)
9
+ )
10
+ )
11
+ )
12
+ (target_object_region
13
+ (:target floor)
14
+ (:ranges (
15
+ (-0.145 -0.265 -0.095 -0.215)
16
+ )
17
+ )
18
+ )
19
+ (other_object_region_0
20
+ (:target floor)
21
+ (:ranges (
22
+ (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
23
+ )
24
+ )
25
+ )
26
+ (other_object_region_1
27
+ (:target floor)
28
+ (:ranges (
29
+ (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
30
+ )
31
+ )
32
+ )
33
+ (other_object_region_2
34
+ (:target floor)
35
+ (:ranges (
36
+ (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
37
+ )
38
+ )
39
+ )
40
+ (other_object_region_3
41
+ (:target floor)
42
+ (:ranges (
43
+ (0.125 0.0049999999999999975 0.175 0.055)
44
+ )
45
+ )
46
+ )
47
+ (other_object_region_4
48
+ (:target floor)
49
+ (:ranges (
50
+ (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
51
+ )
52
+ )
53
+ )
54
+ (contain_region
55
+ (:target basket_1)
56
+ )
57
+ )
58
+
59
+ (:fixtures
60
+ floor - floor
61
+ )
62
+
63
+ (:objects
64
+ chocolate_pudding_1 - chocolate_pudding
65
+ basket_1 - basket
66
+ orange_juice_1 - orange_juice
67
+ bbq_sauce_1 - bbq_sauce
68
+ ketchup_1 - ketchup
69
+ salad_dressing_1 - salad_dressing
70
+ alphabet_soup_1 - alphabet_soup
71
+ )
72
+
73
+ (:obj_of_interest
74
+ chocolate_pudding_1
75
+ basket_1
76
+ )
77
+
78
+ (:init
79
+ (On chocolate_pudding_1 floor_target_object_region)
80
+ (On orange_juice_1 floor_other_object_region_0)
81
+ (On bbq_sauce_1 floor_other_object_region_1)
82
+ (On ketchup_1 floor_other_object_region_2)
83
+ (On salad_dressing_1 floor_other_object_region_3)
84
+ (On alphabet_soup_1 floor_other_object_region_4)
85
+ (On basket_1 floor_bin_region)
86
+ )
87
+
88
+ (:goal
89
+ (And (In chocolate_pudding_1 basket_1_contain_region))
90
+ )
91
+
92
+ (:perturbation_config
93
+ (:case visual_noise_glare)
94
+ (:category visual_noise_glare)
95
+ (:source_suite libero_object)
96
+ (:source_task pick_up_the_chocolate_pudding_and_place_it_in_the_basket)
97
+ (:bddl_only true)
98
+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
99
+ (:lighting
100
+ (:enabled true)
101
+ (:mode dark_lighting)
102
+ (:ambient 0.020)
103
+ (:diffuse 0.16)
104
+ (:specular 0.010)
105
+ )
106
+ (:observation
107
+ (:enabled true)
108
+ (:mode dark_noise)
109
+ (:brightness 0.68)
110
+ (:sigma 12.0)
111
+ )
112
+ (:camera
113
+ (:enabled false)
114
+ (:mode none)
115
+ (:name agentview)
116
+ (:pos 0.0 0.0 0.0)
117
+ (:quat 1.0 0.0 0.0 0.0)
118
+ )
119
+ (:runtime_move
120
+ (:enabled false)
121
+ (:mode none)
122
+ (:object chocolate_pudding_1)
123
+ (:step 0)
124
+ (:delta_xy 0.0 0.0)
125
+ (:min_delta_norm 0.0)
126
+ )
127
+ (:object_appearance
128
+ (:enabled false)
129
+ (:mode none)
130
+ (:targets basket_1)
131
+ (:rgba 0.35 0.34 0.32 1.0)
132
+ (:override_material_rgba false)
133
+ (:disable_material_texture false)
134
+ (:apply_visible_geom_rgba false)
135
+ )
136
+ (:object_placement
137
+ (:enabled false)
138
+ (:mode none)
139
+ (:reference chocolate_pudding_1)
140
+ (:front_direction 1.0 0.0)
141
+ (:targets black_book_occluder_1)
142
+ (:offsets_xy (
143
+ (0.0 0.0)
144
+ ))
145
+ (:target_quat 1.0 0.0 0.0 0.0)
146
+ (:z_offset 0.0)
147
+ (:mesh_scale 1.0 1.0 1.0)
148
+ (:min_reference_distance 0.0)
149
+ (:pin_targets false)
150
+ )
151
+ (:object_shape
152
+ (:enabled false)
153
+ (:mode none)
154
+ (:target chocolate_pudding_1)
155
+ (:mesh_scale 1.0 1.0 1.0)
156
+ )
157
+ (:initial_pose
158
+ (:enabled false)
159
+ (:mode none)
160
+ (:target chocolate_pudding_1)
161
+ (:delta_xy 0.0 0.0)
162
+ (:min_delta_norm 0.0)
163
+ (:yaw 0.0)
164
+ )
165
+ )
166
+
167
+ )
bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl ADDED
@@ -0,0 +1,167 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Floor_Manipulation)
2
+ (:domain robosuite)
3
+ (:language Pick the cream cheese and place it in the basket)
4
+ (:regions
5
+ (bin_region
6
+ (:target floor)
7
+ (:ranges (
8
+ (-0.01 0.25 0.01 0.27)
9
+ )
10
+ )
11
+ )
12
+ (target_object_region
13
+ (:target floor)
14
+ (:ranges (
15
+ (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
16
+ )
17
+ )
18
+ )
19
+ (other_object_region_0
20
+ (:target floor)
21
+ (:ranges (
22
+ (-0.145 -0.265 -0.095 -0.215)
23
+ )
24
+ )
25
+ )
26
+ (other_object_region_1
27
+ (:target floor)
28
+ (:ranges (
29
+ (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
30
+ )
31
+ )
32
+ )
33
+ (other_object_region_2
34
+ (:target floor)
35
+ (:ranges (
36
+ (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
37
+ )
38
+ )
39
+ )
40
+ (other_object_region_3
41
+ (:target floor)
42
+ (:ranges (
43
+ (0.125 0.0049999999999999975 0.175 0.055)
44
+ )
45
+ )
46
+ )
47
+ (other_object_region_4
48
+ (:target floor)
49
+ (:ranges (
50
+ (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
51
+ )
52
+ )
53
+ )
54
+ (contain_region
55
+ (:target basket_1)
56
+ )
57
+ )
58
+
59
+ (:fixtures
60
+ floor - floor
61
+ )
62
+
63
+ (:objects
64
+ cream_cheese_1 - cream_cheese
65
+ basket_1 - basket
66
+ alphabet_soup_1 - alphabet_soup
67
+ milk_1 - milk
68
+ tomato_sauce_1 - tomato_sauce
69
+ butter_1 - butter
70
+ orange_juice_1 - orange_juice
71
+ )
72
+
73
+ (:obj_of_interest
74
+ cream_cheese_1
75
+ basket_1
76
+ )
77
+
78
+ (:init
79
+ (On cream_cheese_1 floor_target_object_region)
80
+ (On alphabet_soup_1 floor_other_object_region_0)
81
+ (On milk_1 floor_other_object_region_1)
82
+ (On tomato_sauce_1 floor_other_object_region_2)
83
+ (On butter_1 floor_other_object_region_3)
84
+ (On orange_juice_1 floor_other_object_region_4)
85
+ (On basket_1 floor_bin_region)
86
+ )
87
+
88
+ (:goal
89
+ (And (In cream_cheese_1 basket_1_contain_region))
90
+ )
91
+
92
+ (:perturbation_config
93
+ (:case visual_noise_glare)
94
+ (:category visual_noise_glare)
95
+ (:source_suite libero_object)
96
+ (:source_task pick_up_the_cream_cheese_and_place_it_in_the_basket)
97
+ (:bddl_only true)
98
+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
99
+ (:lighting
100
+ (:enabled true)
101
+ (:mode dark_lighting)
102
+ (:ambient 0.020)
103
+ (:diffuse 0.16)
104
+ (:specular 0.010)
105
+ )
106
+ (:observation
107
+ (:enabled true)
108
+ (:mode dark_noise)
109
+ (:brightness 0.68)
110
+ (:sigma 12.0)
111
+ )
112
+ (:camera
113
+ (:enabled false)
114
+ (:mode none)
115
+ (:name agentview)
116
+ (:pos 0.0 0.0 0.0)
117
+ (:quat 1.0 0.0 0.0 0.0)
118
+ )
119
+ (:runtime_move
120
+ (:enabled false)
121
+ (:mode none)
122
+ (:object cream_cheese_1)
123
+ (:step 0)
124
+ (:delta_xy 0.0 0.0)
125
+ (:min_delta_norm 0.0)
126
+ )
127
+ (:object_appearance
128
+ (:enabled false)
129
+ (:mode none)
130
+ (:targets basket_1)
131
+ (:rgba 0.35 0.34 0.32 1.0)
132
+ (:override_material_rgba false)
133
+ (:disable_material_texture false)
134
+ (:apply_visible_geom_rgba false)
135
+ )
136
+ (:object_placement
137
+ (:enabled false)
138
+ (:mode none)
139
+ (:reference cream_cheese_1)
140
+ (:front_direction 1.0 0.0)
141
+ (:targets black_book_occluder_1)
142
+ (:offsets_xy (
143
+ (0.0 0.0)
144
+ ))
145
+ (:target_quat 1.0 0.0 0.0 0.0)
146
+ (:z_offset 0.0)
147
+ (:mesh_scale 1.0 1.0 1.0)
148
+ (:min_reference_distance 0.0)
149
+ (:pin_targets false)
150
+ )
151
+ (:object_shape
152
+ (:enabled false)
153
+ (:mode none)
154
+ (:target cream_cheese_1)
155
+ (:mesh_scale 1.0 1.0 1.0)
156
+ )
157
+ (:initial_pose
158
+ (:enabled false)
159
+ (:mode none)
160
+ (:target cream_cheese_1)
161
+ (:delta_xy 0.0 0.0)
162
+ (:min_delta_norm 0.0)
163
+ (:yaw 0.0)
164
+ )
165
+ )
166
+
167
+ )
bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl ADDED
@@ -0,0 +1,167 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Floor_Manipulation)
2
+ (:domain robosuite)
3
+ (:language Pick the ketchup and place it in the basket)
4
+ (:regions
5
+ (bin_region
6
+ (:target floor)
7
+ (:ranges (
8
+ (-0.01 0.25 0.01 0.27)
9
+ )
10
+ )
11
+ )
12
+ (target_object_region
13
+ (:target floor)
14
+ (:ranges (
15
+ (-0.145 -0.265 -0.095 -0.215)
16
+ )
17
+ )
18
+ )
19
+ (other_object_region_0
20
+ (:target floor)
21
+ (:ranges (
22
+ (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
23
+ )
24
+ )
25
+ )
26
+ (other_object_region_1
27
+ (:target floor)
28
+ (:ranges (
29
+ (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
30
+ )
31
+ )
32
+ )
33
+ (other_object_region_2
34
+ (:target floor)
35
+ (:ranges (
36
+ (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
37
+ )
38
+ )
39
+ )
40
+ (other_object_region_3
41
+ (:target floor)
42
+ (:ranges (
43
+ (0.125 0.0049999999999999975 0.175 0.055)
44
+ )
45
+ )
46
+ )
47
+ (other_object_region_4
48
+ (:target floor)
49
+ (:ranges (
50
+ (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
51
+ )
52
+ )
53
+ )
54
+ (contain_region
55
+ (:target basket_1)
56
+ )
57
+ )
58
+
59
+ (:fixtures
60
+ floor - floor
61
+ )
62
+
63
+ (:objects
64
+ ketchup_1 - ketchup
65
+ basket_1 - basket
66
+ bbq_sauce_1 - bbq_sauce
67
+ salad_dressing_1 - salad_dressing
68
+ alphabet_soup_1 - alphabet_soup
69
+ cream_cheese_1 - cream_cheese
70
+ milk_1 - milk
71
+ )
72
+
73
+ (:obj_of_interest
74
+ ketchup_1
75
+ basket_1
76
+ )
77
+
78
+ (:init
79
+ (On ketchup_1 floor_target_object_region)
80
+ (On bbq_sauce_1 floor_other_object_region_0)
81
+ (On salad_dressing_1 floor_other_object_region_1)
82
+ (On alphabet_soup_1 floor_other_object_region_2)
83
+ (On cream_cheese_1 floor_other_object_region_3)
84
+ (On milk_1 floor_other_object_region_4)
85
+ (On basket_1 floor_bin_region)
86
+ )
87
+
88
+ (:goal
89
+ (And (In ketchup_1 basket_1_contain_region))
90
+ )
91
+
92
+ (:perturbation_config
93
+ (:case visual_noise_glare)
94
+ (:category visual_noise_glare)
95
+ (:source_suite libero_object)
96
+ (:source_task pick_up_the_ketchup_and_place_it_in_the_basket)
97
+ (:bddl_only true)
98
+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
99
+ (:lighting
100
+ (:enabled true)
101
+ (:mode dark_lighting)
102
+ (:ambient 0.020)
103
+ (:diffuse 0.16)
104
+ (:specular 0.010)
105
+ )
106
+ (:observation
107
+ (:enabled true)
108
+ (:mode dark_noise)
109
+ (:brightness 0.68)
110
+ (:sigma 12.0)
111
+ )
112
+ (:camera
113
+ (:enabled false)
114
+ (:mode none)
115
+ (:name agentview)
116
+ (:pos 0.0 0.0 0.0)
117
+ (:quat 1.0 0.0 0.0 0.0)
118
+ )
119
+ (:runtime_move
120
+ (:enabled false)
121
+ (:mode none)
122
+ (:object ketchup_1)
123
+ (:step 0)
124
+ (:delta_xy 0.0 0.0)
125
+ (:min_delta_norm 0.0)
126
+ )
127
+ (:object_appearance
128
+ (:enabled false)
129
+ (:mode none)
130
+ (:targets basket_1)
131
+ (:rgba 0.35 0.34 0.32 1.0)
132
+ (:override_material_rgba false)
133
+ (:disable_material_texture false)
134
+ (:apply_visible_geom_rgba false)
135
+ )
136
+ (:object_placement
137
+ (:enabled false)
138
+ (:mode none)
139
+ (:reference ketchup_1)
140
+ (:front_direction 1.0 0.0)
141
+ (:targets black_book_occluder_1)
142
+ (:offsets_xy (
143
+ (0.0 0.0)
144
+ ))
145
+ (:target_quat 1.0 0.0 0.0 0.0)
146
+ (:z_offset 0.0)
147
+ (:mesh_scale 1.0 1.0 1.0)
148
+ (:min_reference_distance 0.0)
149
+ (:pin_targets false)
150
+ )
151
+ (:object_shape
152
+ (:enabled false)
153
+ (:mode none)
154
+ (:target ketchup_1)
155
+ (:mesh_scale 1.0 1.0 1.0)
156
+ )
157
+ (:initial_pose
158
+ (:enabled false)
159
+ (:mode none)
160
+ (:target ketchup_1)
161
+ (:delta_xy 0.0 0.0)
162
+ (:min_delta_norm 0.0)
163
+ (:yaw 0.0)
164
+ )
165
+ )
166
+
167
+ )
bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl ADDED
@@ -0,0 +1,167 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Floor_Manipulation)
2
+ (:domain robosuite)
3
+ (:language Pick the milk and place it in the basket)
4
+ (:regions
5
+ (bin_region
6
+ (:target floor)
7
+ (:ranges (
8
+ (-0.01 0.25 0.01 0.27)
9
+ )
10
+ )
11
+ )
12
+ (target_object_region
13
+ (:target floor)
14
+ (:ranges (
15
+ (-0.145 -0.265 -0.095 -0.215)
16
+ )
17
+ )
18
+ )
19
+ (other_object_region_0
20
+ (:target floor)
21
+ (:ranges (
22
+ (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
23
+ )
24
+ )
25
+ )
26
+ (other_object_region_1
27
+ (:target floor)
28
+ (:ranges (
29
+ (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
30
+ )
31
+ )
32
+ )
33
+ (other_object_region_2
34
+ (:target floor)
35
+ (:ranges (
36
+ (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
37
+ )
38
+ )
39
+ )
40
+ (other_object_region_3
41
+ (:target floor)
42
+ (:ranges (
43
+ (0.125 0.0049999999999999975 0.175 0.055)
44
+ )
45
+ )
46
+ )
47
+ (other_object_region_4
48
+ (:target floor)
49
+ (:ranges (
50
+ (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
51
+ )
52
+ )
53
+ )
54
+ (contain_region
55
+ (:target basket_1)
56
+ )
57
+ )
58
+
59
+ (:fixtures
60
+ floor - floor
61
+ )
62
+
63
+ (:objects
64
+ milk_1 - milk
65
+ basket_1 - basket
66
+ cream_cheese_1 - cream_cheese
67
+ tomato_sauce_1 - tomato_sauce
68
+ butter_1 - butter
69
+ orange_juice_1 - orange_juice
70
+ chocolate_pudding_1 - chocolate_pudding
71
+ )
72
+
73
+ (:obj_of_interest
74
+ milk_1
75
+ basket_1
76
+ )
77
+
78
+ (:init
79
+ (On milk_1 floor_target_object_region)
80
+ (On cream_cheese_1 floor_other_object_region_0)
81
+ (On tomato_sauce_1 floor_other_object_region_1)
82
+ (On butter_1 floor_other_object_region_2)
83
+ (On orange_juice_1 floor_other_object_region_3)
84
+ (On chocolate_pudding_1 floor_other_object_region_4)
85
+ (On basket_1 floor_bin_region)
86
+ )
87
+
88
+ (:goal
89
+ (And (In milk_1 basket_1_contain_region))
90
+ )
91
+
92
+ (:perturbation_config
93
+ (:case visual_noise_glare)
94
+ (:category visual_noise_glare)
95
+ (:source_suite libero_object)
96
+ (:source_task pick_up_the_milk_and_place_it_in_the_basket)
97
+ (:bddl_only true)
98
+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
99
+ (:lighting
100
+ (:enabled true)
101
+ (:mode dark_lighting)
102
+ (:ambient 0.020)
103
+ (:diffuse 0.16)
104
+ (:specular 0.010)
105
+ )
106
+ (:observation
107
+ (:enabled true)
108
+ (:mode dark_noise)
109
+ (:brightness 0.68)
110
+ (:sigma 12.0)
111
+ )
112
+ (:camera
113
+ (:enabled false)
114
+ (:mode none)
115
+ (:name agentview)
116
+ (:pos 0.0 0.0 0.0)
117
+ (:quat 1.0 0.0 0.0 0.0)
118
+ )
119
+ (:runtime_move
120
+ (:enabled false)
121
+ (:mode none)
122
+ (:object milk_1)
123
+ (:step 0)
124
+ (:delta_xy 0.0 0.0)
125
+ (:min_delta_norm 0.0)
126
+ )
127
+ (:object_appearance
128
+ (:enabled false)
129
+ (:mode none)
130
+ (:targets basket_1)
131
+ (:rgba 0.35 0.34 0.32 1.0)
132
+ (:override_material_rgba false)
133
+ (:disable_material_texture false)
134
+ (:apply_visible_geom_rgba false)
135
+ )
136
+ (:object_placement
137
+ (:enabled false)
138
+ (:mode none)
139
+ (:reference milk_1)
140
+ (:front_direction 1.0 0.0)
141
+ (:targets black_book_occluder_1)
142
+ (:offsets_xy (
143
+ (0.0 0.0)
144
+ ))
145
+ (:target_quat 1.0 0.0 0.0 0.0)
146
+ (:z_offset 0.0)
147
+ (:mesh_scale 1.0 1.0 1.0)
148
+ (:min_reference_distance 0.0)
149
+ (:pin_targets false)
150
+ )
151
+ (:object_shape
152
+ (:enabled false)
153
+ (:mode none)
154
+ (:target milk_1)
155
+ (:mesh_scale 1.0 1.0 1.0)
156
+ )
157
+ (:initial_pose
158
+ (:enabled false)
159
+ (:mode none)
160
+ (:target milk_1)
161
+ (:delta_xy 0.0 0.0)
162
+ (:min_delta_norm 0.0)
163
+ (:yaw 0.0)
164
+ )
165
+ )
166
+
167
+ )
bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl ADDED
@@ -0,0 +1,167 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Floor_Manipulation)
2
+ (:domain robosuite)
3
+ (:language Pick the orange juice and place it in the basket)
4
+ (:regions
5
+ (bin_region
6
+ (:target floor)
7
+ (:ranges (
8
+ (-0.01 0.25 0.01 0.27)
9
+ )
10
+ )
11
+ )
12
+ (target_object_region
13
+ (:target floor)
14
+ (:ranges (
15
+ (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
16
+ )
17
+ )
18
+ )
19
+ (other_object_region_0
20
+ (:target floor)
21
+ (:ranges (
22
+ (-0.145 -0.265 -0.095 -0.215)
23
+ )
24
+ )
25
+ )
26
+ (other_object_region_1
27
+ (:target floor)
28
+ (:ranges (
29
+ (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
30
+ )
31
+ )
32
+ )
33
+ (other_object_region_2
34
+ (:target floor)
35
+ (:ranges (
36
+ (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
37
+ )
38
+ )
39
+ )
40
+ (other_object_region_3
41
+ (:target floor)
42
+ (:ranges (
43
+ (0.125 0.0049999999999999975 0.175 0.055)
44
+ )
45
+ )
46
+ )
47
+ (other_object_region_4
48
+ (:target floor)
49
+ (:ranges (
50
+ (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
51
+ )
52
+ )
53
+ )
54
+ (contain_region
55
+ (:target basket_1)
56
+ )
57
+ )
58
+
59
+ (:fixtures
60
+ floor - floor
61
+ )
62
+
63
+ (:objects
64
+ orange_juice_1 - orange_juice
65
+ basket_1 - basket
66
+ butter_1 - butter
67
+ chocolate_pudding_1 - chocolate_pudding
68
+ bbq_sauce_1 - bbq_sauce
69
+ ketchup_1 - ketchup
70
+ salad_dressing_1 - salad_dressing
71
+ )
72
+
73
+ (:obj_of_interest
74
+ orange_juice_1
75
+ basket_1
76
+ )
77
+
78
+ (:init
79
+ (On orange_juice_1 floor_target_object_region)
80
+ (On butter_1 floor_other_object_region_0)
81
+ (On chocolate_pudding_1 floor_other_object_region_1)
82
+ (On bbq_sauce_1 floor_other_object_region_2)
83
+ (On ketchup_1 floor_other_object_region_3)
84
+ (On salad_dressing_1 floor_other_object_region_4)
85
+ (On basket_1 floor_bin_region)
86
+ )
87
+
88
+ (:goal
89
+ (And (In orange_juice_1 basket_1_contain_region))
90
+ )
91
+
92
+ (:perturbation_config
93
+ (:case visual_noise_glare)
94
+ (:category visual_noise_glare)
95
+ (:source_suite libero_object)
96
+ (:source_task pick_up_the_orange_juice_and_place_it_in_the_basket)
97
+ (:bddl_only true)
98
+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
99
+ (:lighting
100
+ (:enabled true)
101
+ (:mode dark_lighting)
102
+ (:ambient 0.020)
103
+ (:diffuse 0.16)
104
+ (:specular 0.010)
105
+ )
106
+ (:observation
107
+ (:enabled true)
108
+ (:mode dark_noise)
109
+ (:brightness 0.68)
110
+ (:sigma 12.0)
111
+ )
112
+ (:camera
113
+ (:enabled false)
114
+ (:mode none)
115
+ (:name agentview)
116
+ (:pos 0.0 0.0 0.0)
117
+ (:quat 1.0 0.0 0.0 0.0)
118
+ )
119
+ (:runtime_move
120
+ (:enabled false)
121
+ (:mode none)
122
+ (:object orange_juice_1)
123
+ (:step 0)
124
+ (:delta_xy 0.0 0.0)
125
+ (:min_delta_norm 0.0)
126
+ )
127
+ (:object_appearance
128
+ (:enabled false)
129
+ (:mode none)
130
+ (:targets basket_1)
131
+ (:rgba 0.35 0.34 0.32 1.0)
132
+ (:override_material_rgba false)
133
+ (:disable_material_texture false)
134
+ (:apply_visible_geom_rgba false)
135
+ )
136
+ (:object_placement
137
+ (:enabled false)
138
+ (:mode none)
139
+ (:reference orange_juice_1)
140
+ (:front_direction 1.0 0.0)
141
+ (:targets black_book_occluder_1)
142
+ (:offsets_xy (
143
+ (0.0 0.0)
144
+ ))
145
+ (:target_quat 1.0 0.0 0.0 0.0)
146
+ (:z_offset 0.0)
147
+ (:mesh_scale 1.0 1.0 1.0)
148
+ (:min_reference_distance 0.0)
149
+ (:pin_targets false)
150
+ )
151
+ (:object_shape
152
+ (:enabled false)
153
+ (:mode none)
154
+ (:target orange_juice_1)
155
+ (:mesh_scale 1.0 1.0 1.0)
156
+ )
157
+ (:initial_pose
158
+ (:enabled false)
159
+ (:mode none)
160
+ (:target orange_juice_1)
161
+ (:delta_xy 0.0 0.0)
162
+ (:min_delta_norm 0.0)
163
+ (:yaw 0.0)
164
+ )
165
+ )
166
+
167
+ )
bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl ADDED
@@ -0,0 +1,167 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Floor_Manipulation)
2
+ (:domain robosuite)
3
+ (:language Pick the salad dressing and place it in the basket)
4
+ (:regions
5
+ (bin_region
6
+ (:target floor)
7
+ (:ranges (
8
+ (-0.01 0.25 0.01 0.27)
9
+ )
10
+ )
11
+ )
12
+ (target_object_region
13
+ (:target floor)
14
+ (:ranges (
15
+ (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
16
+ )
17
+ )
18
+ )
19
+ (other_object_region_0
20
+ (:target floor)
21
+ (:ranges (
22
+ (-0.145 -0.265 -0.095 -0.215)
23
+ )
24
+ )
25
+ )
26
+ (other_object_region_1
27
+ (:target floor)
28
+ (:ranges (
29
+ (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
30
+ )
31
+ )
32
+ )
33
+ (other_object_region_2
34
+ (:target floor)
35
+ (:ranges (
36
+ (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
37
+ )
38
+ )
39
+ )
40
+ (other_object_region_3
41
+ (:target floor)
42
+ (:ranges (
43
+ (0.125 0.0049999999999999975 0.175 0.055)
44
+ )
45
+ )
46
+ )
47
+ (other_object_region_4
48
+ (:target floor)
49
+ (:ranges (
50
+ (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
51
+ )
52
+ )
53
+ )
54
+ (contain_region
55
+ (:target basket_1)
56
+ )
57
+ )
58
+
59
+ (:fixtures
60
+ floor - floor
61
+ )
62
+
63
+ (:objects
64
+ salad_dressing_1 - salad_dressing
65
+ basket_1 - basket
66
+ ketchup_1 - ketchup
67
+ alphabet_soup_1 - alphabet_soup
68
+ cream_cheese_1 - cream_cheese
69
+ milk_1 - milk
70
+ tomato_sauce_1 - tomato_sauce
71
+ )
72
+
73
+ (:obj_of_interest
74
+ salad_dressing_1
75
+ basket_1
76
+ )
77
+
78
+ (:init
79
+ (On salad_dressing_1 floor_target_object_region)
80
+ (On ketchup_1 floor_other_object_region_0)
81
+ (On alphabet_soup_1 floor_other_object_region_1)
82
+ (On cream_cheese_1 floor_other_object_region_2)
83
+ (On milk_1 floor_other_object_region_3)
84
+ (On tomato_sauce_1 floor_other_object_region_4)
85
+ (On basket_1 floor_bin_region)
86
+ )
87
+
88
+ (:goal
89
+ (And (In salad_dressing_1 basket_1_contain_region))
90
+ )
91
+
92
+ (:perturbation_config
93
+ (:case visual_noise_glare)
94
+ (:category visual_noise_glare)
95
+ (:source_suite libero_object)
96
+ (:source_task pick_up_the_salad_dressing_and_place_it_in_the_basket)
97
+ (:bddl_only true)
98
+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
99
+ (:lighting
100
+ (:enabled true)
101
+ (:mode dark_lighting)
102
+ (:ambient 0.020)
103
+ (:diffuse 0.16)
104
+ (:specular 0.010)
105
+ )
106
+ (:observation
107
+ (:enabled true)
108
+ (:mode dark_noise)
109
+ (:brightness 0.68)
110
+ (:sigma 12.0)
111
+ )
112
+ (:camera
113
+ (:enabled false)
114
+ (:mode none)
115
+ (:name agentview)
116
+ (:pos 0.0 0.0 0.0)
117
+ (:quat 1.0 0.0 0.0 0.0)
118
+ )
119
+ (:runtime_move
120
+ (:enabled false)
121
+ (:mode none)
122
+ (:object salad_dressing_1)
123
+ (:step 0)
124
+ (:delta_xy 0.0 0.0)
125
+ (:min_delta_norm 0.0)
126
+ )
127
+ (:object_appearance
128
+ (:enabled false)
129
+ (:mode none)
130
+ (:targets basket_1)
131
+ (:rgba 0.35 0.34 0.32 1.0)
132
+ (:override_material_rgba false)
133
+ (:disable_material_texture false)
134
+ (:apply_visible_geom_rgba false)
135
+ )
136
+ (:object_placement
137
+ (:enabled false)
138
+ (:mode none)
139
+ (:reference salad_dressing_1)
140
+ (:front_direction 1.0 0.0)
141
+ (:targets black_book_occluder_1)
142
+ (:offsets_xy (
143
+ (0.0 0.0)
144
+ ))
145
+ (:target_quat 1.0 0.0 0.0 0.0)
146
+ (:z_offset 0.0)
147
+ (:mesh_scale 1.0 1.0 1.0)
148
+ (:min_reference_distance 0.0)
149
+ (:pin_targets false)
150
+ )
151
+ (:object_shape
152
+ (:enabled false)
153
+ (:mode none)
154
+ (:target salad_dressing_1)
155
+ (:mesh_scale 1.0 1.0 1.0)
156
+ )
157
+ (:initial_pose
158
+ (:enabled false)
159
+ (:mode none)
160
+ (:target salad_dressing_1)
161
+ (:delta_xy 0.0 0.0)
162
+ (:min_delta_norm 0.0)
163
+ (:yaw 0.0)
164
+ )
165
+ )
166
+
167
+ )
bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl ADDED
@@ -0,0 +1,167 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Floor_Manipulation)
2
+ (:domain robosuite)
3
+ (:language Pick the tomato sauce and place it in the basket)
4
+ (:regions
5
+ (bin_region
6
+ (:target floor)
7
+ (:ranges (
8
+ (-0.01 0.25 0.01 0.27)
9
+ )
10
+ )
11
+ )
12
+ (target_object_region
13
+ (:target floor)
14
+ (:ranges (
15
+ (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
16
+ )
17
+ )
18
+ )
19
+ (other_object_region_0
20
+ (:target floor)
21
+ (:ranges (
22
+ (-0.145 -0.265 -0.095 -0.215)
23
+ )
24
+ )
25
+ )
26
+ (other_object_region_1
27
+ (:target floor)
28
+ (:ranges (
29
+ (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
30
+ )
31
+ )
32
+ )
33
+ (other_object_region_2
34
+ (:target floor)
35
+ (:ranges (
36
+ (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
37
+ )
38
+ )
39
+ )
40
+ (other_object_region_3
41
+ (:target floor)
42
+ (:ranges (
43
+ (0.125 0.0049999999999999975 0.175 0.055)
44
+ )
45
+ )
46
+ )
47
+ (other_object_region_4
48
+ (:target floor)
49
+ (:ranges (
50
+ (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
51
+ )
52
+ )
53
+ )
54
+ (contain_region
55
+ (:target basket_1)
56
+ )
57
+ )
58
+
59
+ (:fixtures
60
+ floor - floor
61
+ )
62
+
63
+ (:objects
64
+ tomato_sauce_1 - tomato_sauce
65
+ basket_1 - basket
66
+ milk_1 - milk
67
+ butter_1 - butter
68
+ orange_juice_1 - orange_juice
69
+ chocolate_pudding_1 - chocolate_pudding
70
+ bbq_sauce_1 - bbq_sauce
71
+ )
72
+
73
+ (:obj_of_interest
74
+ tomato_sauce_1
75
+ basket_1
76
+ )
77
+
78
+ (:init
79
+ (On tomato_sauce_1 floor_target_object_region)
80
+ (On milk_1 floor_other_object_region_0)
81
+ (On butter_1 floor_other_object_region_1)
82
+ (On orange_juice_1 floor_other_object_region_2)
83
+ (On chocolate_pudding_1 floor_other_object_region_3)
84
+ (On bbq_sauce_1 floor_other_object_region_4)
85
+ (On basket_1 floor_bin_region)
86
+ )
87
+
88
+ (:goal
89
+ (And (In tomato_sauce_1 basket_1_contain_region))
90
+ )
91
+
92
+ (:perturbation_config
93
+ (:case visual_noise_glare)
94
+ (:category visual_noise_glare)
95
+ (:source_suite libero_object)
96
+ (:source_task pick_up_the_tomato_sauce_and_place_it_in_the_basket)
97
+ (:bddl_only true)
98
+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
99
+ (:lighting
100
+ (:enabled true)
101
+ (:mode dark_lighting)
102
+ (:ambient 0.020)
103
+ (:diffuse 0.16)
104
+ (:specular 0.010)
105
+ )
106
+ (:observation
107
+ (:enabled true)
108
+ (:mode dark_noise)
109
+ (:brightness 0.68)
110
+ (:sigma 12.0)
111
+ )
112
+ (:camera
113
+ (:enabled false)
114
+ (:mode none)
115
+ (:name agentview)
116
+ (:pos 0.0 0.0 0.0)
117
+ (:quat 1.0 0.0 0.0 0.0)
118
+ )
119
+ (:runtime_move
120
+ (:enabled false)
121
+ (:mode none)
122
+ (:object tomato_sauce_1)
123
+ (:step 0)
124
+ (:delta_xy 0.0 0.0)
125
+ (:min_delta_norm 0.0)
126
+ )
127
+ (:object_appearance
128
+ (:enabled false)
129
+ (:mode none)
130
+ (:targets basket_1)
131
+ (:rgba 0.35 0.34 0.32 1.0)
132
+ (:override_material_rgba false)
133
+ (:disable_material_texture false)
134
+ (:apply_visible_geom_rgba false)
135
+ )
136
+ (:object_placement
137
+ (:enabled false)
138
+ (:mode none)
139
+ (:reference tomato_sauce_1)
140
+ (:front_direction 1.0 0.0)
141
+ (:targets black_book_occluder_1)
142
+ (:offsets_xy (
143
+ (0.0 0.0)
144
+ ))
145
+ (:target_quat 1.0 0.0 0.0 0.0)
146
+ (:z_offset 0.0)
147
+ (:mesh_scale 1.0 1.0 1.0)
148
+ (:min_reference_distance 0.0)
149
+ (:pin_targets false)
150
+ )
151
+ (:object_shape
152
+ (:enabled false)
153
+ (:mode none)
154
+ (:target tomato_sauce_1)
155
+ (:mesh_scale 1.0 1.0 1.0)
156
+ )
157
+ (:initial_pose
158
+ (:enabled false)
159
+ (:mode none)
160
+ (:target tomato_sauce_1)
161
+ (:delta_xy 0.0 0.0)
162
+ (:min_delta_norm 0.0)
163
+ (:yaw 0.0)
164
+ )
165
+ )
166
+
167
+ )
bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl ADDED
@@ -0,0 +1,210 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Tabletop_Manipulation)
2
+ (:domain robosuite)
3
+ (:language Pick the akita black bowl between the plate and the ramekin and place it on the plate)
4
+ (:regions
5
+ (plate_region
6
+ (:target main_table)
7
+ (:ranges (
8
+ (0.05 0.19 0.07 0.21)
9
+ )
10
+ )
11
+ )
12
+ (next_to_plate_region
13
+ (:target main_table)
14
+ (:ranges (
15
+ (0.0 0.3 0.02 0.32)
16
+ )
17
+ )
18
+ )
19
+ (box_region
20
+ (:target main_table)
21
+ (:ranges (
22
+ (0.06 0.02 0.08 0.04)
23
+ )
24
+ )
25
+ )
26
+ (next_to_box_region
27
+ (:target main_table)
28
+ (:ranges (
29
+ (0.12 -0.08 0.14 -0.06)
30
+ )
31
+ )
32
+ )
33
+ (between_plate_ramekin_region
34
+ (:target main_table)
35
+ (:ranges (
36
+ (-0.06 0.19 -0.04 0.21)
37
+ )
38
+ )
39
+ )
40
+ (ramekin_region
41
+ (:target main_table)
42
+ (:ranges (
43
+ (-0.21 0.19 -0.19 0.21)
44
+ )
45
+ )
46
+ )
47
+ (next_to_ramekin_region
48
+ (:target main_table)
49
+ (:ranges (
50
+ (-0.19 0.31 -0.17 0.33)
51
+ )
52
+ )
53
+ )
54
+ (table_center
55
+ (:target main_table)
56
+ (:ranges (
57
+ (-0.1 -0.01 -0.05 0.01)
58
+ )
59
+ )
60
+ )
61
+ (table_front
62
+ (:target main_table)
63
+ (:ranges (
64
+ (0.19 -0.01 0.21 0.01)
65
+ )
66
+ )
67
+ )
68
+ (cabinet_region
69
+ (:target main_table)
70
+ (:ranges (
71
+ (0.02 -0.28 0.04 -0.26)
72
+ )
73
+ )
74
+ (:yaw_rotation (
75
+ (2.6613777765410678 2.7242096296128633)
76
+ )
77
+ )
78
+ )
79
+ (stove_region
80
+ (:target main_table)
81
+ (:ranges (
82
+ (-0.42 -0.15 -0.4 -0.13)
83
+ )
84
+ )
85
+ )
86
+ (top_region
87
+ (:target wooden_cabinet_1)
88
+ )
89
+ (middle_region
90
+ (:target wooden_cabinet_1)
91
+ )
92
+ (bottom_region
93
+ (:target wooden_cabinet_1)
94
+ )
95
+ (top_side
96
+ (:target wooden_cabinet_1)
97
+ )
98
+ (cook_region
99
+ (:target flat_stove_1)
100
+ )
101
+ )
102
+
103
+ (:fixtures
104
+ main_table - table
105
+ wooden_cabinet_1 - wooden_cabinet
106
+ flat_stove_1 - flat_stove
107
+ )
108
+
109
+ (:objects
110
+ akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
111
+ cookies_1 - cookies
112
+ glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
113
+ plate_1 - plate
114
+ )
115
+
116
+ (:obj_of_interest
117
+ akita_black_bowl_1
118
+ plate_1
119
+ )
120
+
121
+ (:init
122
+ (On akita_black_bowl_1 main_table_between_plate_ramekin_region)
123
+ (On akita_black_bowl_2 main_table_next_to_ramekin_region)
124
+ (On plate_1 main_table_plate_region)
125
+ (On cookies_1 main_table_box_region)
126
+ (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
127
+ (On wooden_cabinet_1 main_table_cabinet_region)
128
+ (On flat_stove_1 main_table_stove_region)
129
+ )
130
+
131
+ (:goal
132
+ (And (On akita_black_bowl_1 plate_1))
133
+ )
134
+
135
+ (:perturbation_config
136
+ (:case visual_noise_glare)
137
+ (:category visual_noise_glare)
138
+ (:source_suite libero_spatial)
139
+ (:source_task pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate)
140
+ (:bddl_only true)
141
+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
142
+ (:lighting
143
+ (:enabled true)
144
+ (:mode dark_lighting)
145
+ (:ambient 0.020)
146
+ (:diffuse 0.16)
147
+ (:specular 0.010)
148
+ )
149
+ (:observation
150
+ (:enabled true)
151
+ (:mode dark_noise)
152
+ (:brightness 0.68)
153
+ (:sigma 12.0)
154
+ )
155
+ (:camera
156
+ (:enabled false)
157
+ (:mode none)
158
+ (:name agentview)
159
+ (:pos 0.0 0.0 0.0)
160
+ (:quat 1.0 0.0 0.0 0.0)
161
+ )
162
+ (:runtime_move
163
+ (:enabled false)
164
+ (:mode none)
165
+ (:object akita_black_bowl_1)
166
+ (:step 0)
167
+ (:delta_xy 0.0 0.0)
168
+ (:min_delta_norm 0.0)
169
+ )
170
+ (:object_appearance
171
+ (:enabled false)
172
+ (:mode none)
173
+ (:targets plate_1)
174
+ (:rgba 0.72 0.63 0.50 1.0)
175
+ (:override_material_rgba false)
176
+ (:disable_material_texture false)
177
+ (:apply_visible_geom_rgba false)
178
+ )
179
+ (:object_placement
180
+ (:enabled false)
181
+ (:mode none)
182
+ (:reference akita_black_bowl_1)
183
+ (:front_direction 1.0 0.0)
184
+ (:targets black_book_occluder_1)
185
+ (:offsets_xy (
186
+ (0.0 0.0)
187
+ ))
188
+ (:target_quat 1.0 0.0 0.0 0.0)
189
+ (:z_offset 0.0)
190
+ (:mesh_scale 1.0 1.0 1.0)
191
+ (:min_reference_distance 0.0)
192
+ (:pin_targets false)
193
+ )
194
+ (:object_shape
195
+ (:enabled false)
196
+ (:mode none)
197
+ (:target akita_black_bowl_1)
198
+ (:mesh_scale 1.0 1.0 1.0)
199
+ )
200
+ (:initial_pose
201
+ (:enabled false)
202
+ (:mode none)
203
+ (:target akita_black_bowl_1)
204
+ (:delta_xy 0.0 0.0)
205
+ (:min_delta_norm 0.0)
206
+ (:yaw 0.0)
207
+ )
208
+ )
209
+
210
+ )
bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl ADDED
@@ -0,0 +1,210 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Tabletop_Manipulation)
2
+ (:domain robosuite)
3
+ (:language Pick the akita black bowl from table center and place it on the plate)
4
+ (:regions
5
+ (plate_region
6
+ (:target main_table)
7
+ (:ranges (
8
+ (0.05 0.19 0.07 0.21)
9
+ )
10
+ )
11
+ )
12
+ (next_to_plate_region
13
+ (:target main_table)
14
+ (:ranges (
15
+ (0.0 0.3 0.02 0.32)
16
+ )
17
+ )
18
+ )
19
+ (box_region
20
+ (:target main_table)
21
+ (:ranges (
22
+ (0.06 0.02 0.08 0.04)
23
+ )
24
+ )
25
+ )
26
+ (next_to_box_region
27
+ (:target main_table)
28
+ (:ranges (
29
+ (0.12 -0.08 0.14 -0.06)
30
+ )
31
+ )
32
+ )
33
+ (between_plate_ramekin_region
34
+ (:target main_table)
35
+ (:ranges (
36
+ (-0.06 0.19 -0.04 0.21)
37
+ )
38
+ )
39
+ )
40
+ (ramekin_region
41
+ (:target main_table)
42
+ (:ranges (
43
+ (-0.21 0.19 -0.19 0.21)
44
+ )
45
+ )
46
+ )
47
+ (next_to_ramekin_region
48
+ (:target main_table)
49
+ (:ranges (
50
+ (-0.19 0.31 -0.17 0.33)
51
+ )
52
+ )
53
+ )
54
+ (table_center
55
+ (:target main_table)
56
+ (:ranges (
57
+ (-0.1 -0.01 -0.05 0.01)
58
+ )
59
+ )
60
+ )
61
+ (table_front
62
+ (:target main_table)
63
+ (:ranges (
64
+ (0.19 -0.01 0.21 0.01)
65
+ )
66
+ )
67
+ )
68
+ (cabinet_region
69
+ (:target main_table)
70
+ (:ranges (
71
+ (0.02 -0.28 0.04 -0.26)
72
+ )
73
+ )
74
+ (:yaw_rotation (
75
+ (2.6613777765410678 2.7242096296128633)
76
+ )
77
+ )
78
+ )
79
+ (stove_region
80
+ (:target main_table)
81
+ (:ranges (
82
+ (-0.42 -0.15 -0.4 -0.13)
83
+ )
84
+ )
85
+ )
86
+ (top_region
87
+ (:target wooden_cabinet_1)
88
+ )
89
+ (middle_region
90
+ (:target wooden_cabinet_1)
91
+ )
92
+ (bottom_region
93
+ (:target wooden_cabinet_1)
94
+ )
95
+ (top_side
96
+ (:target wooden_cabinet_1)
97
+ )
98
+ (cook_region
99
+ (:target flat_stove_1)
100
+ )
101
+ )
102
+
103
+ (:fixtures
104
+ main_table - table
105
+ wooden_cabinet_1 - wooden_cabinet
106
+ flat_stove_1 - flat_stove
107
+ )
108
+
109
+ (:objects
110
+ akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
111
+ cookies_1 - cookies
112
+ glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
113
+ plate_1 - plate
114
+ )
115
+
116
+ (:obj_of_interest
117
+ akita_black_bowl_1
118
+ plate_1
119
+ )
120
+
121
+ (:init
122
+ (On akita_black_bowl_1 main_table_table_center)
123
+ (On akita_black_bowl_2 main_table_next_to_plate_region)
124
+ (On plate_1 main_table_plate_region)
125
+ (On cookies_1 main_table_box_region)
126
+ (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
127
+ (On wooden_cabinet_1 main_table_cabinet_region)
128
+ (On flat_stove_1 main_table_stove_region)
129
+ )
130
+
131
+ (:goal
132
+ (And (On akita_black_bowl_1 plate_1))
133
+ )
134
+
135
+ (:perturbation_config
136
+ (:case visual_noise_glare)
137
+ (:category visual_noise_glare)
138
+ (:source_suite libero_spatial)
139
+ (:source_task pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate)
140
+ (:bddl_only true)
141
+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
142
+ (:lighting
143
+ (:enabled true)
144
+ (:mode dark_lighting)
145
+ (:ambient 0.020)
146
+ (:diffuse 0.16)
147
+ (:specular 0.010)
148
+ )
149
+ (:observation
150
+ (:enabled true)
151
+ (:mode dark_noise)
152
+ (:brightness 0.68)
153
+ (:sigma 12.0)
154
+ )
155
+ (:camera
156
+ (:enabled false)
157
+ (:mode none)
158
+ (:name agentview)
159
+ (:pos 0.0 0.0 0.0)
160
+ (:quat 1.0 0.0 0.0 0.0)
161
+ )
162
+ (:runtime_move
163
+ (:enabled false)
164
+ (:mode none)
165
+ (:object akita_black_bowl_1)
166
+ (:step 0)
167
+ (:delta_xy 0.0 0.0)
168
+ (:min_delta_norm 0.0)
169
+ )
170
+ (:object_appearance
171
+ (:enabled false)
172
+ (:mode none)
173
+ (:targets plate_1)
174
+ (:rgba 0.72 0.63 0.50 1.0)
175
+ (:override_material_rgba false)
176
+ (:disable_material_texture false)
177
+ (:apply_visible_geom_rgba false)
178
+ )
179
+ (:object_placement
180
+ (:enabled false)
181
+ (:mode none)
182
+ (:reference akita_black_bowl_1)
183
+ (:front_direction 1.0 0.0)
184
+ (:targets black_book_occluder_1)
185
+ (:offsets_xy (
186
+ (0.0 0.0)
187
+ ))
188
+ (:target_quat 1.0 0.0 0.0 0.0)
189
+ (:z_offset 0.0)
190
+ (:mesh_scale 1.0 1.0 1.0)
191
+ (:min_reference_distance 0.0)
192
+ (:pin_targets false)
193
+ )
194
+ (:object_shape
195
+ (:enabled false)
196
+ (:mode none)
197
+ (:target akita_black_bowl_1)
198
+ (:mesh_scale 1.0 1.0 1.0)
199
+ )
200
+ (:initial_pose
201
+ (:enabled false)
202
+ (:mode none)
203
+ (:target akita_black_bowl_1)
204
+ (:delta_xy 0.0 0.0)
205
+ (:min_delta_norm 0.0)
206
+ (:yaw 0.0)
207
+ )
208
+ )
209
+
210
+ )
bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Tabletop_Manipulation)
2
+ (:domain robosuite)
3
+ (:language Pick the akita black bowl in the top layer of the wooden cabinet and place it on the plate)
4
+ (:regions
5
+ (plate_region
6
+ (:target main_table)
7
+ (:ranges (
8
+ (0.05 0.19 0.07 0.21)
9
+ )
10
+ )
11
+ )
12
+ (next_to_plate_region
13
+ (:target main_table)
14
+ (:ranges (
15
+ (0.0 0.3 0.02 0.32)
16
+ )
17
+ )
18
+ )
19
+ (box_region
20
+ (:target main_table)
21
+ (:ranges (
22
+ (0.06 0.02 0.08 0.04)
23
+ )
24
+ )
25
+ )
26
+ (next_to_box_region
27
+ (:target main_table)
28
+ (:ranges (
29
+ (0.12 -0.08 0.14 -0.06)
30
+ )
31
+ )
32
+ )
33
+ (between_plate_ramekin_region
34
+ (:target main_table)
35
+ (:ranges (
36
+ (-0.06 0.19 -0.04 0.21)
37
+ )
38
+ )
39
+ )
40
+ (ramekin_region
41
+ (:target main_table)
42
+ (:ranges (
43
+ (-0.21 0.19 -0.19 0.21)
44
+ )
45
+ )
46
+ )
47
+ (next_to_ramekin_region
48
+ (:target main_table)
49
+ (:ranges (
50
+ (-0.19 0.31 -0.17 0.33)
51
+ )
52
+ )
53
+ )
54
+ (table_center
55
+ (:target main_table)
56
+ (:ranges (
57
+ (-0.1 -0.01 -0.05 0.01)
58
+ )
59
+ )
60
+ )
61
+ (table_front
62
+ (:target main_table)
63
+ (:ranges (
64
+ (0.19 -0.01 0.21 0.01)
65
+ )
66
+ )
67
+ )
68
+ (cabinet_region
69
+ (:target main_table)
70
+ (:ranges (
71
+ (0.02 -0.28 0.04 -0.26)
72
+ )
73
+ )
74
+ (:yaw_rotation (
75
+ (2.6613777765410678 2.7242096296128633)
76
+ )
77
+ )
78
+ )
79
+ (stove_region
80
+ (:target main_table)
81
+ (:ranges (
82
+ (-0.42 -0.15 -0.4 -0.13)
83
+ )
84
+ )
85
+ )
86
+ (top_region
87
+ (:target wooden_cabinet_1)
88
+ )
89
+ (middle_region
90
+ (:target wooden_cabinet_1)
91
+ )
92
+ (bottom_region
93
+ (:target wooden_cabinet_1)
94
+ )
95
+ (top_side
96
+ (:target wooden_cabinet_1)
97
+ )
98
+ (cook_region
99
+ (:target flat_stove_1)
100
+ )
101
+ )
102
+
103
+ (:fixtures
104
+ main_table - table
105
+ wooden_cabinet_1 - wooden_cabinet
106
+ flat_stove_1 - flat_stove
107
+ )
108
+
109
+ (:objects
110
+ akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
111
+ cookies_1 - cookies
112
+ glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
113
+ plate_1 - plate
114
+ )
115
+
116
+ (:obj_of_interest
117
+ akita_black_bowl_1
118
+ plate_1
119
+ )
120
+
121
+ (:init
122
+ (In akita_black_bowl_1 wooden_cabinet_1_top_region)
123
+ (On akita_black_bowl_2 wooden_cabinet_1_top_side)
124
+ (Open wooden_cabinet_1_top_region)
125
+ (On plate_1 main_table_plate_region)
126
+ (On cookies_1 main_table_box_region)
127
+ (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
128
+ (On wooden_cabinet_1 main_table_cabinet_region)
129
+ (On flat_stove_1 main_table_stove_region)
130
+ )
131
+
132
+ (:goal
133
+ (And (On akita_black_bowl_1 plate_1))
134
+ )
135
+
136
+ (:perturbation_config
137
+ (:case visual_noise_glare)
138
+ (:category visual_noise_glare)
139
+ (:source_suite libero_spatial)
140
+ (:source_task pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate)
141
+ (:bddl_only true)
142
+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
143
+ (:lighting
144
+ (:enabled true)
145
+ (:mode dark_lighting)
146
+ (:ambient 0.020)
147
+ (:diffuse 0.16)
148
+ (:specular 0.010)
149
+ )
150
+ (:observation
151
+ (:enabled true)
152
+ (:mode dark_noise)
153
+ (:brightness 0.68)
154
+ (:sigma 12.0)
155
+ )
156
+ (:camera
157
+ (:enabled false)
158
+ (:mode none)
159
+ (:name agentview)
160
+ (:pos 0.0 0.0 0.0)
161
+ (:quat 1.0 0.0 0.0 0.0)
162
+ )
163
+ (:runtime_move
164
+ (:enabled false)
165
+ (:mode none)
166
+ (:object akita_black_bowl_1)
167
+ (:step 0)
168
+ (:delta_xy 0.0 0.0)
169
+ (:min_delta_norm 0.0)
170
+ )
171
+ (:object_appearance
172
+ (:enabled false)
173
+ (:mode none)
174
+ (:targets plate_1)
175
+ (:rgba 0.72 0.63 0.50 1.0)
176
+ (:override_material_rgba false)
177
+ (:disable_material_texture false)
178
+ (:apply_visible_geom_rgba false)
179
+ )
180
+ (:object_placement
181
+ (:enabled false)
182
+ (:mode none)
183
+ (:reference akita_black_bowl_1)
184
+ (:front_direction 1.0 0.0)
185
+ (:targets black_book_occluder_1)
186
+ (:offsets_xy (
187
+ (0.0 0.0)
188
+ ))
189
+ (:target_quat 1.0 0.0 0.0 0.0)
190
+ (:z_offset 0.0)
191
+ (:mesh_scale 1.0 1.0 1.0)
192
+ (:min_reference_distance 0.0)
193
+ (:pin_targets false)
194
+ )
195
+ (:object_shape
196
+ (:enabled false)
197
+ (:mode none)
198
+ (:target akita_black_bowl_1)
199
+ (:mesh_scale 1.0 1.0 1.0)
200
+ )
201
+ (:initial_pose
202
+ (:enabled false)
203
+ (:mode none)
204
+ (:target akita_black_bowl_1)
205
+ (:delta_xy 0.0 0.0)
206
+ (:min_delta_norm 0.0)
207
+ (:yaw 0.0)
208
+ )
209
+ )
210
+
211
+ )
bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl ADDED
@@ -0,0 +1,210 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Tabletop_Manipulation)
2
+ (:domain robosuite)
3
+ (:language Pick the akita black bowl next to the cookies box and place it on the plate)
4
+ (:regions
5
+ (plate_region
6
+ (:target main_table)
7
+ (:ranges (
8
+ (0.05 0.19 0.07 0.21)
9
+ )
10
+ )
11
+ )
12
+ (next_to_plate_region
13
+ (:target main_table)
14
+ (:ranges (
15
+ (0.0 0.3 0.02 0.32)
16
+ )
17
+ )
18
+ )
19
+ (box_region
20
+ (:target main_table)
21
+ (:ranges (
22
+ (0.06 0.02 0.08 0.04)
23
+ )
24
+ )
25
+ )
26
+ (next_to_box_region
27
+ (:target main_table)
28
+ (:ranges (
29
+ (0.12 -0.08 0.14 -0.06)
30
+ )
31
+ )
32
+ )
33
+ (between_plate_ramekin_region
34
+ (:target main_table)
35
+ (:ranges (
36
+ (-0.06 0.19 -0.04 0.21)
37
+ )
38
+ )
39
+ )
40
+ (ramekin_region
41
+ (:target main_table)
42
+ (:ranges (
43
+ (-0.21 0.19 -0.19 0.21)
44
+ )
45
+ )
46
+ )
47
+ (next_to_ramekin_region
48
+ (:target main_table)
49
+ (:ranges (
50
+ (-0.19 0.31 -0.17 0.33)
51
+ )
52
+ )
53
+ )
54
+ (table_center
55
+ (:target main_table)
56
+ (:ranges (
57
+ (-0.1 -0.01 -0.05 0.01)
58
+ )
59
+ )
60
+ )
61
+ (table_front
62
+ (:target main_table)
63
+ (:ranges (
64
+ (0.19 -0.01 0.21 0.01)
65
+ )
66
+ )
67
+ )
68
+ (cabinet_region
69
+ (:target main_table)
70
+ (:ranges (
71
+ (0.02 -0.28 0.04 -0.26)
72
+ )
73
+ )
74
+ (:yaw_rotation (
75
+ (2.6613777765410678 2.7242096296128633)
76
+ )
77
+ )
78
+ )
79
+ (stove_region
80
+ (:target main_table)
81
+ (:ranges (
82
+ (-0.42 -0.15 -0.4 -0.13)
83
+ )
84
+ )
85
+ )
86
+ (top_region
87
+ (:target wooden_cabinet_1)
88
+ )
89
+ (middle_region
90
+ (:target wooden_cabinet_1)
91
+ )
92
+ (bottom_region
93
+ (:target wooden_cabinet_1)
94
+ )
95
+ (top_side
96
+ (:target wooden_cabinet_1)
97
+ )
98
+ (cook_region
99
+ (:target flat_stove_1)
100
+ )
101
+ )
102
+
103
+ (:fixtures
104
+ main_table - table
105
+ wooden_cabinet_1 - wooden_cabinet
106
+ flat_stove_1 - flat_stove
107
+ )
108
+
109
+ (:objects
110
+ akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
111
+ cookies_1 - cookies
112
+ glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
113
+ plate_1 - plate
114
+ )
115
+
116
+ (:obj_of_interest
117
+ akita_black_bowl_1
118
+ plate_1
119
+ )
120
+
121
+ (:init
122
+ (On akita_black_bowl_1 main_table_next_to_box_region)
123
+ (On akita_black_bowl_2 flat_stove_1_cook_region)
124
+ (On plate_1 main_table_plate_region)
125
+ (On cookies_1 main_table_box_region)
126
+ (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
127
+ (On wooden_cabinet_1 main_table_cabinet_region)
128
+ (On flat_stove_1 main_table_stove_region)
129
+ )
130
+
131
+ (:goal
132
+ (And (On akita_black_bowl_1 plate_1))
133
+ )
134
+
135
+ (:perturbation_config
136
+ (:case visual_noise_glare)
137
+ (:category visual_noise_glare)
138
+ (:source_suite libero_spatial)
139
+ (:source_task pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate)
140
+ (:bddl_only true)
141
+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
142
+ (:lighting
143
+ (:enabled true)
144
+ (:mode dark_lighting)
145
+ (:ambient 0.020)
146
+ (:diffuse 0.16)
147
+ (:specular 0.010)
148
+ )
149
+ (:observation
150
+ (:enabled true)
151
+ (:mode dark_noise)
152
+ (:brightness 0.68)
153
+ (:sigma 12.0)
154
+ )
155
+ (:camera
156
+ (:enabled false)
157
+ (:mode none)
158
+ (:name agentview)
159
+ (:pos 0.0 0.0 0.0)
160
+ (:quat 1.0 0.0 0.0 0.0)
161
+ )
162
+ (:runtime_move
163
+ (:enabled false)
164
+ (:mode none)
165
+ (:object akita_black_bowl_1)
166
+ (:step 0)
167
+ (:delta_xy 0.0 0.0)
168
+ (:min_delta_norm 0.0)
169
+ )
170
+ (:object_appearance
171
+ (:enabled false)
172
+ (:mode none)
173
+ (:targets plate_1)
174
+ (:rgba 0.72 0.63 0.50 1.0)
175
+ (:override_material_rgba false)
176
+ (:disable_material_texture false)
177
+ (:apply_visible_geom_rgba false)
178
+ )
179
+ (:object_placement
180
+ (:enabled false)
181
+ (:mode none)
182
+ (:reference akita_black_bowl_1)
183
+ (:front_direction 1.0 0.0)
184
+ (:targets black_book_occluder_1)
185
+ (:offsets_xy (
186
+ (0.0 0.0)
187
+ ))
188
+ (:target_quat 1.0 0.0 0.0 0.0)
189
+ (:z_offset 0.0)
190
+ (:mesh_scale 1.0 1.0 1.0)
191
+ (:min_reference_distance 0.0)
192
+ (:pin_targets false)
193
+ )
194
+ (:object_shape
195
+ (:enabled false)
196
+ (:mode none)
197
+ (:target akita_black_bowl_1)
198
+ (:mesh_scale 1.0 1.0 1.0)
199
+ )
200
+ (:initial_pose
201
+ (:enabled false)
202
+ (:mode none)
203
+ (:target akita_black_bowl_1)
204
+ (:delta_xy 0.0 0.0)
205
+ (:min_delta_norm 0.0)
206
+ (:yaw 0.0)
207
+ )
208
+ )
209
+
210
+ )
bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl ADDED
@@ -0,0 +1,210 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Tabletop_Manipulation)
2
+ (:domain robosuite)
3
+ (:language Pick the akita black bowl next to the plate and place it on the plate)
4
+ (:regions
5
+ (plate_region
6
+ (:target main_table)
7
+ (:ranges (
8
+ (0.05 0.19 0.07 0.21)
9
+ )
10
+ )
11
+ )
12
+ (next_to_plate_region
13
+ (:target main_table)
14
+ (:ranges (
15
+ (0.0 0.3 0.02 0.32)
16
+ )
17
+ )
18
+ )
19
+ (box_region
20
+ (:target main_table)
21
+ (:ranges (
22
+ (0.06 0.02 0.08 0.04)
23
+ )
24
+ )
25
+ )
26
+ (next_to_box_region
27
+ (:target main_table)
28
+ (:ranges (
29
+ (0.12 -0.08 0.14 -0.06)
30
+ )
31
+ )
32
+ )
33
+ (between_plate_ramekin_region
34
+ (:target main_table)
35
+ (:ranges (
36
+ (-0.06 0.19 -0.04 0.21)
37
+ )
38
+ )
39
+ )
40
+ (ramekin_region
41
+ (:target main_table)
42
+ (:ranges (
43
+ (-0.21 0.19 -0.19 0.21)
44
+ )
45
+ )
46
+ )
47
+ (next_to_ramekin_region
48
+ (:target main_table)
49
+ (:ranges (
50
+ (-0.19 0.31 -0.17 0.33)
51
+ )
52
+ )
53
+ )
54
+ (table_center
55
+ (:target main_table)
56
+ (:ranges (
57
+ (-0.1 -0.01 -0.05 0.01)
58
+ )
59
+ )
60
+ )
61
+ (table_front
62
+ (:target main_table)
63
+ (:ranges (
64
+ (0.19 -0.01 0.21 0.01)
65
+ )
66
+ )
67
+ )
68
+ (cabinet_region
69
+ (:target main_table)
70
+ (:ranges (
71
+ (0.02 -0.28 0.04 -0.26)
72
+ )
73
+ )
74
+ (:yaw_rotation (
75
+ (2.6613777765410678 2.7242096296128633)
76
+ )
77
+ )
78
+ )
79
+ (stove_region
80
+ (:target main_table)
81
+ (:ranges (
82
+ (-0.42 -0.15 -0.4 -0.13)
83
+ )
84
+ )
85
+ )
86
+ (top_region
87
+ (:target wooden_cabinet_1)
88
+ )
89
+ (middle_region
90
+ (:target wooden_cabinet_1)
91
+ )
92
+ (bottom_region
93
+ (:target wooden_cabinet_1)
94
+ )
95
+ (top_side
96
+ (:target wooden_cabinet_1)
97
+ )
98
+ (cook_region
99
+ (:target flat_stove_1)
100
+ )
101
+ )
102
+
103
+ (:fixtures
104
+ main_table - table
105
+ wooden_cabinet_1 - wooden_cabinet
106
+ flat_stove_1 - flat_stove
107
+ )
108
+
109
+ (:objects
110
+ akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
111
+ cookies_1 - cookies
112
+ glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
113
+ plate_1 - plate
114
+ )
115
+
116
+ (:obj_of_interest
117
+ akita_black_bowl_1
118
+ plate_1
119
+ )
120
+
121
+ (:init
122
+ (On akita_black_bowl_1 main_table_next_to_plate_region)
123
+ (On akita_black_bowl_2 main_table_next_to_ramekin_region)
124
+ (On plate_1 main_table_plate_region)
125
+ (On cookies_1 main_table_box_region)
126
+ (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
127
+ (On wooden_cabinet_1 main_table_cabinet_region)
128
+ (On flat_stove_1 main_table_stove_region)
129
+ )
130
+
131
+ (:goal
132
+ (And (On akita_black_bowl_1 plate_1))
133
+ )
134
+
135
+ (:perturbation_config
136
+ (:case visual_noise_glare)
137
+ (:category visual_noise_glare)
138
+ (:source_suite libero_spatial)
139
+ (:source_task pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate)
140
+ (:bddl_only true)
141
+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
142
+ (:lighting
143
+ (:enabled true)
144
+ (:mode dark_lighting)
145
+ (:ambient 0.020)
146
+ (:diffuse 0.16)
147
+ (:specular 0.010)
148
+ )
149
+ (:observation
150
+ (:enabled true)
151
+ (:mode dark_noise)
152
+ (:brightness 0.68)
153
+ (:sigma 12.0)
154
+ )
155
+ (:camera
156
+ (:enabled false)
157
+ (:mode none)
158
+ (:name agentview)
159
+ (:pos 0.0 0.0 0.0)
160
+ (:quat 1.0 0.0 0.0 0.0)
161
+ )
162
+ (:runtime_move
163
+ (:enabled false)
164
+ (:mode none)
165
+ (:object akita_black_bowl_1)
166
+ (:step 0)
167
+ (:delta_xy 0.0 0.0)
168
+ (:min_delta_norm 0.0)
169
+ )
170
+ (:object_appearance
171
+ (:enabled false)
172
+ (:mode none)
173
+ (:targets plate_1)
174
+ (:rgba 0.72 0.63 0.50 1.0)
175
+ (:override_material_rgba false)
176
+ (:disable_material_texture false)
177
+ (:apply_visible_geom_rgba false)
178
+ )
179
+ (:object_placement
180
+ (:enabled false)
181
+ (:mode none)
182
+ (:reference akita_black_bowl_1)
183
+ (:front_direction 1.0 0.0)
184
+ (:targets black_book_occluder_1)
185
+ (:offsets_xy (
186
+ (0.0 0.0)
187
+ ))
188
+ (:target_quat 1.0 0.0 0.0 0.0)
189
+ (:z_offset 0.0)
190
+ (:mesh_scale 1.0 1.0 1.0)
191
+ (:min_reference_distance 0.0)
192
+ (:pin_targets false)
193
+ )
194
+ (:object_shape
195
+ (:enabled false)
196
+ (:mode none)
197
+ (:target akita_black_bowl_1)
198
+ (:mesh_scale 1.0 1.0 1.0)
199
+ )
200
+ (:initial_pose
201
+ (:enabled false)
202
+ (:mode none)
203
+ (:target akita_black_bowl_1)
204
+ (:delta_xy 0.0 0.0)
205
+ (:min_delta_norm 0.0)
206
+ (:yaw 0.0)
207
+ )
208
+ )
209
+
210
+ )
bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl ADDED
@@ -0,0 +1,210 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Tabletop_Manipulation)
2
+ (:domain robosuite)
3
+ (:language Pick the akita black bowl next to the ramekin and place it on the plate)
4
+ (:regions
5
+ (plate_region
6
+ (:target main_table)
7
+ (:ranges (
8
+ (0.05 0.19 0.07 0.21)
9
+ )
10
+ )
11
+ )
12
+ (next_to_plate_region
13
+ (:target main_table)
14
+ (:ranges (
15
+ (0.0 0.3 0.02 0.32)
16
+ )
17
+ )
18
+ )
19
+ (box_region
20
+ (:target main_table)
21
+ (:ranges (
22
+ (0.06 0.02 0.08 0.04)
23
+ )
24
+ )
25
+ )
26
+ (next_to_box_region
27
+ (:target main_table)
28
+ (:ranges (
29
+ (0.12 -0.08 0.14 -0.06)
30
+ )
31
+ )
32
+ )
33
+ (between_plate_ramekin_region
34
+ (:target main_table)
35
+ (:ranges (
36
+ (-0.06 0.19 -0.04 0.21)
37
+ )
38
+ )
39
+ )
40
+ (ramekin_region
41
+ (:target main_table)
42
+ (:ranges (
43
+ (-0.21 0.19 -0.19 0.21)
44
+ )
45
+ )
46
+ )
47
+ (next_to_ramekin_region
48
+ (:target main_table)
49
+ (:ranges (
50
+ (-0.19 0.31 -0.17 0.33)
51
+ )
52
+ )
53
+ )
54
+ (table_center
55
+ (:target main_table)
56
+ (:ranges (
57
+ (-0.1 -0.01 -0.05 0.01)
58
+ )
59
+ )
60
+ )
61
+ (table_front
62
+ (:target main_table)
63
+ (:ranges (
64
+ (0.19 -0.01 0.21 0.01)
65
+ )
66
+ )
67
+ )
68
+ (cabinet_region
69
+ (:target main_table)
70
+ (:ranges (
71
+ (0.02 -0.28 0.04 -0.26)
72
+ )
73
+ )
74
+ (:yaw_rotation (
75
+ (2.6613777765410678 2.7242096296128633)
76
+ )
77
+ )
78
+ )
79
+ (stove_region
80
+ (:target main_table)
81
+ (:ranges (
82
+ (-0.42 -0.15 -0.4 -0.13)
83
+ )
84
+ )
85
+ )
86
+ (top_region
87
+ (:target wooden_cabinet_1)
88
+ )
89
+ (middle_region
90
+ (:target wooden_cabinet_1)
91
+ )
92
+ (bottom_region
93
+ (:target wooden_cabinet_1)
94
+ )
95
+ (top_side
96
+ (:target wooden_cabinet_1)
97
+ )
98
+ (cook_region
99
+ (:target flat_stove_1)
100
+ )
101
+ )
102
+
103
+ (:fixtures
104
+ main_table - table
105
+ wooden_cabinet_1 - wooden_cabinet
106
+ flat_stove_1 - flat_stove
107
+ )
108
+
109
+ (:objects
110
+ akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
111
+ cookies_1 - cookies
112
+ glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
113
+ plate_1 - plate
114
+ )
115
+
116
+ (:obj_of_interest
117
+ akita_black_bowl_1
118
+ plate_1
119
+ )
120
+
121
+ (:init
122
+ (On akita_black_bowl_1 main_table_next_to_ramekin_region)
123
+ (On akita_black_bowl_2 main_table_next_to_box_region)
124
+ (On plate_1 main_table_plate_region)
125
+ (On cookies_1 main_table_box_region)
126
+ (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
127
+ (On wooden_cabinet_1 main_table_cabinet_region)
128
+ (On flat_stove_1 main_table_stove_region)
129
+ )
130
+
131
+ (:goal
132
+ (And (On akita_black_bowl_1 plate_1))
133
+ )
134
+
135
+ (:perturbation_config
136
+ (:case visual_noise_glare)
137
+ (:category visual_noise_glare)
138
+ (:source_suite libero_spatial)
139
+ (:source_task pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate)
140
+ (:bddl_only true)
141
+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
142
+ (:lighting
143
+ (:enabled true)
144
+ (:mode dark_lighting)
145
+ (:ambient 0.020)
146
+ (:diffuse 0.16)
147
+ (:specular 0.010)
148
+ )
149
+ (:observation
150
+ (:enabled true)
151
+ (:mode dark_noise)
152
+ (:brightness 0.68)
153
+ (:sigma 12.0)
154
+ )
155
+ (:camera
156
+ (:enabled false)
157
+ (:mode none)
158
+ (:name agentview)
159
+ (:pos 0.0 0.0 0.0)
160
+ (:quat 1.0 0.0 0.0 0.0)
161
+ )
162
+ (:runtime_move
163
+ (:enabled false)
164
+ (:mode none)
165
+ (:object akita_black_bowl_1)
166
+ (:step 0)
167
+ (:delta_xy 0.0 0.0)
168
+ (:min_delta_norm 0.0)
169
+ )
170
+ (:object_appearance
171
+ (:enabled false)
172
+ (:mode none)
173
+ (:targets plate_1)
174
+ (:rgba 0.72 0.63 0.50 1.0)
175
+ (:override_material_rgba false)
176
+ (:disable_material_texture false)
177
+ (:apply_visible_geom_rgba false)
178
+ )
179
+ (:object_placement
180
+ (:enabled false)
181
+ (:mode none)
182
+ (:reference akita_black_bowl_1)
183
+ (:front_direction 1.0 0.0)
184
+ (:targets black_book_occluder_1)
185
+ (:offsets_xy (
186
+ (0.0 0.0)
187
+ ))
188
+ (:target_quat 1.0 0.0 0.0 0.0)
189
+ (:z_offset 0.0)
190
+ (:mesh_scale 1.0 1.0 1.0)
191
+ (:min_reference_distance 0.0)
192
+ (:pin_targets false)
193
+ )
194
+ (:object_shape
195
+ (:enabled false)
196
+ (:mode none)
197
+ (:target akita_black_bowl_1)
198
+ (:mesh_scale 1.0 1.0 1.0)
199
+ )
200
+ (:initial_pose
201
+ (:enabled false)
202
+ (:mode none)
203
+ (:target akita_black_bowl_1)
204
+ (:delta_xy 0.0 0.0)
205
+ (:min_delta_norm 0.0)
206
+ (:yaw 0.0)
207
+ )
208
+ )
209
+
210
+ )
bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl ADDED
@@ -0,0 +1,210 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Tabletop_Manipulation)
2
+ (:domain robosuite)
3
+ (:language Pick the akita black bowl on the cookies box and place it on the plate)
4
+ (:regions
5
+ (plate_region
6
+ (:target main_table)
7
+ (:ranges (
8
+ (0.05 0.19 0.07 0.21)
9
+ )
10
+ )
11
+ )
12
+ (next_to_plate_region
13
+ (:target main_table)
14
+ (:ranges (
15
+ (0.0 0.3 0.02 0.32)
16
+ )
17
+ )
18
+ )
19
+ (box_region
20
+ (:target main_table)
21
+ (:ranges (
22
+ (0.06 0.02 0.08 0.04)
23
+ )
24
+ )
25
+ )
26
+ (next_to_box_region
27
+ (:target main_table)
28
+ (:ranges (
29
+ (0.12 -0.08 0.14 -0.06)
30
+ )
31
+ )
32
+ )
33
+ (between_plate_ramekin_region
34
+ (:target main_table)
35
+ (:ranges (
36
+ (-0.06 0.19 -0.04 0.21)
37
+ )
38
+ )
39
+ )
40
+ (ramekin_region
41
+ (:target main_table)
42
+ (:ranges (
43
+ (-0.21 0.19 -0.19 0.21)
44
+ )
45
+ )
46
+ )
47
+ (next_to_ramekin_region
48
+ (:target main_table)
49
+ (:ranges (
50
+ (-0.19 0.31 -0.17 0.33)
51
+ )
52
+ )
53
+ )
54
+ (table_center
55
+ (:target main_table)
56
+ (:ranges (
57
+ (-0.1 -0.01 -0.05 0.01)
58
+ )
59
+ )
60
+ )
61
+ (table_front
62
+ (:target main_table)
63
+ (:ranges (
64
+ (0.19 -0.01 0.21 0.01)
65
+ )
66
+ )
67
+ )
68
+ (cabinet_region
69
+ (:target main_table)
70
+ (:ranges (
71
+ (0.02 -0.28 0.04 -0.26)
72
+ )
73
+ )
74
+ (:yaw_rotation (
75
+ (2.6613777765410678 2.7242096296128633)
76
+ )
77
+ )
78
+ )
79
+ (stove_region
80
+ (:target main_table)
81
+ (:ranges (
82
+ (-0.42 -0.15 -0.4 -0.13)
83
+ )
84
+ )
85
+ )
86
+ (top_region
87
+ (:target wooden_cabinet_1)
88
+ )
89
+ (middle_region
90
+ (:target wooden_cabinet_1)
91
+ )
92
+ (bottom_region
93
+ (:target wooden_cabinet_1)
94
+ )
95
+ (top_side
96
+ (:target wooden_cabinet_1)
97
+ )
98
+ (cook_region
99
+ (:target flat_stove_1)
100
+ )
101
+ )
102
+
103
+ (:fixtures
104
+ main_table - table
105
+ wooden_cabinet_1 - wooden_cabinet
106
+ flat_stove_1 - flat_stove
107
+ )
108
+
109
+ (:objects
110
+ akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
111
+ cookies_1 - cookies
112
+ glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
113
+ plate_1 - plate
114
+ )
115
+
116
+ (:obj_of_interest
117
+ akita_black_bowl_1
118
+ plate_1
119
+ )
120
+
121
+ (:init
122
+ (On akita_black_bowl_1 cookies_1)
123
+ (On akita_black_bowl_2 wooden_cabinet_1_top_side)
124
+ (On plate_1 main_table_plate_region)
125
+ (On cookies_1 main_table_box_region)
126
+ (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
127
+ (On wooden_cabinet_1 main_table_cabinet_region)
128
+ (On flat_stove_1 main_table_stove_region)
129
+ )
130
+
131
+ (:goal
132
+ (And (On akita_black_bowl_1 plate_1))
133
+ )
134
+
135
+ (:perturbation_config
136
+ (:case visual_noise_glare)
137
+ (:category visual_noise_glare)
138
+ (:source_suite libero_spatial)
139
+ (:source_task pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate)
140
+ (:bddl_only true)
141
+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
142
+ (:lighting
143
+ (:enabled true)
144
+ (:mode dark_lighting)
145
+ (:ambient 0.020)
146
+ (:diffuse 0.16)
147
+ (:specular 0.010)
148
+ )
149
+ (:observation
150
+ (:enabled true)
151
+ (:mode dark_noise)
152
+ (:brightness 0.68)
153
+ (:sigma 12.0)
154
+ )
155
+ (:camera
156
+ (:enabled false)
157
+ (:mode none)
158
+ (:name agentview)
159
+ (:pos 0.0 0.0 0.0)
160
+ (:quat 1.0 0.0 0.0 0.0)
161
+ )
162
+ (:runtime_move
163
+ (:enabled false)
164
+ (:mode none)
165
+ (:object akita_black_bowl_1)
166
+ (:step 0)
167
+ (:delta_xy 0.0 0.0)
168
+ (:min_delta_norm 0.0)
169
+ )
170
+ (:object_appearance
171
+ (:enabled false)
172
+ (:mode none)
173
+ (:targets plate_1)
174
+ (:rgba 0.72 0.63 0.50 1.0)
175
+ (:override_material_rgba false)
176
+ (:disable_material_texture false)
177
+ (:apply_visible_geom_rgba false)
178
+ )
179
+ (:object_placement
180
+ (:enabled false)
181
+ (:mode none)
182
+ (:reference akita_black_bowl_1)
183
+ (:front_direction 1.0 0.0)
184
+ (:targets black_book_occluder_1)
185
+ (:offsets_xy (
186
+ (0.0 0.0)
187
+ ))
188
+ (:target_quat 1.0 0.0 0.0 0.0)
189
+ (:z_offset 0.0)
190
+ (:mesh_scale 1.0 1.0 1.0)
191
+ (:min_reference_distance 0.0)
192
+ (:pin_targets false)
193
+ )
194
+ (:object_shape
195
+ (:enabled false)
196
+ (:mode none)
197
+ (:target akita_black_bowl_1)
198
+ (:mesh_scale 1.0 1.0 1.0)
199
+ )
200
+ (:initial_pose
201
+ (:enabled false)
202
+ (:mode none)
203
+ (:target akita_black_bowl_1)
204
+ (:delta_xy 0.0 0.0)
205
+ (:min_delta_norm 0.0)
206
+ (:yaw 0.0)
207
+ )
208
+ )
209
+
210
+ )
bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl ADDED
@@ -0,0 +1,210 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Tabletop_Manipulation)
2
+ (:domain robosuite)
3
+ (:language Pick the akita black bowl on the ramekin and place it on the plate)
4
+ (:regions
5
+ (plate_region
6
+ (:target main_table)
7
+ (:ranges (
8
+ (0.05 0.19 0.07 0.21)
9
+ )
10
+ )
11
+ )
12
+ (next_to_plate_region
13
+ (:target main_table)
14
+ (:ranges (
15
+ (0.0 0.3 0.02 0.32)
16
+ )
17
+ )
18
+ )
19
+ (box_region
20
+ (:target main_table)
21
+ (:ranges (
22
+ (0.06 0.02 0.08 0.04)
23
+ )
24
+ )
25
+ )
26
+ (next_to_box_region
27
+ (:target main_table)
28
+ (:ranges (
29
+ (0.12 -0.08 0.14 -0.06)
30
+ )
31
+ )
32
+ )
33
+ (between_plate_ramekin_region
34
+ (:target main_table)
35
+ (:ranges (
36
+ (-0.06 0.19 -0.04 0.21)
37
+ )
38
+ )
39
+ )
40
+ (ramekin_region
41
+ (:target main_table)
42
+ (:ranges (
43
+ (-0.21 0.19 -0.19 0.21)
44
+ )
45
+ )
46
+ )
47
+ (next_to_ramekin_region
48
+ (:target main_table)
49
+ (:ranges (
50
+ (-0.19 0.31 -0.17 0.33)
51
+ )
52
+ )
53
+ )
54
+ (table_center
55
+ (:target main_table)
56
+ (:ranges (
57
+ (-0.1 -0.01 -0.05 0.01)
58
+ )
59
+ )
60
+ )
61
+ (table_front
62
+ (:target main_table)
63
+ (:ranges (
64
+ (0.19 -0.01 0.21 0.01)
65
+ )
66
+ )
67
+ )
68
+ (cabinet_region
69
+ (:target main_table)
70
+ (:ranges (
71
+ (0.02 -0.28 0.04 -0.26)
72
+ )
73
+ )
74
+ (:yaw_rotation (
75
+ (2.6613777765410678 2.7242096296128633)
76
+ )
77
+ )
78
+ )
79
+ (stove_region
80
+ (:target main_table)
81
+ (:ranges (
82
+ (-0.42 -0.15 -0.4 -0.13)
83
+ )
84
+ )
85
+ )
86
+ (top_region
87
+ (:target wooden_cabinet_1)
88
+ )
89
+ (middle_region
90
+ (:target wooden_cabinet_1)
91
+ )
92
+ (bottom_region
93
+ (:target wooden_cabinet_1)
94
+ )
95
+ (top_side
96
+ (:target wooden_cabinet_1)
97
+ )
98
+ (cook_region
99
+ (:target flat_stove_1)
100
+ )
101
+ )
102
+
103
+ (:fixtures
104
+ main_table - table
105
+ wooden_cabinet_1 - wooden_cabinet
106
+ flat_stove_1 - flat_stove
107
+ )
108
+
109
+ (:objects
110
+ akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
111
+ cookies_1 - cookies
112
+ glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
113
+ plate_1 - plate
114
+ )
115
+
116
+ (:obj_of_interest
117
+ akita_black_bowl_1
118
+ plate_1
119
+ )
120
+
121
+ (:init
122
+ (On akita_black_bowl_1 glazed_rim_porcelain_ramekin_1)
123
+ (On akita_black_bowl_2 cookies_1)
124
+ (On plate_1 main_table_plate_region)
125
+ (On cookies_1 main_table_box_region)
126
+ (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
127
+ (On wooden_cabinet_1 main_table_cabinet_region)
128
+ (On flat_stove_1 main_table_stove_region)
129
+ )
130
+
131
+ (:goal
132
+ (And (On akita_black_bowl_1 plate_1))
133
+ )
134
+
135
+ (:perturbation_config
136
+ (:case visual_noise_glare)
137
+ (:category visual_noise_glare)
138
+ (:source_suite libero_spatial)
139
+ (:source_task pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate)
140
+ (:bddl_only true)
141
+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
142
+ (:lighting
143
+ (:enabled true)
144
+ (:mode dark_lighting)
145
+ (:ambient 0.020)
146
+ (:diffuse 0.16)
147
+ (:specular 0.010)
148
+ )
149
+ (:observation
150
+ (:enabled true)
151
+ (:mode dark_noise)
152
+ (:brightness 0.68)
153
+ (:sigma 12.0)
154
+ )
155
+ (:camera
156
+ (:enabled false)
157
+ (:mode none)
158
+ (:name agentview)
159
+ (:pos 0.0 0.0 0.0)
160
+ (:quat 1.0 0.0 0.0 0.0)
161
+ )
162
+ (:runtime_move
163
+ (:enabled false)
164
+ (:mode none)
165
+ (:object akita_black_bowl_1)
166
+ (:step 0)
167
+ (:delta_xy 0.0 0.0)
168
+ (:min_delta_norm 0.0)
169
+ )
170
+ (:object_appearance
171
+ (:enabled false)
172
+ (:mode none)
173
+ (:targets plate_1)
174
+ (:rgba 0.72 0.63 0.50 1.0)
175
+ (:override_material_rgba false)
176
+ (:disable_material_texture false)
177
+ (:apply_visible_geom_rgba false)
178
+ )
179
+ (:object_placement
180
+ (:enabled false)
181
+ (:mode none)
182
+ (:reference akita_black_bowl_1)
183
+ (:front_direction 1.0 0.0)
184
+ (:targets black_book_occluder_1)
185
+ (:offsets_xy (
186
+ (0.0 0.0)
187
+ ))
188
+ (:target_quat 1.0 0.0 0.0 0.0)
189
+ (:z_offset 0.0)
190
+ (:mesh_scale 1.0 1.0 1.0)
191
+ (:min_reference_distance 0.0)
192
+ (:pin_targets false)
193
+ )
194
+ (:object_shape
195
+ (:enabled false)
196
+ (:mode none)
197
+ (:target akita_black_bowl_1)
198
+ (:mesh_scale 1.0 1.0 1.0)
199
+ )
200
+ (:initial_pose
201
+ (:enabled false)
202
+ (:mode none)
203
+ (:target akita_black_bowl_1)
204
+ (:delta_xy 0.0 0.0)
205
+ (:min_delta_norm 0.0)
206
+ (:yaw 0.0)
207
+ )
208
+ )
209
+
210
+ )
bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl ADDED
@@ -0,0 +1,210 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Tabletop_Manipulation)
2
+ (:domain robosuite)
3
+ (:language Pick the akita black bowl on the stove and place it on the plate)
4
+ (:regions
5
+ (plate_region
6
+ (:target main_table)
7
+ (:ranges (
8
+ (0.05 0.19 0.07 0.21)
9
+ )
10
+ )
11
+ )
12
+ (next_to_plate_region
13
+ (:target main_table)
14
+ (:ranges (
15
+ (0.0 0.3 0.02 0.32)
16
+ )
17
+ )
18
+ )
19
+ (box_region
20
+ (:target main_table)
21
+ (:ranges (
22
+ (0.06 0.02 0.08 0.04)
23
+ )
24
+ )
25
+ )
26
+ (next_to_box_region
27
+ (:target main_table)
28
+ (:ranges (
29
+ (0.12 -0.08 0.14 -0.06)
30
+ )
31
+ )
32
+ )
33
+ (between_plate_ramekin_region
34
+ (:target main_table)
35
+ (:ranges (
36
+ (-0.06 0.19 -0.04 0.21)
37
+ )
38
+ )
39
+ )
40
+ (ramekin_region
41
+ (:target main_table)
42
+ (:ranges (
43
+ (-0.21 0.19 -0.19 0.21)
44
+ )
45
+ )
46
+ )
47
+ (next_to_ramekin_region
48
+ (:target main_table)
49
+ (:ranges (
50
+ (-0.19 0.31 -0.17 0.33)
51
+ )
52
+ )
53
+ )
54
+ (table_center
55
+ (:target main_table)
56
+ (:ranges (
57
+ (-0.1 -0.01 -0.05 0.01)
58
+ )
59
+ )
60
+ )
61
+ (table_front
62
+ (:target main_table)
63
+ (:ranges (
64
+ (0.19 -0.01 0.21 0.01)
65
+ )
66
+ )
67
+ )
68
+ (cabinet_region
69
+ (:target main_table)
70
+ (:ranges (
71
+ (0.02 -0.28 0.04 -0.26)
72
+ )
73
+ )
74
+ (:yaw_rotation (
75
+ (2.6613777765410678 2.7242096296128633)
76
+ )
77
+ )
78
+ )
79
+ (stove_region
80
+ (:target main_table)
81
+ (:ranges (
82
+ (-0.42 -0.15 -0.4 -0.13)
83
+ )
84
+ )
85
+ )
86
+ (top_region
87
+ (:target wooden_cabinet_1)
88
+ )
89
+ (middle_region
90
+ (:target wooden_cabinet_1)
91
+ )
92
+ (bottom_region
93
+ (:target wooden_cabinet_1)
94
+ )
95
+ (top_side
96
+ (:target wooden_cabinet_1)
97
+ )
98
+ (cook_region
99
+ (:target flat_stove_1)
100
+ )
101
+ )
102
+
103
+ (:fixtures
104
+ main_table - table
105
+ wooden_cabinet_1 - wooden_cabinet
106
+ flat_stove_1 - flat_stove
107
+ )
108
+
109
+ (:objects
110
+ akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
111
+ cookies_1 - cookies
112
+ glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
113
+ plate_1 - plate
114
+ )
115
+
116
+ (:obj_of_interest
117
+ akita_black_bowl_1
118
+ plate_1
119
+ )
120
+
121
+ (:init
122
+ (On akita_black_bowl_1 flat_stove_1_cook_region)
123
+ (On akita_black_bowl_2 wooden_cabinet_1_top_side)
124
+ (On plate_1 main_table_plate_region)
125
+ (On cookies_1 main_table_box_region)
126
+ (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
127
+ (On wooden_cabinet_1 main_table_cabinet_region)
128
+ (On flat_stove_1 main_table_stove_region)
129
+ )
130
+
131
+ (:goal
132
+ (And (On akita_black_bowl_1 plate_1))
133
+ )
134
+
135
+ (:perturbation_config
136
+ (:case visual_noise_glare)
137
+ (:category visual_noise_glare)
138
+ (:source_suite libero_spatial)
139
+ (:source_task pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate)
140
+ (:bddl_only true)
141
+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
142
+ (:lighting
143
+ (:enabled true)
144
+ (:mode dark_lighting)
145
+ (:ambient 0.020)
146
+ (:diffuse 0.16)
147
+ (:specular 0.010)
148
+ )
149
+ (:observation
150
+ (:enabled true)
151
+ (:mode dark_noise)
152
+ (:brightness 0.68)
153
+ (:sigma 12.0)
154
+ )
155
+ (:camera
156
+ (:enabled false)
157
+ (:mode none)
158
+ (:name agentview)
159
+ (:pos 0.0 0.0 0.0)
160
+ (:quat 1.0 0.0 0.0 0.0)
161
+ )
162
+ (:runtime_move
163
+ (:enabled false)
164
+ (:mode none)
165
+ (:object akita_black_bowl_1)
166
+ (:step 0)
167
+ (:delta_xy 0.0 0.0)
168
+ (:min_delta_norm 0.0)
169
+ )
170
+ (:object_appearance
171
+ (:enabled false)
172
+ (:mode none)
173
+ (:targets plate_1)
174
+ (:rgba 0.72 0.63 0.50 1.0)
175
+ (:override_material_rgba false)
176
+ (:disable_material_texture false)
177
+ (:apply_visible_geom_rgba false)
178
+ )
179
+ (:object_placement
180
+ (:enabled false)
181
+ (:mode none)
182
+ (:reference akita_black_bowl_1)
183
+ (:front_direction 1.0 0.0)
184
+ (:targets black_book_occluder_1)
185
+ (:offsets_xy (
186
+ (0.0 0.0)
187
+ ))
188
+ (:target_quat 1.0 0.0 0.0 0.0)
189
+ (:z_offset 0.0)
190
+ (:mesh_scale 1.0 1.0 1.0)
191
+ (:min_reference_distance 0.0)
192
+ (:pin_targets false)
193
+ )
194
+ (:object_shape
195
+ (:enabled false)
196
+ (:mode none)
197
+ (:target akita_black_bowl_1)
198
+ (:mesh_scale 1.0 1.0 1.0)
199
+ )
200
+ (:initial_pose
201
+ (:enabled false)
202
+ (:mode none)
203
+ (:target akita_black_bowl_1)
204
+ (:delta_xy 0.0 0.0)
205
+ (:min_delta_norm 0.0)
206
+ (:yaw 0.0)
207
+ )
208
+ )
209
+
210
+ )
bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl ADDED
@@ -0,0 +1,210 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Tabletop_Manipulation)
2
+ (:domain robosuite)
3
+ (:language Pick the akita black bowl on the wooden cabinet and place it on the plate)
4
+ (:regions
5
+ (plate_region
6
+ (:target main_table)
7
+ (:ranges (
8
+ (0.05 0.19 0.07 0.21)
9
+ )
10
+ )
11
+ )
12
+ (next_to_plate_region
13
+ (:target main_table)
14
+ (:ranges (
15
+ (0.0 0.3 0.02 0.32)
16
+ )
17
+ )
18
+ )
19
+ (box_region
20
+ (:target main_table)
21
+ (:ranges (
22
+ (0.06 0.02 0.08 0.04)
23
+ )
24
+ )
25
+ )
26
+ (next_to_box_region
27
+ (:target main_table)
28
+ (:ranges (
29
+ (0.12 -0.08 0.14 -0.06)
30
+ )
31
+ )
32
+ )
33
+ (between_plate_ramekin_region
34
+ (:target main_table)
35
+ (:ranges (
36
+ (-0.06 0.19 -0.04 0.21)
37
+ )
38
+ )
39
+ )
40
+ (ramekin_region
41
+ (:target main_table)
42
+ (:ranges (
43
+ (-0.21 0.19 -0.19 0.21)
44
+ )
45
+ )
46
+ )
47
+ (next_to_ramekin_region
48
+ (:target main_table)
49
+ (:ranges (
50
+ (-0.19 0.31 -0.17 0.33)
51
+ )
52
+ )
53
+ )
54
+ (table_center
55
+ (:target main_table)
56
+ (:ranges (
57
+ (-0.1 -0.01 -0.05 0.01)
58
+ )
59
+ )
60
+ )
61
+ (table_front
62
+ (:target main_table)
63
+ (:ranges (
64
+ (0.19 -0.01 0.21 0.01)
65
+ )
66
+ )
67
+ )
68
+ (cabinet_region
69
+ (:target main_table)
70
+ (:ranges (
71
+ (0.02 -0.28 0.04 -0.26)
72
+ )
73
+ )
74
+ (:yaw_rotation (
75
+ (2.6613777765410678 2.7242096296128633)
76
+ )
77
+ )
78
+ )
79
+ (stove_region
80
+ (:target main_table)
81
+ (:ranges (
82
+ (-0.42 -0.15 -0.4 -0.13)
83
+ )
84
+ )
85
+ )
86
+ (top_region
87
+ (:target wooden_cabinet_1)
88
+ )
89
+ (middle_region
90
+ (:target wooden_cabinet_1)
91
+ )
92
+ (bottom_region
93
+ (:target wooden_cabinet_1)
94
+ )
95
+ (top_side
96
+ (:target wooden_cabinet_1)
97
+ )
98
+ (cook_region
99
+ (:target flat_stove_1)
100
+ )
101
+ )
102
+
103
+ (:fixtures
104
+ main_table - table
105
+ wooden_cabinet_1 - wooden_cabinet
106
+ flat_stove_1 - flat_stove
107
+ )
108
+
109
+ (:objects
110
+ akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
111
+ cookies_1 - cookies
112
+ glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
113
+ plate_1 - plate
114
+ )
115
+
116
+ (:obj_of_interest
117
+ akita_black_bowl_1
118
+ plate_1
119
+ )
120
+
121
+ (:init
122
+ (On akita_black_bowl_1 wooden_cabinet_1_top_side)
123
+ (On akita_black_bowl_2 flat_stove_1_cook_region)
124
+ (On plate_1 main_table_plate_region)
125
+ (On cookies_1 main_table_box_region)
126
+ (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
127
+ (On wooden_cabinet_1 main_table_cabinet_region)
128
+ (On flat_stove_1 main_table_stove_region)
129
+ )
130
+
131
+ (:goal
132
+ (And (On akita_black_bowl_1 plate_1))
133
+ )
134
+
135
+ (:perturbation_config
136
+ (:case visual_noise_glare)
137
+ (:category visual_noise_glare)
138
+ (:source_suite libero_spatial)
139
+ (:source_task pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate)
140
+ (:bddl_only true)
141
+ (:detail mildly_dim_lighting_with_light_policy_observation_noise)
142
+ (:lighting
143
+ (:enabled true)
144
+ (:mode dark_lighting)
145
+ (:ambient 0.020)
146
+ (:diffuse 0.16)
147
+ (:specular 0.010)
148
+ )
149
+ (:observation
150
+ (:enabled true)
151
+ (:mode dark_noise)
152
+ (:brightness 0.68)
153
+ (:sigma 12.0)
154
+ )
155
+ (:camera
156
+ (:enabled false)
157
+ (:mode none)
158
+ (:name agentview)
159
+ (:pos 0.0 0.0 0.0)
160
+ (:quat 1.0 0.0 0.0 0.0)
161
+ )
162
+ (:runtime_move
163
+ (:enabled false)
164
+ (:mode none)
165
+ (:object akita_black_bowl_1)
166
+ (:step 0)
167
+ (:delta_xy 0.0 0.0)
168
+ (:min_delta_norm 0.0)
169
+ )
170
+ (:object_appearance
171
+ (:enabled false)
172
+ (:mode none)
173
+ (:targets plate_1)
174
+ (:rgba 0.72 0.63 0.50 1.0)
175
+ (:override_material_rgba false)
176
+ (:disable_material_texture false)
177
+ (:apply_visible_geom_rgba false)
178
+ )
179
+ (:object_placement
180
+ (:enabled false)
181
+ (:mode none)
182
+ (:reference akita_black_bowl_1)
183
+ (:front_direction 1.0 0.0)
184
+ (:targets black_book_occluder_1)
185
+ (:offsets_xy (
186
+ (0.0 0.0)
187
+ ))
188
+ (:target_quat 1.0 0.0 0.0 0.0)
189
+ (:z_offset 0.0)
190
+ (:mesh_scale 1.0 1.0 1.0)
191
+ (:min_reference_distance 0.0)
192
+ (:pin_targets false)
193
+ )
194
+ (:object_shape
195
+ (:enabled false)
196
+ (:mode none)
197
+ (:target akita_black_bowl_1)
198
+ (:mesh_scale 1.0 1.0 1.0)
199
+ )
200
+ (:initial_pose
201
+ (:enabled false)
202
+ (:mode none)
203
+ (:target akita_black_bowl_1)
204
+ (:delta_xy 0.0 0.0)
205
+ (:min_delta_norm 0.0)
206
+ (:yaw 0.0)
207
+ )
208
+ )
209
+
210
+ )
bddl_files/02_camera_view_angle/bddl/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl ADDED
@@ -0,0 +1,143 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Kitchen_Tabletop_Manipulation)
2
+ (:domain robosuite)
3
+ (:language turn on the stove and put the moka pot on it)
4
+ (:regions
5
+ (flat_stove_init_region
6
+ (:target kitchen_table)
7
+ (:ranges (
8
+ (-0.21000000000000002 0.19 -0.19 0.21000000000000002)
9
+ )
10
+ )
11
+ (:yaw_rotation (
12
+ (0.0 0.0)
13
+ )
14
+ )
15
+ )
16
+ (frypan_init_region
17
+ (:target kitchen_table)
18
+ (:ranges (
19
+ (-0.07500000000000001 -0.275 -0.025 -0.225)
20
+ )
21
+ )
22
+ (:yaw_rotation (
23
+ (0.0 0.0)
24
+ )
25
+ )
26
+ )
27
+ (moka_pot_init_region
28
+ (:target kitchen_table)
29
+ (:ranges (
30
+ (0.025 -0.025 0.07500000000000001 0.025)
31
+ )
32
+ )
33
+ (:yaw_rotation (
34
+ (0.0 0.0)
35
+ )
36
+ )
37
+ )
38
+ (cook_region
39
+ (:target flat_stove_1)
40
+ )
41
+ )
42
+
43
+ (:fixtures
44
+ kitchen_table - kitchen_table
45
+ flat_stove_1 - flat_stove
46
+ )
47
+
48
+ (:objects
49
+ chefmate_8_frypan_1 - chefmate_8_frypan
50
+ moka_pot_1 - moka_pot
51
+ )
52
+
53
+ (:obj_of_interest
54
+ moka_pot_1
55
+ flat_stove_1
56
+ )
57
+
58
+ (:init
59
+ (On flat_stove_1 kitchen_table_flat_stove_init_region)
60
+ (On chefmate_8_frypan_1 kitchen_table_frypan_init_region)
61
+ (On moka_pot_1 kitchen_table_moka_pot_init_region)
62
+ )
63
+
64
+ (:goal
65
+ (And (Turnon flat_stove_1) (On moka_pot_1 flat_stove_1_cook_region))
66
+ )
67
+
68
+ (:perturbation_config
69
+ (:case camera_view_angle)
70
+ (:category camera_view_angle)
71
+ (:source_suite libero_10)
72
+ (:source_task KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it)
73
+ (:bddl_only true)
74
+ (:detail agentview_camera_shifted_to_an_oblique_view)
75
+ (:lighting
76
+ (:enabled false)
77
+ (:mode none)
78
+ (:ambient 1.0)
79
+ (:diffuse 1.0)
80
+ (:specular 1.0)
81
+ )
82
+ (:observation
83
+ (:enabled false)
84
+ (:mode none)
85
+ (:brightness 1.0)
86
+ (:sigma 0.0)
87
+ )
88
+ (:camera
89
+ (:enabled true)
90
+ (:mode agentview_angle)
91
+ (:name agentview)
92
+ (:pos 0.48 0.24 1.62)
93
+ (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
94
+ )
95
+ (:runtime_move
96
+ (:enabled false)
97
+ (:mode none)
98
+ (:object moka_pot_1)
99
+ (:step 0)
100
+ (:delta_xy 0.0 0.0)
101
+ (:min_delta_norm 0.0)
102
+ )
103
+ (:object_appearance
104
+ (:enabled false)
105
+ (:mode none)
106
+ (:targets flat_stove_1)
107
+ (:rgba 0.72 0.63 0.50 1.0)
108
+ (:override_material_rgba false)
109
+ (:disable_material_texture false)
110
+ (:apply_visible_geom_rgba false)
111
+ )
112
+ (:object_placement
113
+ (:enabled false)
114
+ (:mode none)
115
+ (:reference moka_pot_1)
116
+ (:front_direction 1.0 0.0)
117
+ (:targets black_book_occluder_1)
118
+ (:offsets_xy (
119
+ (0.0 0.0)
120
+ ))
121
+ (:target_quat 1.0 0.0 0.0 0.0)
122
+ (:z_offset 0.0)
123
+ (:mesh_scale 1.0 1.0 1.0)
124
+ (:min_reference_distance 0.0)
125
+ (:pin_targets false)
126
+ )
127
+ (:object_shape
128
+ (:enabled false)
129
+ (:mode none)
130
+ (:target moka_pot_1)
131
+ (:mesh_scale 1.0 1.0 1.0)
132
+ )
133
+ (:initial_pose
134
+ (:enabled false)
135
+ (:mode none)
136
+ (:target moka_pot_1)
137
+ (:delta_xy 0.0 0.0)
138
+ (:min_delta_norm 0.0)
139
+ (:yaw 0.0)
140
+ )
141
+ )
142
+
143
+ )
bddl_files/02_camera_view_angle/bddl/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl ADDED
@@ -0,0 +1,169 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Kitchen_Tabletop_Manipulation)
2
+ (:domain robosuite)
3
+ (:language put the black bowl in the bottom drawer of the cabinet and close it)
4
+ (:regions
5
+ (white_cabinet_init_region
6
+ (:target kitchen_table)
7
+ (:ranges (
8
+ (-0.01 0.29 0.01 0.31)
9
+ )
10
+ )
11
+ (:yaw_rotation (
12
+ (0.0 0.0)
13
+ )
14
+ )
15
+ )
16
+ (wine_rack_init_region
17
+ (:target kitchen_table)
18
+ (:ranges (
19
+ (-0.11 -0.31 -0.09000000000000001 -0.29)
20
+ )
21
+ )
22
+ (:yaw_rotation (
23
+ (3.141592653589793 3.141592653589793)
24
+ )
25
+ )
26
+ )
27
+ (akita_black_bowl_init_region
28
+ (:target kitchen_table)
29
+ (:ranges (
30
+ (0.0049999999999999975 -0.07500000000000001 0.055 -0.025)
31
+ )
32
+ )
33
+ (:yaw_rotation (
34
+ (0.0 0.0)
35
+ )
36
+ )
37
+ )
38
+ (wine_bottle_init_region
39
+ (:target kitchen_table)
40
+ (:ranges (
41
+ (-0.175 0.025 -0.125 0.07500000000000001)
42
+ )
43
+ )
44
+ (:yaw_rotation (
45
+ (0.0 0.0)
46
+ )
47
+ )
48
+ )
49
+ (top_side
50
+ (:target white_cabinet_1)
51
+ )
52
+ (top_region
53
+ (:target white_cabinet_1)
54
+ )
55
+ (middle_region
56
+ (:target white_cabinet_1)
57
+ )
58
+ (bottom_region
59
+ (:target white_cabinet_1)
60
+ )
61
+ (top_region
62
+ (:target wine_rack_1)
63
+ )
64
+ )
65
+
66
+ (:fixtures
67
+ kitchen_table - kitchen_table
68
+ white_cabinet_1 - white_cabinet
69
+ wine_rack_1 - wine_rack
70
+ )
71
+
72
+ (:objects
73
+ akita_black_bowl_1 - akita_black_bowl
74
+ wine_bottle_1 - wine_bottle
75
+ )
76
+
77
+ (:obj_of_interest
78
+ akita_black_bowl_1
79
+ white_cabinet_1
80
+ )
81
+
82
+ (:init
83
+ (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region)
84
+ (On wine_bottle_1 kitchen_table_wine_bottle_init_region)
85
+ (On white_cabinet_1 kitchen_table_white_cabinet_init_region)
86
+ (On wine_rack_1 kitchen_table_wine_rack_init_region)
87
+ (Open white_cabinet_1_bottom_region)
88
+ )
89
+
90
+ (:goal
91
+ (And (Close white_cabinet_1_bottom_region) (In akita_black_bowl_1 white_cabinet_1_bottom_region))
92
+ )
93
+
94
+ (:perturbation_config
95
+ (:case camera_view_angle)
96
+ (:category camera_view_angle)
97
+ (:source_suite libero_10)
98
+ (:source_task KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it)
99
+ (:bddl_only true)
100
+ (:detail agentview_camera_shifted_to_an_oblique_view)
101
+ (:lighting
102
+ (:enabled false)
103
+ (:mode none)
104
+ (:ambient 1.0)
105
+ (:diffuse 1.0)
106
+ (:specular 1.0)
107
+ )
108
+ (:observation
109
+ (:enabled false)
110
+ (:mode none)
111
+ (:brightness 1.0)
112
+ (:sigma 0.0)
113
+ )
114
+ (:camera
115
+ (:enabled true)
116
+ (:mode agentview_angle)
117
+ (:name agentview)
118
+ (:pos 0.48 0.24 1.62)
119
+ (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
120
+ )
121
+ (:runtime_move
122
+ (:enabled false)
123
+ (:mode none)
124
+ (:object akita_black_bowl_1)
125
+ (:step 0)
126
+ (:delta_xy 0.0 0.0)
127
+ (:min_delta_norm 0.0)
128
+ )
129
+ (:object_appearance
130
+ (:enabled false)
131
+ (:mode none)
132
+ (:targets white_cabinet_1)
133
+ (:rgba 0.72 0.63 0.50 1.0)
134
+ (:override_material_rgba false)
135
+ (:disable_material_texture false)
136
+ (:apply_visible_geom_rgba false)
137
+ )
138
+ (:object_placement
139
+ (:enabled false)
140
+ (:mode none)
141
+ (:reference akita_black_bowl_1)
142
+ (:front_direction 1.0 0.0)
143
+ (:targets black_book_occluder_1)
144
+ (:offsets_xy (
145
+ (0.0 0.0)
146
+ ))
147
+ (:target_quat 1.0 0.0 0.0 0.0)
148
+ (:z_offset 0.0)
149
+ (:mesh_scale 1.0 1.0 1.0)
150
+ (:min_reference_distance 0.0)
151
+ (:pin_targets false)
152
+ )
153
+ (:object_shape
154
+ (:enabled false)
155
+ (:mode none)
156
+ (:target akita_black_bowl_1)
157
+ (:mesh_scale 1.0 1.0 1.0)
158
+ )
159
+ (:initial_pose
160
+ (:enabled false)
161
+ (:mode none)
162
+ (:target akita_black_bowl_1)
163
+ (:delta_xy 0.0 0.0)
164
+ (:min_delta_norm 0.0)
165
+ (:yaw 0.0)
166
+ )
167
+ )
168
+
169
+ )
bddl_files/02_camera_view_angle/bddl/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl ADDED
@@ -0,0 +1,158 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Kitchen_Tabletop_Manipulation)
2
+ (:domain robosuite)
3
+ (:language put the yellow and white mug in the microwave and close it)
4
+ (:regions
5
+ (microwave_init_region
6
+ (:target kitchen_table)
7
+ (:ranges (
8
+ (-0.01 0.33999999999999997 0.01 0.36)
9
+ )
10
+ )
11
+ (:yaw_rotation (
12
+ (0 0)
13
+ )
14
+ )
15
+ )
16
+ (white_yellow_mug_init_region
17
+ (:target kitchen_table)
18
+ (:ranges (
19
+ (-0.025 -0.025 0.025 0.025)
20
+ )
21
+ )
22
+ (:yaw_rotation (
23
+ (0.0 0.0)
24
+ )
25
+ )
26
+ )
27
+ (porcelain_mug_init_region
28
+ (:target kitchen_table)
29
+ (:ranges (
30
+ (-0.125 -0.275 -0.07500000000000001 -0.225)
31
+ )
32
+ )
33
+ (:yaw_rotation (
34
+ (0.0 0.0)
35
+ )
36
+ )
37
+ )
38
+ (porcelain_mug_front_region
39
+ (:target kitchen_table)
40
+ (:ranges (
41
+ (-0.05 -0.3 0.05 -0.2)
42
+ )
43
+ )
44
+ (:yaw_rotation (
45
+ (0.0 0.0)
46
+ )
47
+ )
48
+ )
49
+ (top_side
50
+ (:target microwave_1)
51
+ )
52
+ (heating_region
53
+ (:target microwave_1)
54
+ )
55
+ )
56
+
57
+ (:fixtures
58
+ kitchen_table - kitchen_table
59
+ microwave_1 - microwave
60
+ )
61
+
62
+ (:objects
63
+ porcelain_mug_1 - porcelain_mug
64
+ white_yellow_mug_1 - white_yellow_mug
65
+ )
66
+
67
+ (:obj_of_interest
68
+ white_yellow_mug_1
69
+ microwave_1
70
+ )
71
+
72
+ (:init
73
+ (On porcelain_mug_1 kitchen_table_porcelain_mug_init_region)
74
+ (On white_yellow_mug_1 kitchen_table_white_yellow_mug_init_region)
75
+ (On microwave_1 kitchen_table_microwave_init_region)
76
+ (Open microwave_1)
77
+ )
78
+
79
+ (:goal
80
+ (And (In white_yellow_mug_1 microwave_1_heating_region) (Close microwave_1))
81
+ )
82
+
83
+ (:perturbation_config
84
+ (:case camera_view_angle)
85
+ (:category camera_view_angle)
86
+ (:source_suite libero_10)
87
+ (:source_task KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it)
88
+ (:bddl_only true)
89
+ (:detail agentview_camera_shifted_to_an_oblique_view)
90
+ (:lighting
91
+ (:enabled false)
92
+ (:mode none)
93
+ (:ambient 1.0)
94
+ (:diffuse 1.0)
95
+ (:specular 1.0)
96
+ )
97
+ (:observation
98
+ (:enabled false)
99
+ (:mode none)
100
+ (:brightness 1.0)
101
+ (:sigma 0.0)
102
+ )
103
+ (:camera
104
+ (:enabled true)
105
+ (:mode agentview_angle)
106
+ (:name agentview)
107
+ (:pos 0.48 0.24 1.62)
108
+ (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
109
+ )
110
+ (:runtime_move
111
+ (:enabled false)
112
+ (:mode none)
113
+ (:object white_yellow_mug_1)
114
+ (:step 0)
115
+ (:delta_xy 0.0 0.0)
116
+ (:min_delta_norm 0.0)
117
+ )
118
+ (:object_appearance
119
+ (:enabled false)
120
+ (:mode none)
121
+ (:targets microwave_1)
122
+ (:rgba 0.72 0.63 0.50 1.0)
123
+ (:override_material_rgba false)
124
+ (:disable_material_texture false)
125
+ (:apply_visible_geom_rgba false)
126
+ )
127
+ (:object_placement
128
+ (:enabled false)
129
+ (:mode none)
130
+ (:reference white_yellow_mug_1)
131
+ (:front_direction 1.0 0.0)
132
+ (:targets black_book_occluder_1)
133
+ (:offsets_xy (
134
+ (0.0 0.0)
135
+ ))
136
+ (:target_quat 1.0 0.0 0.0 0.0)
137
+ (:z_offset 0.0)
138
+ (:mesh_scale 1.0 1.0 1.0)
139
+ (:min_reference_distance 0.0)
140
+ (:pin_targets false)
141
+ )
142
+ (:object_shape
143
+ (:enabled false)
144
+ (:mode none)
145
+ (:target white_yellow_mug_1)
146
+ (:mesh_scale 1.0 1.0 1.0)
147
+ )
148
+ (:initial_pose
149
+ (:enabled false)
150
+ (:mode none)
151
+ (:target white_yellow_mug_1)
152
+ (:delta_xy 0.0 0.0)
153
+ (:min_delta_norm 0.0)
154
+ (:yaw 0.0)
155
+ )
156
+ )
157
+
158
+ )
bddl_files/02_camera_view_angle/bddl/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl ADDED
@@ -0,0 +1,144 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Kitchen_Tabletop_Manipulation)
2
+ (:domain robosuite)
3
+ (:language put both moka pots on the stove)
4
+ (:regions
5
+ (flat_stove_init_region
6
+ (:target kitchen_table)
7
+ (:ranges (
8
+ (-0.21000000000000002 -0.21000000000000002 -0.19 -0.19)
9
+ )
10
+ )
11
+ (:yaw_rotation (
12
+ (0.0 0.0)
13
+ )
14
+ )
15
+ )
16
+ (moka_pot_right_init_region
17
+ (:target kitchen_table)
18
+ (:ranges (
19
+ (-0.07500000000000001 0.225 -0.025 0.275)
20
+ )
21
+ )
22
+ (:yaw_rotation (
23
+ (0.0 0.0)
24
+ )
25
+ )
26
+ )
27
+ (moka_pot_left_init_region
28
+ (:target kitchen_table)
29
+ (:ranges (
30
+ (0.025 0.025 0.07500000000000001 0.07500000000000001)
31
+ )
32
+ )
33
+ (:yaw_rotation (
34
+ (0.0 0.0)
35
+ )
36
+ )
37
+ )
38
+ (cook_region
39
+ (:target flat_stove_1)
40
+ )
41
+ )
42
+
43
+ (:fixtures
44
+ kitchen_table - kitchen_table
45
+ flat_stove_1 - flat_stove
46
+ )
47
+
48
+ (:objects
49
+ moka_pot_1 moka_pot_2 - moka_pot
50
+ )
51
+
52
+ (:obj_of_interest
53
+ moka_pot_1
54
+ moka_pot_2
55
+ flat_stove_1
56
+ )
57
+
58
+ (:init
59
+ (On flat_stove_1 kitchen_table_flat_stove_init_region)
60
+ (On moka_pot_1 kitchen_table_moka_pot_right_init_region)
61
+ (On moka_pot_2 kitchen_table_moka_pot_left_init_region)
62
+ (Turnon flat_stove_1)
63
+ )
64
+
65
+ (:goal
66
+ (And (On moka_pot_1 flat_stove_1_cook_region) (On moka_pot_2 flat_stove_1_cook_region) (Turnon flat_stove_1))
67
+ )
68
+
69
+ (:perturbation_config
70
+ (:case camera_view_angle)
71
+ (:category camera_view_angle)
72
+ (:source_suite libero_10)
73
+ (:source_task KITCHEN_SCENE8_put_both_moka_pots_on_the_stove)
74
+ (:bddl_only true)
75
+ (:detail agentview_camera_shifted_to_an_oblique_view)
76
+ (:lighting
77
+ (:enabled false)
78
+ (:mode none)
79
+ (:ambient 1.0)
80
+ (:diffuse 1.0)
81
+ (:specular 1.0)
82
+ )
83
+ (:observation
84
+ (:enabled false)
85
+ (:mode none)
86
+ (:brightness 1.0)
87
+ (:sigma 0.0)
88
+ )
89
+ (:camera
90
+ (:enabled true)
91
+ (:mode agentview_angle)
92
+ (:name agentview)
93
+ (:pos 0.48 0.24 1.62)
94
+ (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
95
+ )
96
+ (:runtime_move
97
+ (:enabled false)
98
+ (:mode none)
99
+ (:object moka_pot_1)
100
+ (:step 0)
101
+ (:delta_xy 0.0 0.0)
102
+ (:min_delta_norm 0.0)
103
+ )
104
+ (:object_appearance
105
+ (:enabled false)
106
+ (:mode none)
107
+ (:targets flat_stove_1)
108
+ (:rgba 0.72 0.63 0.50 1.0)
109
+ (:override_material_rgba false)
110
+ (:disable_material_texture false)
111
+ (:apply_visible_geom_rgba false)
112
+ )
113
+ (:object_placement
114
+ (:enabled false)
115
+ (:mode none)
116
+ (:reference moka_pot_1)
117
+ (:front_direction 1.0 0.0)
118
+ (:targets black_book_occluder_1)
119
+ (:offsets_xy (
120
+ (0.0 0.0)
121
+ ))
122
+ (:target_quat 1.0 0.0 0.0 0.0)
123
+ (:z_offset 0.0)
124
+ (:mesh_scale 1.0 1.0 1.0)
125
+ (:min_reference_distance 0.0)
126
+ (:pin_targets false)
127
+ )
128
+ (:object_shape
129
+ (:enabled false)
130
+ (:mode none)
131
+ (:target moka_pot_1)
132
+ (:mesh_scale 1.0 1.0 1.0)
133
+ )
134
+ (:initial_pose
135
+ (:enabled false)
136
+ (:mode none)
137
+ (:target moka_pot_1)
138
+ (:delta_xy 0.0 0.0)
139
+ (:min_delta_norm 0.0)
140
+ (:yaw 0.0)
141
+ )
142
+ )
143
+
144
+ )
bddl_files/02_camera_view_angle/bddl/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl ADDED
@@ -0,0 +1,170 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Living_Room_Tabletop_Manipulation)
2
+ (:domain robosuite)
3
+ (:language put both the alphabet soup and the cream cheese box in the basket)
4
+ (:regions
5
+ (basket_init_region
6
+ (:target living_room_table)
7
+ (:ranges (
8
+ (-0.01 0.25 0.01 0.27)
9
+ )
10
+ )
11
+ (:yaw_rotation (
12
+ (0.0 0.0)
13
+ )
14
+ )
15
+ )
16
+ (alphabet_soup_init_region
17
+ (:target living_room_table)
18
+ (:ranges (
19
+ (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
20
+ )
21
+ )
22
+ (:yaw_rotation (
23
+ (0.0 0.0)
24
+ )
25
+ )
26
+ )
27
+ (cream_cheese_init_region
28
+ (:target living_room_table)
29
+ (:ranges (
30
+ (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
31
+ )
32
+ )
33
+ (:yaw_rotation (
34
+ (0.0 0.0)
35
+ )
36
+ )
37
+ )
38
+ (tomato_sauce_init_region
39
+ (:target living_room_table)
40
+ (:ranges (
41
+ (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
42
+ )
43
+ )
44
+ (:yaw_rotation (
45
+ (0.0 0.0)
46
+ )
47
+ )
48
+ )
49
+ (ketchup_init_region
50
+ (:target living_room_table)
51
+ (:ranges (
52
+ (-0.225 -0.175 -0.17500000000000002 -0.125)
53
+ )
54
+ )
55
+ (:yaw_rotation (
56
+ (0.0 0.0)
57
+ )
58
+ )
59
+ )
60
+ (contain_region
61
+ (:target basket_1)
62
+ )
63
+ )
64
+
65
+ (:fixtures
66
+ living_room_table - living_room_table
67
+ )
68
+
69
+ (:objects
70
+ alphabet_soup_1 - alphabet_soup
71
+ cream_cheese_1 - cream_cheese
72
+ tomato_sauce_1 - tomato_sauce
73
+ ketchup_1 - ketchup
74
+ basket_1 - basket
75
+ )
76
+
77
+ (:obj_of_interest
78
+ alphabet_soup_1
79
+ cream_cheese_1
80
+ basket_1
81
+ )
82
+
83
+ (:init
84
+ (On alphabet_soup_1 living_room_table_alphabet_soup_init_region)
85
+ (On cream_cheese_1 living_room_table_cream_cheese_init_region)
86
+ (On tomato_sauce_1 living_room_table_tomato_sauce_init_region)
87
+ (On ketchup_1 living_room_table_ketchup_init_region)
88
+ (On basket_1 living_room_table_basket_init_region)
89
+ )
90
+
91
+ (:goal
92
+ (And (In alphabet_soup_1 basket_1_contain_region) (In cream_cheese_1 basket_1_contain_region))
93
+ )
94
+
95
+ (:perturbation_config
96
+ (:case camera_view_angle)
97
+ (:category camera_view_angle)
98
+ (:source_suite libero_10)
99
+ (:source_task LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket)
100
+ (:bddl_only true)
101
+ (:detail agentview_camera_shifted_to_an_oblique_view)
102
+ (:lighting
103
+ (:enabled false)
104
+ (:mode none)
105
+ (:ambient 1.0)
106
+ (:diffuse 1.0)
107
+ (:specular 1.0)
108
+ )
109
+ (:observation
110
+ (:enabled false)
111
+ (:mode none)
112
+ (:brightness 1.0)
113
+ (:sigma 0.0)
114
+ )
115
+ (:camera
116
+ (:enabled true)
117
+ (:mode agentview_angle)
118
+ (:name agentview)
119
+ (:pos 0.48 0.24 1.62)
120
+ (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
121
+ )
122
+ (:runtime_move
123
+ (:enabled false)
124
+ (:mode none)
125
+ (:object alphabet_soup_1)
126
+ (:step 0)
127
+ (:delta_xy 0.0 0.0)
128
+ (:min_delta_norm 0.0)
129
+ )
130
+ (:object_appearance
131
+ (:enabled false)
132
+ (:mode none)
133
+ (:targets basket_1)
134
+ (:rgba 0.30 0.20 0.12 1.0)
135
+ (:override_material_rgba false)
136
+ (:disable_material_texture false)
137
+ (:apply_visible_geom_rgba false)
138
+ )
139
+ (:object_placement
140
+ (:enabled false)
141
+ (:mode none)
142
+ (:reference alphabet_soup_1)
143
+ (:front_direction 1.0 0.0)
144
+ (:targets black_book_occluder_1)
145
+ (:offsets_xy (
146
+ (0.0 0.0)
147
+ ))
148
+ (:target_quat 1.0 0.0 0.0 0.0)
149
+ (:z_offset 0.0)
150
+ (:mesh_scale 1.0 1.0 1.0)
151
+ (:min_reference_distance 0.0)
152
+ (:pin_targets false)
153
+ )
154
+ (:object_shape
155
+ (:enabled false)
156
+ (:mode none)
157
+ (:target alphabet_soup_1)
158
+ (:mesh_scale 1.0 1.0 1.0)
159
+ )
160
+ (:initial_pose
161
+ (:enabled false)
162
+ (:mode none)
163
+ (:target alphabet_soup_1)
164
+ (:delta_xy 0.0 0.0)
165
+ (:min_delta_norm 0.0)
166
+ (:yaw 0.0)
167
+ )
168
+ )
169
+
170
+ )
bddl_files/02_camera_view_angle/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl ADDED
@@ -0,0 +1,209 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Living_Room_Tabletop_Manipulation)
2
+ (:domain robosuite)
3
+ (:language put both the alphabet soup and the tomato sauce in the basket)
4
+ (:regions
5
+ (basket_init_region
6
+ (:target living_room_table)
7
+ (:ranges (
8
+ (-0.01 0.25 0.01 0.27)
9
+ )
10
+ )
11
+ (:yaw_rotation (
12
+ (0.0 0.0)
13
+ )
14
+ )
15
+ )
16
+ (milk_init_region
17
+ (:target living_room_table)
18
+ (:ranges (
19
+ (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
20
+ )
21
+ )
22
+ (:yaw_rotation (
23
+ (0.0 0.0)
24
+ )
25
+ )
26
+ )
27
+ (cream_cheese_init_region
28
+ (:target living_room_table)
29
+ (:ranges (
30
+ (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
31
+ )
32
+ )
33
+ (:yaw_rotation (
34
+ (0.0 0.0)
35
+ )
36
+ )
37
+ )
38
+ (orange_juice_init_region
39
+ (:target living_room_table)
40
+ (:ranges (
41
+ (-0.025 -0.275 0.025 -0.225)
42
+ )
43
+ )
44
+ (:yaw_rotation (
45
+ (0.0 0.0)
46
+ )
47
+ )
48
+ )
49
+ (tomato_sauce_init_region
50
+ (:target living_room_table)
51
+ (:ranges (
52
+ (-0.125 0.025 -0.07500000000000001 0.07500000000000001)
53
+ )
54
+ )
55
+ (:yaw_rotation (
56
+ (0.0 0.0)
57
+ )
58
+ )
59
+ )
60
+ (alphabet_soup_init_region
61
+ (:target living_room_table)
62
+ (:ranges (
63
+ (-0.125 -0.175 -0.07500000000000001 -0.125)
64
+ )
65
+ )
66
+ (:yaw_rotation (
67
+ (0.0 0.0)
68
+ )
69
+ )
70
+ )
71
+ (butter_init_region
72
+ (:target living_room_table)
73
+ (:ranges (
74
+ (0.025 0.025 0.07500000000000001 0.07500000000000001)
75
+ )
76
+ )
77
+ (:yaw_rotation (
78
+ (0.0 0.0)
79
+ )
80
+ )
81
+ )
82
+ (ketchup_init_region
83
+ (:target living_room_table)
84
+ (:ranges (
85
+ (-0.275 -0.175 -0.225 -0.125)
86
+ )
87
+ )
88
+ (:yaw_rotation (
89
+ (0.0 0.0)
90
+ )
91
+ )
92
+ )
93
+ (contain_region
94
+ (:target basket_1)
95
+ )
96
+ )
97
+
98
+ (:fixtures
99
+ living_room_table - living_room_table
100
+ )
101
+
102
+ (:objects
103
+ alphabet_soup_1 - alphabet_soup
104
+ cream_cheese_1 - cream_cheese
105
+ tomato_sauce_1 - tomato_sauce
106
+ ketchup_1 - ketchup
107
+ orange_juice_1 - orange_juice
108
+ milk_1 - milk
109
+ butter_1 - butter
110
+ basket_1 - basket
111
+ )
112
+
113
+ (:obj_of_interest
114
+ alphabet_soup_1
115
+ tomato_sauce_1
116
+ basket_1
117
+ )
118
+
119
+ (:init
120
+ (On alphabet_soup_1 living_room_table_alphabet_soup_init_region)
121
+ (On cream_cheese_1 living_room_table_cream_cheese_init_region)
122
+ (On tomato_sauce_1 living_room_table_tomato_sauce_init_region)
123
+ (On ketchup_1 living_room_table_ketchup_init_region)
124
+ (On milk_1 living_room_table_milk_init_region)
125
+ (On orange_juice_1 living_room_table_orange_juice_init_region)
126
+ (On butter_1 living_room_table_butter_init_region)
127
+ (On basket_1 living_room_table_basket_init_region)
128
+ )
129
+
130
+ (:goal
131
+ (And (In alphabet_soup_1 basket_1_contain_region) (In tomato_sauce_1 basket_1_contain_region))
132
+ )
133
+
134
+ (:perturbation_config
135
+ (:case camera_view_angle)
136
+ (:category camera_view_angle)
137
+ (:source_suite libero_10)
138
+ (:source_task LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket)
139
+ (:bddl_only true)
140
+ (:detail agentview_camera_shifted_to_an_oblique_view)
141
+ (:lighting
142
+ (:enabled false)
143
+ (:mode none)
144
+ (:ambient 1.0)
145
+ (:diffuse 1.0)
146
+ (:specular 1.0)
147
+ )
148
+ (:observation
149
+ (:enabled false)
150
+ (:mode none)
151
+ (:brightness 1.0)
152
+ (:sigma 0.0)
153
+ )
154
+ (:camera
155
+ (:enabled true)
156
+ (:mode agentview_angle)
157
+ (:name agentview)
158
+ (:pos 0.48 0.24 1.62)
159
+ (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
160
+ )
161
+ (:runtime_move
162
+ (:enabled false)
163
+ (:mode none)
164
+ (:object alphabet_soup_1)
165
+ (:step 0)
166
+ (:delta_xy 0.0 0.0)
167
+ (:min_delta_norm 0.0)
168
+ )
169
+ (:object_appearance
170
+ (:enabled false)
171
+ (:mode none)
172
+ (:targets basket_1)
173
+ (:rgba 0.30 0.20 0.12 1.0)
174
+ (:override_material_rgba false)
175
+ (:disable_material_texture false)
176
+ (:apply_visible_geom_rgba false)
177
+ )
178
+ (:object_placement
179
+ (:enabled false)
180
+ (:mode none)
181
+ (:reference alphabet_soup_1)
182
+ (:front_direction 1.0 0.0)
183
+ (:targets black_book_occluder_1)
184
+ (:offsets_xy (
185
+ (0.0 0.0)
186
+ ))
187
+ (:target_quat 1.0 0.0 0.0 0.0)
188
+ (:z_offset 0.0)
189
+ (:mesh_scale 1.0 1.0 1.0)
190
+ (:min_reference_distance 0.0)
191
+ (:pin_targets false)
192
+ )
193
+ (:object_shape
194
+ (:enabled false)
195
+ (:mode none)
196
+ (:target alphabet_soup_1)
197
+ (:mesh_scale 1.0 1.0 1.0)
198
+ )
199
+ (:initial_pose
200
+ (:enabled false)
201
+ (:mode none)
202
+ (:target alphabet_soup_1)
203
+ (:delta_xy 0.0 0.0)
204
+ (:min_delta_norm 0.0)
205
+ (:yaw 0.0)
206
+ )
207
+ )
208
+
209
+ )
bddl_files/02_camera_view_angle/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl ADDED
@@ -0,0 +1,209 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem LIBERO_Living_Room_Tabletop_Manipulation)
2
+ (:domain robosuite)
3
+ (:language put both the cream cheese box and the butter in the basket)
4
+ (:regions
5
+ (basket_init_region
6
+ (:target living_room_table)
7
+ (:ranges (
8
+ (-0.01 0.25 0.01 0.27)
9
+ )
10
+ )
11
+ (:yaw_rotation (
12
+ (0.0 0.0)
13
+ )
14
+ )
15
+ )
16
+ (milk_init_region
17
+ (:target living_room_table)
18
+ (:ranges (
19
+ (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
20
+ )
21
+ )
22
+ (:yaw_rotation (
23
+ (0.0 0.0)
24
+ )
25
+ )
26
+ )
27
+ (cream_cheese_init_region
28
+ (:target living_room_table)
29
+ (:ranges (
30
+ (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
31
+ )
32
+ )
33
+ (:yaw_rotation (
34
+ (0.0 0.0)
35
+ )
36
+ )
37
+ )
38
+ (orange_juice_init_region
39
+ (:target living_room_table)
40
+ (:ranges (
41
+ (-0.025 -0.275 0.025 -0.225)
42
+ )
43
+ )
44
+ (:yaw_rotation (
45
+ (0.0 0.0)
46
+ )
47
+ )
48
+ )
49
+ (tomato_sauce_init_region
50
+ (:target living_room_table)
51
+ (:ranges (
52
+ (-0.125 0.025 -0.07500000000000001 0.07500000000000001)
53
+ )
54
+ )
55
+ (:yaw_rotation (
56
+ (0.0 0.0)
57
+ )
58
+ )
59
+ )
60
+ (alphabet_soup_init_region
61
+ (:target living_room_table)
62
+ (:ranges (
63
+ (-0.125 -0.175 -0.07500000000000001 -0.125)
64
+ )
65
+ )
66
+ (:yaw_rotation (
67
+ (0.0 0.0)
68
+ )
69
+ )
70
+ )
71
+ (butter_init_region
72
+ (:target living_room_table)
73
+ (:ranges (
74
+ (0.025 0.025 0.07500000000000001 0.07500000000000001)
75
+ )
76
+ )
77
+ (:yaw_rotation (
78
+ (0.0 0.0)
79
+ )
80
+ )
81
+ )
82
+ (ketchup_init_region
83
+ (:target living_room_table)
84
+ (:ranges (
85
+ (-0.275 -0.175 -0.225 -0.125)
86
+ )
87
+ )
88
+ (:yaw_rotation (
89
+ (0.0 0.0)
90
+ )
91
+ )
92
+ )
93
+ (contain_region
94
+ (:target basket_1)
95
+ )
96
+ )
97
+
98
+ (:fixtures
99
+ living_room_table - living_room_table
100
+ )
101
+
102
+ (:objects
103
+ alphabet_soup_1 - alphabet_soup
104
+ cream_cheese_1 - cream_cheese
105
+ tomato_sauce_1 - tomato_sauce
106
+ ketchup_1 - ketchup
107
+ orange_juice_1 - orange_juice
108
+ milk_1 - milk
109
+ butter_1 - butter
110
+ basket_1 - basket
111
+ )
112
+
113
+ (:obj_of_interest
114
+ cream_cheese_1
115
+ butter_1
116
+ basket_1
117
+ )
118
+
119
+ (:init
120
+ (On alphabet_soup_1 living_room_table_alphabet_soup_init_region)
121
+ (On cream_cheese_1 living_room_table_cream_cheese_init_region)
122
+ (On tomato_sauce_1 living_room_table_tomato_sauce_init_region)
123
+ (On ketchup_1 living_room_table_ketchup_init_region)
124
+ (On milk_1 living_room_table_milk_init_region)
125
+ (On orange_juice_1 living_room_table_orange_juice_init_region)
126
+ (On butter_1 living_room_table_butter_init_region)
127
+ (On basket_1 living_room_table_basket_init_region)
128
+ )
129
+
130
+ (:goal
131
+ (And (In cream_cheese_1 basket_1_contain_region) (In butter_1 basket_1_contain_region))
132
+ )
133
+
134
+ (:perturbation_config
135
+ (:case camera_view_angle)
136
+ (:category camera_view_angle)
137
+ (:source_suite libero_10)
138
+ (:source_task LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket)
139
+ (:bddl_only true)
140
+ (:detail agentview_camera_shifted_to_an_oblique_view)
141
+ (:lighting
142
+ (:enabled false)
143
+ (:mode none)
144
+ (:ambient 1.0)
145
+ (:diffuse 1.0)
146
+ (:specular 1.0)
147
+ )
148
+ (:observation
149
+ (:enabled false)
150
+ (:mode none)
151
+ (:brightness 1.0)
152
+ (:sigma 0.0)
153
+ )
154
+ (:camera
155
+ (:enabled true)
156
+ (:mode agentview_angle)
157
+ (:name agentview)
158
+ (:pos 0.48 0.24 1.62)
159
+ (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
160
+ )
161
+ (:runtime_move
162
+ (:enabled false)
163
+ (:mode none)
164
+ (:object cream_cheese_1)
165
+ (:step 0)
166
+ (:delta_xy 0.0 0.0)
167
+ (:min_delta_norm 0.0)
168
+ )
169
+ (:object_appearance
170
+ (:enabled false)
171
+ (:mode none)
172
+ (:targets basket_1)
173
+ (:rgba 0.30 0.20 0.12 1.0)
174
+ (:override_material_rgba false)
175
+ (:disable_material_texture false)
176
+ (:apply_visible_geom_rgba false)
177
+ )
178
+ (:object_placement
179
+ (:enabled false)
180
+ (:mode none)
181
+ (:reference cream_cheese_1)
182
+ (:front_direction 1.0 0.0)
183
+ (:targets black_book_occluder_1)
184
+ (:offsets_xy (
185
+ (0.0 0.0)
186
+ ))
187
+ (:target_quat 1.0 0.0 0.0 0.0)
188
+ (:z_offset 0.0)
189
+ (:mesh_scale 1.0 1.0 1.0)
190
+ (:min_reference_distance 0.0)
191
+ (:pin_targets false)
192
+ )
193
+ (:object_shape
194
+ (:enabled false)
195
+ (:mode none)
196
+ (:target cream_cheese_1)
197
+ (:mesh_scale 1.0 1.0 1.0)
198
+ )
199
+ (:initial_pose
200
+ (:enabled false)
201
+ (:mode none)
202
+ (:target cream_cheese_1)
203
+ (:delta_xy 0.0 0.0)
204
+ (:min_delta_norm 0.0)
205
+ (:yaw 0.0)
206
+ )
207
+ )
208
+
209
+ )