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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 -0.120001 1e-06 -0.119999)
)
)
(:yaw_rotation (
(0.0 0.0)
)
)
)
(cream_cheese_1_1_1_region
(:target kitchen_table)
(:ranges (
(0.09302915024610002 -0.0733214260495292 0.09303115024610002 -0.0733194260495292)
)
)
(:yaw_rotation (
(0.0 0.0)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(0.0 0.0)
)
)
)
(orange_juice_1_2_1_region
(:target kitchen_table)
(:ranges (
(-9.999999999938768e-07 -0.030000999999999993 1.0000000000061232e-06 -0.02999899999999999)
)
)
(:yaw_rotation (
(1.57 1.57)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(1.57 1.57)
)
)
)
(ketchup_1_2_2_region
(:target kitchen_table)
(:ranges (
(-0.010000999999999987 0.07999900000000001 -0.009998999999999989 0.08000100000000002)
)
)
(:yaw_rotation (
(1.57 1.57)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(1.57 1.57)
)
)
)
(milk_1_3_1_region
(:target kitchen_table)
(:ranges (
(-0.07601234986911477 -0.034884412694283544 -0.07601034986911477 -0.03488241269428354)
)
)
(:yaw_rotation (
(1.57 1.57)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(1.57 1.57)
)
)
)
(tomato_sauce_1_3_2_region
(:target kitchen_table)
(:ranges (
(-0.12202369973822956 0.030232174611432905 -0.12202169973822956 0.030234174611432907)
)
)
(:yaw_rotation (
(1.57 1.57)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(1.57 1.57)
)
)
)
(salad_dressing_1_4_1_region
(:target kitchen_table)
(:ranges (
(-0.08215257946007148 -0.15883508815736674 -0.08215057946007148 -0.15883308815736674)
)
)
(: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
cream_cheese_1 - cream_cheese
orange_juice_1 - orange_juice
ketchup_1 - ketchup
milk_1 - milk
tomato_sauce_1 - tomato_sauce
salad_dressing_1 - salad_dressing
)
(:obj_of_interest
white_bowl_1
)
(:init
(On white_bowl_1 kitchen_table_white_bowl_init_region)
(On cream_cheese_1 kitchen_table_cream_cheese_1_1_1_region)
(On orange_juice_1 kitchen_table_orange_juice_1_2_1_region)
(On ketchup_1 kitchen_table_ketchup_1_2_2_region)
(On milk_1 kitchen_table_milk_1_3_1_region)
(On tomato_sauce_1 kitchen_table_tomato_sauce_1_3_2_region)
(On salad_dressing_1 kitchen_table_salad_dressing_1_4_1_region)
)
(:goal
(And (reached white_bowl_1))
)
)
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