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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 -1e-06 1e-06 1e-06)
)
)
(:yaw_rotation (
(0.0 0.0)
)
)
)
(tomato_sauce_1_1_1_region
(:target kitchen_table)
(:ranges (
(0.08965666284518263 0.044287864211442124 0.08965866284518263 0.044289864211442126)
)
)
(:yaw_rotation (
(1.57 1.57)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(1.57 1.57)
)
)
)
(wine_bottle_1_2_1_region
(:target kitchen_table)
(:ranges (
(-9.999999999938768e-07 0.099999 1.0000000000061232e-06 0.100001)
)
)
(: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 0.199999 -0.09999899999999999 0.200001)
)
)
(:yaw_rotation (
(0.0 0.0)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(0.0 0.0)
)
)
)
(popcorn_1_2_3_region
(:target kitchen_table)
(:ranges (
(-9.999999999816304e-07 0.299999 1.0000000000183696e-06 0.30000099999999996)
)
)
(:yaw_rotation (
(0.0 0.0)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(0.0 0.0)
)
)
)
(milk_1_3_1_region
(:target kitchen_table)
(:ranges (
(-0.0839808677615936 0.05428879472005078 -0.08397886776159359 0.05429079472005078)
)
)
(:yaw_rotation (
(1.57 1.57)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(1.57 1.57)
)
)
)
(wine_bottle_2_3_2_region
(:target kitchen_table)
(:ranges (
(-0.1679607355231872 0.10857858944010156 -0.16795873552318719 0.10858058944010156)
)
)
(: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 (
(-0.08304049176552034 -0.05571852693115589 -0.08303849176552033 -0.05571652693115589)
)
)
(:yaw_rotation (
(1.57 1.57)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(1.57 1.57)
)
)
)
(bbq_sauce_1_5_1_region
(:target kitchen_table)
(:ranges (
(-1.0000000000183696e-06 -0.100001 9.999999999816304e-07 -0.099999)
)
)
(:yaw_rotation (
(0.0 0.0)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(0.0 0.0)
)
)
)
(orange_juice_1_5_2_region
(:target kitchen_table)
(:ranges (
(-1.0000000000367394e-06 -0.200001 9.999999999632605e-07 -0.199999)
)
)
(:yaw_rotation (
(1.57 1.57)
)
)
(:pitch_rotation (
(0.0 0.0)
)
)
(:roll_rotation (
(1.57 1.57)
)
)
)
(cream_cheese_1_6_3_region
(:target kitchen_table)
(:ranges (
(0.2767725549933312 -0.11574381513922782 0.27677455499333115 -0.11574181513922782)
)
)
(: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
tomato_sauce_1 - tomato_sauce
wine_bottle_1 wine_bottle_2 - wine_bottle
butter_1 - butter
popcorn_1 - popcorn
milk_1 - milk
salad_dressing_1 - salad_dressing
bbq_sauce_1 - bbq_sauce
orange_juice_1 - orange_juice
cream_cheese_1 - cream_cheese
)
(:obj_of_interest
white_bowl_1
)
(:init
(On white_bowl_1 kitchen_table_white_bowl_init_region)
(On tomato_sauce_1 kitchen_table_tomato_sauce_1_1_1_region)
(On wine_bottle_1 kitchen_table_wine_bottle_1_2_1_region)
(On butter_1 kitchen_table_butter_1_2_2_region)
(On popcorn_1 kitchen_table_popcorn_1_2_3_region)
(On milk_1 kitchen_table_milk_1_3_1_region)
(On wine_bottle_2 kitchen_table_wine_bottle_2_3_2_region)
(On salad_dressing_1 kitchen_table_salad_dressing_1_4_1_region)
(On bbq_sauce_1 kitchen_table_bbq_sauce_1_5_1_region)
(On orange_juice_1 kitchen_table_orange_juice_1_5_2_region)
(On cream_cheese_1 kitchen_table_cream_cheese_1_6_3_region)
)
(:goal
(And (reached white_bowl_1))
)
)
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