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

skills:
  Pick: !Skill
    name: Pick
    types:
      - robot
      - pickupable
    params: !!python/tuple []
    semantics:
      robot: robot that executes the pick skill.
      pickupable: the object to be picked up.

  Place: !Skill
    name: Place
    types:
      - robot
      - pickupable
      - station
    params: !!python/tuple []
    semantics:
      robot: robot that executes the place skill.
      pickupable: the object to be dropped.
      station: the receptacle onto which object is dropped.

  Stack: !Skill
    name: Stack
    types:
      - robot
      - pickupable
      - pickupable
    params: !!python/tuple []
    semantics:
      robot: robot that executes the stack skill.
      pickupable: The first object to put on the other.
      pickupable: The second object to be underneath the first one.

  Cut: !Skill
    name: Cut
    types:
      - robot
      - cuttable
    params: !!python/tuple []
    semantics:
      robot: robot that executes the cut skill.
      cuttable: the object that is being cut.

  Cook: !Skill
    name: Cook
    types:
      - robot
      - cookable
    params: !!python/tuple []
    semantics:
      robot: robot that executes the cook skill.
      cookable: the object that is being cooked.


objects:
  Robot:
   types:
      - robot
  Lettuce:
    types:
      - pickupable
      - cuttable
  TopBun:
    types:
      - pickupable
  BottomBun:
    types:
      - pickupable
  Patty:
    types:
      - pickupable
      - cookable
  Stove:
    types:
      - station
      - cooker
  CuttingBoard:
    types:
      - station
      - cuttingboard

Env_description: 'There is a robot in the kitchen. The robot can pick up, place, stack, cut, and cook objects. The robot has access to lettuce, top bun, bottom bun, and patty. The stove and cutting board are available. The lettuce is uncut and the patty is raw. The robot can navigate the environment freely but only has one gripper.'

Initial_observation:
  img_fpath:
    - 'test_tasks/test_imgs/init_state/0.jpg'