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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 (
(-0.22000100000000003 -0.14500100000000002 -0.21999900000000003 -0.14499900000000002)
)
)
(:yaw_rotation (
(0.0 0.0)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(0.0 0.0)
)
)
)
(milk_1_region
(:target kitchen_table)
(:ranges (
(-0.07500100000000001 -0.135001 -0.07499900000000001 -0.134999)
)
)
(:yaw_rotation (
(1.57 1.57)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(1.57 1.57)
)
)
)
(tomato_sauce_1_region
(:target kitchen_table)
(:ranges (
(0.079999 -0.135001 0.080001 -0.134999)
)
)
(:yaw_rotation (
(1.57 1.57)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(1.57 1.57)
)
)
)
(orange_juice_1_region
(:target kitchen_table)
(:ranges (
(0.22199900000000003 -0.14500100000000002 0.22200100000000003 -0.14499900000000002)
)
)
(:yaw_rotation (
(1.57 1.57)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(1.57 1.57)
)
)
)
(ketchup_1_region
(:target kitchen_table)
(:ranges (
(-0.21500100000000003 -0.005001 -0.21499900000000002 -0.004999)
)
)
(:yaw_rotation (
(1.57 1.57)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(1.57 1.57)
)
)
)
(cream_cheese_1_region
(:target kitchen_table)
(:ranges (
(-0.07000100000000001 0.009999000000000001 -0.069999 0.010001)
)
)
(:yaw_rotation (
(0.0 0.0)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(0.0 0.0)
)
)
)
(white_bowl_1_region
(:target kitchen_table)
(:ranges (
(0.10999900000000001 -1e-06 0.11000100000000002 1e-06)
)
)
(:yaw_rotation (
(0.0 0.0)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(0.0 0.0)
)
)
)
(salad_dressing_1_region
(:target kitchen_table)
(:ranges (
(0.21799900000000003 0.003999 0.21800100000000003 0.004001)
)
)
(:yaw_rotation (
(1.57 1.57)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(1.57 1.57)
)
)
)
(butter_2_region
(:target kitchen_table)
(:ranges (
(-0.22000100000000003 0.134999 -0.21999900000000003 0.135001)
)
)
(:yaw_rotation (
(0.0 0.0)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(0.0 0.0)
)
)
)
(milk_2_region
(:target kitchen_table)
(:ranges (
(-0.07500100000000001 0.14499900000000002 -0.07499900000000001 0.14500100000000002)
)
)
(:yaw_rotation (
(1.57 1.57)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(1.57 1.57)
)
)
)
(tomato_sauce_2_region
(:target kitchen_table)
(:ranges (
(0.079999 0.14499900000000002 0.080001 0.14500100000000002)
)
)
(:yaw_rotation (
(1.57 1.57)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(1.57 1.57)
)
)
)
(orange_juice_2_region
(:target kitchen_table)
(:ranges (
(0.22199900000000003 0.134999 0.22200100000000003 0.135001)
)
)
(:yaw_rotation (
(1.57 1.57)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(1.57 1.57)
)
)
)
)
(:fixtures
kitchen_table - kitchen_table
)
(:objects
butter_1 butter_2 - butter
milk_1 milk_2 - milk
tomato_sauce_1 tomato_sauce_2 - tomato_sauce
orange_juice_1 orange_juice_2 - orange_juice
ketchup_1 - ketchup
cream_cheese_1 - cream_cheese
white_bowl_1 - white_bowl
salad_dressing_1 - salad_dressing
)
(:obj_of_interest
white_bowl_1
)
(:init
(On butter_1 kitchen_table_butter_1_region)
(On milk_1 kitchen_table_milk_1_region)
(On tomato_sauce_1 kitchen_table_tomato_sauce_1_region)
(On orange_juice_1 kitchen_table_orange_juice_1_region)
(On ketchup_1 kitchen_table_ketchup_1_region)
(On cream_cheese_1 kitchen_table_cream_cheese_1_region)
(On white_bowl_1 kitchen_table_white_bowl_1_region)
(On salad_dressing_1 kitchen_table_salad_dressing_1_region)
(On butter_2 kitchen_table_butter_2_region)
(On milk_2 kitchen_table_milk_2_region)
(On tomato_sauce_2 kitchen_table_tomato_sauce_2_region)
(On orange_juice_2 kitchen_table_orange_juice_2_region)
)
(:goal
(And (reached white_bowl_1))
)
)
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