bddl/grid/grid_level_4/GRID_SCENE_task2.bddl

(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
  (:domain robosuite)
  (:language Reach the white bowl on the table)
    (:regions
      (butter_1_region
          (:target kitchen_table)
          (:ranges (
              (-0.22000100000000003 -0.14500100000000002 -0.21999900000000003 -0.14499900000000002)
            )
          )
          (:yaw_rotation (
              (0.0 0.0)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (0.0 0.0)
            )
          )
      )
      (white_bowl_1_region
          (:target kitchen_table)
          (:ranges (
              (-0.030001000000000007 -0.14000100000000001 -0.029999000000000005 -0.139999)
            )
          )
          (:yaw_rotation (
              (0.0 0.0)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (0.0 0.0)
            )
          )
      )
      (tomato_sauce_1_region
          (:target kitchen_table)
          (:ranges (
              (0.079999 -0.135001 0.080001 -0.134999)
            )
          )
          (:yaw_rotation (
              (1.57 1.57)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (1.57 1.57)
            )
          )
      )
      (orange_juice_1_region
          (:target kitchen_table)
          (:ranges (
              (0.22199900000000003 -0.14500100000000002 0.22200100000000003 -0.14499900000000002)
            )
          )
          (:yaw_rotation (
              (1.57 1.57)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (1.57 1.57)
            )
          )
      )
      (ketchup_1_region
          (:target kitchen_table)
          (:ranges (
              (-0.21500100000000003 -0.005001 -0.21499900000000002 -0.004999)
            )
          )
          (:yaw_rotation (
              (1.57 1.57)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (1.57 1.57)
            )
          )
      )
      (milk_1_region
          (:target kitchen_table)
          (:ranges (
              (-0.07500100000000001 0.004999 -0.07499900000000001 0.005001)
            )
          )
          (:yaw_rotation (
              (1.57 1.57)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (1.57 1.57)
            )
          )
      )
      (cream_cheese_1_region
          (:target kitchen_table)
          (:ranges (
              (0.069999 0.009999000000000001 0.07000100000000001 0.010001)
            )
          )
          (:yaw_rotation (
              (0.0 0.0)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (0.0 0.0)
            )
          )
      )
      (salad_dressing_1_region
          (:target kitchen_table)
          (:ranges (
              (0.21799900000000003 0.003999 0.21800100000000003 0.004001)
            )
          )
          (:yaw_rotation (
              (1.57 1.57)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (1.57 1.57)
            )
          )
      )
      (butter_2_region
          (:target kitchen_table)
          (:ranges (
              (-0.22000100000000003 0.134999 -0.21999900000000003 0.135001)
            )
          )
          (:yaw_rotation (
              (0.0 0.0)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (0.0 0.0)
            )
          )
      )
      (milk_2_region
          (:target kitchen_table)
          (:ranges (
              (-0.07500100000000001 0.14499900000000002 -0.07499900000000001 0.14500100000000002)
            )
          )
          (:yaw_rotation (
              (1.57 1.57)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (1.57 1.57)
            )
          )
      )
      (tomato_sauce_2_region
          (:target kitchen_table)
          (:ranges (
              (0.079999 0.14499900000000002 0.080001 0.14500100000000002)
            )
          )
          (:yaw_rotation (
              (1.57 1.57)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (1.57 1.57)
            )
          )
      )
      (orange_juice_2_region
          (:target kitchen_table)
          (:ranges (
              (0.22199900000000003 0.134999 0.22200100000000003 0.135001)
            )
          )
          (:yaw_rotation (
              (1.57 1.57)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (1.57 1.57)
            )
          )
      )
    )

  (:fixtures
    kitchen_table - kitchen_table
  )

  (:objects
    butter_1 butter_2 - butter
    white_bowl_1 - white_bowl
    tomato_sauce_1 tomato_sauce_2 - tomato_sauce
    orange_juice_1 orange_juice_2 - orange_juice
    ketchup_1 - ketchup
    milk_1 milk_2 - milk
    cream_cheese_1 - cream_cheese
    salad_dressing_1 - salad_dressing
  )

  (:obj_of_interest
    white_bowl_1
  )

  (:init
    (On butter_1 kitchen_table_butter_1_region)
    (On white_bowl_1 kitchen_table_white_bowl_1_region)
    (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region)
    (On orange_juice_1 kitchen_table_orange_juice_1_region)
    (On ketchup_1 kitchen_table_ketchup_1_region)
    (On milk_1 kitchen_table_milk_1_region)
    (On cream_cheese_1 kitchen_table_cream_cheese_1_region)
    (On salad_dressing_1 kitchen_table_salad_dressing_1_region)
    (On butter_2 kitchen_table_butter_2_region)
    (On milk_2 kitchen_table_milk_2_region)
    (On tomato_sauce_2 kitchen_table_tomato_sauce_2_region)
    (On orange_juice_2 kitchen_table_orange_juice_2_region)
  )

  (:goal
    (And (reached white_bowl_1))
  )

)