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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 (
(-0.120001 -1e-06 -0.119999 1e-06)
)
)
(:yaw_rotation (
(0.0 0.0)
)
)
)
(butter_1_1_1_region
(:target kitchen_table)
(:ranges (
(-0.010799560039549232 0.05261146644289228 -0.010797560039549233 0.05261346644289228)
)
)
(: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 (
(-0.110001 0.099999 -0.109999 0.100001)
)
)
(: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 (
(-0.2082781958528896 0.03697917339634425 -0.2082761958528896 0.036981173396344255)
)
)
(: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 (
(-0.22001781413310942 -0.0435552555133851 -0.22001581413310942 -0.0435532555133851)
)
)
(: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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