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a_1_SPACIAL_SCENE_reach_the_white_bowl_on_the_kitchen_table.bddl

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+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the kitchen table)
+    (:regions
+      (white_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.125 -0.025 0.175 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (butter_0_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.22361646231547472 -0.008575193167394506 0.22561646231547472 -0.006575193167394505)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (ketchup_1_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.11124176233304725 -0.13061217337999512 0.11324176233304725 -0.12861217337999512)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_1_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.2069435984937748 -0.12293251983614635 0.2089435984937748 -0.12093251983614635)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cookies_1_2_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.26769327932485987 0.06331877986335552 0.26969327932485987 0.06531877986335552)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    white_bowl_1 - white_bowl
+    butter_1 - butter
+    ketchup_1 - ketchup
+    milk_1 - milk
+    cookies_1 - cookies
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On white_bowl_1 kitchen_table_white_bowl_init_region)
+    (On butter_1 kitchen_table_butter_0_0_region)
+    (On ketchup_1 kitchen_table_ketchup_1_0_region)
+    (On milk_1 kitchen_table_milk_1_1_region)
+    (On cookies_1 kitchen_table_cookies_1_2_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

a_2_SPACIAL_SCENE_reach_the_white_bowl_on_the_kitchen_table.bddl

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+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the kitchen table)
+    (:regions
+      (white_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.125 -0.025 0.175 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (butter_0_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.07914024897825518 -0.02828763799195205 0.08114024897825518 -0.026287637991952047)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (ketchup_1_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.09236168146426517 -0.1235442812759724 0.09436168146426517 -0.1215442812759724)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_1_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.2814340994793789 0.025195596864472508 0.2834340994793789 0.02719559686447251)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cookies_1_2_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.20829867034075056 -0.12227929623731741 0.21029867034075056 -0.12027929623731741)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    white_bowl_1 - white_bowl
+    butter_1 - butter
+    ketchup_1 - ketchup
+    milk_1 - milk
+    cookies_1 - cookies
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On white_bowl_1 kitchen_table_white_bowl_init_region)
+    (On butter_1 kitchen_table_butter_0_0_region)
+    (On ketchup_1 kitchen_table_ketchup_1_0_region)
+    (On milk_1 kitchen_table_milk_1_1_region)
+    (On cookies_1 kitchen_table_cookies_1_2_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

a_3_SPACIAL_SCENE_reach_the_white_bowl_on_the_kitchen_table.bddl

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+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the kitchen table)
+    (:regions
+      (white_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.125 -0.025 0.175 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cookies_0_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.074487384259207 0.007536398272393856 0.07648738425920701 0.009536398272393855)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (popcorn_1_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.28396764869798485 0.001955301158487281 0.28596764869798486 0.003955301158487281)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_1_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.052781389980638097 0.09369413437981232 0.0547813899806381 0.09569413437981232)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (alphabet_soup_1_2_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.1842170668079926 -0.13132558538307584 0.1862170668079926 -0.12932558538307584)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    white_bowl_1 - white_bowl
+    cookies_1 - cookies
+    popcorn_1 - popcorn
+    milk_1 - milk
+    alphabet_soup_1 - alphabet_soup
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On white_bowl_1 kitchen_table_white_bowl_init_region)
+    (On cookies_1 kitchen_table_cookies_0_0_region)
+    (On popcorn_1 kitchen_table_popcorn_1_0_region)
+    (On milk_1 kitchen_table_milk_1_1_region)
+    (On alphabet_soup_1 kitchen_table_alphabet_soup_1_2_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

a_4_SPACIAL_SCENE_reach_the_white_bowl_on_the_kitchen_table.bddl

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+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the kitchen table)
+    (:regions
+      (white_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.125 -0.025 0.175 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cookies_0_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.13354682169756268 0.07239073020724811 0.13554682169756269 0.07439073020724811)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (popcorn_1_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.2548632651652155 -0.08477331967016274 0.2568632651652155 -0.08277331967016274)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_1_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.028658177468138646 -0.06217880147330438 0.030658177468138648 -0.06017880147330438)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (orange_juice_1_2_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.018282512371663867 0.032733342973025846 0.02028251237166387 0.03473334297302585)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    white_bowl_1 - white_bowl
+    cookies_1 - cookies
+    popcorn_1 - popcorn
+    milk_1 - milk
+    orange_juice_1 - orange_juice
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On white_bowl_1 kitchen_table_white_bowl_init_region)
+    (On cookies_1 kitchen_table_cookies_0_0_region)
+    (On popcorn_1 kitchen_table_popcorn_1_0_region)
+    (On milk_1 kitchen_table_milk_1_1_region)
+    (On orange_juice_1 kitchen_table_orange_juice_1_2_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

a_5_SPACIAL_SCENE_reach_the_white_bowl_on_the_kitchen_table.bddl

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+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the kitchen table)
+    (:regions
+      (white_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.125 -0.025 0.175 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (chocolate_pudding_0_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.1463618991463442 -0.07595358846570283 0.1483618991463442 -0.07395358846570282)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cookies_1_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.07110068609671923 -0.11125741196580903 0.07310068609671923 -0.10925741196580903)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (orange_juice_1_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.19113008392475406 0.12725777180542774 0.19313008392475406 0.12925777180542775)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (tomato_sauce_1_2_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.15701249012584095 -0.13576201245893926 0.15901249012584096 -0.13376201245893926)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    white_bowl_1 - white_bowl
+    chocolate_pudding_1 - chocolate_pudding
+    cookies_1 - cookies
+    orange_juice_1 - orange_juice
+    tomato_sauce_1 - tomato_sauce
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On white_bowl_1 kitchen_table_white_bowl_init_region)
+    (On chocolate_pudding_1 kitchen_table_chocolate_pudding_0_0_region)
+    (On cookies_1 kitchen_table_cookies_1_0_region)
+    (On orange_juice_1 kitchen_table_orange_juice_1_1_region)
+    (On tomato_sauce_1 kitchen_table_tomato_sauce_1_2_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

b_1_SPACIAL_SCENE_reach_the_white_bowl_on_the_kitchen_table.bddl

@@ -0,0 +1,90 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the kitchen table)
+    (:regions
+      (white_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 0.125 0.025 0.175)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (butter_0_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.008945383449751581 0.0744220482861294 -0.00694538344975158 0.0764220482861294)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (ketchup_1_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.0694423177281807 0.03383542266355491 0.0714423177281807 0.03583542266355491)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_1_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.05653568333575306 0.27112553026737674 0.05853568333575306 0.27312553026737674)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cookies_1_2_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.1358208988702875 0.15595163490178457 -0.1338208988702875 0.15795163490178457)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    white_bowl_1 - white_bowl
+    butter_1 - butter
+    ketchup_1 - ketchup
+    milk_1 - milk
+    cookies_1 - cookies
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On white_bowl_1 kitchen_table_white_bowl_init_region)
+    (On butter_1 kitchen_table_butter_0_0_region)
+    (On ketchup_1 kitchen_table_ketchup_1_0_region)
+    (On milk_1 kitchen_table_milk_1_1_region)
+    (On cookies_1 kitchen_table_cookies_1_2_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

b_2_SPACIAL_SCENE_reach_the_white_bowl_on_the_kitchen_table.bddl

@@ -0,0 +1,90 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the kitchen table)
+    (:regions
+      (white_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 0.125 0.025 0.175)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (butter_0_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.009534917426504266 0.07448721462377914 -0.007534917426504267 0.07648721462377914)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (ketchup_1_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.07054113857034189 0.2634852195353581 0.07254113857034189 0.2654852195353581)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_1_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.09961560730669698 0.05680476153547116 -0.09761560730669698 0.058804761535471164)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cookies_1_2_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.1310607073840325 0.18518304015371123 -0.1290607073840325 0.18718304015371123)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    white_bowl_1 - white_bowl
+    butter_1 - butter
+    ketchup_1 - ketchup
+    milk_1 - milk
+    cookies_1 - cookies
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On white_bowl_1 kitchen_table_white_bowl_init_region)
+    (On butter_1 kitchen_table_butter_0_0_region)
+    (On ketchup_1 kitchen_table_ketchup_1_0_region)
+    (On milk_1 kitchen_table_milk_1_1_region)
+    (On cookies_1 kitchen_table_cookies_1_2_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

b_3_SPACIAL_SCENE_reach_the_white_bowl_on_the_kitchen_table.bddl

@@ -0,0 +1,90 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the kitchen table)
+    (:regions
+      (white_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 0.125 0.025 0.175)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cookies_0_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.0460750475563742 0.08905635907128592 -0.044075047556374196 0.09105635907128592)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (popcorn_1_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.08954395105093947 0.04709333322942587 -0.08754395105093947 0.04909333322942587)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_1_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.12982200695827648 0.1086280973542022 -0.12782200695827647 0.1106280973542022)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (alphabet_soup_1_2_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.030474478065779693 0.017256859219351106 -0.02847447806577969 0.019256859219351108)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    white_bowl_1 - white_bowl
+    cookies_1 - cookies
+    popcorn_1 - popcorn
+    milk_1 - milk
+    alphabet_soup_1 - alphabet_soup
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On white_bowl_1 kitchen_table_white_bowl_init_region)
+    (On cookies_1 kitchen_table_cookies_0_0_region)
+    (On popcorn_1 kitchen_table_popcorn_1_0_region)
+    (On milk_1 kitchen_table_milk_1_1_region)
+    (On alphabet_soup_1 kitchen_table_alphabet_soup_1_2_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

b_4_SPACIAL_SCENE_reach_the_white_bowl_on_the_kitchen_table.bddl

@@ -0,0 +1,90 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the kitchen table)
+    (:regions
+      (white_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 0.125 0.025 0.175)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cookies_0_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.052558735705714156 0.20346739182692997 -0.050558735705714154 0.20546739182692997)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (popcorn_1_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.05055806127812643 0.2737668478292249 0.052558061278126435 0.2757668478292249)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_1_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.13311837612518104 0.1644032848946084 0.13511837612518104 0.1664032848946084)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (orange_juice_1_2_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.035485515842556714 0.01847893198003331 -0.03348551584255671 0.02047893198003331)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    white_bowl_1 - white_bowl
+    cookies_1 - cookies
+    popcorn_1 - popcorn
+    milk_1 - milk
+    orange_juice_1 - orange_juice
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On white_bowl_1 kitchen_table_white_bowl_init_region)
+    (On cookies_1 kitchen_table_cookies_0_0_region)
+    (On popcorn_1 kitchen_table_popcorn_1_0_region)
+    (On milk_1 kitchen_table_milk_1_1_region)
+    (On orange_juice_1 kitchen_table_orange_juice_1_2_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

b_5_SPACIAL_SCENE_reach_the_white_bowl_on_the_kitchen_table.bddl

@@ -0,0 +1,90 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the kitchen table)
+    (:regions
+      (white_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 0.125 0.025 0.175)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (chocolate_pudding_0_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.07282210348414216 0.16223997874532303 0.07482210348414216 0.16423997874532303)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cookies_1_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.13569580856829247 0.13994245319449497 -0.13369580856829247 0.14194245319449497)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (orange_juice_1_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.12067831761831195 0.08653320648496157 -0.11867831761831195 0.08853320648496157)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (tomato_sauce_1_2_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.05727802436633962 0.026289837529967858 -0.05527802436633962 0.02828983752996786)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    white_bowl_1 - white_bowl
+    chocolate_pudding_1 - chocolate_pudding
+    cookies_1 - cookies
+    orange_juice_1 - orange_juice
+    tomato_sauce_1 - tomato_sauce
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On white_bowl_1 kitchen_table_white_bowl_init_region)
+    (On chocolate_pudding_1 kitchen_table_chocolate_pudding_0_0_region)
+    (On cookies_1 kitchen_table_cookies_1_0_region)
+    (On orange_juice_1 kitchen_table_orange_juice_1_1_region)
+    (On tomato_sauce_1 kitchen_table_tomato_sauce_1_2_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

c_1_SPACIAL_SCENE_reach_the_white_bowl_on_the_kitchen_table.bddl

@@ -0,0 +1,90 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the kitchen table)
+    (:regions
+      (white_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.175 -0.025 -0.125 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (butter_0_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.18358388012197652 -0.06855213361690853 -0.18158388012197652 -0.06655213361690852)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (ketchup_1_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.2810486591268707 -0.03722631998013295 -0.2790486591268707 -0.035226319980132946)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_1_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.2079307449876159 -0.12340870179507275 -0.2059307449876159 -0.12140870179507275)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cookies_1_2_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.11725851360331913 -0.13171538584169273 -0.11525851360331912 -0.12971538584169273)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    white_bowl_1 - white_bowl
+    butter_1 - butter
+    ketchup_1 - ketchup
+    milk_1 - milk
+    cookies_1 - cookies
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On white_bowl_1 kitchen_table_white_bowl_init_region)
+    (On butter_1 kitchen_table_butter_0_0_region)
+    (On ketchup_1 kitchen_table_ketchup_1_0_region)
+    (On milk_1 kitchen_table_milk_1_1_region)
+    (On cookies_1 kitchen_table_cookies_1_2_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

c_2_SPACIAL_SCENE_reach_the_white_bowl_on_the_kitchen_table.bddl

@@ -0,0 +1,90 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the kitchen table)
+    (:regions
+      (white_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.175 -0.025 -0.125 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (butter_0_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.10943743502663716 0.06143038677467082 -0.10743743502663716 0.06343038677467082)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (ketchup_1_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.25882342863044433 -0.08223489544755679 -0.25682342863044433 -0.08023489544755678)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_1_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.1606921093354633 0.13365163577405745 -0.1586921093354633 0.13565163577405745)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cookies_1_2_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.28432722167943036 -0.022186126574814065 -0.28232722167943036 -0.020186126574814063)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    white_bowl_1 - white_bowl
+    butter_1 - butter
+    ketchup_1 - ketchup
+    milk_1 - milk
+    cookies_1 - cookies
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On white_bowl_1 kitchen_table_white_bowl_init_region)
+    (On butter_1 kitchen_table_butter_0_0_region)
+    (On ketchup_1 kitchen_table_ketchup_1_0_region)
+    (On milk_1 kitchen_table_milk_1_1_region)
+    (On cookies_1 kitchen_table_cookies_1_2_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

c_3_SPACIAL_SCENE_reach_the_white_bowl_on_the_kitchen_table.bddl

@@ -0,0 +1,90 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the kitchen table)
+    (:regions
+      (white_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.175 -0.025 -0.125 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cookies_0_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.2255079314794916 0.0075771875721229705 -0.2235079314794916 0.009577187572122971)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (popcorn_1_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.25068277423876206 0.09004034556208577 -0.24868277423876206 0.09204034556208578)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_1_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.0164295505482856 0.009760768298015917 -0.014429550548285597 0.011760768298015915)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (alphabet_soup_1_2_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.08082848786402644 0.11432978316354764 -0.07882848786402644 0.11632978316354764)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    white_bowl_1 - white_bowl
+    cookies_1 - cookies
+    popcorn_1 - popcorn
+    milk_1 - milk
+    alphabet_soup_1 - alphabet_soup
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On white_bowl_1 kitchen_table_white_bowl_init_region)
+    (On cookies_1 kitchen_table_cookies_0_0_region)
+    (On popcorn_1 kitchen_table_popcorn_1_0_region)
+    (On milk_1 kitchen_table_milk_1_1_region)
+    (On alphabet_soup_1 kitchen_table_alphabet_soup_1_2_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

c_4_SPACIAL_SCENE_reach_the_white_bowl_on_the_kitchen_table.bddl

@@ -0,0 +1,90 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the kitchen table)
+    (:regions
+      (white_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.175 -0.025 -0.125 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cookies_0_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.1508002306185247 0.07399973394748961 -0.1488002306185247 0.07599973394748961)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (popcorn_1_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.2858754336409759 0.004798051410492274 -0.2838754336409759 0.006798051410492274)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_1_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.02315734044896639 0.04237342964210367 -0.02115734044896639 0.044373429642103675)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (orange_juice_1_2_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.13696017538252425 -0.13526795345394418 -0.13496017538252425 -0.13326795345394418)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    white_bowl_1 - white_bowl
+    cookies_1 - cookies
+    popcorn_1 - popcorn
+    milk_1 - milk
+    orange_juice_1 - orange_juice
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On white_bowl_1 kitchen_table_white_bowl_init_region)
+    (On cookies_1 kitchen_table_cookies_0_0_region)
+    (On popcorn_1 kitchen_table_popcorn_1_0_region)
+    (On milk_1 kitchen_table_milk_1_1_region)
+    (On orange_juice_1 kitchen_table_orange_juice_1_2_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

c_5_SPACIAL_SCENE_reach_the_white_bowl_on_the_kitchen_table.bddl

@@ -0,0 +1,90 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the kitchen table)
+    (:regions
+      (white_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.175 -0.025 -0.125 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (chocolate_pudding_0_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.15188977662280662 0.07399472179801393 -0.14988977662280661 0.07599472179801393)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cookies_1_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.02142672254284969 -0.03889149995727727 -0.01942672254284969 -0.036891499957277266)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (orange_juice_1_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.045059269651922224 0.08267533479655682 -0.04305926965192222 0.08467533479655683)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (tomato_sauce_1_2_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.11367775584929662 -0.13073839097027254 -0.11167775584929662 -0.12873839097027254)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    white_bowl_1 - white_bowl
+    chocolate_pudding_1 - chocolate_pudding
+    cookies_1 - cookies
+    orange_juice_1 - orange_juice
+    tomato_sauce_1 - tomato_sauce
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On white_bowl_1 kitchen_table_white_bowl_init_region)
+    (On chocolate_pudding_1 kitchen_table_chocolate_pudding_0_0_region)
+    (On cookies_1 kitchen_table_cookies_1_0_region)
+    (On orange_juice_1 kitchen_table_orange_juice_1_1_region)
+    (On tomato_sauce_1 kitchen_table_tomato_sauce_1_2_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

d_1_SPACIAL_SCENE_reach_the_white_bowl_on_the_kitchen_table.bddl

@@ -0,0 +1,90 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the kitchen table)
+    (:regions
+      (white_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 -0.175 0.025 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (butter_0_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.06900126264941676 -0.1240774587475965 0.07100126264941677 -0.1220774587475965)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (ketchup_1_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.13229923443320965 -0.17236150976687326 0.13429923443320965 -0.17036150976687325)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_1_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.08519246440946493 -0.045469772403064615 -0.08319246440946493 -0.04346977240306461)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cookies_1_2_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.08956097717777728 -0.050881523120823974 0.09156097717777728 -0.04888152312082397)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    white_bowl_1 - white_bowl
+    butter_1 - butter
+    ketchup_1 - ketchup
+    milk_1 - milk
+    cookies_1 - cookies
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On white_bowl_1 kitchen_table_white_bowl_init_region)
+    (On butter_1 kitchen_table_butter_0_0_region)
+    (On ketchup_1 kitchen_table_ketchup_1_0_region)
+    (On milk_1 kitchen_table_milk_1_1_region)
+    (On cookies_1 kitchen_table_cookies_1_2_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

d_2_SPACIAL_SCENE_reach_the_white_bowl_on_the_kitchen_table.bddl

@@ -0,0 +1,90 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the kitchen table)
+    (:regions
+      (white_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 -0.175 0.025 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (butter_0_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.07382092159393089 -0.156179738587501 0.07582092159393089 -0.154179738587501)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (ketchup_1_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.013079896441875592 -0.016541545070778207 -0.01107989644187559 -0.014541545070778206)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_1_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.014127275514917059 -0.2853602420270054 -0.012127275514917057 -0.2833602420270054)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cookies_1_2_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.10612086658435785 -0.2357030306928485 -0.10412086658435785 -0.2337030306928485)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    white_bowl_1 - white_bowl
+    butter_1 - butter
+    ketchup_1 - ketchup
+    milk_1 - milk
+    cookies_1 - cookies
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On white_bowl_1 kitchen_table_white_bowl_init_region)
+    (On butter_1 kitchen_table_butter_0_0_region)
+    (On ketchup_1 kitchen_table_ketchup_1_0_region)
+    (On milk_1 kitchen_table_milk_1_1_region)
+    (On cookies_1 kitchen_table_cookies_1_2_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

d_3_SPACIAL_SCENE_reach_the_white_bowl_on_the_kitchen_table.bddl

@@ -0,0 +1,90 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the kitchen table)
+    (:regions
+      (white_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 -0.175 0.025 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cookies_0_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.06979717842196569 -0.17575398003328668 0.07179717842196569 -0.17375398003328668)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (popcorn_1_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.0965733127837852 -0.05565461792235156 -0.0945733127837852 -0.05365461792235156)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_1_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.10995796532018419 -0.23070672363913564 -0.10795796532018419 -0.22870672363913563)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (alphabet_soup_1_2_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.13349265962850324 -0.12510221738129707 -0.13149265962850323 -0.12310221738129708)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    white_bowl_1 - white_bowl
+    cookies_1 - cookies
+    popcorn_1 - popcorn
+    milk_1 - milk
+    alphabet_soup_1 - alphabet_soup
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On white_bowl_1 kitchen_table_white_bowl_init_region)
+    (On cookies_1 kitchen_table_cookies_0_0_region)
+    (On popcorn_1 kitchen_table_popcorn_1_0_region)
+    (On milk_1 kitchen_table_milk_1_1_region)
+    (On alphabet_soup_1 kitchen_table_alphabet_soup_1_2_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

d_4_SPACIAL_SCENE_reach_the_white_bowl_on_the_kitchen_table.bddl

@@ -0,0 +1,90 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the kitchen table)
+    (:regions
+      (white_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 -0.175 0.025 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cookies_0_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.03810562538120855 -0.21617800675894755 -0.036105625381208546 -0.21417800675894755)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (popcorn_1_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.08242558692995262 -0.2571375119615724 0.08442558692995263 -0.2551375119615724)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_1_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.11928600692985086 -0.08971153014740965 0.12128600692985086 -0.08771153014740965)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (orange_juice_1_2_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.1282566231098568 -0.1960638644001584 -0.1262566231098568 -0.1940638644001584)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    white_bowl_1 - white_bowl
+    cookies_1 - cookies
+    popcorn_1 - popcorn
+    milk_1 - milk
+    orange_juice_1 - orange_juice
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On white_bowl_1 kitchen_table_white_bowl_init_region)
+    (On cookies_1 kitchen_table_cookies_0_0_region)
+    (On popcorn_1 kitchen_table_popcorn_1_0_region)
+    (On milk_1 kitchen_table_milk_1_1_region)
+    (On orange_juice_1 kitchen_table_orange_juice_1_2_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

d_5_SPACIAL_SCENE_reach_the_white_bowl_on_the_kitchen_table.bddl

@@ -0,0 +1,90 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the kitchen table)
+    (:regions
+      (white_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 -0.175 0.025 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (chocolate_pudding_0_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01026791912085687 -0.22542516829117187 -0.008267919120856868 -0.22342516829117187)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cookies_1_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.05196116378819218 -0.275177756181211 0.053961163788192185 -0.273177756181211)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (orange_juice_1_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.04033418304408017 -0.021857357761834534 -0.03833418304408017 -0.019857357761834532)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (tomato_sauce_1_2_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.10108915327366355 -0.06266651380214616 0.10308915327366355 -0.06066651380214616)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    white_bowl_1 - white_bowl
+    chocolate_pudding_1 - chocolate_pudding
+    cookies_1 - cookies
+    orange_juice_1 - orange_juice
+    tomato_sauce_1 - tomato_sauce
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On white_bowl_1 kitchen_table_white_bowl_init_region)
+    (On chocolate_pudding_1 kitchen_table_chocolate_pudding_0_0_region)
+    (On cookies_1 kitchen_table_cookies_1_0_region)
+    (On orange_juice_1 kitchen_table_orange_juice_1_1_region)
+    (On tomato_sauce_1 kitchen_table_tomato_sauce_1_2_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

o_1_SPACIAL_SCENE_reach_the_white_bowl_on_the_kitchen_table.bddl

@@ -0,0 +1,91 @@
+
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the kitchen table)
+    (:regions
+      (white_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 -0.025 0.025 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (butter_0_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.05254829994895938 0.053477268400426554 -0.05054829994895938 0.055477268400426556)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (ketchup_1_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.13598947064775027 0.0006860647200405343 -0.13398947064775027 0.0026860647200405343)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_1_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.09144826292065701 0.09922031597752876 -0.08944826292065701 0.10122031597752876)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cookies_1_2_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.0078040102846367275 -0.13582842965801598 -0.0058040102846367275 -0.13382842965801597)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    white_bowl_1 - white_bowl
+    butter_1 - butter
+    ketchup_1 - ketchup
+    milk_1 - milk
+    cookies_1 - cookies
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On white_bowl_1 kitchen_table_white_bowl_init_region)
+    (On butter_1 kitchen_table_butter_0_0_region)
+    (On ketchup_1 kitchen_table_ketchup_1_0_region)
+    (On milk_1 kitchen_table_milk_1_1_region)
+    (On cookies_1 kitchen_table_cookies_1_2_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

o_2_SPACIAL_SCENE_reach_the_white_bowl_on_the_kitchen_table.bddl

@@ -0,0 +1,90 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the kitchen table)
+    (:regions
+      (white_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 -0.025 0.025 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (butter_0_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.06771022450959376 -0.035274567041460876 -0.06571022450959375 -0.033274567041460874)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (ketchup_1_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.08503540637841459 0.10303321031911425 0.08703540637841459 0.10503321031911425)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_1_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.09727037565232136 -0.09564150660128429 -0.09527037565232135 -0.09364150660128429)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cookies_1_2_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.0993196565625639 0.09151078387636484 -0.0973196565625639 0.09351078387636484)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    white_bowl_1 - white_bowl
+    butter_1 - butter
+    ketchup_1 - ketchup
+    milk_1 - milk
+    cookies_1 - cookies
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On white_bowl_1 kitchen_table_white_bowl_init_region)
+    (On butter_1 kitchen_table_butter_0_0_region)
+    (On ketchup_1 kitchen_table_ketchup_1_0_region)
+    (On milk_1 kitchen_table_milk_1_1_region)
+    (On cookies_1 kitchen_table_cookies_1_2_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

o_3_SPACIAL_SCENE_reach_the_white_bowl_on_the_kitchen_table.bddl

@@ -0,0 +1,90 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the kitchen table)
+    (:regions
+      (white_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 -0.025 0.025 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cookies_0_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.07424215917905934 0.015142680037383317 -0.07224215917905934 0.01714268003738332)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (popcorn_1_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.13024428716134753 0.03062178185222563 0.13224428716134753 0.03262178185222563)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_1_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.09131089434858465 0.09750735396184614 0.09331089434858465 0.09950735396184614)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (alphabet_soup_1_2_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.06845354173602688 0.11594023989741975 -0.06645354173602688 0.11794023989741975)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    white_bowl_1 - white_bowl
+    cookies_1 - cookies
+    popcorn_1 - popcorn
+    milk_1 - milk
+    alphabet_soup_1 - alphabet_soup
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On white_bowl_1 kitchen_table_white_bowl_init_region)
+    (On cookies_1 kitchen_table_cookies_0_0_region)
+    (On popcorn_1 kitchen_table_popcorn_1_0_region)
+    (On milk_1 kitchen_table_milk_1_1_region)
+    (On alphabet_soup_1 kitchen_table_alphabet_soup_1_2_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

o_4_SPACIAL_SCENE_reach_the_white_bowl_on_the_kitchen_table.bddl

@@ -0,0 +1,90 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the kitchen table)
+    (:regions
+      (white_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 -0.025 0.025 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cookies_0_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.07129267130479917 -0.02715225345616439 -0.06929267130479917 -0.025152253456164387)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (popcorn_1_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.1002412217742906 -0.09252147234800188 -0.0982412217742906 -0.09052147234800188)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_1_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.13034026094633158 -0.039679411814747864 -0.12834026094633158 -0.03767941181474786)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (orange_juice_1_2_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.12343769731780437 0.051347487869452785 0.12543769731780435 0.05334748786945279)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    white_bowl_1 - white_bowl
+    cookies_1 - cookies
+    popcorn_1 - popcorn
+    milk_1 - milk
+    orange_juice_1 - orange_juice
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On white_bowl_1 kitchen_table_white_bowl_init_region)
+    (On cookies_1 kitchen_table_cookies_0_0_region)
+    (On popcorn_1 kitchen_table_popcorn_1_0_region)
+    (On milk_1 kitchen_table_milk_1_1_region)
+    (On orange_juice_1 kitchen_table_orange_juice_1_2_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

o_5_SPACIAL_SCENE_reach_the_white_bowl_on_the_kitchen_table.bddl

@@ -0,0 +1,90 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the kitchen table)
+    (:regions
+      (white_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 -0.025 0.025 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (chocolate_pudding_0_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.0544268783543585 -0.05152584641439611 0.0564268783543585 -0.049525846414396106)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cookies_1_0_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.133807172858083 0.023233341441973348 -0.131807172858083 0.02523334144197335)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (orange_juice_1_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.10348091225947985 0.08687868127404279 -0.10148091225947985 0.08887868127404279)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (tomato_sauce_1_2_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.10006806211022345 0.08849998224180838 0.10206806211022346 0.09049998224180839)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    white_bowl_1 - white_bowl
+    chocolate_pudding_1 - chocolate_pudding
+    cookies_1 - cookies
+    orange_juice_1 - orange_juice
+    tomato_sauce_1 - tomato_sauce
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On white_bowl_1 kitchen_table_white_bowl_init_region)
+    (On chocolate_pudding_1 kitchen_table_chocolate_pudding_0_0_region)
+    (On cookies_1 kitchen_table_cookies_1_0_region)
+    (On orange_juice_1 kitchen_table_orange_juice_1_1_region)
+    (On tomato_sauce_1 kitchen_table_tomato_sauce_1_2_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)