diff --git a/bddl/grid/grid_level_1/GRID_SCENE_task1.bddl b/bddl/grid/grid_level_1/GRID_SCENE_task1.bddl new file mode 100644 index 0000000000000000000000000000000000000000..bc1480100413db0d2a1ebceb0bb0af67dde36214 --- /dev/null +++ b/bddl/grid/grid_level_1/GRID_SCENE_task1.bddl @@ -0,0 +1,109 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (white_bowl_1_region + (:target kitchen_table) + (:ranges ( + (-0.090001 -0.090001 -0.089999 -0.089999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_1_region + (:target kitchen_table) + (:ranges ( + (0.089999 -0.110001 0.090001 -0.109999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_1_region + (:target kitchen_table) + (:ranges ( + (-0.150001 0.089999 -0.149999 0.090001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (orange_juice_1_region + (:target kitchen_table) + (:ranges ( + (0.089999 0.089999 0.090001 0.090001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + white_bowl_1 - white_bowl + butter_1 - butter + tomato_sauce_1 - tomato_sauce + orange_juice_1 - orange_juice + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On white_bowl_1 kitchen_table_white_bowl_1_region) + (On butter_1 kitchen_table_butter_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/grid/grid_level_1/GRID_SCENE_task1.init b/bddl/grid/grid_level_1/GRID_SCENE_task1.init new file mode 100644 index 0000000000000000000000000000000000000000..b624b4b375d1678f6b5ca7c4bdfb76acb1b70baf Binary files /dev/null and b/bddl/grid/grid_level_1/GRID_SCENE_task1.init differ diff --git a/bddl/grid/grid_level_1/GRID_SCENE_task1_agentview.png b/bddl/grid/grid_level_1/GRID_SCENE_task1_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..fc6938c43784fe93e70ce1fcff01dfae3453425d --- /dev/null +++ b/bddl/grid/grid_level_1/GRID_SCENE_task1_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fe7c514768a98dd3843084f21d5886746b435c33e6f4d7dd443b26086ad6945d +size 168892 diff --git a/bddl/grid/grid_level_1/GRID_SCENE_task2.bddl b/bddl/grid/grid_level_1/GRID_SCENE_task2.bddl new file mode 100644 index 0000000000000000000000000000000000000000..9147614f124d776562c17e73bcaf0b09c08b5c13 --- /dev/null +++ b/bddl/grid/grid_level_1/GRID_SCENE_task2.bddl @@ -0,0 +1,109 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (milk_1_region + (:target kitchen_table) + (:ranges ( + (-0.17000099999999999 -0.090001 -0.16999899999999998 -0.089999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (white_bowl_1_region + (:target kitchen_table) + (:ranges ( + (0.149999 -0.090001 0.150001 -0.089999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_1_region + (:target kitchen_table) + (:ranges ( + (-0.150001 0.089999 -0.149999 0.090001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (orange_juice_1_region + (:target kitchen_table) + (:ranges ( + (0.089999 0.089999 0.090001 0.090001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + milk_1 - milk + white_bowl_1 - white_bowl + tomato_sauce_1 - tomato_sauce + orange_juice_1 - orange_juice + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On milk_1 kitchen_table_milk_1_region) + (On white_bowl_1 kitchen_table_white_bowl_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/grid/grid_level_1/GRID_SCENE_task2.init b/bddl/grid/grid_level_1/GRID_SCENE_task2.init new file mode 100644 index 0000000000000000000000000000000000000000..ce67ab956e7b5b116a3b228c793940a6a35986c9 Binary files /dev/null and b/bddl/grid/grid_level_1/GRID_SCENE_task2.init differ diff --git a/bddl/grid/grid_level_1/GRID_SCENE_task2_agentview.png b/bddl/grid/grid_level_1/GRID_SCENE_task2_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..6f55c349aee95e46e352508f172e3fd857d2149a --- /dev/null +++ b/bddl/grid/grid_level_1/GRID_SCENE_task2_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:15b5f470ff831437b6c7dfd535ba308e8dd6e94b2006192433cbb635b5483eae +size 171078 diff --git a/bddl/grid/grid_level_1/GRID_SCENE_task3.bddl b/bddl/grid/grid_level_1/GRID_SCENE_task3.bddl new file mode 100644 index 0000000000000000000000000000000000000000..424b2ebee8989fa70fdbedd09fd200b1b324d35f --- /dev/null +++ b/bddl/grid/grid_level_1/GRID_SCENE_task3.bddl @@ -0,0 +1,109 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (milk_1_region + (:target kitchen_table) + (:ranges ( + (-0.17000099999999999 -0.090001 -0.16999899999999998 -0.089999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (butter_1_region + (:target kitchen_table) + (:ranges ( + (0.089999 -0.110001 0.090001 -0.109999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (white_bowl_1_region + (:target kitchen_table) + (:ranges ( + (-0.090001 0.089999 -0.089999 0.090001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_1_region + (:target kitchen_table) + (:ranges ( + (0.089999 0.089999 0.090001 0.090001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + milk_1 - milk + butter_1 - butter + white_bowl_1 - white_bowl + orange_juice_1 - orange_juice + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On milk_1 kitchen_table_milk_1_region) + (On butter_1 kitchen_table_butter_1_region) + (On white_bowl_1 kitchen_table_white_bowl_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/grid/grid_level_1/GRID_SCENE_task3.init b/bddl/grid/grid_level_1/GRID_SCENE_task3.init new file mode 100644 index 0000000000000000000000000000000000000000..8521da8b2b07cf1d325499e2b8b2a00bb2cccc0e Binary files /dev/null and b/bddl/grid/grid_level_1/GRID_SCENE_task3.init differ diff --git a/bddl/grid/grid_level_1/GRID_SCENE_task3_agentview.png b/bddl/grid/grid_level_1/GRID_SCENE_task3_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..0fd1b47c879674b8ca03cee5d6883ce2c4e4f53d --- /dev/null +++ b/bddl/grid/grid_level_1/GRID_SCENE_task3_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f862ac3e7fc424c8bcebe1716de1f45b667594321540237aa1ff024f2600eeb7 +size 168552 diff --git a/bddl/grid/grid_level_1/GRID_SCENE_task4.bddl b/bddl/grid/grid_level_1/GRID_SCENE_task4.bddl new file mode 100644 index 0000000000000000000000000000000000000000..860a12edfb8660da29f9e1723033d3987501525a --- /dev/null +++ b/bddl/grid/grid_level_1/GRID_SCENE_task4.bddl @@ -0,0 +1,109 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (milk_1_region + (:target kitchen_table) + (:ranges ( + (-0.17000099999999999 -0.090001 -0.16999899999999998 -0.089999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (butter_1_region + (:target kitchen_table) + (:ranges ( + (0.089999 -0.110001 0.090001 -0.109999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_1_region + (:target kitchen_table) + (:ranges ( + (-0.150001 0.089999 -0.149999 0.090001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (white_bowl_1_region + (:target kitchen_table) + (:ranges ( + (0.149999 0.089999 0.150001 0.090001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + milk_1 - milk + butter_1 - butter + tomato_sauce_1 - tomato_sauce + white_bowl_1 - white_bowl + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On milk_1 kitchen_table_milk_1_region) + (On butter_1 kitchen_table_butter_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region) + (On white_bowl_1 kitchen_table_white_bowl_1_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/grid/grid_level_1/GRID_SCENE_task4.init b/bddl/grid/grid_level_1/GRID_SCENE_task4.init new file mode 100644 index 0000000000000000000000000000000000000000..a977ade867564eea60c914d55e940de7f38ef52c Binary files /dev/null and b/bddl/grid/grid_level_1/GRID_SCENE_task4.init differ diff --git a/bddl/grid/grid_level_1/GRID_SCENE_task4_agentview.png b/bddl/grid/grid_level_1/GRID_SCENE_task4_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..623987345f2213b2ba73536c18da8f78cd57e236 --- /dev/null +++ b/bddl/grid/grid_level_1/GRID_SCENE_task4_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed825e12f376c2e4a6b5eefe9775e69177578444d377d9298af2627840df842f +size 168248 diff --git a/bddl/grid/grid_level_2/GRID_SCENE_task1.bddl b/bddl/grid/grid_level_2/GRID_SCENE_task1.bddl new file mode 100644 index 0000000000000000000000000000000000000000..7a64dda2a371b511563341f294f2ed63dcff990b --- /dev/null +++ b/bddl/grid/grid_level_2/GRID_SCENE_task1.bddl @@ -0,0 +1,151 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (white_bowl_1_region + (:target kitchen_table) + (:ranges ( + (-0.160001 -0.080001 -0.159999 -0.079999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_1_region + (:target kitchen_table) + (:ranges ( + (-0.005001 -0.075001 -0.004999 -0.074999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (tomato_sauce_1_region + (:target kitchen_table) + (:ranges ( + (0.169999 -0.075001 0.170001 -0.074999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (ketchup_1_region + (:target kitchen_table) + (:ranges ( + (-0.165001 0.074999 -0.164999 0.075001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (orange_juice_1_region + (:target kitchen_table) + (:ranges ( + (0.009999000000000001 0.074999 0.010001 0.075001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (cream_cheese_1_region + (:target kitchen_table) + (:ranges ( + (0.159999 0.089999 0.160001 0.090001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + white_bowl_1 - white_bowl + milk_1 - milk + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + orange_juice_1 - orange_juice + cream_cheese_1 - cream_cheese + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On white_bowl_1 kitchen_table_white_bowl_1_region) + (On milk_1 kitchen_table_milk_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region) + (On ketchup_1 kitchen_table_ketchup_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_region) + (On cream_cheese_1 kitchen_table_cream_cheese_1_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/grid/grid_level_2/GRID_SCENE_task1.init b/bddl/grid/grid_level_2/GRID_SCENE_task1.init new file mode 100644 index 0000000000000000000000000000000000000000..e4cf6dd350406bc99a2ff6ae7948f4ccae7e25f6 Binary files /dev/null and b/bddl/grid/grid_level_2/GRID_SCENE_task1.init differ diff --git a/bddl/grid/grid_level_2/GRID_SCENE_task1_agentview.png b/bddl/grid/grid_level_2/GRID_SCENE_task1_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..e0fbdd09900b86c9a6581e3592393bc4c51d79de --- /dev/null +++ b/bddl/grid/grid_level_2/GRID_SCENE_task1_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c3c1ed9903c38c1fb7cc504caa76a917bdf1760b2fb74fc20d21d1738afa8aa6 +size 179221 diff --git a/bddl/grid/grid_level_2/GRID_SCENE_task2.bddl b/bddl/grid/grid_level_2/GRID_SCENE_task2.bddl new file mode 100644 index 0000000000000000000000000000000000000000..146cd5156c88d5371041515645a8a3b1e4f5d556 --- /dev/null +++ b/bddl/grid/grid_level_2/GRID_SCENE_task2.bddl @@ -0,0 +1,151 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (butter_1_region + (:target kitchen_table) + (:ranges ( + (-0.170001 -0.08500100000000001 -0.169999 -0.084999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (white_bowl_1_region + (:target kitchen_table) + (:ranges ( + (-1e-06 -0.080001 1e-06 -0.079999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_1_region + (:target kitchen_table) + (:ranges ( + (0.169999 -0.075001 0.170001 -0.074999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (ketchup_1_region + (:target kitchen_table) + (:ranges ( + (-0.165001 0.074999 -0.164999 0.075001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (orange_juice_1_region + (:target kitchen_table) + (:ranges ( + (0.009999000000000001 0.074999 0.010001 0.075001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (cream_cheese_1_region + (:target kitchen_table) + (:ranges ( + (0.159999 0.089999 0.160001 0.090001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + butter_1 - butter + white_bowl_1 - white_bowl + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + orange_juice_1 - orange_juice + cream_cheese_1 - cream_cheese + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On butter_1 kitchen_table_butter_1_region) + (On white_bowl_1 kitchen_table_white_bowl_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region) + (On ketchup_1 kitchen_table_ketchup_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_region) + (On cream_cheese_1 kitchen_table_cream_cheese_1_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/grid/grid_level_2/GRID_SCENE_task2.init b/bddl/grid/grid_level_2/GRID_SCENE_task2.init new file mode 100644 index 0000000000000000000000000000000000000000..41ff81638082ebc0813e9e5132b7c392f338a681 Binary files /dev/null and b/bddl/grid/grid_level_2/GRID_SCENE_task2.init differ diff --git a/bddl/grid/grid_level_2/GRID_SCENE_task2_agentview.png b/bddl/grid/grid_level_2/GRID_SCENE_task2_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..6ee8731da5622249c5f2a308d10beccb2eb29bb4 --- /dev/null +++ b/bddl/grid/grid_level_2/GRID_SCENE_task2_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ac156db944747ebfcd1bbea529bb5c2b654f1fd3f6becc62cf8eb94e33e5eeb7 +size 177991 diff --git a/bddl/grid/grid_level_2/GRID_SCENE_task3.bddl b/bddl/grid/grid_level_2/GRID_SCENE_task3.bddl new file mode 100644 index 0000000000000000000000000000000000000000..e94a1d0b03c00551db3f194d2965029e74161ab6 --- /dev/null +++ b/bddl/grid/grid_level_2/GRID_SCENE_task3.bddl @@ -0,0 +1,151 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (butter_1_region + (:target kitchen_table) + (:ranges ( + (-0.170001 -0.08500100000000001 -0.169999 -0.084999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_1_region + (:target kitchen_table) + (:ranges ( + (-0.005001 -0.075001 -0.004999 -0.074999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (white_bowl_1_region + (:target kitchen_table) + (:ranges ( + (0.159999 -0.080001 0.160001 -0.079999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_1_region + (:target kitchen_table) + (:ranges ( + (-0.165001 0.074999 -0.164999 0.075001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (orange_juice_1_region + (:target kitchen_table) + (:ranges ( + (0.009999000000000001 0.074999 0.010001 0.075001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (cream_cheese_1_region + (:target kitchen_table) + (:ranges ( + (0.159999 0.089999 0.160001 0.090001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + butter_1 - butter + milk_1 - milk + white_bowl_1 - white_bowl + ketchup_1 - ketchup + orange_juice_1 - orange_juice + cream_cheese_1 - cream_cheese + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On butter_1 kitchen_table_butter_1_region) + (On milk_1 kitchen_table_milk_1_region) + (On white_bowl_1 kitchen_table_white_bowl_1_region) + (On ketchup_1 kitchen_table_ketchup_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_region) + (On cream_cheese_1 kitchen_table_cream_cheese_1_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/grid/grid_level_2/GRID_SCENE_task3.init b/bddl/grid/grid_level_2/GRID_SCENE_task3.init new file mode 100644 index 0000000000000000000000000000000000000000..1119c6c80914c2cf0dfa1f69e3bf08a3139c3ada Binary files /dev/null and b/bddl/grid/grid_level_2/GRID_SCENE_task3.init differ diff --git a/bddl/grid/grid_level_2/GRID_SCENE_task3_agentview.png b/bddl/grid/grid_level_2/GRID_SCENE_task3_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..e67052d1c2d47eb07fbc2f3f3a033611cb5c8598 --- /dev/null +++ b/bddl/grid/grid_level_2/GRID_SCENE_task3_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a16201d7d27620e933bc8e047cda656917545646bb870343e2325cb2d768d8e1 +size 176464 diff --git a/bddl/grid/grid_level_2/GRID_SCENE_task4.bddl b/bddl/grid/grid_level_2/GRID_SCENE_task4.bddl new file mode 100644 index 0000000000000000000000000000000000000000..9e3f19543406417708fadc3ed760674705a540a1 --- /dev/null +++ b/bddl/grid/grid_level_2/GRID_SCENE_task4.bddl @@ -0,0 +1,151 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (butter_1_region + (:target kitchen_table) + (:ranges ( + (-0.170001 -0.08500100000000001 -0.169999 -0.084999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_1_region + (:target kitchen_table) + (:ranges ( + (-0.005001 -0.075001 -0.004999 -0.074999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (tomato_sauce_1_region + (:target kitchen_table) + (:ranges ( + (0.169999 -0.075001 0.170001 -0.074999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (white_bowl_1_region + (:target kitchen_table) + (:ranges ( + (-0.160001 0.079999 -0.159999 0.080001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_1_region + (:target kitchen_table) + (:ranges ( + (0.009999000000000001 0.074999 0.010001 0.075001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (cream_cheese_1_region + (:target kitchen_table) + (:ranges ( + (0.159999 0.089999 0.160001 0.090001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + butter_1 - butter + milk_1 - milk + tomato_sauce_1 - tomato_sauce + white_bowl_1 - white_bowl + orange_juice_1 - orange_juice + cream_cheese_1 - cream_cheese + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On butter_1 kitchen_table_butter_1_region) + (On milk_1 kitchen_table_milk_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region) + (On white_bowl_1 kitchen_table_white_bowl_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_region) + (On cream_cheese_1 kitchen_table_cream_cheese_1_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/grid/grid_level_2/GRID_SCENE_task4.init b/bddl/grid/grid_level_2/GRID_SCENE_task4.init new file mode 100644 index 0000000000000000000000000000000000000000..47cff72ec15fa55676bf143704251c5ea4b89ff2 Binary files /dev/null and b/bddl/grid/grid_level_2/GRID_SCENE_task4.init differ diff --git a/bddl/grid/grid_level_2/GRID_SCENE_task4_agentview.png b/bddl/grid/grid_level_2/GRID_SCENE_task4_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..c388ee76b7408bacf9d95ef584f682931a5c9a9b --- /dev/null +++ b/bddl/grid/grid_level_2/GRID_SCENE_task4_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0419aa5b3c83ed6b94e71f4fbf97a8f2710deb3188acfec1fe16284589ef5fe0 +size 177253 diff --git a/bddl/grid/grid_level_2/GRID_SCENE_task5.bddl b/bddl/grid/grid_level_2/GRID_SCENE_task5.bddl new file mode 100644 index 0000000000000000000000000000000000000000..495084fb2b799701c6cc4c17c2d415f1a430f3c8 --- /dev/null +++ b/bddl/grid/grid_level_2/GRID_SCENE_task5.bddl @@ -0,0 +1,151 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (butter_1_region + (:target kitchen_table) + (:ranges ( + (-0.170001 -0.08500100000000001 -0.169999 -0.084999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_1_region + (:target kitchen_table) + (:ranges ( + (-0.005001 -0.075001 -0.004999 -0.074999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (tomato_sauce_1_region + (:target kitchen_table) + (:ranges ( + (0.169999 -0.075001 0.170001 -0.074999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (ketchup_1_region + (:target kitchen_table) + (:ranges ( + (-0.165001 0.074999 -0.164999 0.075001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (orange_juice_1_region + (:target kitchen_table) + (:ranges ( + (0.009999000000000001 0.074999 0.010001 0.075001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (white_bowl_1_region + (:target kitchen_table) + (:ranges ( + (0.159999 0.079999 0.160001 0.080001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + butter_1 - butter + milk_1 - milk + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + orange_juice_1 - orange_juice + white_bowl_1 - white_bowl + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On butter_1 kitchen_table_butter_1_region) + (On milk_1 kitchen_table_milk_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region) + (On ketchup_1 kitchen_table_ketchup_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_region) + (On white_bowl_1 kitchen_table_white_bowl_1_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/grid/grid_level_2/GRID_SCENE_task5.init b/bddl/grid/grid_level_2/GRID_SCENE_task5.init new file mode 100644 index 0000000000000000000000000000000000000000..8e064862bec3825c970b9ab75955ad3772601061 Binary files /dev/null and b/bddl/grid/grid_level_2/GRID_SCENE_task5.init differ diff --git a/bddl/grid/grid_level_2/GRID_SCENE_task5_agentview.png b/bddl/grid/grid_level_2/GRID_SCENE_task5_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..cad7917a0210ffd444c1b5ab48ca663a2538a206 --- /dev/null +++ b/bddl/grid/grid_level_2/GRID_SCENE_task5_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d9f58f78912a71b97642bb0a8dd826cdd1d793ba35dfe605d460bf27b1d4d5b1 +size 179702 diff --git a/bddl/grid/grid_level_3/GRID_SCENE_task1.bddl b/bddl/grid/grid_level_3/GRID_SCENE_task1.bddl new file mode 100644 index 0000000000000000000000000000000000000000..d5a957ed6cb149fbd7c2b4730a2839ab2b705289 --- /dev/null +++ b/bddl/grid/grid_level_3/GRID_SCENE_task1.bddl @@ -0,0 +1,214 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (butter_1_region + (:target kitchen_table) + (:ranges ( + (-0.160001 -0.155001 -0.159999 -0.154999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_1_region + (:target kitchen_table) + (:ranges ( + (-0.005001 -0.145001 -0.004999 -0.144999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (tomato_sauce_1_region + (:target kitchen_table) + (:ranges ( + (0.159999 -0.145001 0.160001 -0.144999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (ketchup_1_region + (:target kitchen_table) + (:ranges ( + (-0.155001 -0.005001 -0.154999 -0.004999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (white_bowl_1_region + (:target kitchen_table) + (:ranges ( + (-1e-06 -1e-06 1e-06 1e-06) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_1_region + (:target kitchen_table) + (:ranges ( + (0.159999 -0.005001 0.160001 -0.004999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (cream_cheese_1_region + (:target kitchen_table) + (:ranges ( + (-0.150001 0.159999 -0.149999 0.160001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (salad_dressing_1_region + (:target kitchen_table) + (:ranges ( + (0.007999000000000001 0.153999 0.008001 0.154001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (bbq_sauce_1_region + (:target kitchen_table) + (:ranges ( + (0.149999 0.141999 0.150001 0.142001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + butter_1 - butter + milk_1 - milk + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + white_bowl_1 - white_bowl + orange_juice_1 - orange_juice + cream_cheese_1 - cream_cheese + salad_dressing_1 - salad_dressing + bbq_sauce_1 - bbq_sauce + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On butter_1 kitchen_table_butter_1_region) + (On milk_1 kitchen_table_milk_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region) + (On ketchup_1 kitchen_table_ketchup_1_region) + (On white_bowl_1 kitchen_table_white_bowl_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_region) + (On cream_cheese_1 kitchen_table_cream_cheese_1_region) + (On salad_dressing_1 kitchen_table_salad_dressing_1_region) + (On bbq_sauce_1 kitchen_table_bbq_sauce_1_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/grid/grid_level_3/GRID_SCENE_task1.init b/bddl/grid/grid_level_3/GRID_SCENE_task1.init new file mode 100644 index 0000000000000000000000000000000000000000..71cb173921038613f081aad1a5edbca5df4c5ba9 Binary files /dev/null and b/bddl/grid/grid_level_3/GRID_SCENE_task1.init differ diff --git a/bddl/grid/grid_level_3/GRID_SCENE_task1_agentview.png b/bddl/grid/grid_level_3/GRID_SCENE_task1_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..dbc1306e788b14fd84c4451609250869800af190 --- /dev/null +++ b/bddl/grid/grid_level_3/GRID_SCENE_task1_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:41e6c983889798e571be0bff353d623f5ab1406e75e94aad54e66fc1de2fc54f +size 187100 diff --git a/bddl/grid/grid_level_3/GRID_SCENE_task2.bddl b/bddl/grid/grid_level_3/GRID_SCENE_task2.bddl new file mode 100644 index 0000000000000000000000000000000000000000..eaa0debde99b2f24b627e1c8b70677bd0055f7a1 --- /dev/null +++ b/bddl/grid/grid_level_3/GRID_SCENE_task2.bddl @@ -0,0 +1,214 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (butter_1_region + (:target kitchen_table) + (:ranges ( + (-0.160001 -0.155001 -0.159999 -0.154999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (white_bowl_1_region + (:target kitchen_table) + (:ranges ( + (-1e-06 -0.150001 1e-06 -0.149999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_1_region + (:target kitchen_table) + (:ranges ( + (0.159999 -0.145001 0.160001 -0.144999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (ketchup_1_region + (:target kitchen_table) + (:ranges ( + (-0.155001 -0.005001 -0.154999 -0.004999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (milk_1_region + (:target kitchen_table) + (:ranges ( + (-0.005001 0.004999 -0.004999 0.005001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (orange_juice_1_region + (:target kitchen_table) + (:ranges ( + (0.159999 -0.005001 0.160001 -0.004999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (cream_cheese_1_region + (:target kitchen_table) + (:ranges ( + (-0.150001 0.159999 -0.149999 0.160001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (salad_dressing_1_region + (:target kitchen_table) + (:ranges ( + (0.007999000000000001 0.153999 0.008001 0.154001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (bbq_sauce_1_region + (:target kitchen_table) + (:ranges ( + (0.149999 0.141999 0.150001 0.142001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + butter_1 - butter + white_bowl_1 - white_bowl + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + milk_1 - milk + orange_juice_1 - orange_juice + cream_cheese_1 - cream_cheese + salad_dressing_1 - salad_dressing + bbq_sauce_1 - bbq_sauce + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On butter_1 kitchen_table_butter_1_region) + (On white_bowl_1 kitchen_table_white_bowl_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region) + (On ketchup_1 kitchen_table_ketchup_1_region) + (On milk_1 kitchen_table_milk_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_region) + (On cream_cheese_1 kitchen_table_cream_cheese_1_region) + (On salad_dressing_1 kitchen_table_salad_dressing_1_region) + (On bbq_sauce_1 kitchen_table_bbq_sauce_1_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/grid/grid_level_3/GRID_SCENE_task2.init b/bddl/grid/grid_level_3/GRID_SCENE_task2.init new file mode 100644 index 0000000000000000000000000000000000000000..a070a88088f99e7a1ba99133417506dc4a8f005c Binary files /dev/null and b/bddl/grid/grid_level_3/GRID_SCENE_task2.init differ diff --git a/bddl/grid/grid_level_3/GRID_SCENE_task2_agentview.png b/bddl/grid/grid_level_3/GRID_SCENE_task2_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..ea7ada2eb0d2c729ab7bfb19a487db31f7322c10 --- /dev/null +++ b/bddl/grid/grid_level_3/GRID_SCENE_task2_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:428f1b8cdafe8e75e0171b44b1865384d55d6af0cc47ade2dcb7eed4fac13e15 +size 186616 diff --git a/bddl/grid/grid_level_3/GRID_SCENE_task3.bddl b/bddl/grid/grid_level_3/GRID_SCENE_task3.bddl new file mode 100644 index 0000000000000000000000000000000000000000..d41e160bcccb3de7e4d2af4713e0b5ef173da7a9 --- /dev/null +++ b/bddl/grid/grid_level_3/GRID_SCENE_task3.bddl @@ -0,0 +1,214 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (butter_1_region + (:target kitchen_table) + (:ranges ( + (-0.160001 -0.155001 -0.159999 -0.154999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_1_region + (:target kitchen_table) + (:ranges ( + (-0.005001 -0.145001 -0.004999 -0.144999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (tomato_sauce_1_region + (:target kitchen_table) + (:ranges ( + (0.159999 -0.145001 0.160001 -0.144999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (ketchup_1_region + (:target kitchen_table) + (:ranges ( + (-0.155001 -0.005001 -0.154999 -0.004999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (orange_juice_1_region + (:target kitchen_table) + (:ranges ( + (0.009999000000000001 -0.005001 0.010001 -0.004999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (bbq_sauce_1_region + (:target kitchen_table) + (:ranges ( + (0.149999 -0.008001 0.150001 -0.007999000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (cream_cheese_1_region + (:target kitchen_table) + (:ranges ( + (-0.150001 0.159999 -0.149999 0.160001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (white_bowl_1_region + (:target kitchen_table) + (:ranges ( + (-1e-06 0.149999 1e-06 0.150001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (salad_dressing_1_region + (:target kitchen_table) + (:ranges ( + (0.157999 0.153999 0.158001 0.154001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + butter_1 - butter + milk_1 - milk + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + orange_juice_1 - orange_juice + bbq_sauce_1 - bbq_sauce + cream_cheese_1 - cream_cheese + white_bowl_1 - white_bowl + salad_dressing_1 - salad_dressing + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On butter_1 kitchen_table_butter_1_region) + (On milk_1 kitchen_table_milk_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region) + (On ketchup_1 kitchen_table_ketchup_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_region) + (On bbq_sauce_1 kitchen_table_bbq_sauce_1_region) + (On cream_cheese_1 kitchen_table_cream_cheese_1_region) + (On white_bowl_1 kitchen_table_white_bowl_1_region) + (On salad_dressing_1 kitchen_table_salad_dressing_1_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/grid/grid_level_3/GRID_SCENE_task3.init b/bddl/grid/grid_level_3/GRID_SCENE_task3.init new file mode 100644 index 0000000000000000000000000000000000000000..579e245fae5d643d9fdd6cc8a6b80164957ade6f Binary files /dev/null and b/bddl/grid/grid_level_3/GRID_SCENE_task3.init differ diff --git a/bddl/grid/grid_level_3/GRID_SCENE_task3_agentview.png b/bddl/grid/grid_level_3/GRID_SCENE_task3_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..36b96a5c297b7635a75c094ed8ec8a70de5eaf8a --- /dev/null +++ b/bddl/grid/grid_level_3/GRID_SCENE_task3_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1b941a94903c53729e4e1d8a6bba09117b48fbbe559c25932ee0997e225ed14 +size 186748 diff --git a/bddl/grid/grid_level_3/GRID_SCENE_task4.bddl b/bddl/grid/grid_level_3/GRID_SCENE_task4.bddl new file mode 100644 index 0000000000000000000000000000000000000000..fc4b0377fc972259f57244816558ca16719b4a54 --- /dev/null +++ b/bddl/grid/grid_level_3/GRID_SCENE_task4.bddl @@ -0,0 +1,214 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (butter_1_region + (:target kitchen_table) + (:ranges ( + (-0.160001 -0.155001 -0.159999 -0.154999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_1_region + (:target kitchen_table) + (:ranges ( + (-0.005001 -0.145001 -0.004999 -0.144999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (tomato_sauce_1_region + (:target kitchen_table) + (:ranges ( + (0.159999 -0.145001 0.160001 -0.144999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (white_bowl_1_region + (:target kitchen_table) + (:ranges ( + (-0.150001 -1e-06 -0.149999 1e-06) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_1_region + (:target kitchen_table) + (:ranges ( + (-0.005001 -0.005001 -0.004999 -0.004999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (orange_juice_1_region + (:target kitchen_table) + (:ranges ( + (0.159999 -0.005001 0.160001 -0.004999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (cream_cheese_1_region + (:target kitchen_table) + (:ranges ( + (-0.150001 0.159999 -0.149999 0.160001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (salad_dressing_1_region + (:target kitchen_table) + (:ranges ( + (0.007999000000000001 0.153999 0.008001 0.154001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (bbq_sauce_1_region + (:target kitchen_table) + (:ranges ( + (0.149999 0.141999 0.150001 0.142001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + butter_1 - butter + milk_1 - milk + tomato_sauce_1 - tomato_sauce + white_bowl_1 - white_bowl + ketchup_1 - ketchup + orange_juice_1 - orange_juice + cream_cheese_1 - cream_cheese + salad_dressing_1 - salad_dressing + bbq_sauce_1 - bbq_sauce + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On butter_1 kitchen_table_butter_1_region) + (On milk_1 kitchen_table_milk_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region) + (On white_bowl_1 kitchen_table_white_bowl_1_region) + (On ketchup_1 kitchen_table_ketchup_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_region) + (On cream_cheese_1 kitchen_table_cream_cheese_1_region) + (On salad_dressing_1 kitchen_table_salad_dressing_1_region) + (On bbq_sauce_1 kitchen_table_bbq_sauce_1_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/grid/grid_level_3/GRID_SCENE_task4.init b/bddl/grid/grid_level_3/GRID_SCENE_task4.init new file mode 100644 index 0000000000000000000000000000000000000000..fd055277b41457270377834d7f468394a4b14dd9 Binary files /dev/null and b/bddl/grid/grid_level_3/GRID_SCENE_task4.init differ diff --git a/bddl/grid/grid_level_3/GRID_SCENE_task4_agentview.png b/bddl/grid/grid_level_3/GRID_SCENE_task4_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..868482d371965f6a2d2d5c8748ec7044323ad3b3 --- /dev/null +++ b/bddl/grid/grid_level_3/GRID_SCENE_task4_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d568e92cbcea02e58a74ab08115a26e684a902f1ee93caf6d472c7b9ecbc092 +size 186622 diff --git a/bddl/grid/grid_level_3/GRID_SCENE_task5.bddl b/bddl/grid/grid_level_3/GRID_SCENE_task5.bddl new file mode 100644 index 0000000000000000000000000000000000000000..d5268761b3f2eb72eab2cb49926e6c5b3c088c3c --- /dev/null +++ b/bddl/grid/grid_level_3/GRID_SCENE_task5.bddl @@ -0,0 +1,214 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (butter_1_region + (:target kitchen_table) + (:ranges ( + (-0.160001 -0.155001 -0.159999 -0.154999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_1_region + (:target kitchen_table) + (:ranges ( + (-0.005001 -0.145001 -0.004999 -0.144999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (tomato_sauce_1_region + (:target kitchen_table) + (:ranges ( + (0.159999 -0.145001 0.160001 -0.144999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (ketchup_1_region + (:target kitchen_table) + (:ranges ( + (-0.155001 -0.005001 -0.154999 -0.004999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (orange_juice_1_region + (:target kitchen_table) + (:ranges ( + (0.009999000000000001 -0.005001 0.010001 -0.004999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (white_bowl_1_region + (:target kitchen_table) + (:ranges ( + (0.149999 -1e-06 0.150001 1e-06) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_1_region + (:target kitchen_table) + (:ranges ( + (-0.150001 0.159999 -0.149999 0.160001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (salad_dressing_1_region + (:target kitchen_table) + (:ranges ( + (0.007999000000000001 0.153999 0.008001 0.154001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (bbq_sauce_1_region + (:target kitchen_table) + (:ranges ( + (0.149999 0.141999 0.150001 0.142001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + butter_1 - butter + milk_1 - milk + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + orange_juice_1 - orange_juice + white_bowl_1 - white_bowl + cream_cheese_1 - cream_cheese + salad_dressing_1 - salad_dressing + bbq_sauce_1 - bbq_sauce + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On butter_1 kitchen_table_butter_1_region) + (On milk_1 kitchen_table_milk_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region) + (On ketchup_1 kitchen_table_ketchup_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_region) + (On white_bowl_1 kitchen_table_white_bowl_1_region) + (On cream_cheese_1 kitchen_table_cream_cheese_1_region) + (On salad_dressing_1 kitchen_table_salad_dressing_1_region) + (On bbq_sauce_1 kitchen_table_bbq_sauce_1_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/grid/grid_level_3/GRID_SCENE_task5.init b/bddl/grid/grid_level_3/GRID_SCENE_task5.init new file mode 100644 index 0000000000000000000000000000000000000000..546cbdc1cd0628317b935302432d210ef330fbf9 Binary files /dev/null and b/bddl/grid/grid_level_3/GRID_SCENE_task5.init differ diff --git a/bddl/grid/grid_level_3/GRID_SCENE_task5_agentview.png b/bddl/grid/grid_level_3/GRID_SCENE_task5_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..364b9048e803a839fbee25707471f1bd13fec4eb --- /dev/null +++ b/bddl/grid/grid_level_3/GRID_SCENE_task5_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6f19d7309785ad20a10da50f653ba8e344225289ec5a9657134b5dc183f4f8c +size 186505 diff --git a/bddl/grid/grid_level_4/GRID_SCENE_task1.bddl b/bddl/grid/grid_level_4/GRID_SCENE_task1.bddl new file mode 100644 index 0000000000000000000000000000000000000000..24b0de9789db68d08499875990d3cc270d1b11f4 --- /dev/null +++ b/bddl/grid/grid_level_4/GRID_SCENE_task1.bddl @@ -0,0 +1,273 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (butter_1_region + (:target kitchen_table) + (:ranges ( + (-0.22000100000000003 -0.14500100000000002 -0.21999900000000003 -0.14499900000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_1_region + (:target kitchen_table) + (:ranges ( + (-0.07500100000000001 -0.135001 -0.07499900000000001 -0.134999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (tomato_sauce_1_region + (:target kitchen_table) + (:ranges ( + (0.079999 -0.135001 0.080001 -0.134999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (orange_juice_1_region + (:target kitchen_table) + (:ranges ( + (0.22199900000000003 -0.14500100000000002 0.22200100000000003 -0.14499900000000002) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (ketchup_1_region + (:target kitchen_table) + (:ranges ( + (-0.21500100000000003 -0.005001 -0.21499900000000002 -0.004999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (white_bowl_1_region + (:target kitchen_table) + (:ranges ( + (-0.010001000000000008 -1e-06 -0.00999900000000001 1e-06) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_1_region + (:target kitchen_table) + (:ranges ( + (0.069999 0.009999000000000001 0.07000100000000001 0.010001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (salad_dressing_1_region + (:target kitchen_table) + (:ranges ( + (0.21799900000000003 0.003999 0.21800100000000003 0.004001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (butter_2_region + (:target kitchen_table) + (:ranges ( + (-0.22000100000000003 0.134999 -0.21999900000000003 0.135001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_2_region + (:target kitchen_table) + (:ranges ( + (-0.07500100000000001 0.14499900000000002 -0.07499900000000001 0.14500100000000002) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (tomato_sauce_2_region + (:target kitchen_table) + (:ranges ( + (0.079999 0.14499900000000002 0.080001 0.14500100000000002) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (orange_juice_2_region + (:target kitchen_table) + (:ranges ( + (0.22199900000000003 0.134999 0.22200100000000003 0.135001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + butter_1 butter_2 - butter + milk_1 milk_2 - milk + tomato_sauce_1 tomato_sauce_2 - tomato_sauce + orange_juice_1 orange_juice_2 - orange_juice + ketchup_1 - ketchup + white_bowl_1 - white_bowl + cream_cheese_1 - cream_cheese + salad_dressing_1 - salad_dressing + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On butter_1 kitchen_table_butter_1_region) + (On milk_1 kitchen_table_milk_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_region) + (On ketchup_1 kitchen_table_ketchup_1_region) + (On white_bowl_1 kitchen_table_white_bowl_1_region) + (On cream_cheese_1 kitchen_table_cream_cheese_1_region) + (On salad_dressing_1 kitchen_table_salad_dressing_1_region) + (On butter_2 kitchen_table_butter_2_region) + (On milk_2 kitchen_table_milk_2_region) + (On tomato_sauce_2 kitchen_table_tomato_sauce_2_region) + (On orange_juice_2 kitchen_table_orange_juice_2_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/grid/grid_level_4/GRID_SCENE_task1.init b/bddl/grid/grid_level_4/GRID_SCENE_task1.init new file mode 100644 index 0000000000000000000000000000000000000000..7edbfe13b78b80c40feaffed2cee2f988af65178 Binary files /dev/null and b/bddl/grid/grid_level_4/GRID_SCENE_task1.init differ diff --git a/bddl/grid/grid_level_4/GRID_SCENE_task1_agentview.png b/bddl/grid/grid_level_4/GRID_SCENE_task1_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..3b155f4fcedc11abf1b5080b4187d4487dbfaebc --- /dev/null +++ b/bddl/grid/grid_level_4/GRID_SCENE_task1_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:391f2f2777c33078ac805ac9d4d65a99c5bfc1d8ccf585b3c846f28902ff57a0 +size 200490 diff --git a/bddl/grid/grid_level_4/GRID_SCENE_task2.bddl b/bddl/grid/grid_level_4/GRID_SCENE_task2.bddl new file mode 100644 index 0000000000000000000000000000000000000000..e3427fc1c265a91269c988e4bccd6b0615f96350 --- /dev/null +++ b/bddl/grid/grid_level_4/GRID_SCENE_task2.bddl @@ -0,0 +1,273 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (butter_1_region + (:target kitchen_table) + (:ranges ( + (-0.22000100000000003 -0.14500100000000002 -0.21999900000000003 -0.14499900000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (white_bowl_1_region + (:target kitchen_table) + (:ranges ( + (-0.030001000000000007 -0.14000100000000001 -0.029999000000000005 -0.139999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_1_region + (:target kitchen_table) + (:ranges ( + (0.079999 -0.135001 0.080001 -0.134999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (orange_juice_1_region + (:target kitchen_table) + (:ranges ( + (0.22199900000000003 -0.14500100000000002 0.22200100000000003 -0.14499900000000002) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (ketchup_1_region + (:target kitchen_table) + (:ranges ( + (-0.21500100000000003 -0.005001 -0.21499900000000002 -0.004999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (milk_1_region + (:target kitchen_table) + (:ranges ( + (-0.07500100000000001 0.004999 -0.07499900000000001 0.005001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (cream_cheese_1_region + (:target kitchen_table) + (:ranges ( + (0.069999 0.009999000000000001 0.07000100000000001 0.010001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (salad_dressing_1_region + (:target kitchen_table) + (:ranges ( + (0.21799900000000003 0.003999 0.21800100000000003 0.004001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (butter_2_region + (:target kitchen_table) + (:ranges ( + (-0.22000100000000003 0.134999 -0.21999900000000003 0.135001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_2_region + (:target kitchen_table) + (:ranges ( + (-0.07500100000000001 0.14499900000000002 -0.07499900000000001 0.14500100000000002) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (tomato_sauce_2_region + (:target kitchen_table) + (:ranges ( + (0.079999 0.14499900000000002 0.080001 0.14500100000000002) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (orange_juice_2_region + (:target kitchen_table) + (:ranges ( + (0.22199900000000003 0.134999 0.22200100000000003 0.135001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + butter_1 butter_2 - butter + white_bowl_1 - white_bowl + tomato_sauce_1 tomato_sauce_2 - tomato_sauce + orange_juice_1 orange_juice_2 - orange_juice + ketchup_1 - ketchup + milk_1 milk_2 - milk + cream_cheese_1 - cream_cheese + salad_dressing_1 - salad_dressing + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On butter_1 kitchen_table_butter_1_region) + (On white_bowl_1 kitchen_table_white_bowl_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_region) + (On ketchup_1 kitchen_table_ketchup_1_region) + (On milk_1 kitchen_table_milk_1_region) + (On cream_cheese_1 kitchen_table_cream_cheese_1_region) + (On salad_dressing_1 kitchen_table_salad_dressing_1_region) + (On butter_2 kitchen_table_butter_2_region) + (On milk_2 kitchen_table_milk_2_region) + (On tomato_sauce_2 kitchen_table_tomato_sauce_2_region) + (On orange_juice_2 kitchen_table_orange_juice_2_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/grid/grid_level_4/GRID_SCENE_task2.init b/bddl/grid/grid_level_4/GRID_SCENE_task2.init new file mode 100644 index 0000000000000000000000000000000000000000..912cd0581fc0e466e67d6010e212f81ea19f0b64 Binary files /dev/null and b/bddl/grid/grid_level_4/GRID_SCENE_task2.init differ diff --git a/bddl/grid/grid_level_4/GRID_SCENE_task2_agentview.png b/bddl/grid/grid_level_4/GRID_SCENE_task2_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..358d132b797d31dc80555f34d4f8cf116c2f298e --- /dev/null +++ b/bddl/grid/grid_level_4/GRID_SCENE_task2_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d325a9b3a541e18d3c6dfdc23e5afd3ca37d509fed4afed37dfb5d9f98c72809 +size 199471 diff --git a/bddl/grid/grid_level_4/GRID_SCENE_task3.bddl b/bddl/grid/grid_level_4/GRID_SCENE_task3.bddl new file mode 100644 index 0000000000000000000000000000000000000000..3e05ce9d7d7af0c6d4cc54ea44f71953465fd542 --- /dev/null +++ b/bddl/grid/grid_level_4/GRID_SCENE_task3.bddl @@ -0,0 +1,273 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (butter_1_region + (:target kitchen_table) + (:ranges ( + (-0.22000100000000003 -0.14500100000000002 -0.21999900000000003 -0.14499900000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_1_region + (:target kitchen_table) + (:ranges ( + (-0.07500100000000001 -0.135001 -0.07499900000000001 -0.134999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (tomato_sauce_1_region + (:target kitchen_table) + (:ranges ( + (0.079999 -0.135001 0.080001 -0.134999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (orange_juice_1_region + (:target kitchen_table) + (:ranges ( + (0.22199900000000003 -0.14500100000000002 0.22200100000000003 -0.14499900000000002) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (ketchup_1_region + (:target kitchen_table) + (:ranges ( + (-0.21500100000000003 -0.005001 -0.21499900000000002 -0.004999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (cream_cheese_1_region + (:target kitchen_table) + (:ranges ( + (-0.07000100000000001 0.009999000000000001 -0.069999 0.010001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (white_bowl_1_region + (:target kitchen_table) + (:ranges ( + (0.10999900000000001 -1e-06 0.11000100000000002 1e-06) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (salad_dressing_1_region + (:target kitchen_table) + (:ranges ( + (0.21799900000000003 0.003999 0.21800100000000003 0.004001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (butter_2_region + (:target kitchen_table) + (:ranges ( + (-0.22000100000000003 0.134999 -0.21999900000000003 0.135001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_2_region + (:target kitchen_table) + (:ranges ( + (-0.07500100000000001 0.14499900000000002 -0.07499900000000001 0.14500100000000002) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (tomato_sauce_2_region + (:target kitchen_table) + (:ranges ( + (0.079999 0.14499900000000002 0.080001 0.14500100000000002) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (orange_juice_2_region + (:target kitchen_table) + (:ranges ( + (0.22199900000000003 0.134999 0.22200100000000003 0.135001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + butter_1 butter_2 - butter + milk_1 milk_2 - milk + tomato_sauce_1 tomato_sauce_2 - tomato_sauce + orange_juice_1 orange_juice_2 - orange_juice + ketchup_1 - ketchup + cream_cheese_1 - cream_cheese + white_bowl_1 - white_bowl + salad_dressing_1 - salad_dressing + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On butter_1 kitchen_table_butter_1_region) + (On milk_1 kitchen_table_milk_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_region) + (On ketchup_1 kitchen_table_ketchup_1_region) + (On cream_cheese_1 kitchen_table_cream_cheese_1_region) + (On white_bowl_1 kitchen_table_white_bowl_1_region) + (On salad_dressing_1 kitchen_table_salad_dressing_1_region) + (On butter_2 kitchen_table_butter_2_region) + (On milk_2 kitchen_table_milk_2_region) + (On tomato_sauce_2 kitchen_table_tomato_sauce_2_region) + (On orange_juice_2 kitchen_table_orange_juice_2_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/grid/grid_level_4/GRID_SCENE_task3.init b/bddl/grid/grid_level_4/GRID_SCENE_task3.init new file mode 100644 index 0000000000000000000000000000000000000000..874a9e14daf77f81dabc53574343f8fa6320fc5f Binary files /dev/null and b/bddl/grid/grid_level_4/GRID_SCENE_task3.init differ diff --git a/bddl/grid/grid_level_4/GRID_SCENE_task3_agentview.png b/bddl/grid/grid_level_4/GRID_SCENE_task3_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..1145c95e3084a12ca37b43e1ff85c1945771d4da --- /dev/null +++ b/bddl/grid/grid_level_4/GRID_SCENE_task3_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f123959d40f45209ce9fd7445a8b344c47255ecbc990e5b2ed2ee261843cf5d +size 200345 diff --git a/bddl/grid/grid_level_4/GRID_SCENE_task4.bddl b/bddl/grid/grid_level_4/GRID_SCENE_task4.bddl new file mode 100644 index 0000000000000000000000000000000000000000..ff684ae1354f68b4108d49931d9afb95e978b211 --- /dev/null +++ b/bddl/grid/grid_level_4/GRID_SCENE_task4.bddl @@ -0,0 +1,273 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (white_bowl_1_region + (:target kitchen_table) + (:ranges ( + (-0.170001 -0.14000100000000001 -0.169999 -0.139999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_1_region + (:target kitchen_table) + (:ranges ( + (-0.07500100000000001 -0.135001 -0.07499900000000001 -0.134999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (tomato_sauce_1_region + (:target kitchen_table) + (:ranges ( + (0.079999 -0.135001 0.080001 -0.134999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (orange_juice_1_region + (:target kitchen_table) + (:ranges ( + (0.22199900000000003 -0.14500100000000002 0.22200100000000003 -0.14499900000000002) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (ketchup_1_region + (:target kitchen_table) + (:ranges ( + (-0.21500100000000003 -0.005001 -0.21499900000000002 -0.004999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (cream_cheese_1_region + (:target kitchen_table) + (:ranges ( + (-0.07000100000000001 0.009999000000000001 -0.069999 0.010001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_1_region + (:target kitchen_table) + (:ranges ( + (0.059999000000000004 -0.005001 0.060001000000000006 -0.004999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (salad_dressing_1_region + (:target kitchen_table) + (:ranges ( + (0.21799900000000003 0.003999 0.21800100000000003 0.004001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (butter_2_region + (:target kitchen_table) + (:ranges ( + (-0.22000100000000003 0.134999 -0.21999900000000003 0.135001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_2_region + (:target kitchen_table) + (:ranges ( + (-0.07500100000000001 0.14499900000000002 -0.07499900000000001 0.14500100000000002) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (tomato_sauce_2_region + (:target kitchen_table) + (:ranges ( + (0.079999 0.14499900000000002 0.080001 0.14500100000000002) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (orange_juice_2_region + (:target kitchen_table) + (:ranges ( + (0.22199900000000003 0.134999 0.22200100000000003 0.135001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + white_bowl_1 - white_bowl + milk_1 milk_2 - milk + tomato_sauce_1 tomato_sauce_2 - tomato_sauce + orange_juice_1 orange_juice_2 - orange_juice + ketchup_1 - ketchup + cream_cheese_1 - cream_cheese + butter_1 butter_2 - butter + salad_dressing_1 - salad_dressing + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On white_bowl_1 kitchen_table_white_bowl_1_region) + (On milk_1 kitchen_table_milk_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_region) + (On ketchup_1 kitchen_table_ketchup_1_region) + (On cream_cheese_1 kitchen_table_cream_cheese_1_region) + (On butter_1 kitchen_table_butter_1_region) + (On salad_dressing_1 kitchen_table_salad_dressing_1_region) + (On butter_2 kitchen_table_butter_2_region) + (On milk_2 kitchen_table_milk_2_region) + (On tomato_sauce_2 kitchen_table_tomato_sauce_2_region) + (On orange_juice_2 kitchen_table_orange_juice_2_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/grid/grid_level_4/GRID_SCENE_task4.init b/bddl/grid/grid_level_4/GRID_SCENE_task4.init new file mode 100644 index 0000000000000000000000000000000000000000..0c8987b7f9f93e6a0b93ec902ce9a0eb960a7c28 Binary files /dev/null and b/bddl/grid/grid_level_4/GRID_SCENE_task4.init differ diff --git a/bddl/grid/grid_level_4/GRID_SCENE_task4_agentview.png b/bddl/grid/grid_level_4/GRID_SCENE_task4_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..74909686c18d777c1f4c0aeb2c9b1dd8829a3a5a --- /dev/null +++ b/bddl/grid/grid_level_4/GRID_SCENE_task4_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:69c9bad9ae64fd27110d8d9153287e6e9dc486ca6338c15c1a4a2aeaf7bd0f9c +size 199665 diff --git a/bddl/grid/grid_level_4/GRID_SCENE_task5.bddl b/bddl/grid/grid_level_4/GRID_SCENE_task5.bddl new file mode 100644 index 0000000000000000000000000000000000000000..a887b289e1703a5e9a0084500e8db1002ff2c30f --- /dev/null +++ b/bddl/grid/grid_level_4/GRID_SCENE_task5.bddl @@ -0,0 +1,273 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (butter_1_region + (:target kitchen_table) + (:ranges ( + (-0.22000100000000003 -0.14500100000000002 -0.21999900000000003 -0.14499900000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_1_region + (:target kitchen_table) + (:ranges ( + (-0.07500100000000001 -0.135001 -0.07499900000000001 -0.134999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (tomato_sauce_1_region + (:target kitchen_table) + (:ranges ( + (0.079999 -0.135001 0.080001 -0.134999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (orange_juice_1_region + (:target kitchen_table) + (:ranges ( + (0.22199900000000003 -0.14500100000000002 0.22200100000000003 -0.14499900000000002) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (ketchup_1_region + (:target kitchen_table) + (:ranges ( + (-0.21500100000000003 -0.005001 -0.21499900000000002 -0.004999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (cream_cheese_1_region + (:target kitchen_table) + (:ranges ( + (-0.07000100000000001 0.009999000000000001 -0.069999 0.010001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (salad_dressing_1_region + (:target kitchen_table) + (:ranges ( + (0.07799900000000001 0.003999 0.07800100000000001 0.004001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (butter_2_region + (:target kitchen_table) + (:ranges ( + (0.199999 -0.005001 0.200001 -0.004999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_2_region + (:target kitchen_table) + (:ranges ( + (-0.21500100000000003 0.14499900000000002 -0.21499900000000002 0.14500100000000002) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (white_bowl_1_region + (:target kitchen_table) + (:ranges ( + (-0.010001000000000008 0.139999 -0.00999900000000001 0.14000100000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_2_region + (:target kitchen_table) + (:ranges ( + (0.079999 0.14499900000000002 0.080001 0.14500100000000002) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (orange_juice_2_region + (:target kitchen_table) + (:ranges ( + (0.22199900000000003 0.134999 0.22200100000000003 0.135001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + butter_1 butter_2 - butter + milk_1 milk_2 - milk + tomato_sauce_1 tomato_sauce_2 - tomato_sauce + orange_juice_1 orange_juice_2 - orange_juice + ketchup_1 - ketchup + cream_cheese_1 - cream_cheese + salad_dressing_1 - salad_dressing + white_bowl_1 - white_bowl + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On butter_1 kitchen_table_butter_1_region) + (On milk_1 kitchen_table_milk_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_region) + (On ketchup_1 kitchen_table_ketchup_1_region) + (On cream_cheese_1 kitchen_table_cream_cheese_1_region) + (On salad_dressing_1 kitchen_table_salad_dressing_1_region) + (On butter_2 kitchen_table_butter_2_region) + (On milk_2 kitchen_table_milk_2_region) + (On white_bowl_1 kitchen_table_white_bowl_1_region) + (On tomato_sauce_2 kitchen_table_tomato_sauce_2_region) + (On orange_juice_2 kitchen_table_orange_juice_2_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/grid/grid_level_4/GRID_SCENE_task5.init b/bddl/grid/grid_level_4/GRID_SCENE_task5.init new file mode 100644 index 0000000000000000000000000000000000000000..d41b48e5c593506a0c0a6d067cb52f7c95de59de Binary files /dev/null and b/bddl/grid/grid_level_4/GRID_SCENE_task5.init differ diff --git a/bddl/grid/grid_level_4/GRID_SCENE_task5_agentview.png b/bddl/grid/grid_level_4/GRID_SCENE_task5_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..f38dccc1ad700f865ce89357660d6d1c9e727f0c --- /dev/null +++ b/bddl/grid/grid_level_4/GRID_SCENE_task5_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b231d7566ffe37d7c8e12a2933f98f55c010223a62e8dbd6f75b0e23d2affff +size 199191 diff --git a/bddl/grid/grid_level_5/GRID_SCENE_task1.bddl b/bddl/grid/grid_level_5/GRID_SCENE_task1.bddl new file mode 100644 index 0000000000000000000000000000000000000000..25d8e0c4bf68581b9da8dbb9c1790ad872f41fad --- /dev/null +++ b/bddl/grid/grid_level_5/GRID_SCENE_task1.bddl @@ -0,0 +1,358 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (butter_1_region + (:target kitchen_table) + (:ranges ( + (-0.23500100000000002 -0.200001 -0.234999 -0.199999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_1_region + (:target kitchen_table) + (:ranges ( + (-0.07000100000000001 -0.190001 -0.069999 -0.189999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (tomato_sauce_1_region + (:target kitchen_table) + (:ranges ( + (0.074999 -0.190001 0.075001 -0.189999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (orange_juice_1_region + (:target kitchen_table) + (:ranges ( + (0.20699900000000002 -0.200001 0.20700100000000002 -0.199999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (ketchup_1_region + (:target kitchen_table) + (:ranges ( + (-0.201001 -0.07100100000000001 -0.200999 -0.070999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (cream_cheese_1_region + (:target kitchen_table) + (:ranges ( + (-0.065001 -0.055001 -0.064999 -0.054999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (salad_dressing_1_region + (:target kitchen_table) + (:ranges ( + (0.07299900000000001 -0.061001 0.07300100000000001 -0.060999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (wine_bottle_1_region + (:target kitchen_table) + (:ranges ( + (0.234999 -0.057001 0.23500100000000002 -0.056999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (chocolate_pudding_1_region + (:target kitchen_table) + (:ranges ( + (-0.199001 0.070999 -0.198999 0.07100100000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (white_bowl_1_region + (:target kitchen_table) + (:ranges ( + (-0.025001000000000002 0.064999 -0.024999 0.065001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (macaroni_and_cheese_1_region + (:target kitchen_table) + (:ranges ( + (0.068999 0.060999 0.069001 0.061001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (popcorn_1_region + (:target kitchen_table) + (:ranges ( + (0.200999 0.070999 0.201001 0.07100100000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (white_yellow_mug_1_region + (:target kitchen_table) + (:ranges ( + (-0.201001 0.198999 -0.200999 0.199001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_2_region + (:target kitchen_table) + (:ranges ( + (-0.07000100000000001 0.199999 -0.069999 0.200001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (tomato_sauce_2_region + (:target kitchen_table) + (:ranges ( + (0.074999 0.199999 0.075001 0.200001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (orange_juice_2_region + (:target kitchen_table) + (:ranges ( + (0.20699900000000002 0.189999 0.20700100000000002 0.190001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + butter_1 - butter + milk_1 milk_2 - milk + tomato_sauce_1 tomato_sauce_2 - tomato_sauce + orange_juice_1 orange_juice_2 - orange_juice + ketchup_1 - ketchup + cream_cheese_1 - cream_cheese + salad_dressing_1 - salad_dressing + wine_bottle_1 - wine_bottle + chocolate_pudding_1 - chocolate_pudding + white_bowl_1 - white_bowl + macaroni_and_cheese_1 - macaroni_and_cheese + popcorn_1 - popcorn + white_yellow_mug_1 - white_yellow_mug + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On butter_1 kitchen_table_butter_1_region) + (On milk_1 kitchen_table_milk_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_region) + (On ketchup_1 kitchen_table_ketchup_1_region) + (On cream_cheese_1 kitchen_table_cream_cheese_1_region) + (On salad_dressing_1 kitchen_table_salad_dressing_1_region) + (On wine_bottle_1 kitchen_table_wine_bottle_1_region) + (On chocolate_pudding_1 kitchen_table_chocolate_pudding_1_region) + (On white_bowl_1 kitchen_table_white_bowl_1_region) + (On macaroni_and_cheese_1 kitchen_table_macaroni_and_cheese_1_region) + (On popcorn_1 kitchen_table_popcorn_1_region) + (On white_yellow_mug_1 kitchen_table_white_yellow_mug_1_region) + (On milk_2 kitchen_table_milk_2_region) + (On tomato_sauce_2 kitchen_table_tomato_sauce_2_region) + (On orange_juice_2 kitchen_table_orange_juice_2_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/grid/grid_level_5/GRID_SCENE_task1.init b/bddl/grid/grid_level_5/GRID_SCENE_task1.init new file mode 100644 index 0000000000000000000000000000000000000000..46bc8a76bb80c93084f8a903e30c95c584e0e35a Binary files /dev/null and b/bddl/grid/grid_level_5/GRID_SCENE_task1.init differ diff --git a/bddl/grid/grid_level_5/GRID_SCENE_task1_agentview.png b/bddl/grid/grid_level_5/GRID_SCENE_task1_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..91b871f33928a94476e6978e7ae63b6370324a06 --- /dev/null +++ b/bddl/grid/grid_level_5/GRID_SCENE_task1_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:07a17fc93779f3a54977e003c26d0d7657a14e28ad085cb06e9f5568ea87cc5c +size 213604 diff --git a/bddl/grid/grid_level_5/GRID_SCENE_task2.bddl b/bddl/grid/grid_level_5/GRID_SCENE_task2.bddl new file mode 100644 index 0000000000000000000000000000000000000000..dc0fa1af2a4f38197aba5aa06a0fb28ec4674341 --- /dev/null +++ b/bddl/grid/grid_level_5/GRID_SCENE_task2.bddl @@ -0,0 +1,358 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (white_bowl_1_region + (:target kitchen_table) + (:ranges ( + (-0.155001 -0.195001 -0.154999 -0.194999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_1_region + (:target kitchen_table) + (:ranges ( + (-0.07000100000000001 -0.190001 -0.069999 -0.189999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (tomato_sauce_1_region + (:target kitchen_table) + (:ranges ( + (0.074999 -0.190001 0.075001 -0.189999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (orange_juice_1_region + (:target kitchen_table) + (:ranges ( + (0.20699900000000002 -0.200001 0.20700100000000002 -0.199999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (ketchup_1_region + (:target kitchen_table) + (:ranges ( + (-0.201001 -0.07100100000000001 -0.200999 -0.070999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (cream_cheese_1_region + (:target kitchen_table) + (:ranges ( + (-0.065001 -0.055001 -0.064999 -0.054999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (salad_dressing_1_region + (:target kitchen_table) + (:ranges ( + (0.07299900000000001 -0.061001 0.07300100000000001 -0.060999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (butter_1_region + (:target kitchen_table) + (:ranges ( + (0.154999 -0.07000100000000001 0.155001 -0.069999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (chocolate_pudding_1_region + (:target kitchen_table) + (:ranges ( + (-0.199001 0.070999 -0.198999 0.07100100000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (wine_bottle_1_region + (:target kitchen_table) + (:ranges ( + (-0.025001000000000002 0.064999 -0.024999 0.065001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (macaroni_and_cheese_1_region + (:target kitchen_table) + (:ranges ( + (0.068999 0.060999 0.069001 0.061001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (popcorn_1_region + (:target kitchen_table) + (:ranges ( + (0.200999 0.070999 0.201001 0.07100100000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (white_yellow_mug_1_region + (:target kitchen_table) + (:ranges ( + (-0.201001 0.198999 -0.200999 0.199001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_2_region + (:target kitchen_table) + (:ranges ( + (-0.07000100000000001 0.199999 -0.069999 0.200001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (tomato_sauce_2_region + (:target kitchen_table) + (:ranges ( + (0.074999 0.199999 0.075001 0.200001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (orange_juice_2_region + (:target kitchen_table) + (:ranges ( + (0.20699900000000002 0.189999 0.20700100000000002 0.190001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + white_bowl_1 - white_bowl + milk_1 milk_2 - milk + tomato_sauce_1 tomato_sauce_2 - tomato_sauce + orange_juice_1 orange_juice_2 - orange_juice + ketchup_1 - ketchup + cream_cheese_1 - cream_cheese + salad_dressing_1 - salad_dressing + butter_1 - butter + chocolate_pudding_1 - chocolate_pudding + wine_bottle_1 - wine_bottle + macaroni_and_cheese_1 - macaroni_and_cheese + popcorn_1 - popcorn + white_yellow_mug_1 - white_yellow_mug + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On white_bowl_1 kitchen_table_white_bowl_1_region) + (On milk_1 kitchen_table_milk_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_region) + (On ketchup_1 kitchen_table_ketchup_1_region) + (On cream_cheese_1 kitchen_table_cream_cheese_1_region) + (On salad_dressing_1 kitchen_table_salad_dressing_1_region) + (On butter_1 kitchen_table_butter_1_region) + (On chocolate_pudding_1 kitchen_table_chocolate_pudding_1_region) + (On wine_bottle_1 kitchen_table_wine_bottle_1_region) + (On macaroni_and_cheese_1 kitchen_table_macaroni_and_cheese_1_region) + (On popcorn_1 kitchen_table_popcorn_1_region) + (On white_yellow_mug_1 kitchen_table_white_yellow_mug_1_region) + (On milk_2 kitchen_table_milk_2_region) + (On tomato_sauce_2 kitchen_table_tomato_sauce_2_region) + (On orange_juice_2 kitchen_table_orange_juice_2_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/grid/grid_level_5/GRID_SCENE_task2.init b/bddl/grid/grid_level_5/GRID_SCENE_task2.init new file mode 100644 index 0000000000000000000000000000000000000000..588699000a74cd636143851c19e16e045761d2dd Binary files /dev/null and b/bddl/grid/grid_level_5/GRID_SCENE_task2.init differ diff --git a/bddl/grid/grid_level_5/GRID_SCENE_task2_agentview.png b/bddl/grid/grid_level_5/GRID_SCENE_task2_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..c1b101385be4eae8526feb83dbd03f2173d61863 --- /dev/null +++ b/bddl/grid/grid_level_5/GRID_SCENE_task2_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:19cfcccf1f1666059115fd45130f02ae7f418231019a33a8309ffef0418d340d +size 212605 diff --git a/bddl/grid/grid_level_5/GRID_SCENE_task3.bddl b/bddl/grid/grid_level_5/GRID_SCENE_task3.bddl new file mode 100644 index 0000000000000000000000000000000000000000..1b8be71ab40f86ea28d0cd4e031558ebd5099711 --- /dev/null +++ b/bddl/grid/grid_level_5/GRID_SCENE_task3.bddl @@ -0,0 +1,358 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (butter_1_region + (:target kitchen_table) + (:ranges ( + (-0.23500100000000002 -0.200001 -0.234999 -0.199999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_1_region + (:target kitchen_table) + (:ranges ( + (-0.07000100000000001 -0.190001 -0.069999 -0.189999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (tomato_sauce_1_region + (:target kitchen_table) + (:ranges ( + (0.074999 -0.190001 0.075001 -0.189999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (orange_juice_1_region + (:target kitchen_table) + (:ranges ( + (0.20699900000000002 -0.200001 0.20700100000000002 -0.199999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (ketchup_1_region + (:target kitchen_table) + (:ranges ( + (-0.201001 -0.07100100000000001 -0.200999 -0.070999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (cream_cheese_1_region + (:target kitchen_table) + (:ranges ( + (-0.065001 -0.055001 -0.064999 -0.054999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (salad_dressing_1_region + (:target kitchen_table) + (:ranges ( + (0.07299900000000001 -0.061001 0.07300100000000001 -0.060999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (wine_bottle_1_region + (:target kitchen_table) + (:ranges ( + (0.234999 -0.057001 0.23500100000000002 -0.056999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (chocolate_pudding_1_region + (:target kitchen_table) + (:ranges ( + (-0.199001 0.070999 -0.198999 0.07100100000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (macaroni_and_cheese_1_region + (:target kitchen_table) + (:ranges ( + (-0.061001 0.060999 -0.060999 0.061001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_2_region + (:target kitchen_table) + (:ranges ( + (0.074999 0.069999 0.075001 0.07000100000000001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (popcorn_1_region + (:target kitchen_table) + (:ranges ( + (0.200999 0.070999 0.201001 0.07100100000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (white_yellow_mug_1_region + (:target kitchen_table) + (:ranges ( + (-0.201001 0.198999 -0.200999 0.199001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_2_region + (:target kitchen_table) + (:ranges ( + (-0.07000100000000001 0.199999 -0.069999 0.200001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (white_bowl_1_region + (:target kitchen_table) + (:ranges ( + (0.10499900000000001 0.194999 0.10500100000000001 0.195001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_2_region + (:target kitchen_table) + (:ranges ( + (0.20699900000000002 0.189999 0.20700100000000002 0.190001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + butter_1 - butter + milk_1 milk_2 - milk + tomato_sauce_1 tomato_sauce_2 - tomato_sauce + orange_juice_1 orange_juice_2 - orange_juice + ketchup_1 - ketchup + cream_cheese_1 - cream_cheese + salad_dressing_1 - salad_dressing + wine_bottle_1 - wine_bottle + chocolate_pudding_1 - chocolate_pudding + macaroni_and_cheese_1 - macaroni_and_cheese + popcorn_1 - popcorn + white_yellow_mug_1 - white_yellow_mug + white_bowl_1 - white_bowl + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On butter_1 kitchen_table_butter_1_region) + (On milk_1 kitchen_table_milk_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_region) + (On ketchup_1 kitchen_table_ketchup_1_region) + (On cream_cheese_1 kitchen_table_cream_cheese_1_region) + (On salad_dressing_1 kitchen_table_salad_dressing_1_region) + (On wine_bottle_1 kitchen_table_wine_bottle_1_region) + (On chocolate_pudding_1 kitchen_table_chocolate_pudding_1_region) + (On macaroni_and_cheese_1 kitchen_table_macaroni_and_cheese_1_region) + (On tomato_sauce_2 kitchen_table_tomato_sauce_2_region) + (On popcorn_1 kitchen_table_popcorn_1_region) + (On white_yellow_mug_1 kitchen_table_white_yellow_mug_1_region) + (On milk_2 kitchen_table_milk_2_region) + (On white_bowl_1 kitchen_table_white_bowl_1_region) + (On orange_juice_2 kitchen_table_orange_juice_2_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/grid/grid_level_5/GRID_SCENE_task3.init b/bddl/grid/grid_level_5/GRID_SCENE_task3.init new file mode 100644 index 0000000000000000000000000000000000000000..9c1de956ad86209f4862198548ad4084bf52924c Binary files /dev/null and b/bddl/grid/grid_level_5/GRID_SCENE_task3.init differ diff --git a/bddl/grid/grid_level_5/GRID_SCENE_task3_agentview.png b/bddl/grid/grid_level_5/GRID_SCENE_task3_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..480619a1142930d48a7f23dbdd77449218729681 --- /dev/null +++ b/bddl/grid/grid_level_5/GRID_SCENE_task3_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:530152344ddcf643ead6a983ca0ff491130eebc9de4c371476ce99608e1ac5e8 +size 211395 diff --git a/bddl/grid/grid_level_5/GRID_SCENE_task4.bddl b/bddl/grid/grid_level_5/GRID_SCENE_task4.bddl new file mode 100644 index 0000000000000000000000000000000000000000..4789079a3635501a5f2f412e23f8d46251226e06 --- /dev/null +++ b/bddl/grid/grid_level_5/GRID_SCENE_task4.bddl @@ -0,0 +1,357 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (butter_1_region + (:target kitchen_table) + (:ranges ( + (-0.23500100000000002 -0.200001 -0.234999 -0.199999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_1_region + (:target kitchen_table) + (:ranges ( + (-0.07000100000000001 -0.190001 -0.069999 -0.189999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (tomato_sauce_1_region + (:target kitchen_table) + (:ranges ( + (0.074999 -0.190001 0.075001 -0.189999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (orange_juice_1_region + (:target kitchen_table) + (:ranges ( + (0.20699900000000002 -0.200001 0.20700100000000002 -0.199999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (ketchup_1_region + (:target kitchen_table) + (:ranges ( + (-0.201001 -0.07100100000000001 -0.200999 -0.070999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (white_bowl_1_region + (:target kitchen_table) + (:ranges ( + (-0.025001000000000002 -0.065001 -0.024999 -0.064999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (salad_dressing_1_region + (:target kitchen_table) + (:ranges ( + (0.07299900000000001 -0.061001 0.07300100000000001 -0.060999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (wine_bottle_1_region + (:target kitchen_table) + (:ranges ( + (0.234999 -0.057001 0.23500100000000002 -0.056999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (chocolate_pudding_1_region + (:target kitchen_table) + (:ranges ( + (-0.199001 0.070999 -0.198999 0.07100100000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (macaroni_and_cheese_1_region + (:target kitchen_table) + (:ranges ( + (-0.061001 0.060999 -0.060999 0.061001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_2_region + (:target kitchen_table) + (:ranges ( + (0.059999000000000004 0.069999 0.060001000000000006 0.07000100000000001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (popcorn_1_region + (:target kitchen_table) + (:ranges ( + (0.200999 0.070999 0.201001 0.07100100000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (white_yellow_mug_1_region + (:target kitchen_table) + (:ranges ( + (-0.201001 0.198999 -0.200999 0.199001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_2_region + (:target kitchen_table) + (:ranges ( + (-0.10500100000000001 0.189999 -0.10499900000000001 0.190001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_2_region + (:target kitchen_table) + (:ranges ( + (0.074999 0.199999 0.075001 0.200001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (orange_juice_2_region + (:target kitchen_table) + (:ranges ( + (0.20699900000000002 0.189999 0.20700100000000002 0.190001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + butter_1 butter_2 - butter + milk_1 milk_2 - milk + tomato_sauce_1 tomato_sauce_2 - tomato_sauce + orange_juice_1 orange_juice_2 - orange_juice + ketchup_1 - ketchup + white_bowl_1 - white_bowl + salad_dressing_1 - salad_dressing + wine_bottle_1 - wine_bottle + chocolate_pudding_1 - chocolate_pudding + macaroni_and_cheese_1 - macaroni_and_cheese + popcorn_1 - popcorn + white_yellow_mug_1 - white_yellow_mug + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On butter_1 kitchen_table_butter_1_region) + (On milk_1 kitchen_table_milk_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_region) + (On ketchup_1 kitchen_table_ketchup_1_region) + (On white_bowl_1 kitchen_table_white_bowl_1_region) + (On salad_dressing_1 kitchen_table_salad_dressing_1_region) + (On wine_bottle_1 kitchen_table_wine_bottle_1_region) + (On chocolate_pudding_1 kitchen_table_chocolate_pudding_1_region) + (On macaroni_and_cheese_1 kitchen_table_macaroni_and_cheese_1_region) + (On milk_2 kitchen_table_milk_2_region) + (On popcorn_1 kitchen_table_popcorn_1_region) + (On white_yellow_mug_1 kitchen_table_white_yellow_mug_1_region) + (On butter_2 kitchen_table_butter_2_region) + (On tomato_sauce_2 kitchen_table_tomato_sauce_2_region) + (On orange_juice_2 kitchen_table_orange_juice_2_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/grid/grid_level_5/GRID_SCENE_task4.init b/bddl/grid/grid_level_5/GRID_SCENE_task4.init new file mode 100644 index 0000000000000000000000000000000000000000..a2e4352eb456acab98c180239ccc992265f67587 Binary files /dev/null and b/bddl/grid/grid_level_5/GRID_SCENE_task4.init differ diff --git a/bddl/grid/grid_level_5/GRID_SCENE_task4_agentview.png b/bddl/grid/grid_level_5/GRID_SCENE_task4_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..363072f7e85aaa3c250db12211f589fe357a5d53 --- /dev/null +++ b/bddl/grid/grid_level_5/GRID_SCENE_task4_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ccaa4abf74d88a5726fc9cc172ad69915ff2dfbad332a375bf66559b52252bb +size 209770 diff --git a/bddl/grid/grid_level_5/GRID_SCENE_task5.bddl b/bddl/grid/grid_level_5/GRID_SCENE_task5.bddl new file mode 100644 index 0000000000000000000000000000000000000000..bcd778938b8f0712878192b04bfbea7e7a481256 --- /dev/null +++ b/bddl/grid/grid_level_5/GRID_SCENE_task5.bddl @@ -0,0 +1,357 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (butter_1_region + (:target kitchen_table) + (:ranges ( + (-0.23500100000000002 -0.200001 -0.234999 -0.199999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_1_region + (:target kitchen_table) + (:ranges ( + (-0.07000100000000001 -0.190001 -0.069999 -0.189999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (tomato_sauce_1_region + (:target kitchen_table) + (:ranges ( + (0.074999 -0.190001 0.075001 -0.189999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (orange_juice_1_region + (:target kitchen_table) + (:ranges ( + (0.20699900000000002 -0.200001 0.20700100000000002 -0.199999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (ketchup_1_region + (:target kitchen_table) + (:ranges ( + (-0.201001 -0.07100100000000001 -0.200999 -0.070999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (cream_cheese_1_region + (:target kitchen_table) + (:ranges ( + (-0.065001 -0.055001 -0.064999 -0.054999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (salad_dressing_1_region + (:target kitchen_table) + (:ranges ( + (0.07299900000000001 -0.061001 0.07300100000000001 -0.060999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (wine_bottle_1_region + (:target kitchen_table) + (:ranges ( + (0.234999 -0.057001 0.23500100000000002 -0.056999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (white_bowl_1_region + (:target kitchen_table) + (:ranges ( + (-0.155001 0.064999 -0.154999 0.065001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (macaroni_and_cheese_1_region + (:target kitchen_table) + (:ranges ( + (-0.061001 0.060999 -0.060999 0.061001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_2_region + (:target kitchen_table) + (:ranges ( + (0.059999000000000004 0.069999 0.060001000000000006 0.07000100000000001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (popcorn_1_region + (:target kitchen_table) + (:ranges ( + (0.200999 0.070999 0.201001 0.07100100000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (white_yellow_mug_1_region + (:target kitchen_table) + (:ranges ( + (-0.201001 0.198999 -0.200999 0.199001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_2_region + (:target kitchen_table) + (:ranges ( + (-0.10500100000000001 0.189999 -0.10499900000000001 0.190001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_2_region + (:target kitchen_table) + (:ranges ( + (0.074999 0.199999 0.075001 0.200001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (orange_juice_2_region + (:target kitchen_table) + (:ranges ( + (0.20699900000000002 0.189999 0.20700100000000002 0.190001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + butter_1 butter_2 - butter + milk_1 milk_2 - milk + tomato_sauce_1 tomato_sauce_2 - tomato_sauce + orange_juice_1 orange_juice_2 - orange_juice + ketchup_1 - ketchup + cream_cheese_1 - cream_cheese + salad_dressing_1 - salad_dressing + wine_bottle_1 - wine_bottle + white_bowl_1 - white_bowl + macaroni_and_cheese_1 - macaroni_and_cheese + popcorn_1 - popcorn + white_yellow_mug_1 - white_yellow_mug + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On butter_1 kitchen_table_butter_1_region) + (On milk_1 kitchen_table_milk_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_region) + (On ketchup_1 kitchen_table_ketchup_1_region) + (On cream_cheese_1 kitchen_table_cream_cheese_1_region) + (On salad_dressing_1 kitchen_table_salad_dressing_1_region) + (On wine_bottle_1 kitchen_table_wine_bottle_1_region) + (On white_bowl_1 kitchen_table_white_bowl_1_region) + (On macaroni_and_cheese_1 kitchen_table_macaroni_and_cheese_1_region) + (On milk_2 kitchen_table_milk_2_region) + (On popcorn_1 kitchen_table_popcorn_1_region) + (On white_yellow_mug_1 kitchen_table_white_yellow_mug_1_region) + (On butter_2 kitchen_table_butter_2_region) + (On tomato_sauce_2 kitchen_table_tomato_sauce_2_region) + (On orange_juice_2 kitchen_table_orange_juice_2_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/grid/grid_level_5/GRID_SCENE_task5.init b/bddl/grid/grid_level_5/GRID_SCENE_task5.init new file mode 100644 index 0000000000000000000000000000000000000000..e94e0dc5f003715ccbbd822d138d9eb21aaf01e1 Binary files /dev/null and b/bddl/grid/grid_level_5/GRID_SCENE_task5.init differ diff --git a/bddl/grid/grid_level_5/GRID_SCENE_task5_agentview.png b/bddl/grid/grid_level_5/GRID_SCENE_task5_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..d1655cbeba34b91a8f31a181ec6a6c6ca6a99164 --- /dev/null +++ b/bddl/grid/grid_level_5/GRID_SCENE_task5_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:714b3b3f55f3feb575e2901cc744c6072f065181a60b6d06c63bfd03d630d852 +size 209725 diff --git a/bddl/random/random_level_1/random_clutter_task1.bddl b/bddl/random/random_level_1/random_clutter_task1.bddl new file mode 100644 index 0000000000000000000000000000000000000000..2c867fe8d83c84443334e7a849d012220a651077 --- /dev/null +++ b/bddl/random/random_level_1/random_clutter_task1.bddl @@ -0,0 +1,122 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (white_bowl_init_region + (:target kitchen_table) + (:ranges ( + (-1e-06 -1e-06 1e-06 1e-06) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_1_1_1_region + (:target kitchen_table) + (:ranges ( + (0.10989568742023169 0.04454342982831998 0.10989768742023169 0.04454542982831998) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_1_2_1_region + (:target kitchen_table) + (:ranges ( + (0.009999000000000008 0.099999 0.010001000000000006 0.100001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (orange_juice_1_3_1_region + (:target kitchen_table) + (:ranges ( + (-0.09363784231958697 0.025100876878833847 -0.09363584231958696 0.02510287687883385) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (ketchup_1_4_1_region + (:target kitchen_table) + (:ranges ( + (-0.09667038293058453 -0.0498850461714134 -0.09666838293058452 -0.0498830461714134) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + white_bowl_1 - white_bowl + butter_1 - butter + tomato_sauce_1 - tomato_sauce + orange_juice_1 - orange_juice + ketchup_1 - ketchup + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On white_bowl_1 kitchen_table_white_bowl_init_region) + (On butter_1 kitchen_table_butter_1_1_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_2_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_3_1_region) + (On ketchup_1 kitchen_table_ketchup_1_4_1_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/random/random_level_1/random_clutter_task1.init b/bddl/random/random_level_1/random_clutter_task1.init new file mode 100644 index 0000000000000000000000000000000000000000..de72b4d4ae6144050be3f3b029e58b644126b7c6 Binary files /dev/null and b/bddl/random/random_level_1/random_clutter_task1.init differ diff --git a/bddl/random/random_level_1/random_clutter_task1_agentview.png b/bddl/random/random_level_1/random_clutter_task1_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..bced8e04c69c4f9d65bc70be9ed59f900dee4a2d --- /dev/null +++ b/bddl/random/random_level_1/random_clutter_task1_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb7d72f8c48edb8a580ff938463b9b3a02c0354464f4a71259eaa9e7e7fd7e19 +size 172495 diff --git a/bddl/random/random_level_1/random_clutter_task2.bddl b/bddl/random/random_level_1/random_clutter_task2.bddl new file mode 100644 index 0000000000000000000000000000000000000000..0db17b8ca6c0f6c6d1a0281e2fc09905e4d05145 --- /dev/null +++ b/bddl/random/random_level_1/random_clutter_task2.bddl @@ -0,0 +1,122 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (white_bowl_init_region + (:target kitchen_table) + (:ranges ( + (-1e-06 0.119999 1e-06 0.120001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_1_1_1_region + (:target kitchen_table) + (:ranges ( + (0.07644328110370126 0.23473291136968766 0.07644528110370126 0.23473491136968766) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_1_2_1_region + (:target kitchen_table) + (:ranges ( + (0.009999000000000008 0.219999 0.010001000000000006 0.220001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (orange_juice_1_3_1_region + (:target kitchen_table) + (:ranges ( + (-0.06580667741904996 0.18529583140358521 -0.06580467741904995 0.18529783140358522) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (ketchup_1_4_1_region + (:target kitchen_table) + (:ranges ( + (-0.09483643552248296 0.06705611681717139 -0.09483443552248295 0.06705811681717139) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + white_bowl_1 - white_bowl + butter_1 - butter + tomato_sauce_1 - tomato_sauce + orange_juice_1 - orange_juice + ketchup_1 - ketchup + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On white_bowl_1 kitchen_table_white_bowl_init_region) + (On butter_1 kitchen_table_butter_1_1_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_2_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_3_1_region) + (On ketchup_1 kitchen_table_ketchup_1_4_1_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/random/random_level_1/random_clutter_task2.init b/bddl/random/random_level_1/random_clutter_task2.init new file mode 100644 index 0000000000000000000000000000000000000000..290088369166fad4766c73add13566534f4cb5dc Binary files /dev/null and b/bddl/random/random_level_1/random_clutter_task2.init differ diff --git a/bddl/random/random_level_1/random_clutter_task2_agentview.png b/bddl/random/random_level_1/random_clutter_task2_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..4e2b0e2e28e87e1face80cc54176a85c53e997bb --- /dev/null +++ b/bddl/random/random_level_1/random_clutter_task2_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e334735c9ee9f525521bee2adc4ef9bdbcfc2630d5760ea5fb35319854403df +size 172196 diff --git a/bddl/random/random_level_1/random_clutter_task3.bddl b/bddl/random/random_level_1/random_clutter_task3.bddl new file mode 100644 index 0000000000000000000000000000000000000000..7daac6088fe4a9b9ff423c36a1eb411bbb32f1d8 --- /dev/null +++ b/bddl/random/random_level_1/random_clutter_task3.bddl @@ -0,0 +1,122 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (white_bowl_init_region + (:target kitchen_table) + (:ranges ( + (-1e-06 -0.120001 1e-06 -0.119999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_1_1_1_region + (:target kitchen_table) + (:ranges ( + (0.10813994290510334 -0.060808414825062114 0.10814194290510334 -0.06080641482506211) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_1_2_1_region + (:target kitchen_table) + (:ranges ( + (0.009999000000000008 -0.02000099999999999 0.010001000000000006 -0.01999899999999999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (orange_juice_1_3_1_region + (:target kitchen_table) + (:ranges ( + (-0.05990531523862373 -0.04992932575878287 -0.05990331523862373 -0.04992732575878287) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (ketchup_1_4_1_region + (:target kitchen_table) + (:ranges ( + (-0.090288829880973 -0.1796152967165087 -0.090286829880973 -0.1796132967165087) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + white_bowl_1 - white_bowl + butter_1 - butter + tomato_sauce_1 - tomato_sauce + orange_juice_1 - orange_juice + ketchup_1 - ketchup + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On white_bowl_1 kitchen_table_white_bowl_init_region) + (On butter_1 kitchen_table_butter_1_1_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_2_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_3_1_region) + (On ketchup_1 kitchen_table_ketchup_1_4_1_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/random/random_level_1/random_clutter_task3.init b/bddl/random/random_level_1/random_clutter_task3.init new file mode 100644 index 0000000000000000000000000000000000000000..bde707881234b15588d2beb59a7d05e151f57a06 Binary files /dev/null and b/bddl/random/random_level_1/random_clutter_task3.init differ diff --git a/bddl/random/random_level_1/random_clutter_task3_agentview.png b/bddl/random/random_level_1/random_clutter_task3_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..ac8cb0f859d365f0a42744475afc648777a345c8 --- /dev/null +++ b/bddl/random/random_level_1/random_clutter_task3_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f7255305a8ec38b1cc0dc0fe66ab41e8e91e82556e29645b8499fb434a5272a1 +size 172048 diff --git a/bddl/random/random_level_1/random_clutter_task4.bddl b/bddl/random/random_level_1/random_clutter_task4.bddl new file mode 100644 index 0000000000000000000000000000000000000000..c4b07e3881eb097a3a18f4f951978fc3b603a5dd --- /dev/null +++ b/bddl/random/random_level_1/random_clutter_task4.bddl @@ -0,0 +1,122 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (white_bowl_init_region + (:target kitchen_table) + (:ranges ( + (-0.120001 -1e-06 -0.119999 1e-06) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_1_1_1_region + (:target kitchen_table) + (:ranges ( + (-0.010799560039549232 0.05261146644289228 -0.010797560039549233 0.05261346644289228) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_1_2_1_region + (:target kitchen_table) + (:ranges ( + (-0.110001 0.099999 -0.109999 0.100001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (orange_juice_1_3_1_region + (:target kitchen_table) + (:ranges ( + (-0.2082781958528896 0.03697917339634425 -0.2082761958528896 0.036981173396344255) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (ketchup_1_4_1_region + (:target kitchen_table) + (:ranges ( + (-0.22001781413310942 -0.0435552555133851 -0.22001581413310942 -0.0435532555133851) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + white_bowl_1 - white_bowl + butter_1 - butter + tomato_sauce_1 - tomato_sauce + orange_juice_1 - orange_juice + ketchup_1 - ketchup + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On white_bowl_1 kitchen_table_white_bowl_init_region) + (On butter_1 kitchen_table_butter_1_1_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_2_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_3_1_region) + (On ketchup_1 kitchen_table_ketchup_1_4_1_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/random/random_level_1/random_clutter_task4.init b/bddl/random/random_level_1/random_clutter_task4.init new file mode 100644 index 0000000000000000000000000000000000000000..4a886e55e608fd2387f287f0536badcdb804dc18 Binary files /dev/null and b/bddl/random/random_level_1/random_clutter_task4.init differ diff --git a/bddl/random/random_level_1/random_clutter_task4_agentview.png b/bddl/random/random_level_1/random_clutter_task4_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..fd4433edbdf7fbd20df2fe1a7f77c8e8e77a004c --- /dev/null +++ b/bddl/random/random_level_1/random_clutter_task4_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c72dfe08d67a1ff3b0f16199dbe003dc426bfd781603d68866585ea3aaa318c +size 168829 diff --git a/bddl/random/random_level_1/random_clutter_task5.bddl b/bddl/random/random_level_1/random_clutter_task5.bddl new file mode 100644 index 0000000000000000000000000000000000000000..044037ee904abeffa17bbae842e87faee31492e6 --- /dev/null +++ b/bddl/random/random_level_1/random_clutter_task5.bddl @@ -0,0 +1,122 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (white_bowl_init_region + (:target kitchen_table) + (:ranges ( + (0.119999 -1e-06 0.120001 1e-06) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_1_1_1_region + (:target kitchen_table) + (:ranges ( + (0.21246885455839806 0.09655625496447537 0.21247085455839806 0.09655825496447537) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_1_2_1_region + (:target kitchen_table) + (:ranges ( + (0.129999 0.099999 0.130001 0.100001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (orange_juice_1_3_1_region + (:target kitchen_table) + (:ranges ( + (0.052629693653035645 0.06390012693544578 0.05263169365303565 0.06390212693544578) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (ketchup_1_4_1_region + (:target kitchen_table) + (:ranges ( + (0.025571371885076168 -0.05359181647902117 0.02557337188507617 -0.05358981647902117) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + white_bowl_1 - white_bowl + butter_1 - butter + tomato_sauce_1 - tomato_sauce + orange_juice_1 - orange_juice + ketchup_1 - ketchup + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On white_bowl_1 kitchen_table_white_bowl_init_region) + (On butter_1 kitchen_table_butter_1_1_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_2_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_3_1_region) + (On ketchup_1 kitchen_table_ketchup_1_4_1_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/random/random_level_1/random_clutter_task5.init b/bddl/random/random_level_1/random_clutter_task5.init new file mode 100644 index 0000000000000000000000000000000000000000..69290ccadb4c07d739e54abc0a891482ff937122 Binary files /dev/null and b/bddl/random/random_level_1/random_clutter_task5.init differ diff --git a/bddl/random/random_level_1/random_clutter_task5_agentview.png b/bddl/random/random_level_1/random_clutter_task5_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..2d6cdf6bd2edc381351d3b669f5fb246f2611bcc --- /dev/null +++ b/bddl/random/random_level_1/random_clutter_task5_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:222a9cfd0442467b65071fdaa457ff8d126c107f84e69df23be814be13ff3d81 +size 177300 diff --git a/bddl/random/random_level_2/random_clutter_task1.bddl b/bddl/random/random_level_2/random_clutter_task1.bddl new file mode 100644 index 0000000000000000000000000000000000000000..4e5f4bde12ae910fb7e87d7d0f66da33d38ada52 --- /dev/null +++ b/bddl/random/random_level_2/random_clutter_task1.bddl @@ -0,0 +1,164 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (white_bowl_init_region + (:target kitchen_table) + (:ranges ( + (-1e-06 -1e-06 1e-06 1e-06) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_1_1_1_region + (:target kitchen_table) + (:ranges ( + (0.08625855561785223 0.06058841652767562 0.08626055561785223 0.06059041652767562) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_1_2_1_region + (:target kitchen_table) + (:ranges ( + (-9.999999999938768e-07 0.08999900000000001 1.0000000000061232e-06 0.09000100000000001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (ketchup_1_2_2_region + (:target kitchen_table) + (:ranges ( + (-0.010000999999999987 0.199999 -0.009998999999999989 0.200001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (milk_1_3_1_region + (:target kitchen_table) + (:ranges ( + (-0.06819261668581288 0.09132387778958802 -0.06819061668581287 0.09132587778958802) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (tomato_sauce_1_3_2_region + (:target kitchen_table) + (:ranges ( + (-0.10638423337162577 0.16264875557917605 -0.10638223337162576 0.16265075557917605) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (salad_dressing_1_4_1_region + (:target kitchen_table) + (:ranges ( + (-0.08249989596247376 -0.038000397965276475 -0.08249789596247376 -0.03799839796527647) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + white_bowl_1 - white_bowl + cream_cheese_1 - cream_cheese + orange_juice_1 - orange_juice + ketchup_1 - ketchup + milk_1 - milk + tomato_sauce_1 - tomato_sauce + salad_dressing_1 - salad_dressing + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On white_bowl_1 kitchen_table_white_bowl_init_region) + (On cream_cheese_1 kitchen_table_cream_cheese_1_1_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_2_1_region) + (On ketchup_1 kitchen_table_ketchup_1_2_2_region) + (On milk_1 kitchen_table_milk_1_3_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_3_2_region) + (On salad_dressing_1 kitchen_table_salad_dressing_1_4_1_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/random/random_level_2/random_clutter_task1.init b/bddl/random/random_level_2/random_clutter_task1.init new file mode 100644 index 0000000000000000000000000000000000000000..9a714d810bfe461f339d378725409a8611b4d0f2 Binary files /dev/null and b/bddl/random/random_level_2/random_clutter_task1.init differ diff --git a/bddl/random/random_level_2/random_clutter_task1_agentview.png b/bddl/random/random_level_2/random_clutter_task1_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..8c3d211c96bfbccedd39fa711d99002f4c5e1fc3 --- /dev/null +++ b/bddl/random/random_level_2/random_clutter_task1_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:32b511b767b780ba03e80b6d02f2341f42e65bf3a7e2fdf70a13d9b12db151a1 +size 178252 diff --git a/bddl/random/random_level_2/random_clutter_task2.bddl b/bddl/random/random_level_2/random_clutter_task2.bddl new file mode 100644 index 0000000000000000000000000000000000000000..4cb4955bfb9bc6658042803a23bd6706a5ef92d8 --- /dev/null +++ b/bddl/random/random_level_2/random_clutter_task2.bddl @@ -0,0 +1,164 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (white_bowl_init_region + (:target kitchen_table) + (:ranges ( + (-1e-06 0.119999 1e-06 0.120001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_1_1_1_region + (:target kitchen_table) + (:ranges ( + (0.09741278289750621 0.1525944619691107 0.09741478289750621 0.1525964619691107) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_1_2_1_region + (:target kitchen_table) + (:ranges ( + (-9.999999999938768e-07 0.209999 1.0000000000061232e-06 0.210001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (ketchup_1_2_2_region + (:target kitchen_table) + (:ranges ( + (-0.010000999999999987 0.31999900000000003 -0.009998999999999989 0.320001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (milk_1_3_1_region + (:target kitchen_table) + (:ranges ( + (-0.07889898683856654 0.20247704777719053 -0.07889698683856654 0.20247904777719053) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (tomato_sauce_1_3_2_region + (:target kitchen_table) + (:ranges ( + (-0.12779697367713308 0.26495509555438107 -0.12779497367713308 0.264957095554381) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (salad_dressing_1_4_1_region + (:target kitchen_table) + (:ranges ( + (-0.08440594043423938 0.08701859336806597 -0.08440394043423938 0.08702059336806597) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + white_bowl_1 - white_bowl + cream_cheese_1 - cream_cheese + orange_juice_1 - orange_juice + ketchup_1 - ketchup + milk_1 - milk + tomato_sauce_1 - tomato_sauce + salad_dressing_1 - salad_dressing + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On white_bowl_1 kitchen_table_white_bowl_init_region) + (On cream_cheese_1 kitchen_table_cream_cheese_1_1_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_2_1_region) + (On ketchup_1 kitchen_table_ketchup_1_2_2_region) + (On milk_1 kitchen_table_milk_1_3_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_3_2_region) + (On salad_dressing_1 kitchen_table_salad_dressing_1_4_1_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/random/random_level_2/random_clutter_task2.init b/bddl/random/random_level_2/random_clutter_task2.init new file mode 100644 index 0000000000000000000000000000000000000000..77f0337ee9436c1eaeb00056bacaf9b2912d1a41 Binary files /dev/null and b/bddl/random/random_level_2/random_clutter_task2.init differ diff --git a/bddl/random/random_level_2/random_clutter_task2_agentview.png b/bddl/random/random_level_2/random_clutter_task2_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..6bc614266f34dead759e9ff9e71960150fa1237d --- /dev/null +++ b/bddl/random/random_level_2/random_clutter_task2_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d33337cd03f31d3a7c4c2b19f34050cd3e8239674acd40389ad5ee7226af771 +size 178260 diff --git a/bddl/random/random_level_2/random_clutter_task3.bddl b/bddl/random/random_level_2/random_clutter_task3.bddl new file mode 100644 index 0000000000000000000000000000000000000000..47b1c69133ed1e12fea8dd4b5f8c689ee9849b77 --- /dev/null +++ b/bddl/random/random_level_2/random_clutter_task3.bddl @@ -0,0 +1,164 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (white_bowl_init_region + (:target kitchen_table) + (:ranges ( + (-1e-06 -0.120001 1e-06 -0.119999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_1_1_1_region + (:target kitchen_table) + (:ranges ( + (0.09302915024610002 -0.0733214260495292 0.09303115024610002 -0.0733194260495292) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_1_2_1_region + (:target kitchen_table) + (:ranges ( + (-9.999999999938768e-07 -0.030000999999999993 1.0000000000061232e-06 -0.02999899999999999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (ketchup_1_2_2_region + (:target kitchen_table) + (:ranges ( + (-0.010000999999999987 0.07999900000000001 -0.009998999999999989 0.08000100000000002) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (milk_1_3_1_region + (:target kitchen_table) + (:ranges ( + (-0.07601234986911477 -0.034884412694283544 -0.07601034986911477 -0.03488241269428354) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (tomato_sauce_1_3_2_region + (:target kitchen_table) + (:ranges ( + (-0.12202369973822956 0.030232174611432905 -0.12202169973822956 0.030234174611432907) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (salad_dressing_1_4_1_region + (:target kitchen_table) + (:ranges ( + (-0.08215257946007148 -0.15883508815736674 -0.08215057946007148 -0.15883308815736674) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + white_bowl_1 - white_bowl + cream_cheese_1 - cream_cheese + orange_juice_1 - orange_juice + ketchup_1 - ketchup + milk_1 - milk + tomato_sauce_1 - tomato_sauce + salad_dressing_1 - salad_dressing + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On white_bowl_1 kitchen_table_white_bowl_init_region) + (On cream_cheese_1 kitchen_table_cream_cheese_1_1_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_2_1_region) + (On ketchup_1 kitchen_table_ketchup_1_2_2_region) + (On milk_1 kitchen_table_milk_1_3_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_3_2_region) + (On salad_dressing_1 kitchen_table_salad_dressing_1_4_1_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/random/random_level_2/random_clutter_task3.init b/bddl/random/random_level_2/random_clutter_task3.init new file mode 100644 index 0000000000000000000000000000000000000000..f6e715863c4e53e951f562d6697ceed10fa62c4a Binary files /dev/null and b/bddl/random/random_level_2/random_clutter_task3.init differ diff --git a/bddl/random/random_level_2/random_clutter_task3_agentview.png b/bddl/random/random_level_2/random_clutter_task3_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..4e1427f9bd0cad970ed1fa9c1c6240cf73fecf99 --- /dev/null +++ b/bddl/random/random_level_2/random_clutter_task3_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:852dacc25121d99e6a43cf7bd21cb9f56a80d4aeff29a6d8f6090315cd6bb221 +size 178048 diff --git a/bddl/random/random_level_2/random_clutter_task4.bddl b/bddl/random/random_level_2/random_clutter_task4.bddl new file mode 100644 index 0000000000000000000000000000000000000000..2e1305f64983fb2f3be4fdcf33b300a0b46664ca --- /dev/null +++ b/bddl/random/random_level_2/random_clutter_task4.bddl @@ -0,0 +1,164 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (white_bowl_init_region + (:target kitchen_table) + (:ranges ( + (-0.120001 -1e-06 -0.119999 1e-06) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_1_1_1_region + (:target kitchen_table) + (:ranges ( + (-0.04002134403276725 0.07002611580080366 -0.040019344032767246 0.07002811580080366) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_1_2_1_region + (:target kitchen_table) + (:ranges ( + (-0.120001 0.08999900000000001 -0.119999 0.09000100000000001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (ketchup_1_2_2_region + (:target kitchen_table) + (:ranges ( + (-0.13000099999999998 0.199999 -0.12999899999999998 0.200001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (milk_1_3_1_region + (:target kitchen_table) + (:ranges ( + (-0.197202421437099 0.08405282472791942 -0.197200421437099 0.08405482472791942) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (tomato_sauce_1_3_2_region + (:target kitchen_table) + (:ranges ( + (-0.244403842874198 0.14810664945583885 -0.244401842874198 0.14810864945583885) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (salad_dressing_1_4_1_region + (:target kitchen_table) + (:ranges ( + (-0.20381434786693517 -0.03462838456767146 -0.20381234786693517 -0.034626384567671455) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + white_bowl_1 - white_bowl + cream_cheese_1 - cream_cheese + orange_juice_1 - orange_juice + ketchup_1 - ketchup + milk_1 - milk + tomato_sauce_1 - tomato_sauce + salad_dressing_1 - salad_dressing + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On white_bowl_1 kitchen_table_white_bowl_init_region) + (On cream_cheese_1 kitchen_table_cream_cheese_1_1_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_2_1_region) + (On ketchup_1 kitchen_table_ketchup_1_2_2_region) + (On milk_1 kitchen_table_milk_1_3_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_3_2_region) + (On salad_dressing_1 kitchen_table_salad_dressing_1_4_1_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/random/random_level_2/random_clutter_task4.init b/bddl/random/random_level_2/random_clutter_task4.init new file mode 100644 index 0000000000000000000000000000000000000000..ad4cb2bd8a8d70f3aaa77d5ec73983d1db1293d2 Binary files /dev/null and b/bddl/random/random_level_2/random_clutter_task4.init differ diff --git a/bddl/random/random_level_2/random_clutter_task4_agentview.png b/bddl/random/random_level_2/random_clutter_task4_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..e0f9a91343c03db9535b5be15c354505746901e4 --- /dev/null +++ b/bddl/random/random_level_2/random_clutter_task4_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eca9c673999cc812131dd747c47071828d3e4d2abcffca222260aee854ac96de +size 173272 diff --git a/bddl/random/random_level_2/random_clutter_task5.bddl b/bddl/random/random_level_2/random_clutter_task5.bddl new file mode 100644 index 0000000000000000000000000000000000000000..75eb26c7b0d3625c0854a1522257bab3bd25caa8 --- /dev/null +++ b/bddl/random/random_level_2/random_clutter_task5.bddl @@ -0,0 +1,164 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (white_bowl_init_region + (:target kitchen_table) + (:ranges ( + (0.119999 -1e-06 0.120001 1e-06) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_1_1_1_region + (:target kitchen_table) + (:ranges ( + (0.2191283542171155 0.023166047220149373 0.2191303542171155 0.023168047220149375) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_1_2_1_region + (:target kitchen_table) + (:ranges ( + (0.119999 0.08999900000000001 0.120001 0.09000100000000001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (ketchup_1_2_2_region + (:target kitchen_table) + (:ranges ( + (0.10999900000000001 0.199999 0.11000100000000002 0.200001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (milk_1_3_1_region + (:target kitchen_table) + (:ranges ( + (0.019564609832531298 0.05267945307910919 0.0195666098325313 0.052681453079109195) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (tomato_sauce_1_3_2_region + (:target kitchen_table) + (:ranges ( + (-0.050869780334937394 0.08535990615821838 -0.05086778033493739 0.08536190615821838) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (salad_dressing_1_4_1_region + (:target kitchen_table) + (:ranges ( + (0.0540167776762945 -0.06501409014922296 0.054018777676294503 -0.06501209014922296) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + white_bowl_1 - white_bowl + cream_cheese_1 - cream_cheese + orange_juice_1 - orange_juice + ketchup_1 - ketchup + milk_1 - milk + tomato_sauce_1 - tomato_sauce + salad_dressing_1 - salad_dressing + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On white_bowl_1 kitchen_table_white_bowl_init_region) + (On cream_cheese_1 kitchen_table_cream_cheese_1_1_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_2_1_region) + (On ketchup_1 kitchen_table_ketchup_1_2_2_region) + (On milk_1 kitchen_table_milk_1_3_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_3_2_region) + (On salad_dressing_1 kitchen_table_salad_dressing_1_4_1_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/random/random_level_2/random_clutter_task5.init b/bddl/random/random_level_2/random_clutter_task5.init new file mode 100644 index 0000000000000000000000000000000000000000..215cf266bc99bc4a2424c206e20a83fc23b2196f Binary files /dev/null and b/bddl/random/random_level_2/random_clutter_task5.init differ diff --git a/bddl/random/random_level_2/random_clutter_task5_agentview.png b/bddl/random/random_level_2/random_clutter_task5_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..e364a74a557576b6d26954cf3e02384ac0d8b823 --- /dev/null +++ b/bddl/random/random_level_2/random_clutter_task5_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:006237b9c634721e9a137f256a9ce7bec320e23f77e44618d266c1279cef4475 +size 184235 diff --git a/bddl/random/random_level_3/random_clutter_task1.bddl b/bddl/random/random_level_3/random_clutter_task1.bddl new file mode 100644 index 0000000000000000000000000000000000000000..f21c390de8c098ce3b78c903c06e71eddfe68df3 --- /dev/null +++ b/bddl/random/random_level_3/random_clutter_task1.bddl @@ -0,0 +1,185 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (white_bowl_init_region + (:target kitchen_table) + (:ranges ( + (-1e-06 -1e-06 1e-06 1e-06) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_1_1_1_region + (:target kitchen_table) + (:ranges ( + (0.06110102376514548 0.06916049753386175 0.06110302376514548 0.06916249753386175) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_1_2_1_region + (:target kitchen_table) + (:ranges ( + (-9.999999999938768e-07 0.109999 1.0000000000061232e-06 0.110001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (milk_1_3_1_region + (:target kitchen_table) + (:ranges ( + (-0.07036780812745508 0.07972257541218924 -0.07036580812745508 0.07972457541218925) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (tomato_sauce_1_3_2_region + (:target kitchen_table) + (:ranges ( + (-0.12280797788040117 0.16539086590681631 -0.12280597788040117 0.16539286590681632) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (salad_dressing_1_4_1_region + (:target kitchen_table) + (:ranges ( + (-0.07472893839420518 -0.04311574800342911 -0.07472693839420518 -0.043113748003429105) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (ketchup_1_4_2_region + (:target kitchen_table) + (:ranges ( + (-0.18640246446725137 -0.11685344560754403 -0.18640046446725136 -0.11685144560754403) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (cookies_1_5_2_region + (:target kitchen_table) + (:ranges ( + (-1.0000000000404134e-06 -0.220001 9.999999999595865e-07 -0.219999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + white_bowl_1 - white_bowl + cream_cheese_1 - cream_cheese + orange_juice_1 - orange_juice + milk_1 - milk + tomato_sauce_1 - tomato_sauce + salad_dressing_1 - salad_dressing + ketchup_1 - ketchup + cookies_1 - cookies + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On white_bowl_1 kitchen_table_white_bowl_init_region) + (On cream_cheese_1 kitchen_table_cream_cheese_1_1_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_2_1_region) + (On milk_1 kitchen_table_milk_1_3_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_3_2_region) + (On salad_dressing_1 kitchen_table_salad_dressing_1_4_1_region) + (On ketchup_1 kitchen_table_ketchup_1_4_2_region) + (On cookies_1 kitchen_table_cookies_1_5_2_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/random/random_level_3/random_clutter_task1.init b/bddl/random/random_level_3/random_clutter_task1.init new file mode 100644 index 0000000000000000000000000000000000000000..a0a60c7d2dd62759664eea5e3f8afc632462bd34 Binary files /dev/null and b/bddl/random/random_level_3/random_clutter_task1.init differ diff --git a/bddl/random/random_level_3/random_clutter_task1_agentview.png b/bddl/random/random_level_3/random_clutter_task1_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..9dbb938310e499d36816d84f8d0cb484f1d92fb5 --- /dev/null +++ b/bddl/random/random_level_3/random_clutter_task1_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad7ee4b6c91008961e17b751a8f913c52bd424077946e9354e41586c07a5dabd +size 181784 diff --git a/bddl/random/random_level_3/random_clutter_task2.bddl b/bddl/random/random_level_3/random_clutter_task2.bddl new file mode 100644 index 0000000000000000000000000000000000000000..b1d510b59422a7ee03a6e1d93af40cc75add9e17 --- /dev/null +++ b/bddl/random/random_level_3/random_clutter_task2.bddl @@ -0,0 +1,185 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (white_bowl_init_region + (:target kitchen_table) + (:ranges ( + (-1e-06 0.119999 1e-06 0.120001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_1_1_1_region + (:target kitchen_table) + (:ranges ( + (0.09450995328938629 0.1426743685263295 0.09451195328938629 0.1426763685263295) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_1_2_1_region + (:target kitchen_table) + (:ranges ( + (-9.999999999938768e-07 0.229999 1.0000000000061232e-06 0.230001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (milk_1_3_1_region + (:target kitchen_table) + (:ranges ( + (-0.10848380997344821 0.13735227461125674 -0.10848180997344821 0.13735427461125674) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (tomato_sauce_1_3_2_region + (:target kitchen_table) + (:ranges ( + (-0.20666318194158606 0.14817620414476482 -0.20666118194158606 0.14817820414476482) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (salad_dressing_1_4_1_region + (:target kitchen_table) + (:ranges ( + (-0.06009952709899189 0.05868142503735913 -0.06009752709899189 0.058683425037359134) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (ketchup_1_4_2_region + (:target kitchen_table) + (:ranges ( + (-0.15421775961778217 -0.03689966491780991 -0.15421575961778217 -0.03689766491780991) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (cookies_1_5_2_region + (:target kitchen_table) + (:ranges ( + (-1.0000000000404134e-06 -0.100001 9.999999999595865e-07 -0.099999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + white_bowl_1 - white_bowl + cream_cheese_1 - cream_cheese + orange_juice_1 - orange_juice + milk_1 - milk + tomato_sauce_1 - tomato_sauce + salad_dressing_1 - salad_dressing + ketchup_1 - ketchup + cookies_1 - cookies + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On white_bowl_1 kitchen_table_white_bowl_init_region) + (On cream_cheese_1 kitchen_table_cream_cheese_1_1_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_2_1_region) + (On milk_1 kitchen_table_milk_1_3_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_3_2_region) + (On salad_dressing_1 kitchen_table_salad_dressing_1_4_1_region) + (On ketchup_1 kitchen_table_ketchup_1_4_2_region) + (On cookies_1 kitchen_table_cookies_1_5_2_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/random/random_level_3/random_clutter_task2.init b/bddl/random/random_level_3/random_clutter_task2.init new file mode 100644 index 0000000000000000000000000000000000000000..7b18037917dd33c656ee9518e285bf5ebdec6c42 Binary files /dev/null and b/bddl/random/random_level_3/random_clutter_task2.init differ diff --git a/bddl/random/random_level_3/random_clutter_task2_agentview.png b/bddl/random/random_level_3/random_clutter_task2_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..cf994d531e39dabf084b01853d0979ca2731ca21 --- /dev/null +++ b/bddl/random/random_level_3/random_clutter_task2_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2670c72c097e6581649d40b8916e8f1d27be0f2759e4bb169b7b4ea25c5ec5c4 +size 181186 diff --git a/bddl/random/random_level_3/random_clutter_task3.bddl b/bddl/random/random_level_3/random_clutter_task3.bddl new file mode 100644 index 0000000000000000000000000000000000000000..aaa3db74e5dc7fc5435d844599e0bf07537d5e97 --- /dev/null +++ b/bddl/random/random_level_3/random_clutter_task3.bddl @@ -0,0 +1,185 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (white_bowl_init_region + (:target kitchen_table) + (:ranges ( + (-1e-06 -0.120001 1e-06 -0.119999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_1_1_1_region + (:target kitchen_table) + (:ranges ( + (0.09631607263367326 -0.10311194052816812 0.09631807263367326 -0.10310994052816812) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_1_2_1_region + (:target kitchen_table) + (:ranges ( + (-9.999999999938768e-07 -0.010000999999999989 1.0000000000061232e-06 -0.00999899999999999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (milk_1_3_1_region + (:target kitchen_table) + (:ranges ( + (-0.0938865158072646 -0.06556553143630375 -0.0938845158072646 -0.06556353143630375) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (tomato_sauce_1_3_2_region + (:target kitchen_table) + (:ranges ( + (-0.1745491347759821 -0.01024296915986828 -0.1745471347759821 -0.010240969159868281) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (salad_dressing_1_4_1_region + (:target kitchen_table) + (:ranges ( + (-0.07551697649771762 -0.1618374520742094 -0.07551497649771761 -0.1618354520742094) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (ketchup_1_4_2_region + (:target kitchen_table) + (:ranges ( + (-0.18813614829497874 -0.23404119456326075 -0.18813414829497874 -0.23403919456326075) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (cookies_1_5_2_region + (:target kitchen_table) + (:ranges ( + (-1.0000000000404134e-06 -0.34000099999999994 9.999999999595865e-07 -0.339999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + white_bowl_1 - white_bowl + cream_cheese_1 - cream_cheese + orange_juice_1 - orange_juice + milk_1 - milk + tomato_sauce_1 - tomato_sauce + salad_dressing_1 - salad_dressing + ketchup_1 - ketchup + cookies_1 - cookies + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On white_bowl_1 kitchen_table_white_bowl_init_region) + (On cream_cheese_1 kitchen_table_cream_cheese_1_1_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_2_1_region) + (On milk_1 kitchen_table_milk_1_3_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_3_2_region) + (On salad_dressing_1 kitchen_table_salad_dressing_1_4_1_region) + (On ketchup_1 kitchen_table_ketchup_1_4_2_region) + (On cookies_1 kitchen_table_cookies_1_5_2_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/random/random_level_3/random_clutter_task3.init b/bddl/random/random_level_3/random_clutter_task3.init new file mode 100644 index 0000000000000000000000000000000000000000..f89db2b99e9a0b904ba7a3b33632099640dcf659 Binary files /dev/null and b/bddl/random/random_level_3/random_clutter_task3.init differ diff --git a/bddl/random/random_level_3/random_clutter_task3_agentview.png b/bddl/random/random_level_3/random_clutter_task3_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..946ad9a6dd6b1684006d69bc5dc67a31577a9474 --- /dev/null +++ b/bddl/random/random_level_3/random_clutter_task3_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f0f144f6dd9475b4960f8561939576a45e6c22d11fad8b70e01cf6202fa00f0f +size 181385 diff --git a/bddl/random/random_level_3/random_clutter_task4.bddl b/bddl/random/random_level_3/random_clutter_task4.bddl new file mode 100644 index 0000000000000000000000000000000000000000..ef24fc48e22d8aa1a296f3d30e859f3a5fa9d8c4 --- /dev/null +++ b/bddl/random/random_level_3/random_clutter_task4.bddl @@ -0,0 +1,185 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (white_bowl_init_region + (:target kitchen_table) + (:ranges ( + (-0.120001 -1e-06 -0.119999 1e-06) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_1_1_1_region + (:target kitchen_table) + (:ranges ( + (-0.050790110131412367 0.06217830952564062 -0.050788110131412365 0.062180309525640624) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_1_2_1_region + (:target kitchen_table) + (:ranges ( + (-0.120001 0.109999 -0.119999 0.110001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (milk_1_3_1_region + (:target kitchen_table) + (:ranges ( + (-0.22999864718775967 0.0006849715098641171 -0.22999664718775967 0.0006869715098641172) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (tomato_sauce_1_3_2_region + (:target kitchen_table) + (:ranges ( + (-0.3299958238130712 -0.008491862678298942 -0.32999382381307124 -0.008489862678298944) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (salad_dressing_1_4_1_region + (:target kitchen_table) + (:ranges ( + (-0.16597590186665342 -0.07286721966168434 -0.16597390186665342 -0.07286521966168434) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (ketchup_1_4_2_region + (:target kitchen_table) + (:ranges ( + (-0.24314578410663756 -0.1823066832557055 -0.24314378410663756 -0.1823046832557055) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (cookies_1_5_2_region + (:target kitchen_table) + (:ranges ( + (-0.12000100000000004 -0.220001 -0.11999900000000004 -0.219999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + white_bowl_1 - white_bowl + cream_cheese_1 - cream_cheese + orange_juice_1 - orange_juice + milk_1 - milk + tomato_sauce_1 - tomato_sauce + salad_dressing_1 - salad_dressing + ketchup_1 - ketchup + cookies_1 - cookies + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On white_bowl_1 kitchen_table_white_bowl_init_region) + (On cream_cheese_1 kitchen_table_cream_cheese_1_1_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_2_1_region) + (On milk_1 kitchen_table_milk_1_3_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_3_2_region) + (On salad_dressing_1 kitchen_table_salad_dressing_1_4_1_region) + (On ketchup_1 kitchen_table_ketchup_1_4_2_region) + (On cookies_1 kitchen_table_cookies_1_5_2_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/random/random_level_3/random_clutter_task4.init b/bddl/random/random_level_3/random_clutter_task4.init new file mode 100644 index 0000000000000000000000000000000000000000..110442df9e784f89998e757e0b45c9ef13396138 Binary files /dev/null and b/bddl/random/random_level_3/random_clutter_task4.init differ diff --git a/bddl/random/random_level_3/random_clutter_task4_agentview.png b/bddl/random/random_level_3/random_clutter_task4_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..d3cd74a71d92ed95354f36056657ba3c9f9a91d8 --- /dev/null +++ b/bddl/random/random_level_3/random_clutter_task4_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e270833141347f79cac2b0254662117cc5ba51c8d5aae5cba0cce1f76bbe5ec5 +size 175476 diff --git a/bddl/random/random_level_3/random_clutter_task5.bddl b/bddl/random/random_level_3/random_clutter_task5.bddl new file mode 100644 index 0000000000000000000000000000000000000000..5ebbc1491498400052f77624659bc2511e2770fa --- /dev/null +++ b/bddl/random/random_level_3/random_clutter_task5.bddl @@ -0,0 +1,185 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (white_bowl_init_region + (:target kitchen_table) + (:ranges ( + (0.119999 -1e-06 0.120001 1e-06) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_1_1_1_region + (:target kitchen_table) + (:ranges ( + (0.21998496386728666 -0.008325580789878242 0.21998696386728667 -0.008323580789878243) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_1_2_1_region + (:target kitchen_table) + (:ranges ( + (0.119999 0.109999 0.120001 0.110001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (milk_1_3_1_region + (:target kitchen_table) + (:ranges ( + (0.05507685845245417 0.08356668734284409 0.05507885845245417 0.08356868734284409) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (tomato_sauce_1_3_2_region + (:target kitchen_table) + (:ranges ( + (0.009170288595399208 0.17384791215425696 0.009172288595399206 0.17384991215425696) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (salad_dressing_1_4_1_region + (:target kitchen_table) + (:ranges ( + (0.03803384760468206 -0.029274537463614726 0.03803584760468206 -0.029272537463614724) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (ketchup_1_4_2_region + (:target kitchen_table) + (:ranges ( + (-0.08232433526969946 -0.08640278241995239 -0.08232233526969945 -0.08640078241995239) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (cookies_1_5_2_region + (:target kitchen_table) + (:ranges ( + (0.11999899999999995 -0.220001 0.12000099999999995 -0.219999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + white_bowl_1 - white_bowl + cream_cheese_1 - cream_cheese + orange_juice_1 - orange_juice + milk_1 - milk + tomato_sauce_1 - tomato_sauce + salad_dressing_1 - salad_dressing + ketchup_1 - ketchup + cookies_1 - cookies + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On white_bowl_1 kitchen_table_white_bowl_init_region) + (On cream_cheese_1 kitchen_table_cream_cheese_1_1_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_2_1_region) + (On milk_1 kitchen_table_milk_1_3_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_3_2_region) + (On salad_dressing_1 kitchen_table_salad_dressing_1_4_1_region) + (On ketchup_1 kitchen_table_ketchup_1_4_2_region) + (On cookies_1 kitchen_table_cookies_1_5_2_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/random/random_level_3/random_clutter_task5.init b/bddl/random/random_level_3/random_clutter_task5.init new file mode 100644 index 0000000000000000000000000000000000000000..aa72a59b0a08f431f3218bb59c8b06ec8a12d003 Binary files /dev/null and b/bddl/random/random_level_3/random_clutter_task5.init differ diff --git a/bddl/random/random_level_3/random_clutter_task5_agentview.png b/bddl/random/random_level_3/random_clutter_task5_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..b79464f4f90d147892e4f7a85e83b370ca914a49 --- /dev/null +++ b/bddl/random/random_level_3/random_clutter_task5_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fcd876d68131beab6010f7173fcfec07fbab8c1c4737c99a5ba5f62e61bf9db5 +size 188370 diff --git a/bddl/random/random_level_4/random_clutter_task1.bddl b/bddl/random/random_level_4/random_clutter_task1.bddl new file mode 100644 index 0000000000000000000000000000000000000000..4491e76793a4cf22295834cabe324c0cefd621af --- /dev/null +++ b/bddl/random/random_level_4/random_clutter_task1.bddl @@ -0,0 +1,204 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (white_bowl_init_region + (:target kitchen_table) + (:ranges ( + (-1e-06 -1e-06 1e-06 1e-06) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_1_1_1_region + (:target kitchen_table) + (:ranges ( + (0.08853413550195958 0.03649125507167463 0.08853613550195959 0.036493255071674634) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_1_2_2_region + (:target kitchen_table) + (:ranges ( + (-0.10000099999999999 0.149999 -0.09999899999999999 0.150001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_1_2_3_region + (:target kitchen_table) + (:ranges ( + (-9.999999999877536e-07 0.20999900000000002 1.0000000000122464e-06 0.21000100000000002) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (milk_1_3_1_region + (:target kitchen_table) + (:ranges ( + (-0.1075637065964391 0.02194252482116627 -0.1075617065964391 0.02194452482116627) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (butter_2_3_2_region + (:target kitchen_table) + (:ranges ( + (-0.24634505989465866 0.0329142872317494 -0.24634305989465866 0.0329162872317494) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (salad_dressing_1_4_1_region + (:target kitchen_table) + (:ranges ( + (-0.08406217662482846 -0.03394941751765209 -0.08406017662482845 -0.03394741751765209) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (tomato_sauce_1_5_3_region + (:target kitchen_table) + (:ranges ( + (0.009998999999999965 -0.21000100000000002 0.010000999999999963 -0.20999900000000002) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (butter_3_6_3_region + (:target kitchen_table) + (:ranges ( + (0.06869407069067768 -0.10743457540670076 0.06869607069067768 -0.10743257540670076) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + white_bowl_1 - white_bowl + cream_cheese_1 - cream_cheese + butter_1 butter_2 butter_3 - butter + orange_juice_1 - orange_juice + milk_1 - milk + salad_dressing_1 - salad_dressing + tomato_sauce_1 - tomato_sauce + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On white_bowl_1 kitchen_table_white_bowl_init_region) + (On cream_cheese_1 kitchen_table_cream_cheese_1_1_1_region) + (On butter_1 kitchen_table_butter_1_2_2_region) + (On orange_juice_1 kitchen_table_orange_juice_1_2_3_region) + (On milk_1 kitchen_table_milk_1_3_1_region) + (On butter_2 kitchen_table_butter_2_3_2_region) + (On salad_dressing_1 kitchen_table_salad_dressing_1_4_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_5_3_region) + (On butter_3 kitchen_table_butter_3_6_3_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/random/random_level_4/random_clutter_task1.init b/bddl/random/random_level_4/random_clutter_task1.init new file mode 100644 index 0000000000000000000000000000000000000000..3471c7410acb27aa3e6514a2701405d21a37e2c9 Binary files /dev/null and b/bddl/random/random_level_4/random_clutter_task1.init differ diff --git a/bddl/random/random_level_4/random_clutter_task1_agentview.png b/bddl/random/random_level_4/random_clutter_task1_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..b5691327c69807ca26c75434c306aa3cc3418f2d --- /dev/null +++ b/bddl/random/random_level_4/random_clutter_task1_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:645d056a4e693dcb59171b25e029f2d13ce5d6fad319c99587af64ee9810244a +size 180392 diff --git a/bddl/random/random_level_4/random_clutter_task2.bddl b/bddl/random/random_level_4/random_clutter_task2.bddl new file mode 100644 index 0000000000000000000000000000000000000000..06305d1e3ce6274ad4edebac545040d4938d0645 --- /dev/null +++ b/bddl/random/random_level_4/random_clutter_task2.bddl @@ -0,0 +1,204 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (white_bowl_init_region + (:target kitchen_table) + (:ranges ( + (-1e-06 0.119999 1e-06 0.120001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_1_1_1_region + (:target kitchen_table) + (:ranges ( + (0.09859356460620186 0.12670564029999715 0.09859556460620186 0.12670764029999715) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_1_2_2_region + (:target kitchen_table) + (:ranges ( + (-0.10000099999999999 0.26999900000000004 -0.09999899999999999 0.270001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_1_2_3_region + (:target kitchen_table) + (:ranges ( + (-9.999999999877536e-07 0.32999900000000004 1.0000000000122464e-06 0.330001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (milk_1_3_1_region + (:target kitchen_table) + (:ranges ( + (-0.10174593031414826 0.15978427066204376 -0.10174393031414826 0.15978627066204376) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (butter_2_3_2_region + (:target kitchen_table) + (:ranges ( + (-0.23761839547122238 0.17967690599306566 -0.23761639547122237 0.17967890599306566) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (salad_dressing_1_4_1_region + (:target kitchen_table) + (:ranges ( + (-0.07863665993336805 0.073698678314548 -0.07863465993336805 0.073700678314548) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (tomato_sauce_1_5_3_region + (:target kitchen_table) + (:ranges ( + (0.009998999999999965 -0.09000100000000001 0.010000999999999963 -0.08999900000000001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (butter_3_6_3_region + (:target kitchen_table) + (:ranges ( + (0.02831177416396799 -0.03341492370429275 0.028313774163967992 -0.033412923704292746) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + white_bowl_1 - white_bowl + cream_cheese_1 - cream_cheese + butter_1 butter_2 butter_3 - butter + orange_juice_1 - orange_juice + milk_1 - milk + salad_dressing_1 - salad_dressing + tomato_sauce_1 - tomato_sauce + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On white_bowl_1 kitchen_table_white_bowl_init_region) + (On cream_cheese_1 kitchen_table_cream_cheese_1_1_1_region) + (On butter_1 kitchen_table_butter_1_2_2_region) + (On orange_juice_1 kitchen_table_orange_juice_1_2_3_region) + (On milk_1 kitchen_table_milk_1_3_1_region) + (On butter_2 kitchen_table_butter_2_3_2_region) + (On salad_dressing_1 kitchen_table_salad_dressing_1_4_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_5_3_region) + (On butter_3 kitchen_table_butter_3_6_3_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/random/random_level_4/random_clutter_task2.init b/bddl/random/random_level_4/random_clutter_task2.init new file mode 100644 index 0000000000000000000000000000000000000000..ffa3f3c31099b37aa1f36fd9afe541179877d900 Binary files /dev/null and b/bddl/random/random_level_4/random_clutter_task2.init differ diff --git a/bddl/random/random_level_4/random_clutter_task2_agentview.png b/bddl/random/random_level_4/random_clutter_task2_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..8ecf31939adba5803c1d5284f4203c757cd21b9c --- /dev/null +++ b/bddl/random/random_level_4/random_clutter_task2_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c4aa6bc53731348e054b7e929b5cab01836a470d4b3bcf4a27491e0398e047e +size 183137 diff --git a/bddl/random/random_level_4/random_clutter_task3.bddl b/bddl/random/random_level_4/random_clutter_task3.bddl new file mode 100644 index 0000000000000000000000000000000000000000..414cf88ef5f237e84f504f083a6b166391a14eca --- /dev/null +++ b/bddl/random/random_level_4/random_clutter_task3.bddl @@ -0,0 +1,204 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (white_bowl_init_region + (:target kitchen_table) + (:ranges ( + (-1e-06 -0.120001 1e-06 -0.119999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_1_1_1_region + (:target kitchen_table) + (:ranges ( + (0.08677798641354485 -0.08030786650011092 0.08677998641354485 -0.08030586650011091) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_1_2_2_region + (:target kitchen_table) + (:ranges ( + (-0.10000099999999999 0.029998999999999998 -0.09999899999999999 0.030001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_1_2_3_region + (:target kitchen_table) + (:ranges ( + (-9.999999999877536e-07 0.08999900000000001 1.0000000000122464e-06 0.09000100000000001) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (milk_1_3_1_region + (:target kitchen_table) + (:ranges ( + (-0.10786590506741806 -0.09944715957672987 -0.10786390506741805 -0.09944515957672986) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (butter_2_3_2_region + (:target kitchen_table) + (:ranges ( + (-0.2467983576011271 -0.0891702393650948 -0.2467963576011271 -0.0891682393650948) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (salad_dressing_1_4_1_region + (:target kitchen_table) + (:ranges ( + (-0.05444254205101686 -0.19646855951439166 -0.05444054205101686 -0.19646655951439165) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (tomato_sauce_1_5_3_region + (:target kitchen_table) + (:ranges ( + (0.009998999999999965 -0.330001 0.010000999999999963 -0.32999900000000004) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (butter_3_6_3_region + (:target kitchen_table) + (:ranges ( + (0.08572962194830391 -0.19419086501333058 0.08573162194830392 -0.19418886501333057) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + white_bowl_1 - white_bowl + cream_cheese_1 - cream_cheese + butter_1 butter_2 butter_3 - butter + orange_juice_1 - orange_juice + milk_1 - milk + salad_dressing_1 - salad_dressing + tomato_sauce_1 - tomato_sauce + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On white_bowl_1 kitchen_table_white_bowl_init_region) + (On cream_cheese_1 kitchen_table_cream_cheese_1_1_1_region) + (On butter_1 kitchen_table_butter_1_2_2_region) + (On orange_juice_1 kitchen_table_orange_juice_1_2_3_region) + (On milk_1 kitchen_table_milk_1_3_1_region) + (On butter_2 kitchen_table_butter_2_3_2_region) + (On salad_dressing_1 kitchen_table_salad_dressing_1_4_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_5_3_region) + (On butter_3 kitchen_table_butter_3_6_3_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/random/random_level_4/random_clutter_task3.init b/bddl/random/random_level_4/random_clutter_task3.init new file mode 100644 index 0000000000000000000000000000000000000000..0cfa6dfb89c7d07549e554a36e95c3f78f073533 Binary files /dev/null and b/bddl/random/random_level_4/random_clutter_task3.init differ diff --git a/bddl/random/random_level_4/random_clutter_task3_agentview.png b/bddl/random/random_level_4/random_clutter_task3_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..6ffe84cbb076635e0c03f06f9ff7e3b10fb60fdc --- /dev/null +++ b/bddl/random/random_level_4/random_clutter_task3_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8202cdceecc4fa0d773c68effc3ca16dc76033a424606e0a2e1ab31c3ee3acb7 +size 181188 diff --git a/bddl/random/random_level_4/random_clutter_task4.bddl b/bddl/random/random_level_4/random_clutter_task4.bddl new file mode 100644 index 0000000000000000000000000000000000000000..eb99c790f78df5b260e53ea5d9d07bc8fca1df92 --- /dev/null +++ b/bddl/random/random_level_4/random_clutter_task4.bddl @@ -0,0 +1,204 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (white_bowl_init_region + (:target kitchen_table) + (:ranges ( + (-0.120001 -1e-06 -0.119999 1e-06) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_1_1_1_region + (:target kitchen_table) + (:ranges ( + (-0.044338295005659584 0.05538367001476275 -0.04433629500565958 0.05538567001476275) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_1_2_2_region + (:target kitchen_table) + (:ranges ( + (-0.22000099999999997 0.149999 -0.21999899999999997 0.150001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_1_2_3_region + (:target kitchen_table) + (:ranges ( + (-0.12000099999999998 0.20999900000000002 -0.11999899999999998 0.21000100000000002) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (milk_1_3_1_region + (:target kitchen_table) + (:ranges ( + (-0.18994140620136166 0.08004366068649281 -0.18993940620136165 0.08004566068649281) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (butter_2_3_2_region + (:target kitchen_table) + (:ranges ( + (-0.3099116093020425 0.12006599102973921 -0.30990960930204253 0.12006799102973921) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (salad_dressing_1_4_1_region + (:target kitchen_table) + (:ranges ( + (-0.20572261080618792 -0.028938401829961952 -0.20572061080618792 -0.02893640182996195) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (tomato_sauce_1_5_3_region + (:target kitchen_table) + (:ranges ( + (-0.11000100000000004 -0.21000100000000002 -0.10999900000000004 -0.20999900000000002) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (butter_3_6_3_region + (:target kitchen_table) + (:ranges ( + (-0.020523168709685735 -0.014443812181598256 -0.020521168709685733 -0.014441812181598257) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + white_bowl_1 - white_bowl + cream_cheese_1 - cream_cheese + butter_1 butter_2 butter_3 - butter + orange_juice_1 - orange_juice + milk_1 - milk + salad_dressing_1 - salad_dressing + tomato_sauce_1 - tomato_sauce + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On white_bowl_1 kitchen_table_white_bowl_init_region) + (On cream_cheese_1 kitchen_table_cream_cheese_1_1_1_region) + (On butter_1 kitchen_table_butter_1_2_2_region) + (On orange_juice_1 kitchen_table_orange_juice_1_2_3_region) + (On milk_1 kitchen_table_milk_1_3_1_region) + (On butter_2 kitchen_table_butter_2_3_2_region) + (On salad_dressing_1 kitchen_table_salad_dressing_1_4_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_5_3_region) + (On butter_3 kitchen_table_butter_3_6_3_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/random/random_level_4/random_clutter_task4.init b/bddl/random/random_level_4/random_clutter_task4.init new file mode 100644 index 0000000000000000000000000000000000000000..79a5e66b0a651854410b43ade6ea984d1c57cd2f Binary files /dev/null and b/bddl/random/random_level_4/random_clutter_task4.init differ diff --git a/bddl/random/random_level_4/random_clutter_task4_agentview.png b/bddl/random/random_level_4/random_clutter_task4_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..7ff9431374d9fafd1411e3c45db9fce4f9ff9913 --- /dev/null +++ b/bddl/random/random_level_4/random_clutter_task4_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c8ec4a3498f36d1b6f299094ab399b81e5d8aa6bfa4846e9d01acaa2f83209c8 +size 176112 diff --git a/bddl/random/random_level_4/random_clutter_task5.bddl b/bddl/random/random_level_4/random_clutter_task5.bddl new file mode 100644 index 0000000000000000000000000000000000000000..7b5ff0bcede4a6b4e622ce295fb54867ce0cf2f6 --- /dev/null +++ b/bddl/random/random_level_4/random_clutter_task5.bddl @@ -0,0 +1,204 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (white_bowl_init_region + (:target kitchen_table) + (:ranges ( + (0.119999 -1e-06 0.120001 1e-06) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_1_1_1_region + (:target kitchen_table) + (:ranges ( + (0.19154591949577218 0.05986342807799613 0.19154791949577218 0.05986542807799613) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_1_2_2_region + (:target kitchen_table) + (:ranges ( + (0.019999000000000003 0.149999 0.020001000000000005 0.150001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_1_2_3_region + (:target kitchen_table) + (:ranges ( + (0.11999900000000001 0.20999900000000002 0.12000100000000001 0.21000100000000002) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (milk_1_3_1_region + (:target kitchen_table) + (:ranges ( + (0.033725571347937834 0.06467019978521185 0.033727571347937836 0.06467219978521185) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (butter_2_3_2_region + (:target kitchen_table) + (:ranges ( + (-0.09441114297809322 0.09700579967781778 -0.09440914297809322 0.09700779967781778) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (salad_dressing_1_4_1_region + (:target kitchen_table) + (:ranges ( + (0.05295565061634639 -0.06375303773800711 0.05295765061634639 -0.06375103773800711) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (tomato_sauce_1_5_3_region + (:target kitchen_table) + (:ranges ( + (0.12999899999999995 -0.21000100000000002 0.13000099999999995 -0.20999900000000002) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (butter_3_6_3_region + (:target kitchen_table) + (:ranges ( + (0.19625131440312527 -0.09452677250433807 0.19625331440312527 -0.09452477250433806) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + white_bowl_1 - white_bowl + cream_cheese_1 - cream_cheese + butter_1 butter_2 butter_3 - butter + orange_juice_1 - orange_juice + milk_1 - milk + salad_dressing_1 - salad_dressing + tomato_sauce_1 - tomato_sauce + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On white_bowl_1 kitchen_table_white_bowl_init_region) + (On cream_cheese_1 kitchen_table_cream_cheese_1_1_1_region) + (On butter_1 kitchen_table_butter_1_2_2_region) + (On orange_juice_1 kitchen_table_orange_juice_1_2_3_region) + (On milk_1 kitchen_table_milk_1_3_1_region) + (On butter_2 kitchen_table_butter_2_3_2_region) + (On salad_dressing_1 kitchen_table_salad_dressing_1_4_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_5_3_region) + (On butter_3 kitchen_table_butter_3_6_3_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/random/random_level_4/random_clutter_task5.init b/bddl/random/random_level_4/random_clutter_task5.init new file mode 100644 index 0000000000000000000000000000000000000000..ffbeb308c0be6422eb0502c171801b2a6b58a54e Binary files /dev/null and b/bddl/random/random_level_4/random_clutter_task5.init differ diff --git a/bddl/random/random_level_4/random_clutter_task5_agentview.png b/bddl/random/random_level_4/random_clutter_task5_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..2924dcbf4979611b92784bfb2cb1f69e2d9cf6d4 --- /dev/null +++ b/bddl/random/random_level_4/random_clutter_task5_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2014a64892f2a6aa6e5f87c715b36fa79a53b0e61ba3d6738ce9c402b4ec8178 +size 187791 diff --git a/bddl/random/random_level_5/random_clutter_task1.bddl b/bddl/random/random_level_5/random_clutter_task1.bddl new file mode 100644 index 0000000000000000000000000000000000000000..89ae986d441a39c37d47acd03141f337287b1905 --- /dev/null +++ b/bddl/random/random_level_5/random_clutter_task1.bddl @@ -0,0 +1,204 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (white_bowl_init_region + (:target kitchen_table) + (:ranges ( + (-1e-06 -1e-06 1e-06 1e-06) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_1_1_1_region + (:target kitchen_table) + (:ranges ( + (0.06602376518063037 0.0651037960042674 0.06602576518063037 0.0651057960042674) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_1_2_2_region + (:target kitchen_table) + (:ranges ( + (-0.10000099999999999 0.149999 -0.09999899999999999 0.150001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_1_2_3_region + (:target kitchen_table) + (:ranges ( + (-9.999999999877536e-07 0.20999900000000002 1.0000000000122464e-06 0.21000100000000002) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (milk_1_3_1_region + (:target kitchen_table) + (:ranges ( + (-0.09735231492056612 0.04867905527572954 -0.09735031492056612 0.048681055275729544) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (butter_2_3_2_region + (:target kitchen_table) + (:ranges ( + (-0.23102797238084918 0.07301908291359431 -0.23102597238084918 0.07302108291359431) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (salad_dressing_1_4_1_region + (:target kitchen_table) + (:ranges ( + (-0.08311720440250762 -0.03646156057811538 -0.08311520440250762 -0.03645956057811538) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (tomato_sauce_1_5_3_region + (:target kitchen_table) + (:ranges ( + (0.009998999999999965 -0.21000100000000002 0.010000999999999963 -0.20999900000000002) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (butter_3_6_3_region + (:target kitchen_table) + (:ranges ( + (0.08395770309677486 -0.07848154252458148 0.08395970309677486 -0.07847954252458147) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + white_bowl_1 - white_bowl + cream_cheese_1 - cream_cheese + butter_1 butter_2 butter_3 - butter + orange_juice_1 - orange_juice + milk_1 - milk + salad_dressing_1 - salad_dressing + tomato_sauce_1 - tomato_sauce + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On white_bowl_1 kitchen_table_white_bowl_init_region) + (On cream_cheese_1 kitchen_table_cream_cheese_1_1_1_region) + (On butter_1 kitchen_table_butter_1_2_2_region) + (On orange_juice_1 kitchen_table_orange_juice_1_2_3_region) + (On milk_1 kitchen_table_milk_1_3_1_region) + (On butter_2 kitchen_table_butter_2_3_2_region) + (On salad_dressing_1 kitchen_table_salad_dressing_1_4_1_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_5_3_region) + (On butter_3 kitchen_table_butter_3_6_3_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/random/random_level_5/random_clutter_task1.init b/bddl/random/random_level_5/random_clutter_task1.init new file mode 100644 index 0000000000000000000000000000000000000000..1ba091da70d3035134f46b330fc242a11748f10e Binary files /dev/null and b/bddl/random/random_level_5/random_clutter_task1.init differ diff --git a/bddl/random/random_level_5/random_clutter_task1_agentview.png b/bddl/random/random_level_5/random_clutter_task1_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..41040dd8d350a69af00b3ceede89ef441f147666 --- /dev/null +++ b/bddl/random/random_level_5/random_clutter_task1_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db9a61dd0ef69a885c4ba4c29a54f1aed45d92b556613ad41d57a9d86bc133b1 +size 181172 diff --git a/bddl/random/random_level_5/random_clutter_task2.bddl b/bddl/random/random_level_5/random_clutter_task2.bddl new file mode 100644 index 0000000000000000000000000000000000000000..371efa49ff1a38020e9845ac4104946d9c62cf16 --- /dev/null +++ b/bddl/random/random_level_5/random_clutter_task2.bddl @@ -0,0 +1,247 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (white_bowl_init_region + (:target kitchen_table) + (:ranges ( + (-1e-06 -1e-06 1e-06 1e-06) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_1_1_1_region + (:target kitchen_table) + (:ranges ( + (0.08965666284518263 0.044287864211442124 0.08965866284518263 0.044289864211442126) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (wine_bottle_1_2_1_region + (:target kitchen_table) + (:ranges ( + (-9.999999999938768e-07 0.099999 1.0000000000061232e-06 0.100001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_1_2_2_region + (:target kitchen_table) + (:ranges ( + (-0.10000099999999999 0.199999 -0.09999899999999999 0.200001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (popcorn_1_2_3_region + (:target kitchen_table) + (:ranges ( + (-9.999999999816304e-07 0.299999 1.0000000000183696e-06 0.30000099999999996) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_1_3_1_region + (:target kitchen_table) + (:ranges ( + (-0.0839808677615936 0.05428879472005078 -0.08397886776159359 0.05429079472005078) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (wine_bottle_2_3_2_region + (:target kitchen_table) + (:ranges ( + (-0.1679607355231872 0.10857858944010156 -0.16795873552318719 0.10858058944010156) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (salad_dressing_1_4_1_region + (:target kitchen_table) + (:ranges ( + (-0.08304049176552034 -0.05571852693115589 -0.08303849176552033 -0.05571652693115589) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (bbq_sauce_1_5_1_region + (:target kitchen_table) + (:ranges ( + (-1.0000000000183696e-06 -0.100001 9.999999999816304e-07 -0.099999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_1_5_2_region + (:target kitchen_table) + (:ranges ( + (-1.0000000000367394e-06 -0.200001 9.999999999632605e-07 -0.199999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (cream_cheese_1_6_3_region + (:target kitchen_table) + (:ranges ( + (0.2767725549933312 -0.11574381513922782 0.27677455499333115 -0.11574181513922782) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + white_bowl_1 - white_bowl + tomato_sauce_1 - tomato_sauce + wine_bottle_1 wine_bottle_2 - wine_bottle + butter_1 - butter + popcorn_1 - popcorn + milk_1 - milk + salad_dressing_1 - salad_dressing + bbq_sauce_1 - bbq_sauce + orange_juice_1 - orange_juice + cream_cheese_1 - cream_cheese + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On white_bowl_1 kitchen_table_white_bowl_init_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_1_1_region) + (On wine_bottle_1 kitchen_table_wine_bottle_1_2_1_region) + (On butter_1 kitchen_table_butter_1_2_2_region) + (On popcorn_1 kitchen_table_popcorn_1_2_3_region) + (On milk_1 kitchen_table_milk_1_3_1_region) + (On wine_bottle_2 kitchen_table_wine_bottle_2_3_2_region) + (On salad_dressing_1 kitchen_table_salad_dressing_1_4_1_region) + (On bbq_sauce_1 kitchen_table_bbq_sauce_1_5_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_5_2_region) + (On cream_cheese_1 kitchen_table_cream_cheese_1_6_3_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/random/random_level_5/random_clutter_task2.init b/bddl/random/random_level_5/random_clutter_task2.init new file mode 100644 index 0000000000000000000000000000000000000000..ff051762f013406f58478684896e6e15b22382d7 Binary files /dev/null and b/bddl/random/random_level_5/random_clutter_task2.init differ diff --git a/bddl/random/random_level_5/random_clutter_task2_agentview.png b/bddl/random/random_level_5/random_clutter_task2_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..6220050966a374f64963b93c241b44cf82b3ef9a --- /dev/null +++ b/bddl/random/random_level_5/random_clutter_task2_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:24e5f668266f666d988383bacc7b4645655c7b4ff28b38bdfe5cc3d615289d2d +size 183890 diff --git a/bddl/random/random_level_5/random_clutter_task3.bddl b/bddl/random/random_level_5/random_clutter_task3.bddl new file mode 100644 index 0000000000000000000000000000000000000000..0f38d0973b4c97d8a1db6dcfdc06397b3058a138 --- /dev/null +++ b/bddl/random/random_level_5/random_clutter_task3.bddl @@ -0,0 +1,247 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (white_bowl_init_region + (:target kitchen_table) + (:ranges ( + (-1e-06 -1e-06 1e-06 1e-06) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_1_1_1_region + (:target kitchen_table) + (:ranges ( + (0.06603601828699447 0.07509302250354657 0.06603801828699447 0.07509502250354658) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (wine_bottle_1_2_1_region + (:target kitchen_table) + (:ranges ( + (-9.999999999938768e-07 0.099999 1.0000000000061232e-06 0.100001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_1_2_2_region + (:target kitchen_table) + (:ranges ( + (-0.10000099999999999 0.199999 -0.09999899999999999 0.200001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (popcorn_1_2_3_region + (:target kitchen_table) + (:ranges ( + (-9.999999999816304e-07 0.299999 1.0000000000183696e-06 0.30000099999999996) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_1_3_1_region + (:target kitchen_table) + (:ranges ( + (-0.09544254903216529 0.029847127551670485 -0.09544054903216528 0.029849127551670487) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (wine_bottle_2_3_2_region + (:target kitchen_table) + (:ranges ( + (-0.19088409806433057 0.05969525510334097 -0.19088209806433057 0.05969725510334097) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (salad_dressing_1_4_1_region + (:target kitchen_table) + (:ranges ( + (-0.08445328826431785 -0.053552946807941204 -0.08445128826431784 -0.0535509468079412) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (bbq_sauce_1_5_1_region + (:target kitchen_table) + (:ranges ( + (-1.0000000000183696e-06 -0.100001 9.999999999816304e-07 -0.099999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_1_5_2_region + (:target kitchen_table) + (:ranges ( + (-1.0000000000367394e-06 -0.200001 9.999999999632605e-07 -0.199999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (cream_cheese_1_6_3_region + (:target kitchen_table) + (:ranges ( + (0.2799317424304623 -0.1078789853137815 0.27993374243046226 -0.1078769853137815) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + white_bowl_1 - white_bowl + tomato_sauce_1 - tomato_sauce + wine_bottle_1 wine_bottle_2 - wine_bottle + butter_1 - butter + popcorn_1 - popcorn + milk_1 - milk + salad_dressing_1 - salad_dressing + bbq_sauce_1 - bbq_sauce + orange_juice_1 - orange_juice + cream_cheese_1 - cream_cheese + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On white_bowl_1 kitchen_table_white_bowl_init_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_1_1_region) + (On wine_bottle_1 kitchen_table_wine_bottle_1_2_1_region) + (On butter_1 kitchen_table_butter_1_2_2_region) + (On popcorn_1 kitchen_table_popcorn_1_2_3_region) + (On milk_1 kitchen_table_milk_1_3_1_region) + (On wine_bottle_2 kitchen_table_wine_bottle_2_3_2_region) + (On salad_dressing_1 kitchen_table_salad_dressing_1_4_1_region) + (On bbq_sauce_1 kitchen_table_bbq_sauce_1_5_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_5_2_region) + (On cream_cheese_1 kitchen_table_cream_cheese_1_6_3_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/random/random_level_5/random_clutter_task3.init b/bddl/random/random_level_5/random_clutter_task3.init new file mode 100644 index 0000000000000000000000000000000000000000..f60ca5e3b4da15244c006ac9eff1a63bd13cbc66 Binary files /dev/null and b/bddl/random/random_level_5/random_clutter_task3.init differ diff --git a/bddl/random/random_level_5/random_clutter_task3_agentview.png b/bddl/random/random_level_5/random_clutter_task3_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..e961b928c796a667e9fbd9fcc94297c93df5fa5f --- /dev/null +++ b/bddl/random/random_level_5/random_clutter_task3_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9c8a8f481987a7ad8e5c4181211996c2f669387d2d0ed4a5666f395bdd64d87c +size 184021 diff --git a/bddl/random/random_level_5/random_clutter_task4.bddl b/bddl/random/random_level_5/random_clutter_task4.bddl new file mode 100644 index 0000000000000000000000000000000000000000..57e1bbb0b547328a4e800ed769d894b923d3d526 --- /dev/null +++ b/bddl/random/random_level_5/random_clutter_task4.bddl @@ -0,0 +1,247 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (white_bowl_init_region + (:target kitchen_table) + (:ranges ( + (-1e-06 -1e-06 1e-06 1e-06) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_1_1_1_region + (:target kitchen_table) + (:ranges ( + (0.09668067308807977 0.025546095507898187 0.09668267308807978 0.02554809550789819) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (wine_bottle_1_2_1_region + (:target kitchen_table) + (:ranges ( + (-9.999999999938768e-07 0.099999 1.0000000000061232e-06 0.100001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_1_2_2_region + (:target kitchen_table) + (:ranges ( + (-0.10000099999999999 0.199999 -0.09999899999999999 0.200001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (popcorn_1_2_3_region + (:target kitchen_table) + (:ranges ( + (-9.999999999816304e-07 0.299999 1.0000000000183696e-06 0.30000099999999996) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_1_3_1_region + (:target kitchen_table) + (:ranges ( + (-0.0998707391569725 0.0051014700604975 -0.0998687391569725 0.0051034700604975) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (wine_bottle_2_3_2_region + (:target kitchen_table) + (:ranges ( + (-0.199740478313945 0.010203940120995 -0.199738478313945 0.010205940120994999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (salad_dressing_1_4_1_region + (:target kitchen_table) + (:ranges ( + (-0.08745383870195016 -0.048498432952380995 -0.08745183870195015 -0.04849643295238099) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (bbq_sauce_1_5_1_region + (:target kitchen_table) + (:ranges ( + (-1.0000000000183696e-06 -0.100001 9.999999999816304e-07 -0.099999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_1_5_2_region + (:target kitchen_table) + (:ranges ( + (-1.0000000000367394e-06 -0.200001 9.999999999632605e-07 -0.199999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (cream_cheese_1_6_3_region + (:target kitchen_table) + (:ranges ( + (0.2642073873865816 -0.14210634133023298 0.26420938738658156 -0.14210434133023297) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + white_bowl_1 - white_bowl + tomato_sauce_1 - tomato_sauce + wine_bottle_1 wine_bottle_2 - wine_bottle + butter_1 - butter + popcorn_1 - popcorn + milk_1 - milk + salad_dressing_1 - salad_dressing + bbq_sauce_1 - bbq_sauce + orange_juice_1 - orange_juice + cream_cheese_1 - cream_cheese + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On white_bowl_1 kitchen_table_white_bowl_init_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_1_1_region) + (On wine_bottle_1 kitchen_table_wine_bottle_1_2_1_region) + (On butter_1 kitchen_table_butter_1_2_2_region) + (On popcorn_1 kitchen_table_popcorn_1_2_3_region) + (On milk_1 kitchen_table_milk_1_3_1_region) + (On wine_bottle_2 kitchen_table_wine_bottle_2_3_2_region) + (On salad_dressing_1 kitchen_table_salad_dressing_1_4_1_region) + (On bbq_sauce_1 kitchen_table_bbq_sauce_1_5_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_5_2_region) + (On cream_cheese_1 kitchen_table_cream_cheese_1_6_3_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/random/random_level_5/random_clutter_task4.init b/bddl/random/random_level_5/random_clutter_task4.init new file mode 100644 index 0000000000000000000000000000000000000000..4fa3e1ceca5cc50f2bfb558cdd94adab8e30898e Binary files /dev/null and b/bddl/random/random_level_5/random_clutter_task4.init differ diff --git a/bddl/random/random_level_5/random_clutter_task4_agentview.png b/bddl/random/random_level_5/random_clutter_task4_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..e399c6770480fcf9139f6f5dce6ee665d668192e --- /dev/null +++ b/bddl/random/random_level_5/random_clutter_task4_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d61021ce1d22480463d3194f15d1214686c5d99e0a29d7ec4ff13c5b08afc369 +size 183453 diff --git a/bddl/random/random_level_5/random_clutter_task5.bddl b/bddl/random/random_level_5/random_clutter_task5.bddl new file mode 100644 index 0000000000000000000000000000000000000000..2b36262c5d74715bb5c554737e1ca1a38f6d69a5 --- /dev/null +++ b/bddl/random/random_level_5/random_clutter_task5.bddl @@ -0,0 +1,247 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language Reach the white bowl on the table) + (:regions + (white_bowl_init_region + (:target kitchen_table) + (:ranges ( + (-1e-06 -1e-06 1e-06 1e-06) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_1_1_1_region + (:target kitchen_table) + (:ranges ( + (0.07210221535503042 0.06928916045201589 0.07210421535503042 0.06929116045201589) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (wine_bottle_1_2_1_region + (:target kitchen_table) + (:ranges ( + (-9.999999999938768e-07 0.099999 1.0000000000061232e-06 0.100001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_1_2_2_region + (:target kitchen_table) + (:ranges ( + (-0.10000099999999999 0.199999 -0.09999899999999999 0.200001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (popcorn_1_2_3_region + (:target kitchen_table) + (:ranges ( + (-9.999999999816304e-07 0.299999 1.0000000000183696e-06 0.30000099999999996) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_1_3_1_region + (:target kitchen_table) + (:ranges ( + (-0.09796974515151977 0.020052053967826788 -0.09796774515151976 0.02005405396782679) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (wine_bottle_2_3_2_region + (:target kitchen_table) + (:ranges ( + (-0.19593849030303953 0.040105107935653576 -0.19593649030303953 0.04010710793565358) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (salad_dressing_1_4_1_region + (:target kitchen_table) + (:ranges ( + (-0.051857761799568865 -0.08550466223538485 -0.05185576179956886 -0.08550266223538484) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (bbq_sauce_1_5_1_region + (:target kitchen_table) + (:ranges ( + (-1.0000000000183696e-06 -0.100001 9.999999999816304e-07 -0.099999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_1_5_2_region + (:target kitchen_table) + (:ranges ( + (-1.0000000000367394e-06 -0.200001 9.999999999632605e-07 -0.199999) + ) + ) + (:yaw_rotation ( + (1.57 1.57) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (1.57 1.57) + ) + ) + ) + (cream_cheese_1_6_3_region + (:target kitchen_table) + (:ranges ( + (0.19170515320855747 -0.23075790850324956 0.19170715320855747 -0.23075590850324956) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + (:pitch_rotation ( + (0.0 0.0) + ) + ) + (:roll_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + ) + + (:objects + white_bowl_1 - white_bowl + tomato_sauce_1 - tomato_sauce + wine_bottle_1 wine_bottle_2 - wine_bottle + butter_1 - butter + popcorn_1 - popcorn + milk_1 - milk + salad_dressing_1 - salad_dressing + bbq_sauce_1 - bbq_sauce + orange_juice_1 - orange_juice + cream_cheese_1 - cream_cheese + ) + + (:obj_of_interest + white_bowl_1 + ) + + (:init + (On white_bowl_1 kitchen_table_white_bowl_init_region) + (On tomato_sauce_1 kitchen_table_tomato_sauce_1_1_1_region) + (On wine_bottle_1 kitchen_table_wine_bottle_1_2_1_region) + (On butter_1 kitchen_table_butter_1_2_2_region) + (On popcorn_1 kitchen_table_popcorn_1_2_3_region) + (On milk_1 kitchen_table_milk_1_3_1_region) + (On wine_bottle_2 kitchen_table_wine_bottle_2_3_2_region) + (On salad_dressing_1 kitchen_table_salad_dressing_1_4_1_region) + (On bbq_sauce_1 kitchen_table_bbq_sauce_1_5_1_region) + (On orange_juice_1 kitchen_table_orange_juice_1_5_2_region) + (On cream_cheese_1 kitchen_table_cream_cheese_1_6_3_region) + ) + + (:goal + (And (reached white_bowl_1)) + ) + +) diff --git a/bddl/random/random_level_5/random_clutter_task5.init b/bddl/random/random_level_5/random_clutter_task5.init new file mode 100644 index 0000000000000000000000000000000000000000..ae363542f48bfebb286c9b7fbc3d203d93cd6911 Binary files /dev/null and b/bddl/random/random_level_5/random_clutter_task5.init differ diff --git a/bddl/random/random_level_5/random_clutter_task5_agentview.png b/bddl/random/random_level_5/random_clutter_task5_agentview.png new file mode 100644 index 0000000000000000000000000000000000000000..59f678ff7fe4ced0fd017f21b6b21dd8dbed8c47 --- /dev/null +++ b/bddl/random/random_level_5/random_clutter_task5_agentview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e8ee7764d7d46072e6cca1a25f5170dfcd84bc284f14e414f67a6007d5a4b3c3 +size 183611