diff --git a/Ctrl-World/checkpoints/svd/image_encoder/config.json b/Ctrl-World/checkpoints/svd/image_encoder/config.json new file mode 100644 index 0000000000000000000000000000000000000000..07d19bca6ac0fcdd0e7718893422dca78d8afb97 --- /dev/null +++ b/Ctrl-World/checkpoints/svd/image_encoder/config.json @@ -0,0 +1,23 @@ +{ + "_name_or_path": "/home/suraj_huggingface_co/.cache/huggingface/hub/models--diffusers--svd-test/snapshots/b9d5dcd269e2f7bff9f98a4907b8c69b7acd555d/image_encoder", + "architectures": [ + "CLIPVisionModelWithProjection" + ], + "attention_dropout": 0.0, + "dropout": 0.0, + "hidden_act": "gelu", + "hidden_size": 1280, + "image_size": 224, + "initializer_factor": 1.0, + "initializer_range": 0.02, + "intermediate_size": 5120, + "layer_norm_eps": 1e-05, + "model_type": "clip_vision_model", + "num_attention_heads": 16, + "num_channels": 3, + "num_hidden_layers": 32, + "patch_size": 14, + "projection_dim": 1024, + "torch_dtype": "float16", + "transformers_version": "4.34.0.dev0" +} diff --git a/third_party/.libero_local/rethink_gripper_patched.xml b/third_party/.libero_local/rethink_gripper_patched.xml new file mode 100644 index 0000000000000000000000000000000000000000..227e238857bcc372b4df02404c566fce6c0deefc --- /dev/null +++ b/third_party/.libero_local/rethink_gripper_patched.xml @@ -0,0 +1,73 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/third_party/.libero_local/sawyer_robot_patched.xml b/third_party/.libero_local/sawyer_robot_patched.xml new file mode 100644 index 0000000000000000000000000000000000000000..203e19192a54b788f8e595ac852c3da836951635 --- /dev/null +++ b/third_party/.libero_local/sawyer_robot_patched.xml @@ -0,0 +1,259 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/third_party/libero/libero.egg-info/PKG-INFO b/third_party/libero/libero.egg-info/PKG-INFO new file mode 100644 index 0000000000000000000000000000000000000000..3545de0b2202d0d0001fc483dad30868a3c448d4 --- /dev/null +++ b/third_party/libero/libero.egg-info/PKG-INFO @@ -0,0 +1,185 @@ +Metadata-Version: 2.4 +Name: libero +Version: 0.1.0 +Summary: LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning +Author: Bo Liu, Yifeng Zhu, Chongkai Gao, Yihao Feng, Qiang Liu, Yuke Zhu, Peter Stone +Author-email: bliu@cs.utexas.edu, yifengz@cs.utexas.edu +Requires-Python: >=3 +Description-Content-Type: text/markdown +License-File: LICENSE +Dynamic: author +Dynamic: author-email +Dynamic: description +Dynamic: description-content-type +Dynamic: license-file +Dynamic: requires-python +Dynamic: summary + +
+ + +

+ +Tests Passing + + +GitHub Contributors + + +Issues + +## **Benchmarking Knowledge Transfer for Lifelong Robot Learning** + +Bo Liu, Yifeng Zhu, Chongkai Gao, Yihao Feng, Qiang Liu, Yuke Zhu, Peter Stone + +[[Website]](https://libero-project.github.io) +[[Paper]](https://arxiv.org/pdf/2306.03310.pdf) +[[Docs]](https://lifelong-robot-learning.github.io/LIBERO/) +______________________________________________________________________ +

+ +**LIBERO** is designed for studying knowledge transfer in multitask and lifelong robot learning problems. Successfully resolving these problems require both declarative knowledge about objects/spatial relationships and procedural knowledge about motion/behaviors. **LIBERO** provides: +- a procedural generation pipeline that could in principle generate an infinite number of manipulation tasks. +- 130 tasks grouped into four task suites: **LIBERO-Spatial**, **LIBERO-Object**, **LIBERO-Goal**, and **LIBERO-100**. The first three task suites have controlled distribution shifts, meaning that they require the transfer of a specific type of knowledge. In contrast, **LIBERO-100** consists of 100 manipulation tasks that require the transfer of entangled knowledge. **LIBERO-100** is further splitted into **LIBERO-90** for pretraining a policy and **LIBERO-10** for testing the agent's downstream lifelong learning performance. +- five research topics. +- three visuomotor policy network architectures. +- three lifelong learning algorithms with the sequential finetuning and multitask learning baselines. + +--- + + +# Contents + +- [Installation](#Installation) +- [Datasets](#Dataset) +- [Getting Started](#Getting-Started) + - [Task](#Task) + - [Training](#Training) + - [Evaluation](#Evaluation) +- [Citation](#Citation) +- [License](#License) + + +# Installtion +Please run the following commands in the given order to install the dependency for **LIBERO**. +``` +conda create -n libero python=3.8.13 +conda activate libero +git clone https://github.com/Lifelong-Robot-Learning/LIBERO.git +cd LIBERO +pip install -r requirements.txt +pip install torch==1.11.0+cu113 torchvision==0.12.0+cu113 torchaudio==0.11.0 --extra-index-url https://download.pytorch.org/whl/cu113 +``` + +Then install the `libero` package: +``` +pip install -e . +``` + +# Datasets +We provide high-quality human teleoperation demonstrations for the four task suites in **LIBERO**. To download the demonstration dataset, run: +```python +python benchmark_scripts/download_libero_datasets.py +``` +By default, the dataset will be stored under the ```LIBERO``` folder and all four datasets will be downloaded. To download a specific dataset, use +```python +python benchmark_scripts/download_libero_datasets.py --datasets DATASET +``` +where ```DATASET``` is chosen from `[libero_spatial, libero_object, libero_100, libero_goal`. + + +# Getting Started + +For a detailed walk-through, please either refer to the documentation or the notebook examples provided under the `notebooks` folder. In the following, we provide example scripts for retrieving a task, training and evaluation. + +## Task + +The following is a minimal example of retrieving a specific task from a specific task suite. +```python +from libero.libero import benchmark +from libero.libero.envs import OffScreenRenderEnv + + +benchmark_dict = benchmark.get_benchmark_dict() +task_suite_name = "libero_10" # can also choose libero_spatial, libero_object, etc. +task_suite = benchmark_dict[task_suite_name]() + +# retrieve a specific task +task_id = 0 +task = task_suite.get_task(task_id) +task_name = task.name +task_description = task.language +task_bddl_file = os.path.join(get_libero_path("bddl_files"), task.problem_folder, task.bddl_file) +print(f"[info] retrieving task {task_id} from suite {task_suite_name}, the " + \ + f"language instruction is {task_description}, and the bddl file is {task_bddl_file}") + +# step over the environment +env_args = { + "bddl_file_name": task_bddl_file, + "camera_heights": 128, + "camera_widths": 128 +} +env = OffScreenRenderEnv(**env_args) +env.seed(0) +env.reset() +init_states = task_suite.get_task_init_states(task_id) # for benchmarking purpose, we fix the a set of initial states +init_state_id = 0 +env.set_init_state(init_states[init_state_id]) + +dummy_action = [0.] * 7 +for step in range(10): + obs, reward, done, info = env.step(dummy_action) +env.close() +``` +Currently, we only support sparse reward function (i.e., the agent receives `+1` when the task is finished). As sparse-reward RL is extremely hard to learn, currently we mainly focus on lifelong imitation learning. + +## Training +To start a lifelong learning experiment, please choose: +- `BENCHMARK` from `[LIBERO_SPATIAL, LIBERO_OBJECT, LIBERO_GOAL, LIBERO_90, LIBERO_10]` +- `POLICY` from `[bc_rnn_policy, bc_transformer_policy, bc_vilt_policy]` +- `ALGO` from `[base, er, ewc, packnet, multitask]` + +then run the following: + +```shell +export CUDA_VISIBLE_DEVICES=GPU_ID && \ +export MUJOCO_EGL_DEVICE_ID=GPU_ID && \ +python libero/lifelong/main.py seed=SEED \ + benchmark_name=BENCHMARK \ + policy=POLICY \ + lifelong=ALGO +``` +Please see the documentation for the details of reproducing the study results. + +## Evaluation + +By default the policies will be evaluated on the fly during training. If you have limited computing resource of GPUs, we offer an evaluation script for you to evaluate models separately. + +```shell +python libero/lifelong/evaluate.py --benchmark BENCHMARK_NAME \ + --task_id TASK_ID \ + --algo ALGO_NAME \ + --policy POLICY_NAME \ + --seed SEED \ + --ep EPOCH \ + --load_task LOAD_TASK \ + --device_id CUDA_ID +``` + +# Citation +If you find **LIBERO** to be useful in your own research, please consider citing our paper: + +```bibtex +@article{liu2023libero, + title={LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning}, + author={Liu, Bo and Zhu, Yifeng and Gao, Chongkai and Feng, Yihao and Liu, Qiang and Zhu, Yuke and Stone, Peter}, + journal={arXiv preprint arXiv:2306.03310}, + year={2023} +} +``` + +# License +| Component | License | +|------------------|-------------------------------------------------------------------------------------------------------------------------------------| +| Codebase | [MIT License](LICENSE) | +| Datasets | [Creative Commons Attribution 4.0 International (CC BY 4.0)](https://creativecommons.org/licenses/by/4.0/legalcode) | diff --git a/third_party/libero/libero.egg-info/SOURCES.txt b/third_party/libero/libero.egg-info/SOURCES.txt new file mode 100644 index 0000000000000000000000000000000000000000..825d70b78e5cabb88fb222506b7d527d2d87eca1 --- /dev/null +++ b/third_party/libero/libero.egg-info/SOURCES.txt @@ -0,0 +1,9 @@ +LICENSE +README.md +setup.py +libero.egg-info/PKG-INFO +libero.egg-info/SOURCES.txt +libero.egg-info/dependency_links.txt +libero.egg-info/eager_resources.txt +libero.egg-info/entry_points.txt +libero.egg-info/top_level.txt \ No newline at end of file diff --git a/third_party/libero/libero.egg-info/dependency_links.txt b/third_party/libero/libero.egg-info/dependency_links.txt new file mode 100644 index 0000000000000000000000000000000000000000..8b137891791fe96927ad78e64b0aad7bded08bdc --- /dev/null +++ b/third_party/libero/libero.egg-info/dependency_links.txt @@ -0,0 +1 @@ + diff --git a/third_party/libero/libero.egg-info/eager_resources.txt b/third_party/libero/libero.egg-info/eager_resources.txt new file mode 100644 index 0000000000000000000000000000000000000000..72e8ffc0db8aad71a934dd11e5968bd5109e54b4 --- /dev/null +++ b/third_party/libero/libero.egg-info/eager_resources.txt @@ -0,0 +1 @@ +* diff --git a/third_party/libero/libero.egg-info/entry_points.txt b/third_party/libero/libero.egg-info/entry_points.txt new file mode 100644 index 0000000000000000000000000000000000000000..4eb02212ff2ab8273651098e816fe88e671cb0cc --- /dev/null +++ b/third_party/libero/libero.egg-info/entry_points.txt @@ -0,0 +1,5 @@ +[console_scripts] +libero.config_copy = scripts.config_copy:main +libero.create_template = scripts.create_template:main +lifelong.eval = libero.lifelong.evaluate:main +lifelong.main = libero.lifelong.main:main diff --git a/third_party/libero/libero.egg-info/top_level.txt b/third_party/libero/libero.egg-info/top_level.txt new file mode 100644 index 0000000000000000000000000000000000000000..8b137891791fe96927ad78e64b0aad7bded08bdc --- /dev/null +++ b/third_party/libero/libero.egg-info/top_level.txt @@ -0,0 +1 @@ + diff --git a/third_party/libero/libero/configs/data/default.yaml b/third_party/libero/libero/configs/data/default.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9914dc999fa15b2171568c5b53f21f122324b81f --- /dev/null +++ b/third_party/libero/libero/configs/data/default.yaml @@ -0,0 +1,39 @@ +# observation related +data_modality: + - "image" + - "proprio" +seq_len: 10 +frame_stack: 1 +use_eye_in_hand: true +use_gripper: true +use_joint: true +use_ee: false + +max_word_len: 25 + +state_dim: null +num_kp: 64 +img_h: 128 +img_w: 128 + +task_group_size: 1 +task_order_index: 0 +shuffle_task: false + +obs: + modality: + rgb: ["agentview_rgb", "eye_in_hand_rgb"] + depth: [] + low_dim: ["gripper_states", "joint_states"] + +# mapping from obs.modality keys to robosuite environment observation keys +obs_key_mapping: + agentview_rgb: agentview_image + eye_in_hand_rgb: robot0_eye_in_hand_image + gripper_states: robot0_gripper_qpos + joint_states: robot0_joint_pos + +# action related +affine_translate: 4 +action_scale: 1.0 +train_dataset_ratio: 0.8 diff --git a/third_party/libero/libero/libero/assets/serving_region.xml b/third_party/libero/libero/libero/assets/serving_region.xml new file mode 100644 index 0000000000000000000000000000000000000000..0adaca1fc7bc81f2f90a018f17eb34c363bbfbdb --- /dev/null +++ b/third_party/libero/libero/libero/assets/serving_region.xml @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/third_party/libero/libero/libero/assets/wall.xml b/third_party/libero/libero/libero/assets/wall.xml new file mode 100644 index 0000000000000000000000000000000000000000..7d1581fb08ed16c8f1a0b943e22ab3de0151e8a7 --- /dev/null +++ b/third_party/libero/libero/libero/assets/wall.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/third_party/libero/libero/libero/assets/wall_frames.stl b/third_party/libero/libero/libero/assets/wall_frames.stl new file mode 100644 index 0000000000000000000000000000000000000000..f4389690be228b08999a11bd50eb71d9231c0cc0 Binary files /dev/null and b/third_party/libero/libero/libero/assets/wall_frames.stl differ diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_arm/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_arm/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl new file mode 100644 index 0000000000000000000000000000000000000000..6530a7778f9413f4b22b291a5a6606c04809d7c0 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_arm/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl @@ -0,0 +1,68 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language turn on the stove and put the moka pot on it) + (:regions + (flat_stove_init_region + (:target kitchen_table) + (:ranges ( + (-0.21000000000000002 0.19 -0.19 0.21000000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (frypan_init_region + (:target kitchen_table) + (:ranges ( + (-0.07500000000000001 -0.275 -0.025 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (moka_pot_init_region + (:target kitchen_table) + (:ranges ( + (0.025 -0.025 0.07500000000000001 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + flat_stove_1 - flat_stove + ) + + (:objects + chefmate_8_frypan_1 - chefmate_8_frypan + moka_pot_1 - moka_pot + ) + + (:obj_of_interest + moka_pot_1 + flat_stove_1 + ) + + (:init + (On flat_stove_1 kitchen_table_flat_stove_init_region) + (On chefmate_8_frypan_1 kitchen_table_frypan_init_region) + (On moka_pot_1 kitchen_table_moka_pot_init_region) + ) + + (:goal + (And (Turnon flat_stove_1) (On moka_pot_1 flat_stove_1_cook_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_arm/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_arm/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl new file mode 100644 index 0000000000000000000000000000000000000000..71d1a650ea4e109e0d13b8c4475bf2cbe0ae091b --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_arm/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl @@ -0,0 +1,94 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the black bowl in the bottom drawer of the cabinet and close it) + (:regions + (white_cabinet_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 0.29 0.01 0.31) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (wine_rack_init_region + (:target kitchen_table) + (:ranges ( + (-0.11 -0.31 -0.09000000000000001 -0.29) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (akita_black_bowl_init_region + (:target kitchen_table) + (:ranges ( + (0.0049999999999999975 -0.07500000000000001 0.055 -0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (wine_bottle_init_region + (:target kitchen_table) + (:ranges ( + (-0.175 0.025 -0.125 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target white_cabinet_1) + ) + (top_region + (:target white_cabinet_1) + ) + (middle_region + (:target white_cabinet_1) + ) + (bottom_region + (:target white_cabinet_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + white_cabinet_1 - white_cabinet + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + wine_bottle_1 - wine_bottle + ) + + (:obj_of_interest + akita_black_bowl_1 + white_cabinet_1 + ) + + (:init + (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region) + (On wine_bottle_1 kitchen_table_wine_bottle_init_region) + (On white_cabinet_1 kitchen_table_white_cabinet_init_region) + (On wine_rack_1 kitchen_table_wine_rack_init_region) + (Open white_cabinet_1_bottom_region) + ) + + (:goal + (And (Close white_cabinet_1_bottom_region) (In akita_black_bowl_1 white_cabinet_1_bottom_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_arm/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_arm/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl new file mode 100644 index 0000000000000000000000000000000000000000..f531a4ede009cff9e1b0cb928049a88d72070d86 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_arm/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl @@ -0,0 +1,83 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the yellow and white mug in the microwave and close it) + (:regions + (microwave_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 0.33999999999999997 0.01 0.36) + ) + ) + (:yaw_rotation ( + (0 0) + ) + ) + ) + (white_yellow_mug_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 -0.025 0.025 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_init_region + (:target kitchen_table) + (:ranges ( + (-0.125 -0.275 -0.07500000000000001 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_front_region + (:target kitchen_table) + (:ranges ( + (-0.05 -0.3 0.05 -0.2) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target microwave_1) + ) + (heating_region + (:target microwave_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + microwave_1 - microwave + ) + + (:objects + porcelain_mug_1 - porcelain_mug + white_yellow_mug_1 - white_yellow_mug + ) + + (:obj_of_interest + white_yellow_mug_1 + microwave_1 + ) + + (:init + (On porcelain_mug_1 kitchen_table_porcelain_mug_init_region) + (On white_yellow_mug_1 kitchen_table_white_yellow_mug_init_region) + (On microwave_1 kitchen_table_microwave_init_region) + (Open microwave_1) + ) + + (:goal + (And (In white_yellow_mug_1 microwave_1_heating_region) (Close microwave_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_arm/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_arm/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl new file mode 100644 index 0000000000000000000000000000000000000000..b983d7285869b49d3b6fe1329a9b7574de67b41b --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_arm/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl @@ -0,0 +1,69 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put both moka pots on the stove) + (:regions + (flat_stove_init_region + (:target kitchen_table) + (:ranges ( + (-0.21000000000000002 -0.21000000000000002 -0.19 -0.19) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (moka_pot_right_init_region + (:target kitchen_table) + (:ranges ( + (-0.07500000000000001 0.225 -0.025 0.275) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (moka_pot_left_init_region + (:target kitchen_table) + (:ranges ( + (0.025 0.025 0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + flat_stove_1 - flat_stove + ) + + (:objects + moka_pot_1 moka_pot_2 - moka_pot + ) + + (:obj_of_interest + moka_pot_1 + moka_pot_2 + flat_stove_1 + ) + + (:init + (On flat_stove_1 kitchen_table_flat_stove_init_region) + (On moka_pot_1 kitchen_table_moka_pot_right_init_region) + (On moka_pot_2 kitchen_table_moka_pot_left_init_region) + (Turnon flat_stove_1) + ) + + (:goal + (And (On moka_pot_1 flat_stove_1_cook_region) (On moka_pot_2 flat_stove_1_cook_region) (Turnon flat_stove_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_arm/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_arm/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..0f3ba3ce48af83e690bfe8bed3caad22d4bf4cdf --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_arm/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl @@ -0,0 +1,95 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language put both the alphabet soup and the cream cheese box in the basket) + (:regions + (basket_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (alphabet_soup_init_region + (:target living_room_table) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_init_region + (:target living_room_table) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target living_room_table) + (:ranges ( + (-0.225 -0.175 -0.17500000000000002 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + basket_1 - basket + ) + + (:obj_of_interest + alphabet_soup_1 + cream_cheese_1 + basket_1 + ) + + (:init + (On alphabet_soup_1 living_room_table_alphabet_soup_init_region) + (On cream_cheese_1 living_room_table_cream_cheese_init_region) + (On tomato_sauce_1 living_room_table_tomato_sauce_init_region) + (On ketchup_1 living_room_table_ketchup_init_region) + (On basket_1 living_room_table_basket_init_region) + ) + + (:goal + (And (In alphabet_soup_1 basket_1_contain_region) (In cream_cheese_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_arm/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_arm/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..071ec86f8b5d8f33d542a72f925fe89e42442657 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_arm/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl @@ -0,0 +1,134 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language put both the alphabet soup and the tomato sauce in the basket) + (:regions + (basket_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_init_region + (:target living_room_table) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_init_region + (:target living_room_table) + (:ranges ( + (-0.025 -0.275 0.025 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_init_region + (:target living_room_table) + (:ranges ( + (-0.125 0.025 -0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (alphabet_soup_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_init_region + (:target living_room_table) + (:ranges ( + (0.025 0.025 0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target living_room_table) + (:ranges ( + (-0.275 -0.175 -0.225 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + orange_juice_1 - orange_juice + milk_1 - milk + butter_1 - butter + basket_1 - basket + ) + + (:obj_of_interest + alphabet_soup_1 + tomato_sauce_1 + basket_1 + ) + + (:init + (On alphabet_soup_1 living_room_table_alphabet_soup_init_region) + (On cream_cheese_1 living_room_table_cream_cheese_init_region) + (On tomato_sauce_1 living_room_table_tomato_sauce_init_region) + (On ketchup_1 living_room_table_ketchup_init_region) + (On milk_1 living_room_table_milk_init_region) + (On orange_juice_1 living_room_table_orange_juice_init_region) + (On butter_1 living_room_table_butter_init_region) + (On basket_1 living_room_table_basket_init_region) + ) + + (:goal + (And (In alphabet_soup_1 basket_1_contain_region) (In tomato_sauce_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_arm/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_arm/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..bbd9b7eda1e3aff44a193003fb88a568fc803d86 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_arm/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl @@ -0,0 +1,134 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language put both the cream cheese box and the butter in the basket) + (:regions + (basket_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_init_region + (:target living_room_table) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_init_region + (:target living_room_table) + (:ranges ( + (-0.025 -0.275 0.025 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_init_region + (:target living_room_table) + (:ranges ( + (-0.125 0.025 -0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (alphabet_soup_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_init_region + (:target living_room_table) + (:ranges ( + (0.025 0.025 0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target living_room_table) + (:ranges ( + (-0.275 -0.175 -0.225 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + orange_juice_1 - orange_juice + milk_1 - milk + butter_1 - butter + basket_1 - basket + ) + + (:obj_of_interest + cream_cheese_1 + butter_1 + basket_1 + ) + + (:init + (On alphabet_soup_1 living_room_table_alphabet_soup_init_region) + (On cream_cheese_1 living_room_table_cream_cheese_init_region) + (On tomato_sauce_1 living_room_table_tomato_sauce_init_region) + (On ketchup_1 living_room_table_ketchup_init_region) + (On milk_1 living_room_table_milk_init_region) + (On orange_juice_1 living_room_table_orange_juice_init_region) + (On butter_1 living_room_table_butter_init_region) + (On basket_1 living_room_table_basket_init_region) + ) + + (:goal + (And (In cream_cheese_1 basket_1_contain_region) (In butter_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_arm/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_arm/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..32024734f78b9c469d45c9d50503c2099ad67c4d --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_arm/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language put the white mug on the left plate and put the yellow and white mug on the right plate) + (:regions + (plate_left_region + (:target living_room_table) + (:ranges ( + (-0.025 -0.325 0.025 -0.27499999999999997) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_right_region + (:target living_room_table) + (:ranges ( + (-0.025 0.27499999999999997 0.025 0.325) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (white_yellow_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.07500000000000001 0.07500000000000001 -0.025 0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (red_coffee_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.225 -0.025 -0.17500000000000002 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + porcelain_mug_1 - porcelain_mug + red_coffee_mug_1 - red_coffee_mug + white_yellow_mug_1 - white_yellow_mug + plate_1 plate_2 - plate + ) + + (:obj_of_interest + plate_1 + plate_2 + white_yellow_mug_1 + porcelain_mug_1 + ) + + (:init + (On plate_1 living_room_table_plate_left_region) + (On plate_2 living_room_table_plate_right_region) + (On red_coffee_mug_1 living_room_table_red_coffee_mug_init_region) + (On white_yellow_mug_1 living_room_table_white_yellow_mug_init_region) + (On porcelain_mug_1 living_room_table_porcelain_mug_init_region) + ) + + (:goal + (And (On porcelain_mug_1 plate_1) (On white_yellow_mug_1 plate_2)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_arm/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_arm/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..437f0755b8fee33d2fba02bd4f898845f6ed150f --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_arm/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl @@ -0,0 +1,101 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language put the white mug on the plate and put the chocolate pudding to the right of the plate) + (:regions + (plate_left_region + (:target living_room_table) + (:ranges ( + (0.09999999999999999 -0.15000000000000002 0.2 -0.05) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_right_region + (:target living_room_table) + (:ranges ( + (0.09999999999999999 0.05 0.2 0.15000000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_init_region + (:target living_room_table) + (:ranges ( + (0.125 -0.025 0.175 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (chocolate_pudding_init_region + (:target living_room_table) + (:ranges ( + (-0.07500000000000001 0.07500000000000001 -0.025 0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (red_coffee_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.225 -0.025 -0.17500000000000002 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + porcelain_mug_1 - porcelain_mug + red_coffee_mug_1 - red_coffee_mug + plate_1 - plate + chocolate_pudding_1 - chocolate_pudding + ) + + (:obj_of_interest + plate_1 + chocolate_pudding_1 + porcelain_mug_1 + ) + + (:init + (On plate_1 living_room_table_plate_init_region) + (On red_coffee_mug_1 living_room_table_red_coffee_mug_init_region) + (On chocolate_pudding_1 living_room_table_chocolate_pudding_init_region) + (On porcelain_mug_1 living_room_table_porcelain_mug_init_region) + ) + + (:goal + (And (On porcelain_mug_1 plate_1) (On chocolate_pudding_1 living_room_table_plate_right_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_arm/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_arm/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl new file mode 100644 index 0000000000000000000000000000000000000000..2f0ad4b2d57354113768bdc6575c97041037ef0c --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_arm/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl @@ -0,0 +1,88 @@ +(define (problem LIBERO_Study_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the book and place it in the back compartment of the caddy) + (:regions + (desk_caddy_init_region + (:target study_table) + (:ranges ( + (-0.21000000000000002 -0.15000000000000002 -0.19 -0.13) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (black_book_init_region + (:target study_table) + (:ranges ( + (-0.025 0.125 0.025 0.175) + ) + ) + (:yaw_rotation ( + (-1.5707963267948966 -0.7853981633974483) + ) + ) + ) + (white_yellow_mug_init_region + (:target study_table) + (:ranges ( + (0.07500000000000001 -0.025 0.125 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (desk_caddy_right_region + (:target study_table) + (:ranges ( + (-0.25 0.09999999999999999 -0.15000000000000002 0.2) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (right_contain_region + (:target desk_caddy_1) + ) + (left_contain_region + (:target desk_caddy_1) + ) + (back_contain_region + (:target desk_caddy_1) + ) + (front_contain_region + (:target desk_caddy_1) + ) + ) + + (:fixtures + study_table - study_table + desk_caddy_1 - desk_caddy + ) + + (:objects + black_book_1 - black_book + white_yellow_mug_1 - white_yellow_mug + ) + + (:obj_of_interest + black_book_1 + desk_caddy_1 + ) + + (:init + (On desk_caddy_1 study_table_desk_caddy_init_region) + (On black_book_1 study_table_black_book_init_region) + (On white_yellow_mug_1 study_table_white_yellow_mug_init_region) + ) + + (:goal + (And (In black_book_1 desk_caddy_1_back_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_arm/tasks_info.txt b/third_party/libero/libero/libero/bddl_files/libero_10_arm/tasks_info.txt new file mode 100644 index 0000000000000000000000000000000000000000..171640383efe903a781e381aeb2b90f144b4c603 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_arm/tasks_info.txt @@ -0,0 +1,10 @@ +libero/bddl_files/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl +libero/bddl_files/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl +libero/bddl_files/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl +libero/bddl_files/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl +libero/bddl_files/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl +libero/bddl_files/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl +libero/bddl_files/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl +libero/bddl_files/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl +libero/bddl_files/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl +libero/bddl_files/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_cross/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_cross/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl new file mode 100644 index 0000000000000000000000000000000000000000..6530a7778f9413f4b22b291a5a6606c04809d7c0 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_cross/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl @@ -0,0 +1,68 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language turn on the stove and put the moka pot on it) + (:regions + (flat_stove_init_region + (:target kitchen_table) + (:ranges ( + (-0.21000000000000002 0.19 -0.19 0.21000000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (frypan_init_region + (:target kitchen_table) + (:ranges ( + (-0.07500000000000001 -0.275 -0.025 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (moka_pot_init_region + (:target kitchen_table) + (:ranges ( + (0.025 -0.025 0.07500000000000001 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + flat_stove_1 - flat_stove + ) + + (:objects + chefmate_8_frypan_1 - chefmate_8_frypan + moka_pot_1 - moka_pot + ) + + (:obj_of_interest + moka_pot_1 + flat_stove_1 + ) + + (:init + (On flat_stove_1 kitchen_table_flat_stove_init_region) + (On chefmate_8_frypan_1 kitchen_table_frypan_init_region) + (On moka_pot_1 kitchen_table_moka_pot_init_region) + ) + + (:goal + (And (Turnon flat_stove_1) (On moka_pot_1 flat_stove_1_cook_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_cross/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_cross/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl new file mode 100644 index 0000000000000000000000000000000000000000..71d1a650ea4e109e0d13b8c4475bf2cbe0ae091b --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_cross/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl @@ -0,0 +1,94 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the black bowl in the bottom drawer of the cabinet and close it) + (:regions + (white_cabinet_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 0.29 0.01 0.31) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (wine_rack_init_region + (:target kitchen_table) + (:ranges ( + (-0.11 -0.31 -0.09000000000000001 -0.29) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (akita_black_bowl_init_region + (:target kitchen_table) + (:ranges ( + (0.0049999999999999975 -0.07500000000000001 0.055 -0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (wine_bottle_init_region + (:target kitchen_table) + (:ranges ( + (-0.175 0.025 -0.125 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target white_cabinet_1) + ) + (top_region + (:target white_cabinet_1) + ) + (middle_region + (:target white_cabinet_1) + ) + (bottom_region + (:target white_cabinet_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + white_cabinet_1 - white_cabinet + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + wine_bottle_1 - wine_bottle + ) + + (:obj_of_interest + akita_black_bowl_1 + white_cabinet_1 + ) + + (:init + (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region) + (On wine_bottle_1 kitchen_table_wine_bottle_init_region) + (On white_cabinet_1 kitchen_table_white_cabinet_init_region) + (On wine_rack_1 kitchen_table_wine_rack_init_region) + (Open white_cabinet_1_bottom_region) + ) + + (:goal + (And (Close white_cabinet_1_bottom_region) (In akita_black_bowl_1 white_cabinet_1_bottom_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_cross/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_cross/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl new file mode 100644 index 0000000000000000000000000000000000000000..f531a4ede009cff9e1b0cb928049a88d72070d86 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_cross/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl @@ -0,0 +1,83 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the yellow and white mug in the microwave and close it) + (:regions + (microwave_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 0.33999999999999997 0.01 0.36) + ) + ) + (:yaw_rotation ( + (0 0) + ) + ) + ) + (white_yellow_mug_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 -0.025 0.025 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_init_region + (:target kitchen_table) + (:ranges ( + (-0.125 -0.275 -0.07500000000000001 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_front_region + (:target kitchen_table) + (:ranges ( + (-0.05 -0.3 0.05 -0.2) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target microwave_1) + ) + (heating_region + (:target microwave_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + microwave_1 - microwave + ) + + (:objects + porcelain_mug_1 - porcelain_mug + white_yellow_mug_1 - white_yellow_mug + ) + + (:obj_of_interest + white_yellow_mug_1 + microwave_1 + ) + + (:init + (On porcelain_mug_1 kitchen_table_porcelain_mug_init_region) + (On white_yellow_mug_1 kitchen_table_white_yellow_mug_init_region) + (On microwave_1 kitchen_table_microwave_init_region) + (Open microwave_1) + ) + + (:goal + (And (In white_yellow_mug_1 microwave_1_heating_region) (Close microwave_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_cross/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_cross/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl new file mode 100644 index 0000000000000000000000000000000000000000..b983d7285869b49d3b6fe1329a9b7574de67b41b --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_cross/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl @@ -0,0 +1,69 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put both moka pots on the stove) + (:regions + (flat_stove_init_region + (:target kitchen_table) + (:ranges ( + (-0.21000000000000002 -0.21000000000000002 -0.19 -0.19) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (moka_pot_right_init_region + (:target kitchen_table) + (:ranges ( + (-0.07500000000000001 0.225 -0.025 0.275) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (moka_pot_left_init_region + (:target kitchen_table) + (:ranges ( + (0.025 0.025 0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + flat_stove_1 - flat_stove + ) + + (:objects + moka_pot_1 moka_pot_2 - moka_pot + ) + + (:obj_of_interest + moka_pot_1 + moka_pot_2 + flat_stove_1 + ) + + (:init + (On flat_stove_1 kitchen_table_flat_stove_init_region) + (On moka_pot_1 kitchen_table_moka_pot_right_init_region) + (On moka_pot_2 kitchen_table_moka_pot_left_init_region) + (Turnon flat_stove_1) + ) + + (:goal + (And (On moka_pot_1 flat_stove_1_cook_region) (On moka_pot_2 flat_stove_1_cook_region) (Turnon flat_stove_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_cross/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_cross/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..0f3ba3ce48af83e690bfe8bed3caad22d4bf4cdf --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_cross/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl @@ -0,0 +1,95 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language put both the alphabet soup and the cream cheese box in the basket) + (:regions + (basket_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (alphabet_soup_init_region + (:target living_room_table) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_init_region + (:target living_room_table) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target living_room_table) + (:ranges ( + (-0.225 -0.175 -0.17500000000000002 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + basket_1 - basket + ) + + (:obj_of_interest + alphabet_soup_1 + cream_cheese_1 + basket_1 + ) + + (:init + (On alphabet_soup_1 living_room_table_alphabet_soup_init_region) + (On cream_cheese_1 living_room_table_cream_cheese_init_region) + (On tomato_sauce_1 living_room_table_tomato_sauce_init_region) + (On ketchup_1 living_room_table_ketchup_init_region) + (On basket_1 living_room_table_basket_init_region) + ) + + (:goal + (And (In alphabet_soup_1 basket_1_contain_region) (In cream_cheese_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_cross/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_cross/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..071ec86f8b5d8f33d542a72f925fe89e42442657 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_cross/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl @@ -0,0 +1,134 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language put both the alphabet soup and the tomato sauce in the basket) + (:regions + (basket_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_init_region + (:target living_room_table) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_init_region + (:target living_room_table) + (:ranges ( + (-0.025 -0.275 0.025 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_init_region + (:target living_room_table) + (:ranges ( + (-0.125 0.025 -0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (alphabet_soup_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_init_region + (:target living_room_table) + (:ranges ( + (0.025 0.025 0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target living_room_table) + (:ranges ( + (-0.275 -0.175 -0.225 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + orange_juice_1 - orange_juice + milk_1 - milk + butter_1 - butter + basket_1 - basket + ) + + (:obj_of_interest + alphabet_soup_1 + tomato_sauce_1 + basket_1 + ) + + (:init + (On alphabet_soup_1 living_room_table_alphabet_soup_init_region) + (On cream_cheese_1 living_room_table_cream_cheese_init_region) + (On tomato_sauce_1 living_room_table_tomato_sauce_init_region) + (On ketchup_1 living_room_table_ketchup_init_region) + (On milk_1 living_room_table_milk_init_region) + (On orange_juice_1 living_room_table_orange_juice_init_region) + (On butter_1 living_room_table_butter_init_region) + (On basket_1 living_room_table_basket_init_region) + ) + + (:goal + (And (In alphabet_soup_1 basket_1_contain_region) (In tomato_sauce_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_cross/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_cross/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..bbd9b7eda1e3aff44a193003fb88a568fc803d86 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_cross/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl @@ -0,0 +1,134 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language put both the cream cheese box and the butter in the basket) + (:regions + (basket_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_init_region + (:target living_room_table) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_init_region + (:target living_room_table) + (:ranges ( + (-0.025 -0.275 0.025 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_init_region + (:target living_room_table) + (:ranges ( + (-0.125 0.025 -0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (alphabet_soup_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_init_region + (:target living_room_table) + (:ranges ( + (0.025 0.025 0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target living_room_table) + (:ranges ( + (-0.275 -0.175 -0.225 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + orange_juice_1 - orange_juice + milk_1 - milk + butter_1 - butter + basket_1 - basket + ) + + (:obj_of_interest + cream_cheese_1 + butter_1 + basket_1 + ) + + (:init + (On alphabet_soup_1 living_room_table_alphabet_soup_init_region) + (On cream_cheese_1 living_room_table_cream_cheese_init_region) + (On tomato_sauce_1 living_room_table_tomato_sauce_init_region) + (On ketchup_1 living_room_table_ketchup_init_region) + (On milk_1 living_room_table_milk_init_region) + (On orange_juice_1 living_room_table_orange_juice_init_region) + (On butter_1 living_room_table_butter_init_region) + (On basket_1 living_room_table_basket_init_region) + ) + + (:goal + (And (In cream_cheese_1 basket_1_contain_region) (In butter_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_cross/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_cross/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..32024734f78b9c469d45c9d50503c2099ad67c4d --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_cross/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language put the white mug on the left plate and put the yellow and white mug on the right plate) + (:regions + (plate_left_region + (:target living_room_table) + (:ranges ( + (-0.025 -0.325 0.025 -0.27499999999999997) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_right_region + (:target living_room_table) + (:ranges ( + (-0.025 0.27499999999999997 0.025 0.325) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (white_yellow_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.07500000000000001 0.07500000000000001 -0.025 0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (red_coffee_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.225 -0.025 -0.17500000000000002 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + porcelain_mug_1 - porcelain_mug + red_coffee_mug_1 - red_coffee_mug + white_yellow_mug_1 - white_yellow_mug + plate_1 plate_2 - plate + ) + + (:obj_of_interest + plate_1 + plate_2 + white_yellow_mug_1 + porcelain_mug_1 + ) + + (:init + (On plate_1 living_room_table_plate_left_region) + (On plate_2 living_room_table_plate_right_region) + (On red_coffee_mug_1 living_room_table_red_coffee_mug_init_region) + (On white_yellow_mug_1 living_room_table_white_yellow_mug_init_region) + (On porcelain_mug_1 living_room_table_porcelain_mug_init_region) + ) + + (:goal + (And (On porcelain_mug_1 plate_1) (On white_yellow_mug_1 plate_2)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_cross/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_cross/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..437f0755b8fee33d2fba02bd4f898845f6ed150f --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_cross/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl @@ -0,0 +1,101 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language put the white mug on the plate and put the chocolate pudding to the right of the plate) + (:regions + (plate_left_region + (:target living_room_table) + (:ranges ( + (0.09999999999999999 -0.15000000000000002 0.2 -0.05) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_right_region + (:target living_room_table) + (:ranges ( + (0.09999999999999999 0.05 0.2 0.15000000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_init_region + (:target living_room_table) + (:ranges ( + (0.125 -0.025 0.175 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (chocolate_pudding_init_region + (:target living_room_table) + (:ranges ( + (-0.07500000000000001 0.07500000000000001 -0.025 0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (red_coffee_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.225 -0.025 -0.17500000000000002 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + porcelain_mug_1 - porcelain_mug + red_coffee_mug_1 - red_coffee_mug + plate_1 - plate + chocolate_pudding_1 - chocolate_pudding + ) + + (:obj_of_interest + plate_1 + chocolate_pudding_1 + porcelain_mug_1 + ) + + (:init + (On plate_1 living_room_table_plate_init_region) + (On red_coffee_mug_1 living_room_table_red_coffee_mug_init_region) + (On chocolate_pudding_1 living_room_table_chocolate_pudding_init_region) + (On porcelain_mug_1 living_room_table_porcelain_mug_init_region) + ) + + (:goal + (And (On porcelain_mug_1 plate_1) (On chocolate_pudding_1 living_room_table_plate_right_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_cross/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_cross/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl new file mode 100644 index 0000000000000000000000000000000000000000..2f0ad4b2d57354113768bdc6575c97041037ef0c --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_cross/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl @@ -0,0 +1,88 @@ +(define (problem LIBERO_Study_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the book and place it in the back compartment of the caddy) + (:regions + (desk_caddy_init_region + (:target study_table) + (:ranges ( + (-0.21000000000000002 -0.15000000000000002 -0.19 -0.13) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (black_book_init_region + (:target study_table) + (:ranges ( + (-0.025 0.125 0.025 0.175) + ) + ) + (:yaw_rotation ( + (-1.5707963267948966 -0.7853981633974483) + ) + ) + ) + (white_yellow_mug_init_region + (:target study_table) + (:ranges ( + (0.07500000000000001 -0.025 0.125 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (desk_caddy_right_region + (:target study_table) + (:ranges ( + (-0.25 0.09999999999999999 -0.15000000000000002 0.2) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (right_contain_region + (:target desk_caddy_1) + ) + (left_contain_region + (:target desk_caddy_1) + ) + (back_contain_region + (:target desk_caddy_1) + ) + (front_contain_region + (:target desk_caddy_1) + ) + ) + + (:fixtures + study_table - study_table + desk_caddy_1 - desk_caddy + ) + + (:objects + black_book_1 - black_book + white_yellow_mug_1 - white_yellow_mug + ) + + (:obj_of_interest + black_book_1 + desk_caddy_1 + ) + + (:init + (On desk_caddy_1 study_table_desk_caddy_init_region) + (On black_book_1 study_table_black_book_init_region) + (On white_yellow_mug_1 study_table_white_yellow_mug_init_region) + ) + + (:goal + (And (In black_book_1 desk_caddy_1_back_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_cross/tasks_info.txt b/third_party/libero/libero/libero/bddl_files/libero_10_cross/tasks_info.txt new file mode 100644 index 0000000000000000000000000000000000000000..171640383efe903a781e381aeb2b90f144b4c603 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_cross/tasks_info.txt @@ -0,0 +1,10 @@ +libero/bddl_files/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl +libero/bddl_files/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl +libero/bddl_files/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl +libero/bddl_files/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl +libero/bddl_files/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl +libero/bddl_files/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl +libero/bddl_files/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl +libero/bddl_files/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl +libero/bddl_files/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl +libero/bddl_files/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_lan/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_lan/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl new file mode 100644 index 0000000000000000000000000000000000000000..bc98b73728e305f7052babe1972541f17b5967ac --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_lan/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl @@ -0,0 +1,68 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language switch stove on and put moka pot on it) + (:regions + (flat_stove_init_region + (:target kitchen_table) + (:ranges ( + (-0.21000000000000002 0.19 -0.19 0.21000000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (frypan_init_region + (:target kitchen_table) + (:ranges ( + (-0.07500000000000001 -0.275 -0.025 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (moka_pot_init_region + (:target kitchen_table) + (:ranges ( + (0.025 -0.025 0.07500000000000001 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + flat_stove_1 - flat_stove + ) + + (:objects + chefmate_8_frypan_1 - chefmate_8_frypan + moka_pot_1 - moka_pot + ) + + (:obj_of_interest + moka_pot_1 + flat_stove_1 + ) + + (:init + (On flat_stove_1 kitchen_table_flat_stove_init_region) + (On chefmate_8_frypan_1 kitchen_table_frypan_init_region) + (On moka_pot_1 kitchen_table_moka_pot_init_region) + ) + + (:goal + (And (Turnon flat_stove_1) (On moka_pot_1 flat_stove_1_cook_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_lan/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_lan/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl new file mode 100644 index 0000000000000000000000000000000000000000..65a88081a1694f2dc54b82b4dbff6a6cafebd47d --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_lan/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl @@ -0,0 +1,94 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put black bowl inside bottom drawer and close it) + (:regions + (white_cabinet_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 0.29 0.01 0.31) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (wine_rack_init_region + (:target kitchen_table) + (:ranges ( + (-0.11 -0.31 -0.09000000000000001 -0.29) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (akita_black_bowl_init_region + (:target kitchen_table) + (:ranges ( + (0.0049999999999999975 -0.07500000000000001 0.055 -0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (wine_bottle_init_region + (:target kitchen_table) + (:ranges ( + (-0.175 0.025 -0.125 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target white_cabinet_1) + ) + (top_region + (:target white_cabinet_1) + ) + (middle_region + (:target white_cabinet_1) + ) + (bottom_region + (:target white_cabinet_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + white_cabinet_1 - white_cabinet + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + wine_bottle_1 - wine_bottle + ) + + (:obj_of_interest + akita_black_bowl_1 + white_cabinet_1 + ) + + (:init + (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region) + (On wine_bottle_1 kitchen_table_wine_bottle_init_region) + (On white_cabinet_1 kitchen_table_white_cabinet_init_region) + (On wine_rack_1 kitchen_table_wine_rack_init_region) + (Open white_cabinet_1_bottom_region) + ) + + (:goal + (And (Close white_cabinet_1_bottom_region) (In akita_black_bowl_1 white_cabinet_1_bottom_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_lan/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_lan/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl new file mode 100644 index 0000000000000000000000000000000000000000..f310c485fd5ccdbb123029408ce5c3c2dbe507da --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_lan/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl @@ -0,0 +1,83 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language place yellow and white mug in microwave and close door) + (:regions + (microwave_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 0.33999999999999997 0.01 0.36) + ) + ) + (:yaw_rotation ( + (0 0) + ) + ) + ) + (white_yellow_mug_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 -0.025 0.025 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_init_region + (:target kitchen_table) + (:ranges ( + (-0.125 -0.275 -0.07500000000000001 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_front_region + (:target kitchen_table) + (:ranges ( + (-0.05 -0.3 0.05 -0.2) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target microwave_1) + ) + (heating_region + (:target microwave_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + microwave_1 - microwave + ) + + (:objects + porcelain_mug_1 - porcelain_mug + white_yellow_mug_1 - white_yellow_mug + ) + + (:obj_of_interest + white_yellow_mug_1 + microwave_1 + ) + + (:init + (On porcelain_mug_1 kitchen_table_porcelain_mug_init_region) + (On white_yellow_mug_1 kitchen_table_white_yellow_mug_init_region) + (On microwave_1 kitchen_table_microwave_init_region) + (Open microwave_1) + ) + + (:goal + (And (In white_yellow_mug_1 microwave_1_heating_region) (Close microwave_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_lan/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_lan/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl new file mode 100644 index 0000000000000000000000000000000000000000..4423809eaa23b7fb1ed8ae40aaac5f042483bc58 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_lan/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl @@ -0,0 +1,69 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language place both moka pots on stove) + (:regions + (flat_stove_init_region + (:target kitchen_table) + (:ranges ( + (-0.21000000000000002 -0.21000000000000002 -0.19 -0.19) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (moka_pot_right_init_region + (:target kitchen_table) + (:ranges ( + (-0.07500000000000001 0.225 -0.025 0.275) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (moka_pot_left_init_region + (:target kitchen_table) + (:ranges ( + (0.025 0.025 0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + flat_stove_1 - flat_stove + ) + + (:objects + moka_pot_1 moka_pot_2 - moka_pot + ) + + (:obj_of_interest + moka_pot_1 + moka_pot_2 + flat_stove_1 + ) + + (:init + (On flat_stove_1 kitchen_table_flat_stove_init_region) + (On moka_pot_1 kitchen_table_moka_pot_right_init_region) + (On moka_pot_2 kitchen_table_moka_pot_left_init_region) + (Turnon flat_stove_1) + ) + + (:goal + (And (On moka_pot_1 flat_stove_1_cook_region) (On moka_pot_2 flat_stove_1_cook_region) (Turnon flat_stove_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_lan/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_lan/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..683287be8aaf8ab7ffeb2395432f20ee263b4e2c --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_lan/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl @@ -0,0 +1,95 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language put alphabet soup and cream cheese box in basket) + (:regions + (basket_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (alphabet_soup_init_region + (:target living_room_table) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_init_region + (:target living_room_table) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target living_room_table) + (:ranges ( + (-0.225 -0.175 -0.17500000000000002 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + basket_1 - basket + ) + + (:obj_of_interest + alphabet_soup_1 + cream_cheese_1 + basket_1 + ) + + (:init + (On alphabet_soup_1 living_room_table_alphabet_soup_init_region) + (On cream_cheese_1 living_room_table_cream_cheese_init_region) + (On tomato_sauce_1 living_room_table_tomato_sauce_init_region) + (On ketchup_1 living_room_table_ketchup_init_region) + (On basket_1 living_room_table_basket_init_region) + ) + + (:goal + (And (In alphabet_soup_1 basket_1_contain_region) (In cream_cheese_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_lan/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_lan/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..855544d273171cd897836a50f76ad26ba8520b47 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_lan/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl @@ -0,0 +1,134 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language place alphabet soup and tomato sauce into basket) + (:regions + (basket_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_init_region + (:target living_room_table) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_init_region + (:target living_room_table) + (:ranges ( + (-0.025 -0.275 0.025 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_init_region + (:target living_room_table) + (:ranges ( + (-0.125 0.025 -0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (alphabet_soup_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_init_region + (:target living_room_table) + (:ranges ( + (0.025 0.025 0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target living_room_table) + (:ranges ( + (-0.275 -0.175 -0.225 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + orange_juice_1 - orange_juice + milk_1 - milk + butter_1 - butter + basket_1 - basket + ) + + (:obj_of_interest + alphabet_soup_1 + tomato_sauce_1 + basket_1 + ) + + (:init + (On alphabet_soup_1 living_room_table_alphabet_soup_init_region) + (On cream_cheese_1 living_room_table_cream_cheese_init_region) + (On tomato_sauce_1 living_room_table_tomato_sauce_init_region) + (On ketchup_1 living_room_table_ketchup_init_region) + (On milk_1 living_room_table_milk_init_region) + (On orange_juice_1 living_room_table_orange_juice_init_region) + (On butter_1 living_room_table_butter_init_region) + (On basket_1 living_room_table_basket_init_region) + ) + + (:goal + (And (In alphabet_soup_1 basket_1_contain_region) (In tomato_sauce_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_lan/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_lan/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..ff5e8015a99d62efb7aa928396da7760f6f754f3 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_lan/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl @@ -0,0 +1,134 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language place cream cheese box and butter into basket) + (:regions + (basket_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_init_region + (:target living_room_table) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_init_region + (:target living_room_table) + (:ranges ( + (-0.025 -0.275 0.025 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_init_region + (:target living_room_table) + (:ranges ( + (-0.125 0.025 -0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (alphabet_soup_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_init_region + (:target living_room_table) + (:ranges ( + (0.025 0.025 0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target living_room_table) + (:ranges ( + (-0.275 -0.175 -0.225 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + orange_juice_1 - orange_juice + milk_1 - milk + butter_1 - butter + basket_1 - basket + ) + + (:obj_of_interest + cream_cheese_1 + butter_1 + basket_1 + ) + + (:init + (On alphabet_soup_1 living_room_table_alphabet_soup_init_region) + (On cream_cheese_1 living_room_table_cream_cheese_init_region) + (On tomato_sauce_1 living_room_table_tomato_sauce_init_region) + (On ketchup_1 living_room_table_ketchup_init_region) + (On milk_1 living_room_table_milk_init_region) + (On orange_juice_1 living_room_table_orange_juice_init_region) + (On butter_1 living_room_table_butter_init_region) + (On basket_1 living_room_table_basket_init_region) + ) + + (:goal + (And (In cream_cheese_1 basket_1_contain_region) (In butter_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_lan/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_lan/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..e084a5ac4581e9e3881468f5362c6ff28814bd45 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_lan/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language place white mug on left plate and yellow-white mug on right plate) + (:regions + (plate_left_region + (:target living_room_table) + (:ranges ( + (-0.025 -0.325 0.025 -0.27499999999999997) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_right_region + (:target living_room_table) + (:ranges ( + (-0.025 0.27499999999999997 0.025 0.325) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (white_yellow_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.07500000000000001 0.07500000000000001 -0.025 0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (red_coffee_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.225 -0.025 -0.17500000000000002 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + porcelain_mug_1 - porcelain_mug + red_coffee_mug_1 - red_coffee_mug + white_yellow_mug_1 - white_yellow_mug + plate_1 plate_2 - plate + ) + + (:obj_of_interest + plate_1 + plate_2 + white_yellow_mug_1 + porcelain_mug_1 + ) + + (:init + (On plate_1 living_room_table_plate_left_region) + (On plate_2 living_room_table_plate_right_region) + (On red_coffee_mug_1 living_room_table_red_coffee_mug_init_region) + (On white_yellow_mug_1 living_room_table_white_yellow_mug_init_region) + (On porcelain_mug_1 living_room_table_porcelain_mug_init_region) + ) + + (:goal + (And (On porcelain_mug_1 plate_1) (On white_yellow_mug_1 plate_2)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_lan/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_lan/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..7a151a5e7e665f1432c5ea160f9ed60670a5a4e4 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_lan/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl @@ -0,0 +1,101 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language place white mug on plate and chocolate pudding to right) + (:regions + (plate_left_region + (:target living_room_table) + (:ranges ( + (0.09999999999999999 -0.15000000000000002 0.2 -0.05) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_right_region + (:target living_room_table) + (:ranges ( + (0.09999999999999999 0.05 0.2 0.15000000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_init_region + (:target living_room_table) + (:ranges ( + (0.125 -0.025 0.175 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (chocolate_pudding_init_region + (:target living_room_table) + (:ranges ( + (-0.07500000000000001 0.07500000000000001 -0.025 0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (red_coffee_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.225 -0.025 -0.17500000000000002 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + porcelain_mug_1 - porcelain_mug + red_coffee_mug_1 - red_coffee_mug + plate_1 - plate + chocolate_pudding_1 - chocolate_pudding + ) + + (:obj_of_interest + plate_1 + chocolate_pudding_1 + porcelain_mug_1 + ) + + (:init + (On plate_1 living_room_table_plate_init_region) + (On red_coffee_mug_1 living_room_table_red_coffee_mug_init_region) + (On chocolate_pudding_1 living_room_table_chocolate_pudding_init_region) + (On porcelain_mug_1 living_room_table_porcelain_mug_init_region) + ) + + (:goal + (And (On porcelain_mug_1 plate_1) (On chocolate_pudding_1 living_room_table_plate_right_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_lan/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_lan/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl new file mode 100644 index 0000000000000000000000000000000000000000..9308f52588d9dfdadcbe8e8e3a40e66d81adf7db --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_lan/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl @@ -0,0 +1,88 @@ +(define (problem LIBERO_Study_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the book and place in back compartment) + (:regions + (desk_caddy_init_region + (:target study_table) + (:ranges ( + (-0.21000000000000002 -0.15000000000000002 -0.19 -0.13) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (black_book_init_region + (:target study_table) + (:ranges ( + (-0.025 0.125 0.025 0.175) + ) + ) + (:yaw_rotation ( + (-1.5707963267948966 -0.7853981633974483) + ) + ) + ) + (white_yellow_mug_init_region + (:target study_table) + (:ranges ( + (0.07500000000000001 -0.025 0.125 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (desk_caddy_right_region + (:target study_table) + (:ranges ( + (-0.25 0.09999999999999999 -0.15000000000000002 0.2) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (right_contain_region + (:target desk_caddy_1) + ) + (left_contain_region + (:target desk_caddy_1) + ) + (back_contain_region + (:target desk_caddy_1) + ) + (front_contain_region + (:target desk_caddy_1) + ) + ) + + (:fixtures + study_table - study_table + desk_caddy_1 - desk_caddy + ) + + (:objects + black_book_1 - black_book + white_yellow_mug_1 - white_yellow_mug + ) + + (:obj_of_interest + black_book_1 + desk_caddy_1 + ) + + (:init + (On desk_caddy_1 study_table_desk_caddy_init_region) + (On black_book_1 study_table_black_book_init_region) + (On white_yellow_mug_1 study_table_white_yellow_mug_init_region) + ) + + (:goal + (And (In black_book_1 desk_caddy_1_back_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_sawyer/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_sawyer/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl new file mode 100644 index 0000000000000000000000000000000000000000..6530a7778f9413f4b22b291a5a6606c04809d7c0 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_sawyer/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl @@ -0,0 +1,68 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language turn on the stove and put the moka pot on it) + (:regions + (flat_stove_init_region + (:target kitchen_table) + (:ranges ( + (-0.21000000000000002 0.19 -0.19 0.21000000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (frypan_init_region + (:target kitchen_table) + (:ranges ( + (-0.07500000000000001 -0.275 -0.025 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (moka_pot_init_region + (:target kitchen_table) + (:ranges ( + (0.025 -0.025 0.07500000000000001 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + flat_stove_1 - flat_stove + ) + + (:objects + chefmate_8_frypan_1 - chefmate_8_frypan + moka_pot_1 - moka_pot + ) + + (:obj_of_interest + moka_pot_1 + flat_stove_1 + ) + + (:init + (On flat_stove_1 kitchen_table_flat_stove_init_region) + (On chefmate_8_frypan_1 kitchen_table_frypan_init_region) + (On moka_pot_1 kitchen_table_moka_pot_init_region) + ) + + (:goal + (And (Turnon flat_stove_1) (On moka_pot_1 flat_stove_1_cook_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_sawyer/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_sawyer/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl new file mode 100644 index 0000000000000000000000000000000000000000..71d1a650ea4e109e0d13b8c4475bf2cbe0ae091b --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_sawyer/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl @@ -0,0 +1,94 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the black bowl in the bottom drawer of the cabinet and close it) + (:regions + (white_cabinet_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 0.29 0.01 0.31) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (wine_rack_init_region + (:target kitchen_table) + (:ranges ( + (-0.11 -0.31 -0.09000000000000001 -0.29) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (akita_black_bowl_init_region + (:target kitchen_table) + (:ranges ( + (0.0049999999999999975 -0.07500000000000001 0.055 -0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (wine_bottle_init_region + (:target kitchen_table) + (:ranges ( + (-0.175 0.025 -0.125 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target white_cabinet_1) + ) + (top_region + (:target white_cabinet_1) + ) + (middle_region + (:target white_cabinet_1) + ) + (bottom_region + (:target white_cabinet_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + white_cabinet_1 - white_cabinet + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + wine_bottle_1 - wine_bottle + ) + + (:obj_of_interest + akita_black_bowl_1 + white_cabinet_1 + ) + + (:init + (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region) + (On wine_bottle_1 kitchen_table_wine_bottle_init_region) + (On white_cabinet_1 kitchen_table_white_cabinet_init_region) + (On wine_rack_1 kitchen_table_wine_rack_init_region) + (Open white_cabinet_1_bottom_region) + ) + + (:goal + (And (Close white_cabinet_1_bottom_region) (In akita_black_bowl_1 white_cabinet_1_bottom_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_sawyer/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_sawyer/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl new file mode 100644 index 0000000000000000000000000000000000000000..f531a4ede009cff9e1b0cb928049a88d72070d86 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_sawyer/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl @@ -0,0 +1,83 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the yellow and white mug in the microwave and close it) + (:regions + (microwave_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 0.33999999999999997 0.01 0.36) + ) + ) + (:yaw_rotation ( + (0 0) + ) + ) + ) + (white_yellow_mug_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 -0.025 0.025 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_init_region + (:target kitchen_table) + (:ranges ( + (-0.125 -0.275 -0.07500000000000001 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_front_region + (:target kitchen_table) + (:ranges ( + (-0.05 -0.3 0.05 -0.2) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target microwave_1) + ) + (heating_region + (:target microwave_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + microwave_1 - microwave + ) + + (:objects + porcelain_mug_1 - porcelain_mug + white_yellow_mug_1 - white_yellow_mug + ) + + (:obj_of_interest + white_yellow_mug_1 + microwave_1 + ) + + (:init + (On porcelain_mug_1 kitchen_table_porcelain_mug_init_region) + (On white_yellow_mug_1 kitchen_table_white_yellow_mug_init_region) + (On microwave_1 kitchen_table_microwave_init_region) + (Open microwave_1) + ) + + (:goal + (And (In white_yellow_mug_1 microwave_1_heating_region) (Close microwave_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_sawyer/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_sawyer/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl new file mode 100644 index 0000000000000000000000000000000000000000..b983d7285869b49d3b6fe1329a9b7574de67b41b --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_sawyer/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl @@ -0,0 +1,69 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put both moka pots on the stove) + (:regions + (flat_stove_init_region + (:target kitchen_table) + (:ranges ( + (-0.21000000000000002 -0.21000000000000002 -0.19 -0.19) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (moka_pot_right_init_region + (:target kitchen_table) + (:ranges ( + (-0.07500000000000001 0.225 -0.025 0.275) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (moka_pot_left_init_region + (:target kitchen_table) + (:ranges ( + (0.025 0.025 0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + flat_stove_1 - flat_stove + ) + + (:objects + moka_pot_1 moka_pot_2 - moka_pot + ) + + (:obj_of_interest + moka_pot_1 + moka_pot_2 + flat_stove_1 + ) + + (:init + (On flat_stove_1 kitchen_table_flat_stove_init_region) + (On moka_pot_1 kitchen_table_moka_pot_right_init_region) + (On moka_pot_2 kitchen_table_moka_pot_left_init_region) + (Turnon flat_stove_1) + ) + + (:goal + (And (On moka_pot_1 flat_stove_1_cook_region) (On moka_pot_2 flat_stove_1_cook_region) (Turnon flat_stove_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_sawyer/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_sawyer/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..0f3ba3ce48af83e690bfe8bed3caad22d4bf4cdf --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_sawyer/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl @@ -0,0 +1,95 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language put both the alphabet soup and the cream cheese box in the basket) + (:regions + (basket_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (alphabet_soup_init_region + (:target living_room_table) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_init_region + (:target living_room_table) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target living_room_table) + (:ranges ( + (-0.225 -0.175 -0.17500000000000002 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + basket_1 - basket + ) + + (:obj_of_interest + alphabet_soup_1 + cream_cheese_1 + basket_1 + ) + + (:init + (On alphabet_soup_1 living_room_table_alphabet_soup_init_region) + (On cream_cheese_1 living_room_table_cream_cheese_init_region) + (On tomato_sauce_1 living_room_table_tomato_sauce_init_region) + (On ketchup_1 living_room_table_ketchup_init_region) + (On basket_1 living_room_table_basket_init_region) + ) + + (:goal + (And (In alphabet_soup_1 basket_1_contain_region) (In cream_cheese_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_sawyer/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_sawyer/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..071ec86f8b5d8f33d542a72f925fe89e42442657 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_sawyer/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl @@ -0,0 +1,134 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language put both the alphabet soup and the tomato sauce in the basket) + (:regions + (basket_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_init_region + (:target living_room_table) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_init_region + (:target living_room_table) + (:ranges ( + (-0.025 -0.275 0.025 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_init_region + (:target living_room_table) + (:ranges ( + (-0.125 0.025 -0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (alphabet_soup_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_init_region + (:target living_room_table) + (:ranges ( + (0.025 0.025 0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target living_room_table) + (:ranges ( + (-0.275 -0.175 -0.225 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + orange_juice_1 - orange_juice + milk_1 - milk + butter_1 - butter + basket_1 - basket + ) + + (:obj_of_interest + alphabet_soup_1 + tomato_sauce_1 + basket_1 + ) + + (:init + (On alphabet_soup_1 living_room_table_alphabet_soup_init_region) + (On cream_cheese_1 living_room_table_cream_cheese_init_region) + (On tomato_sauce_1 living_room_table_tomato_sauce_init_region) + (On ketchup_1 living_room_table_ketchup_init_region) + (On milk_1 living_room_table_milk_init_region) + (On orange_juice_1 living_room_table_orange_juice_init_region) + (On butter_1 living_room_table_butter_init_region) + (On basket_1 living_room_table_basket_init_region) + ) + + (:goal + (And (In alphabet_soup_1 basket_1_contain_region) (In tomato_sauce_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_sawyer/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_sawyer/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..bbd9b7eda1e3aff44a193003fb88a568fc803d86 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_sawyer/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl @@ -0,0 +1,134 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language put both the cream cheese box and the butter in the basket) + (:regions + (basket_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_init_region + (:target living_room_table) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_init_region + (:target living_room_table) + (:ranges ( + (-0.025 -0.275 0.025 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_init_region + (:target living_room_table) + (:ranges ( + (-0.125 0.025 -0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (alphabet_soup_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_init_region + (:target living_room_table) + (:ranges ( + (0.025 0.025 0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target living_room_table) + (:ranges ( + (-0.275 -0.175 -0.225 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + orange_juice_1 - orange_juice + milk_1 - milk + butter_1 - butter + basket_1 - basket + ) + + (:obj_of_interest + cream_cheese_1 + butter_1 + basket_1 + ) + + (:init + (On alphabet_soup_1 living_room_table_alphabet_soup_init_region) + (On cream_cheese_1 living_room_table_cream_cheese_init_region) + (On tomato_sauce_1 living_room_table_tomato_sauce_init_region) + (On ketchup_1 living_room_table_ketchup_init_region) + (On milk_1 living_room_table_milk_init_region) + (On orange_juice_1 living_room_table_orange_juice_init_region) + (On butter_1 living_room_table_butter_init_region) + (On basket_1 living_room_table_basket_init_region) + ) + + (:goal + (And (In cream_cheese_1 basket_1_contain_region) (In butter_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_sawyer/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_sawyer/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..32024734f78b9c469d45c9d50503c2099ad67c4d --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_sawyer/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language put the white mug on the left plate and put the yellow and white mug on the right plate) + (:regions + (plate_left_region + (:target living_room_table) + (:ranges ( + (-0.025 -0.325 0.025 -0.27499999999999997) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_right_region + (:target living_room_table) + (:ranges ( + (-0.025 0.27499999999999997 0.025 0.325) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (white_yellow_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.07500000000000001 0.07500000000000001 -0.025 0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (red_coffee_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.225 -0.025 -0.17500000000000002 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + porcelain_mug_1 - porcelain_mug + red_coffee_mug_1 - red_coffee_mug + white_yellow_mug_1 - white_yellow_mug + plate_1 plate_2 - plate + ) + + (:obj_of_interest + plate_1 + plate_2 + white_yellow_mug_1 + porcelain_mug_1 + ) + + (:init + (On plate_1 living_room_table_plate_left_region) + (On plate_2 living_room_table_plate_right_region) + (On red_coffee_mug_1 living_room_table_red_coffee_mug_init_region) + (On white_yellow_mug_1 living_room_table_white_yellow_mug_init_region) + (On porcelain_mug_1 living_room_table_porcelain_mug_init_region) + ) + + (:goal + (And (On porcelain_mug_1 plate_1) (On white_yellow_mug_1 plate_2)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_sawyer/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_sawyer/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..437f0755b8fee33d2fba02bd4f898845f6ed150f --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_sawyer/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl @@ -0,0 +1,101 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language put the white mug on the plate and put the chocolate pudding to the right of the plate) + (:regions + (plate_left_region + (:target living_room_table) + (:ranges ( + (0.09999999999999999 -0.15000000000000002 0.2 -0.05) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_right_region + (:target living_room_table) + (:ranges ( + (0.09999999999999999 0.05 0.2 0.15000000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_init_region + (:target living_room_table) + (:ranges ( + (0.125 -0.025 0.175 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (chocolate_pudding_init_region + (:target living_room_table) + (:ranges ( + (-0.07500000000000001 0.07500000000000001 -0.025 0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (red_coffee_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.225 -0.025 -0.17500000000000002 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + porcelain_mug_1 - porcelain_mug + red_coffee_mug_1 - red_coffee_mug + plate_1 - plate + chocolate_pudding_1 - chocolate_pudding + ) + + (:obj_of_interest + plate_1 + chocolate_pudding_1 + porcelain_mug_1 + ) + + (:init + (On plate_1 living_room_table_plate_init_region) + (On red_coffee_mug_1 living_room_table_red_coffee_mug_init_region) + (On chocolate_pudding_1 living_room_table_chocolate_pudding_init_region) + (On porcelain_mug_1 living_room_table_porcelain_mug_init_region) + ) + + (:goal + (And (On porcelain_mug_1 plate_1) (On chocolate_pudding_1 living_room_table_plate_right_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_sawyer/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_sawyer/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl new file mode 100644 index 0000000000000000000000000000000000000000..2f0ad4b2d57354113768bdc6575c97041037ef0c --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_sawyer/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl @@ -0,0 +1,88 @@ +(define (problem LIBERO_Study_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the book and place it in the back compartment of the caddy) + (:regions + (desk_caddy_init_region + (:target study_table) + (:ranges ( + (-0.21000000000000002 -0.15000000000000002 -0.19 -0.13) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (black_book_init_region + (:target study_table) + (:ranges ( + (-0.025 0.125 0.025 0.175) + ) + ) + (:yaw_rotation ( + (-1.5707963267948966 -0.7853981633974483) + ) + ) + ) + (white_yellow_mug_init_region + (:target study_table) + (:ranges ( + (0.07500000000000001 -0.025 0.125 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (desk_caddy_right_region + (:target study_table) + (:ranges ( + (-0.25 0.09999999999999999 -0.15000000000000002 0.2) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (right_contain_region + (:target desk_caddy_1) + ) + (left_contain_region + (:target desk_caddy_1) + ) + (back_contain_region + (:target desk_caddy_1) + ) + (front_contain_region + (:target desk_caddy_1) + ) + ) + + (:fixtures + study_table - study_table + desk_caddy_1 - desk_caddy + ) + + (:objects + black_book_1 - black_book + white_yellow_mug_1 - white_yellow_mug + ) + + (:obj_of_interest + black_book_1 + desk_caddy_1 + ) + + (:init + (On desk_caddy_1 study_table_desk_caddy_init_region) + (On black_book_1 study_table_black_book_init_region) + (On white_yellow_mug_1 study_table_white_yellow_mug_init_region) + ) + + (:goal + (And (In black_book_1 desk_caddy_1_back_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_sawyer/tasks_info.txt b/third_party/libero/libero/libero/bddl_files/libero_10_sawyer/tasks_info.txt new file mode 100644 index 0000000000000000000000000000000000000000..171640383efe903a781e381aeb2b90f144b4c603 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_sawyer/tasks_info.txt @@ -0,0 +1,10 @@ +libero/bddl_files/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl +libero/bddl_files/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl +libero/bddl_files/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl +libero/bddl_files/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl +libero/bddl_files/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl +libero/bddl_files/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl +libero/bddl_files/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl +libero/bddl_files/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl +libero/bddl_files/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl +libero/bddl_files/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_task/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_task/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl new file mode 100644 index 0000000000000000000000000000000000000000..c34bb93195ca4bb0e540b11248d45a37ddb34771 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_task/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl @@ -0,0 +1,69 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language turn on the stove and put the pan on it) + (:regions + (flat_stove_init_region + (:target kitchen_table) + (:ranges ( + (-0.21000000000000002 0.19 -0.19 0.21000000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (frypan_init_region + (:target kitchen_table) + (:ranges ( + (-0.07500000000000001 -0.275 -0.025 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (moka_pot_init_region + (:target kitchen_table) + (:ranges ( + (0.025 -0.025 0.07500000000000001 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + flat_stove_1 - flat_stove + ) + + (:objects + chefmate_8_frypan_1 - chefmate_8_frypan + moka_pot_1 - moka_pot + ) + + (:obj_of_interest + flat_stove_1 + chefmate_8_frypan_1 + flat_stove_1_cook_region +) + + (:init + (On flat_stove_1 kitchen_table_flat_stove_init_region) + (On chefmate_8_frypan_1 kitchen_table_frypan_init_region) + (On moka_pot_1 kitchen_table_moka_pot_init_region) + ) + + (:goal + (And (Turnon flat_stove_1) (On chefmate_8_frypan_1 flat_stove_1_cook_region)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_task/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_task/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl new file mode 100644 index 0000000000000000000000000000000000000000..ba85a29987905970665174e6eccf9e73edb8c610 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_task/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl @@ -0,0 +1,95 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the bottle in the bottom drawer of the cabinet and close it) + (:regions + (white_cabinet_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 0.29 0.01 0.31) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (wine_rack_init_region + (:target kitchen_table) + (:ranges ( + (-0.11 -0.31 -0.09000000000000001 -0.29) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (akita_black_bowl_init_region + (:target kitchen_table) + (:ranges ( + (0.0049999999999999975 -0.07500000000000001 0.055 -0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (wine_bottle_init_region + (:target kitchen_table) + (:ranges ( + (-0.175 0.025 -0.125 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target white_cabinet_1) + ) + (top_region + (:target white_cabinet_1) + ) + (middle_region + (:target white_cabinet_1) + ) + (bottom_region + (:target white_cabinet_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + white_cabinet_1 - white_cabinet + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + wine_bottle_1 - wine_bottle + ) + + (:obj_of_interest + white_cabinet_1_bottom_region + wine_bottle_1 + white_cabinet_1_bottom_region +) + + (:init + (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region) + (On wine_bottle_1 kitchen_table_wine_bottle_init_region) + (On white_cabinet_1 kitchen_table_white_cabinet_init_region) + (On wine_rack_1 kitchen_table_wine_rack_init_region) + (Open white_cabinet_1_bottom_region) + ) + + (:goal + (And (Close white_cabinet_1_bottom_region) (In wine_bottle_1 white_cabinet_1_bottom_region)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_task/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_task/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl new file mode 100644 index 0000000000000000000000000000000000000000..613daa799e3545ab1943845a64e002706602ccf6 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_task/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl @@ -0,0 +1,84 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the white mug in the microwave and close it) + (:regions + (microwave_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 0.33999999999999997 0.01 0.36) + ) + ) + (:yaw_rotation ( + (0 0) + ) + ) + ) + (white_yellow_mug_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 -0.025 0.025 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_init_region + (:target kitchen_table) + (:ranges ( + (-0.125 -0.275 -0.07500000000000001 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_front_region + (:target kitchen_table) + (:ranges ( + (-0.05 -0.3 0.05 -0.2) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target microwave_1) + ) + (heating_region + (:target microwave_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + microwave_1 - microwave + ) + + (:objects + porcelain_mug_1 - porcelain_mug + white_yellow_mug_1 - white_yellow_mug + ) + + (:obj_of_interest + porcelain_mug_1 + microwave_1_heating_region + microwave_1 +) + + (:init + (On porcelain_mug_1 kitchen_table_porcelain_mug_init_region) + (On white_yellow_mug_1 kitchen_table_white_yellow_mug_init_region) + (On microwave_1 kitchen_table_microwave_init_region) + (Open microwave_1) + ) + + (:goal + (And (In porcelain_mug_1 microwave_1_heating_region) (Close microwave_1)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_task/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_task/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl new file mode 100644 index 0000000000000000000000000000000000000000..579f694d21ccf1fb438fe2b7e203788b55c419cb --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_task/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl @@ -0,0 +1,69 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the left moka pot on the stove) + (:regions + (flat_stove_init_region + (:target kitchen_table) + (:ranges ( + (-0.21000000000000002 -0.21000000000000002 -0.19 -0.19) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (moka_pot_right_init_region + (:target kitchen_table) + (:ranges ( + (-0.07500000000000001 0.225 -0.025 0.275) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (moka_pot_left_init_region + (:target kitchen_table) + (:ranges ( + (0.025 0.025 0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + flat_stove_1 - flat_stove + ) + + (:objects + moka_pot_1 moka_pot_2 - moka_pot + ) + + (:obj_of_interest + moka_pot_1 + flat_stove_1_cook_region + flat_stove_1 +) + + (:init + (On flat_stove_1 kitchen_table_flat_stove_init_region) + (On moka_pot_1 kitchen_table_moka_pot_right_init_region) + (On moka_pot_2 kitchen_table_moka_pot_left_init_region) + (Turnon flat_stove_1) + ) + + (:goal + (And (On moka_pot_1 flat_stove_1_cook_region) (Turnon flat_stove_1)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_task/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_task/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..deb471aac568882b793b412d5064fb1883a4d150 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_task/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl @@ -0,0 +1,95 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language put both the ketchup and the cream cheese box in the basket) + (:regions + (basket_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (alphabet_soup_init_region + (:target living_room_table) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_init_region + (:target living_room_table) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target living_room_table) + (:ranges ( + (-0.225 -0.175 -0.17500000000000002 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + basket_1 - basket + ) + + (:obj_of_interest + ketchup_1 + basket_1_contain_region + cream_cheese_1 +) + + (:init + (On alphabet_soup_1 living_room_table_alphabet_soup_init_region) + (On cream_cheese_1 living_room_table_cream_cheese_init_region) + (On tomato_sauce_1 living_room_table_tomato_sauce_init_region) + (On ketchup_1 living_room_table_ketchup_init_region) + (On basket_1 living_room_table_basket_init_region) + ) + + (:goal + (And (In ketchup_1 basket_1_contain_region) (In cream_cheese_1 basket_1_contain_region)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_task/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_task/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..a9515977ce9debf175831a2531ef0605a0727680 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_task/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl @@ -0,0 +1,134 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language put both the cream cheese and the tomato sauce in the basket) + (:regions + (basket_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_init_region + (:target living_room_table) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_init_region + (:target living_room_table) + (:ranges ( + (-0.025 -0.275 0.025 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_init_region + (:target living_room_table) + (:ranges ( + (-0.125 0.025 -0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (alphabet_soup_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_init_region + (:target living_room_table) + (:ranges ( + (0.025 0.025 0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target living_room_table) + (:ranges ( + (-0.275 -0.175 -0.225 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + orange_juice_1 - orange_juice + milk_1 - milk + butter_1 - butter + basket_1 - basket + ) + + (:obj_of_interest + cream_cheese_1 + basket_1_contain_region + tomato_sauce_1 +) + + (:init + (On alphabet_soup_1 living_room_table_alphabet_soup_init_region) + (On cream_cheese_1 living_room_table_cream_cheese_init_region) + (On tomato_sauce_1 living_room_table_tomato_sauce_init_region) + (On ketchup_1 living_room_table_ketchup_init_region) + (On milk_1 living_room_table_milk_init_region) + (On orange_juice_1 living_room_table_orange_juice_init_region) + (On butter_1 living_room_table_butter_init_region) + (On basket_1 living_room_table_basket_init_region) + ) + + (:goal + (And (In cream_cheese_1 basket_1_contain_region) (In tomato_sauce_1 basket_1_contain_region)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_task/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_task/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..681e703ab4bd4907b20453d8e48031eda67c4b52 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_task/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl @@ -0,0 +1,134 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language put both the alphabet soup and the butter in the basket) + (:regions + (basket_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_init_region + (:target living_room_table) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_init_region + (:target living_room_table) + (:ranges ( + (-0.025 -0.275 0.025 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_init_region + (:target living_room_table) + (:ranges ( + (-0.125 0.025 -0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (alphabet_soup_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_init_region + (:target living_room_table) + (:ranges ( + (0.025 0.025 0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target living_room_table) + (:ranges ( + (-0.275 -0.175 -0.225 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + orange_juice_1 - orange_juice + milk_1 - milk + butter_1 - butter + basket_1 - basket + ) + + (:obj_of_interest + alphabet_soup_1 + butter_1 + basket_1_contain_region +) + + (:init + (On alphabet_soup_1 living_room_table_alphabet_soup_init_region) + (On cream_cheese_1 living_room_table_cream_cheese_init_region) + (On tomato_sauce_1 living_room_table_tomato_sauce_init_region) + (On ketchup_1 living_room_table_ketchup_init_region) + (On milk_1 living_room_table_milk_init_region) + (On orange_juice_1 living_room_table_orange_juice_init_region) + (On butter_1 living_room_table_butter_init_region) + (On basket_1 living_room_table_basket_init_region) + ) + + (:goal + (And (In alphabet_soup_1 basket_1_contain_region) (In butter_1 basket_1_contain_region)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_task/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_task/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..75f971ce496a6e4400986e255d09bcb9536f9756 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_task/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language put the yellow and white mug on the left plate and put the white mug on the right plate) + (:regions + (plate_left_region + (:target living_room_table) + (:ranges ( + (-0.025 -0.325 0.025 -0.27499999999999997) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_right_region + (:target living_room_table) + (:ranges ( + (-0.025 0.27499999999999997 0.025 0.325) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (white_yellow_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.07500000000000001 0.07500000000000001 -0.025 0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (red_coffee_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.225 -0.025 -0.17500000000000002 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + porcelain_mug_1 - porcelain_mug + red_coffee_mug_1 - red_coffee_mug + white_yellow_mug_1 - white_yellow_mug + plate_1 plate_2 - plate + ) + + (:obj_of_interest + white_yellow_mug_1 + porcelain_mug_1 + plate_1 + plate_2 +) + + (:init + (On plate_1 living_room_table_plate_left_region) + (On plate_2 living_room_table_plate_right_region) + (On red_coffee_mug_1 living_room_table_red_coffee_mug_init_region) + (On white_yellow_mug_1 living_room_table_white_yellow_mug_init_region) + (On porcelain_mug_1 living_room_table_porcelain_mug_init_region) + ) + + (:goal + (And (On white_yellow_mug_1 plate_1) (On porcelain_mug_1 plate_2)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_task/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_task/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..4ff4f6e0a0ba5a62b4c5572131ced7839fa216b0 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_task/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl @@ -0,0 +1,102 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language put the red mug on the plate and put the chocolate pudding to the right of the plate) + (:regions + (plate_left_region + (:target living_room_table) + (:ranges ( + (0.09999999999999999 -0.15000000000000002 0.2 -0.05) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_right_region + (:target living_room_table) + (:ranges ( + (0.09999999999999999 0.05 0.2 0.15000000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_init_region + (:target living_room_table) + (:ranges ( + (0.125 -0.025 0.175 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (chocolate_pudding_init_region + (:target living_room_table) + (:ranges ( + (-0.07500000000000001 0.07500000000000001 -0.025 0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (red_coffee_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.225 -0.025 -0.17500000000000002 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + porcelain_mug_1 - porcelain_mug + red_coffee_mug_1 - red_coffee_mug + plate_1 - plate + chocolate_pudding_1 - chocolate_pudding + ) + + (:obj_of_interest + red_coffee_mug_1 + chocolate_pudding_1 + plate_1 + living_room_table_plate_right_region +) + + (:init + (On plate_1 living_room_table_plate_init_region) + (On red_coffee_mug_1 living_room_table_red_coffee_mug_init_region) + (On chocolate_pudding_1 living_room_table_chocolate_pudding_init_region) + (On porcelain_mug_1 living_room_table_porcelain_mug_init_region) + ) + + (:goal + (And (On red_coffee_mug_1 plate_1) (On chocolate_pudding_1 living_room_table_plate_right_region)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10_task/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl b/third_party/libero/libero/libero/bddl_files/libero_10_task/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl new file mode 100644 index 0000000000000000000000000000000000000000..5f40b7ea50e5c0bb7e9fe46c223ddcc5dc76e4d8 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10_task/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl @@ -0,0 +1,88 @@ +(define (problem LIBERO_Study_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the cup and place it in the back compartment of the caddy) + (:regions + (desk_caddy_init_region + (:target study_table) + (:ranges ( + (-0.21000000000000002 -0.15000000000000002 -0.19 -0.13) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (black_book_init_region + (:target study_table) + (:ranges ( + (-0.025 0.125 0.025 0.175) + ) + ) + (:yaw_rotation ( + (-1.5707963267948966 -0.7853981633974483) + ) + ) + ) + (white_yellow_mug_init_region + (:target study_table) + (:ranges ( + (0.07500000000000001 -0.025 0.125 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (desk_caddy_right_region + (:target study_table) + (:ranges ( + (-0.25 0.09999999999999999 -0.15000000000000002 0.2) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (right_contain_region + (:target desk_caddy_1) + ) + (left_contain_region + (:target desk_caddy_1) + ) + (back_contain_region + (:target desk_caddy_1) + ) + (front_contain_region + (:target desk_caddy_1) + ) + ) + + (:fixtures + study_table - study_table + desk_caddy_1 - desk_caddy + ) + + (:objects + black_book_1 - black_book + white_yellow_mug_1 - white_yellow_mug + ) + + (:obj_of_interest + white_yellow_mug_1 + desk_caddy_1_back_contain_region +) + + (:init + (On desk_caddy_1 study_table_desk_caddy_init_region) + (On black_book_1 study_table_black_book_init_region) + (On white_yellow_mug_1 study_table_white_yellow_mug_init_region) + ) + + (:goal + (And (In white_yellow_mug_1 desk_caddy_1_back_contain_region)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_lan/open_the_middle_drawer_of_the_cabinet.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_lan/open_the_middle_drawer_of_the_cabinet.bddl new file mode 100644 index 0000000000000000000000000000000000000000..5a03be87c4f597eee80db7cf5f38ed5c7ea6413c --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_lan/open_the_middle_drawer_of_the_cabinet.bddl @@ -0,0 +1,127 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language open the cabinet’s middle drawer) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + wooden_cabinet_1_middle_region + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (Open wooden_cabinet_1_middle_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_lan/open_the_top_drawer_and_put_the_bowl_inside.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_lan/open_the_top_drawer_and_put_the_bowl_inside.bddl new file mode 100644 index 0000000000000000000000000000000000000000..db3c328a68bde561069b2a9c7c00938f76249e8a --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_lan/open_the_top_drawer_and_put_the_bowl_inside.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language slide open the top drawer and place the bowl in it) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + wooden_cabinet_1_top_region + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (In akita_black_bowl_1 wooden_cabinet_1_top_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_lan/push_the_plate_to_the_front_of_the_stove.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_lan/push_the_plate_to_the_front_of_the_stove.bddl new file mode 100644 index 0000000000000000000000000000000000000000..05a801e13fb034cf2dbd18ace02d05d199230546 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_lan/push_the_plate_to_the_front_of_the_stove.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language move the plate to the stove’s front) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + plate_1 + main_table_stove_front_region + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (On plate_1 main_table_stove_front_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_lan/put_the_bowl_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_lan/put_the_bowl_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..819c600f43558fd442c699fb44671f6f35b2448b --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_lan/put_the_bowl_on_the_plate.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language place the bowl on top of the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_lan/put_the_bowl_on_the_stove.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_lan/put_the_bowl_on_the_stove.bddl new file mode 100644 index 0000000000000000000000000000000000000000..ddf81a9732c79cebdd45bd91909cb6519d825abb --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_lan/put_the_bowl_on_the_stove.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language place the bowl on the stove) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + flat_stove_1_cook_region + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (On akita_black_bowl_1 flat_stove_1_cook_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_lan/put_the_bowl_on_top_of_the_cabinet.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_lan/put_the_bowl_on_top_of_the_cabinet.bddl new file mode 100644 index 0000000000000000000000000000000000000000..db5112188ef859a1cb93c733551f19618883dbfa --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_lan/put_the_bowl_on_top_of_the_cabinet.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language place the bowl on top of the cabinet) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + wooden_cabinet_1_top_side + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (On akita_black_bowl_1 wooden_cabinet_1_top_side)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_lan/put_the_cream_cheese_in_the_bowl.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_lan/put_the_cream_cheese_in_the_bowl.bddl new file mode 100644 index 0000000000000000000000000000000000000000..93c161c4b28cde5ef7f62ef6a28bf4a5a24ec2e5 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_lan/put_the_cream_cheese_in_the_bowl.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language place the cream cheese inside the bowl) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + cream_cheese_1 + akita_black_bowl_1 + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (On cream_cheese_1 akita_black_bowl_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_lan/put_the_wine_bottle_on_the_rack.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_lan/put_the_wine_bottle_on_the_rack.bddl new file mode 100644 index 0000000000000000000000000000000000000000..9efa1d43836b8ee665863e16210e4ce782dbbc86 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_lan/put_the_wine_bottle_on_the_rack.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language place the wine bottle on the rack) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + wine_bottle_1 + wine_rack_1_top_region + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (On wine_bottle_1 wine_rack_1_top_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_lan/put_the_wine_bottle_on_top_of_the_cabinet.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_lan/put_the_wine_bottle_on_top_of_the_cabinet.bddl new file mode 100644 index 0000000000000000000000000000000000000000..a124f1e815b798ea4b951bb7b0596a254b9d9579 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_lan/put_the_wine_bottle_on_top_of_the_cabinet.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language place the wine bottle on top of the cabinet) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + wine_bottle_1 + wooden_cabinet_1_top_side + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (On wine_bottle_1 wooden_cabinet_1_top_side)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_lan/turn_on_the_stove.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_lan/turn_on_the_stove.bddl new file mode 100644 index 0000000000000000000000000000000000000000..c519b349a0aaacb35dbc959f7e334d4070bac140 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_lan/turn_on_the_stove.bddl @@ -0,0 +1,127 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language switch on the stove) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + flat_stove_1 + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (Turnon flat_stove_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_sawyer/open_the_middle_drawer_of_the_cabinet.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_sawyer/open_the_middle_drawer_of_the_cabinet.bddl new file mode 100644 index 0000000000000000000000000000000000000000..582fa1b35b9d32cf3c11cfb3fe3bdaba4b410bb3 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_sawyer/open_the_middle_drawer_of_the_cabinet.bddl @@ -0,0 +1,127 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Open the middle layer of the drawer) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + wooden_cabinet_1_middle_region + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (Open wooden_cabinet_1_middle_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_sawyer/open_the_top_drawer_and_put_the_bowl_inside.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_sawyer/open_the_top_drawer_and_put_the_bowl_inside.bddl new file mode 100644 index 0000000000000000000000000000000000000000..d5d3322dbd90c45f0461779835088803070592fa --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_sawyer/open_the_top_drawer_and_put_the_bowl_inside.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Open the top layer of the drawer and put the bowl inside) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + wooden_cabinet_1_top_region + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (In akita_black_bowl_1 wooden_cabinet_1_top_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_sawyer/push_the_plate_to_the_front_of_the_stove.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_sawyer/push_the_plate_to_the_front_of_the_stove.bddl new file mode 100644 index 0000000000000000000000000000000000000000..b31490451ee3c938ba45321e4f900a699a20230b --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_sawyer/push_the_plate_to_the_front_of_the_stove.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Push the plate to the front of the stove) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + plate_1 + main_table_stove_front_region + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (On plate_1 main_table_stove_front_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_sawyer/put_the_bowl_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_sawyer/put_the_bowl_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..60eba979b3c660f26e2fabde5835e21a12a0f840 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_sawyer/put_the_bowl_on_the_plate.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Put the bowl on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_sawyer/put_the_bowl_on_the_stove.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_sawyer/put_the_bowl_on_the_stove.bddl new file mode 100644 index 0000000000000000000000000000000000000000..f4d3c61daa4cde457a7b4dc6332ff1b208ac3e03 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_sawyer/put_the_bowl_on_the_stove.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Put the bowl on the stove) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + flat_stove_1_cook_region + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (On akita_black_bowl_1 flat_stove_1_cook_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_sawyer/put_the_bowl_on_top_of_the_cabinet.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_sawyer/put_the_bowl_on_top_of_the_cabinet.bddl new file mode 100644 index 0000000000000000000000000000000000000000..4b03c35f2bc5432666d6ffd86f5d9b483773bdad --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_sawyer/put_the_bowl_on_top_of_the_cabinet.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Put the bowl on the top of the drawer) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + wooden_cabinet_1_top_side + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (On akita_black_bowl_1 wooden_cabinet_1_top_side)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_sawyer/put_the_cream_cheese_in_the_bowl.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_sawyer/put_the_cream_cheese_in_the_bowl.bddl new file mode 100644 index 0000000000000000000000000000000000000000..a04a03bccb35991a6b3cd5bc0ccf81ff414679f2 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_sawyer/put_the_cream_cheese_in_the_bowl.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Put the cream cheese on the bowl) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + cream_cheese_1 + akita_black_bowl_1 + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (On cream_cheese_1 akita_black_bowl_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_sawyer/put_the_wine_bottle_on_the_rack.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_sawyer/put_the_wine_bottle_on_the_rack.bddl new file mode 100644 index 0000000000000000000000000000000000000000..def509b60cbacdfdcbc605e37f02d67980985077 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_sawyer/put_the_wine_bottle_on_the_rack.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Put the wine bottle on the rack) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + wine_bottle_1 + wine_rack_1_top_region + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (On wine_bottle_1 wine_rack_1_top_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_sawyer/put_the_wine_bottle_on_top_of_the_cabinet.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_sawyer/put_the_wine_bottle_on_top_of_the_cabinet.bddl new file mode 100644 index 0000000000000000000000000000000000000000..b86ebdc4205f2a5e24de3a2f80d2573e01ebb098 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_sawyer/put_the_wine_bottle_on_top_of_the_cabinet.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Put the wine bottle on the top of the drawer) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + wine_bottle_1 + wooden_cabinet_1_top_side + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (On wine_bottle_1 wooden_cabinet_1_top_side)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_sawyer/tasks_info.txt b/third_party/libero/libero/libero/bddl_files/libero_goal_sawyer/tasks_info.txt new file mode 100644 index 0000000000000000000000000000000000000000..9fb3c29134ab7b0842185335b5e7951e73f3c467 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_sawyer/tasks_info.txt @@ -0,0 +1,10 @@ +libero/bddl_files/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.bddl +libero/bddl_files/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.bddl +libero/bddl_files/libero_goal/turn_on_the_stove.bddl +libero/bddl_files/libero_goal/put_the_bowl_on_top_of_the_cabinet.bddl +libero/bddl_files/libero_goal/put_the_bowl_on_the_plate.bddl +libero/bddl_files/libero_goal/put_the_wine_bottle_on_the_rack.bddl +libero/bddl_files/libero_goal/put_the_cream_cheese_in_the_bowl.bddl +libero/bddl_files/libero_goal/open_the_middle_drawer_of_the_cabinet.bddl +libero/bddl_files/libero_goal/push_the_plate_to_the_front_of_the_stove.bddl +libero/bddl_files/libero_goal/put_the_bowl_on_the_stove.bddl diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_sawyer/turn_on_the_stove.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_sawyer/turn_on_the_stove.bddl new file mode 100644 index 0000000000000000000000000000000000000000..ae8b0e8bad4a895664665152c7e2c63dc8e0f3ce --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_sawyer/turn_on_the_stove.bddl @@ -0,0 +1,127 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Turn on the stove) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + flat_stove_1 + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (Turnon flat_stove_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_swap/open_the_middle_drawer_of_the_cabinet.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_swap/open_the_middle_drawer_of_the_cabinet.bddl new file mode 100644 index 0000000000000000000000000000000000000000..fcdaacb430613d11466afbeda7d913929e148648 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_swap/open_the_middle_drawer_of_the_cabinet.bddl @@ -0,0 +1,127 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Open the middle layer of the drawer) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + wooden_cabinet_1_middle_region + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_wine_rack_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_cabinet_region) + ) + + (:goal + (And (Open wooden_cabinet_1_middle_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_swap/open_the_top_drawer_and_put_the_bowl_inside.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_swap/open_the_top_drawer_and_put_the_bowl_inside.bddl new file mode 100644 index 0000000000000000000000000000000000000000..0fd156b6749fa1e12ba22783ddb98e7f3a7520b7 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_swap/open_the_top_drawer_and_put_the_bowl_inside.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Open the top layer of the drawer and put the bowl inside) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + wooden_cabinet_1_top_region + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_cream_cheese_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_akita_black_bowl_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (In akita_black_bowl_1 wooden_cabinet_1_top_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_swap/push_the_plate_to_the_front_of_the_stove.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_swap/push_the_plate_to_the_front_of_the_stove.bddl new file mode 100644 index 0000000000000000000000000000000000000000..f87137c39681d3952dc91025d7b219eaa8902aa4 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_swap/push_the_plate_to_the_front_of_the_stove.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Push the plate to the front of the stove) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + plate_1 + main_table_stove_front_region + ) + + (:init + (On wine_bottle_1 main_table_plate_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_wine_bottle_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (On plate_1 main_table_stove_front_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_swap/put_the_bowl_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_swap/put_the_bowl_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..d2cfbcc21e71a1432f3d246fa40ee2b3ad1a0499 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_swap/put_the_bowl_on_the_plate.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Put the bowl on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On wine_bottle_1 main_table_plate_region) + (On akita_black_bowl_1 main_table_cream_cheese_region) + (On plate_1 main_table_wine_bottle_region) + (On cream_cheese_1 main_table_akita_black_bowl_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_swap/put_the_bowl_on_the_stove.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_swap/put_the_bowl_on_the_stove.bddl new file mode 100644 index 0000000000000000000000000000000000000000..1e3bba685965cf232d83f941ec0b6952e4ac4f1d --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_swap/put_the_bowl_on_the_stove.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Put the bowl on the stove) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + flat_stove_1_cook_region + ) + + (:init + (On wine_bottle_1 main_table_akita_black_bowl_region) + (On akita_black_bowl_1 main_table_wine_bottle_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_stove_region) + (On flat_stove_1 main_table_cabinet_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (On akita_black_bowl_1 flat_stove_1_cook_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_swap/put_the_bowl_on_top_of_the_cabinet.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_swap/put_the_bowl_on_top_of_the_cabinet.bddl new file mode 100644 index 0000000000000000000000000000000000000000..4c143ba78fab53e0ffae295eb8afd521bbfdb433 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_swap/put_the_bowl_on_top_of_the_cabinet.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Put the bowl on the top of the drawer) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + wooden_cabinet_1_top_side + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_cream_cheese_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_akita_black_bowl_region) + (On wooden_cabinet_1 main_table_wine_rack_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_cabinet_region) + ) + + (:goal + (And (On akita_black_bowl_1 wooden_cabinet_1_top_side)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_swap/put_the_cream_cheese_in_the_bowl.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_swap/put_the_cream_cheese_in_the_bowl.bddl new file mode 100644 index 0000000000000000000000000000000000000000..7fbaba43432e93772a8c8c573dd536fcf6f8c141 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_swap/put_the_cream_cheese_in_the_bowl.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Put the cream cheese on the bowl) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + cream_cheese_1 + akita_black_bowl_1 + ) + + (:init + (On wine_bottle_1 main_table_akita_black_bowl_region) + (On akita_black_bowl_1 main_table_wine_bottle_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_stove_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_cream_cheese_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (On cream_cheese_1 akita_black_bowl_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_swap/put_the_wine_bottle_on_the_rack.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_swap/put_the_wine_bottle_on_the_rack.bddl new file mode 100644 index 0000000000000000000000000000000000000000..eedb71771be43692ab23c27259ff6d028adf01ce --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_swap/put_the_wine_bottle_on_the_rack.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Put the wine bottle on the rack) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + wine_bottle_1 + wine_rack_1_top_region + ) + + (:init + (On wine_bottle_1 main_table_akita_black_bowl_region) + (On akita_black_bowl_1 main_table_wine_bottle_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_wine_rack_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_cabinet_region) + ) + + (:goal + (And (On wine_bottle_1 wine_rack_1_top_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_swap/put_the_wine_bottle_on_top_of_the_cabinet.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_swap/put_the_wine_bottle_on_top_of_the_cabinet.bddl new file mode 100644 index 0000000000000000000000000000000000000000..45b46dce815de28533a6499caa2c4fd1646bf2a7 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_swap/put_the_wine_bottle_on_top_of_the_cabinet.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Put the wine bottle on the top of the drawer) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + wine_bottle_1 + wooden_cabinet_1_top_side + ) + + (:init + (On wine_bottle_1 main_table_akita_black_bowl_region) + (On akita_black_bowl_1 main_table_wine_bottle_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_wine_rack_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_cabinet_region) + ) + + (:goal + (And (On wine_bottle_1 wooden_cabinet_1_top_side)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_swap/turn_on_the_stove.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_swap/turn_on_the_stove.bddl new file mode 100644 index 0000000000000000000000000000000000000000..71bfe0e7f49ab2e2f108193a7f27391d84cb3d79 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_swap/turn_on_the_stove.bddl @@ -0,0 +1,127 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Turn on the stove) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + flat_stove_1 + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_stove_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_cream_cheese_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (Turnon flat_stove_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_task/open_the_middle_drawer_of_the_cabinet.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_task/open_the_middle_drawer_of_the_cabinet.bddl new file mode 100644 index 0000000000000000000000000000000000000000..7122871ea272ccb2c069f0fa30bb87d9d606044c --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_task/open_the_middle_drawer_of_the_cabinet.bddl @@ -0,0 +1,127 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language open the bottom drawer of the cabinet) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + wooden_cabinet_1_bottom_region +) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (Open wooden_cabinet_1_bottom_region)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_task/open_the_top_drawer_and_put_the_bowl_inside.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_task/open_the_top_drawer_and_put_the_bowl_inside.bddl new file mode 100644 index 0000000000000000000000000000000000000000..77e20a90e06da4babed86990351ed3f6eeeefba1 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_task/open_the_top_drawer_and_put_the_bowl_inside.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Open the top layer of the drawer and put the cream cheese inside) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + cream_cheese_1 + wooden_cabinet_1_top_region +) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (In cream_cheese_1 wooden_cabinet_1_top_region)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_task/push_the_plate_to_the_front_of_the_stove.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_task/push_the_plate_to_the_front_of_the_stove.bddl new file mode 100644 index 0000000000000000000000000000000000000000..a3e1345511ceaf1529d37915f24a4745e70ebb48 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_task/push_the_plate_to_the_front_of_the_stove.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Push the cream cheese to the front of the stove) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + cream_cheese_1 + main_table_stove_front_region +) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (On cream_cheese_1 main_table_stove_front_region)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_task/put_the_bowl_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_task/put_the_bowl_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..ee2cd2b3454984e9cda389929e1d1bd79a5180af --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_task/put_the_bowl_on_the_plate.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Put the wine bottle on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + wine_bottle_1 + plate_1 +) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (On wine_bottle_1 plate_1)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_task/put_the_bowl_on_the_stove.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_task/put_the_bowl_on_the_stove.bddl new file mode 100644 index 0000000000000000000000000000000000000000..a0bc4c88b7969e7076dd5ca1703f9101cadb5842 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_task/put_the_bowl_on_the_stove.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Put the plate on the stove) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + plate_1 + flat_stove_1_cook_region +) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (On plate_1 flat_stove_1_cook_region)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_task/put_the_bowl_on_top_of_the_cabinet.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_task/put_the_bowl_on_top_of_the_cabinet.bddl new file mode 100644 index 0000000000000000000000000000000000000000..28e2e081aa4153fe89b5c52a2ad579eb1f1eda56 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_task/put_the_bowl_on_top_of_the_cabinet.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Put the plate on the top of the drawer) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + plate_1 + wooden_cabinet_1_top_side +) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (On plate_1 wooden_cabinet_1_top_side)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_task/put_the_cream_cheese_in_the_bowl.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_task/put_the_cream_cheese_in_the_bowl.bddl new file mode 100644 index 0000000000000000000000000000000000000000..85dfd8c36f03323a407b59269933b9584e839210 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_task/put_the_cream_cheese_in_the_bowl.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language put the wine bottle in the bowl) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + wine_bottle_1 + akita_black_bowl_1 +) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (On wine_bottle_1 akita_black_bowl_1)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_task/put_the_wine_bottle_on_the_rack.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_task/put_the_wine_bottle_on_the_rack.bddl new file mode 100644 index 0000000000000000000000000000000000000000..ecf785151e124f74cb878e0b08aa0b5fa68d0a4a --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_task/put_the_wine_bottle_on_the_rack.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Put the cream cheese on the rack) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + cream_cheese_1 + wine_rack_1_top_region +) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (On cream_cheese_1 wine_rack_1_top_region)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_task/put_the_wine_bottle_on_top_of_the_cabinet.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_task/put_the_wine_bottle_on_top_of_the_cabinet.bddl new file mode 100644 index 0000000000000000000000000000000000000000..85dfd8c36f03323a407b59269933b9584e839210 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_task/put_the_wine_bottle_on_top_of_the_cabinet.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language put the wine bottle in the bowl) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + wine_bottle_1 + akita_black_bowl_1 +) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (On wine_bottle_1 akita_black_bowl_1)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal_task/turn_on_the_stove.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal_task/turn_on_the_stove.bddl new file mode 100644 index 0000000000000000000000000000000000000000..5d81fc250ffd5d307a6d3ad5de338e78c60a9ee6 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal_task/turn_on_the_stove.bddl @@ -0,0 +1,127 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Turn off the stove) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + flat_stove_1 +) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (Turnoff flat_stove_1)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_cross/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_cross/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..51dfce0f0244b4d5118ba283fbb6c5ce8360ac89 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_cross/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the alphabet soup and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + alphabet_soup_1 - alphabet_soup + basket_1 - basket + salad_dressing_1 - salad_dressing + cream_cheese_1 - cream_cheese + milk_1 - milk + tomato_sauce_1 - tomato_sauce + butter_1 - butter + ) + + (:obj_of_interest + alphabet_soup_1 + basket_1 + ) + + (:init + (On alphabet_soup_1 floor_target_object_region) + (On salad_dressing_1 floor_other_object_region_0) + (On cream_cheese_1 floor_other_object_region_1) + (On milk_1 floor_other_object_region_2) + (On tomato_sauce_1 floor_other_object_region_3) + (On butter_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In alphabet_soup_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_cross/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_cross/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..543355b1164f931cc6da9be8131e6b8924992397 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_cross/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the bbq sauce and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + bbq_sauce_1 - bbq_sauce + basket_1 - basket + chocolate_pudding_1 - chocolate_pudding + ketchup_1 - ketchup + salad_dressing_1 - salad_dressing + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + ) + + (:obj_of_interest + bbq_sauce_1 + basket_1 + ) + + (:init + (On bbq_sauce_1 floor_target_object_region) + (On chocolate_pudding_1 floor_other_object_region_0) + (On ketchup_1 floor_other_object_region_1) + (On salad_dressing_1 floor_other_object_region_2) + (On alphabet_soup_1 floor_other_object_region_3) + (On cream_cheese_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In bbq_sauce_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_cross/pick_up_the_butter_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_cross/pick_up_the_butter_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..358024afc867808122cf9ea9dfbbdb82c86ad703 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_cross/pick_up_the_butter_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the butter and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + butter_1 - butter + basket_1 - basket + tomato_sauce_1 - tomato_sauce + orange_juice_1 - orange_juice + chocolate_pudding_1 - chocolate_pudding + bbq_sauce_1 - bbq_sauce + ketchup_1 - ketchup + ) + + (:obj_of_interest + butter_1 + basket_1 + ) + + (:init + (On butter_1 floor_target_object_region) + (On tomato_sauce_1 floor_other_object_region_0) + (On orange_juice_1 floor_other_object_region_1) + (On chocolate_pudding_1 floor_other_object_region_2) + (On bbq_sauce_1 floor_other_object_region_3) + (On ketchup_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In butter_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_cross/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_cross/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..1df6bc98ea2e209103a43d5dd2c23620fea4f12c --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_cross/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the chocolate pudding and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + chocolate_pudding_1 - chocolate_pudding + basket_1 - basket + orange_juice_1 - orange_juice + bbq_sauce_1 - bbq_sauce + ketchup_1 - ketchup + salad_dressing_1 - salad_dressing + alphabet_soup_1 - alphabet_soup + ) + + (:obj_of_interest + chocolate_pudding_1 + basket_1 + ) + + (:init + (On chocolate_pudding_1 floor_target_object_region) + (On orange_juice_1 floor_other_object_region_0) + (On bbq_sauce_1 floor_other_object_region_1) + (On ketchup_1 floor_other_object_region_2) + (On salad_dressing_1 floor_other_object_region_3) + (On alphabet_soup_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In chocolate_pudding_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_cross/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_cross/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..a4aa87fd74386ec9a1f034d45cb0e0beafda8def --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_cross/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the cream cheese and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + cream_cheese_1 - cream_cheese + basket_1 - basket + alphabet_soup_1 - alphabet_soup + milk_1 - milk + tomato_sauce_1 - tomato_sauce + butter_1 - butter + orange_juice_1 - orange_juice + ) + + (:obj_of_interest + cream_cheese_1 + basket_1 + ) + + (:init + (On cream_cheese_1 floor_target_object_region) + (On alphabet_soup_1 floor_other_object_region_0) + (On milk_1 floor_other_object_region_1) + (On tomato_sauce_1 floor_other_object_region_2) + (On butter_1 floor_other_object_region_3) + (On orange_juice_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In cream_cheese_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_cross/pick_up_the_ketchup_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_cross/pick_up_the_ketchup_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..797e9f1cb35383e42c164d7ca311cefca4015869 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_cross/pick_up_the_ketchup_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the ketchup and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + ketchup_1 - ketchup + basket_1 - basket + bbq_sauce_1 - bbq_sauce + salad_dressing_1 - salad_dressing + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + milk_1 - milk + ) + + (:obj_of_interest + ketchup_1 + basket_1 + ) + + (:init + (On ketchup_1 floor_target_object_region) + (On bbq_sauce_1 floor_other_object_region_0) + (On salad_dressing_1 floor_other_object_region_1) + (On alphabet_soup_1 floor_other_object_region_2) + (On cream_cheese_1 floor_other_object_region_3) + (On milk_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In ketchup_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_cross/pick_up_the_milk_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_cross/pick_up_the_milk_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..6b10f254cd992cdb1da1b2382b4dff396d43fc35 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_cross/pick_up_the_milk_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the milk and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + milk_1 - milk + basket_1 - basket + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + butter_1 - butter + orange_juice_1 - orange_juice + chocolate_pudding_1 - chocolate_pudding + ) + + (:obj_of_interest + milk_1 + basket_1 + ) + + (:init + (On milk_1 floor_target_object_region) + (On cream_cheese_1 floor_other_object_region_0) + (On tomato_sauce_1 floor_other_object_region_1) + (On butter_1 floor_other_object_region_2) + (On orange_juice_1 floor_other_object_region_3) + (On chocolate_pudding_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In milk_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_cross/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_cross/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..517bb4eef4fb1ee89f85cfef4a200eb2a88d175a --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_cross/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the orange juice and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + orange_juice_1 - orange_juice + basket_1 - basket + butter_1 - butter + chocolate_pudding_1 - chocolate_pudding + bbq_sauce_1 - bbq_sauce + ketchup_1 - ketchup + salad_dressing_1 - salad_dressing + ) + + (:obj_of_interest + orange_juice_1 + basket_1 + ) + + (:init + (On orange_juice_1 floor_target_object_region) + (On butter_1 floor_other_object_region_0) + (On chocolate_pudding_1 floor_other_object_region_1) + (On bbq_sauce_1 floor_other_object_region_2) + (On ketchup_1 floor_other_object_region_3) + (On salad_dressing_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In orange_juice_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_cross/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_cross/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..f83758a229d7a098eaaa1b2c1bd33093aa7c8e33 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_cross/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the salad dressing and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + salad_dressing_1 - salad_dressing + basket_1 - basket + ketchup_1 - ketchup + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + milk_1 - milk + tomato_sauce_1 - tomato_sauce + ) + + (:obj_of_interest + salad_dressing_1 + basket_1 + ) + + (:init + (On salad_dressing_1 floor_target_object_region) + (On ketchup_1 floor_other_object_region_0) + (On alphabet_soup_1 floor_other_object_region_1) + (On cream_cheese_1 floor_other_object_region_2) + (On milk_1 floor_other_object_region_3) + (On tomato_sauce_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In salad_dressing_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_cross/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_cross/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..d48e7b34ce9325a9ba9f16aaf5bafb210ee1d028 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_cross/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the tomato sauce and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + tomato_sauce_1 - tomato_sauce + basket_1 - basket + milk_1 - milk + butter_1 - butter + orange_juice_1 - orange_juice + chocolate_pudding_1 - chocolate_pudding + bbq_sauce_1 - bbq_sauce + ) + + (:obj_of_interest + tomato_sauce_1 + basket_1 + ) + + (:init + (On tomato_sauce_1 floor_target_object_region) + (On milk_1 floor_other_object_region_0) + (On butter_1 floor_other_object_region_1) + (On orange_juice_1 floor_other_object_region_2) + (On chocolate_pudding_1 floor_other_object_region_3) + (On bbq_sauce_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In tomato_sauce_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_cross/tasks_info.txt b/third_party/libero/libero/libero/bddl_files/libero_object_cross/tasks_info.txt new file mode 100644 index 0000000000000000000000000000000000000000..9ed64b7df73bd31bcddc5c756fdebdf7eb6397df --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_cross/tasks_info.txt @@ -0,0 +1,10 @@ +libero/bddl_files/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl +libero/bddl_files/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl +libero/bddl_files/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl +libero/bddl_files/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl +libero/bddl_files/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl +libero/bddl_files/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl +libero/bddl_files/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl +libero/bddl_files/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl +libero/bddl_files/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl +libero/bddl_files/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_lan/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_lan/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..df85b81cf35b1180c3e5b29142c16fa0bb2a41a2 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_lan/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language grab alphabet soup and put it into basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + alphabet_soup_1 - alphabet_soup + basket_1 - basket + salad_dressing_1 - salad_dressing + cream_cheese_1 - cream_cheese + milk_1 - milk + tomato_sauce_1 - tomato_sauce + butter_1 - butter + ) + + (:obj_of_interest + alphabet_soup_1 + basket_1 + ) + + (:init + (On alphabet_soup_1 floor_target_object_region) + (On salad_dressing_1 floor_other_object_region_0) + (On cream_cheese_1 floor_other_object_region_1) + (On milk_1 floor_other_object_region_2) + (On tomato_sauce_1 floor_other_object_region_3) + (On butter_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In alphabet_soup_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_lan/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_lan/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..851b8223de9ceedb556e12c4f1100c8e22cc6127 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_lan/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language pick up bbq sauce and put it into basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + bbq_sauce_1 - bbq_sauce + basket_1 - basket + chocolate_pudding_1 - chocolate_pudding + ketchup_1 - ketchup + salad_dressing_1 - salad_dressing + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + ) + + (:obj_of_interest + bbq_sauce_1 + basket_1 + ) + + (:init + (On bbq_sauce_1 floor_target_object_region) + (On chocolate_pudding_1 floor_other_object_region_0) + (On ketchup_1 floor_other_object_region_1) + (On salad_dressing_1 floor_other_object_region_2) + (On alphabet_soup_1 floor_other_object_region_3) + (On cream_cheese_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In bbq_sauce_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_lan/pick_up_the_butter_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_lan/pick_up_the_butter_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..9a57ec89eb24b19752d0130ca40359516e76a088 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_lan/pick_up_the_butter_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language grab butter and put it into basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + butter_1 - butter + basket_1 - basket + tomato_sauce_1 - tomato_sauce + orange_juice_1 - orange_juice + chocolate_pudding_1 - chocolate_pudding + bbq_sauce_1 - bbq_sauce + ketchup_1 - ketchup + ) + + (:obj_of_interest + butter_1 + basket_1 + ) + + (:init + (On butter_1 floor_target_object_region) + (On tomato_sauce_1 floor_other_object_region_0) + (On orange_juice_1 floor_other_object_region_1) + (On chocolate_pudding_1 floor_other_object_region_2) + (On bbq_sauce_1 floor_other_object_region_3) + (On ketchup_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In butter_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_lan/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_lan/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..ca81734d2303776b1f4462c7752bbe1199c477eb --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_lan/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language lift chocolate pudding and put it in basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + chocolate_pudding_1 - chocolate_pudding + basket_1 - basket + orange_juice_1 - orange_juice + bbq_sauce_1 - bbq_sauce + ketchup_1 - ketchup + salad_dressing_1 - salad_dressing + alphabet_soup_1 - alphabet_soup + ) + + (:obj_of_interest + chocolate_pudding_1 + basket_1 + ) + + (:init + (On chocolate_pudding_1 floor_target_object_region) + (On orange_juice_1 floor_other_object_region_0) + (On bbq_sauce_1 floor_other_object_region_1) + (On ketchup_1 floor_other_object_region_2) + (On salad_dressing_1 floor_other_object_region_3) + (On alphabet_soup_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In chocolate_pudding_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_lan/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_lan/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..aa194ee55c339255c784ffb278234786f4bb2dba --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_lan/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language grab cream cheese and put into basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + cream_cheese_1 - cream_cheese + basket_1 - basket + alphabet_soup_1 - alphabet_soup + milk_1 - milk + tomato_sauce_1 - tomato_sauce + butter_1 - butter + orange_juice_1 - orange_juice + ) + + (:obj_of_interest + cream_cheese_1 + basket_1 + ) + + (:init + (On cream_cheese_1 floor_target_object_region) + (On alphabet_soup_1 floor_other_object_region_0) + (On milk_1 floor_other_object_region_1) + (On tomato_sauce_1 floor_other_object_region_2) + (On butter_1 floor_other_object_region_3) + (On orange_juice_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In cream_cheese_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_lan/pick_up_the_ketchup_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_lan/pick_up_the_ketchup_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..c569c924af506815e6e031d416e02e5cd39e6380 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_lan/pick_up_the_ketchup_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language lift ketchup and put it in basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + ketchup_1 - ketchup + basket_1 - basket + bbq_sauce_1 - bbq_sauce + salad_dressing_1 - salad_dressing + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + milk_1 - milk + ) + + (:obj_of_interest + ketchup_1 + basket_1 + ) + + (:init + (On ketchup_1 floor_target_object_region) + (On bbq_sauce_1 floor_other_object_region_0) + (On salad_dressing_1 floor_other_object_region_1) + (On alphabet_soup_1 floor_other_object_region_2) + (On cream_cheese_1 floor_other_object_region_3) + (On milk_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In ketchup_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_lan/pick_up_the_milk_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_lan/pick_up_the_milk_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..095cf267e76282242e322c71a6f76cf67ddbdb13 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_lan/pick_up_the_milk_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language grab milk and put into basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + milk_1 - milk + basket_1 - basket + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + butter_1 - butter + orange_juice_1 - orange_juice + chocolate_pudding_1 - chocolate_pudding + ) + + (:obj_of_interest + milk_1 + basket_1 + ) + + (:init + (On milk_1 floor_target_object_region) + (On cream_cheese_1 floor_other_object_region_0) + (On tomato_sauce_1 floor_other_object_region_1) + (On butter_1 floor_other_object_region_2) + (On orange_juice_1 floor_other_object_region_3) + (On chocolate_pudding_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In milk_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_lan/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_lan/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..dd18ba1c6ff176f16e134f1959b9ee432a058b42 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_lan/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language pick orange juice and put into basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + orange_juice_1 - orange_juice + basket_1 - basket + butter_1 - butter + chocolate_pudding_1 - chocolate_pudding + bbq_sauce_1 - bbq_sauce + ketchup_1 - ketchup + salad_dressing_1 - salad_dressing + ) + + (:obj_of_interest + orange_juice_1 + basket_1 + ) + + (:init + (On orange_juice_1 floor_target_object_region) + (On butter_1 floor_other_object_region_0) + (On chocolate_pudding_1 floor_other_object_region_1) + (On bbq_sauce_1 floor_other_object_region_2) + (On ketchup_1 floor_other_object_region_3) + (On salad_dressing_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In orange_juice_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_lan/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_lan/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..75547eadd79d55599774d88be00c166f188395ac --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_lan/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language grab salad dressing and put into basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + salad_dressing_1 - salad_dressing + basket_1 - basket + ketchup_1 - ketchup + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + milk_1 - milk + tomato_sauce_1 - tomato_sauce + ) + + (:obj_of_interest + salad_dressing_1 + basket_1 + ) + + (:init + (On salad_dressing_1 floor_target_object_region) + (On ketchup_1 floor_other_object_region_0) + (On alphabet_soup_1 floor_other_object_region_1) + (On cream_cheese_1 floor_other_object_region_2) + (On milk_1 floor_other_object_region_3) + (On tomato_sauce_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In salad_dressing_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_lan/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_lan/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..5ed7b6910e581ef9ec69a1e024f98bdbecbfb975 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_lan/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language pick tomato sauce and put it in basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + tomato_sauce_1 - tomato_sauce + basket_1 - basket + milk_1 - milk + butter_1 - butter + orange_juice_1 - orange_juice + chocolate_pudding_1 - chocolate_pudding + bbq_sauce_1 - bbq_sauce + ) + + (:obj_of_interest + tomato_sauce_1 + basket_1 + ) + + (:init + (On tomato_sauce_1 floor_target_object_region) + (On milk_1 floor_other_object_region_0) + (On butter_1 floor_other_object_region_1) + (On orange_juice_1 floor_other_object_region_2) + (On chocolate_pudding_1 floor_other_object_region_3) + (On bbq_sauce_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In tomato_sauce_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..74a3a9f08a857595f569387e267a1af5fcef8a70 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the alphabet soup and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target red_basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + bigger_alphabet_soup_1 - bigger_alphabet_soup + red_basket_1 - red_basket + salad_dressing_1 - salad_dressing + cream_cheese_1 - cream_cheese + milk_1 - milk + tomato_sauce_1 - tomato_sauce + butter_1 - butter + ) + + (:obj_of_interest + bigger_alphabet_soup_1 + red_basket_1 + ) + + (:init + (On bigger_alphabet_soup_1 floor_target_object_region) + (On salad_dressing_1 floor_other_object_region_0) + (On cream_cheese_1 floor_other_object_region_1) + (On milk_1 floor_other_object_region_2) + (On tomato_sauce_1 floor_other_object_region_3) + (On butter_1 floor_other_object_region_4) + (On red_basket_1 floor_bin_region) + ) + + (:goal + (And (In bigger_alphabet_soup_1 red_basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..e7e57944dedb881bc11af6010c0bdf993369d9eb --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the bbq sauce and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target red_basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + green_bbq_sauce_1 - green_bbq_sauce + red_basket_1 - red_basket + chocolate_pudding_1 - chocolate_pudding + ketchup_1 - ketchup + salad_dressing_1 - salad_dressing + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + ) + + (:obj_of_interest + green_bbq_sauce_1 + red_basket_1 + ) + + (:init + (On green_bbq_sauce_1 floor_target_object_region) + (On chocolate_pudding_1 floor_other_object_region_0) + (On ketchup_1 floor_other_object_region_1) + (On salad_dressing_1 floor_other_object_region_2) + (On alphabet_soup_1 floor_other_object_region_3) + (On cream_cheese_1 floor_other_object_region_4) + (On red_basket_1 floor_bin_region) + ) + + (:goal + (And (In green_bbq_sauce_1 red_basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_object/pick_up_the_butter_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_object/pick_up_the_butter_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..b4e10d1014700bf240ce404f5ea59b3d2dfb16f5 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_object/pick_up_the_butter_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the butter and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target red_basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + green_butter_1 - green_butter + red_basket_1 - red_basket + tomato_sauce_1 - tomato_sauce + orange_juice_1 - orange_juice + chocolate_pudding_1 - chocolate_pudding + bbq_sauce_1 - bbq_sauce + ketchup_1 - ketchup + ) + + (:obj_of_interest + green_butter_1 + red_basket_1 + ) + + (:init + (On green_butter_1 floor_target_object_region) + (On tomato_sauce_1 floor_other_object_region_0) + (On orange_juice_1 floor_other_object_region_1) + (On chocolate_pudding_1 floor_other_object_region_2) + (On bbq_sauce_1 floor_other_object_region_3) + (On ketchup_1 floor_other_object_region_4) + (On red_basket_1 floor_bin_region) + ) + + (:goal + (And (In green_butter_1 red_basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..b5d987ba582b5007e4f0ca0e0e24cd5f1a389d3e --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the chocolate pudding and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target red_basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + green_chocolate_pudding_1 - green_chocolate_pudding + red_basket_1 - red_basket + orange_juice_1 - orange_juice + bbq_sauce_1 - bbq_sauce + ketchup_1 - ketchup + salad_dressing_1 - salad_dressing + alphabet_soup_1 - alphabet_soup + ) + + (:obj_of_interest + green_chocolate_pudding_1 + red_basket_1 + ) + + (:init + (On green_chocolate_pudding_1 floor_target_object_region) + (On orange_juice_1 floor_other_object_region_0) + (On bbq_sauce_1 floor_other_object_region_1) + (On ketchup_1 floor_other_object_region_2) + (On salad_dressing_1 floor_other_object_region_3) + (On alphabet_soup_1 floor_other_object_region_4) + (On red_basket_1 floor_bin_region) + ) + + (:goal + (And (In green_chocolate_pudding_1 red_basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..0276686954896d8b97a89578dae9937d11bf90f9 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the cream cheese and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target red_basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + red_cream_cheese_1 - red_cream_cheese + red_basket_1 - red_basket + alphabet_soup_1 - alphabet_soup + milk_1 - milk + tomato_sauce_1 - tomato_sauce + butter_1 - butter + orange_juice_1 - orange_juice + ) + + (:obj_of_interest + red_cream_cheese_1 + red_basket_1 + ) + + (:init + (On red_cream_cheese_1 floor_target_object_region) + (On alphabet_soup_1 floor_other_object_region_0) + (On milk_1 floor_other_object_region_1) + (On tomato_sauce_1 floor_other_object_region_2) + (On butter_1 floor_other_object_region_3) + (On orange_juice_1 floor_other_object_region_4) + (On red_basket_1 floor_bin_region) + ) + + (:goal + (And (In red_cream_cheese_1 red_basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..ba344d0d6940b9a80b3c2c5322ae6ef5cf59db2d --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the ketchup and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target red_basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + blue_ketchup_1 - blue_ketchup + red_basket_1 - red_basket + bbq_sauce_1 - bbq_sauce + salad_dressing_1 - salad_dressing + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + milk_1 - milk + ) + + (:obj_of_interest + blue_ketchup_1 + red_basket_1 + ) + + (:init + (On blue_ketchup_1 floor_target_object_region) + (On bbq_sauce_1 floor_other_object_region_0) + (On salad_dressing_1 floor_other_object_region_1) + (On alphabet_soup_1 floor_other_object_region_2) + (On cream_cheese_1 floor_other_object_region_3) + (On milk_1 floor_other_object_region_4) + (On red_basket_1 floor_bin_region) + ) + + (:goal + (And (In blue_ketchup_1 red_basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_object/pick_up_the_milk_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_object/pick_up_the_milk_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..b95e6a730a8323d98944964c5fbb989b405d5a7b --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_object/pick_up_the_milk_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the milk and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target red_basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + yellow_milk_1 - yellow_milk + red_basket_1 - red_basket + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + butter_1 - butter + orange_juice_1 - orange_juice + chocolate_pudding_1 - chocolate_pudding + ) + + (:obj_of_interest + yellow_milk_1 + red_basket_1 + ) + + (:init + (On yellow_milk_1 floor_target_object_region) + (On cream_cheese_1 floor_other_object_region_0) + (On tomato_sauce_1 floor_other_object_region_1) + (On butter_1 floor_other_object_region_2) + (On orange_juice_1 floor_other_object_region_3) + (On chocolate_pudding_1 floor_other_object_region_4) + (On red_basket_1 floor_bin_region) + ) + + (:goal + (And (In yellow_milk_1 red_basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..3410cbf70ded111572f0e902ebd68737a56d896b --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the orange juice and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target red_basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + orange_juice_1 - orange_juice + red_basket_1 - red_basket + butter_1 - butter + chocolate_pudding_1 - chocolate_pudding + bbq_sauce_1 - bbq_sauce + ketchup_1 - ketchup + salad_dressing_1 - salad_dressing + ) + + (:obj_of_interest + orange_juice_1 + red_basket_1 + ) + + (:init + (On orange_juice_1 floor_target_object_region) + (On butter_1 floor_other_object_region_0) + (On chocolate_pudding_1 floor_other_object_region_1) + (On bbq_sauce_1 floor_other_object_region_2) + (On ketchup_1 floor_other_object_region_3) + (On salad_dressing_1 floor_other_object_region_4) + (On red_basket_1 floor_bin_region) + ) + + (:goal + (And (In orange_juice_1 red_basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..64968fadd8bd4c16da7b20372d89edb8db9adef1 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the salad dressing and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target red_basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + red_salad_dressing_1 - red_salad_dressing + red_basket_1 - red_basket + ketchup_1 - ketchup + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + milk_1 - milk + tomato_sauce_1 - tomato_sauce + ) + + (:obj_of_interest + red_salad_dressing_1 + red_basket_1 + ) + + (:init + (On red_salad_dressing_1 floor_target_object_region) + (On ketchup_1 floor_other_object_region_0) + (On alphabet_soup_1 floor_other_object_region_1) + (On cream_cheese_1 floor_other_object_region_2) + (On milk_1 floor_other_object_region_3) + (On tomato_sauce_1 floor_other_object_region_4) + (On red_basket_1 floor_bin_region) + ) + + (:goal + (And (In red_salad_dressing_1 red_basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..c419b07c243d0fd245dfe8479bc3fec20b5d443c --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the tomato sauce and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target red_basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + yellow_tomato_sauce_1 - yellow_tomato_sauce + red_basket_1 - red_basket + milk_1 - milk + butter_1 - butter + orange_juice_1 - orange_juice + chocolate_pudding_1 - chocolate_pudding + bbq_sauce_1 - bbq_sauce + ) + + (:obj_of_interest + yellow_tomato_sauce_1 + red_basket_1 + ) + + (:init + (On yellow_tomato_sauce_1 floor_target_object_region) + (On milk_1 floor_other_object_region_0) + (On butter_1 floor_other_object_region_1) + (On orange_juice_1 floor_other_object_region_2) + (On chocolate_pudding_1 floor_other_object_region_3) + (On bbq_sauce_1 floor_other_object_region_4) + (On red_basket_1 floor_bin_region) + ) + + (:goal + (And (In yellow_tomato_sauce_1 red_basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_sawyer/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_sawyer/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..51dfce0f0244b4d5118ba283fbb6c5ce8360ac89 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_sawyer/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the alphabet soup and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + alphabet_soup_1 - alphabet_soup + basket_1 - basket + salad_dressing_1 - salad_dressing + cream_cheese_1 - cream_cheese + milk_1 - milk + tomato_sauce_1 - tomato_sauce + butter_1 - butter + ) + + (:obj_of_interest + alphabet_soup_1 + basket_1 + ) + + (:init + (On alphabet_soup_1 floor_target_object_region) + (On salad_dressing_1 floor_other_object_region_0) + (On cream_cheese_1 floor_other_object_region_1) + (On milk_1 floor_other_object_region_2) + (On tomato_sauce_1 floor_other_object_region_3) + (On butter_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In alphabet_soup_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_sawyer/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_sawyer/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..543355b1164f931cc6da9be8131e6b8924992397 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_sawyer/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the bbq sauce and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + bbq_sauce_1 - bbq_sauce + basket_1 - basket + chocolate_pudding_1 - chocolate_pudding + ketchup_1 - ketchup + salad_dressing_1 - salad_dressing + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + ) + + (:obj_of_interest + bbq_sauce_1 + basket_1 + ) + + (:init + (On bbq_sauce_1 floor_target_object_region) + (On chocolate_pudding_1 floor_other_object_region_0) + (On ketchup_1 floor_other_object_region_1) + (On salad_dressing_1 floor_other_object_region_2) + (On alphabet_soup_1 floor_other_object_region_3) + (On cream_cheese_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In bbq_sauce_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_sawyer/pick_up_the_butter_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_sawyer/pick_up_the_butter_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..358024afc867808122cf9ea9dfbbdb82c86ad703 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_sawyer/pick_up_the_butter_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the butter and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + butter_1 - butter + basket_1 - basket + tomato_sauce_1 - tomato_sauce + orange_juice_1 - orange_juice + chocolate_pudding_1 - chocolate_pudding + bbq_sauce_1 - bbq_sauce + ketchup_1 - ketchup + ) + + (:obj_of_interest + butter_1 + basket_1 + ) + + (:init + (On butter_1 floor_target_object_region) + (On tomato_sauce_1 floor_other_object_region_0) + (On orange_juice_1 floor_other_object_region_1) + (On chocolate_pudding_1 floor_other_object_region_2) + (On bbq_sauce_1 floor_other_object_region_3) + (On ketchup_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In butter_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_sawyer/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_sawyer/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..1df6bc98ea2e209103a43d5dd2c23620fea4f12c --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_sawyer/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the chocolate pudding and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + chocolate_pudding_1 - chocolate_pudding + basket_1 - basket + orange_juice_1 - orange_juice + bbq_sauce_1 - bbq_sauce + ketchup_1 - ketchup + salad_dressing_1 - salad_dressing + alphabet_soup_1 - alphabet_soup + ) + + (:obj_of_interest + chocolate_pudding_1 + basket_1 + ) + + (:init + (On chocolate_pudding_1 floor_target_object_region) + (On orange_juice_1 floor_other_object_region_0) + (On bbq_sauce_1 floor_other_object_region_1) + (On ketchup_1 floor_other_object_region_2) + (On salad_dressing_1 floor_other_object_region_3) + (On alphabet_soup_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In chocolate_pudding_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_sawyer/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_sawyer/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..a4aa87fd74386ec9a1f034d45cb0e0beafda8def --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_sawyer/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the cream cheese and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + cream_cheese_1 - cream_cheese + basket_1 - basket + alphabet_soup_1 - alphabet_soup + milk_1 - milk + tomato_sauce_1 - tomato_sauce + butter_1 - butter + orange_juice_1 - orange_juice + ) + + (:obj_of_interest + cream_cheese_1 + basket_1 + ) + + (:init + (On cream_cheese_1 floor_target_object_region) + (On alphabet_soup_1 floor_other_object_region_0) + (On milk_1 floor_other_object_region_1) + (On tomato_sauce_1 floor_other_object_region_2) + (On butter_1 floor_other_object_region_3) + (On orange_juice_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In cream_cheese_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_sawyer/pick_up_the_ketchup_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_sawyer/pick_up_the_ketchup_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..797e9f1cb35383e42c164d7ca311cefca4015869 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_sawyer/pick_up_the_ketchup_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the ketchup and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + ketchup_1 - ketchup + basket_1 - basket + bbq_sauce_1 - bbq_sauce + salad_dressing_1 - salad_dressing + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + milk_1 - milk + ) + + (:obj_of_interest + ketchup_1 + basket_1 + ) + + (:init + (On ketchup_1 floor_target_object_region) + (On bbq_sauce_1 floor_other_object_region_0) + (On salad_dressing_1 floor_other_object_region_1) + (On alphabet_soup_1 floor_other_object_region_2) + (On cream_cheese_1 floor_other_object_region_3) + (On milk_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In ketchup_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_sawyer/pick_up_the_milk_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_sawyer/pick_up_the_milk_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..6b10f254cd992cdb1da1b2382b4dff396d43fc35 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_sawyer/pick_up_the_milk_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the milk and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + milk_1 - milk + basket_1 - basket + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + butter_1 - butter + orange_juice_1 - orange_juice + chocolate_pudding_1 - chocolate_pudding + ) + + (:obj_of_interest + milk_1 + basket_1 + ) + + (:init + (On milk_1 floor_target_object_region) + (On cream_cheese_1 floor_other_object_region_0) + (On tomato_sauce_1 floor_other_object_region_1) + (On butter_1 floor_other_object_region_2) + (On orange_juice_1 floor_other_object_region_3) + (On chocolate_pudding_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In milk_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_sawyer/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_sawyer/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..517bb4eef4fb1ee89f85cfef4a200eb2a88d175a --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_sawyer/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the orange juice and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + orange_juice_1 - orange_juice + basket_1 - basket + butter_1 - butter + chocolate_pudding_1 - chocolate_pudding + bbq_sauce_1 - bbq_sauce + ketchup_1 - ketchup + salad_dressing_1 - salad_dressing + ) + + (:obj_of_interest + orange_juice_1 + basket_1 + ) + + (:init + (On orange_juice_1 floor_target_object_region) + (On butter_1 floor_other_object_region_0) + (On chocolate_pudding_1 floor_other_object_region_1) + (On bbq_sauce_1 floor_other_object_region_2) + (On ketchup_1 floor_other_object_region_3) + (On salad_dressing_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In orange_juice_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_sawyer/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_sawyer/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..f83758a229d7a098eaaa1b2c1bd33093aa7c8e33 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_sawyer/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the salad dressing and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + salad_dressing_1 - salad_dressing + basket_1 - basket + ketchup_1 - ketchup + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + milk_1 - milk + tomato_sauce_1 - tomato_sauce + ) + + (:obj_of_interest + salad_dressing_1 + basket_1 + ) + + (:init + (On salad_dressing_1 floor_target_object_region) + (On ketchup_1 floor_other_object_region_0) + (On alphabet_soup_1 floor_other_object_region_1) + (On cream_cheese_1 floor_other_object_region_2) + (On milk_1 floor_other_object_region_3) + (On tomato_sauce_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In salad_dressing_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_sawyer/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_sawyer/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..d48e7b34ce9325a9ba9f16aaf5bafb210ee1d028 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_sawyer/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the tomato sauce and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + tomato_sauce_1 - tomato_sauce + basket_1 - basket + milk_1 - milk + butter_1 - butter + orange_juice_1 - orange_juice + chocolate_pudding_1 - chocolate_pudding + bbq_sauce_1 - bbq_sauce + ) + + (:obj_of_interest + tomato_sauce_1 + basket_1 + ) + + (:init + (On tomato_sauce_1 floor_target_object_region) + (On milk_1 floor_other_object_region_0) + (On butter_1 floor_other_object_region_1) + (On orange_juice_1 floor_other_object_region_2) + (On chocolate_pudding_1 floor_other_object_region_3) + (On bbq_sauce_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In tomato_sauce_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_sawyer/tasks_info.txt b/third_party/libero/libero/libero/bddl_files/libero_object_sawyer/tasks_info.txt new file mode 100644 index 0000000000000000000000000000000000000000..9ed64b7df73bd31bcddc5c756fdebdf7eb6397df --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_sawyer/tasks_info.txt @@ -0,0 +1,10 @@ +libero/bddl_files/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl +libero/bddl_files/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl +libero/bddl_files/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl +libero/bddl_files/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl +libero/bddl_files/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl +libero/bddl_files/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl +libero/bddl_files/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl +libero/bddl_files/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl +libero/bddl_files/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl +libero/bddl_files/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_swap/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_swap/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..92212c984c44050e7849315ca35e77ab0a1f711c --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_swap/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the alphabet soup and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + alphabet_soup_1 - alphabet_soup + basket_1 - basket + salad_dressing_1 - salad_dressing + cream_cheese_1 - cream_cheese + milk_1 - milk + tomato_sauce_1 - tomato_sauce + butter_1 - butter + ) + + (:obj_of_interest + alphabet_soup_1 + basket_1 + ) + + (:init + (On alphabet_soup_1 floor_other_object_region_4) + (On salad_dressing_1 floor_other_object_region_0) + (On cream_cheese_1 floor_other_object_region_1) + (On milk_1 floor_other_object_region_2) + (On tomato_sauce_1 floor_other_object_region_3) + (On butter_1 floor_target_object_region) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In alphabet_soup_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_swap/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_swap/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..a172c54c6061672d98d629575936a9d7353b415d --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_swap/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the bbq sauce and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + bbq_sauce_1 - bbq_sauce + basket_1 - basket + chocolate_pudding_1 - chocolate_pudding + ketchup_1 - ketchup + salad_dressing_1 - salad_dressing + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + ) + + (:obj_of_interest + bbq_sauce_1 + basket_1 + ) + + (:init + (On bbq_sauce_1 floor_other_object_region_0) + (On chocolate_pudding_1 floor_target_object_region) + (On ketchup_1 floor_other_object_region_1) + (On salad_dressing_1 floor_other_object_region_2) + (On alphabet_soup_1 floor_other_object_region_3) + (On cream_cheese_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In bbq_sauce_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_swap/pick_up_the_butter_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_swap/pick_up_the_butter_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..6da532f2e4f05b6f6bb74048f0757b46d81b3350 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_swap/pick_up_the_butter_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the butter and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + butter_1 - butter + basket_1 - basket + tomato_sauce_1 - tomato_sauce + orange_juice_1 - orange_juice + chocolate_pudding_1 - chocolate_pudding + bbq_sauce_1 - bbq_sauce + ketchup_1 - ketchup + ) + + (:obj_of_interest + butter_1 + basket_1 + ) + + (:init + (On butter_1 floor_other_object_region_0) + (On tomato_sauce_1 floor_target_object_region) + (On orange_juice_1 floor_other_object_region_1) + (On chocolate_pudding_1 floor_other_object_region_2) + (On bbq_sauce_1 floor_other_object_region_3) + (On ketchup_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In butter_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_swap/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_swap/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..fc9bdf1419e2ebc6484e0be4304444c0a8b6cf2b --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_swap/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the chocolate pudding and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + chocolate_pudding_1 - chocolate_pudding + basket_1 - basket + orange_juice_1 - orange_juice + bbq_sauce_1 - bbq_sauce + ketchup_1 - ketchup + salad_dressing_1 - salad_dressing + alphabet_soup_1 - alphabet_soup + ) + + (:obj_of_interest + chocolate_pudding_1 + basket_1 + ) + + (:init + (On chocolate_pudding_1 floor_other_object_region_2) + (On orange_juice_1 floor_other_object_region_0) + (On bbq_sauce_1 floor_other_object_region_1) + (On ketchup_1 floor_target_object_region) + (On salad_dressing_1 floor_other_object_region_3) + (On alphabet_soup_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In chocolate_pudding_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_swap/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_swap/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..1ce086baf55f8955038b3c3dade16aa719c775c9 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_swap/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the cream cheese and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + cream_cheese_1 - cream_cheese + basket_1 - basket + alphabet_soup_1 - alphabet_soup + milk_1 - milk + tomato_sauce_1 - tomato_sauce + butter_1 - butter + orange_juice_1 - orange_juice + ) + + (:obj_of_interest + cream_cheese_1 + basket_1 + ) + + (:init + (On cream_cheese_1 floor_other_object_region_0) + (On alphabet_soup_1 floor_target_object_region) + (On milk_1 floor_other_object_region_1) + (On tomato_sauce_1 floor_other_object_region_2) + (On butter_1 floor_other_object_region_3) + (On orange_juice_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In cream_cheese_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_swap/pick_up_the_ketchup_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_swap/pick_up_the_ketchup_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..d9c918d16c3dabc3fea68e2a8e58237478ecf6f1 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_swap/pick_up_the_ketchup_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the ketchup and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + ketchup_1 - ketchup + basket_1 - basket + bbq_sauce_1 - bbq_sauce + salad_dressing_1 - salad_dressing + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + milk_1 - milk + ) + + (:obj_of_interest + ketchup_1 + basket_1 + ) + + (:init + (On ketchup_1 floor_other_object_region_3) + (On bbq_sauce_1 floor_other_object_region_0) + (On salad_dressing_1 floor_other_object_region_1) + (On alphabet_soup_1 floor_other_object_region_2) + (On cream_cheese_1 floor_target_object_region) + (On milk_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In ketchup_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_swap/pick_up_the_milk_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_swap/pick_up_the_milk_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..4c5a91ef002802c92bc4e930401d865604de6025 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_swap/pick_up_the_milk_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the milk and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + milk_1 - milk + basket_1 - basket + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + butter_1 - butter + orange_juice_1 - orange_juice + chocolate_pudding_1 - chocolate_pudding + ) + + (:obj_of_interest + milk_1 + basket_1 + ) + + (:init + (On milk_1 floor_other_object_region_0) + (On cream_cheese_1 floor_target_object_region) + (On tomato_sauce_1 floor_other_object_region_1) + (On butter_1 floor_other_object_region_2) + (On orange_juice_1 floor_other_object_region_3) + (On chocolate_pudding_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In milk_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_swap/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_swap/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..b1fd3fbd60e648221c10be3ba07b4253713c87f9 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_swap/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the orange juice and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + orange_juice_1 - orange_juice + basket_1 - basket + butter_1 - butter + chocolate_pudding_1 - chocolate_pudding + bbq_sauce_1 - bbq_sauce + ketchup_1 - ketchup + salad_dressing_1 - salad_dressing + ) + + (:obj_of_interest + orange_juice_1 + basket_1 + ) + + (:init + (On orange_juice_1 floor_other_object_region_1) + (On butter_1 floor_other_object_region_0) + (On chocolate_pudding_1 floor_target_object_region) + (On bbq_sauce_1 floor_other_object_region_2) + (On ketchup_1 floor_other_object_region_3) + (On salad_dressing_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In orange_juice_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_swap/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_swap/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..e06d70e723965333e354fca6a755e5bfb99bce45 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_swap/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the salad dressing and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + salad_dressing_1 - salad_dressing + basket_1 - basket + ketchup_1 - ketchup + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + milk_1 - milk + tomato_sauce_1 - tomato_sauce + ) + + (:obj_of_interest + salad_dressing_1 + basket_1 + ) + + (:init + (On salad_dressing_1 floor_other_object_region_4) + (On ketchup_1 floor_other_object_region_0) + (On alphabet_soup_1 floor_other_object_region_1) + (On cream_cheese_1 floor_other_object_region_2) + (On milk_1 floor_other_object_region_3) + (On tomato_sauce_1 floor_target_object_region) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In salad_dressing_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_swap/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_swap/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..93414cc1687273be714478bb7d64cf253dd62cec --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_swap/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the tomato sauce and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + tomato_sauce_1 - tomato_sauce + basket_1 - basket + milk_1 - milk + butter_1 - butter + orange_juice_1 - orange_juice + chocolate_pudding_1 - chocolate_pudding + bbq_sauce_1 - bbq_sauce + ) + + (:obj_of_interest + tomato_sauce_1 + basket_1 + ) + + (:init + (On tomato_sauce_1 floor_other_object_region_0) + (On milk_1 floor_target_object_region) + (On butter_1 floor_other_object_region_1) + (On orange_juice_1 floor_other_object_region_2) + (On chocolate_pudding_1 floor_other_object_region_3) + (On bbq_sauce_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In tomato_sauce_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_task/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_task/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..94d03472e473e4707ef9c78a2fc7a5abc9273732 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_task/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the cream cheese and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + alphabet_soup_1 - alphabet_soup + basket_1 - basket + salad_dressing_1 - salad_dressing + cream_cheese_1 - cream_cheese + milk_1 - milk + tomato_sauce_1 - tomato_sauce + butter_1 - butter + ) + + (:obj_of_interest + cream_cheese_1 + basket_1_contain_region +) + + (:init + (On alphabet_soup_1 floor_target_object_region) + (On salad_dressing_1 floor_other_object_region_0) + (On cream_cheese_1 floor_other_object_region_1) + (On milk_1 floor_other_object_region_2) + (On tomato_sauce_1 floor_other_object_region_3) + (On butter_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In cream_cheese_1 basket_1_contain_region)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_task/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_task/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..abc31f85c7f2674a6c2ab211cbf73b79920e88b1 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_task/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the ketchup and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + bbq_sauce_1 - bbq_sauce + basket_1 - basket + chocolate_pudding_1 - chocolate_pudding + ketchup_1 - ketchup + salad_dressing_1 - salad_dressing + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + ) + + (:obj_of_interest + ketchup_1 + basket_1_contain_region +) + + (:init + (On bbq_sauce_1 floor_target_object_region) + (On chocolate_pudding_1 floor_other_object_region_0) + (On ketchup_1 floor_other_object_region_1) + (On salad_dressing_1 floor_other_object_region_2) + (On alphabet_soup_1 floor_other_object_region_3) + (On cream_cheese_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In ketchup_1 basket_1_contain_region)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_task/pick_up_the_butter_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_task/pick_up_the_butter_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..a530e47448bd99fbdf300781d1fc4112e69ad8ce --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_task/pick_up_the_butter_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the orange juice and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + butter_1 - butter + basket_1 - basket + tomato_sauce_1 - tomato_sauce + orange_juice_1 - orange_juice + chocolate_pudding_1 - chocolate_pudding + bbq_sauce_1 - bbq_sauce + ketchup_1 - ketchup + ) + + (:obj_of_interest + orange_juice_1 + basket_1_contain_region +) + + (:init + (On butter_1 floor_target_object_region) + (On tomato_sauce_1 floor_other_object_region_0) + (On orange_juice_1 floor_other_object_region_1) + (On chocolate_pudding_1 floor_other_object_region_2) + (On bbq_sauce_1 floor_other_object_region_3) + (On ketchup_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In orange_juice_1 basket_1_contain_region)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_task/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_task/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..0635f2adfc21542ba87d60678901b4dc1a4eb877 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_task/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the salad dressing and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + chocolate_pudding_1 - chocolate_pudding + basket_1 - basket + orange_juice_1 - orange_juice + bbq_sauce_1 - bbq_sauce + ketchup_1 - ketchup + salad_dressing_1 - salad_dressing + alphabet_soup_1 - alphabet_soup + ) + + (:obj_of_interest + salad_dressing_1 + basket_1_contain_region +) + + (:init + (On chocolate_pudding_1 floor_target_object_region) + (On orange_juice_1 floor_other_object_region_0) + (On bbq_sauce_1 floor_other_object_region_1) + (On ketchup_1 floor_other_object_region_2) + (On salad_dressing_1 floor_other_object_region_3) + (On alphabet_soup_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In salad_dressing_1 basket_1_contain_region)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_task/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_task/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..9570e90dacc734d685cc1992270ba6db8705a717 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_task/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the alphabet soup and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + cream_cheese_1 - cream_cheese + basket_1 - basket + alphabet_soup_1 - alphabet_soup + milk_1 - milk + tomato_sauce_1 - tomato_sauce + butter_1 - butter + orange_juice_1 - orange_juice + ) + + (:obj_of_interest + alphabet_soup_1 + basket_1_contain_region +) + + (:init + (On cream_cheese_1 floor_target_object_region) + (On alphabet_soup_1 floor_other_object_region_0) + (On milk_1 floor_other_object_region_1) + (On tomato_sauce_1 floor_other_object_region_2) + (On butter_1 floor_other_object_region_3) + (On orange_juice_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In alphabet_soup_1 basket_1_contain_region)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_task/pick_up_the_ketchup_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_task/pick_up_the_ketchup_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..1c1b7a79b961c53698b8e1de0c788635772090d2 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_task/pick_up_the_ketchup_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the milk and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + ketchup_1 - ketchup + basket_1 - basket + bbq_sauce_1 - bbq_sauce + salad_dressing_1 - salad_dressing + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + milk_1 - milk + ) + + (:obj_of_interest + milk_1 + basket_1_contain_region +) + + (:init + (On ketchup_1 floor_target_object_region) + (On bbq_sauce_1 floor_other_object_region_0) + (On salad_dressing_1 floor_other_object_region_1) + (On alphabet_soup_1 floor_other_object_region_2) + (On cream_cheese_1 floor_other_object_region_3) + (On milk_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In milk_1 basket_1_contain_region)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_task/pick_up_the_milk_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_task/pick_up_the_milk_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..4185f8eb4bf38e7869407a7445aaaec0d76a6b14 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_task/pick_up_the_milk_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the butter and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + milk_1 - milk + basket_1 - basket + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + butter_1 - butter + orange_juice_1 - orange_juice + chocolate_pudding_1 - chocolate_pudding + ) + + (:obj_of_interest + butter_1 + basket_1_contain_region +) + + (:init + (On milk_1 floor_target_object_region) + (On cream_cheese_1 floor_other_object_region_0) + (On tomato_sauce_1 floor_other_object_region_1) + (On butter_1 floor_other_object_region_2) + (On orange_juice_1 floor_other_object_region_3) + (On chocolate_pudding_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In butter_1 basket_1_contain_region)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_task/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_task/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..d72f663fcdd6ff4641f6a82ae9700e0a02957f6a --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_task/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the chocolate pudding and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + orange_juice_1 - orange_juice + basket_1 - basket + butter_1 - butter + chocolate_pudding_1 - chocolate_pudding + bbq_sauce_1 - bbq_sauce + ketchup_1 - ketchup + salad_dressing_1 - salad_dressing + ) + + (:obj_of_interest + chocolate_pudding_1 + basket_1_contain_region +) + + (:init + (On orange_juice_1 floor_target_object_region) + (On butter_1 floor_other_object_region_0) + (On chocolate_pudding_1 floor_other_object_region_1) + (On bbq_sauce_1 floor_other_object_region_2) + (On ketchup_1 floor_other_object_region_3) + (On salad_dressing_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In chocolate_pudding_1 basket_1_contain_region)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_task/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_task/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..4fe277f74b5808df0c47681bd20359156bc98f89 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_task/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the tomato sauce and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + salad_dressing_1 - salad_dressing + basket_1 - basket + ketchup_1 - ketchup + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + milk_1 - milk + tomato_sauce_1 - tomato_sauce + ) + + (:obj_of_interest + tomato_sauce_1 + basket_1_contain_region +) + + (:init + (On salad_dressing_1 floor_target_object_region) + (On ketchup_1 floor_other_object_region_0) + (On alphabet_soup_1 floor_other_object_region_1) + (On cream_cheese_1 floor_other_object_region_2) + (On milk_1 floor_other_object_region_3) + (On tomato_sauce_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In tomato_sauce_1 basket_1_contain_region)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object_task/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object_task/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..c1a5b6de1efba414466eacbe9645d02efa89ee83 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object_task/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the bbq sauce and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + tomato_sauce_1 - tomato_sauce + basket_1 - basket + milk_1 - milk + butter_1 - butter + orange_juice_1 - orange_juice + chocolate_pudding_1 - chocolate_pudding + bbq_sauce_1 - bbq_sauce + ) + + (:obj_of_interest + bbq_sauce_1 + basket_1_contain_region +) + + (:init + (On tomato_sauce_1 floor_target_object_region) + (On milk_1 floor_other_object_region_0) + (On butter_1 floor_other_object_region_1) + (On orange_juice_1 floor_other_object_region_2) + (On chocolate_pudding_1 floor_other_object_region_3) + (On bbq_sauce_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In bbq_sauce_1 basket_1_contain_region)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_cross/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_cross/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..6438652602192995ca5b3f4343ab475494c7b334 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_cross/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl between the plate and the ramekin and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 main_table_between_plate_ramekin_region) + (On akita_black_bowl_2 main_table_next_to_ramekin_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_cross/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_cross/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..349fd74360adea9941d28c5ddef790f82ce30036 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_cross/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl from table center and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 main_table_table_center) + (On akita_black_bowl_2 main_table_next_to_plate_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_cross/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_cross/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..0448f00dc390d8f2c52101deb25bb1e30045b693 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_cross/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl @@ -0,0 +1,136 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl in the top layer of the wooden cabinet and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (In akita_black_bowl_1 wooden_cabinet_1_top_region) + (On akita_black_bowl_2 wooden_cabinet_1_top_side) + (Open wooden_cabinet_1_top_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_cross/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_cross/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..826feca969f7d8f8486ed8844cc1263f2bfddf59 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_cross/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl next to the cookies box and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 main_table_next_to_box_region) + (On akita_black_bowl_2 flat_stove_1_cook_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_cross/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_cross/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..953274bc90dffb2fd7b869f22e2bdfc28f49bf84 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_cross/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl next to the plate and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 main_table_next_to_plate_region) + (On akita_black_bowl_2 main_table_next_to_ramekin_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_cross/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_cross/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..2ebb6cfbd7134c458d3db13c0ae9b7ce5a9f2610 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_cross/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl next to the ramekin and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 main_table_next_to_ramekin_region) + (On akita_black_bowl_2 main_table_next_to_box_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_cross/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_cross/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..0d5ded52edd5095ea4538e94947cbe4d159aff48 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_cross/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl on the cookies box and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 cookies_1) + (On akita_black_bowl_2 wooden_cabinet_1_top_side) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_cross/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_cross/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..eaff46f029e7eb560cba3b51c1cc6f7012ce9f50 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_cross/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl on the ramekin and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 glazed_rim_porcelain_ramekin_1) + (On akita_black_bowl_2 cookies_1) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_cross/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_cross/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..0872c50dc5d0c32059bb7c43e69af4c5afdb30d5 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_cross/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl on the stove and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 flat_stove_1_cook_region) + (On akita_black_bowl_2 wooden_cabinet_1_top_side) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_cross/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_cross/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..91bef9667d7aae9ec20759eac0b341c914b1b31e --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_cross/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl on the wooden cabinet and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 wooden_cabinet_1_top_side) + (On akita_black_bowl_2 flat_stove_1_cook_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_cross/tasks_info.txt b/third_party/libero/libero/libero/bddl_files/libero_spatial_cross/tasks_info.txt new file mode 100644 index 0000000000000000000000000000000000000000..6ba183844c24aa3c9f2333f2454d97a04aafd96c --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_cross/tasks_info.txt @@ -0,0 +1,10 @@ +libero/bddl_files/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl +libero/bddl_files/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl +libero/bddl_files/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl +libero/bddl_files/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl +libero/bddl_files/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl +libero/bddl_files/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl +libero/bddl_files/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl +libero/bddl_files/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl +libero/bddl_files/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl +libero/bddl_files/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_lan/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_lan/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..547d07eec48961d7d176a1c8484de53ff5808112 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_lan/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language lift the black bowl between the plate and ramekin and set it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 main_table_between_plate_ramekin_region) + (On akita_black_bowl_2 main_table_next_to_ramekin_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_lan/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_lan/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..ac9eddb37ef4a31f3e783b00baf9e643e6b3b309 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_lan/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language lift the black bowl from the table center and put it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 main_table_table_center) + (On akita_black_bowl_2 main_table_next_to_plate_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_lan/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_lan/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..59bae066bf34894120bcf6063de37fc5b5e43f88 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_lan/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl @@ -0,0 +1,136 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language take the black bowl from the top drawer and put it on plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (In akita_black_bowl_1 wooden_cabinet_1_top_region) + (On akita_black_bowl_2 wooden_cabinet_1_top_side) + (Open wooden_cabinet_1_top_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_lan/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_lan/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..7bf6d24974443200ea93e50d62de481ee28c5bf9 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_lan/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language grab the black bowl beside the cookie box and set it on plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 main_table_next_to_box_region) + (On akita_black_bowl_2 flat_stove_1_cook_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_lan/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_lan/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..823045024fd8827e146b3536c1b350e9161aedf2 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_lan/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language pick the bowl beside the plate and put it on plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 main_table_next_to_plate_region) + (On akita_black_bowl_2 main_table_next_to_ramekin_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_lan/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_lan/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..02e15cf514096b76974d6c834badafef8ff0f4d8 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_lan/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language take black bowl next to ramekin and place on plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 main_table_next_to_ramekin_region) + (On akita_black_bowl_2 main_table_next_to_box_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_lan/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_lan/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..c00cf6281011ef1c662514e8ce7237c8ffc78ff8 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_lan/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language lift black bowl from cookie box and put it on plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 cookies_1) + (On akita_black_bowl_2 wooden_cabinet_1_top_side) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_lan/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_lan/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..4ce07b11dc7cf4597340c73dcd108bead418d0f8 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_lan/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language grab black bowl on ramekin and set it on plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 glazed_rim_porcelain_ramekin_1) + (On akita_black_bowl_2 cookies_1) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_lan/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_lan/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..7b037d59b02dd69e64e104c86b2b72f8e31acf3c --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_lan/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language lift bowl from stove and set on plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 flat_stove_1_cook_region) + (On akita_black_bowl_2 wooden_cabinet_1_top_side) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_lan/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_lan/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..c05c5cb798a348d4bd29eedef6ea4642dba900c9 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_lan/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language lift bowl from cabinet and put on plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 wooden_cabinet_1_top_side) + (On akita_black_bowl_2 flat_stove_1_cook_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_object/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_object/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..e3a4d017f66cc196b21d81d3b8e80ec933e3af6c --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_object/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl between the plate and the ramekin and place it on the plate) + (:regions + (yellow_plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_yellow_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_yellow_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + black_bowl_1 black_bowl_2 - black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + yellow_plate_1 - yellow_plate + ) + + (:obj_of_interest + black_bowl_1 + yellow_plate_1 + ) + + (:init + (On black_bowl_1 main_table_between_yellow_plate_ramekin_region) + (On black_bowl_2 main_table_next_to_ramekin_region) + (On yellow_plate_1 main_table_yellow_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On black_bowl_1 yellow_plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_object/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_object/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..6fa068380cc38ebe1bb02f3342c9020022621a07 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_object/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl from table center and place it on the plate) + (:regions + (yellow_plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_yellow_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_yellow_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + black_bowl_1 black_bowl_2 - black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + yellow_plate_1 - yellow_plate + ) + + (:obj_of_interest + black_bowl_1 + yellow_plate_1 + ) + + (:init + (On black_bowl_1 main_table_table_center) + (On black_bowl_2 main_table_next_to_yellow_plate_region) + (On yellow_plate_1 main_table_yellow_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On black_bowl_1 yellow_plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_object/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_object/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..3634bb858da3fbb913e27723c19d27ae229659dc --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_object/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl @@ -0,0 +1,136 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl in the top layer of the wooden cabinet and place it on the plate) + (:regions + (yellow_plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_yellow_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_yellow_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + black_bowl_1 black_bowl_2 - black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + yellow_plate_1 - yellow_plate + ) + + (:obj_of_interest + black_bowl_1 + yellow_plate_1 + ) + + (:init + (In black_bowl_1 wooden_cabinet_1_top_region) + (On black_bowl_2 wooden_cabinet_1_top_side) + (Open wooden_cabinet_1_top_region) + (On yellow_plate_1 main_table_yellow_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On black_bowl_1 yellow_plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_object/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_object/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..7bde32bdd93a19e33f2b8f78af3619df6b19079d --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_object/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl next to the cookies box and place it on the plate) + (:regions + (yellow_plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_yellow_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_yellow_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + black_bowl_1 black_bowl_2 - black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + yellow_plate_1 - yellow_plate + ) + + (:obj_of_interest + black_bowl_1 + yellow_plate_1 + ) + + (:init + (On black_bowl_1 main_table_next_to_box_region) + (On black_bowl_2 flat_stove_1_cook_region) + (On yellow_plate_1 main_table_yellow_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On black_bowl_1 yellow_plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_object/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_object/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..b638e2455a38a6cb983ec0f81a1c165f4b171927 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_object/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl next to the plate and place it on the plate) + (:regions + (yellow_plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_yellow_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_yellow_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + black_bowl_1 black_bowl_2 - black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + yellow_plate_1 - yellow_plate + ) + + (:obj_of_interest + black_bowl_1 + yellow_plate_1 + ) + + (:init + (On black_bowl_1 main_table_next_to_yellow_plate_region) + (On black_bowl_2 main_table_next_to_ramekin_region) + (On yellow_plate_1 main_table_yellow_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On black_bowl_1 yellow_plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_object/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_object/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..993cab6f02b5d738522580864d8615be89188874 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_object/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl next to the ramekin and place it on the plate) + (:regions + (yellow_plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_yellow_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_yellow_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + black_bowl_1 black_bowl_2 - black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + yellow_plate_1 - yellow_plate + ) + + (:obj_of_interest + black_bowl_1 + yellow_plate_1 + ) + + (:init + (On black_bowl_1 main_table_next_to_ramekin_region) + (On black_bowl_2 main_table_next_to_box_region) + (On yellow_plate_1 main_table_yellow_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On black_bowl_1 yellow_plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_object/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_object/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..9e06b0b1834cb1ea4f4c753f0d082cd623429316 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_object/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl on the cookies box and place it on the plate) + (:regions + (yellow_plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_yellow_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_yellow_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + black_bowl_1 black_bowl_2 - black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + yellow_plate_1 - yellow_plate + ) + + (:obj_of_interest + black_bowl_1 + yellow_plate_1 + ) + + (:init + (On black_bowl_1 cookies_1) + (On black_bowl_2 wooden_cabinet_1_top_side) + (On yellow_plate_1 main_table_yellow_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On black_bowl_1 yellow_plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_object/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_object/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..582a6c37a7f9f23b867cf40f572bf479bc240870 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_object/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl on the ramekin and place it on the plate) + (:regions + (yellow_plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_yellow_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_yellow_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + black_bowl_1 black_bowl_2 - black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + yellow_plate_1 - yellow_plate + ) + + (:obj_of_interest + black_bowl_1 + yellow_plate_1 + ) + + (:init + (On black_bowl_1 glazed_rim_porcelain_ramekin_1) + (On black_bowl_2 cookies_1) + (On yellow_plate_1 main_table_yellow_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On black_bowl_1 yellow_plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_object/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_object/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..c2b71ab5e3c01cee1ec87fdc650fe5bfbc1eda83 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_object/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl on the stove and place it on the plate) + (:regions + (yellow_plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_yellow_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_yellow_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + black_bowl_1 black_bowl_2 - black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + yellow_plate_1 - yellow_plate + ) + + (:obj_of_interest + black_bowl_1 + yellow_plate_1 + ) + + (:init + (On black_bowl_1 flat_stove_1_cook_region) + (On black_bowl_2 wooden_cabinet_1_top_side) + (On yellow_plate_1 main_table_yellow_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On black_bowl_1 yellow_plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_object/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_object/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..18d5b862d0f7b946f49a018c60e9740285f68732 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_object/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl on the wooden cabinet and place it on the plate) + (:regions + (yellow_plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_yellow_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_yellow_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + black_bowl_1 black_bowl_2 - black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + yellow_plate_1 - yellow_plate + ) + + (:obj_of_interest + black_bowl_1 + yellow_plate_1 + ) + + (:init + (On black_bowl_1 wooden_cabinet_1_top_side) + (On black_bowl_2 flat_stove_1_cook_region) + (On yellow_plate_1 main_table_yellow_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On black_bowl_1 yellow_plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_sawyer/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_sawyer/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..6438652602192995ca5b3f4343ab475494c7b334 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_sawyer/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl between the plate and the ramekin and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 main_table_between_plate_ramekin_region) + (On akita_black_bowl_2 main_table_next_to_ramekin_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_sawyer/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_sawyer/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..349fd74360adea9941d28c5ddef790f82ce30036 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_sawyer/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl from table center and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 main_table_table_center) + (On akita_black_bowl_2 main_table_next_to_plate_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_sawyer/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_sawyer/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..0448f00dc390d8f2c52101deb25bb1e30045b693 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_sawyer/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl @@ -0,0 +1,136 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl in the top layer of the wooden cabinet and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (In akita_black_bowl_1 wooden_cabinet_1_top_region) + (On akita_black_bowl_2 wooden_cabinet_1_top_side) + (Open wooden_cabinet_1_top_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_sawyer/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_sawyer/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..826feca969f7d8f8486ed8844cc1263f2bfddf59 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_sawyer/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl next to the cookies box and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 main_table_next_to_box_region) + (On akita_black_bowl_2 flat_stove_1_cook_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_sawyer/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_sawyer/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..953274bc90dffb2fd7b869f22e2bdfc28f49bf84 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_sawyer/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl next to the plate and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 main_table_next_to_plate_region) + (On akita_black_bowl_2 main_table_next_to_ramekin_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_sawyer/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_sawyer/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..2ebb6cfbd7134c458d3db13c0ae9b7ce5a9f2610 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_sawyer/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl next to the ramekin and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 main_table_next_to_ramekin_region) + (On akita_black_bowl_2 main_table_next_to_box_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_sawyer/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_sawyer/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..0d5ded52edd5095ea4538e94947cbe4d159aff48 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_sawyer/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl on the cookies box and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 cookies_1) + (On akita_black_bowl_2 wooden_cabinet_1_top_side) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_sawyer/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_sawyer/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..eaff46f029e7eb560cba3b51c1cc6f7012ce9f50 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_sawyer/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl on the ramekin and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 glazed_rim_porcelain_ramekin_1) + (On akita_black_bowl_2 cookies_1) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_sawyer/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_sawyer/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..0872c50dc5d0c32059bb7c43e69af4c5afdb30d5 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_sawyer/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl on the stove and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 flat_stove_1_cook_region) + (On akita_black_bowl_2 wooden_cabinet_1_top_side) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_sawyer/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_sawyer/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..91bef9667d7aae9ec20759eac0b341c914b1b31e --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_sawyer/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl on the wooden cabinet and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 wooden_cabinet_1_top_side) + (On akita_black_bowl_2 flat_stove_1_cook_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_sawyer/tasks_info.txt b/third_party/libero/libero/libero/bddl_files/libero_spatial_sawyer/tasks_info.txt new file mode 100644 index 0000000000000000000000000000000000000000..6ba183844c24aa3c9f2333f2454d97a04aafd96c --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_sawyer/tasks_info.txt @@ -0,0 +1,10 @@ +libero/bddl_files/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl +libero/bddl_files/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl +libero/bddl_files/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl +libero/bddl_files/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl +libero/bddl_files/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl +libero/bddl_files/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl +libero/bddl_files/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl +libero/bddl_files/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl +libero/bddl_files/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl +libero/bddl_files/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_swap/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_swap/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..68b1ef54f627dc57035e93c6fc9190f59fa22213 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_swap/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl between the plate and the ramekin and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 main_table_between_plate_ramekin_region) + (On akita_black_bowl_2 main_table_next_to_ramekin_region) + (On plate_1 main_table_box_region) + (On cookies_1 main_table_plate_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_swap/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_swap/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..f5be98bd33b1e2fbc01d6c095bd12fa033810dc3 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_swap/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl from table center and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 main_table_table_center) + (On akita_black_bowl_2 main_table_next_to_plate_region) + (On plate_1 main_table_box_region) + (On cookies_1 main_table_plate_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_swap/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_swap/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..abd57fd8fb8e19d68af00e667011c8ffc60049a6 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_swap/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl @@ -0,0 +1,136 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl in the top layer of the wooden cabinet and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (In akita_black_bowl_1 wooden_cabinet_1_top_region) + (On akita_black_bowl_2 wooden_cabinet_1_top_side) + (Open wooden_cabinet_1_top_region) + (On plate_1 main_table_box_region) + (On cookies_1 main_table_plate_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_swap/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_swap/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..a566890359b4a978dcd49fec4c755acb6a165dcb --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_swap/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl next to the cookies box and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 main_table_next_to_box_region) + (On akita_black_bowl_2 main_table_plate_region) + (On plate_1 flat_stove_1_cook_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_swap/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_swap/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..31bae3370e5b0a6f1198717fffb58ffd76cda9d7 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_swap/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl next to the plate and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 main_table_next_to_plate_region) + (On akita_black_bowl_2 main_table_next_to_ramekin_region) + (On plate_1 main_table_box_region) + (On cookies_1 main_table_plate_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_swap/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_swap/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..248e9f9f51ed755aa88b4b85f62230e9f343c9e8 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_swap/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl next to the ramekin and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 main_table_next_to_ramekin_region) + (On akita_black_bowl_2 main_table_plate_region) + (On plate_1 main_table_next_to_box_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_swap/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_swap/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..1b3c0d60a75e6d3da32440068c418b90298965cb --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_swap/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl on the cookies box and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 cookies_1) + (On akita_black_bowl_2 wooden_cabinet_1_top_side) + (On plate_1 main_table_cabinet_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_plate_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_swap/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_swap/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..37afebb17de1ede3cd1342856b51507f0dae3a5d --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_swap/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl on the ramekin and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 glazed_rim_porcelain_ramekin_1) + (On akita_black_bowl_2 main_table_plate_region) + (On plate_1 cookies_1) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_swap/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_swap/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..380fbdfe64ff2dc6cc7471fbaa6b3b2b436be910 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_swap/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl on the stove and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 flat_stove_1_cook_region) + (On akita_black_bowl_2 wooden_cabinet_1_top_side) + (On plate_1 main_table_ramekin_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_plate_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_swap/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_swap/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..0fb013156ee4cae44d16a5c7b3f110994296dd5c --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_swap/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl on the wooden cabinet and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 wooden_cabinet_1_top_side) + (On akita_black_bowl_2 flat_stove_1_cook_region) + (On plate_1 main_table_ramekin_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_plate_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_task/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_task/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..939f79ed7bcafa09ce130d5d718505bea9e33c4d --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_task/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl @@ -0,0 +1,134 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl not between the plate and the ramekin and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_2 +) + + (:init + (On akita_black_bowl_1 main_table_between_plate_ramekin_region) + (On akita_black_bowl_2 main_table_next_to_ramekin_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_2 plate_1)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_task/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_task/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..30f40ed6bbca0de706fd5ab52abb8d8a3877b766 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_task/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl next to the plate and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_2 + plate_1 +) + + (:init + (On akita_black_bowl_1 main_table_table_center) + (On akita_black_bowl_2 main_table_next_to_plate_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_2 plate_1)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_task/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_task/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..d8822edb2a5b9e8b5158d907b4be7804fd845348 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_task/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl @@ -0,0 +1,136 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl on the top of the wooden cabinet and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_2 + plate_1 +) + + (:init + (In akita_black_bowl_1 wooden_cabinet_1_top_region) + (On akita_black_bowl_2 wooden_cabinet_1_top_side) + (Open wooden_cabinet_1_top_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_2 plate_1)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_task/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_task/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..da34452fabd478264e138edfb5db5d84e0e25ea7 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_task/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl on the stove and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_2 + plate_1 +) + + (:init + (On akita_black_bowl_1 main_table_next_to_box_region) + (On akita_black_bowl_2 flat_stove_1_cook_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_2 plate_1)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_task/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_task/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..9a29744821d05652f4c70e5b80df16488a1bab82 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_task/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl next to the ramekin and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_2 + plate_1 +) + + (:init + (On akita_black_bowl_1 main_table_next_to_plate_region) + (On akita_black_bowl_2 main_table_next_to_ramekin_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_2 plate_1)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_task/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_task/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..095c0baa721f52dc1b25b00b32aaf7c11fa308ce --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_task/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl next to the cookie box and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_2 + plate_1 +) + + (:init + (On akita_black_bowl_1 main_table_next_to_ramekin_region) + (On akita_black_bowl_2 main_table_next_to_box_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_2 plate_1)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_task/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_task/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..95e6b799ba8e6b668a808995a6dcf22d7c7dc52f --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_task/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl on the top of the cabinet and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_2 + plate_1 +) + + (:init + (On akita_black_bowl_1 cookies_1) + (On akita_black_bowl_2 wooden_cabinet_1_top_side) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_2 plate_1)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_task/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_task/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..c6afa99effc9f517eefff01a33fe2d793acb15a0 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_task/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl on the cookie box and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_2 + plate_1 +) + + (:init + (On akita_black_bowl_1 glazed_rim_porcelain_ramekin_1) + (On akita_black_bowl_2 cookies_1) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_2 plate_1)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_task/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_task/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..f95797936349bfa5dda7ae3887a39607de0b4692 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_task/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl on the top of the cabinet and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_2 + plate_1 +) + + (:init + (On akita_black_bowl_1 flat_stove_1_cook_region) + (On akita_black_bowl_2 wooden_cabinet_1_top_side) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_2 plate_1)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial_task/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial_task/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..7a8f549f4b77a0682012d898fe817564dad16040 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial_task/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl on the stove and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_2 + plate_1 +) + + (:init + (On akita_black_bowl_1 wooden_cabinet_1_top_side) + (On akita_black_bowl_2 flat_stove_1_cook_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_2 plate_1)) +) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it_view_31_15_100_0_0_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it_view_31_15_100_0_0_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..6530a7778f9413f4b22b291a5a6606c04809d7c0 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it_view_31_15_100_0_0_initstate_0.bddl @@ -0,0 +1,68 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language turn on the stove and put the moka pot on it) + (:regions + (flat_stove_init_region + (:target kitchen_table) + (:ranges ( + (-0.21000000000000002 0.19 -0.19 0.21000000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (frypan_init_region + (:target kitchen_table) + (:ranges ( + (-0.07500000000000001 -0.275 -0.025 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (moka_pot_init_region + (:target kitchen_table) + (:ranges ( + (0.025 -0.025 0.07500000000000001 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + flat_stove_1 - flat_stove + ) + + (:objects + chefmate_8_frypan_1 - chefmate_8_frypan + moka_pot_1 - moka_pot + ) + + (:obj_of_interest + moka_pot_1 + flat_stove_1 + ) + + (:init + (On flat_stove_1 kitchen_table_flat_stove_init_region) + (On chefmate_8_frypan_1 kitchen_table_frypan_init_region) + (On moka_pot_1 kitchen_table_moka_pot_init_region) + ) + + (:goal + (And (Turnon flat_stove_1) (On moka_pot_1 flat_stove_1_cook_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it_view_0_0_136_0_0_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it_view_0_0_136_0_0_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..71d1a650ea4e109e0d13b8c4475bf2cbe0ae091b --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it_view_0_0_136_0_0_initstate_0.bddl @@ -0,0 +1,94 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the black bowl in the bottom drawer of the cabinet and close it) + (:regions + (white_cabinet_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 0.29 0.01 0.31) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (wine_rack_init_region + (:target kitchen_table) + (:ranges ( + (-0.11 -0.31 -0.09000000000000001 -0.29) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (akita_black_bowl_init_region + (:target kitchen_table) + (:ranges ( + (0.0049999999999999975 -0.07500000000000001 0.055 -0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (wine_bottle_init_region + (:target kitchen_table) + (:ranges ( + (-0.175 0.025 -0.125 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target white_cabinet_1) + ) + (top_region + (:target white_cabinet_1) + ) + (middle_region + (:target white_cabinet_1) + ) + (bottom_region + (:target white_cabinet_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + white_cabinet_1 - white_cabinet + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + wine_bottle_1 - wine_bottle + ) + + (:obj_of_interest + akita_black_bowl_1 + white_cabinet_1 + ) + + (:init + (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region) + (On wine_bottle_1 kitchen_table_wine_bottle_init_region) + (On white_cabinet_1 kitchen_table_white_cabinet_init_region) + (On wine_rack_1 kitchen_table_wine_rack_init_region) + (Open white_cabinet_1_bottom_region) + ) + + (:goal + (And (Close white_cabinet_1_bottom_region) (In akita_black_bowl_1 white_cabinet_1_bottom_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it_view_0_0_100_358_8_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it_view_0_0_100_358_8_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..f531a4ede009cff9e1b0cb928049a88d72070d86 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it_view_0_0_100_358_8_initstate_0.bddl @@ -0,0 +1,83 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the yellow and white mug in the microwave and close it) + (:regions + (microwave_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 0.33999999999999997 0.01 0.36) + ) + ) + (:yaw_rotation ( + (0 0) + ) + ) + ) + (white_yellow_mug_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 -0.025 0.025 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_init_region + (:target kitchen_table) + (:ranges ( + (-0.125 -0.275 -0.07500000000000001 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_front_region + (:target kitchen_table) + (:ranges ( + (-0.05 -0.3 0.05 -0.2) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target microwave_1) + ) + (heating_region + (:target microwave_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + microwave_1 - microwave + ) + + (:objects + porcelain_mug_1 - porcelain_mug + white_yellow_mug_1 - white_yellow_mug + ) + + (:obj_of_interest + white_yellow_mug_1 + microwave_1 + ) + + (:init + (On porcelain_mug_1 kitchen_table_porcelain_mug_init_region) + (On white_yellow_mug_1 kitchen_table_white_yellow_mug_init_region) + (On microwave_1 kitchen_table_microwave_init_region) + (Open microwave_1) + ) + + (:goal + (And (In white_yellow_mug_1 microwave_1_heating_region) (Close microwave_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove_view_0_0_182_0_0_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove_view_0_0_182_0_0_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..b983d7285869b49d3b6fe1329a9b7574de67b41b --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove_view_0_0_182_0_0_initstate_0.bddl @@ -0,0 +1,69 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put both moka pots on the stove) + (:regions + (flat_stove_init_region + (:target kitchen_table) + (:ranges ( + (-0.21000000000000002 -0.21000000000000002 -0.19 -0.19) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (moka_pot_right_init_region + (:target kitchen_table) + (:ranges ( + (-0.07500000000000001 0.225 -0.025 0.275) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (moka_pot_left_init_region + (:target kitchen_table) + (:ranges ( + (0.025 0.025 0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + flat_stove_1 - flat_stove + ) + + (:objects + moka_pot_1 moka_pot_2 - moka_pot + ) + + (:obj_of_interest + moka_pot_1 + moka_pot_2 + flat_stove_1 + ) + + (:init + (On flat_stove_1 kitchen_table_flat_stove_init_region) + (On moka_pot_1 kitchen_table_moka_pot_right_init_region) + (On moka_pot_2 kitchen_table_moka_pot_left_init_region) + (Turnon flat_stove_1) + ) + + (:goal + (And (On moka_pot_1 flat_stove_1_cook_region) (On moka_pot_2 flat_stove_1_cook_region) (Turnon flat_stove_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket_view_318_15_100_0_0_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket_view_318_15_100_0_0_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..0f3ba3ce48af83e690bfe8bed3caad22d4bf4cdf --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket_view_318_15_100_0_0_initstate_0.bddl @@ -0,0 +1,95 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language put both the alphabet soup and the cream cheese box in the basket) + (:regions + (basket_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (alphabet_soup_init_region + (:target living_room_table) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_init_region + (:target living_room_table) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target living_room_table) + (:ranges ( + (-0.225 -0.175 -0.17500000000000002 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + basket_1 - basket + ) + + (:obj_of_interest + alphabet_soup_1 + cream_cheese_1 + basket_1 + ) + + (:init + (On alphabet_soup_1 living_room_table_alphabet_soup_init_region) + (On cream_cheese_1 living_room_table_cream_cheese_init_region) + (On tomato_sauce_1 living_room_table_tomato_sauce_init_region) + (On ketchup_1 living_room_table_ketchup_init_region) + (On basket_1 living_room_table_basket_init_region) + ) + + (:goal + (And (In alphabet_soup_1 basket_1_contain_region) (In cream_cheese_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket_view_0_0_100_2_10_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket_view_0_0_100_2_10_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..071ec86f8b5d8f33d542a72f925fe89e42442657 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket_view_0_0_100_2_10_initstate_0.bddl @@ -0,0 +1,134 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language put both the alphabet soup and the tomato sauce in the basket) + (:regions + (basket_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_init_region + (:target living_room_table) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_init_region + (:target living_room_table) + (:ranges ( + (-0.025 -0.275 0.025 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_init_region + (:target living_room_table) + (:ranges ( + (-0.125 0.025 -0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (alphabet_soup_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_init_region + (:target living_room_table) + (:ranges ( + (0.025 0.025 0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target living_room_table) + (:ranges ( + (-0.275 -0.175 -0.225 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + orange_juice_1 - orange_juice + milk_1 - milk + butter_1 - butter + basket_1 - basket + ) + + (:obj_of_interest + alphabet_soup_1 + tomato_sauce_1 + basket_1 + ) + + (:init + (On alphabet_soup_1 living_room_table_alphabet_soup_init_region) + (On cream_cheese_1 living_room_table_cream_cheese_init_region) + (On tomato_sauce_1 living_room_table_tomato_sauce_init_region) + (On ketchup_1 living_room_table_ketchup_init_region) + (On milk_1 living_room_table_milk_init_region) + (On orange_juice_1 living_room_table_orange_juice_init_region) + (On butter_1 living_room_table_butter_init_region) + (On basket_1 living_room_table_basket_init_region) + ) + + (:goal + (And (In alphabet_soup_1 basket_1_contain_region) (In tomato_sauce_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket_view_27_0_100_0_0_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket_view_27_0_100_0_0_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..bbd9b7eda1e3aff44a193003fb88a568fc803d86 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket_view_27_0_100_0_0_initstate_0.bddl @@ -0,0 +1,134 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language put both the cream cheese box and the butter in the basket) + (:regions + (basket_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_init_region + (:target living_room_table) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_init_region + (:target living_room_table) + (:ranges ( + (-0.025 -0.275 0.025 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_init_region + (:target living_room_table) + (:ranges ( + (-0.125 0.025 -0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (alphabet_soup_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_init_region + (:target living_room_table) + (:ranges ( + (0.025 0.025 0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target living_room_table) + (:ranges ( + (-0.275 -0.175 -0.225 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + orange_juice_1 - orange_juice + milk_1 - milk + butter_1 - butter + basket_1 - basket + ) + + (:obj_of_interest + cream_cheese_1 + butter_1 + basket_1 + ) + + (:init + (On alphabet_soup_1 living_room_table_alphabet_soup_init_region) + (On cream_cheese_1 living_room_table_cream_cheese_init_region) + (On tomato_sauce_1 living_room_table_tomato_sauce_init_region) + (On ketchup_1 living_room_table_ketchup_init_region) + (On milk_1 living_room_table_milk_init_region) + (On orange_juice_1 living_room_table_orange_juice_init_region) + (On butter_1 living_room_table_butter_init_region) + (On basket_1 living_room_table_basket_init_region) + ) + + (:goal + (And (In cream_cheese_1 basket_1_contain_region) (In butter_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate_view_0_0_100_10_2_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate_view_0_0_100_10_2_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..32024734f78b9c469d45c9d50503c2099ad67c4d --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate_view_0_0_100_10_2_initstate_0.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language put the white mug on the left plate and put the yellow and white mug on the right plate) + (:regions + (plate_left_region + (:target living_room_table) + (:ranges ( + (-0.025 -0.325 0.025 -0.27499999999999997) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_right_region + (:target living_room_table) + (:ranges ( + (-0.025 0.27499999999999997 0.025 0.325) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (white_yellow_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.07500000000000001 0.07500000000000001 -0.025 0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (red_coffee_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.225 -0.025 -0.17500000000000002 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + porcelain_mug_1 - porcelain_mug + red_coffee_mug_1 - red_coffee_mug + white_yellow_mug_1 - white_yellow_mug + plate_1 plate_2 - plate + ) + + (:obj_of_interest + plate_1 + plate_2 + white_yellow_mug_1 + porcelain_mug_1 + ) + + (:init + (On plate_1 living_room_table_plate_left_region) + (On plate_2 living_room_table_plate_right_region) + (On red_coffee_mug_1 living_room_table_red_coffee_mug_init_region) + (On white_yellow_mug_1 living_room_table_white_yellow_mug_init_region) + (On porcelain_mug_1 living_room_table_porcelain_mug_init_region) + ) + + (:goal + (And (On porcelain_mug_1 plate_1) (On white_yellow_mug_1 plate_2)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate_view_0_0_100_352_8_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate_view_0_0_100_352_8_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..437f0755b8fee33d2fba02bd4f898845f6ed150f --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate_view_0_0_100_352_8_initstate_0.bddl @@ -0,0 +1,101 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language put the white mug on the plate and put the chocolate pudding to the right of the plate) + (:regions + (plate_left_region + (:target living_room_table) + (:ranges ( + (0.09999999999999999 -0.15000000000000002 0.2 -0.05) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_right_region + (:target living_room_table) + (:ranges ( + (0.09999999999999999 0.05 0.2 0.15000000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_init_region + (:target living_room_table) + (:ranges ( + (0.125 -0.025 0.175 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (chocolate_pudding_init_region + (:target living_room_table) + (:ranges ( + (-0.07500000000000001 0.07500000000000001 -0.025 0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (red_coffee_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.225 -0.025 -0.17500000000000002 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + porcelain_mug_1 - porcelain_mug + red_coffee_mug_1 - red_coffee_mug + plate_1 - plate + chocolate_pudding_1 - chocolate_pudding + ) + + (:obj_of_interest + plate_1 + chocolate_pudding_1 + porcelain_mug_1 + ) + + (:init + (On plate_1 living_room_table_plate_init_region) + (On red_coffee_mug_1 living_room_table_red_coffee_mug_init_region) + (On chocolate_pudding_1 living_room_table_chocolate_pudding_init_region) + (On porcelain_mug_1 living_room_table_porcelain_mug_init_region) + ) + + (:goal + (And (On porcelain_mug_1 plate_1) (On chocolate_pudding_1 living_room_table_plate_right_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy_view_0_0_100_350_4_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy_view_0_0_100_350_4_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..2f0ad4b2d57354113768bdc6575c97041037ef0c --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy_view_0_0_100_350_4_initstate_0.bddl @@ -0,0 +1,88 @@ +(define (problem LIBERO_Study_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the book and place it in the back compartment of the caddy) + (:regions + (desk_caddy_init_region + (:target study_table) + (:ranges ( + (-0.21000000000000002 -0.15000000000000002 -0.19 -0.13) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (black_book_init_region + (:target study_table) + (:ranges ( + (-0.025 0.125 0.025 0.175) + ) + ) + (:yaw_rotation ( + (-1.5707963267948966 -0.7853981633974483) + ) + ) + ) + (white_yellow_mug_init_region + (:target study_table) + (:ranges ( + (0.07500000000000001 -0.025 0.125 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (desk_caddy_right_region + (:target study_table) + (:ranges ( + (-0.25 0.09999999999999999 -0.15000000000000002 0.2) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (right_contain_region + (:target desk_caddy_1) + ) + (left_contain_region + (:target desk_caddy_1) + ) + (back_contain_region + (:target desk_caddy_1) + ) + (front_contain_region + (:target desk_caddy_1) + ) + ) + + (:fixtures + study_table - study_table + desk_caddy_1 - desk_caddy + ) + + (:objects + black_book_1 - black_book + white_yellow_mug_1 - white_yellow_mug + ) + + (:obj_of_interest + black_book_1 + desk_caddy_1 + ) + + (:init + (On desk_caddy_1 study_table_desk_caddy_init_region) + (On black_book_1 study_table_black_book_init_region) + (On white_yellow_mug_1 study_table_white_yellow_mug_init_region) + ) + + (:goal + (And (In black_book_1 desk_caddy_1_back_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/open_the_middle_drawer_of_the_cabinet_view_1_15_100_0_0_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/open_the_middle_drawer_of_the_cabinet_view_1_15_100_0_0_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..582fa1b35b9d32cf3c11cfb3fe3bdaba4b410bb3 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/open_the_middle_drawer_of_the_cabinet_view_1_15_100_0_0_initstate_0.bddl @@ -0,0 +1,127 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Open the middle layer of the drawer) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + wooden_cabinet_1_middle_region + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (Open wooden_cabinet_1_middle_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/open_the_top_drawer_and_put_the_bowl_inside_view_0_0_100_8_6_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/open_the_top_drawer_and_put_the_bowl_inside_view_0_0_100_8_6_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..d5d3322dbd90c45f0461779835088803070592fa --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/open_the_top_drawer_and_put_the_bowl_inside_view_0_0_100_8_6_initstate_0.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Open the top layer of the drawer and put the bowl inside) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + wooden_cabinet_1_top_region + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (In akita_black_bowl_1 wooden_cabinet_1_top_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_alphabet_soup_and_place_it_in_the_basket_view_12_15_100_0_0_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_alphabet_soup_and_place_it_in_the_basket_view_12_15_100_0_0_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..51dfce0f0244b4d5118ba283fbb6c5ce8360ac89 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_alphabet_soup_and_place_it_in_the_basket_view_12_15_100_0_0_initstate_0.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the alphabet soup and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + alphabet_soup_1 - alphabet_soup + basket_1 - basket + salad_dressing_1 - salad_dressing + cream_cheese_1 - cream_cheese + milk_1 - milk + tomato_sauce_1 - tomato_sauce + butter_1 - butter + ) + + (:obj_of_interest + alphabet_soup_1 + basket_1 + ) + + (:init + (On alphabet_soup_1 floor_target_object_region) + (On salad_dressing_1 floor_other_object_region_0) + (On cream_cheese_1 floor_other_object_region_1) + (On milk_1 floor_other_object_region_2) + (On tomato_sauce_1 floor_other_object_region_3) + (On butter_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In alphabet_soup_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_bbq_sauce_and_place_it_in_the_basket_view_0_0_100_8_6_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_bbq_sauce_and_place_it_in_the_basket_view_0_0_100_8_6_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..543355b1164f931cc6da9be8131e6b8924992397 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_bbq_sauce_and_place_it_in_the_basket_view_0_0_100_8_6_initstate_0.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the bbq sauce and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + bbq_sauce_1 - bbq_sauce + basket_1 - basket + chocolate_pudding_1 - chocolate_pudding + ketchup_1 - ketchup + salad_dressing_1 - salad_dressing + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + ) + + (:obj_of_interest + bbq_sauce_1 + basket_1 + ) + + (:init + (On bbq_sauce_1 floor_target_object_region) + (On chocolate_pudding_1 floor_other_object_region_0) + (On ketchup_1 floor_other_object_region_1) + (On salad_dressing_1 floor_other_object_region_2) + (On alphabet_soup_1 floor_other_object_region_3) + (On cream_cheese_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In bbq_sauce_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate_view_13_15_100_0_0_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate_view_13_15_100_0_0_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..6438652602192995ca5b3f4343ab475494c7b334 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate_view_13_15_100_0_0_initstate_0.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl between the plate and the ramekin and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 main_table_between_plate_ramekin_region) + (On akita_black_bowl_2 main_table_next_to_ramekin_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate_view_0_0_100_6_8_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate_view_0_0_100_6_8_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..349fd74360adea9941d28c5ddef790f82ce30036 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate_view_0_0_100_6_8_initstate_0.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl from table center and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 main_table_table_center) + (On akita_black_bowl_2 main_table_next_to_plate_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate_view_61_0_100_0_0_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate_view_61_0_100_0_0_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..0448f00dc390d8f2c52101deb25bb1e30045b693 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate_view_61_0_100_0_0_initstate_0.bddl @@ -0,0 +1,136 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl in the top layer of the wooden cabinet and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (In akita_black_bowl_1 wooden_cabinet_1_top_region) + (On akita_black_bowl_2 wooden_cabinet_1_top_side) + (Open wooden_cabinet_1_top_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate_view_300_0_100_0_0_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate_view_300_0_100_0_0_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..826feca969f7d8f8486ed8844cc1263f2bfddf59 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate_view_300_0_100_0_0_initstate_0.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl next to the cookies box and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 main_table_next_to_box_region) + (On akita_black_bowl_2 flat_stove_1_cook_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate_view_0_0_181_0_0_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate_view_0_0_181_0_0_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..953274bc90dffb2fd7b869f22e2bdfc28f49bf84 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate_view_0_0_181_0_0_initstate_0.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl next to the plate and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 main_table_next_to_plate_region) + (On akita_black_bowl_2 main_table_next_to_ramekin_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate_view_16_15_100_0_0_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate_view_16_15_100_0_0_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..2ebb6cfbd7134c458d3db13c0ae9b7ce5a9f2610 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate_view_16_15_100_0_0_initstate_0.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl next to the ramekin and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 main_table_next_to_ramekin_region) + (On akita_black_bowl_2 main_table_next_to_box_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate_view_58_0_100_0_0_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate_view_58_0_100_0_0_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..0d5ded52edd5095ea4538e94947cbe4d159aff48 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate_view_58_0_100_0_0_initstate_0.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl on the cookies box and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 cookies_1) + (On akita_black_bowl_2 wooden_cabinet_1_top_side) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate_view_289_15_100_0_0_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate_view_289_15_100_0_0_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..eaff46f029e7eb560cba3b51c1cc6f7012ce9f50 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate_view_289_15_100_0_0_initstate_0.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl on the ramekin and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 glazed_rim_porcelain_ramekin_1) + (On akita_black_bowl_2 cookies_1) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate_view_0_0_175_0_0_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate_view_0_0_175_0_0_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..0872c50dc5d0c32059bb7c43e69af4c5afdb30d5 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate_view_0_0_175_0_0_initstate_0.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl on the stove and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 flat_stove_1_cook_region) + (On akita_black_bowl_2 wooden_cabinet_1_top_side) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate_view_345_15_100_0_0_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate_view_345_15_100_0_0_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..91bef9667d7aae9ec20759eac0b341c914b1b31e --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate_view_345_15_100_0_0_initstate_0.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl on the wooden cabinet and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 wooden_cabinet_1_top_side) + (On akita_black_bowl_2 flat_stove_1_cook_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_butter_and_place_it_in_the_basket_view_0_0_168_0_0_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_butter_and_place_it_in_the_basket_view_0_0_168_0_0_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..358024afc867808122cf9ea9dfbbdb82c86ad703 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_butter_and_place_it_in_the_basket_view_0_0_168_0_0_initstate_0.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the butter and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + butter_1 - butter + basket_1 - basket + tomato_sauce_1 - tomato_sauce + orange_juice_1 - orange_juice + chocolate_pudding_1 - chocolate_pudding + bbq_sauce_1 - bbq_sauce + ketchup_1 - ketchup + ) + + (:obj_of_interest + butter_1 + basket_1 + ) + + (:init + (On butter_1 floor_target_object_region) + (On tomato_sauce_1 floor_other_object_region_0) + (On orange_juice_1 floor_other_object_region_1) + (On chocolate_pudding_1 floor_other_object_region_2) + (On bbq_sauce_1 floor_other_object_region_3) + (On ketchup_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In butter_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_chocolate_pudding_and_place_it_in_the_basket_view_0_0_183_0_0_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_chocolate_pudding_and_place_it_in_the_basket_view_0_0_183_0_0_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..1df6bc98ea2e209103a43d5dd2c23620fea4f12c --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_chocolate_pudding_and_place_it_in_the_basket_view_0_0_183_0_0_initstate_0.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the chocolate pudding and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + chocolate_pudding_1 - chocolate_pudding + basket_1 - basket + orange_juice_1 - orange_juice + bbq_sauce_1 - bbq_sauce + ketchup_1 - ketchup + salad_dressing_1 - salad_dressing + alphabet_soup_1 - alphabet_soup + ) + + (:obj_of_interest + chocolate_pudding_1 + basket_1 + ) + + (:init + (On chocolate_pudding_1 floor_target_object_region) + (On orange_juice_1 floor_other_object_region_0) + (On bbq_sauce_1 floor_other_object_region_1) + (On ketchup_1 floor_other_object_region_2) + (On salad_dressing_1 floor_other_object_region_3) + (On alphabet_soup_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In chocolate_pudding_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_cream_cheese_and_place_it_in_the_basket_view_0_0_100_4_10_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_cream_cheese_and_place_it_in_the_basket_view_0_0_100_4_10_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..a4aa87fd74386ec9a1f034d45cb0e0beafda8def --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_cream_cheese_and_place_it_in_the_basket_view_0_0_100_4_10_initstate_0.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the cream cheese and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + cream_cheese_1 - cream_cheese + basket_1 - basket + alphabet_soup_1 - alphabet_soup + milk_1 - milk + tomato_sauce_1 - tomato_sauce + butter_1 - butter + orange_juice_1 - orange_juice + ) + + (:obj_of_interest + cream_cheese_1 + basket_1 + ) + + (:init + (On cream_cheese_1 floor_target_object_region) + (On alphabet_soup_1 floor_other_object_region_0) + (On milk_1 floor_other_object_region_1) + (On tomato_sauce_1 floor_other_object_region_2) + (On butter_1 floor_other_object_region_3) + (On orange_juice_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In cream_cheese_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_ketchup_and_place_it_in_the_basket_view_0_0_144_0_0_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_ketchup_and_place_it_in_the_basket_view_0_0_144_0_0_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..797e9f1cb35383e42c164d7ca311cefca4015869 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_ketchup_and_place_it_in_the_basket_view_0_0_144_0_0_initstate_0.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the ketchup and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + ketchup_1 - ketchup + basket_1 - basket + bbq_sauce_1 - bbq_sauce + salad_dressing_1 - salad_dressing + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + milk_1 - milk + ) + + (:obj_of_interest + ketchup_1 + basket_1 + ) + + (:init + (On ketchup_1 floor_target_object_region) + (On bbq_sauce_1 floor_other_object_region_0) + (On salad_dressing_1 floor_other_object_region_1) + (On alphabet_soup_1 floor_other_object_region_2) + (On cream_cheese_1 floor_other_object_region_3) + (On milk_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In ketchup_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_milk_and_place_it_in_the_basket_view_0_0_173_0_0_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_milk_and_place_it_in_the_basket_view_0_0_173_0_0_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..6b10f254cd992cdb1da1b2382b4dff396d43fc35 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_milk_and_place_it_in_the_basket_view_0_0_173_0_0_initstate_0.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the milk and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + milk_1 - milk + basket_1 - basket + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + butter_1 - butter + orange_juice_1 - orange_juice + chocolate_pudding_1 - chocolate_pudding + ) + + (:obj_of_interest + milk_1 + basket_1 + ) + + (:init + (On milk_1 floor_target_object_region) + (On cream_cheese_1 floor_other_object_region_0) + (On tomato_sauce_1 floor_other_object_region_1) + (On butter_1 floor_other_object_region_2) + (On orange_juice_1 floor_other_object_region_3) + (On chocolate_pudding_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In milk_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_orange_juice_and_place_it_in_the_basket_view_0_0_193_0_0_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_orange_juice_and_place_it_in_the_basket_view_0_0_193_0_0_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..517bb4eef4fb1ee89f85cfef4a200eb2a88d175a --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_orange_juice_and_place_it_in_the_basket_view_0_0_193_0_0_initstate_0.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the orange juice and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + orange_juice_1 - orange_juice + basket_1 - basket + butter_1 - butter + chocolate_pudding_1 - chocolate_pudding + bbq_sauce_1 - bbq_sauce + ketchup_1 - ketchup + salad_dressing_1 - salad_dressing + ) + + (:obj_of_interest + orange_juice_1 + basket_1 + ) + + (:init + (On orange_juice_1 floor_target_object_region) + (On butter_1 floor_other_object_region_0) + (On chocolate_pudding_1 floor_other_object_region_1) + (On bbq_sauce_1 floor_other_object_region_2) + (On ketchup_1 floor_other_object_region_3) + (On salad_dressing_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In orange_juice_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_salad_dressing_and_place_it_in_the_basket_view_0_0_100_6_6_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_salad_dressing_and_place_it_in_the_basket_view_0_0_100_6_6_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..f83758a229d7a098eaaa1b2c1bd33093aa7c8e33 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_salad_dressing_and_place_it_in_the_basket_view_0_0_100_6_6_initstate_0.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the salad dressing and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + salad_dressing_1 - salad_dressing + basket_1 - basket + ketchup_1 - ketchup + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + milk_1 - milk + tomato_sauce_1 - tomato_sauce + ) + + (:obj_of_interest + salad_dressing_1 + basket_1 + ) + + (:init + (On salad_dressing_1 floor_target_object_region) + (On ketchup_1 floor_other_object_region_0) + (On alphabet_soup_1 floor_other_object_region_1) + (On cream_cheese_1 floor_other_object_region_2) + (On milk_1 floor_other_object_region_3) + (On tomato_sauce_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In salad_dressing_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_tomato_sauce_and_place_it_in_the_basket_view_0_0_151_0_0_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_tomato_sauce_and_place_it_in_the_basket_view_0_0_151_0_0_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..d48e7b34ce9325a9ba9f16aaf5bafb210ee1d028 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/pick_up_the_tomato_sauce_and_place_it_in_the_basket_view_0_0_151_0_0_initstate_0.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the tomato sauce and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + tomato_sauce_1 - tomato_sauce + basket_1 - basket + milk_1 - milk + butter_1 - butter + orange_juice_1 - orange_juice + chocolate_pudding_1 - chocolate_pudding + bbq_sauce_1 - bbq_sauce + ) + + (:obj_of_interest + tomato_sauce_1 + basket_1 + ) + + (:init + (On tomato_sauce_1 floor_target_object_region) + (On milk_1 floor_other_object_region_0) + (On butter_1 floor_other_object_region_1) + (On orange_juice_1 floor_other_object_region_2) + (On chocolate_pudding_1 floor_other_object_region_3) + (On bbq_sauce_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In tomato_sauce_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/push_the_plate_to_the_front_of_the_stove_view_0_0_100_350_350_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/push_the_plate_to_the_front_of_the_stove_view_0_0_100_350_350_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..b31490451ee3c938ba45321e4f900a699a20230b --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/push_the_plate_to_the_front_of_the_stove_view_0_0_100_350_350_initstate_0.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Push the plate to the front of the stove) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + plate_1 + main_table_stove_front_region + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (On plate_1 main_table_stove_front_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/put_the_bowl_on_the_plate_view_0_0_184_0_0_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/put_the_bowl_on_the_plate_view_0_0_184_0_0_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..60eba979b3c660f26e2fabde5835e21a12a0f840 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/put_the_bowl_on_the_plate_view_0_0_184_0_0_initstate_0.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Put the bowl on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/put_the_bowl_on_the_stove_view_22_15_100_0_0_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/put_the_bowl_on_the_stove_view_22_15_100_0_0_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..f4d3c61daa4cde457a7b4dc6332ff1b208ac3e03 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/put_the_bowl_on_the_stove_view_22_15_100_0_0_initstate_0.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Put the bowl on the stove) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + flat_stove_1_cook_region + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (On akita_black_bowl_1 flat_stove_1_cook_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/put_the_bowl_on_top_of_the_cabinet_view_0_0_100_10_350_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/put_the_bowl_on_top_of_the_cabinet_view_0_0_100_10_350_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..4b03c35f2bc5432666d6ffd86f5d9b483773bdad --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/put_the_bowl_on_top_of_the_cabinet_view_0_0_100_10_350_initstate_0.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Put the bowl on the top of the drawer) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + wooden_cabinet_1_top_side + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (On akita_black_bowl_1 wooden_cabinet_1_top_side)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/put_the_cream_cheese_in_the_bowl_view_0_0_100_352_10_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/put_the_cream_cheese_in_the_bowl_view_0_0_100_352_10_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..a04a03bccb35991a6b3cd5bc0ccf81ff414679f2 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/put_the_cream_cheese_in_the_bowl_view_0_0_100_352_10_initstate_0.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Put the cream cheese on the bowl) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + cream_cheese_1 + akita_black_bowl_1 + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (On cream_cheese_1 akita_black_bowl_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/put_the_wine_bottle_on_the_rack_view_0_0_192_0_0_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/put_the_wine_bottle_on_the_rack_view_0_0_192_0_0_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..def509b60cbacdfdcbc605e37f02d67980985077 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/put_the_wine_bottle_on_the_rack_view_0_0_192_0_0_initstate_0.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Put the wine bottle on the rack) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + wine_bottle_1 + wine_rack_1_top_region + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (On wine_bottle_1 wine_rack_1_top_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/put_the_wine_bottle_on_top_of_the_cabinet_view_38_15_100_0_0_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/put_the_wine_bottle_on_top_of_the_cabinet_view_38_15_100_0_0_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..b86ebdc4205f2a5e24de3a2f80d2573e01ebb098 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/put_the_wine_bottle_on_top_of_the_cabinet_view_38_15_100_0_0_initstate_0.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Put the wine bottle on the top of the drawer) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + wine_bottle_1 + wooden_cabinet_1_top_side + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (On wine_bottle_1 wooden_cabinet_1_top_side)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_viewpoint/turn_on_the_stove_view_319_15_100_0_0_initstate_0.bddl b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/turn_on_the_stove_view_319_15_100_0_0_initstate_0.bddl new file mode 100644 index 0000000000000000000000000000000000000000..ae8b0e8bad4a895664665152c7e2c63dc8e0f3ce --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_viewpoint/turn_on_the_stove_view_319_15_100_0_0_initstate_0.bddl @@ -0,0 +1,127 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Turn on the stove) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + flat_stove_1 + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (Turnon flat_stove_1)) + ) + +) diff --git a/third_party/libero/libero/libero/benchmark/__init__.py b/third_party/libero/libero/libero/benchmark/__init__.py index 951bcb6ec688f5118a5d60755a430d785e581097..9856c56e0e2192341a732d5221be1e5f85381e3f 100644 --- a/third_party/libero/libero/libero/benchmark/__init__.py +++ b/third_party/libero/libero/libero/benchmark/__init__.py @@ -2,6 +2,7 @@ import abc import os import glob import random +import re import torch from typing import List, NamedTuple, Type @@ -39,42 +40,202 @@ class Task(NamedTuple): problem_folder: str bddl_file: str init_states_file: str + init_states_folder: str = "" -def grab_language_from_filename(x): - if x[0].isupper(): # LIBERO-100 - if "SCENE10" in x: - language = " ".join(x[x.find("SCENE") + 8 :].split("_")) +# LIBERO-plus / Pro splits: language + scene edits live in per-suite BDDL, not filenames. +_PRO_VARIANT_SUITE_RE = re.compile(r"_(?:lan|object|swap|task)$") + + +def _bddl_language_instruction(suite_name: str, stem: str) -> str | None: + """Read ``(:language ...)`` from ``bddl_files//.bddl``.""" + lang_bddl = os.path.join(get_libero_path("bddl_files"), suite_name, f"{stem}.bddl") + if not os.path.isfile(lang_bddl): + return None + import importlib + + bddl_utils = importlib.import_module("libero.libero.envs.bddl_utils") + text = bddl_utils.get_problem_info(lang_bddl)["language_instruction"] + return text.strip() if text else None + + +def _language_from_filename_stem(stem: str) -> str: + """Legacy fallback: derive instruction text from task filename (pre-Pro suites).""" + if stem[0].isupper(): # LIBERO-100 / LIBERO-10 style + if "SCENE10" in stem: + language = " ".join(stem[stem.find("SCENE") + 8 :].split("_")) else: - language = " ".join(x[x.find("SCENE") + 7 :].split("_")) + language = " ".join(stem[stem.find("SCENE") + 7 :].split("_")) else: - language = " ".join(x.split("_")) - en = language.find(".bddl") - return language[:en] + language = " ".join(stem.split("_")) + return language.strip() + + +def grab_language_from_filename(x, *, suite_name: str | None = None): + """Resolve task language for policy prompts. + + All ``*_lan``, ``*_object``, ``*_swap``, ``*_task`` suites (and any suite with a + matching BDDL under ``bddl_files//``) use ``(:language ...)`` from BDDL. + Filename parsing is only used when no suite BDDL is available (e.g. legacy paths). + """ + en_ext = x.find(".bddl") + stem = x[:en_ext] if en_ext != -1 else x + if "__libero_" in stem: + stem = stem.split("__libero_", 1)[0] + + if suite_name: + bddl_lang = _bddl_language_instruction(suite_name, stem) + if bddl_lang: + return bddl_lang + _bddl_required = ( + _PRO_VARIANT_SUITE_RE.search(suite_name) is not None + or suite_name + in ( + "libero_background", + "libero_robot", + "libero_viewpoint", + ) + ) + if _bddl_required: + raise FileNotFoundError( + f"Missing or empty (:language ...) in bddl_files/{suite_name}/{stem}.bddl. " + f"Pro-derived suites must use BDDL prompts, not filename parsing." + ) + + return _language_from_filename_stem(stem) libero_suites = [ "libero_spatial", + "libero_spatial_cross", + "libero_spatial_sawyer", + "libero_spatial_lan", + "libero_spatial_object", + "libero_spatial_swap", + "libero_spatial_task", "libero_object", + "libero_object_cross", + "libero_object_sawyer", + "libero_object_lan", + "libero_object_object", + "libero_object_swap", + "libero_object_task", "libero_goal", + "libero_goal_cross", + "libero_goal_sawyer", + "libero_goal_lan", + "libero_goal_object", + "libero_goal_swap", + "libero_goal_task", "libero_90", "libero_10", + "libero_10_arm", + "libero_object_arm", + "libero_10_cross", + "libero_10_sawyer", + "libero_10_object", + "libero_10_lan", + "libero_10_swap", + "libero_10_task", "libero_10_benchmark", + "libero_integral", + "libero_background", + "libero_robot", + "libero_viewpoint", ] + +# Suites that ship parallel `{task}.init` copies (same tensor as `.pruned_init`). +_LIBERO_SUITE_INIT_STATE_SUFFIX = { + "libero_spatial_lan": "init", + "libero_spatial_object": "init", + "libero_spatial_swap": "init", + "libero_spatial_task": "init", + "libero_object_lan": "init", + "libero_object_object": "init", + "libero_object_swap": "init", + "libero_object_task": "init", + "libero_goal_lan": "init", + "libero_goal_object": "init", + "libero_goal_swap": "init", + "libero_goal_task": "init", + "libero_10_object": "init", + "libero_10_lan": "init", + "libero_10_swap": "init", + "libero_10_task": "init", +} + task_maps = {} max_len = 0 for libero_suite in libero_suites: task_maps[libero_suite] = {} + init_suffix = _LIBERO_SUITE_INIT_STATE_SUFFIX.get(libero_suite, "pruned_init") + + for slot_i, item in enumerate(libero_task_map[libero_suite]): + init_states_folder = "" + if libero_suite == "libero_integral": + if len(item) == 3: + problem_folder, task, init_states_folder = item + else: + problem_folder, task = item + init_states_folder = "" + init_src_suffix = _LIBERO_SUITE_INIT_STATE_SUFFIX.get( + init_states_folder or problem_folder, "pruned_init" + ) + map_key = f"integral_{slot_i:02d}" + if "_view_" in task: + init_states_file = f"{task.split('_view_')[0]}.{init_src_suffix}" + else: + init_states_file = f"{task}.{init_src_suffix}" + language = grab_language_from_filename( + task + ".bddl", suite_name=problem_folder + ) + task_maps[libero_suite][map_key] = Task( + name=task, + language=language, + problem="Libero", + problem_folder=problem_folder, + bddl_file=f"{task}.bddl", + init_states_file=init_states_file, + init_states_folder=init_states_folder, + ) + continue + elif libero_suite in ("libero_viewpoint", "libero_robot"): + init_states_folder, task = item + problem_folder = libero_suite + init_src_suffix = _LIBERO_SUITE_INIT_STATE_SUFFIX.get( + init_states_folder, "pruned_init" + ) + base_task = task.split("_view_")[0] + map_key = task + task_maps[libero_suite][map_key] = Task( + name=task, + language=grab_language_from_filename( + task + ".bddl", suite_name=problem_folder + ), + problem="Libero", + problem_folder=problem_folder, + bddl_file=f"{task}.bddl", + init_states_file=f"{base_task}.{init_src_suffix}", + init_states_folder=init_states_folder, + ) + continue + else: + task = item + problem_folder = libero_suite + init_src_suffix = init_suffix + map_key = task - for task in libero_task_map[libero_suite]: - language = grab_language_from_filename(task + ".bddl") - task_maps[libero_suite][task] = Task( + language = grab_language_from_filename( + task + ".bddl", suite_name=problem_folder + ) + task_maps[libero_suite][map_key] = Task( name=task, language=language, problem="Libero", - problem_folder=libero_suite, + problem_folder=problem_folder, bddl_file=f"{task}.bddl", - init_states_file=f"{task}.pruned_init", + init_states_file=f"{task}.{init_src_suffix}", + init_states_folder=init_states_folder, ) # print(language, "\n", f"{task}.bddl", "\n") @@ -115,7 +276,13 @@ class Benchmark(abc.ABC): def _make_benchmark(self): tasks = list(task_maps[self.name].values()) - if self.name == "libero_90": + if self.name in ( + "libero_90", + "libero_integral", + "libero_background", + "libero_robot", + "libero_viewpoint", + ): self.tasks = tasks else: print(f"[info] using task orders {task_orders[self.task_order_index]}") @@ -156,12 +323,32 @@ class Benchmark(abc.ABC): def get_task_emb(self, i): return self.task_embs[i] + def _resolve_init_states_path(self, task: Task) -> str: + init_folder = task.init_states_folder or task.problem_folder + init_root = get_libero_path("init_states") + candidates = [task.init_states_file] + if "_view_" in task.init_states_file: + candidates.append( + task.init_states_file.split("_view_")[0] + + "." + + task.init_states_file.split(".")[-1] + ) + if "_table_" in task.init_states_file: + candidates.append(re.sub(r"_table_\d+", "", task.init_states_file)) + if "_tb_" in task.init_states_file: + candidates.append(re.sub(r"_tb_\d+", "", task.init_states_file)) + seen = set() + for init_file in candidates: + if init_file in seen: + continue + seen.add(init_file) + path = os.path.join(init_root, init_folder, init_file) + if os.path.isfile(path): + return path + return os.path.join(init_root, init_folder, task.init_states_file) + def get_task_init_states(self, i): - init_states_path = os.path.join( - get_libero_path("init_states"), - self.tasks[i].problem_folder, - self.tasks[i].init_states_file, - ) + init_states_path = self._resolve_init_states_path(self.tasks[i]) # PyTorch 2.6+ defaults weights_only=True; LIBERO init files contain pickled numpy objects. init_states = torch.load(init_states_path, weights_only=False) return init_states @@ -178,6 +365,38 @@ class LIBERO_SPATIAL(Benchmark): self._make_benchmark() +@register_benchmark +class LIBERO_SPATIAL_LAN(Benchmark): + def __init__(self, task_order_index=0): + super().__init__(task_order_index=task_order_index) + self.name = "libero_spatial_lan" + self._make_benchmark() + + +@register_benchmark +class LIBERO_SPATIAL_OBJECT(Benchmark): + def __init__(self, task_order_index=0): + super().__init__(task_order_index=task_order_index) + self.name = "libero_spatial_object" + self._make_benchmark() + + +@register_benchmark +class LIBERO_SPATIAL_SWAP(Benchmark): + def __init__(self, task_order_index=0): + super().__init__(task_order_index=task_order_index) + self.name = "libero_spatial_swap" + self._make_benchmark() + + +@register_benchmark +class LIBERO_SPATIAL_TASK(Benchmark): + def __init__(self, task_order_index=0): + super().__init__(task_order_index=task_order_index) + self.name = "libero_spatial_task" + self._make_benchmark() + + @register_benchmark class LIBERO_OBJECT(Benchmark): def __init__(self, task_order_index=0): @@ -186,6 +405,38 @@ class LIBERO_OBJECT(Benchmark): self._make_benchmark() +@register_benchmark +class LIBERO_OBJECT_LAN(Benchmark): + def __init__(self, task_order_index=0): + super().__init__(task_order_index=task_order_index) + self.name = "libero_object_lan" + self._make_benchmark() + + +@register_benchmark +class LIBERO_OBJECT_OBJECT(Benchmark): + def __init__(self, task_order_index=0): + super().__init__(task_order_index=task_order_index) + self.name = "libero_object_object" + self._make_benchmark() + + +@register_benchmark +class LIBERO_OBJECT_SWAP(Benchmark): + def __init__(self, task_order_index=0): + super().__init__(task_order_index=task_order_index) + self.name = "libero_object_swap" + self._make_benchmark() + + +@register_benchmark +class LIBERO_OBJECT_TASK(Benchmark): + def __init__(self, task_order_index=0): + super().__init__(task_order_index=task_order_index) + self.name = "libero_object_task" + self._make_benchmark() + + @register_benchmark class LIBERO_GOAL(Benchmark): def __init__(self, task_order_index=0): @@ -194,6 +445,38 @@ class LIBERO_GOAL(Benchmark): self._make_benchmark() +@register_benchmark +class LIBERO_GOAL_LAN(Benchmark): + def __init__(self, task_order_index=0): + super().__init__(task_order_index=task_order_index) + self.name = "libero_goal_lan" + self._make_benchmark() + + +@register_benchmark +class LIBERO_GOAL_OBJECT(Benchmark): + def __init__(self, task_order_index=0): + super().__init__(task_order_index=task_order_index) + self.name = "libero_goal_object" + self._make_benchmark() + + +@register_benchmark +class LIBERO_GOAL_SWAP(Benchmark): + def __init__(self, task_order_index=0): + super().__init__(task_order_index=task_order_index) + self.name = "libero_goal_swap" + self._make_benchmark() + + +@register_benchmark +class LIBERO_GOAL_TASK(Benchmark): + def __init__(self, task_order_index=0): + super().__init__(task_order_index=task_order_index) + self.name = "libero_goal_task" + self._make_benchmark() + + @register_benchmark class LIBERO_90(Benchmark): def __init__(self, task_order_index=0): @@ -213,6 +496,86 @@ class LIBERO_10(Benchmark): self._make_benchmark() +@register_benchmark +class LIBERO_10_ARM(Benchmark): + def __init__(self, task_order_index=0): + super().__init__(task_order_index=task_order_index) + self.name = "libero_10_arm" + self._make_benchmark() + + +@register_benchmark +class LIBERO_OBJECT_ARM(Benchmark): + def __init__(self, task_order_index=0): + super().__init__(task_order_index=task_order_index) + self.name = "libero_object_arm" + self._make_benchmark() + + +@register_benchmark +class LIBERO_SPATIAL_CROSS(Benchmark): + def __init__(self, task_order_index=0): + super().__init__(task_order_index=task_order_index) + self.name = "libero_spatial_cross" + self._make_benchmark() + + +@register_benchmark +class LIBERO_SPATIAL_SAWYER(Benchmark): + def __init__(self, task_order_index=0): + super().__init__(task_order_index=task_order_index) + self.name = "libero_spatial_sawyer" + self._make_benchmark() + + +@register_benchmark +class LIBERO_OBJECT_CROSS(Benchmark): + def __init__(self, task_order_index=0): + super().__init__(task_order_index=task_order_index) + self.name = "libero_object_cross" + self._make_benchmark() + + +@register_benchmark +class LIBERO_OBJECT_SAWYER(Benchmark): + def __init__(self, task_order_index=0): + super().__init__(task_order_index=task_order_index) + self.name = "libero_object_sawyer" + self._make_benchmark() + + +@register_benchmark +class LIBERO_GOAL_CROSS(Benchmark): + def __init__(self, task_order_index=0): + super().__init__(task_order_index=task_order_index) + self.name = "libero_goal_cross" + self._make_benchmark() + + +@register_benchmark +class LIBERO_GOAL_SAWYER(Benchmark): + def __init__(self, task_order_index=0): + super().__init__(task_order_index=task_order_index) + self.name = "libero_goal_sawyer" + self._make_benchmark() + + +@register_benchmark +class LIBERO_10_CROSS(Benchmark): + def __init__(self, task_order_index=0): + super().__init__(task_order_index=task_order_index) + self.name = "libero_10_cross" + self._make_benchmark() + + +@register_benchmark +class LIBERO_10_SAWYER(Benchmark): + def __init__(self, task_order_index=0): + super().__init__(task_order_index=task_order_index) + self.name = "libero_10_sawyer" + self._make_benchmark() + + @register_benchmark class LIBERO_10_BENCHMARK(Benchmark): def __init__(self, task_order_index=0): @@ -221,6 +584,70 @@ class LIBERO_10_BENCHMARK(Benchmark): self._make_benchmark() +@register_benchmark +class LIBERO_10_OBJECT(Benchmark): + def __init__(self, task_order_index=0): + super().__init__(task_order_index=task_order_index) + self.name = "libero_10_object" + self._make_benchmark() + + +@register_benchmark +class LIBERO_10_LAN(Benchmark): + def __init__(self, task_order_index=0): + super().__init__(task_order_index=task_order_index) + self.name = "libero_10_lan" + self._make_benchmark() + + +@register_benchmark +class LIBERO_10_SWAP(Benchmark): + def __init__(self, task_order_index=0): + super().__init__(task_order_index=task_order_index) + self.name = "libero_10_swap" + self._make_benchmark() + + +@register_benchmark +class LIBERO_10_TASK(Benchmark): + def __init__(self, task_order_index=0): + super().__init__(task_order_index=task_order_index) + self.name = "libero_10_task" + self._make_benchmark() + + +@register_benchmark +class LIBERO_INTEGRAL(Benchmark): + def __init__(self, task_order_index=0): + super().__init__(task_order_index=task_order_index) + self.name = "libero_integral" + self._make_benchmark() + + +@register_benchmark +class LIBERO_BACKGROUND(Benchmark): + def __init__(self, task_order_index=0): + super().__init__(task_order_index=task_order_index) + self.name = "libero_background" + self._make_benchmark() + + +@register_benchmark +class LIBERO_ROBOT(Benchmark): + def __init__(self, task_order_index=0): + super().__init__(task_order_index=task_order_index) + self.name = "libero_robot" + self._make_benchmark() + + +@register_benchmark +class LIBERO_VIEWPOINT(Benchmark): + def __init__(self, task_order_index=0): + super().__init__(task_order_index=task_order_index) + self.name = "libero_viewpoint" + self._make_benchmark() + + @register_benchmark class LIBERO_100(Benchmark): def __init__(self, task_order_index=0): diff --git a/third_party/libero/libero/libero/benchmark/libero_suite_task_map.py b/third_party/libero/libero/libero/benchmark/libero_suite_task_map.py index 04a88538a538d7691b894f0976332d4bf6397d9d..dc9e3044a58bcdffb5cf0074d1f7caff0c774e2d 100644 --- a/third_party/libero/libero/libero/benchmark/libero_suite_task_map.py +++ b/third_party/libero/libero/libero/benchmark/libero_suite_task_map.py @@ -35,6 +35,58 @@ libero_task_map = { "put_the_bowl_on_the_plate", "put_the_wine_bottle_on_the_rack", ], + # Same 10 tasks as libero_10; bddl/init under libero_10_arm; black arm at runtime. + "libero_10_arm": [ + "LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket", + "LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket", + "KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it", + "KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it", + "LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate", + "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy", + "LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate", + "LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket", + "KITCHEN_SCENE8_put_both_moka_pots_on_the_stove", + "KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it", + ], + # Same 10 tasks as libero_object; black Panda arm at runtime. + "libero_object_arm": [ + "pick_up_the_alphabet_soup_and_place_it_in_the_basket", + "pick_up_the_cream_cheese_and_place_it_in_the_basket", + "pick_up_the_salad_dressing_and_place_it_in_the_basket", + "pick_up_the_bbq_sauce_and_place_it_in_the_basket", + "pick_up_the_ketchup_and_place_it_in_the_basket", + "pick_up_the_tomato_sauce_and_place_it_in_the_basket", + "pick_up_the_butter_and_place_it_in_the_basket", + "pick_up_the_milk_and_place_it_in_the_basket", + "pick_up_the_chocolate_pudding_and_place_it_in_the_basket", + "pick_up_the_orange_juice_and_place_it_in_the_basket", + ], + # Same 10 tasks; robot from LIBERO_10_CROSS_ROBOT (default ur5e). Regenerate inits after robot change. + "libero_10_cross": [ + "LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket", + "LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket", + "KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it", + "KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it", + "LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate", + "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy", + "LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate", + "LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket", + "KITCHEN_SCENE8_put_both_moka_pots_on_the_stove", + "KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it", + ], + # Same 10 tasks as libero_10_cross; fixed Sawyer + RethinkGripper. Regenerate inits after build. + "libero_10_sawyer": [ + "LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket", + "LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket", + "KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it", + "KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it", + "LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate", + "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy", + "LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate", + "LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket", + "KITCHEN_SCENE8_put_both_moka_pots_on_the_stove", + "KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it", + ], "libero_10": [ "LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket", "LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket", @@ -47,6 +99,54 @@ libero_task_map = { "KITCHEN_SCENE8_put_both_moka_pots_on_the_stove", "KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it", ], + "libero_10_object": [ + "LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket", + "LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket", + "KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it", + "KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it", + "LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate", + "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy", + "LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate", + "LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket", + "KITCHEN_SCENE8_put_both_moka_pots_on_the_stove", + "KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it", + ], + "libero_10_lan": [ + "LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket", + "LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket", + "KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it", + "KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it", + "LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate", + "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy", + "LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate", + "LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket", + "KITCHEN_SCENE8_put_both_moka_pots_on_the_stove", + "KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it", + ], + "libero_10_swap": [ + "LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket", + "LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket", + "KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it", + "KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it", + "LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate", + "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy", + "LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate", + "LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket", + "KITCHEN_SCENE8_put_both_moka_pots_on_the_stove", + "KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it", + ], + "libero_10_task": [ + "LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket", + "LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket", + "KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it", + "KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it", + "LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate", + "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy", + "LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate", + "LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket", + "KITCHEN_SCENE8_put_both_moka_pots_on_the_stove", + "KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it", + ], "libero_10_benchmark": [ "LIVING_ROOM_SCENE1_pick_up_the_alphabet_soup_and_put_it_in_the_basket", "LIVING_ROOM_SCENE1_pick_up_the_cream_cheese_box_and_put_it_in_the_basket", @@ -151,4 +251,192 @@ libero_task_map = { "STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_on_the_cabinet_shelf", "STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_under_the_cabinet_shelf", ], -} \ No newline at end of file +} + +for _base_suite in ("libero_spatial", "libero_object", "libero_goal"): + for _suffix in ("cross", "sawyer"): + libero_task_map[f"{_base_suite}_{_suffix}"] = list(libero_task_map[_base_suite]) + +for _base_suite in ("libero_goal", "libero_object", "libero_spatial"): + for _suite_kind in ("lan", "object", "swap", "task"): + libero_task_map[f"{_base_suite}_{_suite_kind}"] = list(libero_task_map[_base_suite]) + +# libero_goal_object: same 10 task names as libero_goal; BDDL/init from LIBERO-Pro object perturbation. +# Install: python scripts/build_libero_goal_object_suite.py + +# LIBERO-plus Background Textures — hardest variant per base task (40 unique). +# BDDL/init under bddl_files/libero_background and init_files/libero_background. +libero_task_map["libero_background"] = [ + "open_the_middle_drawer_of_the_cabinet_tb_18", + "put_the_bowl_on_the_stove_table_1", + "put_the_wine_bottle_on_top_of_the_cabinet_table_2", + "open_the_top_drawer_and_put_the_bowl_inside_table_12", + "put_the_bowl_on_top_of_the_cabinet_table_19", + "push_the_plate_to_the_front_of_the_stove_table_8", + "put_the_cream_cheese_in_the_bowl_table_22", + "turn_on_the_stove_table_3", + "put_the_bowl_on_the_plate_table_2", + "put_the_wine_bottle_on_the_rack_table_18", + "LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket_table_12", + "LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket_table_4", + "KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it_table_14", + "KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it_table_1", + "LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate_table_17", + "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy_tb_17", + "LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate_table_10", + "LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket_table_12", + "KITCHEN_SCENE8_put_both_moka_pots_on_the_stove_table_12", + "KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it_table_15", + "pick_up_the_alphabet_soup_and_place_it_in_the_basket_table_1", + "pick_up_the_cream_cheese_and_place_it_in_the_basket_table_7", + "pick_up_the_salad_dressing_and_place_it_in_the_basket_table_4", + "pick_up_the_bbq_sauce_and_place_it_in_the_basket_table_9", + "pick_up_the_ketchup_and_place_it_in_the_basket_table_12", + "pick_up_the_tomato_sauce_and_place_it_in_the_basket_table_27", + "pick_up_the_butter_and_place_it_in_the_basket_table_12", + "pick_up_the_milk_and_place_it_in_the_basket_table_1", + "pick_up_the_chocolate_pudding_and_place_it_in_the_basket_table_1", + "pick_up_the_orange_juice_and_place_it_in_the_basket_table_19", + "pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate_table_15", + "pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate_tb_19", + "pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate_table_12", + "pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate_table_16", + "pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate_table_4", + "pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate_table_12", + "pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate_table_10", + "pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate_table_10", + "pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate_table_24", + "pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate_tb_12", +] + +# LIBERO-plus Robot Initial States — hardest variant per base task (40 unique). +# BDDL under bddl_files/libero_robot; init from source suite base task. +libero_task_map["libero_robot"] = [ + ("libero_goal", "open_the_middle_drawer_of_the_cabinet_view_0_0_100_0_0_initstate_221"), + ("libero_goal", "put_the_bowl_on_the_stove_view_0_0_100_0_0_initstate_342"), + ("libero_goal", "put_the_wine_bottle_on_top_of_the_cabinet_view_0_0_100_0_0_initstate_283"), + ("libero_goal", "open_the_top_drawer_and_put_the_bowl_inside_view_0_0_100_0_0_initstate_114"), + ("libero_goal", "put_the_bowl_on_top_of_the_cabinet_view_0_0_100_0_0_initstate_215"), + ("libero_goal", "push_the_plate_to_the_front_of_the_stove_view_0_0_100_0_0_initstate_16"), + ("libero_goal", "put_the_cream_cheese_in_the_bowl_view_0_0_100_0_0_initstate_337"), + ("libero_goal", "turn_on_the_stove_view_0_0_100_0_0_initstate_328"), + ("libero_goal", "put_the_bowl_on_the_plate_view_0_0_100_0_0_initstate_219"), + ("libero_goal", "put_the_wine_bottle_on_the_rack_view_0_0_100_0_0_initstate_30"), + ("libero_10", "LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket_view_0_0_100_0_0_initstate_161"), + ("libero_10", "LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket_view_0_0_100_0_0_initstate_312"), + ("libero_10", "KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it_view_0_0_100_0_0_initstate_403"), + ("libero_10", "KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it_view_0_0_100_0_0_initstate_314"), + ("libero_10", "LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate_view_0_0_100_0_0_initstate_215"), + ("libero_10", "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy_view_0_0_100_0_0_initstate_336"), + ("libero_10", "LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate_view_0_0_100_0_0_initstate_337"), + ("libero_10", "LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket_view_0_0_100_0_0_initstate_258"), + ("libero_10", "KITCHEN_SCENE8_put_both_moka_pots_on_the_stove_view_0_0_100_0_0_initstate_139"), + ("libero_10", "KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it_view_0_0_100_0_0_initstate_340"), + ("libero_object", "pick_up_the_alphabet_soup_and_place_it_in_the_basket_view_0_0_100_0_0_initstate_311"), + ("libero_object", "pick_up_the_cream_cheese_and_place_it_in_the_basket_view_0_0_100_0_0_initstate_322"), + ("libero_object", "pick_up_the_salad_dressing_and_place_it_in_the_basket_view_0_0_100_0_0_initstate_103"), + ("libero_object", "pick_up_the_bbq_sauce_and_place_it_in_the_basket_view_0_0_100_0_0_initstate_114"), + ("libero_object", "pick_up_the_ketchup_and_place_it_in_the_basket_view_0_0_100_0_0_initstate_205"), + ("libero_object", "pick_up_the_tomato_sauce_and_place_it_in_the_basket_view_0_0_100_0_0_initstate_186"), + ("libero_object", "pick_up_the_butter_and_place_it_in_the_basket_view_0_0_100_0_0_initstate_257"), + ("libero_object", "pick_up_the_milk_and_place_it_in_the_basket_view_0_0_100_0_0_initstate_258"), + ("libero_object", "pick_up_the_chocolate_pudding_and_place_it_in_the_basket_view_0_0_100_0_0_initstate_329"), + ("libero_object", "pick_up_the_orange_juice_and_place_it_in_the_basket_view_0_0_100_0_0_initstate_110"), + ("libero_spatial", "pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate_view_0_0_100_0_0_initstate_301"), + ("libero_spatial", "pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate_view_0_0_100_0_0_initstate_162"), + ("libero_spatial", "pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate_view_0_0_100_0_0_initstate_363"), + ("libero_spatial", "pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate_view_0_0_100_0_0_initstate_444"), + ("libero_spatial", "pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate_view_0_0_100_0_0_initstate_125"), + ("libero_spatial", "pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate_view_0_0_100_0_0_initstate_116"), + ("libero_spatial", "pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate_view_0_0_100_0_0_initstate_457"), + ("libero_spatial", "pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate_view_0_0_100_0_0_initstate_388"), + ("libero_spatial", "pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate_view_0_0_100_0_0_initstate_339"), + ("libero_spatial", "pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate_view_0_0_100_0_0_initstate_300"), +] + +# LIBERO-plus Camera Viewpoints — hardest variant per base task (40 unique). +# Task 8 (1-based) frozen; prefer stems where pi05_final > pi05_libero when tied at max difficulty. +# BDDL under bddl_files/libero_viewpoint; init from source suite base names. +libero_task_map["libero_viewpoint"] = [ + ("libero_goal", "open_the_middle_drawer_of_the_cabinet_view_1_15_100_0_0_initstate_0"), + ("libero_goal", "put_the_bowl_on_the_stove_view_22_15_100_0_0_initstate_0"), + ("libero_goal", "open_the_top_drawer_and_put_the_bowl_inside_view_0_0_100_8_6_initstate_0"), + ("libero_goal", "put_the_bowl_on_top_of_the_cabinet_view_0_0_100_10_350_initstate_0"), + ("libero_goal", "push_the_plate_to_the_front_of_the_stove_view_0_0_100_350_350_initstate_0"), + ("libero_goal", "put_the_cream_cheese_in_the_bowl_view_0_0_100_352_10_initstate_0"), + ("libero_goal", "turn_on_the_stove_view_319_15_100_0_0_initstate_0"), + ("libero_goal", "put_the_wine_bottle_on_top_of_the_cabinet_view_38_15_100_0_0_initstate_0"), + ("libero_goal", "put_the_bowl_on_the_plate_view_0_0_184_0_0_initstate_0"), + ("libero_goal", "put_the_wine_bottle_on_the_rack_view_0_0_192_0_0_initstate_0"), + ("libero_10", "LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket_view_0_0_100_2_10_initstate_0"), + ("libero_10", "LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket_view_27_0_100_0_0_initstate_0"), + ("libero_10", "KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it_view_31_15_100_0_0_initstate_0"), + ("libero_10", "KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it_view_0_0_136_0_0_initstate_0"), + ("libero_10", "LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate_view_0_0_100_10_2_initstate_0"), + ("libero_10", "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy_view_0_0_100_350_4_initstate_0"), + ("libero_10", "LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate_view_0_0_100_352_8_initstate_0"), + ("libero_10", "LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket_view_318_15_100_0_0_initstate_0"), + ("libero_10", "KITCHEN_SCENE8_put_both_moka_pots_on_the_stove_view_0_0_182_0_0_initstate_0"), + ("libero_10", "KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it_view_0_0_100_358_8_initstate_0"), + ("libero_object", "pick_up_the_alphabet_soup_and_place_it_in_the_basket_view_12_15_100_0_0_initstate_0"), + ("libero_object", "pick_up_the_cream_cheese_and_place_it_in_the_basket_view_0_0_100_4_10_initstate_0"), + ("libero_object", "pick_up_the_salad_dressing_and_place_it_in_the_basket_view_0_0_100_6_6_initstate_0"), + ("libero_object", "pick_up_the_bbq_sauce_and_place_it_in_the_basket_view_0_0_100_8_6_initstate_0"), + ("libero_object", "pick_up_the_ketchup_and_place_it_in_the_basket_view_0_0_144_0_0_initstate_0"), + ("libero_object", "pick_up_the_tomato_sauce_and_place_it_in_the_basket_view_0_0_151_0_0_initstate_0"), + ("libero_object", "pick_up_the_butter_and_place_it_in_the_basket_view_0_0_168_0_0_initstate_0"), + ("libero_object", "pick_up_the_milk_and_place_it_in_the_basket_view_0_0_173_0_0_initstate_0"), + ("libero_object", "pick_up_the_chocolate_pudding_and_place_it_in_the_basket_view_0_0_183_0_0_initstate_0"), + ("libero_object", "pick_up_the_orange_juice_and_place_it_in_the_basket_view_0_0_193_0_0_initstate_0"), + ("libero_spatial", "pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate_view_13_15_100_0_0_initstate_0"), + ("libero_spatial", "pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate_view_16_15_100_0_0_initstate_0"), + ("libero_spatial", "pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate_view_0_0_100_6_8_initstate_0"), + ("libero_spatial", "pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate_view_58_0_100_0_0_initstate_0"), + ("libero_spatial", "pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate_view_61_0_100_0_0_initstate_0"), + ("libero_spatial", "pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate_view_289_15_100_0_0_initstate_0"), + ("libero_spatial", "pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate_view_300_0_100_0_0_initstate_0"), + ("libero_spatial", "pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate_view_0_0_175_0_0_initstate_0"), + ("libero_spatial", "pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate_view_0_0_181_0_0_initstate_0"), + ("libero_spatial", "pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate_view_345_15_100_0_0_initstate_0"), +] + +# Cross-suite +# Cross-suite +# 20 tasks: slot index = pi05_final report ``Task N`` minus 1 (evaluate get_task id). +# Regenerate manifest: python scripts/generate_libero_integral_manifest.py +_LIBERO_INTEGRAL_TASK_INDICES = [ + ("libero_object_swap", 0), + ("libero_10_swap", 1), + ("libero_10_object", 8), + ("libero_10_object", 9), + ("libero_spatial_task", 8), + ("libero_goal_task", 1), + ("libero_viewpoint", 14), + ("libero_viewpoint", 7), + ("libero_robot", 11), + ("libero_robot", 15), + ("libero_10_cross", 7), + ("libero_10_cross", 0), + ("libero_goal_cross", 1), + ("libero_object_cross", 9), + ("libero_spatial_cross", 0), + ("libero_spatial_cross", 8), + ("libero_object_cross", 4), + ("libero_object_cross", 5), + ("libero_spatial_cross", 3), + ("libero_goal_cross", 8), +] + + +def _integral_slot(source_suite: str, task_idx: int): + """``task_idx`` = report Task number - 1 for that suite's pi05_final summary.""" + entry = libero_task_map[source_suite][task_idx] + if source_suite in ("libero_viewpoint", "libero_robot"): + init_folder, stem = entry[0], entry[1] + return (source_suite, stem, init_folder) + return (source_suite, entry, source_suite) + + +libero_task_map["libero_integral"] = [ + _integral_slot(suite, idx) for suite, idx in _LIBERO_INTEGRAL_TASK_INDICES +] \ No newline at end of file diff --git a/third_party/libero/libero/libero/envs/bddl_base_domain.py b/third_party/libero/libero/libero/envs/bddl_base_domain.py index 0aa0f0c212a3ee0413980ff8d48c5100724115c5..fb6275366ea7197ebc7958e9942ada745e278b84 100644 --- a/third_party/libero/libero/libero/envs/bddl_base_domain.py +++ b/third_party/libero/libero/libero/envs/bddl_base_domain.py @@ -190,9 +190,11 @@ class BDDLBaseDomain(SingleArmEnv): def _assert_problem_name(self): """Implement this to make sure the loaded bddl file has the correct problem name specification.""" - assert ( - self.parsed_problem["problem_name"] == self.__class__.__name__.lower() - ), "Problem name mismatched" + expected = self.__class__.__name__.lower() + actual = str(self.parsed_problem["problem_name"]).lower() + assert actual == expected or actual.startswith( + expected + "_" + ), f"Problem name mismatched: got {actual!r}, expected {expected!r} or prefix variant" def _load_fixtures_in_arena(self, mujoco_arena): """ @@ -571,7 +573,9 @@ class BDDLBaseDomain(SingleArmEnv): regions = self.parsed_problem["regions"] initial_state = self.parsed_problem["initial_state"] - problem_name = self.parsed_problem["problem_name"] + # REGION_SAMPLERS keys match the registered problem class name, not BDDL + # texture/scene suffixes (e.g. libero_background long problem symbols). + problem_name = self.__class__.__name__.lower() conditioned_initial_place_state_on_sites = [] conditioned_initial_place_state_on_objects = [] @@ -728,6 +732,18 @@ class BDDLBaseDomain(SingleArmEnv): sampler, {"reference": target_name, "site_name": region_name} ) + def _apply_libero_arm_robot_color(self): + """Black Panda arm for libero_10_arm / libero_object_arm (not cross/sawyer suites).""" + norm = str(self.bddl_file_name).replace("\\", "/") + if not any( + tag in norm for tag in ("/libero_10_arm/", "/libero_object_arm/") + ): + return + from libero.libero.envs.libero_robot_arm import apply_black_robot_arm + + prefix = self.robots[0].robot_model.naming_prefix + apply_black_robot_arm(self.sim, robot_prefix=prefix) + def _reset_internal(self): """ Resets simulation internal configurations. @@ -776,6 +792,9 @@ class BDDLBaseDomain(SingleArmEnv): self.sim.model.body_pos[body_id] = obj_pos self.sim.model.body_quat[body_id] = obj_quat + # After placement: recolor visible arm meshes (robot0_g*_vis + materials). + self._apply_libero_arm_robot_color() + def _check_success(self): """ This needs to match with the goal description from the bddl file diff --git a/third_party/libero/libero/libero/envs/env_wrapper.py b/third_party/libero/libero/libero/envs/env_wrapper.py index b5a732b0d7e5d67ba5428fdf0edef150e80f6296..a0d83693f363b078b9e1ebe2fb2df880df0cfcfb 100644 --- a/third_party/libero/libero/libero/envs/env_wrapper.py +++ b/third_party/libero/libero/libero/envs/env_wrapper.py @@ -7,6 +7,32 @@ from robosuite.utils.errors import RandomizationError import libero.libero.envs.bddl_utils as BDDLUtils from libero.libero.envs import * +from libero.libero.envs.bddl_base_domain import TASK_MAPPING + + +def _resolve_task_env_class(problem_name: str): + """Map BDDL (problem ...) name to a registered TASK_MAPPING entry. + + Suites such as libero_background encode scene/texture in the problem symbol + (e.g. libero_tabletop_manipulation_tabletop_table_fabriccashmere001_nrm_6k) + while TASK_MAPPING registers the base class key (libero_tabletop_manipulation). + """ + pn = str(problem_name).lower() + if pn in TASK_MAPPING: + return TASK_MAPPING[pn] + best_key = None + best_len = -1 + for key in TASK_MAPPING: + if pn == key or pn.startswith(key + "_"): + if len(key) > best_len: + best_len = len(key) + best_key = key + if best_key is None: + raise KeyError( + f"No TASK_MAPPING entry for problem_name={problem_name!r} (normalized {pn!r}); " + f"known keys sample: {sorted(list(TASK_MAPPING))[:12]}..." + ) + return TASK_MAPPING[best_key] class ControlEnv: @@ -40,21 +66,63 @@ class ControlEnv: renderer_config=None, **kwargs, ): + horizon_view = 0 + vertical_view = 0 + scale_factor = 1.0 + end_point_rot = 0 + end_point_vertical = 0 + init_state = 0 + bddl_path = str(bddl_file_name) + basename = os.path.basename(bddl_path) + if "_view_" in basename and "_initstate_" in basename: + stem, _ext = os.path.splitext(basename) + base_stem, view_rest = stem.split("_view_", 1) + angle_view, init_rest = view_rest.split("_initstate_", 1) + init_state = int(init_rest.split("_")[0]) + ( + horizon_view, + vertical_view, + scale_raw, + end_point_rot, + end_point_vertical, + ) = angle_view.split("_") + scale_factor = float(int(scale_raw) / 100) + if int(init_state) != 0: + robots = [robots[0] + str(init_state)] + assert os.path.exists( - bddl_file_name - ), f"[error] {bddl_file_name} does not exist!" + bddl_path + ), f"[error] {bddl_path} does not exist!" + + robots = list(robots) + bddl_norm = bddl_path.replace("\\", "/") + if "_cross/" in bddl_norm and robots == ["Panda"]: + from libero.libero.envs.libero_cross_robot import resolve_cross_robot_names + + robots = resolve_cross_robot_names() + elif "_sawyer/" in bddl_norm and robots == ["Panda"]: + from libero.libero.envs.libero_sawyer_robot import resolve_sawyer_robot_names + + robots = resolve_sawyer_robot_names(bddl_norm) controller_configs = suite.load_controller_config(default_controller=controller) - problem_info = BDDLUtils.get_problem_info(bddl_file_name) + problem_info = BDDLUtils.get_problem_info(bddl_path) # Check if we're using a multi-armed environment and use env_configuration argument if so # Create environment self.problem_name = problem_info["problem_name"] self.domain_name = problem_info["domain_name"] self.language_instruction = problem_info["language_instruction"] - self.env = TASK_MAPPING[self.problem_name]( - bddl_file_name, + task_cls = _resolve_task_env_class(self.problem_name) + self.env = task_cls( + bddl_path, + horizon_view=horizon_view, + vertical_view=vertical_view, + scale_factor=scale_factor, + end_point_rot=end_point_rot, + end_point_vertical=end_point_vertical, + init_state=init_state, robots=robots, controller_configs=controller_configs, gripper_types=gripper_types, @@ -190,13 +258,35 @@ class SegmentationRenderEnv(OffScreenRenderEnv): obs = self.env.reset() self.segmentation_id_mapping = {} - for i, instance_name in enumerate(list(self.env.model.instances_to_ids.keys())): - if instance_name == "Panda0": + instance_names = list(self.env.model.instances_to_ids.keys()) + robot_prefixes = ( + "Panda", + "MountedPanda", + "OnTheGroundPanda", + "Sawyer", + "MountedSawyer", + "OnTheGroundSawyer", + "OnTheGroundSawyerFloor", + "UR5e", + "MountedUR5e", + "OnTheGroundUR5e", + ) + # Find robot root instance across Panda / Sawyer / UR5e variants. + for i, instance_name in enumerate(instance_names): + if instance_name.startswith(robot_prefixes) and instance_name.endswith("0"): self.segmentation_robot_id = i - - for i, instance_name in enumerate(list(self.env.model.instances_to_ids.keys())): - if instance_name not in ["Panda0", "RethinkMount0", "PandaGripper0"]: - self.segmentation_id_mapping[i] = instance_name + break + + for i, instance_name in enumerate(instance_names): + # Drop robot subtree + common mounts / grippers from object segmentation. + if ( + instance_name.startswith(robot_prefixes) + or "Mount0" in instance_name + or "Gripper0" in instance_name + or "RethinkMount0" in instance_name + ): + continue + self.segmentation_id_mapping[i] = instance_name self.instance_to_id = { v: k + 1 for k, v in self.segmentation_id_mapping.items() diff --git a/third_party/libero/libero/libero/envs/libero_10_cross_robot.py b/third_party/libero/libero/libero/envs/libero_10_cross_robot.py new file mode 100644 index 0000000000000000000000000000000000000000..f2aa9ee8e35121b7325eacf0b024ad118904aa89 --- /dev/null +++ b/third_party/libero/libero/libero/envs/libero_10_cross_robot.py @@ -0,0 +1,6 @@ +"""Robot selection for the ``libero_10_cross`` benchmark (non-Franka arms).""" + +from libero.libero.envs.libero_cross_robot import ( # noqa: F401 + normalize_cross_robot_choice as normalize_10_cross_robot_choice, + resolve_cross_robot_names as resolve_10_cross_robot_names, +) diff --git a/third_party/libero/libero/libero/envs/libero_10_sawyer_robot.py b/third_party/libero/libero/libero/envs/libero_10_sawyer_robot.py new file mode 100644 index 0000000000000000000000000000000000000000..40ddb3a86925a9e63e8c00ae21d162c7cc51d16e --- /dev/null +++ b/third_party/libero/libero/libero/envs/libero_10_sawyer_robot.py @@ -0,0 +1,3 @@ +"""Fixed Sawyer arm for the ``libero_10_sawyer`` benchmark.""" + +from libero.libero.envs.libero_sawyer_robot import resolve_sawyer_robot_names as resolve_10_sawyer_robot_names # noqa: F401 diff --git a/third_party/libero/libero/libero/envs/libero_camera_view.py b/third_party/libero/libero/libero/envs/libero_camera_view.py new file mode 100644 index 0000000000000000000000000000000000000000..7efd95d2eb6180aa840881851ebefb66d6ed1f80 --- /dev/null +++ b/third_party/libero/libero/libero/envs/libero_camera_view.py @@ -0,0 +1,131 @@ +"""Camera viewpoint helpers (LIBERO-plus Camera Viewpoints compatibility).""" + +from __future__ import annotations + +import numpy as np +from scipy.spatial.transform import Rotation + + +def scale_distance_from_pivot( + original_quat=None, original_pos=None, scale_factor: float = 1.3 +): + result = {} + pivot_point = np.array([0, 0, 0.8]) + if original_quat is not None: + result["new_quat"] = original_quat + if original_pos is not None: + original_pos = np.array(original_pos) + vec_to_point = original_pos - pivot_point + scaled_vec = vec_to_point * scale_factor + new_pos = pivot_point + scaled_vec + result["new_pos"] = ( + new_pos.tolist() if isinstance(new_pos, np.ndarray) else new_pos + ) + return result + + +def rotate_around_y(original_quat=None, original_pos=None, degrees=0): + result = {} + axis = np.array([0, 1, 0]) + axis_point = np.array([0, 0, 0.8]) + custom_rotation = Rotation.from_rotvec(np.radians(-degrees) * axis) + if original_quat is not None: + original_rot = Rotation.from_quat( + [original_quat[1], original_quat[2], original_quat[3], original_quat[0]] + ) + combined_rot = custom_rotation * original_rot + new_quat = combined_rot.as_quat() + result["new_quat"] = [ + float(new_quat[3]), + float(new_quat[0]), + float(new_quat[1]), + float(new_quat[2]), + ] + if original_pos is not None: + translated_pos = np.array(original_pos) - axis_point + rotated_pos = custom_rotation.apply(translated_pos) + final_pos = rotated_pos + axis_point + result["new_pos"] = ( + final_pos.tolist() if isinstance(final_pos, np.ndarray) else final_pos + ) + return result + + +def rotate_around_z(original_quat=None, original_pos=None, degrees=0): + result = {} + z_rotation = Rotation.from_euler("z", degrees, degrees=True) + if original_quat is not None: + original_rot = Rotation.from_quat( + [original_quat[1], original_quat[2], original_quat[3], original_quat[0]] + ) + combined_rot = z_rotation * original_rot + new_quat = combined_rot.as_quat() + result["new_quat"] = [ + float(new_quat[3]), + float(new_quat[0]), + float(new_quat[1]), + float(new_quat[2]), + ] + if original_pos is not None: + rotated_pos = z_rotation.apply(original_pos) + result["new_pos"] = ( + rotated_pos.tolist() if isinstance(rotated_pos, np.ndarray) else rotated_pos + ) + return result + + +def apply_agentview_viewpoint( + mujoco_arena, + *, + pos_av: list[float], + quat_av: list[float], + horizon_view, + vertical_view, + scale_factor: float, + end_point_rot, + end_point_vertical, +) -> None: + up_view = vertical_view + view = horizon_view + + if int(up_view) != 0: + result_up = rotate_around_y( + original_quat=quat_av, original_pos=pos_av, degrees=int(up_view) + ) + pos_up = [round(x, 4) for x in result_up["new_pos"]] + quat_up = [round(x, 4) for x in result_up["new_quat"]] + result_view = rotate_around_z( + original_quat=quat_up, original_pos=pos_up, degrees=int(view) + ) + pos_view = [round(x, 4) for x in result_view["new_pos"]] + quat_view = [round(x, 4) for x in result_view["new_quat"]] + else: + result_view = rotate_around_z( + original_quat=quat_av, original_pos=pos_av, degrees=int(view) + ) + pos_view = [round(x, 4) for x in result_view["new_pos"]] + quat_view = [round(x, 4) for x in result_view["new_quat"]] + + if float(scale_factor) != 1.0: + result = scale_distance_from_pivot( + original_quat=quat_view, + original_pos=pos_view, + scale_factor=float(scale_factor), + ) + pos_view = [round(x, 4) for x in result["new_pos"]] + quat_view = [round(x, 4) for x in result["new_quat"]] + + if int(end_point_rot) != 0: + result_view = rotate_around_z(original_quat=quat_view, degrees=int(end_point_rot)) + quat_view = [round(x, 4) for x in result_view["new_quat"]] + if int(end_point_vertical) != 0: + result_view = rotate_around_y( + original_quat=quat_view, degrees=int(end_point_vertical) + ) + quat_view = [round(x, 4) for x in result_view["new_quat"]] + + mujoco_arena.set_camera( + camera_name="agentview", + pos=pos_view, + quat=quat_view, + ) diff --git a/third_party/libero/libero/libero/envs/libero_cross_robot.py b/third_party/libero/libero/libero/envs/libero_cross_robot.py new file mode 100644 index 0000000000000000000000000000000000000000..fc9b8cdc6a4f0b3a0179bfe5a9b424e362c2b5a2 --- /dev/null +++ b/third_party/libero/libero/libero/envs/libero_cross_robot.py @@ -0,0 +1,40 @@ +"""Robot selection for ``*_cross`` LIBERO benchmarks (non-Franka arms, default UR5e).""" + +from __future__ import annotations + +import os + +_SUPPORTED = { + "panda": "Panda", + "franka": "Panda", + "ur5": "UR5e", + "ur5e": "UR5e", +} + +_UNSUPPORTED = { + "sawyer": "Use the matching *_sawyer suite for Sawyer.", + "widowx": "WidowX is not bundled in robosuite.", + "window-x": "WidowX is not bundled in robosuite.", + "windowx": "WidowX is not bundled in robosuite.", +} + + +def normalize_cross_robot_choice(choice: str | None = None) -> str: + key = ( + choice + or os.environ.get("LIBERO_CROSS_ROBOT") + or os.environ.get("LIBERO_10_CROSS_ROBOT", "ur5e") + ).strip().lower() + if key in _UNSUPPORTED: + raise ValueError(_UNSUPPORTED[key]) + if key not in _SUPPORTED: + raise ValueError( + f"Unknown cross-suite robot {choice!r}. " + f"Supported: {sorted(_SUPPORTED)}. Set LIBERO_CROSS_ROBOT." + ) + return _SUPPORTED[key] + + +def resolve_cross_robot_names(choice: str | None = None) -> list[str]: + """Return robosuite robot list for OffScreenRenderEnv, e.g. ``['UR5e']``.""" + return [normalize_cross_robot_choice(choice)] diff --git a/third_party/libero/libero/libero/envs/libero_rethink_gripper.py b/third_party/libero/libero/libero/envs/libero_rethink_gripper.py new file mode 100644 index 0000000000000000000000000000000000000000..29a0506c612587e3a06b65273f7555db81d68458 --- /dev/null +++ b/third_party/libero/libero/libero/envs/libero_rethink_gripper.py @@ -0,0 +1,11 @@ +"""Rethink gripper with MuJoCo 3.6-compatible MJCF.""" + +from robosuite.models.grippers.gripper_model import GripperModel +from robosuite.models.grippers.rethink_gripper import RethinkGripper + +from libero.libero.envs.libero_rethink_gripper_xml import patched_rethink_gripper_xml + + +class LiberoRethinkGripper(RethinkGripper): + def __init__(self, idn=0): + GripperModel.__init__(self, patched_rethink_gripper_xml(), idn=idn) diff --git a/third_party/libero/libero/libero/envs/libero_rethink_gripper_xml.py b/third_party/libero/libero/libero/envs/libero_rethink_gripper_xml.py new file mode 100644 index 0000000000000000000000000000000000000000..f264d51213a13c4f17a23a04ba328f3141e1bb13 --- /dev/null +++ b/third_party/libero/libero/libero/envs/libero_rethink_gripper_xml.py @@ -0,0 +1,59 @@ +"""Patched RethinkGripper MJCF for MuJoCo 3.6+ (mesh inertia=shell); stock XML on MuJoCo 2.x.""" + +from __future__ import annotations + +import os +import re +from pathlib import Path + +import mujoco +from robosuite.utils.mjcf_utils import xml_path_completion + +_PATCHED: Path | None = None + + +def _mujoco_major() -> int: + return int(str(mujoco.__version__).split(".", maxsplit=1)[0]) + + +def patched_rethink_gripper_xml() -> str: + global _PATCHED + src = Path(xml_path_completion("grippers/rethink_gripper.xml")) + if _mujoco_major() < 3: + return str(src) + + if _PATCHED is not None and _PATCHED.is_file(): + return str(_PATCHED) + + asset_dir = src.parent.resolve() + text = src.read_text() + + def _abs_mesh_path(match: re.Match[str]) -> str: + rel = match.group(1) + return f'file="{(asset_dir / rel).as_posix()}"' + + text = re.sub( + r'file="((?:meshes|obj_meshes)/[^"]+)"', + _abs_mesh_path, + text, + ) + + def _mesh_inertia_shell(match: re.Match[str]) -> str: + tag = match.group(0) + if 'inertia="' in tag: + return tag + return tag[:-2] + ' inertia="shell"/>' + + text = re.sub(r']*/>', _mesh_inertia_shell, text) + + cache_root = Path( + os.environ.get( + "LIBERO_CONFIG_PATH", + str(Path(__file__).resolve().parents[4] / ".libero_local"), + ) + ) + out = cache_root / "rethink_gripper_patched.xml" + out.parent.mkdir(parents=True, exist_ok=True) + out.write_text(text) + _PATCHED = out + return str(out) diff --git a/third_party/libero/libero/libero/envs/libero_robot_arm.py b/third_party/libero/libero/libero/envs/libero_robot_arm.py new file mode 100644 index 0000000000000000000000000000000000000000..c7e7068aefd2b7dc82db5795a6ed6c3ae925d6e3 --- /dev/null +++ b/third_party/libero/libero/libero/envs/libero_robot_arm.py @@ -0,0 +1,80 @@ +"""Recolor Franka arm + gripper geoms for black-arm LIBERO suites (libero_10_arm, libero_object_arm).""" + +from __future__ import annotations + +import re + +import numpy as np + +try: + import mujoco +except ImportError: # pragma: no cover + mujoco = None + +# Dark matte black (RGBA). +BLACK_ARM_RGBA = np.array([0.06, 0.06, 0.06, 1.0], dtype=np.float32) + +_ROBOT_VIS_PATTERN = re.compile(r"^robot0_g\d+_vis$", re.IGNORECASE) + +# PandaGripper is a separate MuJoCo subtree (not under robot0_*). +_GRIPPER_PREFIXES = ("gripper0_",) +_GRIPPER_EXCLUDE_SUBSTR = ("eef", "pad_collision") # keep contact pads unchanged optional + + +def _geom_name(model, geom_id: int) -> str: + if hasattr(model, "geom_id2name"): + try: + return model.geom_id2name(geom_id) or "" + except (KeyError, ValueError): + pass + raw = getattr(model, "_model", None) + if raw is not None and mujoco is not None: + return mujoco.mj_id2name(raw, mujoco.mjtObj.mjOBJ_GEOM, geom_id) or "" + return "" + + +def should_recolor_arm_geom(geom_name: str, robot_prefix: str = "robot0") -> bool: + """Panda arm (robot0_*) + gripper fingers/hand (gripper0_*).""" + name = geom_name or "" + name_l = name.lower() + + if _ROBOT_VIS_PATTERN.match(name): + return True + + if name_l.startswith(robot_prefix.lower()): + if "mount" in name_l or "camera" in name_l: + return False + return "collision" in name_l and "link" in name_l + + for gp in _GRIPPER_PREFIXES: + if name_l.startswith(gp): + if any(x in name_l for x in _GRIPPER_EXCLUDE_SUBSTR): + return False + return True + + return False + + +def _write_geom_black(model, geom_id: int) -> None: + model.geom_rgba[geom_id] = BLACK_ARM_RGBA + model.geom_matid[geom_id] = -1 + raw = getattr(model, "_model", None) + if raw is not None: + raw.geom_rgba[geom_id] = BLACK_ARM_RGBA + raw.geom_matid[geom_id] = -1 + + +def apply_black_robot_arm(sim, robot_prefix: str = "robot0") -> int: + """Black out Panda arm meshes and PandaGripper (gripper0_*).""" + model = sim.model + count = 0 + for geom_id in range(model.ngeom): + name = _geom_name(model, geom_id) + if not should_recolor_arm_geom(name, robot_prefix=robot_prefix): + continue + _write_geom_black(model, geom_id) + count += 1 + + if count and hasattr(sim, "forward"): + sim.forward() + return count diff --git a/third_party/libero/libero/libero/envs/libero_sawyer_pose.py b/third_party/libero/libero/libero/envs/libero_sawyer_pose.py new file mode 100644 index 0000000000000000000000000000000000000000..402393f05a7c52bb7330e10e22f9f351a75a2d50 --- /dev/null +++ b/third_party/libero/libero/libero/envs/libero_sawyer_pose.py @@ -0,0 +1,108 @@ +"""Sawyer pose aligned with UR5e (``libero_10_cross``) and Franka base offsets in LIBERO. + +``base_xpos_offset`` matches ``MountedUR5e`` / ``OnTheGroundUR5e``. Joint homes are IK-calibrated +to the UR5e EEF on ``libero_10_cross`` (see ``scripts/calibrate_libero_sawyer_init.py --base-suite libero_10_cross``). +""" + +from __future__ import annotations + +import numpy as np + +# Franka home used by LIBERO (MountedPanda / OnTheGroundPanda). +PANDA_LIBERO_INIT_QPOS = np.array( + [0.0, -0.16103739, 0.0, -2.44459747, 0.0, 2.2267522, np.pi / 4], + dtype=np.float64, +) + +# Sawyer on-the-ground: libero_object / floor scenes (arena_type=floor, base empty). +# IK to match OnTheGroundPanda EEF pos + gripper axis on libero_object task 0 +# (old copy of Panda joints with wrist=-1.57 pointed gripper upward). +SAWYER_INIT_QPOS_FLOOR = np.array( + [ + -0.09584186, + -1.34240374, + 2.36772609, + -1.82897968, + 3.14, + 1.1146124, + -2.20294191, + ], + dtype=np.float64, +) + +# Sawyer on-the-ground: living-room tabletop (arena_type=living_room, z~0.42). +SAWYER_INIT_QPOS_LIVING_ROOM = np.array( + [ + -0.20176912, + -1.40403526, + -0.15525753, + 2.07884272, + 0.0039564, + 0.92203027, + -1.74108171, + ], + dtype=np.float64, +) + +# Backward-compatible alias (living-room calibration). +SAWYER_INIT_QPOS_ON_GROUND = SAWYER_INIT_QPOS_LIVING_ROOM + +# Kitchen-style mounted tables (libero_10_sawyer kitchen tasks). +SAWYER_INIT_QPOS_MOUNTED = np.array( + [ + -0.07654566, + -1.56804598, + 2.10952505, + -2.08657761, + 3.05206647, + 1.08574635, + -2.44337762, + ], + dtype=np.float64, +) + +# Study mounted table (same calibration target; slightly worse FK match than kitchen). +SAWYER_INIT_QPOS_MOUNTED_STUDY = np.array( + [ + -0.06137142, + -1.62650068, + 2.01549683, + -2.16443112, + 3.00912749, + 1.03177198, + -2.5079558, + ], + dtype=np.float64, +) + + +def sawyer_init_qpos_floor() -> np.ndarray: + return SAWYER_INIT_QPOS_FLOOR.copy() + + +def sawyer_init_qpos_living_room() -> np.ndarray: + return SAWYER_INIT_QPOS_LIVING_ROOM.copy() + + +def sawyer_init_qpos_on_ground() -> np.ndarray: + return sawyer_init_qpos_living_room() + + +def sawyer_init_qpos_mounted(*, study_table: bool = False) -> np.ndarray: + if study_table: + return SAWYER_INIT_QPOS_MOUNTED_STUDY.copy() + return SAWYER_INIT_QPOS_MOUNTED.copy() + + +def sawyer_table_x_offset(table_length: float, *, front_margin: float = 0.16) -> tuple[float, float, float]: + """Match MountedPanda ``kitchen_table`` / ``table`` base placement.""" + return (-front_margin - table_length / 2, 0.0, 0.0) + + +def sawyer_study_table_x_offset(table_length: float) -> tuple[float, float, float]: + """Match MountedPanda ``study_table`` base placement.""" + return (-0.25 - table_length / 2, 0.0, 0.0) + + +def sawyer_living_room_x_offset(table_length: float) -> tuple[float, float, float]: + return (-0.16 - table_length / 2, 0.0, 0.42) diff --git a/third_party/libero/libero/libero/envs/libero_sawyer_robot.py b/third_party/libero/libero/libero/envs/libero_sawyer_robot.py new file mode 100644 index 0000000000000000000000000000000000000000..246c21939f7f3c24eefe192661431789d77b7099 --- /dev/null +++ b/third_party/libero/libero/libero/envs/libero_sawyer_robot.py @@ -0,0 +1,17 @@ +"""Fixed Sawyer arm for ``*_sawyer`` LIBERO benchmarks. + +Runtime maps ``Sawyer`` -> ``MountedSawyer`` / ``OnTheGroundSawyer`` per scene. +Base pose and home ``init_qpos`` are tuned in ``libero_sawyer_pose.py``. + +Eval inits should match Franka (same object layout + EEF):: + + python scripts/regenerate_libero_sawyer_inits_from_panda.py --suite libero_spatial +""" + +from __future__ import annotations + + +def resolve_sawyer_robot_names(_bddl_path: str | None = None) -> list[str]: + # Keep canonical robot key; LIBERO / robosuite scene logic maps this to + # MountedSawyer or OnTheGroundSawyer as needed. + return ["Sawyer"] diff --git a/third_party/libero/libero/libero/envs/libero_sawyer_xml.py b/third_party/libero/libero/libero/envs/libero_sawyer_xml.py new file mode 100644 index 0000000000000000000000000000000000000000..ef5649258519503ca560a294ad0557ac7371c78f --- /dev/null +++ b/third_party/libero/libero/libero/envs/libero_sawyer_xml.py @@ -0,0 +1,70 @@ +"""Patched Sawyer MJCF: MuJoCo 3.x needs head-mesh drop + shell inertia; 2.x uses stock XML.""" + +from __future__ import annotations + +import os +import re +from pathlib import Path + +import mujoco +from robosuite.utils.mjcf_utils import xml_path_completion + +_PATCHED: Path | None = None + + +def _mujoco_major() -> int: + return int(str(mujoco.__version__).split(".", maxsplit=1)[0]) + + +def patched_sawyer_robot_xml() -> str: + """Return Sawyer robot.xml path compatible with the installed MuJoCo.""" + global _PATCHED + src = Path(xml_path_completion("robots/sawyer/robot.xml")) + if _mujoco_major() < 3: + return str(src) + + if _PATCHED is not None and _PATCHED.is_file(): + return str(_PATCHED) + + mesh_dir = src.parent.resolve() + text = src.read_text() + + # Head display meshes trigger "mesh volume too small" in MuJoCo 3.6; not needed for control. + text = re.sub( + r'^\s*]*/>\s*\n', + "", + text, + flags=re.MULTILINE, + ) + text = re.sub( + r'^\s*]*/>\s*\n', + "", + text, + flags=re.MULTILINE, + ) + + def _abs_mesh_path(match: re.Match[str]) -> str: + rel = match.group(1) + return f'file="{(mesh_dir / rel).as_posix()}"' + + text = re.sub(r'file="(obj_meshes/[^"]+)"', _abs_mesh_path, text) + + def _mesh_inertia_shell(match: re.Match[str]) -> str: + tag = match.group(0) + if 'inertia="' in tag: + return tag + return tag[:-2] + ' inertia="shell"/>' + + text = re.sub(r']*/>', _mesh_inertia_shell, text) + + cache_root = Path( + os.environ.get( + "LIBERO_CONFIG_PATH", + str(Path(__file__).resolve().parents[4] / ".libero_local"), + ) + ) + out = cache_root / "sawyer_robot_patched_mujoco3.xml" + out.parent.mkdir(parents=True, exist_ok=True) + out.write_text(text) + _PATCHED = out + return str(out) diff --git a/third_party/libero/libero/libero/envs/mesh_vertex_tracker.py b/third_party/libero/libero/libero/envs/mesh_vertex_tracker.py index fe8a883586d8e2762375f5692c778ed985136af6..0ccf95a2a7d844cdfff16025d3a97bf4cc7a76c9 100644 --- a/third_party/libero/libero/libero/envs/mesh_vertex_tracker.py +++ b/third_party/libero/libero/libero/envs/mesh_vertex_tracker.py @@ -111,13 +111,23 @@ class MeshVertexTracker(gym.Wrapper): return obs + def _world_vertex_at_id(self, vertex_id: int): + """World position for one mapped vertex (O(1); avoids updating all vertices each step).""" + if self.vertex_mapping is None or vertex_id not in self.vertex_mapping: + return None + env = self._get_base_env() + sim = env.sim + vertex_info = self.vertex_mapping[vertex_id] + geom_id = vertex_info["geom_id"] + local_vertex = vertex_info["local_vertex"] + geom_pos = sim.data.geom_xpos[geom_id].copy() + geom_mat = sim.data.geom_xmat[geom_id].reshape(3, 3).copy() + return (local_vertex @ geom_mat.T) + geom_pos + def step(self, action): """Step environment and add tracked vertices to observation.""" obs, reward, done, info = self.env.step(action) - - # Update vertex positions (they move during simulation) - self._update_vertex_positions() - + # Add tracked vertices for each camera if self.agentview_vertex_ids: tracked_data = self._get_tracked_vertices('agentview', self.agentview_vertex_ids) @@ -209,17 +219,14 @@ class MeshVertexTracker(gym.Wrapper): env = self._get_base_env() sim = env.sim - # Update positions if needed - if self.all_vertices_3d is None or len(self.all_vertices_3d) == 0: - self._update_vertex_positions() - - # Collect vertices for the specified IDs + # Collect vertices for the specified IDs (only tracked IDs, not full scene) vertices_3d = [] valid_ids = [] - + for vid in vertex_ids: - if vid < len(self.all_vertices_3d): - vertices_3d.append(self.all_vertices_3d[vid]) + world = self._world_vertex_at_id(vid) + if world is not None: + vertices_3d.append(world) valid_ids.append(vid) if len(vertices_3d) == 0: