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(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
(:domain robosuite)
(:language Reach the white bowl on the table)
(:regions
(white_bowl_init_region
(:target kitchen_table)
(:ranges (
(-1e-06 0.119999 1e-06 0.120001)
)
)
(:yaw_rotation (
(0.0 0.0)
)
)
)
(butter_1_1_1_region
(:target kitchen_table)
(:ranges (
(0.07644328110370126 0.23473291136968766 0.07644528110370126 0.23473491136968766)
)
)
(:yaw_rotation (
(0.0 0.0)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(0.0 0.0)
)
)
)
(tomato_sauce_1_2_1_region
(:target kitchen_table)
(:ranges (
(0.009999000000000008 0.219999 0.010001000000000006 0.220001)
)
)
(:yaw_rotation (
(1.57 1.57)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(1.57 1.57)
)
)
)
(orange_juice_1_3_1_region
(:target kitchen_table)
(:ranges (
(-0.06580667741904996 0.18529583140358521 -0.06580467741904995 0.18529783140358522)
)
)
(:yaw_rotation (
(1.57 1.57)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(1.57 1.57)
)
)
)
(ketchup_1_4_1_region
(:target kitchen_table)
(:ranges (
(-0.09483643552248296 0.06705611681717139 -0.09483443552248295 0.06705811681717139)
)
)
(:yaw_rotation (
(1.57 1.57)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(1.57 1.57)
)
)
)
)
(:fixtures
kitchen_table - kitchen_table
)
(:objects
white_bowl_1 - white_bowl
butter_1 - butter
tomato_sauce_1 - tomato_sauce
orange_juice_1 - orange_juice
ketchup_1 - ketchup
)
(:obj_of_interest
white_bowl_1
)
(:init
(On white_bowl_1 kitchen_table_white_bowl_init_region)
(On butter_1 kitchen_table_butter_1_1_1_region)
(On tomato_sauce_1 kitchen_table_tomato_sauce_1_2_1_region)
(On orange_juice_1 kitchen_table_orange_juice_1_3_1_region)
(On ketchup_1 kitchen_table_ketchup_1_4_1_region)
)
(:goal
(And (reached white_bowl_1))
)
)
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