# This yaml file contains meta data for a test task.
---
env: dorfl

skills:
  LeftArmPick: !Skill
    name: LeftArmPick
    types:
      - robot
      - openable
    params: !!python/tuple []
    semantics:
      robot: the robot that performs the pick action with its left arm.
      openable: the openable object to be picked up.

  RightArmPick: !Skill
    name: RightArmPick
    types:
      - robot
      - utensil
    params: !!python/tuple []
    semantics:
      robot: the robot that performs the pick action with its right arm.
      utensil: the utensil to be picked up.

  Drop: !Skill
    name: Drop
    types:
      - robot
      - utensil
    params: !!python/tuple []
    semantics:
      robot: the robot that performs the drop action.
      utensil: the utensil to be dropped.

  Open: !Skill
    name: Open
    types:
      - robot
      - openable
    params: !!python/tuple []
    semantics:
      robot: the robot that performs the open action.
      openable: the container that can be opened.

  Scoop: !Skill
    name: Scoop
    types:
      - robot
      - utensil
      - openable
    params: !!python/tuple []
    semantics:
      robot: the robot that performs the scoop action.
      utensil: the utensil used to scoop from a container.
      openable: the container that can be opened to be scooped from.

  Spread: !Skill
    name: Spread
    types:
      - robot
      - utensil
      - food
    params: !!python/tuple []
    semantics:
      robot: the robot that performs the spread action.
      utensil: the utensil used to spread ingredients on food.
      food: the food that need ingredients to be spread on.

objects:
  PeanutButterJar:
    types:
      - openable
  Knife:
    types:
      - utensil
  Bread:
    types:
      - food
  Robot:
    types:
      - robot

Env_description: 'A peanut butter jar is close to the left gripper, a knife is close to the right gripper, and a slice of bread are on the manipulation platform. The peanut butter jar is closed.'

Initial_observation:
  img_fpath:
    - 'test_tasks/test_imgs/init_state/dorfl.png'