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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 (
(0.08677798641354485 -0.08030786650011092 0.08677998641354485 -0.08030586650011091)
)
)
(: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 0.029998999999999998 -0.09999899999999999 0.030001)
)
)
(: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 0.08999900000000001 1.0000000000122464e-06 0.09000100000000001)
)
)
(: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 (
(-0.10786590506741806 -0.09944715957672987 -0.10786390506741805 -0.09944515957672986)
)
)
(: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 (
(-0.2467983576011271 -0.0891702393650948 -0.2467963576011271 -0.0891682393650948)
)
)
(: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 (
(-0.05444254205101686 -0.19646855951439166 -0.05444054205101686 -0.19646655951439165)
)
)
(: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 -0.330001 0.010000999999999963 -0.32999900000000004)
)
)
(: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 (
(0.08572962194830391 -0.19419086501333058 0.08573162194830392 -0.19418886501333057)
)
)
(: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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