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(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
(:domain robosuite)
(:language Reach the white bowl on the table)
(:regions
(butter_1_region
(:target kitchen_table)
(:ranges (
(-0.160001 -0.155001 -0.159999 -0.154999)
)
)
(:yaw_rotation (
(0.0 0.0)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(0.0 0.0)
)
)
)
(white_bowl_1_region
(:target kitchen_table)
(:ranges (
(-1e-06 -0.150001 1e-06 -0.149999)
)
)
(:yaw_rotation (
(0.0 0.0)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(0.0 0.0)
)
)
)
(tomato_sauce_1_region
(:target kitchen_table)
(:ranges (
(0.159999 -0.145001 0.160001 -0.144999)
)
)
(:yaw_rotation (
(1.57 1.57)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(1.57 1.57)
)
)
)
(ketchup_1_region
(:target kitchen_table)
(:ranges (
(-0.155001 -0.005001 -0.154999 -0.004999)
)
)
(:yaw_rotation (
(1.57 1.57)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(1.57 1.57)
)
)
)
(milk_1_region
(:target kitchen_table)
(:ranges (
(-0.005001 0.004999 -0.004999 0.005001)
)
)
(:yaw_rotation (
(1.57 1.57)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(1.57 1.57)
)
)
)
(orange_juice_1_region
(:target kitchen_table)
(:ranges (
(0.159999 -0.005001 0.160001 -0.004999)
)
)
(:yaw_rotation (
(1.57 1.57)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(1.57 1.57)
)
)
)
(cream_cheese_1_region
(:target kitchen_table)
(:ranges (
(-0.150001 0.159999 -0.149999 0.160001)
)
)
(:yaw_rotation (
(0.0 0.0)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(0.0 0.0)
)
)
)
(salad_dressing_1_region
(:target kitchen_table)
(:ranges (
(0.007999000000000001 0.153999 0.008001 0.154001)
)
)
(:yaw_rotation (
(1.57 1.57)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(1.57 1.57)
)
)
)
(bbq_sauce_1_region
(:target kitchen_table)
(:ranges (
(0.149999 0.141999 0.150001 0.142001)
)
)
(:yaw_rotation (
(0.0 0.0)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(1.57 1.57)
)
)
)
)
(:fixtures
kitchen_table - kitchen_table
)
(:objects
butter_1 - butter
white_bowl_1 - white_bowl
tomato_sauce_1 - tomato_sauce
ketchup_1 - ketchup
milk_1 - milk
orange_juice_1 - orange_juice
cream_cheese_1 - cream_cheese
salad_dressing_1 - salad_dressing
bbq_sauce_1 - bbq_sauce
)
(:obj_of_interest
white_bowl_1
)
(:init
(On butter_1 kitchen_table_butter_1_region)
(On white_bowl_1 kitchen_table_white_bowl_1_region)
(On tomato_sauce_1 kitchen_table_tomato_sauce_1_region)
(On ketchup_1 kitchen_table_ketchup_1_region)
(On milk_1 kitchen_table_milk_1_region)
(On orange_juice_1 kitchen_table_orange_juice_1_region)
(On cream_cheese_1 kitchen_table_cream_cheese_1_region)
(On salad_dressing_1 kitchen_table_salad_dressing_1_region)
(On bbq_sauce_1 kitchen_table_bbq_sauce_1_region)
)
(:goal
(And (reached white_bowl_1))
)
)
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