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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)
)
)
)
(cream_cheese_1_1_1_region
(:target kitchen_table)
(:ranges (
(0.09859356460620186 0.12670564029999715 0.09859556460620186 0.12670764029999715)
)
)
(:yaw_rotation (
(0.0 0.0)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(0.0 0.0)
)
)
)
(butter_1_2_2_region
(:target kitchen_table)
(:ranges (
(-0.10000099999999999 0.26999900000000004 -0.09999899999999999 0.270001)
)
)
(:yaw_rotation (
(0.0 0.0)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(0.0 0.0)
)
)
)
(orange_juice_1_2_3_region
(:target kitchen_table)
(:ranges (
(-9.999999999877536e-07 0.32999900000000004 1.0000000000122464e-06 0.330001)
)
)
(: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 (
(-0.10174593031414826 0.15978427066204376 -0.10174393031414826 0.15978627066204376)
)
)
(:yaw_rotation (
(1.57 1.57)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(1.57 1.57)
)
)
)
(butter_2_3_2_region
(:target kitchen_table)
(:ranges (
(-0.23761839547122238 0.17967690599306566 -0.23761639547122237 0.17967890599306566)
)
)
(:yaw_rotation (
(0.0 0.0)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(0.0 0.0)
)
)
)
(salad_dressing_1_4_1_region
(:target kitchen_table)
(:ranges (
(-0.07863665993336805 0.073698678314548 -0.07863465993336805 0.073700678314548)
)
)
(:yaw_rotation (
(1.57 1.57)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(1.57 1.57)
)
)
)
(tomato_sauce_1_5_3_region
(:target kitchen_table)
(:ranges (
(0.009998999999999965 -0.09000100000000001 0.010000999999999963 -0.08999900000000001)
)
)
(:yaw_rotation (
(1.57 1.57)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(1.57 1.57)
)
)
)
(butter_3_6_3_region
(:target kitchen_table)
(:ranges (
(0.02831177416396799 -0.03341492370429275 0.028313774163967992 -0.033412923704292746)
)
)
(:yaw_rotation (
(0.0 0.0)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(0.0 0.0)
)
)
)
)
(:fixtures
kitchen_table - kitchen_table
)
(:objects
white_bowl_1 - white_bowl
cream_cheese_1 - cream_cheese
butter_1 butter_2 butter_3 - butter
orange_juice_1 - orange_juice
milk_1 - milk
salad_dressing_1 - salad_dressing
tomato_sauce_1 - tomato_sauce
)
(: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 butter_1 kitchen_table_butter_1_2_2_region)
(On orange_juice_1 kitchen_table_orange_juice_1_2_3_region)
(On milk_1 kitchen_table_milk_1_3_1_region)
(On butter_2 kitchen_table_butter_2_3_2_region)
(On salad_dressing_1 kitchen_table_salad_dressing_1_4_1_region)
(On tomato_sauce_1 kitchen_table_tomato_sauce_1_5_3_region)
(On butter_3 kitchen_table_butter_3_6_3_region)
)
(:goal
(And (reached white_bowl_1))
)
)
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