Upload folder using huggingface_hub

bddl_files/libero_10_lan/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl

@@ -0,0 +1,68 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language switch stove on and put moka pot on it)
+    (:regions
+      (flat_stove_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.21000000000000002 0.19 -0.19 0.21000000000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (frypan_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.07500000000000001 -0.275 -0.025 -0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (moka_pot_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.025 -0.025 0.07500000000000001 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cook_region
+          (:target flat_stove_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    chefmate_8_frypan_1 - chefmate_8_frypan
+    moka_pot_1 - moka_pot
+  )
+
+  (:obj_of_interest
+    moka_pot_1
+    flat_stove_1
+  )
+
+  (:init
+    (On flat_stove_1 kitchen_table_flat_stove_init_region)
+    (On chefmate_8_frypan_1 kitchen_table_frypan_init_region)
+    (On moka_pot_1 kitchen_table_moka_pot_init_region)
+  )
+
+  (:goal
+    (And (Turnon flat_stove_1) (On moka_pot_1 flat_stove_1_cook_region))
+  )
+
+)

bddl_files/libero_10_lan/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl

@@ -0,0 +1,94 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put black bowl inside bottom drawer and close it)
+    (:regions
+      (white_cabinet_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 0.29 0.01 0.31)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (wine_rack_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.11 -0.31 -0.09000000000000001 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (akita_black_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.0049999999999999975 -0.07500000000000001 0.055 -0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (wine_bottle_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.175 0.025 -0.125 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (top_side
+          (:target white_cabinet_1)
+      )
+      (top_region
+          (:target white_cabinet_1)
+      )
+      (middle_region
+          (:target white_cabinet_1)
+      )
+      (bottom_region
+          (:target white_cabinet_1)
+      )
+      (top_region
+          (:target wine_rack_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    white_cabinet_1 - white_cabinet
+    wine_rack_1 - wine_rack
+  )
+
+  (:objects
+    akita_black_bowl_1 - akita_black_bowl
+    wine_bottle_1 - wine_bottle
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    white_cabinet_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region)
+    (On wine_bottle_1 kitchen_table_wine_bottle_init_region)
+    (On white_cabinet_1 kitchen_table_white_cabinet_init_region)
+    (On wine_rack_1 kitchen_table_wine_rack_init_region)
+    (Open white_cabinet_1_bottom_region)
+  )
+
+  (:goal
+    (And (Close white_cabinet_1_bottom_region) (In akita_black_bowl_1 white_cabinet_1_bottom_region))
+  )
+
+)

bddl_files/libero_10_lan/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl

@@ -0,0 +1,83 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language place yellow and white mug in microwave and close door)
+    (:regions
+      (microwave_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 0.33999999999999997 0.01 0.36)
+            )
+          )
+          (:yaw_rotation (
+              (0 0)
+            )
+          )
+      )
+      (white_yellow_mug_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 -0.025 0.025 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (porcelain_mug_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.125 -0.275 -0.07500000000000001 -0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (porcelain_mug_front_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.05 -0.3 0.05 -0.2)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (top_side
+          (:target microwave_1)
+      )
+      (heating_region
+          (:target microwave_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    microwave_1 - microwave
+  )
+
+  (:objects
+    porcelain_mug_1 - porcelain_mug
+    white_yellow_mug_1 - white_yellow_mug
+  )
+
+  (:obj_of_interest
+    white_yellow_mug_1
+    microwave_1
+  )
+
+  (:init
+    (On porcelain_mug_1 kitchen_table_porcelain_mug_init_region)
+    (On white_yellow_mug_1 kitchen_table_white_yellow_mug_init_region)
+    (On microwave_1 kitchen_table_microwave_init_region)
+    (Open microwave_1)
+  )
+
+  (:goal
+    (And (In white_yellow_mug_1 microwave_1_heating_region) (Close microwave_1))
+  )
+
+)

bddl_files/libero_10_lan/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl

@@ -0,0 +1,69 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language place both moka pots on stove)
+    (:regions
+      (flat_stove_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.21000000000000002 -0.21000000000000002 -0.19 -0.19)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (moka_pot_right_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.07500000000000001 0.225 -0.025 0.275)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (moka_pot_left_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.025 0.025 0.07500000000000001 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cook_region
+          (:target flat_stove_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    moka_pot_1 moka_pot_2 - moka_pot
+  )
+
+  (:obj_of_interest
+    moka_pot_1
+    moka_pot_2
+    flat_stove_1
+  )
+
+  (:init
+    (On flat_stove_1 kitchen_table_flat_stove_init_region)
+    (On moka_pot_1 kitchen_table_moka_pot_right_init_region)
+    (On moka_pot_2 kitchen_table_moka_pot_left_init_region)
+    (Turnon flat_stove_1)
+  )
+
+  (:goal
+    (And (On moka_pot_1 flat_stove_1_cook_region) (On moka_pot_2 flat_stove_1_cook_region) (Turnon flat_stove_1))
+  )
+
+)

bddl_files/libero_10_lan/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl

@@ -0,0 +1,95 @@
+(define (problem LIBERO_Living_Room_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put alphabet soup and cream cheese box in basket)
+    (:regions
+      (basket_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (alphabet_soup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cream_cheese_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (tomato_sauce_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (ketchup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.225 -0.175 -0.17500000000000002 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    living_room_table - living_room_table
+  )
+
+  (:objects
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+    tomato_sauce_1 - tomato_sauce
+    ketchup_1 - ketchup
+    basket_1 - basket
+  )
+
+  (:obj_of_interest
+    alphabet_soup_1
+    cream_cheese_1
+    basket_1
+  )
+
+  (:init
+    (On alphabet_soup_1 living_room_table_alphabet_soup_init_region)
+    (On cream_cheese_1 living_room_table_cream_cheese_init_region)
+    (On tomato_sauce_1 living_room_table_tomato_sauce_init_region)
+    (On ketchup_1 living_room_table_ketchup_init_region)
+    (On basket_1 living_room_table_basket_init_region)
+  )
+
+  (:goal
+    (And (In alphabet_soup_1 basket_1_contain_region) (In cream_cheese_1 basket_1_contain_region))
+  )
+
+)

bddl_files/libero_10_lan/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl

@@ -0,0 +1,134 @@
+(define (problem LIBERO_Living_Room_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language place alphabet soup and tomato sauce into basket)
+    (:regions
+      (basket_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cream_cheese_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (orange_juice_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.025 -0.275 0.025 -0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (tomato_sauce_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 0.025 -0.07500000000000001 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (alphabet_soup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 -0.175 -0.07500000000000001 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (butter_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.025 0.025 0.07500000000000001 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (ketchup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.275 -0.175 -0.225 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    living_room_table - living_room_table
+  )
+
+  (:objects
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+    tomato_sauce_1 - tomato_sauce
+    ketchup_1 - ketchup
+    orange_juice_1 - orange_juice
+    milk_1 - milk
+    butter_1 - butter
+    basket_1 - basket
+  )
+
+  (:obj_of_interest
+    alphabet_soup_1
+    tomato_sauce_1
+    basket_1
+  )
+
+  (:init
+    (On alphabet_soup_1 living_room_table_alphabet_soup_init_region)
+    (On cream_cheese_1 living_room_table_cream_cheese_init_region)
+    (On tomato_sauce_1 living_room_table_tomato_sauce_init_region)
+    (On ketchup_1 living_room_table_ketchup_init_region)
+    (On milk_1 living_room_table_milk_init_region)
+    (On orange_juice_1 living_room_table_orange_juice_init_region)
+    (On butter_1 living_room_table_butter_init_region)
+    (On basket_1 living_room_table_basket_init_region)
+  )
+
+  (:goal
+    (And (In alphabet_soup_1 basket_1_contain_region) (In tomato_sauce_1 basket_1_contain_region))
+  )
+
+)

bddl_files/libero_10_lan/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl

@@ -0,0 +1,134 @@
+(define (problem LIBERO_Living_Room_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language place cream cheese box and butter into basket)
+    (:regions
+      (basket_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cream_cheese_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (orange_juice_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.025 -0.275 0.025 -0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (tomato_sauce_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 0.025 -0.07500000000000001 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (alphabet_soup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 -0.175 -0.07500000000000001 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (butter_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.025 0.025 0.07500000000000001 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (ketchup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.275 -0.175 -0.225 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    living_room_table - living_room_table
+  )
+
+  (:objects
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+    tomato_sauce_1 - tomato_sauce
+    ketchup_1 - ketchup
+    orange_juice_1 - orange_juice
+    milk_1 - milk
+    butter_1 - butter
+    basket_1 - basket
+  )
+
+  (:obj_of_interest
+    cream_cheese_1
+    butter_1
+    basket_1
+  )
+
+  (:init
+    (On alphabet_soup_1 living_room_table_alphabet_soup_init_region)
+    (On cream_cheese_1 living_room_table_cream_cheese_init_region)
+    (On tomato_sauce_1 living_room_table_tomato_sauce_init_region)
+    (On ketchup_1 living_room_table_ketchup_init_region)
+    (On milk_1 living_room_table_milk_init_region)
+    (On orange_juice_1 living_room_table_orange_juice_init_region)
+    (On butter_1 living_room_table_butter_init_region)
+    (On basket_1 living_room_table_basket_init_region)
+  )
+
+  (:goal
+    (And (In cream_cheese_1 basket_1_contain_region) (In butter_1 basket_1_contain_region))
+  )
+
+)

bddl_files/libero_10_lan/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl

@@ -0,0 +1,92 @@
+(define (problem LIBERO_Living_Room_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language place white mug on left plate and yellow-white mug on right plate)
+    (:regions
+      (plate_left_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.025 -0.325 0.025 -0.27499999999999997)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (plate_right_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.025 0.27499999999999997 0.025 0.325)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (porcelain_mug_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 -0.175 -0.07500000000000001 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (white_yellow_mug_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.07500000000000001 0.07500000000000001 -0.025 0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (red_coffee_mug_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.225 -0.025 -0.17500000000000002 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    living_room_table - living_room_table
+  )
+
+  (:objects
+    porcelain_mug_1 - porcelain_mug
+    red_coffee_mug_1 - red_coffee_mug
+    white_yellow_mug_1 - white_yellow_mug
+    plate_1 plate_2 - plate
+  )
+
+  (:obj_of_interest
+    plate_1
+    plate_2
+    white_yellow_mug_1
+    porcelain_mug_1
+  )
+
+  (:init
+    (On plate_1 living_room_table_plate_left_region)
+    (On plate_2 living_room_table_plate_right_region)
+    (On red_coffee_mug_1 living_room_table_red_coffee_mug_init_region)
+    (On white_yellow_mug_1 living_room_table_white_yellow_mug_init_region)
+    (On porcelain_mug_1 living_room_table_porcelain_mug_init_region)
+  )
+
+  (:goal
+    (And (On porcelain_mug_1 plate_1) (On white_yellow_mug_1 plate_2))
+  )
+
+)

bddl_files/libero_10_lan/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl

@@ -0,0 +1,101 @@
+(define (problem LIBERO_Living_Room_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language place white mug on plate and chocolate pudding to right)
+    (:regions
+      (plate_left_region
+          (:target living_room_table)
+          (:ranges (
+              (0.09999999999999999 -0.15000000000000002 0.2 -0.05)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (plate_right_region
+          (:target living_room_table)
+          (:ranges (
+              (0.09999999999999999 0.05 0.2 0.15000000000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (plate_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.125 -0.025 0.175 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (porcelain_mug_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 -0.175 -0.07500000000000001 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (chocolate_pudding_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.07500000000000001 0.07500000000000001 -0.025 0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (red_coffee_mug_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.225 -0.025 -0.17500000000000002 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    living_room_table - living_room_table
+  )
+
+  (:objects
+    porcelain_mug_1 - porcelain_mug
+    red_coffee_mug_1 - red_coffee_mug
+    plate_1 - plate
+    chocolate_pudding_1 - chocolate_pudding
+  )
+
+  (:obj_of_interest
+    plate_1
+    chocolate_pudding_1
+    porcelain_mug_1
+  )
+
+  (:init
+    (On plate_1 living_room_table_plate_init_region)
+    (On red_coffee_mug_1 living_room_table_red_coffee_mug_init_region)
+    (On chocolate_pudding_1 living_room_table_chocolate_pudding_init_region)
+    (On porcelain_mug_1 living_room_table_porcelain_mug_init_region)
+  )
+
+  (:goal
+    (And (On porcelain_mug_1 plate_1) (On chocolate_pudding_1 living_room_table_plate_right_region))
+  )
+
+)

bddl_files/libero_10_lan/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl

@@ -0,0 +1,88 @@
+(define (problem LIBERO_Study_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language pick up the book and place in back compartment)
+    (:regions
+      (desk_caddy_init_region
+          (:target study_table)
+          (:ranges (
+              (-0.21000000000000002 -0.15000000000000002 -0.19 -0.13)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (black_book_init_region
+          (:target study_table)
+          (:ranges (
+              (-0.025 0.125 0.025 0.175)
+            )
+          )
+          (:yaw_rotation (
+              (-1.5707963267948966 -0.7853981633974483)
+            )
+          )
+      )
+      (white_yellow_mug_init_region
+          (:target study_table)
+          (:ranges (
+              (0.07500000000000001 -0.025 0.125 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (desk_caddy_right_region
+          (:target study_table)
+          (:ranges (
+              (-0.25 0.09999999999999999 -0.15000000000000002 0.2)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (right_contain_region
+          (:target desk_caddy_1)
+      )
+      (left_contain_region
+          (:target desk_caddy_1)
+      )
+      (back_contain_region
+          (:target desk_caddy_1)
+      )
+      (front_contain_region
+          (:target desk_caddy_1)
+      )
+    )
+
+  (:fixtures
+    study_table - study_table
+    desk_caddy_1 - desk_caddy
+  )
+
+  (:objects
+    black_book_1 - black_book
+    white_yellow_mug_1 - white_yellow_mug
+  )
+
+  (:obj_of_interest
+    black_book_1
+    desk_caddy_1
+  )
+
+  (:init
+    (On desk_caddy_1 study_table_desk_caddy_init_region)
+    (On black_book_1 study_table_black_book_init_region)
+    (On white_yellow_mug_1 study_table_white_yellow_mug_init_region)
+  )
+
+  (:goal
+    (And (In black_book_1 desk_caddy_1_back_contain_region))
+  )
+
+)

bddl_files/libero_10_object/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl

@@ -0,0 +1,68 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language turn on the stove and put the moka pot on it)
+    (:regions
+      (yellow_stove_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.21000000000000002 0.19 -0.19 0.21000000000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (frypan_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.07500000000000001 -0.275 -0.025 -0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (yellow_moka_pot_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.025 -0.025 0.07500000000000001 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cook_region
+          (:target yellow_stove_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    yellow_stove_1 - yellow_stove
+  )
+
+  (:objects
+    chefmate_8_frypan_1 - chefmate_8_frypan
+    yellow_moka_pot_1 - yellow_moka_pot
+  )
+
+  (:obj_of_interest
+    yellow_moka_pot_1
+    yellow_stove_1
+  )
+
+  (:init
+    (On yellow_stove_1 kitchen_table_yellow_stove_init_region)
+    (On chefmate_8_frypan_1 kitchen_table_frypan_init_region)
+    (On yellow_moka_pot_1 kitchen_table_yellow_moka_pot_init_region)
+  )
+
+  (:goal
+    (And (Turnon yellow_stove_1) (On yellow_moka_pot_1 yellow_stove_1_cook_region))
+  )
+
+)

bddl_files/libero_10_object/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl

@@ -0,0 +1,94 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the black bowl in the bottom drawer of the cabinet and close it)
+    (:regions
+      (yellow_cabinet_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 0.29 0.01 0.31)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (wine_rack_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.11 -0.31 -0.09000000000000001 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (bigger_akita_black_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.0049999999999999975 -0.07500000000000001 0.055 -0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (wine_bottle_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.175 0.025 -0.125 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (top_side
+          (:target yellow_cabinet_1)
+      )
+      (top_region
+          (:target yellow_cabinet_1)
+      )
+      (middle_region
+          (:target yellow_cabinet_1)
+      )
+      (bottom_region
+          (:target yellow_cabinet_1)
+      )
+      (top_region
+          (:target wine_rack_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    yellow_cabinet_1 - yellow_cabinet
+    wine_rack_1 - wine_rack
+  )
+
+  (:objects
+    bigger_akita_black_bowl_1 - bigger_akita_black_bowl
+    wine_bottle_1 - wine_bottle
+  )
+
+  (:obj_of_interest
+    bigger_akita_black_bowl_1
+    yellow_cabinet_1
+  )
+
+  (:init
+    (On bigger_akita_black_bowl_1 kitchen_table_bigger_akita_black_bowl_init_region)
+    (On wine_bottle_1 kitchen_table_wine_bottle_init_region)
+    (On yellow_cabinet_1 kitchen_table_yellow_cabinet_init_region)
+    (On wine_rack_1 kitchen_table_wine_rack_init_region)
+    (Open yellow_cabinet_1_bottom_region)
+  )
+
+  (:goal
+    (And (Close yellow_cabinet_1_bottom_region) (In bigger_akita_black_bowl_1 yellow_cabinet_1_bottom_region))
+  )
+
+)

bddl_files/libero_10_object/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl

@@ -0,0 +1,83 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the yellow and white mug in the microwave and close it)
+    (:regions
+      (microwave_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 0.33999999999999997 0.01 0.36)
+            )
+          )
+          (:yaw_rotation (
+              (0 0)
+            )
+          )
+      )
+      (white_porcelain_mug_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 -0.025 0.025 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (porcelain_mug_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.125 -0.275 -0.07500000000000001 -0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (porcelain_mug_front_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.05 -0.3 0.05 -0.2)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (top_side
+          (:target microwave_1)
+      )
+      (heating_region
+          (:target microwave_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    microwave_1 - microwave
+  )
+
+  (:objects
+    porcelain_mug_1 - porcelain_mug
+    white_porcelain_mug_1 - white_porcelain_mug
+  )
+
+  (:obj_of_interest
+    white_porcelain_mug_1
+    microwave_1
+  )
+
+  (:init
+    (On porcelain_mug_1 kitchen_table_porcelain_mug_init_region)
+    (On white_porcelain_mug_1 kitchen_table_white_porcelain_mug_init_region)
+    (On microwave_1 kitchen_table_microwave_init_region)
+    (Open microwave_1)
+  )
+
+  (:goal
+    (And (In white_porcelain_mug_1 microwave_1_heating_region) (Close microwave_1))
+  )
+
+)

bddl_files/libero_10_object/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl

@@ -0,0 +1,69 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put both moka pots on the stove)
+    (:regions
+      (flat_stove_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.21000000000000002 -0.21000000000000002 -0.19 -0.19)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (yellow_moka_pot_right_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.07500000000000001 0.225 -0.025 0.275)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (yellow_moka_pot_left_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.025 0.025 0.07500000000000001 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cook_region
+          (:target flat_stove_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    yellow_moka_pot_1 yellow_moka_pot_2 - yellow_moka_pot
+  )
+
+  (:obj_of_interest
+    yellow_moka_pot_1
+    yellow_moka_pot_2
+    flat_stove_1
+  )
+
+  (:init
+    (On flat_stove_1 kitchen_table_flat_stove_init_region)
+    (On yellow_moka_pot_1 kitchen_table_yellow_moka_pot_right_init_region)
+    (On yellow_moka_pot_2 kitchen_table_yellow_moka_pot_left_init_region)
+    (Turnon flat_stove_1)
+  )
+
+  (:goal
+    (And (On yellow_moka_pot_1 flat_stove_1_cook_region) (On yellow_moka_pot_2 flat_stove_1_cook_region) (Turnon flat_stove_1))
+  )
+
+)

bddl_files/libero_10_object/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl

@@ -0,0 +1,95 @@
+(define (problem LIBERO_Living_Room_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put both the alphabet soup and the cream cheese box in the basket)
+    (:regions
+      (red_basket_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (red_alphabet_soup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (red_cream_cheese_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (tomato_sauce_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (ketchup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.225 -0.175 -0.17500000000000002 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (contain_region
+          (:target red_basket_1)
+      )
+    )
+
+  (:fixtures
+    living_room_table - living_room_table
+  )
+
+  (:objects
+    red_alphabet_soup_1 - red_alphabet_soup
+    red_cream_cheese_1 - red_cream_cheese
+    tomato_sauce_1 - tomato_sauce
+    ketchup_1 - ketchup
+    red_basket_1 - red_basket
+  )
+
+  (:obj_of_interest
+    red_alphabet_soup_1
+    red_cream_cheese_1
+    red_basket_1
+  )
+
+  (:init
+    (On red_alphabet_soup_1 living_room_table_red_alphabet_soup_init_region)
+    (On red_cream_cheese_1 living_room_table_red_cream_cheese_init_region)
+    (On tomato_sauce_1 living_room_table_tomato_sauce_init_region)
+    (On ketchup_1 living_room_table_ketchup_init_region)
+    (On red_basket_1 living_room_table_red_basket_init_region)
+  )
+
+  (:goal
+    (And (In red_alphabet_soup_1 red_basket_1_contain_region) (In red_cream_cheese_1 red_basket_1_contain_region))
+  )
+
+)

bddl_files/libero_10_object/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl

@@ -0,0 +1,134 @@
+(define (problem LIBERO_Living_Room_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put both the alphabet soup and the tomato sauce in the basket)
+    (:regions
+      (red_basket_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cream_cheese_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (orange_juice_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.025 -0.275 0.025 -0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (yellow_tomato_sauce_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 0.025 -0.07500000000000001 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (red_alphabet_soup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 -0.175 -0.07500000000000001 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (butter_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.025 0.025 0.07500000000000001 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (ketchup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.275 -0.175 -0.225 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (contain_region
+          (:target red_basket_1)
+      )
+    )
+
+  (:fixtures
+    living_room_table - living_room_table
+  )
+
+  (:objects
+    red_alphabet_soup_1 - red_alphabet_soup
+    cream_cheese_1 - cream_cheese
+    yellow_tomato_sauce_1 - yellow_tomato_sauce
+    ketchup_1 - ketchup
+    orange_juice_1 - orange_juice
+    milk_1 - milk
+    butter_1 - butter
+    red_basket_1 - red_basket
+  )
+
+  (:obj_of_interest
+    red_alphabet_soup_1
+    yellow_tomato_sauce_1
+    red_basket_1
+  )
+
+  (:init
+    (On red_alphabet_soup_1 living_room_table_red_alphabet_soup_init_region)
+    (On cream_cheese_1 living_room_table_cream_cheese_init_region)
+    (On yellow_tomato_sauce_1 living_room_table_yellow_tomato_sauce_init_region)
+    (On ketchup_1 living_room_table_ketchup_init_region)
+    (On milk_1 living_room_table_milk_init_region)
+    (On orange_juice_1 living_room_table_orange_juice_init_region)
+    (On butter_1 living_room_table_butter_init_region)
+    (On red_basket_1 living_room_table_red_basket_init_region)
+  )
+
+  (:goal
+    (And (In red_alphabet_soup_1 red_basket_1_contain_region) (In yellow_tomato_sauce_1 red_basket_1_contain_region))
+  )
+
+)

bddl_files/libero_10_object/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl

@@ -0,0 +1,134 @@
+(define (problem LIBERO_Living_Room_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put both the cream cheese box and the butter in the basket)
+    (:regions
+      (red_basket_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (red_cream_cheese_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (orange_juice_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.025 -0.275 0.025 -0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (tomato_sauce_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 0.025 -0.07500000000000001 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (alphabet_soup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 -0.175 -0.07500000000000001 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (green_butter_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.025 0.025 0.07500000000000001 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (ketchup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.275 -0.175 -0.225 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (contain_region
+          (:target red_basket_1)
+      )
+    )
+
+  (:fixtures
+    living_room_table - living_room_table
+  )
+
+  (:objects
+    alphabet_soup_1 - alphabet_soup
+    red_cream_cheese_1 - red_cream_cheese
+    tomato_sauce_1 - tomato_sauce
+    ketchup_1 - ketchup
+    orange_juice_1 - orange_juice
+    milk_1 - milk
+    green_butter_1 - green_butter
+    red_basket_1 - red_basket
+  )
+
+  (:obj_of_interest
+    red_cream_cheese_1
+    green_butter_1
+    red_basket_1
+  )
+
+  (:init
+    (On alphabet_soup_1 living_room_table_alphabet_soup_init_region)
+    (On red_cream_cheese_1 living_room_table_red_cream_cheese_init_region)
+    (On tomato_sauce_1 living_room_table_tomato_sauce_init_region)
+    (On ketchup_1 living_room_table_ketchup_init_region)
+    (On milk_1 living_room_table_milk_init_region)
+    (On orange_juice_1 living_room_table_orange_juice_init_region)
+    (On green_butter_1 living_room_table_green_butter_init_region)
+    (On red_basket_1 living_room_table_red_basket_init_region)
+  )
+
+  (:goal
+    (And (In red_cream_cheese_1 red_basket_1_contain_region) (In green_butter_1 red_basket_1_contain_region))
+  )
+
+)

bddl_files/libero_10_object/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl

@@ -0,0 +1,92 @@
+(define (problem LIBERO_Living_Room_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the white mug on the left plate and put the yellow and white mug on the right plate)
+    (:regions
+      (yellow_plate_left_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.025 -0.325 0.025 -0.27499999999999997)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (yellow_plate_right_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.025 0.27499999999999997 0.025 0.325)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (white_porcelain_mug_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 -0.175 -0.07500000000000001 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (white_white_porcelain_mug_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.07500000000000001 0.07500000000000001 -0.025 0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (red_coffee_mug_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.225 -0.025 -0.17500000000000002 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    living_room_table - living_room_table
+  )
+
+  (:objects
+    white_porcelain_mug_1 - white_porcelain_mug
+    red_coffee_mug_1 - red_coffee_mug
+    white_white_porcelain_mug_1 - white_white_porcelain_mug
+    yellow_plate_1 yellow_plate_2 - yellow_plate
+  )
+
+  (:obj_of_interest
+    yellow_plate_1
+    yellow_plate_2
+    white_white_porcelain_mug_1
+    white_porcelain_mug_1
+  )
+
+  (:init
+    (On yellow_plate_1 living_room_table_yellow_plate_left_region)
+    (On yellow_plate_2 living_room_table_yellow_plate_right_region)
+    (On red_coffee_mug_1 living_room_table_red_coffee_mug_init_region)
+    (On white_white_porcelain_mug_1 living_room_table_white_white_porcelain_mug_init_region)
+    (On white_porcelain_mug_1 living_room_table_white_porcelain_mug_init_region)
+  )
+
+  (:goal
+    (And (On white_porcelain_mug_1 yellow_plate_1) (On white_white_porcelain_mug_1 yellow_plate_2))
+  )
+
+)

bddl_files/libero_10_object/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl

@@ -0,0 +1,101 @@
+(define (problem LIBERO_Living_Room_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the white mug on the plate and put the chocolate pudding to the right of the plate)
+    (:regions
+      (yellow_plate_left_region
+          (:target living_room_table)
+          (:ranges (
+              (0.09999999999999999 -0.15000000000000002 0.2 -0.05)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (yellow_plate_right_region
+          (:target living_room_table)
+          (:ranges (
+              (0.09999999999999999 0.05 0.2 0.15000000000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (yellow_plate_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.125 -0.025 0.175 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (white_porcelain_mug_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 -0.175 -0.07500000000000001 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (green_chocolate_pudding_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.07500000000000001 0.07500000000000001 -0.025 0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (red_coffee_mug_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.225 -0.025 -0.17500000000000002 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    living_room_table - living_room_table
+  )
+
+  (:objects
+    white_porcelain_mug_1 - white_porcelain_mug
+    red_coffee_mug_1 - red_coffee_mug
+    yellow_plate_1 - yellow_plate
+    green_chocolate_pudding_1 - green_chocolate_pudding
+  )
+
+  (:obj_of_interest
+    yellow_plate_1
+    green_chocolate_pudding_1
+    white_porcelain_mug_1
+  )
+
+  (:init
+    (On yellow_plate_1 living_room_table_yellow_plate_init_region)
+    (On red_coffee_mug_1 living_room_table_red_coffee_mug_init_region)
+    (On green_chocolate_pudding_1 living_room_table_green_chocolate_pudding_init_region)
+    (On white_porcelain_mug_1 living_room_table_white_porcelain_mug_init_region)
+  )
+
+  (:goal
+    (And (On white_porcelain_mug_1 yellow_plate_1) (On green_chocolate_pudding_1 living_room_table_yellow_plate_right_region))
+  )
+
+)

bddl_files/libero_10_object/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl

@@ -0,0 +1,88 @@
+(define (problem LIBERO_Study_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language pick up the book and place it in the back compartment of the caddy)
+    (:regions
+      (desk_caddy_init_region
+          (:target study_table)
+          (:ranges (
+              (-0.21000000000000002 -0.15000000000000002 -0.19 -0.13)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (bigger_akita_black_bowl_init_region
+          (:target study_table)
+          (:ranges (
+              (-0.025 0.125 0.025 0.175)
+            )
+          )
+          (:yaw_rotation (
+              (-1.5707963267948966 -0.7853981633974483)
+            )
+          )
+      )
+      (white_yellow_mug_init_region
+          (:target study_table)
+          (:ranges (
+              (0.07500000000000001 -0.025 0.125 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (desk_caddy_right_region
+          (:target study_table)
+          (:ranges (
+              (-0.25 0.09999999999999999 -0.15000000000000002 0.2)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (right_contain_region
+          (:target desk_caddy_1)
+      )
+      (left_contain_region
+          (:target desk_caddy_1)
+      )
+      (back_contain_region
+          (:target desk_caddy_1)
+      )
+      (front_contain_region
+          (:target desk_caddy_1)
+      )
+    )
+
+  (:fixtures
+    study_table - study_table
+    desk_caddy_1 - desk_caddy
+  )
+
+  (:objects
+    bigger_akita_black_bowl_1 - bigger_akita_black_bowl
+    white_yellow_mug_1 - white_yellow_mug
+  )
+
+  (:obj_of_interest
+    bigger_akita_black_bowl_1
+    desk_caddy_1
+  )
+
+  (:init
+    (On desk_caddy_1 study_table_desk_caddy_init_region)
+    (On bigger_akita_black_bowl_1 study_table_bigger_akita_black_bowl_init_region)
+    (On white_yellow_mug_1 study_table_white_yellow_mug_init_region)
+  )
+
+  (:goal
+    (And (In bigger_akita_black_bowl_1 desk_caddy_1_back_contain_region))
+  )
+
+)

bddl_files/libero_10_swap/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl

@@ -0,0 +1,68 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language turn on the stove and put the moka pot on it)
+    (:regions
+      (flat_stove_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.21000000000000002 0.19 -0.19 0.21000000000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (frypan_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.07500000000000001 -0.275 -0.025 -0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (moka_pot_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.025 -0.025 0.07500000000000001 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cook_region
+          (:target flat_stove_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    chefmate_8_frypan_1 - chefmate_8_frypan
+    moka_pot_1 - moka_pot
+  )
+
+  (:obj_of_interest
+    moka_pot_1
+    flat_stove_1
+  )
+
+  (:init
+    (On flat_stove_1 kitchen_table_flat_stove_init_region)
+    (On chefmate_8_frypan_1 kitchen_table_moka_pot_init_region)
+    (On moka_pot_1 kitchen_table_frypan_init_region)
+  )
+
+  (:goal
+    (And (Turnon flat_stove_1) (On moka_pot_1 flat_stove_1_cook_region))
+  )
+
+)

bddl_files/libero_10_swap/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl

@@ -0,0 +1,94 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the black bowl in the bottom drawer of the cabinet and close it)
+    (:regions
+      (white_cabinet_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 0.29 0.01 0.31)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (wine_rack_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.11 -0.31 -0.09000000000000001 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (akita_black_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.0049999999999999975 -0.07500000000000001 0.055 -0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (wine_bottle_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.175 0.025 -0.125 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (top_side
+          (:target white_cabinet_1)
+      )
+      (top_region
+          (:target white_cabinet_1)
+      )
+      (middle_region
+          (:target white_cabinet_1)
+      )
+      (bottom_region
+          (:target white_cabinet_1)
+      )
+      (top_region
+          (:target wine_rack_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    white_cabinet_1 - white_cabinet
+    wine_rack_1 - wine_rack
+  )
+
+  (:objects
+    akita_black_bowl_1 - akita_black_bowl
+    wine_bottle_1 - wine_bottle
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    white_cabinet_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 kitchen_table_wine_bottle_init_region)
+    (On wine_bottle_1 kitchen_table_akita_black_bowl_init_region)
+    (On white_cabinet_1 kitchen_table_wine_rack_init_region)
+    (On wine_rack_1 kitchen_table_white_cabinet_init_region)
+    (Open white_cabinet_1_bottom_region)
+  )
+
+  (:goal
+    (And (Close white_cabinet_1_bottom_region) (In akita_black_bowl_1 white_cabinet_1_bottom_region))
+  )
+
+)

bddl_files/libero_10_swap/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl

@@ -0,0 +1,83 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the yellow and white mug in the microwave and close it)
+    (:regions
+      (microwave_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 0.33999999999999997 0.01 0.36)
+            )
+          )
+          (:yaw_rotation (
+              (0 0)
+            )
+          )
+      )
+      (white_yellow_mug_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 -0.025 0.025 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (porcelain_mug_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.125 -0.275 -0.07500000000000001 -0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (porcelain_mug_front_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.05 -0.3 0.05 -0.2)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (top_side
+          (:target microwave_1)
+      )
+      (heating_region
+          (:target microwave_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    microwave_1 - microwave
+  )
+
+  (:objects
+    porcelain_mug_1 - porcelain_mug
+    white_yellow_mug_1 - white_yellow_mug
+  )
+
+  (:obj_of_interest
+    white_yellow_mug_1
+    microwave_1
+  )
+
+  (:init
+    (On porcelain_mug_1 kitchen_table_microwave_init_region)
+    (On white_yellow_mug_1 kitchen_table_white_yellow_mug_init_region)
+    (On microwave_1 kitchen_table_porcelain_mug_init_region)
+    (Open microwave_1)
+  )
+
+  (:goal
+    (And (In white_yellow_mug_1 microwave_1_heating_region) (Close microwave_1))
+  )
+
+)

bddl_files/libero_10_swap/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl

@@ -0,0 +1,69 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put both moka pots on the stove)
+    (:regions
+      (flat_stove_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.21000000000000002 -0.21000000000000002 -0.19 -0.19)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (moka_pot_right_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.07500000000000001 0.225 -0.025 0.275)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (moka_pot_left_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.025 0.025 0.07500000000000001 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cook_region
+          (:target flat_stove_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    moka_pot_1 moka_pot_2 - moka_pot
+  )
+
+  (:obj_of_interest
+    moka_pot_1
+    moka_pot_2
+    flat_stove_1
+  )
+
+  (:init
+    (On flat_stove_1 kitchen_table_moka_pot_left_init_region)
+    (On moka_pot_1 kitchen_table_moka_pot_right_init_region)
+    (On moka_pot_2 kitchen_table_flat_stove_init_region)
+    (Turnon flat_stove_1)
+  )
+
+  (:goal
+    (And (On moka_pot_1 flat_stove_1_cook_region) (On moka_pot_2 flat_stove_1_cook_region) (Turnon flat_stove_1))
+  )
+
+)

bddl_files/libero_10_swap/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl

@@ -0,0 +1,95 @@
+(define (problem LIBERO_Living_Room_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put both the alphabet soup and the cream cheese box in the basket)
+    (:regions
+      (basket_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (alphabet_soup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cream_cheese_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (tomato_sauce_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (ketchup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.225 -0.175 -0.17500000000000002 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    living_room_table - living_room_table
+  )
+
+  (:objects
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+    tomato_sauce_1 - tomato_sauce
+    ketchup_1 - ketchup
+    basket_1 - basket
+  )
+
+  (:obj_of_interest
+    alphabet_soup_1
+    cream_cheese_1
+    basket_1
+  )
+
+  (:init
+    (On alphabet_soup_1 living_room_table_ketchup_init_region)
+    (On cream_cheese_1 living_room_table_tomato_sauce_init_region)
+    (On tomato_sauce_1 living_room_table_cream_cheese_init_region)
+    (On ketchup_1 living_room_table_alphabet_soup_init_region)
+    (On basket_1 living_room_table_basket_init_region)
+  )
+
+  (:goal
+    (And (In alphabet_soup_1 basket_1_contain_region) (In cream_cheese_1 basket_1_contain_region))
+  )
+
+)

bddl_files/libero_10_swap/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl

@@ -0,0 +1,134 @@
+(define (problem LIBERO_Living_Room_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put both the alphabet soup and the tomato sauce in the basket)
+    (:regions
+      (basket_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cream_cheese_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (orange_juice_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.025 -0.275 0.025 -0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (tomato_sauce_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 0.025 -0.07500000000000001 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (alphabet_soup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 -0.175 -0.07500000000000001 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (butter_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.025 0.025 0.07500000000000001 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (ketchup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.275 -0.175 -0.225 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    living_room_table - living_room_table
+  )
+
+  (:objects
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+    tomato_sauce_1 - tomato_sauce
+    ketchup_1 - ketchup
+    orange_juice_1 - orange_juice
+    milk_1 - milk
+    butter_1 - butter
+    basket_1 - basket
+  )
+
+  (:obj_of_interest
+    alphabet_soup_1
+    tomato_sauce_1
+    basket_1
+  )
+
+  (:init
+    (On alphabet_soup_1 living_room_table_ketchup_init_region)
+    (On cream_cheese_1 living_room_table_cream_cheese_init_region)
+    (On tomato_sauce_1 living_room_table_orange_juice_init_region)
+    (On ketchup_1 living_room_table_alphabet_soup_init_region)
+    (On milk_1 living_room_table_milk_init_region)
+    (On orange_juice_1 living_room_table_tomato_sauce_init_region)
+    (On butter_1 living_room_table_butter_init_region)
+    (On basket_1 living_room_table_basket_init_region)
+  )
+
+  (:goal
+    (And (In alphabet_soup_1 basket_1_contain_region) (In tomato_sauce_1 basket_1_contain_region))
+  )
+
+)

bddl_files/libero_10_swap/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl

@@ -0,0 +1,134 @@
+(define (problem LIBERO_Living_Room_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put both the cream cheese box and the butter in the basket)
+    (:regions
+      (basket_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cream_cheese_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (orange_juice_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.025 -0.275 0.025 -0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (tomato_sauce_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 0.025 -0.07500000000000001 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (alphabet_soup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 -0.175 -0.07500000000000001 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (butter_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.025 0.025 0.07500000000000001 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (ketchup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.275 -0.175 -0.225 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    living_room_table - living_room_table
+  )
+
+  (:objects
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+    tomato_sauce_1 - tomato_sauce
+    ketchup_1 - ketchup
+    orange_juice_1 - orange_juice
+    milk_1 - milk
+    butter_1 - butter
+    basket_1 - basket
+  )
+
+  (:obj_of_interest
+    cream_cheese_1
+    butter_1
+    basket_1
+  )
+
+  (:init
+    (On alphabet_soup_1 living_room_table_alphabet_soup_init_region)
+    (On cream_cheese_1 living_room_table_orange_juice_init_region)
+    (On tomato_sauce_1 living_room_table_butter_init_region)
+    (On ketchup_1 living_room_table_ketchup_init_region)
+    (On milk_1 living_room_table_milk_init_region)
+    (On orange_juice_1 living_room_table_cream_cheese_init_region)
+    (On butter_1 living_room_table_tomato_sauce_init_region)
+    (On basket_1 living_room_table_basket_init_region)
+  )
+
+  (:goal
+    (And (In cream_cheese_1 basket_1_contain_region) (In butter_1 basket_1_contain_region))
+  )
+
+)

bddl_files/libero_10_swap/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl

@@ -0,0 +1,92 @@
+(define (problem LIBERO_Living_Room_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the white mug on the left plate and put the yellow and white mug on the right plate)
+    (:regions
+      (plate_left_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.025 -0.325 0.025 -0.27499999999999997)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (plate_right_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.025 0.27499999999999997 0.025 0.325)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (porcelain_mug_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 -0.175 -0.07500000000000001 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (white_yellow_mug_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.07500000000000001 0.07500000000000001 -0.025 0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (red_coffee_mug_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.225 -0.025 -0.17500000000000002 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    living_room_table - living_room_table
+  )
+
+  (:objects
+    porcelain_mug_1 - porcelain_mug
+    red_coffee_mug_1 - red_coffee_mug
+    white_yellow_mug_1 - white_yellow_mug
+    plate_1 plate_2 - plate
+  )
+
+  (:obj_of_interest
+    plate_1
+    plate_2
+    white_yellow_mug_1
+    porcelain_mug_1
+  )
+
+  (:init
+    (On plate_1 living_room_table_plate_left_region)
+    (On plate_2 living_room_table_plate_right_region)
+    (On red_coffee_mug_1 living_room_table_white_yellow_mug_init_region)
+    (On white_yellow_mug_1 living_room_table_red_coffee_mug_init_region)
+    (On porcelain_mug_1 living_room_table_porcelain_mug_init_region)
+  )
+
+  (:goal
+    (And (On porcelain_mug_1 plate_1) (On white_yellow_mug_1 plate_2))
+  )
+
+)

bddl_files/libero_10_swap/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl

@@ -0,0 +1,101 @@
+(define (problem LIBERO_Living_Room_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the white mug on the plate and put the chocolate pudding to the right of the plate)
+    (:regions
+      (plate_left_region
+          (:target living_room_table)
+          (:ranges (
+              (0.09999999999999999 -0.15000000000000002 0.2 -0.05)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (plate_right_region
+          (:target living_room_table)
+          (:ranges (
+              (0.09999999999999999 0.05 0.2 0.15000000000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (plate_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.125 -0.025 0.175 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (porcelain_mug_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 -0.175 -0.07500000000000001 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (chocolate_pudding_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.07500000000000001 0.07500000000000001 -0.025 0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (red_coffee_mug_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.225 -0.025 -0.17500000000000002 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    living_room_table - living_room_table
+  )
+
+  (:objects
+    porcelain_mug_1 - porcelain_mug
+    red_coffee_mug_1 - red_coffee_mug
+    plate_1 - plate
+    chocolate_pudding_1 - chocolate_pudding
+  )
+
+  (:obj_of_interest
+    plate_1
+    chocolate_pudding_1
+    porcelain_mug_1
+  )
+
+  (:init
+    (On plate_1 living_room_table_plate_init_region)
+    (On red_coffee_mug_1 living_room_table_chocolate_pudding_init_region)
+    (On chocolate_pudding_1 living_room_table_red_coffee_mug_init_region)
+    (On porcelain_mug_1 living_room_table_porcelain_mug_init_region)
+  )
+
+  (:goal
+    (And (On porcelain_mug_1 plate_1) (On chocolate_pudding_1 living_room_table_plate_right_region))
+  )
+
+)

bddl_files/libero_10_swap/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl

@@ -0,0 +1,88 @@
+(define (problem LIBERO_Study_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language pick up the book and place it in the back compartment of the caddy)
+    (:regions
+      (desk_caddy_init_region
+          (:target study_table)
+          (:ranges (
+              (-0.21000000000000002 -0.15000000000000002 -0.19 -0.13)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (black_book_init_region
+          (:target study_table)
+          (:ranges (
+              (-0.025 0.125 0.025 0.175)
+            )
+          )
+          (:yaw_rotation (
+              (-1.5707963267948966 -0.7853981633974483)
+            )
+          )
+      )
+      (white_yellow_mug_init_region
+          (:target study_table)
+          (:ranges (
+              (0.07500000000000001 -0.025 0.125 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (desk_caddy_right_region
+          (:target study_table)
+          (:ranges (
+              (-0.25 0.09999999999999999 -0.15000000000000002 0.2)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (right_contain_region
+          (:target desk_caddy_1)
+      )
+      (left_contain_region
+          (:target desk_caddy_1)
+      )
+      (back_contain_region
+          (:target desk_caddy_1)
+      )
+      (front_contain_region
+          (:target desk_caddy_1)
+      )
+    )
+
+  (:fixtures
+    study_table - study_table
+    desk_caddy_1 - desk_caddy
+  )
+
+  (:objects
+    black_book_1 - black_book
+    white_yellow_mug_1 - white_yellow_mug
+  )
+
+  (:obj_of_interest
+    black_book_1
+    desk_caddy_1
+  )
+
+  (:init
+    (On desk_caddy_1 study_table_desk_caddy_init_region)
+    (On black_book_1 study_table_white_yellow_mug_init_region)
+    (On white_yellow_mug_1 study_table_black_book_init_region)
+  )
+
+  (:goal
+    (And (In black_book_1 desk_caddy_1_back_contain_region))
+  )
+
+)

bddl_files/libero_10_task/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl

@@ -0,0 +1,69 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language turn on the stove and put the pan on it)
+    (:regions
+      (flat_stove_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.21000000000000002 0.19 -0.19 0.21000000000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (frypan_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.07500000000000001 -0.275 -0.025 -0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (moka_pot_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.025 -0.025 0.07500000000000001 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cook_region
+          (:target flat_stove_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    chefmate_8_frypan_1 - chefmate_8_frypan
+    moka_pot_1 - moka_pot
+  )
+
+  (:obj_of_interest
+  flat_stove_1
+  chefmate_8_frypan_1
+  flat_stove_1_cook_region
+)
+
+  (:init
+    (On flat_stove_1 kitchen_table_flat_stove_init_region)
+    (On chefmate_8_frypan_1 kitchen_table_frypan_init_region)
+    (On moka_pot_1 kitchen_table_moka_pot_init_region)
+  )
+
+  (:goal
+  And (Turnon flat_stove_1) (On chefmate_8_frypan_1 flat_stove_1_cook_region))
+)
+
+)

bddl_files/libero_10_task/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl

@@ -0,0 +1,95 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the bottle in the bottom drawer of the cabinet and close it)
+    (:regions
+      (white_cabinet_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 0.29 0.01 0.31)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (wine_rack_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.11 -0.31 -0.09000000000000001 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (akita_black_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.0049999999999999975 -0.07500000000000001 0.055 -0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (wine_bottle_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.175 0.025 -0.125 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (top_side
+          (:target white_cabinet_1)
+      )
+      (top_region
+          (:target white_cabinet_1)
+      )
+      (middle_region
+          (:target white_cabinet_1)
+      )
+      (bottom_region
+          (:target white_cabinet_1)
+      )
+      (top_region
+          (:target wine_rack_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    white_cabinet_1 - white_cabinet
+    wine_rack_1 - wine_rack
+  )
+
+  (:objects
+    akita_black_bowl_1 - akita_black_bowl
+    wine_bottle_1 - wine_bottle
+  )
+
+  (:obj_of_interest
+  white_cabinet_1_bottom_region
+  wine_bottle_1
+  white_cabinet_1_bottom_region
+)
+
+  (:init
+    (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region)
+    (On wine_bottle_1 kitchen_table_wine_bottle_init_region)
+    (On white_cabinet_1 kitchen_table_white_cabinet_init_region)
+    (On wine_rack_1 kitchen_table_wine_rack_init_region)
+    (Open white_cabinet_1_bottom_region)
+  )
+
+  (:goal
+  (And (Close white_cabinet_1_bottom_region) (In wine_bottle_1 white_cabinet_1_bottom_region))
+)
+
+)

bddl_files/libero_10_task/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl

@@ -0,0 +1,84 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the white mug in the microwave and close it)
+    (:regions
+      (microwave_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 0.33999999999999997 0.01 0.36)
+            )
+          )
+          (:yaw_rotation (
+              (0 0)
+            )
+          )
+      )
+      (white_yellow_mug_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 -0.025 0.025 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (porcelain_mug_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.125 -0.275 -0.07500000000000001 -0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (porcelain_mug_front_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.05 -0.3 0.05 -0.2)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (top_side
+          (:target microwave_1)
+      )
+      (heating_region
+          (:target microwave_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    microwave_1 - microwave
+  )
+
+  (:objects
+    porcelain_mug_1 - porcelain_mug
+    white_yellow_mug_1 - white_yellow_mug
+  )
+
+  (:obj_of_interest
+  porcelain_mug_1
+  microwave_1_heating_region
+  microwave_1
+)
+
+  (:init
+    (On porcelain_mug_1 kitchen_table_porcelain_mug_init_region)
+    (On white_yellow_mug_1 kitchen_table_white_yellow_mug_init_region)
+    (On microwave_1 kitchen_table_microwave_init_region)
+    (Open microwave_1)
+  )
+
+  (:goal
+  (And (In porcelain_mug_1 microwave_1_heating_region) (Close microwave_1))
+)
+
+)

bddl_files/libero_10_task/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl

@@ -0,0 +1,69 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the left moka pot on the stove)
+    (:regions
+      (flat_stove_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.21000000000000002 -0.21000000000000002 -0.19 -0.19)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (moka_pot_right_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.07500000000000001 0.225 -0.025 0.275)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (moka_pot_left_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.025 0.025 0.07500000000000001 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cook_region
+          (:target flat_stove_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    moka_pot_1 moka_pot_2 - moka_pot
+  )
+
+  (:obj_of_interest
+  moka_pot_1
+  flat_stove_1_cook_region
+  flat_stove_1
+)
+
+  (:init
+    (On flat_stove_1 kitchen_table_flat_stove_init_region)
+    (On moka_pot_1 kitchen_table_moka_pot_right_init_region)
+    (On moka_pot_2 kitchen_table_moka_pot_left_init_region)
+    (Turnon flat_stove_1)
+  )
+
+  (:goal
+  (And (On moka_pot_1 flat_stove_1_cook_region) (Turnon flat_stove_1))
+)
+
+)

bddl_files/libero_10_task/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl

@@ -0,0 +1,95 @@
+(define (problem LIBERO_Living_Room_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put both the ketchup and the cream cheese box in the basket)
+    (:regions
+      (basket_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (alphabet_soup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cream_cheese_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (tomato_sauce_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (ketchup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.225 -0.175 -0.17500000000000002 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    living_room_table - living_room_table
+  )
+
+  (:objects
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+    tomato_sauce_1 - tomato_sauce
+    ketchup_1 - ketchup
+    basket_1 - basket
+  )
+
+  (:obj_of_interest
+  ketchup_1
+  basket_1_contain_region
+  cream_cheese_1
+)
+
+  (:init
+    (On alphabet_soup_1 living_room_table_alphabet_soup_init_region)
+    (On cream_cheese_1 living_room_table_cream_cheese_init_region)
+    (On tomato_sauce_1 living_room_table_tomato_sauce_init_region)
+    (On ketchup_1 living_room_table_ketchup_init_region)
+    (On basket_1 living_room_table_basket_init_region)
+  )
+
+  (:goal
+  (And (In ketchup_1 basket_1_contain_region) (In cream_cheese_1 basket_1_contain_region))
+)
+
+)

bddl_files/libero_10_task/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl

@@ -0,0 +1,134 @@
+(define (problem LIBERO_Living_Room_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put both the cream cheese and the tomato sauce in the basket)
+    (:regions
+      (basket_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cream_cheese_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (orange_juice_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.025 -0.275 0.025 -0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (tomato_sauce_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 0.025 -0.07500000000000001 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (alphabet_soup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 -0.175 -0.07500000000000001 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (butter_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.025 0.025 0.07500000000000001 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (ketchup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.275 -0.175 -0.225 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    living_room_table - living_room_table
+  )
+
+  (:objects
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+    tomato_sauce_1 - tomato_sauce
+    ketchup_1 - ketchup
+    orange_juice_1 - orange_juice
+    milk_1 - milk
+    butter_1 - butter
+    basket_1 - basket
+  )
+
+  (:obj_of_interest
+  cream_cheese_1
+  basket_1_contain_region
+  tomato_sauce_1
+)
+
+  (:init
+    (On alphabet_soup_1 living_room_table_alphabet_soup_init_region)
+    (On cream_cheese_1 living_room_table_cream_cheese_init_region)
+    (On tomato_sauce_1 living_room_table_tomato_sauce_init_region)
+    (On ketchup_1 living_room_table_ketchup_init_region)
+    (On milk_1 living_room_table_milk_init_region)
+    (On orange_juice_1 living_room_table_orange_juice_init_region)
+    (On butter_1 living_room_table_butter_init_region)
+    (On basket_1 living_room_table_basket_init_region)
+  )
+
+  (:goal
+  (And (In cream_cheese_1 basket_1_contain_region) (In tomato_sauce_1 basket_1_contain_region))
+)
+
+)

bddl_files/libero_10_task/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl

@@ -0,0 +1,134 @@
+(define (problem LIBERO_Living_Room_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put both the alphabet soup and the butter in the basket)
+    (:regions
+      (basket_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cream_cheese_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (orange_juice_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.025 -0.275 0.025 -0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (tomato_sauce_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 0.025 -0.07500000000000001 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (alphabet_soup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 -0.175 -0.07500000000000001 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (butter_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.025 0.025 0.07500000000000001 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (ketchup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.275 -0.175 -0.225 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    living_room_table - living_room_table
+  )
+
+  (:objects
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+    tomato_sauce_1 - tomato_sauce
+    ketchup_1 - ketchup
+    orange_juice_1 - orange_juice
+    milk_1 - milk
+    butter_1 - butter
+    basket_1 - basket
+  )
+
+  (:obj_of_interest
+  alphabet_soup_1
+  butter_1
+  basket_1_contain_region
+)
+
+  (:init
+    (On alphabet_soup_1 living_room_table_alphabet_soup_init_region)
+    (On cream_cheese_1 living_room_table_cream_cheese_init_region)
+    (On tomato_sauce_1 living_room_table_tomato_sauce_init_region)
+    (On ketchup_1 living_room_table_ketchup_init_region)
+    (On milk_1 living_room_table_milk_init_region)
+    (On orange_juice_1 living_room_table_orange_juice_init_region)
+    (On butter_1 living_room_table_butter_init_region)
+    (On basket_1 living_room_table_basket_init_region)
+  )
+
+  (:goal
+  (And (In alphabet_soup_1 basket_1_contain_region) (In butter_1 basket_1_contain_region))
+)
+
+)

bddl_files/libero_10_task/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl

@@ -0,0 +1,92 @@
+(define (problem LIBERO_Living_Room_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the yellow and white mug on the left plate and put the white mug on the right plate)
+    (:regions
+      (plate_left_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.025 -0.325 0.025 -0.27499999999999997)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (plate_right_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.025 0.27499999999999997 0.025 0.325)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (porcelain_mug_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 -0.175 -0.07500000000000001 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (white_yellow_mug_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.07500000000000001 0.07500000000000001 -0.025 0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (red_coffee_mug_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.225 -0.025 -0.17500000000000002 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    living_room_table - living_room_table
+  )
+
+  (:objects
+    porcelain_mug_1 - porcelain_mug
+    red_coffee_mug_1 - red_coffee_mug
+    white_yellow_mug_1 - white_yellow_mug
+    plate_1 plate_2 - plate
+  )
+
+  (:obj_of_interest
+  white_yellow_mug_1
+  porcelain_mug_1
+  plate_1
+  plate_2
+)
+
+  (:init
+    (On plate_1 living_room_table_plate_left_region)
+    (On plate_2 living_room_table_plate_right_region)
+    (On red_coffee_mug_1 living_room_table_red_coffee_mug_init_region)
+    (On white_yellow_mug_1 living_room_table_white_yellow_mug_init_region)
+    (On porcelain_mug_1 living_room_table_porcelain_mug_init_region)
+  )
+
+  (:goal
+  (And (On white_yellow_mug_1 plate_1) (On porcelain_mug_1 plate_2))
+)
+
+)

bddl_files/libero_10_task/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl

@@ -0,0 +1,102 @@
+(define (problem LIBERO_Living_Room_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the red mug on the plate and put the chocolate pudding to the right of the plate)
+    (:regions
+      (plate_left_region
+          (:target living_room_table)
+          (:ranges (
+              (0.09999999999999999 -0.15000000000000002 0.2 -0.05)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (plate_right_region
+          (:target living_room_table)
+          (:ranges (
+              (0.09999999999999999 0.05 0.2 0.15000000000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (plate_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.125 -0.025 0.175 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (porcelain_mug_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 -0.175 -0.07500000000000001 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (chocolate_pudding_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.07500000000000001 0.07500000000000001 -0.025 0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (red_coffee_mug_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.225 -0.025 -0.17500000000000002 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    living_room_table - living_room_table
+  )
+
+  (:objects
+    porcelain_mug_1 - porcelain_mug
+    red_coffee_mug_1 - red_coffee_mug
+    plate_1 - plate
+    chocolate_pudding_1 - chocolate_pudding
+  )
+
+  (:obj_of_interest
+  red_coffee_mug_1
+  chocolate_pudding_1
+  plate_1
+  living_room_table_plate_right_region
+)
+
+  (:init
+    (On plate_1 living_room_table_plate_init_region)
+    (On red_coffee_mug_1 living_room_table_red_coffee_mug_init_region)
+    (On chocolate_pudding_1 living_room_table_chocolate_pudding_init_region)
+    (On porcelain_mug_1 living_room_table_porcelain_mug_init_region)
+  )
+
+  (:goal
+  (And (On red_coffee_mug_1 plate_1) (On chocolate_pudding_1 living_room_table_plate_right_region))
+)
+
+)

bddl_files/libero_10_task/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl

@@ -0,0 +1,88 @@
+(define (problem LIBERO_Study_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language pick up the cup and place it in the back compartment of the caddy)
+    (:regions
+      (desk_caddy_init_region
+          (:target study_table)
+          (:ranges (
+              (-0.21000000000000002 -0.15000000000000002 -0.19 -0.13)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (black_book_init_region
+          (:target study_table)
+          (:ranges (
+              (-0.025 0.125 0.025 0.175)
+            )
+          )
+          (:yaw_rotation (
+              (-1.5707963267948966 -0.7853981633974483)
+            )
+          )
+      )
+      (white_yellow_mug_init_region
+          (:target study_table)
+          (:ranges (
+              (0.07500000000000001 -0.025 0.125 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (desk_caddy_right_region
+          (:target study_table)
+          (:ranges (
+              (-0.25 0.09999999999999999 -0.15000000000000002 0.2)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (right_contain_region
+          (:target desk_caddy_1)
+      )
+      (left_contain_region
+          (:target desk_caddy_1)
+      )
+      (back_contain_region
+          (:target desk_caddy_1)
+      )
+      (front_contain_region
+          (:target desk_caddy_1)
+      )
+    )
+
+  (:fixtures
+    study_table - study_table
+    desk_caddy_1 - desk_caddy
+  )
+
+  (:objects
+    black_book_1 - black_book
+    white_yellow_mug_1 - white_yellow_mug
+  )
+
+  (:obj_of_interest
+  white_yellow_mug_1
+  desk_caddy_1_back_contain_region
+)
+
+  (:init
+    (On desk_caddy_1 study_table_desk_caddy_init_region)
+    (On black_book_1 study_table_black_book_init_region)
+    (On white_yellow_mug_1 study_table_white_yellow_mug_init_region)
+  )
+
+  (:goal
+  (And (In white_yellow_mug_1 desk_caddy_1_back_contain_region))
+)
+
+)

bddl_files/libero_goal_lan/open_the_middle_drawer_of_the_cabinet.bddl

@@ -0,0 +1,127 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language open the cabinet’s middle drawer)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.04 -0.03 0.060000000000000005 -0.01)
+            )
+          )
+      )
+      (akita_black_bowl_region
+          (:target main_table)
+          (:ranges (
+              (-0.09999999999999999 -0.01 -0.08 0.01)
+            )
+          )
+      )
+      (wine_bottle_region
+          (:target main_table)
+          (:ranges (
+              (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04)
+            )
+          )
+      )
+      (cream_cheese_region
+          (:target main_table)
+          (:ranges (
+              (-0.060000000000000005 0.12000000000000001 -0.04 0.14)
+            )
+          )
+      )
+      (stove_front_region
+          (:target main_table)
+          (:ranges (
+              (-0.09 0.16999999999999998 -0.010000000000000002 0.25)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.25 0.04 -0.23)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 0.2 -0.4 0.22)
+            )
+          )
+      )
+      (wine_rack_region
+          (:target main_table)
+          (:ranges (
+              (-0.27 -0.27 -0.25 -0.25)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (top_region
+          (:target wooden_cabinet_1)
+      )
+      (middle_region
+          (:target wooden_cabinet_1)
+      )
+      (bottom_region
+          (:target wooden_cabinet_1)
+      )
+      (top_side
+          (:target wooden_cabinet_1)
+      )
+      (cook_region
+          (:target flat_stove_1)
+      )
+      (right_region
+          (:target bowl_drainer_1)
+      )
+      (left_region
+          (:target bowl_drainer_1)
+      )
+      (top_region
+          (:target wine_rack_1)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+    wine_rack_1 - wine_rack
+  )
+
+  (:objects
+    akita_black_bowl_1 - akita_black_bowl
+    cream_cheese_1 - cream_cheese
+    wine_bottle_1 - wine_bottle
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    wooden_cabinet_1_middle_region
+  )
+
+  (:init
+    (On wine_bottle_1 main_table_wine_bottle_region)
+    (On akita_black_bowl_1 main_table_akita_black_bowl_region)
+    (On plate_1 main_table_plate_region)
+    (On cream_cheese_1 main_table_cream_cheese_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+    (On wine_rack_1 main_table_wine_rack_region)
+  )
+
+  (:goal
+    (And (Open wooden_cabinet_1_middle_region))
+  )
+
+)

bddl_files/libero_goal_lan/open_the_top_drawer_and_put_the_bowl_inside.bddl

@@ -0,0 +1,128 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language slide open the top drawer and place the bowl in it)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.04 -0.03 0.060000000000000005 -0.01)
+            )
+          )
+      )
+      (akita_black_bowl_region
+          (:target main_table)
+          (:ranges (
+              (-0.09999999999999999 -0.01 -0.08 0.01)
+            )
+          )
+      )
+      (wine_bottle_region
+          (:target main_table)
+          (:ranges (
+              (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04)
+            )
+          )
+      )
+      (cream_cheese_region
+          (:target main_table)
+          (:ranges (
+              (-0.060000000000000005 0.12000000000000001 -0.04 0.14)
+            )
+          )
+      )
+      (stove_front_region
+          (:target main_table)
+          (:ranges (
+              (-0.09 0.16999999999999998 -0.010000000000000002 0.25)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.25 0.04 -0.23)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 0.2 -0.4 0.22)
+            )
+          )
+      )
+      (wine_rack_region
+          (:target main_table)
+          (:ranges (
+              (-0.27 -0.27 -0.25 -0.25)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (top_region
+          (:target wooden_cabinet_1)
+      )
+      (middle_region
+          (:target wooden_cabinet_1)
+      )
+      (bottom_region
+          (:target wooden_cabinet_1)
+      )
+      (top_side
+          (:target wooden_cabinet_1)
+      )
+      (cook_region
+          (:target flat_stove_1)
+      )
+      (right_region
+          (:target bowl_drainer_1)
+      )
+      (left_region
+          (:target bowl_drainer_1)
+      )
+      (top_region
+          (:target wine_rack_1)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+    wine_rack_1 - wine_rack
+  )
+
+  (:objects
+    akita_black_bowl_1 - akita_black_bowl
+    cream_cheese_1 - cream_cheese
+    wine_bottle_1 - wine_bottle
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    wooden_cabinet_1_top_region
+  )
+
+  (:init
+    (On wine_bottle_1 main_table_wine_bottle_region)
+    (On akita_black_bowl_1 main_table_akita_black_bowl_region)
+    (On plate_1 main_table_plate_region)
+    (On cream_cheese_1 main_table_cream_cheese_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+    (On wine_rack_1 main_table_wine_rack_region)
+  )
+
+  (:goal
+    (And (In akita_black_bowl_1 wooden_cabinet_1_top_region))
+  )
+
+)

bddl_files/libero_goal_lan/push_the_plate_to_the_front_of_the_stove.bddl

@@ -0,0 +1,128 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language move the plate to the stove’s front)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.04 -0.03 0.060000000000000005 -0.01)
+            )
+          )
+      )
+      (akita_black_bowl_region
+          (:target main_table)
+          (:ranges (
+              (-0.09999999999999999 -0.01 -0.08 0.01)
+            )
+          )
+      )
+      (wine_bottle_region
+          (:target main_table)
+          (:ranges (
+              (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04)
+            )
+          )
+      )
+      (cream_cheese_region
+          (:target main_table)
+          (:ranges (
+              (-0.060000000000000005 0.12000000000000001 -0.04 0.14)
+            )
+          )
+      )
+      (stove_front_region
+          (:target main_table)
+          (:ranges (
+              (-0.09 0.16999999999999998 -0.010000000000000002 0.25)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.25 0.04 -0.23)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 0.2 -0.4 0.22)
+            )
+          )
+      )
+      (wine_rack_region
+          (:target main_table)
+          (:ranges (
+              (-0.27 -0.27 -0.25 -0.25)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (top_region
+          (:target wooden_cabinet_1)
+      )
+      (middle_region
+          (:target wooden_cabinet_1)
+      )
+      (bottom_region
+          (:target wooden_cabinet_1)
+      )
+      (top_side
+          (:target wooden_cabinet_1)
+      )
+      (cook_region
+          (:target flat_stove_1)
+      )
+      (right_region
+          (:target bowl_drainer_1)
+      )
+      (left_region
+          (:target bowl_drainer_1)
+      )
+      (top_region
+          (:target wine_rack_1)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+    wine_rack_1 - wine_rack
+  )
+
+  (:objects
+    akita_black_bowl_1 - akita_black_bowl
+    cream_cheese_1 - cream_cheese
+    wine_bottle_1 - wine_bottle
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    plate_1
+    main_table_stove_front_region
+  )
+
+  (:init
+    (On wine_bottle_1 main_table_wine_bottle_region)
+    (On akita_black_bowl_1 main_table_akita_black_bowl_region)
+    (On plate_1 main_table_plate_region)
+    (On cream_cheese_1 main_table_cream_cheese_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+    (On wine_rack_1 main_table_wine_rack_region)
+  )
+
+  (:goal
+    (And (On plate_1 main_table_stove_front_region))
+  )
+
+)

bddl_files/libero_goal_lan/put_the_bowl_on_the_plate.bddl

@@ -0,0 +1,128 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language place the bowl on top of the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.04 -0.03 0.060000000000000005 -0.01)
+            )
+          )
+      )
+      (akita_black_bowl_region
+          (:target main_table)
+          (:ranges (
+              (-0.09999999999999999 -0.01 -0.08 0.01)
+            )
+          )
+      )
+      (wine_bottle_region
+          (:target main_table)
+          (:ranges (
+              (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04)
+            )
+          )
+      )
+      (cream_cheese_region
+          (:target main_table)
+          (:ranges (
+              (-0.060000000000000005 0.12000000000000001 -0.04 0.14)
+            )
+          )
+      )
+      (stove_front_region
+          (:target main_table)
+          (:ranges (
+              (-0.09 0.16999999999999998 -0.010000000000000002 0.25)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.25 0.04 -0.23)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 0.2 -0.4 0.22)
+            )
+          )
+      )
+      (wine_rack_region
+          (:target main_table)
+          (:ranges (
+              (-0.27 -0.27 -0.25 -0.25)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (top_region
+          (:target wooden_cabinet_1)
+      )
+      (middle_region
+          (:target wooden_cabinet_1)
+      )
+      (bottom_region
+          (:target wooden_cabinet_1)
+      )
+      (top_side
+          (:target wooden_cabinet_1)
+      )
+      (cook_region
+          (:target flat_stove_1)
+      )
+      (right_region
+          (:target bowl_drainer_1)
+      )
+      (left_region
+          (:target bowl_drainer_1)
+      )
+      (top_region
+          (:target wine_rack_1)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+    wine_rack_1 - wine_rack
+  )
+
+  (:objects
+    akita_black_bowl_1 - akita_black_bowl
+    cream_cheese_1 - cream_cheese
+    wine_bottle_1 - wine_bottle
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On wine_bottle_1 main_table_wine_bottle_region)
+    (On akita_black_bowl_1 main_table_akita_black_bowl_region)
+    (On plate_1 main_table_plate_region)
+    (On cream_cheese_1 main_table_cream_cheese_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+    (On wine_rack_1 main_table_wine_rack_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+)

bddl_files/libero_goal_lan/put_the_bowl_on_the_stove.bddl

@@ -0,0 +1,128 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language place the bowl on the stove)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.04 -0.03 0.060000000000000005 -0.01)
+            )
+          )
+      )
+      (akita_black_bowl_region
+          (:target main_table)
+          (:ranges (
+              (-0.09999999999999999 -0.01 -0.08 0.01)
+            )
+          )
+      )
+      (wine_bottle_region
+          (:target main_table)
+          (:ranges (
+              (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04)
+            )
+          )
+      )
+      (cream_cheese_region
+          (:target main_table)
+          (:ranges (
+              (-0.060000000000000005 0.12000000000000001 -0.04 0.14)
+            )
+          )
+      )
+      (stove_front_region
+          (:target main_table)
+          (:ranges (
+              (-0.09 0.16999999999999998 -0.010000000000000002 0.25)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.25 0.04 -0.23)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 0.2 -0.4 0.22)
+            )
+          )
+      )
+      (wine_rack_region
+          (:target main_table)
+          (:ranges (
+              (-0.27 -0.27 -0.25 -0.25)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (top_region
+          (:target wooden_cabinet_1)
+      )
+      (middle_region
+          (:target wooden_cabinet_1)
+      )
+      (bottom_region
+          (:target wooden_cabinet_1)
+      )
+      (top_side
+          (:target wooden_cabinet_1)
+      )
+      (cook_region
+          (:target flat_stove_1)
+      )
+      (right_region
+          (:target bowl_drainer_1)
+      )
+      (left_region
+          (:target bowl_drainer_1)
+      )
+      (top_region
+          (:target wine_rack_1)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+    wine_rack_1 - wine_rack
+  )
+
+  (:objects
+    akita_black_bowl_1 - akita_black_bowl
+    cream_cheese_1 - cream_cheese
+    wine_bottle_1 - wine_bottle
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    flat_stove_1_cook_region
+  )
+
+  (:init
+    (On wine_bottle_1 main_table_wine_bottle_region)
+    (On akita_black_bowl_1 main_table_akita_black_bowl_region)
+    (On plate_1 main_table_plate_region)
+    (On cream_cheese_1 main_table_cream_cheese_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+    (On wine_rack_1 main_table_wine_rack_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 flat_stove_1_cook_region))
+  )
+
+)

bddl_files/libero_goal_lan/put_the_bowl_on_top_of_the_cabinet.bddl

@@ -0,0 +1,128 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language place the bowl on top of the cabinet)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.04 -0.03 0.060000000000000005 -0.01)
+            )
+          )
+      )
+      (akita_black_bowl_region
+          (:target main_table)
+          (:ranges (
+              (-0.09999999999999999 -0.01 -0.08 0.01)
+            )
+          )
+      )
+      (wine_bottle_region
+          (:target main_table)
+          (:ranges (
+              (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04)
+            )
+          )
+      )
+      (cream_cheese_region
+          (:target main_table)
+          (:ranges (
+              (-0.060000000000000005 0.12000000000000001 -0.04 0.14)
+            )
+          )
+      )
+      (stove_front_region
+          (:target main_table)
+          (:ranges (
+              (-0.09 0.16999999999999998 -0.010000000000000002 0.25)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.25 0.04 -0.23)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 0.2 -0.4 0.22)
+            )
+          )
+      )
+      (wine_rack_region
+          (:target main_table)
+          (:ranges (
+              (-0.27 -0.27 -0.25 -0.25)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (top_region
+          (:target wooden_cabinet_1)
+      )
+      (middle_region
+          (:target wooden_cabinet_1)
+      )
+      (bottom_region
+          (:target wooden_cabinet_1)
+      )
+      (top_side
+          (:target wooden_cabinet_1)
+      )
+      (cook_region
+          (:target flat_stove_1)
+      )
+      (right_region
+          (:target bowl_drainer_1)
+      )
+      (left_region
+          (:target bowl_drainer_1)
+      )
+      (top_region
+          (:target wine_rack_1)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+    wine_rack_1 - wine_rack
+  )
+
+  (:objects
+    akita_black_bowl_1 - akita_black_bowl
+    cream_cheese_1 - cream_cheese
+    wine_bottle_1 - wine_bottle
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    wooden_cabinet_1_top_side
+  )
+
+  (:init
+    (On wine_bottle_1 main_table_wine_bottle_region)
+    (On akita_black_bowl_1 main_table_akita_black_bowl_region)
+    (On plate_1 main_table_plate_region)
+    (On cream_cheese_1 main_table_cream_cheese_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+    (On wine_rack_1 main_table_wine_rack_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 wooden_cabinet_1_top_side))
+  )
+
+)

bddl_files/libero_goal_lan/put_the_cream_cheese_in_the_bowl.bddl

@@ -0,0 +1,128 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language place the cream cheese inside the bowl)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.04 -0.03 0.060000000000000005 -0.01)
+            )
+          )
+      )
+      (akita_black_bowl_region
+          (:target main_table)
+          (:ranges (
+              (-0.09999999999999999 -0.01 -0.08 0.01)
+            )
+          )
+      )
+      (wine_bottle_region
+          (:target main_table)
+          (:ranges (
+              (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04)
+            )
+          )
+      )
+      (cream_cheese_region
+          (:target main_table)
+          (:ranges (
+              (-0.060000000000000005 0.12000000000000001 -0.04 0.14)
+            )
+          )
+      )
+      (stove_front_region
+          (:target main_table)
+          (:ranges (
+              (-0.09 0.16999999999999998 -0.010000000000000002 0.25)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.25 0.04 -0.23)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 0.2 -0.4 0.22)
+            )
+          )
+      )
+      (wine_rack_region
+          (:target main_table)
+          (:ranges (
+              (-0.27 -0.27 -0.25 -0.25)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (top_region
+          (:target wooden_cabinet_1)
+      )
+      (middle_region
+          (:target wooden_cabinet_1)
+      )
+      (bottom_region
+          (:target wooden_cabinet_1)
+      )
+      (top_side
+          (:target wooden_cabinet_1)
+      )
+      (cook_region
+          (:target flat_stove_1)
+      )
+      (right_region
+          (:target bowl_drainer_1)
+      )
+      (left_region
+          (:target bowl_drainer_1)
+      )
+      (top_region
+          (:target wine_rack_1)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+    wine_rack_1 - wine_rack
+  )
+
+  (:objects
+    akita_black_bowl_1 - akita_black_bowl
+    cream_cheese_1 - cream_cheese
+    wine_bottle_1 - wine_bottle
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    cream_cheese_1
+    akita_black_bowl_1
+  )
+
+  (:init
+    (On wine_bottle_1 main_table_wine_bottle_region)
+    (On akita_black_bowl_1 main_table_akita_black_bowl_region)
+    (On plate_1 main_table_plate_region)
+    (On cream_cheese_1 main_table_cream_cheese_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+    (On wine_rack_1 main_table_wine_rack_region)
+  )
+
+  (:goal
+    (And (On cream_cheese_1 akita_black_bowl_1))
+  )
+
+)

bddl_files/libero_goal_lan/put_the_wine_bottle_on_the_rack.bddl

@@ -0,0 +1,128 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language place the wine bottle on the rack)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.04 -0.03 0.060000000000000005 -0.01)
+            )
+          )
+      )
+      (akita_black_bowl_region
+          (:target main_table)
+          (:ranges (
+              (-0.09999999999999999 -0.01 -0.08 0.01)
+            )
+          )
+      )
+      (wine_bottle_region
+          (:target main_table)
+          (:ranges (
+              (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04)
+            )
+          )
+      )
+      (cream_cheese_region
+          (:target main_table)
+          (:ranges (
+              (-0.060000000000000005 0.12000000000000001 -0.04 0.14)
+            )
+          )
+      )
+      (stove_front_region
+          (:target main_table)
+          (:ranges (
+              (-0.09 0.16999999999999998 -0.010000000000000002 0.25)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.25 0.04 -0.23)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 0.2 -0.4 0.22)
+            )
+          )
+      )
+      (wine_rack_region
+          (:target main_table)
+          (:ranges (
+              (-0.27 -0.27 -0.25 -0.25)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (top_region
+          (:target wooden_cabinet_1)
+      )
+      (middle_region
+          (:target wooden_cabinet_1)
+      )
+      (bottom_region
+          (:target wooden_cabinet_1)
+      )
+      (top_side
+          (:target wooden_cabinet_1)
+      )
+      (cook_region
+          (:target flat_stove_1)
+      )
+      (right_region
+          (:target bowl_drainer_1)
+      )
+      (left_region
+          (:target bowl_drainer_1)
+      )
+      (top_region
+          (:target wine_rack_1)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+    wine_rack_1 - wine_rack
+  )
+
+  (:objects
+    akita_black_bowl_1 - akita_black_bowl
+    cream_cheese_1 - cream_cheese
+    wine_bottle_1 - wine_bottle
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    wine_bottle_1
+    wine_rack_1_top_region
+  )
+
+  (:init
+    (On wine_bottle_1 main_table_wine_bottle_region)
+    (On akita_black_bowl_1 main_table_akita_black_bowl_region)
+    (On plate_1 main_table_plate_region)
+    (On cream_cheese_1 main_table_cream_cheese_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+    (On wine_rack_1 main_table_wine_rack_region)
+  )
+
+  (:goal
+    (And (On wine_bottle_1 wine_rack_1_top_region))
+  )
+
+)

bddl_files/libero_goal_lan/put_the_wine_bottle_on_top_of_the_cabinet.bddl

@@ -0,0 +1,128 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language place the wine bottle on top of the cabinet)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.04 -0.03 0.060000000000000005 -0.01)
+            )
+          )
+      )
+      (akita_black_bowl_region
+          (:target main_table)
+          (:ranges (
+              (-0.09999999999999999 -0.01 -0.08 0.01)
+            )
+          )
+      )
+      (wine_bottle_region
+          (:target main_table)
+          (:ranges (
+              (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04)
+            )
+          )
+      )
+      (cream_cheese_region
+          (:target main_table)
+          (:ranges (
+              (-0.060000000000000005 0.12000000000000001 -0.04 0.14)
+            )
+          )
+      )
+      (stove_front_region
+          (:target main_table)
+          (:ranges (
+              (-0.09 0.16999999999999998 -0.010000000000000002 0.25)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.25 0.04 -0.23)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 0.2 -0.4 0.22)
+            )
+          )
+      )
+      (wine_rack_region
+          (:target main_table)
+          (:ranges (
+              (-0.27 -0.27 -0.25 -0.25)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (top_region
+          (:target wooden_cabinet_1)
+      )
+      (middle_region
+          (:target wooden_cabinet_1)
+      )
+      (bottom_region
+          (:target wooden_cabinet_1)
+      )
+      (top_side
+          (:target wooden_cabinet_1)
+      )
+      (cook_region
+          (:target flat_stove_1)
+      )
+      (right_region
+          (:target bowl_drainer_1)
+      )
+      (left_region
+          (:target bowl_drainer_1)
+      )
+      (top_region
+          (:target wine_rack_1)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+    wine_rack_1 - wine_rack
+  )
+
+  (:objects
+    akita_black_bowl_1 - akita_black_bowl
+    cream_cheese_1 - cream_cheese
+    wine_bottle_1 - wine_bottle
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    wine_bottle_1
+    wooden_cabinet_1_top_side
+  )
+
+  (:init
+    (On wine_bottle_1 main_table_wine_bottle_region)
+    (On akita_black_bowl_1 main_table_akita_black_bowl_region)
+    (On plate_1 main_table_plate_region)
+    (On cream_cheese_1 main_table_cream_cheese_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+    (On wine_rack_1 main_table_wine_rack_region)
+  )
+
+  (:goal
+    (And (On wine_bottle_1 wooden_cabinet_1_top_side))
+  )
+
+)

bddl_files/libero_goal_lan/turn_on_the_stove.bddl

@@ -0,0 +1,127 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language switch on the stove)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.04 -0.03 0.060000000000000005 -0.01)
+            )
+          )
+      )
+      (akita_black_bowl_region
+          (:target main_table)
+          (:ranges (
+              (-0.09999999999999999 -0.01 -0.08 0.01)
+            )
+          )
+      )
+      (wine_bottle_region
+          (:target main_table)
+          (:ranges (
+              (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04)
+            )
+          )
+      )
+      (cream_cheese_region
+          (:target main_table)
+          (:ranges (
+              (-0.060000000000000005 0.12000000000000001 -0.04 0.14)
+            )
+          )
+      )
+      (stove_front_region
+          (:target main_table)
+          (:ranges (
+              (-0.09 0.16999999999999998 -0.010000000000000002 0.25)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.25 0.04 -0.23)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 0.2 -0.4 0.22)
+            )
+          )
+      )
+      (wine_rack_region
+          (:target main_table)
+          (:ranges (
+              (-0.27 -0.27 -0.25 -0.25)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (top_region
+          (:target wooden_cabinet_1)
+      )
+      (middle_region
+          (:target wooden_cabinet_1)
+      )
+      (bottom_region
+          (:target wooden_cabinet_1)
+      )
+      (top_side
+          (:target wooden_cabinet_1)
+      )
+      (cook_region
+          (:target flat_stove_1)
+      )
+      (right_region
+          (:target bowl_drainer_1)
+      )
+      (left_region
+          (:target bowl_drainer_1)
+      )
+      (top_region
+          (:target wine_rack_1)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+    wine_rack_1 - wine_rack
+  )
+
+  (:objects
+    akita_black_bowl_1 - akita_black_bowl
+    cream_cheese_1 - cream_cheese
+    wine_bottle_1 - wine_bottle
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    flat_stove_1
+  )
+
+  (:init
+    (On wine_bottle_1 main_table_wine_bottle_region)
+    (On akita_black_bowl_1 main_table_akita_black_bowl_region)
+    (On plate_1 main_table_plate_region)
+    (On cream_cheese_1 main_table_cream_cheese_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+    (On wine_rack_1 main_table_wine_rack_region)
+  )
+
+  (:goal
+    (And (Turnon flat_stove_1))
+  )
+
+)