diff --git a/.gitattributes b/.gitattributes
index 1ef325f1b111266a6b26e0196871bd78baa8c2f3..59fbe574c2e39f4889c47aa84c248e4351e072fd 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -57,3 +57,5 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+init_files/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.init filter=lfs diff=lfs merge=lfs -text
+init_files/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.init filter=lfs diff=lfs merge=lfs -text
diff --git a/README.md b/README.md
index b877657f819f0cf16bf84cf055607d8af1de15d3..a0d1a06303bdd0befe665c407fb52b18e12fe5dd 100644
--- a/README.md
+++ b/README.md
@@ -38,6 +38,48 @@ Each perturbation includes corresponding **`init` files** (initial environment c
 
 ---
 
+## Seven-Case Robustness Extension
+
+The repository also includes a 40-task evaluation set covering seven
+BDDL-configured robustness cases. Each category contains
+10 tasks from each of `libero_spatial`, `libero_object`, `libero_goal`, and
+`libero_10`.
+
+| Folder | Evaluation case |
+| --- | --- |
+| `01_visual_noise_glare` | Lighting and observation noise |
+| `02_camera_view_angle` | Camera position and orientation |
+| `03_runtime_object_move` | Runtime target-object movement |
+| `04_object_texture` | Object appearance and texture |
+| `05_view_occlusion` | View occlusion by scene objects |
+| `06_object_shape` | Target-object shape scaling |
+| `07_initial_pose_position_angle` | Initial position and yaw changes |
+
+The 280 BDDL files use this layout:
+
+```text
+bddl_files/<category>/bddl/<suite>/<task>.bddl
+```
+
+Shared original initialization states are stored under:
+
+```text
+init_files/<suite>/<task>.pruned_init
+```
+
+Where available, the corresponding `.init` files are included as well. The
+runtime object movement case uses a near-grasp trigger with a maximum
+end-effector-to-target distance of `0.09 m` and a step-160 fallback.
+
+The `metadata/` directory contains a portable dataset index, task-specific
+perturbation manifest, and the latest static validation report. File checksums
+are listed in `SHA256SUMS.txt`.
+
+The custom `:perturbation_config` fields require the LIBERO-Pro-aware parser
+and evaluation integration from the project codebase.
+
+---
+
 ## Uses
 
 **How to use:**
@@ -94,4 +136,4 @@ If you use this dataset, please cite both the original LIBERO benchmark and the
 ## Dataset Card Contact
 
 For questions or issues, please contact:  
-📧 **d202480819@hust.edu.cn**
\ No newline at end of file
+📧 **d202480819@hust.edu.cn**
diff --git a/SHA256SUMS.txt b/SHA256SUMS.txt
new file mode 100644
index 0000000000000000000000000000000000000000..446cb8920ac3e468d4e93d1a9a92620463120dee
--- /dev/null
+++ b/SHA256SUMS.txt
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diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..54772992e0e4cbb40f08951af3b41faa0e3839cd
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl
@@ -0,0 +1,143 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_10)
+    (:source_task KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object moka_pot_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets flat_stove_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference moka_pot_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target moka_pot_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target moka_pot_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..0154160f4bb0c004d9958c7943a2f1da7752ba97
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl
@@ -0,0 +1,169 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_10)
+    (:source_task KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets white_cabinet_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc5897b837cd13fcfbb5d7fd8401240acc6c3
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl
@@ -0,0 +1,158 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_10)
+    (:source_task KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object white_yellow_mug_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets microwave_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference white_yellow_mug_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target white_yellow_mug_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target white_yellow_mug_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..980632a838af11040793705e37c64fccb605716b
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl
@@ -0,0 +1,144 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_10)
+    (:source_task KITCHEN_SCENE8_put_both_moka_pots_on_the_stove)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object moka_pot_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets flat_stove_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference moka_pot_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target moka_pot_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target moka_pot_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..08aa4abb42f860208b375243e43b850168c91cff
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl
@@ -0,0 +1,170 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_10)
+    (:source_task LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object alphabet_soup_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.30 0.20 0.12 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference alphabet_soup_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target alphabet_soup_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target alphabet_soup_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..b30eba68fbbdfd77cc38b1b4de853ad20db45d65
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl
@@ -0,0 +1,209 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_10)
+    (:source_task LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object alphabet_soup_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.30 0.20 0.12 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference alphabet_soup_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target alphabet_soup_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target alphabet_soup_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..362bad6f52aa1ce2406caa7be28034edabec10e9
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl
@@ -0,0 +1,209 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_10)
+    (:source_task LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object cream_cheese_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.30 0.20 0.12 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference cream_cheese_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target cream_cheese_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target cream_cheese_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..b9e23b2f14dc2f1c0a54116f92be1847556ece0c
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_10/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 +1,167 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_10)
+    (:source_task LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object plate_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1 plate_2)
+      (:rgba 0.30 0.20 0.12 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference plate_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target plate_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target plate_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..fcf05ac2739e89a2670447e2acc487467c90e595
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl
@@ -0,0 +1,176 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_10)
+    (:source_task LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object plate_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.30 0.20 0.12 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference plate_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target plate_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target plate_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..610c9b6e254f1f2ff33110aea86be5595f7ee077
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl
@@ -0,0 +1,163 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_10)
+    (:source_task STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object black_book_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets desk_caddy_1)
+      (:rgba 0.50 0.36 0.20 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference black_book_1)
+      (:front_direction 1.0 0.0)
+      (:targets yellow_book_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target black_book_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target black_book_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_goal/open_the_middle_drawer_of_the_cabinet.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_goal/open_the_middle_drawer_of_the_cabinet.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..467bf623a8a9964663af2b5c62b0e78620674f49
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_goal/open_the_middle_drawer_of_the_cabinet.bddl
@@ -0,0 +1,202 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Open the middle layer of the 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))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_goal)
+    (:source_task open_the_middle_drawer_of_the_cabinet)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets wooden_cabinet_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..a19d70a564b9aa98510a87716f96417f438e126c
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Open the top layer of the drawer and put the bowl inside)
+    (: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))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_goal)
+    (:source_task open_the_top_drawer_and_put_the_bowl_inside)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets wooden_cabinet_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_goal/push_the_plate_to_the_front_of_the_stove.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_goal/push_the_plate_to_the_front_of_the_stove.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..258f32773ae4a3745cf6825150a8c4a9137edfa4
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_goal/push_the_plate_to_the_front_of_the_stove.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Push the plate to the front of 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
+    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))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_goal)
+    (:source_task push_the_plate_to_the_front_of_the_stove)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object plate_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets flat_stove_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference plate_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target plate_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target plate_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_bowl_on_the_plate.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_bowl_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..cd440df2ffbe4ac99322dcff8dfecc01d062b4ae
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_bowl_on_the_plate.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put the bowl on 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))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_goal)
+    (:source_task put_the_bowl_on_the_plate)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_bowl_on_the_stove.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_bowl_on_the_stove.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..fd0d0c419010be5b5d420563da6fa739c4b8028f
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_bowl_on_the_stove.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put 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))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_goal)
+    (:source_task put_the_bowl_on_the_stove)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets flat_stove_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_bowl_on_top_of_the_cabinet.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_bowl_on_top_of_the_cabinet.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..420f19ba829efc1bf9fd85df377ed3ab4fc04528
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_bowl_on_top_of_the_cabinet.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put the bowl on the top of the 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
+    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))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_goal)
+    (:source_task put_the_bowl_on_top_of_the_cabinet)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets wooden_cabinet_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_cream_cheese_in_the_bowl.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_cream_cheese_in_the_bowl.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..3b18bab492b250c789ae611bec07c0d38f86b345
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_cream_cheese_in_the_bowl.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put the cream cheese on 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))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_goal)
+    (:source_task put_the_cream_cheese_in_the_bowl)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object cream_cheese_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets akita_black_bowl_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference cream_cheese_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target cream_cheese_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target cream_cheese_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_wine_bottle_on_the_rack.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_wine_bottle_on_the_rack.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..e4398a57e5500dbed086c093a1f2e9fd0efa2953
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_wine_bottle_on_the_rack.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put 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))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_goal)
+    (:source_task put_the_wine_bottle_on_the_rack)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object wine_bottle_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets wine_rack_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference wine_bottle_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target wine_bottle_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target wine_bottle_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..a911a6dfc21d44e152dee00dfae74469595f2e0d
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put the wine bottle on the top of the 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
+    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))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_goal)
+    (:source_task put_the_wine_bottle_on_top_of_the_cabinet)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object wine_bottle_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets wooden_cabinet_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference wine_bottle_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target wine_bottle_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target wine_bottle_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_goal/turn_on_the_stove.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_goal/turn_on_the_stove.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..025319e710e2a91f83447850b61bb9d22fbe8981
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_goal/turn_on_the_stove.bddl
@@ -0,0 +1,202 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Turn 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))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_goal)
+    (:source_task turn_on_the_stove)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets flat_stove_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..88478075e1b12e2d235e1a8f2b1809b5f4c2f2ca
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the alphabet soup and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    alphabet_soup_1 - alphabet_soup
+    basket_1 - basket
+    salad_dressing_1 - salad_dressing
+    cream_cheese_1 - cream_cheese
+    milk_1 - milk
+    tomato_sauce_1 - tomato_sauce
+    butter_1 - butter
+  )
+
+  (:obj_of_interest
+    alphabet_soup_1
+    basket_1
+  )
+
+  (:init
+    (On alphabet_soup_1 floor_target_object_region)
+    (On salad_dressing_1 floor_other_object_region_0)
+    (On cream_cheese_1 floor_other_object_region_1)
+    (On milk_1 floor_other_object_region_2)
+    (On tomato_sauce_1 floor_other_object_region_3)
+    (On butter_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In alphabet_soup_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_alphabet_soup_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object alphabet_soup_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference alphabet_soup_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target alphabet_soup_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target alphabet_soup_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..12a74d41b2d3ea25e0354d69115115633f5c1a73
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the bbq sauce and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    bbq_sauce_1 - bbq_sauce
+    basket_1 - basket
+    chocolate_pudding_1 - chocolate_pudding
+    ketchup_1 - ketchup
+    salad_dressing_1 - salad_dressing
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+  )
+
+  (:obj_of_interest
+    bbq_sauce_1
+    basket_1
+  )
+
+  (:init
+    (On bbq_sauce_1 floor_target_object_region)
+    (On chocolate_pudding_1 floor_other_object_region_0)
+    (On ketchup_1 floor_other_object_region_1)
+    (On salad_dressing_1 floor_other_object_region_2)
+    (On alphabet_soup_1 floor_other_object_region_3)
+    (On cream_cheese_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In bbq_sauce_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_bbq_sauce_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object bbq_sauce_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference bbq_sauce_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target bbq_sauce_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target bbq_sauce_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..b37a361f00b8c62a4473bb71bd3848bae1e4a9e6
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the butter and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    butter_1 - butter
+    basket_1 - basket
+    tomato_sauce_1 - tomato_sauce
+    orange_juice_1 - orange_juice
+    chocolate_pudding_1 - chocolate_pudding
+    bbq_sauce_1 - bbq_sauce
+    ketchup_1 - ketchup
+  )
+
+  (:obj_of_interest
+    butter_1
+    basket_1
+  )
+
+  (:init
+    (On butter_1 floor_target_object_region)
+    (On tomato_sauce_1 floor_other_object_region_0)
+    (On orange_juice_1 floor_other_object_region_1)
+    (On chocolate_pudding_1 floor_other_object_region_2)
+    (On bbq_sauce_1 floor_other_object_region_3)
+    (On ketchup_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In butter_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_butter_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object butter_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference butter_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target butter_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target butter_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..9409c69fa4d35f165af496505f99582feefaea8a
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the chocolate pudding and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    chocolate_pudding_1 - chocolate_pudding
+    basket_1 - basket
+    orange_juice_1 - orange_juice
+    bbq_sauce_1 - bbq_sauce
+    ketchup_1 - ketchup
+    salad_dressing_1 - salad_dressing
+    alphabet_soup_1 - alphabet_soup
+  )
+
+  (:obj_of_interest
+    chocolate_pudding_1
+    basket_1
+  )
+
+  (:init
+    (On chocolate_pudding_1 floor_target_object_region)
+    (On orange_juice_1 floor_other_object_region_0)
+    (On bbq_sauce_1 floor_other_object_region_1)
+    (On ketchup_1 floor_other_object_region_2)
+    (On salad_dressing_1 floor_other_object_region_3)
+    (On alphabet_soup_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In chocolate_pudding_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_chocolate_pudding_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object chocolate_pudding_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference chocolate_pudding_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target chocolate_pudding_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target chocolate_pudding_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..de300c4f203f0ce280dd4af54d8e73064730576b
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the cream cheese and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    cream_cheese_1 - cream_cheese
+    basket_1 - basket
+    alphabet_soup_1 - alphabet_soup
+    milk_1 - milk
+    tomato_sauce_1 - tomato_sauce
+    butter_1 - butter
+    orange_juice_1 - orange_juice
+  )
+
+  (:obj_of_interest
+    cream_cheese_1
+    basket_1
+  )
+
+  (:init
+    (On cream_cheese_1 floor_target_object_region)
+    (On alphabet_soup_1 floor_other_object_region_0)
+    (On milk_1 floor_other_object_region_1)
+    (On tomato_sauce_1 floor_other_object_region_2)
+    (On butter_1 floor_other_object_region_3)
+    (On orange_juice_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In cream_cheese_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_cream_cheese_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object cream_cheese_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference cream_cheese_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target cream_cheese_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target cream_cheese_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..5f994f8c0eff0ebe07f88946753a2542c2f3b363
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the ketchup and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    ketchup_1 - ketchup
+    basket_1 - basket
+    bbq_sauce_1 - bbq_sauce
+    salad_dressing_1 - salad_dressing
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+    milk_1 - milk
+  )
+
+  (:obj_of_interest
+    ketchup_1
+    basket_1
+  )
+
+  (:init
+    (On ketchup_1 floor_target_object_region)
+    (On bbq_sauce_1 floor_other_object_region_0)
+    (On salad_dressing_1 floor_other_object_region_1)
+    (On alphabet_soup_1 floor_other_object_region_2)
+    (On cream_cheese_1 floor_other_object_region_3)
+    (On milk_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In ketchup_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_ketchup_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object ketchup_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference ketchup_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target ketchup_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target ketchup_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..f12164c2fafcc0d6df7df1d16fc8694329ef9be1
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the milk and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    milk_1 - milk
+    basket_1 - basket
+    cream_cheese_1 - cream_cheese
+    tomato_sauce_1 - tomato_sauce
+    butter_1 - butter
+    orange_juice_1 - orange_juice
+    chocolate_pudding_1 - chocolate_pudding
+  )
+
+  (:obj_of_interest
+    milk_1
+    basket_1
+  )
+
+  (:init
+    (On milk_1 floor_target_object_region)
+    (On cream_cheese_1 floor_other_object_region_0)
+    (On tomato_sauce_1 floor_other_object_region_1)
+    (On butter_1 floor_other_object_region_2)
+    (On orange_juice_1 floor_other_object_region_3)
+    (On chocolate_pudding_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In milk_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_milk_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object milk_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference milk_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target milk_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target milk_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..a85ba1a8272a3ccc58aad3c2d1d4c8c5ca8b760c
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the orange juice and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    orange_juice_1 - orange_juice
+    basket_1 - basket
+    butter_1 - butter
+    chocolate_pudding_1 - chocolate_pudding
+    bbq_sauce_1 - bbq_sauce
+    ketchup_1 - ketchup
+    salad_dressing_1 - salad_dressing
+  )
+
+  (:obj_of_interest
+    orange_juice_1
+    basket_1
+  )
+
+  (:init
+    (On orange_juice_1 floor_target_object_region)
+    (On butter_1 floor_other_object_region_0)
+    (On chocolate_pudding_1 floor_other_object_region_1)
+    (On bbq_sauce_1 floor_other_object_region_2)
+    (On ketchup_1 floor_other_object_region_3)
+    (On salad_dressing_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In orange_juice_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_orange_juice_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object orange_juice_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference orange_juice_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target orange_juice_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target orange_juice_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..5e9a0f66633f04b620ce083ea0efa4669f99e3c9
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the salad dressing and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    salad_dressing_1 - salad_dressing
+    basket_1 - basket
+    ketchup_1 - ketchup
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+    milk_1 - milk
+    tomato_sauce_1 - tomato_sauce
+  )
+
+  (:obj_of_interest
+    salad_dressing_1
+    basket_1
+  )
+
+  (:init
+    (On salad_dressing_1 floor_target_object_region)
+    (On ketchup_1 floor_other_object_region_0)
+    (On alphabet_soup_1 floor_other_object_region_1)
+    (On cream_cheese_1 floor_other_object_region_2)
+    (On milk_1 floor_other_object_region_3)
+    (On tomato_sauce_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In salad_dressing_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_salad_dressing_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object salad_dressing_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference salad_dressing_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target salad_dressing_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target salad_dressing_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..88c23db0a41e8266415839cad7e124ff76c77b5d
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the tomato sauce and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    tomato_sauce_1 - tomato_sauce
+    basket_1 - basket
+    milk_1 - milk
+    butter_1 - butter
+    orange_juice_1 - orange_juice
+    chocolate_pudding_1 - chocolate_pudding
+    bbq_sauce_1 - bbq_sauce
+  )
+
+  (:obj_of_interest
+    tomato_sauce_1
+    basket_1
+  )
+
+  (:init
+    (On tomato_sauce_1 floor_target_object_region)
+    (On milk_1 floor_other_object_region_0)
+    (On butter_1 floor_other_object_region_1)
+    (On orange_juice_1 floor_other_object_region_2)
+    (On chocolate_pudding_1 floor_other_object_region_3)
+    (On bbq_sauce_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In tomato_sauce_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_tomato_sauce_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object tomato_sauce_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference tomato_sauce_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target tomato_sauce_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target tomato_sauce_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..e055baa267caef877b8385c0cd73bcdb0afc38ce
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl between the plate and the ramekin and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_between_plate_ramekin_region)
+    (On akita_black_bowl_2 main_table_next_to_ramekin_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..82386a867de2e345e146c375a74b42c46a9530dc
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl from table center and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_table_center)
+    (On akita_black_bowl_2 main_table_next_to_plate_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..8eb4cb67555c3022bfa1574a84765ebfde3c5ba3
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl
@@ -0,0 +1,211 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl in the top layer of the wooden cabinet and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (In akita_black_bowl_1 wooden_cabinet_1_top_region)
+    (On akita_black_bowl_2 wooden_cabinet_1_top_side)
+    (Open wooden_cabinet_1_top_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..270a1ec581d810ff82e59617976641d323943ca8
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl next to the cookies box and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_next_to_box_region)
+    (On akita_black_bowl_2 flat_stove_1_cook_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..74463c0dc0c1ef5c1c30489fe3d52aba73a9f95c
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl next to the plate and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_next_to_plate_region)
+    (On akita_black_bowl_2 main_table_next_to_ramekin_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..d90d18105b9ddfa06a93516b1b947d10b322c020
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl next to the ramekin and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_next_to_ramekin_region)
+    (On akita_black_bowl_2 main_table_next_to_box_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..40a46ecb4a69b59c49b35c127a1271b11e658e01
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl on the cookies box and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 cookies_1)
+    (On akita_black_bowl_2 wooden_cabinet_1_top_side)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..b054c1a6b3d594ac834886a91c5560e9063ff8be
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl on the ramekin and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 glazed_rim_porcelain_ramekin_1)
+    (On akita_black_bowl_2 cookies_1)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..41b70ccf9347f8f44aa1e53c95b4d6f7ddead866
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl on the stove and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 flat_stove_1_cook_region)
+    (On akita_black_bowl_2 wooden_cabinet_1_top_side)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl b/bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..6bc15bd94d6e156856d53775df51946d0f022d5f
--- /dev/null
+++ b/bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl on the wooden cabinet and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 wooden_cabinet_1_top_side)
+    (On akita_black_bowl_2 flat_stove_1_cook_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case visual_noise_glare)
+    (:category visual_noise_glare)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail mildly_dim_lighting_with_light_policy_observation_noise)
+    (:lighting
+      (:enabled true)
+      (:mode dark_lighting)
+      (:ambient 0.020)
+      (:diffuse 0.16)
+      (:specular 0.010)
+    )
+    (:observation
+      (:enabled true)
+      (:mode dark_noise)
+      (:brightness 0.68)
+      (:sigma 12.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl b/bddl_files/02_camera_view_angle/bddl/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..4b4cf878c20ceb06ec9f4a88f7eccc5654fc8a65
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl
@@ -0,0 +1,143 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_10)
+    (:source_task KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object moka_pot_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets flat_stove_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference moka_pot_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target moka_pot_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target moka_pot_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl b/bddl_files/02_camera_view_angle/bddl/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..31374e7261ac8c2d2ae415975ff40683468c0dd2
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl
@@ -0,0 +1,169 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_10)
+    (:source_task KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets white_cabinet_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl b/bddl_files/02_camera_view_angle/bddl/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..ff0373b91f69953b854076bd1cd1d54662dee7a1
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl
@@ -0,0 +1,158 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_10)
+    (:source_task KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object white_yellow_mug_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets microwave_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference white_yellow_mug_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target white_yellow_mug_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target white_yellow_mug_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl b/bddl_files/02_camera_view_angle/bddl/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..3d352627ec514c3d10182e811a946de2f2e5a01e
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl
@@ -0,0 +1,144 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_10)
+    (:source_task KITCHEN_SCENE8_put_both_moka_pots_on_the_stove)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object moka_pot_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets flat_stove_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference moka_pot_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target moka_pot_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target moka_pot_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl b/bddl_files/02_camera_view_angle/bddl/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..93ac8766b52e5128482ce133c8e36658c7c0942c
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl
@@ -0,0 +1,170 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_10)
+    (:source_task LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object alphabet_soup_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.30 0.20 0.12 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference alphabet_soup_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target alphabet_soup_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target alphabet_soup_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl b/bddl_files/02_camera_view_angle/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..52b468022cf28525eb74270feb90b7a764d55ab3
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl
@@ -0,0 +1,209 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_10)
+    (:source_task LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object alphabet_soup_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.30 0.20 0.12 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference alphabet_soup_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target alphabet_soup_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target alphabet_soup_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl b/bddl_files/02_camera_view_angle/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..0954aa1b72235002ff3c30dcb52861d5183504c1
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl
@@ -0,0 +1,209 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_10)
+    (:source_task LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object cream_cheese_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.30 0.20 0.12 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference cream_cheese_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target cream_cheese_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target cream_cheese_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl b/bddl_files/02_camera_view_angle/bddl/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..d911f97771e30dca8b26f029b580ef62abd07dee
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_10/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 +1,167 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_10)
+    (:source_task LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object plate_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1 plate_2)
+      (:rgba 0.30 0.20 0.12 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference plate_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target plate_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target plate_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl b/bddl_files/02_camera_view_angle/bddl/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..6b73f435115e60eb03fbc4711d03e2d87b3f4038
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl
@@ -0,0 +1,176 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_10)
+    (:source_task LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object plate_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.30 0.20 0.12 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference plate_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target plate_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target plate_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl b/bddl_files/02_camera_view_angle/bddl/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..154acaa30111d6dc44973086054a364cafb2d1f5
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl
@@ -0,0 +1,163 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_10)
+    (:source_task STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object black_book_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets desk_caddy_1)
+      (:rgba 0.50 0.36 0.20 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference black_book_1)
+      (:front_direction 1.0 0.0)
+      (:targets yellow_book_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target black_book_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target black_book_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_goal/open_the_middle_drawer_of_the_cabinet.bddl b/bddl_files/02_camera_view_angle/bddl/libero_goal/open_the_middle_drawer_of_the_cabinet.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..e277b04e1fbaafcb589566bb51f05bec272e6493
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_goal/open_the_middle_drawer_of_the_cabinet.bddl
@@ -0,0 +1,202 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Open the middle layer of the 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))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_goal)
+    (:source_task open_the_middle_drawer_of_the_cabinet)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets wooden_cabinet_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.bddl b/bddl_files/02_camera_view_angle/bddl/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..162a060912d0a33d226e30a06b0a4b05524cd532
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Open the top layer of the drawer and put the bowl inside)
+    (: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))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_goal)
+    (:source_task open_the_top_drawer_and_put_the_bowl_inside)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets wooden_cabinet_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_goal/push_the_plate_to_the_front_of_the_stove.bddl b/bddl_files/02_camera_view_angle/bddl/libero_goal/push_the_plate_to_the_front_of_the_stove.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..e782b4e6fe0280929e9431eda9bc6577294c94c8
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_goal/push_the_plate_to_the_front_of_the_stove.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Push the plate to the front of 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
+    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))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_goal)
+    (:source_task push_the_plate_to_the_front_of_the_stove)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object plate_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets flat_stove_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference plate_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target plate_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target plate_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_goal/put_the_bowl_on_the_plate.bddl b/bddl_files/02_camera_view_angle/bddl/libero_goal/put_the_bowl_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..07b813b3c6dbff923de7cb41865c6b8cfba01611
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_goal/put_the_bowl_on_the_plate.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put the bowl on 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))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_goal)
+    (:source_task put_the_bowl_on_the_plate)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_goal/put_the_bowl_on_the_stove.bddl b/bddl_files/02_camera_view_angle/bddl/libero_goal/put_the_bowl_on_the_stove.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..ad406b10910ea0385c93c9640c26ff1a63e6f286
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_goal/put_the_bowl_on_the_stove.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put 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))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_goal)
+    (:source_task put_the_bowl_on_the_stove)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets flat_stove_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_goal/put_the_bowl_on_top_of_the_cabinet.bddl b/bddl_files/02_camera_view_angle/bddl/libero_goal/put_the_bowl_on_top_of_the_cabinet.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..2ff3b3d6830622a2f8a12490fafea52050978da2
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_goal/put_the_bowl_on_top_of_the_cabinet.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put the bowl on the top of the 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
+    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))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_goal)
+    (:source_task put_the_bowl_on_top_of_the_cabinet)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets wooden_cabinet_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_goal/put_the_cream_cheese_in_the_bowl.bddl b/bddl_files/02_camera_view_angle/bddl/libero_goal/put_the_cream_cheese_in_the_bowl.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..7ba6f4888b702543fe68a921ca7e8fbc5c960dd9
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_goal/put_the_cream_cheese_in_the_bowl.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put the cream cheese on 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))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_goal)
+    (:source_task put_the_cream_cheese_in_the_bowl)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object cream_cheese_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets akita_black_bowl_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference cream_cheese_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target cream_cheese_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target cream_cheese_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_goal/put_the_wine_bottle_on_the_rack.bddl b/bddl_files/02_camera_view_angle/bddl/libero_goal/put_the_wine_bottle_on_the_rack.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..c97615f6ac8bf441915db3e94fc12916fbbd782b
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_goal/put_the_wine_bottle_on_the_rack.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put 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))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_goal)
+    (:source_task put_the_wine_bottle_on_the_rack)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object wine_bottle_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets wine_rack_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference wine_bottle_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target wine_bottle_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target wine_bottle_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.bddl b/bddl_files/02_camera_view_angle/bddl/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..21f06ee4c7f837c206ff5ec87439aa3f01b7fe9a
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put the wine bottle on the top of the 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
+    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))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_goal)
+    (:source_task put_the_wine_bottle_on_top_of_the_cabinet)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object wine_bottle_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets wooden_cabinet_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference wine_bottle_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target wine_bottle_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target wine_bottle_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_goal/turn_on_the_stove.bddl b/bddl_files/02_camera_view_angle/bddl/libero_goal/turn_on_the_stove.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..d99b778d4a9815b425b4bdbd402982239f2d59c7
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_goal/turn_on_the_stove.bddl
@@ -0,0 +1,202 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Turn 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))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_goal)
+    (:source_task turn_on_the_stove)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets flat_stove_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl b/bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..77c6c59576120a2f3dea3c5ffccbeaf63ed09ed9
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the alphabet soup and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    alphabet_soup_1 - alphabet_soup
+    basket_1 - basket
+    salad_dressing_1 - salad_dressing
+    cream_cheese_1 - cream_cheese
+    milk_1 - milk
+    tomato_sauce_1 - tomato_sauce
+    butter_1 - butter
+  )
+
+  (:obj_of_interest
+    alphabet_soup_1
+    basket_1
+  )
+
+  (:init
+    (On alphabet_soup_1 floor_target_object_region)
+    (On salad_dressing_1 floor_other_object_region_0)
+    (On cream_cheese_1 floor_other_object_region_1)
+    (On milk_1 floor_other_object_region_2)
+    (On tomato_sauce_1 floor_other_object_region_3)
+    (On butter_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In alphabet_soup_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_alphabet_soup_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object alphabet_soup_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference alphabet_soup_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target alphabet_soup_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target alphabet_soup_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl b/bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..499e5d9b58c3ffd38ba92cc3ea7d777679ba9251
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the bbq sauce and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    bbq_sauce_1 - bbq_sauce
+    basket_1 - basket
+    chocolate_pudding_1 - chocolate_pudding
+    ketchup_1 - ketchup
+    salad_dressing_1 - salad_dressing
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+  )
+
+  (:obj_of_interest
+    bbq_sauce_1
+    basket_1
+  )
+
+  (:init
+    (On bbq_sauce_1 floor_target_object_region)
+    (On chocolate_pudding_1 floor_other_object_region_0)
+    (On ketchup_1 floor_other_object_region_1)
+    (On salad_dressing_1 floor_other_object_region_2)
+    (On alphabet_soup_1 floor_other_object_region_3)
+    (On cream_cheese_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In bbq_sauce_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_bbq_sauce_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object bbq_sauce_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference bbq_sauce_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target bbq_sauce_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target bbq_sauce_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl b/bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..893e71a1ebda96d19f6ba17ca46e3c7ca697477f
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the butter and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    butter_1 - butter
+    basket_1 - basket
+    tomato_sauce_1 - tomato_sauce
+    orange_juice_1 - orange_juice
+    chocolate_pudding_1 - chocolate_pudding
+    bbq_sauce_1 - bbq_sauce
+    ketchup_1 - ketchup
+  )
+
+  (:obj_of_interest
+    butter_1
+    basket_1
+  )
+
+  (:init
+    (On butter_1 floor_target_object_region)
+    (On tomato_sauce_1 floor_other_object_region_0)
+    (On orange_juice_1 floor_other_object_region_1)
+    (On chocolate_pudding_1 floor_other_object_region_2)
+    (On bbq_sauce_1 floor_other_object_region_3)
+    (On ketchup_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In butter_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_butter_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object butter_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference butter_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target butter_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target butter_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl b/bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..654ba50045bfe3e9c906179cc0498b30a41f1ad3
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the chocolate pudding and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    chocolate_pudding_1 - chocolate_pudding
+    basket_1 - basket
+    orange_juice_1 - orange_juice
+    bbq_sauce_1 - bbq_sauce
+    ketchup_1 - ketchup
+    salad_dressing_1 - salad_dressing
+    alphabet_soup_1 - alphabet_soup
+  )
+
+  (:obj_of_interest
+    chocolate_pudding_1
+    basket_1
+  )
+
+  (:init
+    (On chocolate_pudding_1 floor_target_object_region)
+    (On orange_juice_1 floor_other_object_region_0)
+    (On bbq_sauce_1 floor_other_object_region_1)
+    (On ketchup_1 floor_other_object_region_2)
+    (On salad_dressing_1 floor_other_object_region_3)
+    (On alphabet_soup_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In chocolate_pudding_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_chocolate_pudding_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object chocolate_pudding_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference chocolate_pudding_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target chocolate_pudding_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target chocolate_pudding_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl b/bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..89efd23fc8ba813f43e37b479a981795d97c7d18
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the cream cheese and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    cream_cheese_1 - cream_cheese
+    basket_1 - basket
+    alphabet_soup_1 - alphabet_soup
+    milk_1 - milk
+    tomato_sauce_1 - tomato_sauce
+    butter_1 - butter
+    orange_juice_1 - orange_juice
+  )
+
+  (:obj_of_interest
+    cream_cheese_1
+    basket_1
+  )
+
+  (:init
+    (On cream_cheese_1 floor_target_object_region)
+    (On alphabet_soup_1 floor_other_object_region_0)
+    (On milk_1 floor_other_object_region_1)
+    (On tomato_sauce_1 floor_other_object_region_2)
+    (On butter_1 floor_other_object_region_3)
+    (On orange_juice_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In cream_cheese_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_cream_cheese_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object cream_cheese_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference cream_cheese_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target cream_cheese_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target cream_cheese_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl b/bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..026735eb5188e362b96bb290e7fef30e34a10f64
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the ketchup and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    ketchup_1 - ketchup
+    basket_1 - basket
+    bbq_sauce_1 - bbq_sauce
+    salad_dressing_1 - salad_dressing
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+    milk_1 - milk
+  )
+
+  (:obj_of_interest
+    ketchup_1
+    basket_1
+  )
+
+  (:init
+    (On ketchup_1 floor_target_object_region)
+    (On bbq_sauce_1 floor_other_object_region_0)
+    (On salad_dressing_1 floor_other_object_region_1)
+    (On alphabet_soup_1 floor_other_object_region_2)
+    (On cream_cheese_1 floor_other_object_region_3)
+    (On milk_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In ketchup_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_ketchup_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object ketchup_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference ketchup_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target ketchup_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target ketchup_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl b/bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..3e8e0ae05781f028e45799c9b2ae87d8dbd89794
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the milk and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    milk_1 - milk
+    basket_1 - basket
+    cream_cheese_1 - cream_cheese
+    tomato_sauce_1 - tomato_sauce
+    butter_1 - butter
+    orange_juice_1 - orange_juice
+    chocolate_pudding_1 - chocolate_pudding
+  )
+
+  (:obj_of_interest
+    milk_1
+    basket_1
+  )
+
+  (:init
+    (On milk_1 floor_target_object_region)
+    (On cream_cheese_1 floor_other_object_region_0)
+    (On tomato_sauce_1 floor_other_object_region_1)
+    (On butter_1 floor_other_object_region_2)
+    (On orange_juice_1 floor_other_object_region_3)
+    (On chocolate_pudding_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In milk_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_milk_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object milk_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference milk_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target milk_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target milk_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl b/bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..a6f9a40bd0e28cb89443a28eb1ca806b031b480a
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the orange juice and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    orange_juice_1 - orange_juice
+    basket_1 - basket
+    butter_1 - butter
+    chocolate_pudding_1 - chocolate_pudding
+    bbq_sauce_1 - bbq_sauce
+    ketchup_1 - ketchup
+    salad_dressing_1 - salad_dressing
+  )
+
+  (:obj_of_interest
+    orange_juice_1
+    basket_1
+  )
+
+  (:init
+    (On orange_juice_1 floor_target_object_region)
+    (On butter_1 floor_other_object_region_0)
+    (On chocolate_pudding_1 floor_other_object_region_1)
+    (On bbq_sauce_1 floor_other_object_region_2)
+    (On ketchup_1 floor_other_object_region_3)
+    (On salad_dressing_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In orange_juice_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_orange_juice_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object orange_juice_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference orange_juice_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target orange_juice_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target orange_juice_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl b/bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..fbed136a3f547680bea84541d9d76d8db71d0758
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the salad dressing and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    salad_dressing_1 - salad_dressing
+    basket_1 - basket
+    ketchup_1 - ketchup
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+    milk_1 - milk
+    tomato_sauce_1 - tomato_sauce
+  )
+
+  (:obj_of_interest
+    salad_dressing_1
+    basket_1
+  )
+
+  (:init
+    (On salad_dressing_1 floor_target_object_region)
+    (On ketchup_1 floor_other_object_region_0)
+    (On alphabet_soup_1 floor_other_object_region_1)
+    (On cream_cheese_1 floor_other_object_region_2)
+    (On milk_1 floor_other_object_region_3)
+    (On tomato_sauce_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In salad_dressing_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_salad_dressing_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object salad_dressing_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference salad_dressing_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target salad_dressing_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target salad_dressing_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl b/bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..fa7607da649cb00546dd5b552f3c218bb5ae9e93
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the tomato sauce and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    tomato_sauce_1 - tomato_sauce
+    basket_1 - basket
+    milk_1 - milk
+    butter_1 - butter
+    orange_juice_1 - orange_juice
+    chocolate_pudding_1 - chocolate_pudding
+    bbq_sauce_1 - bbq_sauce
+  )
+
+  (:obj_of_interest
+    tomato_sauce_1
+    basket_1
+  )
+
+  (:init
+    (On tomato_sauce_1 floor_target_object_region)
+    (On milk_1 floor_other_object_region_0)
+    (On butter_1 floor_other_object_region_1)
+    (On orange_juice_1 floor_other_object_region_2)
+    (On chocolate_pudding_1 floor_other_object_region_3)
+    (On bbq_sauce_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In tomato_sauce_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_tomato_sauce_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object tomato_sauce_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference tomato_sauce_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target tomato_sauce_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target tomato_sauce_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl b/bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..8b9863e1fb9d5ed3f3ebec6cbc7883a7c24a4394
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl between the plate and the ramekin and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_between_plate_ramekin_region)
+    (On akita_black_bowl_2 main_table_next_to_ramekin_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl b/bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..b39d538a8434a558bd49133620a8cf2f5b3116bb
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl from table center and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_table_center)
+    (On akita_black_bowl_2 main_table_next_to_plate_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl b/bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..b52550754468041ea43901d1ab7c0d663a9f01fc
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl
@@ -0,0 +1,211 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl in the top layer of the wooden cabinet and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (In akita_black_bowl_1 wooden_cabinet_1_top_region)
+    (On akita_black_bowl_2 wooden_cabinet_1_top_side)
+    (Open wooden_cabinet_1_top_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl b/bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..b1360f089a30b5c05970d6a31018c8c728d8b3e1
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl next to the cookies box and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_next_to_box_region)
+    (On akita_black_bowl_2 flat_stove_1_cook_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl b/bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..6259e386c79f804b7f5443b2a22dce91a8d7737b
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl next to the plate and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_next_to_plate_region)
+    (On akita_black_bowl_2 main_table_next_to_ramekin_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl b/bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..231c31374e56899c6726f5e5c077808ca1be12dd
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl next to the ramekin and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_next_to_ramekin_region)
+    (On akita_black_bowl_2 main_table_next_to_box_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl b/bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..5cc8841884ec28524bbba6fb70b29d41e1ccaecd
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl on the cookies box and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 cookies_1)
+    (On akita_black_bowl_2 wooden_cabinet_1_top_side)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl b/bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..3d399ea160b45c7c3d6eb66b878f864c8740afd9
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl on the ramekin and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 glazed_rim_porcelain_ramekin_1)
+    (On akita_black_bowl_2 cookies_1)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl b/bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..ff9d452b5dfb7c379ad1295a36ccf064d4e7150c
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl on the stove and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 flat_stove_1_cook_region)
+    (On akita_black_bowl_2 wooden_cabinet_1_top_side)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl b/bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..cd024b63e81f3b2e49676dd260a79c625ebff7c7
--- /dev/null
+++ b/bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl on the wooden cabinet and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 wooden_cabinet_1_top_side)
+    (On akita_black_bowl_2 flat_stove_1_cook_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case camera_view_angle)
+    (:category camera_view_angle)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail agentview_camera_shifted_to_an_oblique_view)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled true)
+      (:mode agentview_angle)
+      (:name agentview)
+      (:pos 0.48 0.24 1.62)
+      (:quat 0.6099232 0.3594558 0.3594558 0.6099232)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl b/bddl_files/03_runtime_object_move/bddl/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..19ca7f94552fb1e601972bc440f870c2c23351a9
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl
@@ -0,0 +1,146 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_10)
+    (:source_task KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object moka_pot_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets flat_stove_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference moka_pot_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target moka_pot_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target moka_pot_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl b/bddl_files/03_runtime_object_move/bddl/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..ceb5415a82a87528be1966c0bb8a61e8be191c6e
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl
@@ -0,0 +1,172 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_10)
+    (:source_task KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object akita_black_bowl_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets white_cabinet_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl b/bddl_files/03_runtime_object_move/bddl/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..798c8aba4c4fe2c3c17e454f71643b1fbe38ea74
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl
@@ -0,0 +1,161 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_10)
+    (:source_task KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object white_yellow_mug_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets microwave_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference white_yellow_mug_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target white_yellow_mug_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target white_yellow_mug_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl b/bddl_files/03_runtime_object_move/bddl/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..f621ab1b2bd02f7ec66a91dbc5905010ec88f9d6
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl
@@ -0,0 +1,147 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_10)
+    (:source_task KITCHEN_SCENE8_put_both_moka_pots_on_the_stove)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object moka_pot_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets flat_stove_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference moka_pot_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target moka_pot_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target moka_pot_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl b/bddl_files/03_runtime_object_move/bddl/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..1492c9d21461d4f7edeccd0767f5558f66a64bcf
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl
@@ -0,0 +1,173 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_10)
+    (:source_task LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object alphabet_soup_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.30 0.20 0.12 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference alphabet_soup_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target alphabet_soup_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target alphabet_soup_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl b/bddl_files/03_runtime_object_move/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..bc55b395bcddb019437ad3b624aadf5391676261
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl
@@ -0,0 +1,212 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_10)
+    (:source_task LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object alphabet_soup_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.30 0.20 0.12 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference alphabet_soup_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target alphabet_soup_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target alphabet_soup_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl b/bddl_files/03_runtime_object_move/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..61c234a8ca02ab8ac4e73ac8a2305e45c4e5df4d
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl
@@ -0,0 +1,212 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_10)
+    (:source_task LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object cream_cheese_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.30 0.20 0.12 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference cream_cheese_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target cream_cheese_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target cream_cheese_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl b/bddl_files/03_runtime_object_move/bddl/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..2c95c50c152527a867be33a360a2a0618f9a838c
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_10/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 +1,170 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_10)
+    (:source_task LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object plate_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1 plate_2)
+      (:rgba 0.30 0.20 0.12 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference plate_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target plate_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target plate_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl b/bddl_files/03_runtime_object_move/bddl/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..bb679119a280ff4c6814da77bc4343edb04008c0
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl
@@ -0,0 +1,179 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_10)
+    (:source_task LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object plate_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.30 0.20 0.12 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference plate_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target plate_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target plate_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl b/bddl_files/03_runtime_object_move/bddl/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..3c672cf99aa1d3c9edd22531042fb27bd108f97c
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl
@@ -0,0 +1,166 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_10)
+    (:source_task STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object black_book_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets desk_caddy_1)
+      (:rgba 0.50 0.36 0.20 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference black_book_1)
+      (:front_direction 1.0 0.0)
+      (:targets yellow_book_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target black_book_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target black_book_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_goal/open_the_middle_drawer_of_the_cabinet.bddl b/bddl_files/03_runtime_object_move/bddl/libero_goal/open_the_middle_drawer_of_the_cabinet.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..d8da56a56eeea440688ba29e2132995e256ed741
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_goal/open_the_middle_drawer_of_the_cabinet.bddl
@@ -0,0 +1,205 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Open the middle layer of the 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))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_goal)
+    (:source_task open_the_middle_drawer_of_the_cabinet)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object wooden_cabinet_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets wooden_cabinet_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.bddl b/bddl_files/03_runtime_object_move/bddl/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..8750a9cb3550c8c1ca83d85a2a2c28abb448c299
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.bddl
@@ -0,0 +1,206 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Open the top layer of the drawer and put the bowl inside)
+    (: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))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_goal)
+    (:source_task open_the_top_drawer_and_put_the_bowl_inside)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object akita_black_bowl_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets wooden_cabinet_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_goal/push_the_plate_to_the_front_of_the_stove.bddl b/bddl_files/03_runtime_object_move/bddl/libero_goal/push_the_plate_to_the_front_of_the_stove.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..eb0cad32d81655fc1503375fe4bd72952190b70e
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_goal/push_the_plate_to_the_front_of_the_stove.bddl
@@ -0,0 +1,206 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Push the plate to the front of 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
+    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))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_goal)
+    (:source_task push_the_plate_to_the_front_of_the_stove)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object plate_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets flat_stove_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference plate_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target plate_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target plate_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_goal/put_the_bowl_on_the_plate.bddl b/bddl_files/03_runtime_object_move/bddl/libero_goal/put_the_bowl_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..789b0a798ad2206ac69fffa0fc65e9f5e14b445e
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_goal/put_the_bowl_on_the_plate.bddl
@@ -0,0 +1,206 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put the bowl on 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))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_goal)
+    (:source_task put_the_bowl_on_the_plate)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object akita_black_bowl_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_goal/put_the_bowl_on_the_stove.bddl b/bddl_files/03_runtime_object_move/bddl/libero_goal/put_the_bowl_on_the_stove.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..3eea93ca0f4f2b090cbf9ddaf81e3c9b0f8eaabb
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_goal/put_the_bowl_on_the_stove.bddl
@@ -0,0 +1,206 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put 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))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_goal)
+    (:source_task put_the_bowl_on_the_stove)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object akita_black_bowl_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets flat_stove_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_goal/put_the_bowl_on_top_of_the_cabinet.bddl b/bddl_files/03_runtime_object_move/bddl/libero_goal/put_the_bowl_on_top_of_the_cabinet.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..2eb08375587e9e6aa6ec576f32ebd239d0cf2b5f
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_goal/put_the_bowl_on_top_of_the_cabinet.bddl
@@ -0,0 +1,206 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put the bowl on the top of the 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
+    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))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_goal)
+    (:source_task put_the_bowl_on_top_of_the_cabinet)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object akita_black_bowl_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets wooden_cabinet_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_goal/put_the_cream_cheese_in_the_bowl.bddl b/bddl_files/03_runtime_object_move/bddl/libero_goal/put_the_cream_cheese_in_the_bowl.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..909738e77eb9c3ce45e1a95100ae00ee4fad43f4
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_goal/put_the_cream_cheese_in_the_bowl.bddl
@@ -0,0 +1,206 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put the cream cheese on 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))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_goal)
+    (:source_task put_the_cream_cheese_in_the_bowl)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object cream_cheese_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets akita_black_bowl_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference cream_cheese_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target cream_cheese_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target cream_cheese_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_goal/put_the_wine_bottle_on_the_rack.bddl b/bddl_files/03_runtime_object_move/bddl/libero_goal/put_the_wine_bottle_on_the_rack.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..a4ac91e00f278b5843478ace83939f569d5c8d38
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_goal/put_the_wine_bottle_on_the_rack.bddl
@@ -0,0 +1,206 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put 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))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_goal)
+    (:source_task put_the_wine_bottle_on_the_rack)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object wine_bottle_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets wine_rack_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference wine_bottle_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target wine_bottle_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target wine_bottle_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.bddl b/bddl_files/03_runtime_object_move/bddl/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..eba39cece6a1472ce63230188efad0118f9500be
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.bddl
@@ -0,0 +1,206 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put the wine bottle on the top of the 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
+    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))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_goal)
+    (:source_task put_the_wine_bottle_on_top_of_the_cabinet)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object wine_bottle_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets wooden_cabinet_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference wine_bottle_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target wine_bottle_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target wine_bottle_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_goal/turn_on_the_stove.bddl b/bddl_files/03_runtime_object_move/bddl/libero_goal/turn_on_the_stove.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..f34e32799a5c533f11127428ba3f04a6555f786b
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_goal/turn_on_the_stove.bddl
@@ -0,0 +1,205 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Turn 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))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_goal)
+    (:source_task turn_on_the_stove)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object flat_stove_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets flat_stove_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl b/bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..75ccd3b395d66b85a6ecd8ee3fad8be45aeb5f24
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl
@@ -0,0 +1,170 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the alphabet soup and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    alphabet_soup_1 - alphabet_soup
+    basket_1 - basket
+    salad_dressing_1 - salad_dressing
+    cream_cheese_1 - cream_cheese
+    milk_1 - milk
+    tomato_sauce_1 - tomato_sauce
+    butter_1 - butter
+  )
+
+  (:obj_of_interest
+    alphabet_soup_1
+    basket_1
+  )
+
+  (:init
+    (On alphabet_soup_1 floor_target_object_region)
+    (On salad_dressing_1 floor_other_object_region_0)
+    (On cream_cheese_1 floor_other_object_region_1)
+    (On milk_1 floor_other_object_region_2)
+    (On tomato_sauce_1 floor_other_object_region_3)
+    (On butter_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In alphabet_soup_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_alphabet_soup_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object alphabet_soup_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference alphabet_soup_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target alphabet_soup_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target alphabet_soup_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl b/bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..6ae90dea3210f2ace39e39d6a54bffc6cdf755b6
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl
@@ -0,0 +1,170 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the bbq sauce and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    bbq_sauce_1 - bbq_sauce
+    basket_1 - basket
+    chocolate_pudding_1 - chocolate_pudding
+    ketchup_1 - ketchup
+    salad_dressing_1 - salad_dressing
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+  )
+
+  (:obj_of_interest
+    bbq_sauce_1
+    basket_1
+  )
+
+  (:init
+    (On bbq_sauce_1 floor_target_object_region)
+    (On chocolate_pudding_1 floor_other_object_region_0)
+    (On ketchup_1 floor_other_object_region_1)
+    (On salad_dressing_1 floor_other_object_region_2)
+    (On alphabet_soup_1 floor_other_object_region_3)
+    (On cream_cheese_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In bbq_sauce_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_bbq_sauce_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object bbq_sauce_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference bbq_sauce_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target bbq_sauce_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target bbq_sauce_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl b/bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..917143e564fa86e94e23d1c300e81237e52aeff5
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl
@@ -0,0 +1,170 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the butter and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    butter_1 - butter
+    basket_1 - basket
+    tomato_sauce_1 - tomato_sauce
+    orange_juice_1 - orange_juice
+    chocolate_pudding_1 - chocolate_pudding
+    bbq_sauce_1 - bbq_sauce
+    ketchup_1 - ketchup
+  )
+
+  (:obj_of_interest
+    butter_1
+    basket_1
+  )
+
+  (:init
+    (On butter_1 floor_target_object_region)
+    (On tomato_sauce_1 floor_other_object_region_0)
+    (On orange_juice_1 floor_other_object_region_1)
+    (On chocolate_pudding_1 floor_other_object_region_2)
+    (On bbq_sauce_1 floor_other_object_region_3)
+    (On ketchup_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In butter_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_butter_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object butter_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference butter_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target butter_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target butter_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl b/bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..e04f14f9f6dbdc1ee9ca2436eb589ddc5cf6c7ad
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl
@@ -0,0 +1,170 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the chocolate pudding and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    chocolate_pudding_1 - chocolate_pudding
+    basket_1 - basket
+    orange_juice_1 - orange_juice
+    bbq_sauce_1 - bbq_sauce
+    ketchup_1 - ketchup
+    salad_dressing_1 - salad_dressing
+    alphabet_soup_1 - alphabet_soup
+  )
+
+  (:obj_of_interest
+    chocolate_pudding_1
+    basket_1
+  )
+
+  (:init
+    (On chocolate_pudding_1 floor_target_object_region)
+    (On orange_juice_1 floor_other_object_region_0)
+    (On bbq_sauce_1 floor_other_object_region_1)
+    (On ketchup_1 floor_other_object_region_2)
+    (On salad_dressing_1 floor_other_object_region_3)
+    (On alphabet_soup_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In chocolate_pudding_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_chocolate_pudding_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object chocolate_pudding_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference chocolate_pudding_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target chocolate_pudding_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target chocolate_pudding_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl b/bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..79d55cd2dd57d5c65d2abeea8dd9f7f7c041819d
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl
@@ -0,0 +1,170 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the cream cheese and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    cream_cheese_1 - cream_cheese
+    basket_1 - basket
+    alphabet_soup_1 - alphabet_soup
+    milk_1 - milk
+    tomato_sauce_1 - tomato_sauce
+    butter_1 - butter
+    orange_juice_1 - orange_juice
+  )
+
+  (:obj_of_interest
+    cream_cheese_1
+    basket_1
+  )
+
+  (:init
+    (On cream_cheese_1 floor_target_object_region)
+    (On alphabet_soup_1 floor_other_object_region_0)
+    (On milk_1 floor_other_object_region_1)
+    (On tomato_sauce_1 floor_other_object_region_2)
+    (On butter_1 floor_other_object_region_3)
+    (On orange_juice_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In cream_cheese_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_cream_cheese_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object cream_cheese_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference cream_cheese_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target cream_cheese_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target cream_cheese_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl b/bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..cda49cafa7f49fb9240a9799131dfdb0acfccd34
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl
@@ -0,0 +1,170 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the ketchup and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    ketchup_1 - ketchup
+    basket_1 - basket
+    bbq_sauce_1 - bbq_sauce
+    salad_dressing_1 - salad_dressing
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+    milk_1 - milk
+  )
+
+  (:obj_of_interest
+    ketchup_1
+    basket_1
+  )
+
+  (:init
+    (On ketchup_1 floor_target_object_region)
+    (On bbq_sauce_1 floor_other_object_region_0)
+    (On salad_dressing_1 floor_other_object_region_1)
+    (On alphabet_soup_1 floor_other_object_region_2)
+    (On cream_cheese_1 floor_other_object_region_3)
+    (On milk_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In ketchup_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_ketchup_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object ketchup_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference ketchup_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target ketchup_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target ketchup_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl b/bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..ba58cf4805ba8a04823e88359112d8425bd3539b
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl
@@ -0,0 +1,170 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the milk and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    milk_1 - milk
+    basket_1 - basket
+    cream_cheese_1 - cream_cheese
+    tomato_sauce_1 - tomato_sauce
+    butter_1 - butter
+    orange_juice_1 - orange_juice
+    chocolate_pudding_1 - chocolate_pudding
+  )
+
+  (:obj_of_interest
+    milk_1
+    basket_1
+  )
+
+  (:init
+    (On milk_1 floor_target_object_region)
+    (On cream_cheese_1 floor_other_object_region_0)
+    (On tomato_sauce_1 floor_other_object_region_1)
+    (On butter_1 floor_other_object_region_2)
+    (On orange_juice_1 floor_other_object_region_3)
+    (On chocolate_pudding_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In milk_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_milk_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object milk_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference milk_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target milk_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target milk_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl b/bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..583b09c6f79c94a2388341a19cf931224f538425
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl
@@ -0,0 +1,170 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the orange juice and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    orange_juice_1 - orange_juice
+    basket_1 - basket
+    butter_1 - butter
+    chocolate_pudding_1 - chocolate_pudding
+    bbq_sauce_1 - bbq_sauce
+    ketchup_1 - ketchup
+    salad_dressing_1 - salad_dressing
+  )
+
+  (:obj_of_interest
+    orange_juice_1
+    basket_1
+  )
+
+  (:init
+    (On orange_juice_1 floor_target_object_region)
+    (On butter_1 floor_other_object_region_0)
+    (On chocolate_pudding_1 floor_other_object_region_1)
+    (On bbq_sauce_1 floor_other_object_region_2)
+    (On ketchup_1 floor_other_object_region_3)
+    (On salad_dressing_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In orange_juice_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_orange_juice_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object orange_juice_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference orange_juice_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target orange_juice_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target orange_juice_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl b/bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..6fadbb58eaa8f03681af890e349a221d1c58c8b9
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl
@@ -0,0 +1,170 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the salad dressing and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    salad_dressing_1 - salad_dressing
+    basket_1 - basket
+    ketchup_1 - ketchup
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+    milk_1 - milk
+    tomato_sauce_1 - tomato_sauce
+  )
+
+  (:obj_of_interest
+    salad_dressing_1
+    basket_1
+  )
+
+  (:init
+    (On salad_dressing_1 floor_target_object_region)
+    (On ketchup_1 floor_other_object_region_0)
+    (On alphabet_soup_1 floor_other_object_region_1)
+    (On cream_cheese_1 floor_other_object_region_2)
+    (On milk_1 floor_other_object_region_3)
+    (On tomato_sauce_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In salad_dressing_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_salad_dressing_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object salad_dressing_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference salad_dressing_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target salad_dressing_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target salad_dressing_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl b/bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..fba201eeb1df95eca6c803082f57cf1566c25f3d
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl
@@ -0,0 +1,170 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the tomato sauce and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    tomato_sauce_1 - tomato_sauce
+    basket_1 - basket
+    milk_1 - milk
+    butter_1 - butter
+    orange_juice_1 - orange_juice
+    chocolate_pudding_1 - chocolate_pudding
+    bbq_sauce_1 - bbq_sauce
+  )
+
+  (:obj_of_interest
+    tomato_sauce_1
+    basket_1
+  )
+
+  (:init
+    (On tomato_sauce_1 floor_target_object_region)
+    (On milk_1 floor_other_object_region_0)
+    (On butter_1 floor_other_object_region_1)
+    (On orange_juice_1 floor_other_object_region_2)
+    (On chocolate_pudding_1 floor_other_object_region_3)
+    (On bbq_sauce_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In tomato_sauce_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_tomato_sauce_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object tomato_sauce_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference tomato_sauce_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target tomato_sauce_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target tomato_sauce_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl b/bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..54852862243c5ccfd3e5a29f8259225c5e58d032
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl
@@ -0,0 +1,213 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl between the plate and the ramekin and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_between_plate_ramekin_region)
+    (On akita_black_bowl_2 main_table_next_to_ramekin_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object akita_black_bowl_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl b/bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..7be9bdbb2ccbefdc188050cfafcf80b113f52b9f
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl
@@ -0,0 +1,213 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl from table center and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_table_center)
+    (On akita_black_bowl_2 main_table_next_to_plate_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object akita_black_bowl_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl b/bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..46200b26b592ad2fe34326d5fa74778cd3315f7b
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl
@@ -0,0 +1,214 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl in the top layer of the wooden cabinet and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (In akita_black_bowl_1 wooden_cabinet_1_top_region)
+    (On akita_black_bowl_2 wooden_cabinet_1_top_side)
+    (Open wooden_cabinet_1_top_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object akita_black_bowl_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl b/bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..1b3bff0fb8e3224189db3276fe1861799407ca7a
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl
@@ -0,0 +1,213 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl next to the cookies box and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_next_to_box_region)
+    (On akita_black_bowl_2 flat_stove_1_cook_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object akita_black_bowl_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl b/bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..3f0fa5abf323156c539488c6d1a81ed1c4cc4498
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl
@@ -0,0 +1,213 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl next to the plate and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_next_to_plate_region)
+    (On akita_black_bowl_2 main_table_next_to_ramekin_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object akita_black_bowl_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl b/bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..1dc011870ef512627713f94bf5f0c62afacefe01
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl
@@ -0,0 +1,213 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl next to the ramekin and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_next_to_ramekin_region)
+    (On akita_black_bowl_2 main_table_next_to_box_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object akita_black_bowl_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl b/bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..a518e691c342835fb0c51a83f6b3c51600376543
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl
@@ -0,0 +1,213 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl on the cookies box and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 cookies_1)
+    (On akita_black_bowl_2 wooden_cabinet_1_top_side)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object akita_black_bowl_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl b/bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..144e0751d6c9ce11208478f6752a597f282038e3
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl
@@ -0,0 +1,213 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl on the ramekin and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 glazed_rim_porcelain_ramekin_1)
+    (On akita_black_bowl_2 cookies_1)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object akita_black_bowl_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl b/bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..bc9392a6a18e5bc3b5f1d46350753f98974aac21
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl
@@ -0,0 +1,213 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl on the stove and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 flat_stove_1_cook_region)
+    (On akita_black_bowl_2 wooden_cabinet_1_top_side)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object akita_black_bowl_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl b/bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..27cb69a025539f02784ceeec0ed6b0ec83ba5f4c
--- /dev/null
+++ b/bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl
@@ -0,0 +1,213 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl on the wooden cabinet and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 wooden_cabinet_1_top_side)
+    (On akita_black_bowl_2 flat_stove_1_cook_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case runtime_object_move)
+    (:category runtime_object_move)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail move_the_task_target_object_during_the_rollout)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled true)
+      (:mode qpos_delta_xy)
+      (:object akita_black_bowl_1)
+      (:step 80)
+      (:trigger near_grasp)
+      (:distance_threshold 0.09)
+      (:fallback_step 160)
+      (:delta_xy 0.17 0.06)
+      (:min_delta_norm 0.18)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl b/bddl_files/04_object_texture/bddl/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..283608e16177679906de2cd107c95b9f25ff7d7a
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl
@@ -0,0 +1,143 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_10)
+    (:source_task KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object moka_pot_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets flat_stove_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference moka_pot_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target moka_pot_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target moka_pot_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl b/bddl_files/04_object_texture/bddl/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..2d8e2444099a018f56e3e7ac177d42c3e1cbd61a
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl
@@ -0,0 +1,169 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_10)
+    (:source_task KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets white_cabinet_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl b/bddl_files/04_object_texture/bddl/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..832930c0319cc646dc4065701fb92b1d506f1bc7
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl
@@ -0,0 +1,158 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_10)
+    (:source_task KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object white_yellow_mug_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets microwave_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference white_yellow_mug_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target white_yellow_mug_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target white_yellow_mug_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl b/bddl_files/04_object_texture/bddl/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..01da49028932453a9e70978299279225893ef674
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl
@@ -0,0 +1,144 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_10)
+    (:source_task KITCHEN_SCENE8_put_both_moka_pots_on_the_stove)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object moka_pot_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets flat_stove_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference moka_pot_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target moka_pot_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target moka_pot_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl b/bddl_files/04_object_texture/bddl/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..75dd08ce8a5c847e013d0d188dd7b41e89d04d04
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl
@@ -0,0 +1,170 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_10)
+    (:source_task LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object alphabet_soup_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets basket_1)
+      (:rgba 0.30 0.20 0.12 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference alphabet_soup_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target alphabet_soup_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target alphabet_soup_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl b/bddl_files/04_object_texture/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..5fe225dc3d9fc0d414794aca582c10fb5a12fcb4
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl
@@ -0,0 +1,209 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_10)
+    (:source_task LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object alphabet_soup_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets basket_1)
+      (:rgba 0.30 0.20 0.12 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference alphabet_soup_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target alphabet_soup_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target alphabet_soup_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl b/bddl_files/04_object_texture/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..0b31ddbfd16a6ea311dff18704d216135f4bc03c
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl
@@ -0,0 +1,209 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_10)
+    (:source_task LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object cream_cheese_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets basket_1)
+      (:rgba 0.30 0.20 0.12 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference cream_cheese_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target cream_cheese_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target cream_cheese_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl b/bddl_files/04_object_texture/bddl/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..e38ea635048300cb4dbc154ccb49899dcf4fccfe
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_10/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 +1,167 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_10)
+    (:source_task LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object plate_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets plate_1 plate_2)
+      (:rgba 0.30 0.20 0.12 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference plate_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target plate_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target plate_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl b/bddl_files/04_object_texture/bddl/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..1fccfbc0ba7170951da41123901a74258a5c07cd
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl
@@ -0,0 +1,176 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_10)
+    (:source_task LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object plate_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets plate_1)
+      (:rgba 0.30 0.20 0.12 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference plate_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target plate_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target plate_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl b/bddl_files/04_object_texture/bddl/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..40d9411eeeb2a911d1e0d030ecd596b0ecbdd3ec
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl
@@ -0,0 +1,163 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_10)
+    (:source_task STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object black_book_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets desk_caddy_1)
+      (:rgba 0.50 0.36 0.20 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference black_book_1)
+      (:front_direction 1.0 0.0)
+      (:targets yellow_book_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target black_book_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target black_book_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_goal/open_the_middle_drawer_of_the_cabinet.bddl b/bddl_files/04_object_texture/bddl/libero_goal/open_the_middle_drawer_of_the_cabinet.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..0d6f2ff7d22f49f6d4900ad7040935c0b241d467
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_goal/open_the_middle_drawer_of_the_cabinet.bddl
@@ -0,0 +1,202 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Open the middle layer of the 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))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_goal)
+    (:source_task open_the_middle_drawer_of_the_cabinet)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets wooden_cabinet_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.bddl b/bddl_files/04_object_texture/bddl/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..584190cc678ee2e8fbb9e910449c623cc199ad9c
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Open the top layer of the drawer and put the bowl inside)
+    (: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))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_goal)
+    (:source_task open_the_top_drawer_and_put_the_bowl_inside)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets wooden_cabinet_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_goal/push_the_plate_to_the_front_of_the_stove.bddl b/bddl_files/04_object_texture/bddl/libero_goal/push_the_plate_to_the_front_of_the_stove.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..0e3a83d3dd55584d738b1d5f6bcc862414e8c101
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_goal/push_the_plate_to_the_front_of_the_stove.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Push the plate to the front of 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
+    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))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_goal)
+    (:source_task push_the_plate_to_the_front_of_the_stove)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object plate_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference plate_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target plate_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target plate_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_goal/put_the_bowl_on_the_plate.bddl b/bddl_files/04_object_texture/bddl/libero_goal/put_the_bowl_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..39f91cd035a7da131aeaad89ac458ecb806f6db0
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_goal/put_the_bowl_on_the_plate.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put the bowl on 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))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_goal)
+    (:source_task put_the_bowl_on_the_plate)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_goal/put_the_bowl_on_the_stove.bddl b/bddl_files/04_object_texture/bddl/libero_goal/put_the_bowl_on_the_stove.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..44258410027d2d1eb1554280a7558168a4b6cee2
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_goal/put_the_bowl_on_the_stove.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put 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))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_goal)
+    (:source_task put_the_bowl_on_the_stove)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets flat_stove_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_goal/put_the_bowl_on_top_of_the_cabinet.bddl b/bddl_files/04_object_texture/bddl/libero_goal/put_the_bowl_on_top_of_the_cabinet.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..32290e9387d9ceea94eccc291358d262452e9d8e
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_goal/put_the_bowl_on_top_of_the_cabinet.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put the bowl on the top of the 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
+    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))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_goal)
+    (:source_task put_the_bowl_on_top_of_the_cabinet)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets wooden_cabinet_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_goal/put_the_cream_cheese_in_the_bowl.bddl b/bddl_files/04_object_texture/bddl/libero_goal/put_the_cream_cheese_in_the_bowl.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..3408653486e2b1e8cf96d2ce488bb59a91e026c4
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_goal/put_the_cream_cheese_in_the_bowl.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put the cream cheese on 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))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_goal)
+    (:source_task put_the_cream_cheese_in_the_bowl)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object cream_cheese_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets akita_black_bowl_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference cream_cheese_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target cream_cheese_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target cream_cheese_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_goal/put_the_wine_bottle_on_the_rack.bddl b/bddl_files/04_object_texture/bddl/libero_goal/put_the_wine_bottle_on_the_rack.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..f3108c2a0e9a3a24c2a1b5089751720c0d3a5374
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_goal/put_the_wine_bottle_on_the_rack.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put 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))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_goal)
+    (:source_task put_the_wine_bottle_on_the_rack)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object wine_bottle_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets wine_rack_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference wine_bottle_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target wine_bottle_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target wine_bottle_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.bddl b/bddl_files/04_object_texture/bddl/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..bbf83a0358ad91ddce7531f5f3d5cb277b5253e7
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put the wine bottle on the top of the 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
+    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))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_goal)
+    (:source_task put_the_wine_bottle_on_top_of_the_cabinet)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object wine_bottle_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets wooden_cabinet_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference wine_bottle_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target wine_bottle_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target wine_bottle_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_goal/turn_on_the_stove.bddl b/bddl_files/04_object_texture/bddl/libero_goal/turn_on_the_stove.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..160b3ef12b26711c940561b413ce0326e614c641
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_goal/turn_on_the_stove.bddl
@@ -0,0 +1,202 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Turn 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))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_goal)
+    (:source_task turn_on_the_stove)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets flat_stove_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl b/bddl_files/04_object_texture/bddl/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..d0bed8cfb08e6e5aa55ba4ca94a33e2f77fb974d
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the alphabet soup and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    alphabet_soup_1 - alphabet_soup
+    basket_1 - basket
+    salad_dressing_1 - salad_dressing
+    cream_cheese_1 - cream_cheese
+    milk_1 - milk
+    tomato_sauce_1 - tomato_sauce
+    butter_1 - butter
+  )
+
+  (:obj_of_interest
+    alphabet_soup_1
+    basket_1
+  )
+
+  (:init
+    (On alphabet_soup_1 floor_target_object_region)
+    (On salad_dressing_1 floor_other_object_region_0)
+    (On cream_cheese_1 floor_other_object_region_1)
+    (On milk_1 floor_other_object_region_2)
+    (On tomato_sauce_1 floor_other_object_region_3)
+    (On butter_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In alphabet_soup_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_alphabet_soup_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object alphabet_soup_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference alphabet_soup_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target alphabet_soup_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target alphabet_soup_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl b/bddl_files/04_object_texture/bddl/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..19578b52798be9ae74679e15c1c32f8178d58602
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the bbq sauce and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    bbq_sauce_1 - bbq_sauce
+    basket_1 - basket
+    chocolate_pudding_1 - chocolate_pudding
+    ketchup_1 - ketchup
+    salad_dressing_1 - salad_dressing
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+  )
+
+  (:obj_of_interest
+    bbq_sauce_1
+    basket_1
+  )
+
+  (:init
+    (On bbq_sauce_1 floor_target_object_region)
+    (On chocolate_pudding_1 floor_other_object_region_0)
+    (On ketchup_1 floor_other_object_region_1)
+    (On salad_dressing_1 floor_other_object_region_2)
+    (On alphabet_soup_1 floor_other_object_region_3)
+    (On cream_cheese_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In bbq_sauce_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_bbq_sauce_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object bbq_sauce_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference bbq_sauce_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target bbq_sauce_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target bbq_sauce_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl b/bddl_files/04_object_texture/bddl/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..ef51e32241a38267b435bc1bd1c884f49732375b
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the butter and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    butter_1 - butter
+    basket_1 - basket
+    tomato_sauce_1 - tomato_sauce
+    orange_juice_1 - orange_juice
+    chocolate_pudding_1 - chocolate_pudding
+    bbq_sauce_1 - bbq_sauce
+    ketchup_1 - ketchup
+  )
+
+  (:obj_of_interest
+    butter_1
+    basket_1
+  )
+
+  (:init
+    (On butter_1 floor_target_object_region)
+    (On tomato_sauce_1 floor_other_object_region_0)
+    (On orange_juice_1 floor_other_object_region_1)
+    (On chocolate_pudding_1 floor_other_object_region_2)
+    (On bbq_sauce_1 floor_other_object_region_3)
+    (On ketchup_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In butter_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_butter_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object butter_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference butter_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target butter_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target butter_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl b/bddl_files/04_object_texture/bddl/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..8b2971edf8cd713283cb8904b944b5488cc8813b
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the chocolate pudding and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    chocolate_pudding_1 - chocolate_pudding
+    basket_1 - basket
+    orange_juice_1 - orange_juice
+    bbq_sauce_1 - bbq_sauce
+    ketchup_1 - ketchup
+    salad_dressing_1 - salad_dressing
+    alphabet_soup_1 - alphabet_soup
+  )
+
+  (:obj_of_interest
+    chocolate_pudding_1
+    basket_1
+  )
+
+  (:init
+    (On chocolate_pudding_1 floor_target_object_region)
+    (On orange_juice_1 floor_other_object_region_0)
+    (On bbq_sauce_1 floor_other_object_region_1)
+    (On ketchup_1 floor_other_object_region_2)
+    (On salad_dressing_1 floor_other_object_region_3)
+    (On alphabet_soup_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In chocolate_pudding_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_chocolate_pudding_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object chocolate_pudding_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference chocolate_pudding_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target chocolate_pudding_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target chocolate_pudding_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl b/bddl_files/04_object_texture/bddl/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..ff4458f8c8fa8e5f4cab873c961159844a6427b0
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the cream cheese and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    cream_cheese_1 - cream_cheese
+    basket_1 - basket
+    alphabet_soup_1 - alphabet_soup
+    milk_1 - milk
+    tomato_sauce_1 - tomato_sauce
+    butter_1 - butter
+    orange_juice_1 - orange_juice
+  )
+
+  (:obj_of_interest
+    cream_cheese_1
+    basket_1
+  )
+
+  (:init
+    (On cream_cheese_1 floor_target_object_region)
+    (On alphabet_soup_1 floor_other_object_region_0)
+    (On milk_1 floor_other_object_region_1)
+    (On tomato_sauce_1 floor_other_object_region_2)
+    (On butter_1 floor_other_object_region_3)
+    (On orange_juice_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In cream_cheese_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_cream_cheese_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object cream_cheese_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference cream_cheese_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target cream_cheese_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target cream_cheese_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl b/bddl_files/04_object_texture/bddl/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..b37f5a93f2d8dc4df7f740d6d510616060c9d390
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the ketchup and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    ketchup_1 - ketchup
+    basket_1 - basket
+    bbq_sauce_1 - bbq_sauce
+    salad_dressing_1 - salad_dressing
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+    milk_1 - milk
+  )
+
+  (:obj_of_interest
+    ketchup_1
+    basket_1
+  )
+
+  (:init
+    (On ketchup_1 floor_target_object_region)
+    (On bbq_sauce_1 floor_other_object_region_0)
+    (On salad_dressing_1 floor_other_object_region_1)
+    (On alphabet_soup_1 floor_other_object_region_2)
+    (On cream_cheese_1 floor_other_object_region_3)
+    (On milk_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In ketchup_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_ketchup_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object ketchup_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference ketchup_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target ketchup_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target ketchup_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl b/bddl_files/04_object_texture/bddl/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..11a39c8bc7c25c32e271d7099b5567e9eabf3c6b
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the milk and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    milk_1 - milk
+    basket_1 - basket
+    cream_cheese_1 - cream_cheese
+    tomato_sauce_1 - tomato_sauce
+    butter_1 - butter
+    orange_juice_1 - orange_juice
+    chocolate_pudding_1 - chocolate_pudding
+  )
+
+  (:obj_of_interest
+    milk_1
+    basket_1
+  )
+
+  (:init
+    (On milk_1 floor_target_object_region)
+    (On cream_cheese_1 floor_other_object_region_0)
+    (On tomato_sauce_1 floor_other_object_region_1)
+    (On butter_1 floor_other_object_region_2)
+    (On orange_juice_1 floor_other_object_region_3)
+    (On chocolate_pudding_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In milk_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_milk_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object milk_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference milk_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target milk_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target milk_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl b/bddl_files/04_object_texture/bddl/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..6515acc9484cd3708e7b1020ef6bfeb17b13761d
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the orange juice and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    orange_juice_1 - orange_juice
+    basket_1 - basket
+    butter_1 - butter
+    chocolate_pudding_1 - chocolate_pudding
+    bbq_sauce_1 - bbq_sauce
+    ketchup_1 - ketchup
+    salad_dressing_1 - salad_dressing
+  )
+
+  (:obj_of_interest
+    orange_juice_1
+    basket_1
+  )
+
+  (:init
+    (On orange_juice_1 floor_target_object_region)
+    (On butter_1 floor_other_object_region_0)
+    (On chocolate_pudding_1 floor_other_object_region_1)
+    (On bbq_sauce_1 floor_other_object_region_2)
+    (On ketchup_1 floor_other_object_region_3)
+    (On salad_dressing_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In orange_juice_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_orange_juice_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object orange_juice_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference orange_juice_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target orange_juice_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target orange_juice_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl b/bddl_files/04_object_texture/bddl/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..942cdec6cc47a6d840413c7222ee26bf0fa3a3d8
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the salad dressing and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    salad_dressing_1 - salad_dressing
+    basket_1 - basket
+    ketchup_1 - ketchup
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+    milk_1 - milk
+    tomato_sauce_1 - tomato_sauce
+  )
+
+  (:obj_of_interest
+    salad_dressing_1
+    basket_1
+  )
+
+  (:init
+    (On salad_dressing_1 floor_target_object_region)
+    (On ketchup_1 floor_other_object_region_0)
+    (On alphabet_soup_1 floor_other_object_region_1)
+    (On cream_cheese_1 floor_other_object_region_2)
+    (On milk_1 floor_other_object_region_3)
+    (On tomato_sauce_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In salad_dressing_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_salad_dressing_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object salad_dressing_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference salad_dressing_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target salad_dressing_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target salad_dressing_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl b/bddl_files/04_object_texture/bddl/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..6ac16e661d87c94701ddd108710915a8bf53596c
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the tomato sauce and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    tomato_sauce_1 - tomato_sauce
+    basket_1 - basket
+    milk_1 - milk
+    butter_1 - butter
+    orange_juice_1 - orange_juice
+    chocolate_pudding_1 - chocolate_pudding
+    bbq_sauce_1 - bbq_sauce
+  )
+
+  (:obj_of_interest
+    tomato_sauce_1
+    basket_1
+  )
+
+  (:init
+    (On tomato_sauce_1 floor_target_object_region)
+    (On milk_1 floor_other_object_region_0)
+    (On butter_1 floor_other_object_region_1)
+    (On orange_juice_1 floor_other_object_region_2)
+    (On chocolate_pudding_1 floor_other_object_region_3)
+    (On bbq_sauce_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In tomato_sauce_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_tomato_sauce_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object tomato_sauce_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference tomato_sauce_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target tomato_sauce_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target tomato_sauce_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl b/bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..a12163fda2f26dbc2c214a76a4d12759e117e04a
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl between the plate and the ramekin and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_between_plate_ramekin_region)
+    (On akita_black_bowl_2 main_table_next_to_ramekin_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl b/bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..201c38cb658979df96d5a5e6ba84e17cad11350d
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl from table center and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_table_center)
+    (On akita_black_bowl_2 main_table_next_to_plate_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl b/bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..1f4c532db03744ebd06cd418d1f6c43ae8fe45da
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl
@@ -0,0 +1,211 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl in the top layer of the wooden cabinet and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (In akita_black_bowl_1 wooden_cabinet_1_top_region)
+    (On akita_black_bowl_2 wooden_cabinet_1_top_side)
+    (Open wooden_cabinet_1_top_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl b/bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..3134b3c8b8519400ac38bb4f68e80b9f0a6fb9b6
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl next to the cookies box and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_next_to_box_region)
+    (On akita_black_bowl_2 flat_stove_1_cook_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl b/bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..4baa0481efc8c39adffdc714f9de09b9d6cf6525
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl next to the plate and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_next_to_plate_region)
+    (On akita_black_bowl_2 main_table_next_to_ramekin_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl b/bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..be8a579a43924d203d14cbdd9a0ba2697aff04c5
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl next to the ramekin and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_next_to_ramekin_region)
+    (On akita_black_bowl_2 main_table_next_to_box_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl b/bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..b02145ea6476cb8db210950d2191661309f4c067
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl on the cookies box and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 cookies_1)
+    (On akita_black_bowl_2 wooden_cabinet_1_top_side)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl b/bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..ff32764c5ef4d29222da67d541f638ff8ef8faf3
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl on the ramekin and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 glazed_rim_porcelain_ramekin_1)
+    (On akita_black_bowl_2 cookies_1)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl b/bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..d57581626ea72d5bf6b49a3d0b2a2d9dd59a41da
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl on the stove and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 flat_stove_1_cook_region)
+    (On akita_black_bowl_2 wooden_cabinet_1_top_side)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl b/bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..acac21ce20c9f08bef16e2e88331670108d24140
--- /dev/null
+++ b/bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl on the wooden cabinet and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 wooden_cabinet_1_top_side)
+    (On akita_black_bowl_2 flat_stove_1_cook_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case object_texture)
+    (:category object_texture)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail make_goal_destination_background_like_without_changing_task_semantics)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled true)
+      (:mode table_like_material)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba true)
+      (:disable_material_texture true)
+      (:apply_visible_geom_rgba true)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl b/bddl_files/05_view_occlusion/bddl/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..c71ee89eea2570fc0bd3c59b43ccd815f076e7cb
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl
@@ -0,0 +1,158 @@
+(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)
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+  )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    chefmate_8_frypan_1 - chefmate_8_frypan
+    moka_pot_1 - moka_pot
+    black_book_occluder_1 - black_book
+  )
+
+  (: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)
+    (On black_book_occluder_1 kitchen_table_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (Turnon flat_stove_1) (On moka_pot_1 flat_stove_1_cook_region))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_10)
+    (:source_task KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object moka_pot_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets flat_stove_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference moka_pot_1)
+      (:front_direction 1.0 0.0)
+      (:avoid_targets flat_stove_1)
+      (:min_avoid_distance 0.08)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.080 0.000)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target moka_pot_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target moka_pot_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl b/bddl_files/05_view_occlusion/bddl/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..f5bdfbde020332b987e95fbc8e6d24d0296480f7
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl
@@ -0,0 +1,184 @@
+(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)
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+  )
+
+  (: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
+    black_book_occluder_1 - black_book
+  )
+
+  (: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)
+    (On black_book_occluder_1 kitchen_table_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (Close white_cabinet_1_bottom_region) (In akita_black_bowl_1 white_cabinet_1_bottom_region))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_10)
+    (:source_task KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets white_cabinet_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:avoid_targets white_cabinet_1)
+      (:min_avoid_distance 0.08)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.080 0.000)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl b/bddl_files/05_view_occlusion/bddl/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..d351ea493e2466079719bb1e2ab62f28ded7c816
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl
@@ -0,0 +1,173 @@
+(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)
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+  )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    microwave_1 - microwave
+  )
+
+  (:objects
+    porcelain_mug_1 - porcelain_mug
+    white_yellow_mug_1 - white_yellow_mug
+    black_book_occluder_1 - black_book
+  )
+
+  (: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)
+    (On black_book_occluder_1 kitchen_table_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (In white_yellow_mug_1 microwave_1_heating_region) (Close microwave_1))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_10)
+    (:source_task KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object white_yellow_mug_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets microwave_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference white_yellow_mug_1)
+      (:front_direction 1.0 0.0)
+      (:avoid_targets microwave_1)
+      (:min_avoid_distance 0.08)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.080 0.000)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target white_yellow_mug_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target white_yellow_mug_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl b/bddl_files/05_view_occlusion/bddl/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..441ddc690c5913c1a0bd93b4c588bf87ccc18e09
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl
@@ -0,0 +1,159 @@
+(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)
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+  )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    moka_pot_1 moka_pot_2 - moka_pot
+    black_book_occluder_1 - black_book
+  )
+
+  (: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)
+    (On black_book_occluder_1 kitchen_table_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (On moka_pot_1 flat_stove_1_cook_region) (On moka_pot_2 flat_stove_1_cook_region) (Turnon flat_stove_1))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_10)
+    (:source_task KITCHEN_SCENE8_put_both_moka_pots_on_the_stove)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object moka_pot_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets flat_stove_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference moka_pot_1)
+      (:front_direction 1.0 0.0)
+      (:avoid_targets moka_pot_2)
+      (:min_avoid_distance 0.08)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.080 0.000)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target moka_pot_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target moka_pot_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl b/bddl_files/05_view_occlusion/bddl/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..37da439d3546603149eb810f92664f88c23bce38
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl
@@ -0,0 +1,185 @@
+(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)
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+  )
+
+  (: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
+    black_book_occluder_1 - black_book
+  )
+
+  (: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)
+    (On black_book_occluder_1 living_room_table_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (In alphabet_soup_1 basket_1_contain_region) (In cream_cheese_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_10)
+    (:source_task LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object alphabet_soup_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.30 0.20 0.12 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference alphabet_soup_1)
+      (:front_direction 1.0 0.0)
+      (:avoid_targets cream_cheese_1)
+      (:min_avoid_distance 0.08)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.080 0.000)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target alphabet_soup_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target alphabet_soup_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl b/bddl_files/05_view_occlusion/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..07d1a9b61e59da07b7fa42589e37308ea109cd2a
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl
@@ -0,0 +1,224 @@
+(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)
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+  )
+
+  (: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
+    black_book_occluder_1 - black_book
+  )
+
+  (: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)
+    (On black_book_occluder_1 living_room_table_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (In alphabet_soup_1 basket_1_contain_region) (In tomato_sauce_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_10)
+    (:source_task LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object alphabet_soup_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.30 0.20 0.12 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference alphabet_soup_1)
+      (:front_direction 1.0 0.0)
+      (:avoid_targets tomato_sauce_1)
+      (:min_avoid_distance 0.08)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.080 0.000)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target alphabet_soup_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target alphabet_soup_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl b/bddl_files/05_view_occlusion/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..7a815e380e4789655da9954f7b09d4e257201b72
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl
@@ -0,0 +1,224 @@
+(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)
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+  )
+
+  (: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
+    black_book_occluder_1 - black_book
+  )
+
+  (: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)
+    (On black_book_occluder_1 living_room_table_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (In cream_cheese_1 basket_1_contain_region) (In butter_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_10)
+    (:source_task LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object cream_cheese_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.30 0.20 0.12 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference cream_cheese_1)
+      (:front_direction 1.0 0.0)
+      (:avoid_targets butter_1)
+      (:min_avoid_distance 0.08)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.080 0.000)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target cream_cheese_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target cream_cheese_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl b/bddl_files/05_view_occlusion/bddl/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..f1971c47698c4fbca8300375754dce5cdc8eed58
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_10/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 +1,182 @@
+(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)
+            )
+          )
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (: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
+    black_book_occluder_1 - black_book
+  )
+
+  (: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)
+    (On black_book_occluder_1 living_room_table_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (On porcelain_mug_1 plate_1) (On white_yellow_mug_1 plate_2))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_10)
+    (:source_task LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object plate_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1 plate_2)
+      (:rgba 0.30 0.20 0.12 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference plate_1)
+      (:front_direction 1.0 0.0)
+      (:avoid_targets plate_2)
+      (:min_avoid_distance 0.08)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.080 0.000)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target plate_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target plate_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl b/bddl_files/05_view_occlusion/bddl/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..d2c47386193e42f9000760aaf917a7e4d50cfec6
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl
@@ -0,0 +1,191 @@
+(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)
+            )
+          )
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (: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
+    black_book_occluder_1 - black_book
+  )
+
+  (: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)
+    (On black_book_occluder_1 living_room_table_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (On porcelain_mug_1 plate_1) (On chocolate_pudding_1 living_room_table_plate_right_region))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_10)
+    (:source_task LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object plate_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.30 0.20 0.12 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference plate_1)
+      (:front_direction 1.0 0.0)
+      (:avoid_targets chocolate_pudding_1)
+      (:min_avoid_distance 0.08)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.080 0.000)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target plate_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target plate_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl b/bddl_files/05_view_occlusion/bddl/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..95dd7f2de71104a191c504a1f18c3141d45cfa08
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl
@@ -0,0 +1,178 @@
+(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)
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target study_table)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+  )
+
+  (:fixtures
+    study_table - study_table
+    desk_caddy_1 - desk_caddy
+  )
+
+  (:objects
+    black_book_1 - black_book
+    white_yellow_mug_1 - white_yellow_mug
+    yellow_book_1 - yellow_book
+  )
+
+  (: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)
+    (On yellow_book_1 study_table_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (In black_book_1 desk_caddy_1_back_contain_region))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_10)
+    (:source_task STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object black_book_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets desk_caddy_1)
+      (:rgba 0.50 0.36 0.20 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference black_book_1)
+      (:front_direction 1.0 0.0)
+      (:avoid_targets desk_caddy_1)
+      (:min_avoid_distance 0.08)
+      (:targets yellow_book_1)
+      (:offsets_xy (
+        (0.080 0.000)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target black_book_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target black_book_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_goal/open_the_middle_drawer_of_the_cabinet.bddl b/bddl_files/05_view_occlusion/bddl/libero_goal/open_the_middle_drawer_of_the_cabinet.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..2ae6187c6eaca00e96dde164bddaddbcff40bf6a
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_goal/open_the_middle_drawer_of_the_cabinet.bddl
@@ -0,0 +1,215 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Open the middle layer of the 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)
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target main_table)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+  )
+
+  (: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
+    black_book_occluder_1 - black_book
+  )
+
+  (: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)
+    (On black_book_occluder_1 main_table_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (Open wooden_cabinet_1_middle_region))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_goal)
+    (:source_task open_the_middle_drawer_of_the_cabinet)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets wooden_cabinet_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference wooden_cabinet_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.080 0.090)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.bddl b/bddl_files/05_view_occlusion/bddl/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..04a625919cfd6e34d757afd849c1783e443b8985
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.bddl
@@ -0,0 +1,218 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Open the top layer of the drawer and put the bowl inside)
+    (: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)
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target main_table)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+  )
+
+  (: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
+    black_book_occluder_1 - black_book
+  )
+
+  (: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)
+    (On black_book_occluder_1 main_table_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (In akita_black_bowl_1 wooden_cabinet_1_top_region))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_goal)
+    (:source_task open_the_top_drawer_and_put_the_bowl_inside)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets wooden_cabinet_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:avoid_targets wooden_cabinet_1_top_region)
+      (:min_avoid_distance 0.08)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.080 0.090)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_goal/push_the_plate_to_the_front_of_the_stove.bddl b/bddl_files/05_view_occlusion/bddl/libero_goal/push_the_plate_to_the_front_of_the_stove.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..107465f8316530b74c9cd32caea96599e2437641
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_goal/push_the_plate_to_the_front_of_the_stove.bddl
@@ -0,0 +1,218 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Push the plate to the front of 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)
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target main_table)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+  )
+
+  (: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
+    black_book_occluder_1 - black_book
+  )
+
+  (: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)
+    (On black_book_occluder_1 main_table_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (On plate_1 main_table_stove_front_region))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_goal)
+    (:source_task push_the_plate_to_the_front_of_the_stove)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object plate_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets flat_stove_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference plate_1)
+      (:front_direction 1.0 0.0)
+      (:avoid_targets main_table_stove_front_region)
+      (:min_avoid_distance 0.08)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.080 0.000)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target plate_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target plate_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_goal/put_the_bowl_on_the_plate.bddl b/bddl_files/05_view_occlusion/bddl/libero_goal/put_the_bowl_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..88881ecb166071148ddcdec36e8ae1fac0fbbbb3
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_goal/put_the_bowl_on_the_plate.bddl
@@ -0,0 +1,221 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put the bowl on 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)
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target main_table)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+  )
+
+  (: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
+    black_book_occluder_1 - black_book
+  )
+
+  (: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)
+    (On black_book_occluder_1 main_table_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_goal)
+    (:source_task put_the_bowl_on_the_plate)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:between_object plate_1)
+      (:min_between_distance 0.24)
+      (:between_delta_xy 0.16 0.0)
+      (:avoid_targets plate_1)
+      (:min_avoid_distance 0.08)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.080 0.000)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_goal/put_the_bowl_on_the_stove.bddl b/bddl_files/05_view_occlusion/bddl/libero_goal/put_the_bowl_on_the_stove.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..60e02d1d3168a723472c4502ae6187265219b409
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_goal/put_the_bowl_on_the_stove.bddl
@@ -0,0 +1,218 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put 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)
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target main_table)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+  )
+
+  (: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
+    black_book_occluder_1 - black_book
+  )
+
+  (: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)
+    (On black_book_occluder_1 main_table_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 flat_stove_1_cook_region))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_goal)
+    (:source_task put_the_bowl_on_the_stove)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets flat_stove_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:avoid_targets flat_stove_1_cook_region)
+      (:min_avoid_distance 0.08)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.080 0.090)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_goal/put_the_bowl_on_top_of_the_cabinet.bddl b/bddl_files/05_view_occlusion/bddl/libero_goal/put_the_bowl_on_top_of_the_cabinet.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..345fce2c1ed4f493cfed6fb2a04d7be330863f7d
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_goal/put_the_bowl_on_top_of_the_cabinet.bddl
@@ -0,0 +1,218 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put the bowl on the top of the 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)
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target main_table)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+  )
+
+  (: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
+    black_book_occluder_1 - black_book
+  )
+
+  (: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)
+    (On black_book_occluder_1 main_table_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 wooden_cabinet_1_top_side))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_goal)
+    (:source_task put_the_bowl_on_top_of_the_cabinet)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets wooden_cabinet_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:avoid_targets wooden_cabinet_1_top_side)
+      (:min_avoid_distance 0.08)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.080 0.090)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_goal/put_the_cream_cheese_in_the_bowl.bddl b/bddl_files/05_view_occlusion/bddl/libero_goal/put_the_cream_cheese_in_the_bowl.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..fe5712fd3494a0cecd1603e2ffb4f01e91340f2c
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_goal/put_the_cream_cheese_in_the_bowl.bddl
@@ -0,0 +1,218 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put the cream cheese on 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)
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target main_table)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+  )
+
+  (: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
+    black_book_occluder_1 - black_book
+  )
+
+  (: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)
+    (On black_book_occluder_1 main_table_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (On cream_cheese_1 akita_black_bowl_1))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_goal)
+    (:source_task put_the_cream_cheese_in_the_bowl)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object cream_cheese_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets akita_black_bowl_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference cream_cheese_1)
+      (:front_direction 1.0 0.0)
+      (:avoid_targets akita_black_bowl_1)
+      (:min_avoid_distance 0.08)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.080 0.000)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target cream_cheese_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target cream_cheese_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_goal/put_the_wine_bottle_on_the_rack.bddl b/bddl_files/05_view_occlusion/bddl/libero_goal/put_the_wine_bottle_on_the_rack.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..ceab940a5917be03e13240c8148cdd28c8b6caa2
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_goal/put_the_wine_bottle_on_the_rack.bddl
@@ -0,0 +1,221 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put 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)
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target main_table)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+  )
+
+  (: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
+    black_book_occluder_1 - black_book
+  )
+
+  (: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)
+    (On black_book_occluder_1 main_table_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (On wine_bottle_1 wine_rack_1_top_region))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_goal)
+    (:source_task put_the_wine_bottle_on_the_rack)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object wine_bottle_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets wine_rack_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference wine_bottle_1)
+      (:front_direction 1.0 0.0)
+      (:avoid_targets wine_rack_1_top_region)
+      (:min_avoid_distance 0.08)
+      (:between_object akita_black_bowl_1)
+      (:min_between_distance 0.18)
+      (:between_delta_xy -0.18 0.10)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.080 0.000)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target wine_bottle_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target wine_bottle_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.bddl b/bddl_files/05_view_occlusion/bddl/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..1beeefe876c6db6fb4110fd40baaf4ba441cb773
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.bddl
@@ -0,0 +1,221 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put the wine bottle on the top of the 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)
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target main_table)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+  )
+
+  (: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
+    black_book_occluder_1 - black_book
+  )
+
+  (: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)
+    (On black_book_occluder_1 main_table_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (On wine_bottle_1 wooden_cabinet_1_top_side))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_goal)
+    (:source_task put_the_wine_bottle_on_top_of_the_cabinet)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object wine_bottle_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets wooden_cabinet_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference wine_bottle_1)
+      (:front_direction 1.0 0.0)
+      (:avoid_targets wooden_cabinet_1_top_side)
+      (:min_avoid_distance 0.08)
+      (:between_object akita_black_bowl_1)
+      (:min_between_distance 0.18)
+      (:between_delta_xy -0.18 0.10)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.080 0.000)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target wine_bottle_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target wine_bottle_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_goal/turn_on_the_stove.bddl b/bddl_files/05_view_occlusion/bddl/libero_goal/turn_on_the_stove.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..31f50203f7255f28646933ddf2194afb90fa8a56
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_goal/turn_on_the_stove.bddl
@@ -0,0 +1,215 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Turn 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)
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target main_table)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+  )
+
+  (: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
+    black_book_occluder_1 - black_book
+  )
+
+  (: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)
+    (On black_book_occluder_1 main_table_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (Turnon flat_stove_1))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_goal)
+    (:source_task turn_on_the_stove)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets flat_stove_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference flat_stove_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.080 0.090)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl b/bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..220c89f2b90033e599cbe7cde8dc93dda22ebab1
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl
@@ -0,0 +1,182 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the alphabet soup and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target floor)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+  )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    alphabet_soup_1 - alphabet_soup
+    basket_1 - basket
+    salad_dressing_1 - salad_dressing
+    cream_cheese_1 - cream_cheese
+    milk_1 - milk
+    tomato_sauce_1 - tomato_sauce
+    butter_1 - butter
+    black_book_occluder_1 - black_book
+  )
+
+  (:obj_of_interest
+    alphabet_soup_1
+    basket_1
+  )
+
+  (:init
+    (On alphabet_soup_1 floor_target_object_region)
+    (On salad_dressing_1 floor_other_object_region_0)
+    (On cream_cheese_1 floor_other_object_region_1)
+    (On milk_1 floor_other_object_region_2)
+    (On tomato_sauce_1 floor_other_object_region_3)
+    (On butter_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+    (On black_book_occluder_1 floor_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (In alphabet_soup_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_alphabet_soup_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object alphabet_soup_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference alphabet_soup_1)
+      (:front_direction 1.0 0.0)
+      (:avoid_targets basket_1)
+      (:min_avoid_distance 0.08)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.080 0.000)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target alphabet_soup_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target alphabet_soup_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl b/bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..524a644e38d7100686b2a76e1cbaee497354dfe7
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl
@@ -0,0 +1,182 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the bbq sauce and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target floor)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+  )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    bbq_sauce_1 - bbq_sauce
+    basket_1 - basket
+    chocolate_pudding_1 - chocolate_pudding
+    ketchup_1 - ketchup
+    salad_dressing_1 - salad_dressing
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+    black_book_occluder_1 - black_book
+  )
+
+  (:obj_of_interest
+    bbq_sauce_1
+    basket_1
+  )
+
+  (:init
+    (On bbq_sauce_1 floor_target_object_region)
+    (On chocolate_pudding_1 floor_other_object_region_0)
+    (On ketchup_1 floor_other_object_region_1)
+    (On salad_dressing_1 floor_other_object_region_2)
+    (On alphabet_soup_1 floor_other_object_region_3)
+    (On cream_cheese_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+    (On black_book_occluder_1 floor_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (In bbq_sauce_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_bbq_sauce_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object bbq_sauce_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference bbq_sauce_1)
+      (:front_direction 1.0 0.0)
+      (:avoid_targets basket_1)
+      (:min_avoid_distance 0.08)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.080 0.000)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target bbq_sauce_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target bbq_sauce_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl b/bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..f7ab8d930b2f55c5af1844456fe210a129ea5fb5
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl
@@ -0,0 +1,182 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the butter and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target floor)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+  )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    butter_1 - butter
+    basket_1 - basket
+    tomato_sauce_1 - tomato_sauce
+    orange_juice_1 - orange_juice
+    chocolate_pudding_1 - chocolate_pudding
+    bbq_sauce_1 - bbq_sauce
+    ketchup_1 - ketchup
+    black_book_occluder_1 - black_book
+  )
+
+  (:obj_of_interest
+    butter_1
+    basket_1
+  )
+
+  (:init
+    (On butter_1 floor_target_object_region)
+    (On tomato_sauce_1 floor_other_object_region_0)
+    (On orange_juice_1 floor_other_object_region_1)
+    (On chocolate_pudding_1 floor_other_object_region_2)
+    (On bbq_sauce_1 floor_other_object_region_3)
+    (On ketchup_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+    (On black_book_occluder_1 floor_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (In butter_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_butter_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object butter_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference butter_1)
+      (:front_direction 1.0 0.0)
+      (:avoid_targets basket_1)
+      (:min_avoid_distance 0.08)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.080 0.000)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target butter_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target butter_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl b/bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..0164d9d33126c9fe0e95e404f2747bc9f4b23f30
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl
@@ -0,0 +1,182 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the chocolate pudding and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target floor)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+  )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    chocolate_pudding_1 - chocolate_pudding
+    basket_1 - basket
+    orange_juice_1 - orange_juice
+    bbq_sauce_1 - bbq_sauce
+    ketchup_1 - ketchup
+    salad_dressing_1 - salad_dressing
+    alphabet_soup_1 - alphabet_soup
+    black_book_occluder_1 - black_book
+  )
+
+  (:obj_of_interest
+    chocolate_pudding_1
+    basket_1
+  )
+
+  (:init
+    (On chocolate_pudding_1 floor_target_object_region)
+    (On orange_juice_1 floor_other_object_region_0)
+    (On bbq_sauce_1 floor_other_object_region_1)
+    (On ketchup_1 floor_other_object_region_2)
+    (On salad_dressing_1 floor_other_object_region_3)
+    (On alphabet_soup_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+    (On black_book_occluder_1 floor_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (In chocolate_pudding_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_chocolate_pudding_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object chocolate_pudding_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference chocolate_pudding_1)
+      (:front_direction 1.0 0.0)
+      (:avoid_targets basket_1)
+      (:min_avoid_distance 0.08)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.080 0.000)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target chocolate_pudding_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target chocolate_pudding_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl b/bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..c9a2b75b2958d335141b4d9b930662b7a02dd64e
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl
@@ -0,0 +1,182 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the cream cheese and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target floor)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+  )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    cream_cheese_1 - cream_cheese
+    basket_1 - basket
+    alphabet_soup_1 - alphabet_soup
+    milk_1 - milk
+    tomato_sauce_1 - tomato_sauce
+    butter_1 - butter
+    orange_juice_1 - orange_juice
+    black_book_occluder_1 - black_book
+  )
+
+  (:obj_of_interest
+    cream_cheese_1
+    basket_1
+  )
+
+  (:init
+    (On cream_cheese_1 floor_target_object_region)
+    (On alphabet_soup_1 floor_other_object_region_0)
+    (On milk_1 floor_other_object_region_1)
+    (On tomato_sauce_1 floor_other_object_region_2)
+    (On butter_1 floor_other_object_region_3)
+    (On orange_juice_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+    (On black_book_occluder_1 floor_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (In cream_cheese_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_cream_cheese_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object cream_cheese_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference cream_cheese_1)
+      (:front_direction 1.0 0.0)
+      (:avoid_targets basket_1)
+      (:min_avoid_distance 0.08)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.080 0.000)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target cream_cheese_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target cream_cheese_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl b/bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..253c0c777000a3b2692e8951538e7141fbf65832
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl
@@ -0,0 +1,182 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the ketchup and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target floor)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+  )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    ketchup_1 - ketchup
+    basket_1 - basket
+    bbq_sauce_1 - bbq_sauce
+    salad_dressing_1 - salad_dressing
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+    milk_1 - milk
+    black_book_occluder_1 - black_book
+  )
+
+  (:obj_of_interest
+    ketchup_1
+    basket_1
+  )
+
+  (:init
+    (On ketchup_1 floor_target_object_region)
+    (On bbq_sauce_1 floor_other_object_region_0)
+    (On salad_dressing_1 floor_other_object_region_1)
+    (On alphabet_soup_1 floor_other_object_region_2)
+    (On cream_cheese_1 floor_other_object_region_3)
+    (On milk_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+    (On black_book_occluder_1 floor_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (In ketchup_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_ketchup_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object ketchup_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference ketchup_1)
+      (:front_direction 1.0 0.0)
+      (:avoid_targets basket_1)
+      (:min_avoid_distance 0.08)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.080 0.000)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target ketchup_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target ketchup_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl b/bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..181eec3b079f65e755696b1961fc7ac5615e0b73
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl
@@ -0,0 +1,182 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the milk and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target floor)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+  )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    milk_1 - milk
+    basket_1 - basket
+    cream_cheese_1 - cream_cheese
+    tomato_sauce_1 - tomato_sauce
+    butter_1 - butter
+    orange_juice_1 - orange_juice
+    chocolate_pudding_1 - chocolate_pudding
+    black_book_occluder_1 - black_book
+  )
+
+  (:obj_of_interest
+    milk_1
+    basket_1
+  )
+
+  (:init
+    (On milk_1 floor_target_object_region)
+    (On cream_cheese_1 floor_other_object_region_0)
+    (On tomato_sauce_1 floor_other_object_region_1)
+    (On butter_1 floor_other_object_region_2)
+    (On orange_juice_1 floor_other_object_region_3)
+    (On chocolate_pudding_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+    (On black_book_occluder_1 floor_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (In milk_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_milk_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object milk_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference milk_1)
+      (:front_direction 1.0 0.0)
+      (:avoid_targets basket_1)
+      (:min_avoid_distance 0.08)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.080 0.000)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target milk_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target milk_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl b/bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..4aea3580d09ab2517387a0d6162b017f27a865b5
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl
@@ -0,0 +1,182 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the orange juice and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target floor)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+  )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    orange_juice_1 - orange_juice
+    basket_1 - basket
+    butter_1 - butter
+    chocolate_pudding_1 - chocolate_pudding
+    bbq_sauce_1 - bbq_sauce
+    ketchup_1 - ketchup
+    salad_dressing_1 - salad_dressing
+    black_book_occluder_1 - black_book
+  )
+
+  (:obj_of_interest
+    orange_juice_1
+    basket_1
+  )
+
+  (:init
+    (On orange_juice_1 floor_target_object_region)
+    (On butter_1 floor_other_object_region_0)
+    (On chocolate_pudding_1 floor_other_object_region_1)
+    (On bbq_sauce_1 floor_other_object_region_2)
+    (On ketchup_1 floor_other_object_region_3)
+    (On salad_dressing_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+    (On black_book_occluder_1 floor_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (In orange_juice_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_orange_juice_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object orange_juice_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference orange_juice_1)
+      (:front_direction 1.0 0.0)
+      (:avoid_targets basket_1)
+      (:min_avoid_distance 0.08)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.080 0.000)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target orange_juice_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target orange_juice_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl b/bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..81860b9d1365eebf3ee5b545a15e7ca0281fc0ae
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl
@@ -0,0 +1,182 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the salad dressing and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target floor)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+  )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    salad_dressing_1 - salad_dressing
+    basket_1 - basket
+    ketchup_1 - ketchup
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+    milk_1 - milk
+    tomato_sauce_1 - tomato_sauce
+    black_book_occluder_1 - black_book
+  )
+
+  (:obj_of_interest
+    salad_dressing_1
+    basket_1
+  )
+
+  (:init
+    (On salad_dressing_1 floor_target_object_region)
+    (On ketchup_1 floor_other_object_region_0)
+    (On alphabet_soup_1 floor_other_object_region_1)
+    (On cream_cheese_1 floor_other_object_region_2)
+    (On milk_1 floor_other_object_region_3)
+    (On tomato_sauce_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+    (On black_book_occluder_1 floor_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (In salad_dressing_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_salad_dressing_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object salad_dressing_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference salad_dressing_1)
+      (:front_direction 1.0 0.0)
+      (:avoid_targets basket_1)
+      (:min_avoid_distance 0.08)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.080 0.000)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target salad_dressing_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target salad_dressing_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl b/bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..33c11d2916b72e4f1c7b97bec17047219f86f515
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl
@@ -0,0 +1,182 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the tomato sauce and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target floor)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+  )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    tomato_sauce_1 - tomato_sauce
+    basket_1 - basket
+    milk_1 - milk
+    butter_1 - butter
+    orange_juice_1 - orange_juice
+    chocolate_pudding_1 - chocolate_pudding
+    bbq_sauce_1 - bbq_sauce
+    black_book_occluder_1 - black_book
+  )
+
+  (:obj_of_interest
+    tomato_sauce_1
+    basket_1
+  )
+
+  (:init
+    (On tomato_sauce_1 floor_target_object_region)
+    (On milk_1 floor_other_object_region_0)
+    (On butter_1 floor_other_object_region_1)
+    (On orange_juice_1 floor_other_object_region_2)
+    (On chocolate_pudding_1 floor_other_object_region_3)
+    (On bbq_sauce_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+    (On black_book_occluder_1 floor_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (In tomato_sauce_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_tomato_sauce_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object tomato_sauce_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference tomato_sauce_1)
+      (:front_direction 1.0 0.0)
+      (:avoid_targets basket_1)
+      (:min_avoid_distance 0.08)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.080 0.000)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target tomato_sauce_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target tomato_sauce_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl b/bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..f9f8a31112a64db415aeffd3de043404d2dda158
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl
@@ -0,0 +1,228 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl between the plate and the ramekin and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target main_table)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+  )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+    black_book_occluder_1 - black_book
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_between_plate_ramekin_region)
+    (On akita_black_bowl_2 main_table_next_to_ramekin_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+    (On black_book_occluder_1 main_table_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:between_object plate_1)
+      (:min_between_distance 0.24)
+      (:between_delta_xy 0.16 0.0)
+      (:avoid_targets plate_1)
+      (:min_avoid_distance 0.08)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.080 0.000)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl b/bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..c0ff19c0c5029ff3f9cb05e248a0db5c6d2d6ffb
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl
@@ -0,0 +1,228 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl from table center and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target main_table)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+  )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+    black_book_occluder_1 - black_book
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_table_center)
+    (On akita_black_bowl_2 main_table_next_to_plate_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+    (On black_book_occluder_1 main_table_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:between_object plate_1)
+      (:min_between_distance 0.24)
+      (:between_delta_xy 0.16 0.0)
+      (:avoid_targets plate_1)
+      (:min_avoid_distance 0.08)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.080 0.000)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl b/bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..622b141fe1300d1f16eaceae9b5f8e06b51f7adc
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl
@@ -0,0 +1,229 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl in the top layer of the wooden cabinet and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target main_table)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+  )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+    black_book_occluder_1 - black_book
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (In akita_black_bowl_1 wooden_cabinet_1_top_region)
+    (On akita_black_bowl_2 wooden_cabinet_1_top_side)
+    (Open wooden_cabinet_1_top_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+    (On black_book_occluder_1 main_table_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:between_object plate_1)
+      (:min_between_distance 0.24)
+      (:between_delta_xy 0.16 0.0)
+      (:avoid_targets plate_1)
+      (:min_avoid_distance 0.08)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.080 0.000)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl b/bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..03de92c028691b7cde4ae5b8f9648187ceece29d
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl
@@ -0,0 +1,228 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl next to the cookies box and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target main_table)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+  )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+    black_book_occluder_1 - black_book
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_next_to_box_region)
+    (On akita_black_bowl_2 flat_stove_1_cook_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+    (On black_book_occluder_1 main_table_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:between_object plate_1)
+      (:min_between_distance 0.24)
+      (:between_delta_xy 0.16 0.0)
+      (:avoid_targets plate_1)
+      (:min_avoid_distance 0.08)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.080 0.000)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl b/bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..370cd83df2e94cc990c52b621111cb05695a98d1
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl
@@ -0,0 +1,228 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl next to the plate and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target main_table)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+  )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+    black_book_occluder_1 - black_book
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_next_to_plate_region)
+    (On akita_black_bowl_2 main_table_next_to_ramekin_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+    (On black_book_occluder_1 main_table_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:between_object plate_1)
+      (:min_between_distance 0.24)
+      (:between_delta_xy 0.16 0.0)
+      (:avoid_targets plate_1)
+      (:min_avoid_distance 0.08)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.080 0.000)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl b/bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..182cf0de8f2739cd2dca5e6b2479125b462c7cb5
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl
@@ -0,0 +1,228 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl next to the ramekin and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target main_table)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+  )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+    black_book_occluder_1 - black_book
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_next_to_ramekin_region)
+    (On akita_black_bowl_2 main_table_next_to_box_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+    (On black_book_occluder_1 main_table_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:between_object plate_1)
+      (:min_between_distance 0.24)
+      (:between_delta_xy 0.16 0.0)
+      (:avoid_targets plate_1)
+      (:min_avoid_distance 0.08)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.080 0.000)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl b/bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..1ff1e33521df3a161f6e2d1e086264decbb78099
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl
@@ -0,0 +1,228 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl on the cookies box and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target main_table)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+  )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+    black_book_occluder_1 - black_book
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 cookies_1)
+    (On akita_black_bowl_2 wooden_cabinet_1_top_side)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+    (On black_book_occluder_1 main_table_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:between_object plate_1)
+      (:min_between_distance 0.24)
+      (:between_delta_xy 0.16 0.0)
+      (:avoid_targets plate_1)
+      (:min_avoid_distance 0.08)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.080 0.000)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl b/bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..e2301c628d3150299f0a59f926dce4e98d97a207
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl
@@ -0,0 +1,228 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl on the ramekin and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target main_table)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+  )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+    black_book_occluder_1 - black_book
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 glazed_rim_porcelain_ramekin_1)
+    (On akita_black_bowl_2 cookies_1)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+    (On black_book_occluder_1 main_table_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:between_object plate_1)
+      (:min_between_distance 0.24)
+      (:between_delta_xy 0.16 0.0)
+      (:avoid_targets plate_1)
+      (:min_avoid_distance 0.08)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.080 0.000)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl b/bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..b3137494f614fed1a463b7c23cbb6c7cf82b5fd6
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl
@@ -0,0 +1,228 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl on the stove and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target main_table)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+  )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+    black_book_occluder_1 - black_book
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 flat_stove_1_cook_region)
+    (On akita_black_bowl_2 wooden_cabinet_1_top_side)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+    (On black_book_occluder_1 main_table_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:between_object plate_1)
+      (:min_between_distance 0.24)
+      (:between_delta_xy 0.16 0.0)
+      (:avoid_targets plate_1)
+      (:min_avoid_distance 0.08)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.080 0.000)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl b/bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..723e2c181ba1d0a96bd78c0f02bfff3289af7b79
--- /dev/null
+++ b/bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl
@@ -0,0 +1,228 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl on the wooden cabinet and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+      (perturb_occ_bottle_1_init_region
+          (:target main_table)
+          (:ranges (
+              (-0.34 -0.3 -0.33 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+  )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+    black_book_occluder_1 - black_book
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 wooden_cabinet_1_top_side)
+    (On akita_black_bowl_2 flat_stove_1_cook_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+    (On black_book_occluder_1 main_table_perturb_occ_bottle_1_init_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case view_occlusion)
+    (:category view_occlusion)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail stand_one_book_face_to_agentview_in_front_of_the_target_without_touching_goal_objects)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled true)
+      (:mode front_occlusion)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:between_object plate_1)
+      (:min_between_distance 0.24)
+      (:between_delta_xy 0.16 0.0)
+      (:avoid_targets plate_1)
+      (:min_avoid_distance 0.08)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.080 0.000)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.000)
+      (:mesh_scale 1.6 1.6 1.6)
+      (:min_reference_distance 0.02)
+      (:pin_targets true)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl b/bddl_files/06_object_shape/bddl/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..3a565396976087b6da327b335725145b68f1724b
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl
@@ -0,0 +1,143 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_10)
+    (:source_task KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object moka_pot_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets flat_stove_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference moka_pot_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target moka_pot_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target moka_pot_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl b/bddl_files/06_object_shape/bddl/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..395ac7d636291d48f57086638500c6014c4e8b66
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl
@@ -0,0 +1,169 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_10)
+    (:source_task KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets white_cabinet_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl b/bddl_files/06_object_shape/bddl/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..cdec19bf826b25ee4d2992f56fd3ae2fff17c260
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl
@@ -0,0 +1,158 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_10)
+    (:source_task KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object white_yellow_mug_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets microwave_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference white_yellow_mug_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target white_yellow_mug_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target white_yellow_mug_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl b/bddl_files/06_object_shape/bddl/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..19f6e84dbd88bf952d407250dc74358b22a78b05
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl
@@ -0,0 +1,144 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_10)
+    (:source_task KITCHEN_SCENE8_put_both_moka_pots_on_the_stove)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object moka_pot_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets flat_stove_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference moka_pot_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target moka_pot_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target moka_pot_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl b/bddl_files/06_object_shape/bddl/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..1773bf96bf57ab882c697fe2d259bc480701ff0b
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl
@@ -0,0 +1,170 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_10)
+    (:source_task LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object alphabet_soup_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.30 0.20 0.12 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference alphabet_soup_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target alphabet_soup_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target alphabet_soup_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl b/bddl_files/06_object_shape/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..67a9c5c6e8254fcd21d38abb60b4a3d03652aabd
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl
@@ -0,0 +1,209 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_10)
+    (:source_task LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object alphabet_soup_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.30 0.20 0.12 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference alphabet_soup_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target alphabet_soup_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target alphabet_soup_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl b/bddl_files/06_object_shape/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..ca2fb3a241d1a3f1a367bffb4b1e8373a0eca326
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl
@@ -0,0 +1,209 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_10)
+    (:source_task LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object cream_cheese_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.30 0.20 0.12 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference cream_cheese_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target cream_cheese_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target cream_cheese_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl b/bddl_files/06_object_shape/bddl/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..51495762165194ac45796b2662aaad84a049e89c
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_10/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 +1,167 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_10)
+    (:source_task LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object plate_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1 plate_2)
+      (:rgba 0.30 0.20 0.12 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference plate_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target plate_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target plate_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl b/bddl_files/06_object_shape/bddl/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..c2eb5d96f8be43fd502efdd53a37d30266bf1424
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl
@@ -0,0 +1,176 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_10)
+    (:source_task LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object plate_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.30 0.20 0.12 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference plate_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target plate_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target plate_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl b/bddl_files/06_object_shape/bddl/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..517b7d5a4c9c7233300ca86ebc02790364d5fcc8
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl
@@ -0,0 +1,163 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_10)
+    (:source_task STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object black_book_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets desk_caddy_1)
+      (:rgba 0.50 0.36 0.20 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference black_book_1)
+      (:front_direction 1.0 0.0)
+      (:targets yellow_book_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target black_book_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target black_book_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_goal/open_the_middle_drawer_of_the_cabinet.bddl b/bddl_files/06_object_shape/bddl/libero_goal/open_the_middle_drawer_of_the_cabinet.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..f18fb322586310f2109ab747c85c847e922adfdd
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_goal/open_the_middle_drawer_of_the_cabinet.bddl
@@ -0,0 +1,202 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Open the middle layer of the 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))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_goal)
+    (:source_task open_the_middle_drawer_of_the_cabinet)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets wooden_cabinet_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target wooden_cabinet_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.bddl b/bddl_files/06_object_shape/bddl/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..50790b7574c1b7bd1e7f939b08467ec2a7683742
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Open the top layer of the drawer and put the bowl inside)
+    (: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))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_goal)
+    (:source_task open_the_top_drawer_and_put_the_bowl_inside)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets wooden_cabinet_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_goal/push_the_plate_to_the_front_of_the_stove.bddl b/bddl_files/06_object_shape/bddl/libero_goal/push_the_plate_to_the_front_of_the_stove.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..dba173fc22231bcf4c1233e531ad1838e401aa64
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_goal/push_the_plate_to_the_front_of_the_stove.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Push the plate to the front of 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
+    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))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_goal)
+    (:source_task push_the_plate_to_the_front_of_the_stove)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object plate_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets flat_stove_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference plate_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target plate_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target plate_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_goal/put_the_bowl_on_the_plate.bddl b/bddl_files/06_object_shape/bddl/libero_goal/put_the_bowl_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..974545268e9f4a4ed647883cf7bca0122409cb7d
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_goal/put_the_bowl_on_the_plate.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put the bowl on 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))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_goal)
+    (:source_task put_the_bowl_on_the_plate)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_goal/put_the_bowl_on_the_stove.bddl b/bddl_files/06_object_shape/bddl/libero_goal/put_the_bowl_on_the_stove.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..d9bcdee1e84cd7fed3a4a00e0078c0bd799d5a3f
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_goal/put_the_bowl_on_the_stove.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put 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))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_goal)
+    (:source_task put_the_bowl_on_the_stove)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets flat_stove_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_goal/put_the_bowl_on_top_of_the_cabinet.bddl b/bddl_files/06_object_shape/bddl/libero_goal/put_the_bowl_on_top_of_the_cabinet.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..f97a67352e91a2bc98d801caf09e7b35cccfea61
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_goal/put_the_bowl_on_top_of_the_cabinet.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put the bowl on the top of the 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
+    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))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_goal)
+    (:source_task put_the_bowl_on_top_of_the_cabinet)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets wooden_cabinet_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_goal/put_the_cream_cheese_in_the_bowl.bddl b/bddl_files/06_object_shape/bddl/libero_goal/put_the_cream_cheese_in_the_bowl.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..d1962fc94e5815366c848abc0e1e0772dfbd2905
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_goal/put_the_cream_cheese_in_the_bowl.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put the cream cheese on 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))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_goal)
+    (:source_task put_the_cream_cheese_in_the_bowl)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object cream_cheese_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets akita_black_bowl_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference cream_cheese_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target cream_cheese_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target cream_cheese_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_goal/put_the_wine_bottle_on_the_rack.bddl b/bddl_files/06_object_shape/bddl/libero_goal/put_the_wine_bottle_on_the_rack.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..f63210cd740e2698aedce62121c8b0857906220e
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_goal/put_the_wine_bottle_on_the_rack.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put 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))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_goal)
+    (:source_task put_the_wine_bottle_on_the_rack)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object wine_bottle_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets wine_rack_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference wine_bottle_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target wine_bottle_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target wine_bottle_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.bddl b/bddl_files/06_object_shape/bddl/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..c19aafb7a80681343fad9a68ab09c30a14eb1b56
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put the wine bottle on the top of the 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
+    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))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_goal)
+    (:source_task put_the_wine_bottle_on_top_of_the_cabinet)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object wine_bottle_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets wooden_cabinet_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference wine_bottle_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target wine_bottle_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target wine_bottle_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_goal/turn_on_the_stove.bddl b/bddl_files/06_object_shape/bddl/libero_goal/turn_on_the_stove.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..cc266ceba845d74da3e4da2c9f7267c5c06cd754
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_goal/turn_on_the_stove.bddl
@@ -0,0 +1,202 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Turn 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))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_goal)
+    (:source_task turn_on_the_stove)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets flat_stove_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target flat_stove_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl b/bddl_files/06_object_shape/bddl/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..98fced95d24b20557373ff96076e43adc7bb5c74
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the alphabet soup and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    alphabet_soup_1 - alphabet_soup
+    basket_1 - basket
+    salad_dressing_1 - salad_dressing
+    cream_cheese_1 - cream_cheese
+    milk_1 - milk
+    tomato_sauce_1 - tomato_sauce
+    butter_1 - butter
+  )
+
+  (:obj_of_interest
+    alphabet_soup_1
+    basket_1
+  )
+
+  (:init
+    (On alphabet_soup_1 floor_target_object_region)
+    (On salad_dressing_1 floor_other_object_region_0)
+    (On cream_cheese_1 floor_other_object_region_1)
+    (On milk_1 floor_other_object_region_2)
+    (On tomato_sauce_1 floor_other_object_region_3)
+    (On butter_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In alphabet_soup_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_alphabet_soup_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object alphabet_soup_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference alphabet_soup_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target alphabet_soup_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target alphabet_soup_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl b/bddl_files/06_object_shape/bddl/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..c5aa1742eb54d1757a77a229c1166f01a5bc1986
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the bbq sauce and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    bbq_sauce_1 - bbq_sauce
+    basket_1 - basket
+    chocolate_pudding_1 - chocolate_pudding
+    ketchup_1 - ketchup
+    salad_dressing_1 - salad_dressing
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+  )
+
+  (:obj_of_interest
+    bbq_sauce_1
+    basket_1
+  )
+
+  (:init
+    (On bbq_sauce_1 floor_target_object_region)
+    (On chocolate_pudding_1 floor_other_object_region_0)
+    (On ketchup_1 floor_other_object_region_1)
+    (On salad_dressing_1 floor_other_object_region_2)
+    (On alphabet_soup_1 floor_other_object_region_3)
+    (On cream_cheese_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In bbq_sauce_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_bbq_sauce_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object bbq_sauce_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference bbq_sauce_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target bbq_sauce_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target bbq_sauce_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl b/bddl_files/06_object_shape/bddl/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..18973e43598cad0354decbb6ad92ef2d93b21a8e
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the butter and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    butter_1 - butter
+    basket_1 - basket
+    tomato_sauce_1 - tomato_sauce
+    orange_juice_1 - orange_juice
+    chocolate_pudding_1 - chocolate_pudding
+    bbq_sauce_1 - bbq_sauce
+    ketchup_1 - ketchup
+  )
+
+  (:obj_of_interest
+    butter_1
+    basket_1
+  )
+
+  (:init
+    (On butter_1 floor_target_object_region)
+    (On tomato_sauce_1 floor_other_object_region_0)
+    (On orange_juice_1 floor_other_object_region_1)
+    (On chocolate_pudding_1 floor_other_object_region_2)
+    (On bbq_sauce_1 floor_other_object_region_3)
+    (On ketchup_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In butter_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_butter_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object butter_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference butter_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target butter_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target butter_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl b/bddl_files/06_object_shape/bddl/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..006c952a65ab3c36435098d3b80ce92842190f5d
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the chocolate pudding and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    chocolate_pudding_1 - chocolate_pudding
+    basket_1 - basket
+    orange_juice_1 - orange_juice
+    bbq_sauce_1 - bbq_sauce
+    ketchup_1 - ketchup
+    salad_dressing_1 - salad_dressing
+    alphabet_soup_1 - alphabet_soup
+  )
+
+  (:obj_of_interest
+    chocolate_pudding_1
+    basket_1
+  )
+
+  (:init
+    (On chocolate_pudding_1 floor_target_object_region)
+    (On orange_juice_1 floor_other_object_region_0)
+    (On bbq_sauce_1 floor_other_object_region_1)
+    (On ketchup_1 floor_other_object_region_2)
+    (On salad_dressing_1 floor_other_object_region_3)
+    (On alphabet_soup_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In chocolate_pudding_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_chocolate_pudding_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object chocolate_pudding_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference chocolate_pudding_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target chocolate_pudding_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target chocolate_pudding_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl b/bddl_files/06_object_shape/bddl/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..39f82599b041d3b8538b5a90928754e58cc98da8
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the cream cheese and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    cream_cheese_1 - cream_cheese
+    basket_1 - basket
+    alphabet_soup_1 - alphabet_soup
+    milk_1 - milk
+    tomato_sauce_1 - tomato_sauce
+    butter_1 - butter
+    orange_juice_1 - orange_juice
+  )
+
+  (:obj_of_interest
+    cream_cheese_1
+    basket_1
+  )
+
+  (:init
+    (On cream_cheese_1 floor_target_object_region)
+    (On alphabet_soup_1 floor_other_object_region_0)
+    (On milk_1 floor_other_object_region_1)
+    (On tomato_sauce_1 floor_other_object_region_2)
+    (On butter_1 floor_other_object_region_3)
+    (On orange_juice_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In cream_cheese_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_cream_cheese_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object cream_cheese_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference cream_cheese_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target cream_cheese_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target cream_cheese_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl b/bddl_files/06_object_shape/bddl/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..02663c69463113d9d2bc466a6bd29645e76798cb
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the ketchup and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    ketchup_1 - ketchup
+    basket_1 - basket
+    bbq_sauce_1 - bbq_sauce
+    salad_dressing_1 - salad_dressing
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+    milk_1 - milk
+  )
+
+  (:obj_of_interest
+    ketchup_1
+    basket_1
+  )
+
+  (:init
+    (On ketchup_1 floor_target_object_region)
+    (On bbq_sauce_1 floor_other_object_region_0)
+    (On salad_dressing_1 floor_other_object_region_1)
+    (On alphabet_soup_1 floor_other_object_region_2)
+    (On cream_cheese_1 floor_other_object_region_3)
+    (On milk_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In ketchup_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_ketchup_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object ketchup_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference ketchup_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target ketchup_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target ketchup_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl b/bddl_files/06_object_shape/bddl/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..9b86fbdd17e13a53fd67c9b145a4762ccc036a28
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the milk and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    milk_1 - milk
+    basket_1 - basket
+    cream_cheese_1 - cream_cheese
+    tomato_sauce_1 - tomato_sauce
+    butter_1 - butter
+    orange_juice_1 - orange_juice
+    chocolate_pudding_1 - chocolate_pudding
+  )
+
+  (:obj_of_interest
+    milk_1
+    basket_1
+  )
+
+  (:init
+    (On milk_1 floor_target_object_region)
+    (On cream_cheese_1 floor_other_object_region_0)
+    (On tomato_sauce_1 floor_other_object_region_1)
+    (On butter_1 floor_other_object_region_2)
+    (On orange_juice_1 floor_other_object_region_3)
+    (On chocolate_pudding_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In milk_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_milk_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object milk_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference milk_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target milk_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target milk_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl b/bddl_files/06_object_shape/bddl/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..21439da611495f74b928ff0129759daca4ad9fe9
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the orange juice and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    orange_juice_1 - orange_juice
+    basket_1 - basket
+    butter_1 - butter
+    chocolate_pudding_1 - chocolate_pudding
+    bbq_sauce_1 - bbq_sauce
+    ketchup_1 - ketchup
+    salad_dressing_1 - salad_dressing
+  )
+
+  (:obj_of_interest
+    orange_juice_1
+    basket_1
+  )
+
+  (:init
+    (On orange_juice_1 floor_target_object_region)
+    (On butter_1 floor_other_object_region_0)
+    (On chocolate_pudding_1 floor_other_object_region_1)
+    (On bbq_sauce_1 floor_other_object_region_2)
+    (On ketchup_1 floor_other_object_region_3)
+    (On salad_dressing_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In orange_juice_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_orange_juice_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object orange_juice_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference orange_juice_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target orange_juice_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target orange_juice_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl b/bddl_files/06_object_shape/bddl/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..2e59e36eece1e8456ef2cd675f5983e9e6efbdfb
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the salad dressing and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    salad_dressing_1 - salad_dressing
+    basket_1 - basket
+    ketchup_1 - ketchup
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+    milk_1 - milk
+    tomato_sauce_1 - tomato_sauce
+  )
+
+  (:obj_of_interest
+    salad_dressing_1
+    basket_1
+  )
+
+  (:init
+    (On salad_dressing_1 floor_target_object_region)
+    (On ketchup_1 floor_other_object_region_0)
+    (On alphabet_soup_1 floor_other_object_region_1)
+    (On cream_cheese_1 floor_other_object_region_2)
+    (On milk_1 floor_other_object_region_3)
+    (On tomato_sauce_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In salad_dressing_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_salad_dressing_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object salad_dressing_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference salad_dressing_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target salad_dressing_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target salad_dressing_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl b/bddl_files/06_object_shape/bddl/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..054846c4936e216a194a6583e4f97345868b12fe
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the tomato sauce and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    tomato_sauce_1 - tomato_sauce
+    basket_1 - basket
+    milk_1 - milk
+    butter_1 - butter
+    orange_juice_1 - orange_juice
+    chocolate_pudding_1 - chocolate_pudding
+    bbq_sauce_1 - bbq_sauce
+  )
+
+  (:obj_of_interest
+    tomato_sauce_1
+    basket_1
+  )
+
+  (:init
+    (On tomato_sauce_1 floor_target_object_region)
+    (On milk_1 floor_other_object_region_0)
+    (On butter_1 floor_other_object_region_1)
+    (On orange_juice_1 floor_other_object_region_2)
+    (On chocolate_pudding_1 floor_other_object_region_3)
+    (On bbq_sauce_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In tomato_sauce_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_tomato_sauce_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object tomato_sauce_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference tomato_sauce_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target tomato_sauce_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target tomato_sauce_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl b/bddl_files/06_object_shape/bddl/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..e45849c889b8dd0279ecc31b6aac011ab6aebacf
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl between the plate and the ramekin and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_between_plate_ramekin_region)
+    (On akita_black_bowl_2 main_table_next_to_ramekin_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl b/bddl_files/06_object_shape/bddl/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..2a590c923c2f97dc4f19304fa6cbffbc7592a3fa
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl from table center and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_table_center)
+    (On akita_black_bowl_2 main_table_next_to_plate_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl b/bddl_files/06_object_shape/bddl/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..dbc96694985619ea145ce3a7050d5979f1928d6c
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl
@@ -0,0 +1,211 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl in the top layer of the wooden cabinet and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (In akita_black_bowl_1 wooden_cabinet_1_top_region)
+    (On akita_black_bowl_2 wooden_cabinet_1_top_side)
+    (Open wooden_cabinet_1_top_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl b/bddl_files/06_object_shape/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..bd2831644df6ff871c716a0cf3c277b1156e3cc4
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl next to the cookies box and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_next_to_box_region)
+    (On akita_black_bowl_2 flat_stove_1_cook_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl b/bddl_files/06_object_shape/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..77c1f1883ba12bfe34cbae95a475d786b6052216
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl next to the plate and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_next_to_plate_region)
+    (On akita_black_bowl_2 main_table_next_to_ramekin_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl b/bddl_files/06_object_shape/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..80c014d0a9a9aa6da2096707a2f9190ff99d5932
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl next to the ramekin and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_next_to_ramekin_region)
+    (On akita_black_bowl_2 main_table_next_to_box_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl b/bddl_files/06_object_shape/bddl/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..9918718032fcb88c2e1500fd6098fc7b9cba65ca
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl on the cookies box and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 cookies_1)
+    (On akita_black_bowl_2 wooden_cabinet_1_top_side)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl b/bddl_files/06_object_shape/bddl/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..6372835086d02f3bed41c5ed106a01cc6e2eaa8a
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl on the ramekin and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 glazed_rim_porcelain_ramekin_1)
+    (On akita_black_bowl_2 cookies_1)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl b/bddl_files/06_object_shape/bddl/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..b76f67ae00d6c8329918058f6889577a5d00ef4c
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl on the stove and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 flat_stove_1_cook_region)
+    (On akita_black_bowl_2 wooden_cabinet_1_top_side)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/06_object_shape/bddl/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl b/bddl_files/06_object_shape/bddl/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..63a260163056c88efdb7ca37703047c916921e29
--- /dev/null
+++ b/bddl_files/06_object_shape/bddl/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl on the wooden cabinet and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 wooden_cabinet_1_top_side)
+    (On akita_black_bowl_2 flat_stove_1_cook_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case object_shape)
+    (:category object_shape)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail scale_the_target_object_mesh_to_half_size)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled true)
+      (:mode mesh_scale)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 0.5 0.5 0.5)
+    )
+    (:initial_pose
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+      (:yaw 0.0)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..cdf397f242a277ef4b1cc09b073e241d1aebb871
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl
@@ -0,0 +1,143 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_10)
+    (:source_task KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object moka_pot_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets flat_stove_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference moka_pot_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target moka_pot_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target moka_pot_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..381fab8ba195fb70e5acbe09906d6d09bb9d64ee
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl
@@ -0,0 +1,169 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_10)
+    (:source_task KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets white_cabinet_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..9e3db453ef280e69a6cacc0cc7b69c9061734d64
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl
@@ -0,0 +1,158 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_10)
+    (:source_task KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object white_yellow_mug_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets microwave_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference white_yellow_mug_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target white_yellow_mug_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target white_yellow_mug_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..d2461ad947bbaa24fcc7bd045bb47b6662eb4771
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl
@@ -0,0 +1,144 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_10)
+    (:source_task KITCHEN_SCENE8_put_both_moka_pots_on_the_stove)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object moka_pot_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets flat_stove_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference moka_pot_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target moka_pot_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target moka_pot_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..aaebfb4fe1a11079320e6067f68b77a3caf75e22
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl
@@ -0,0 +1,170 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_10)
+    (:source_task LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object alphabet_soup_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.30 0.20 0.12 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference alphabet_soup_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target alphabet_soup_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target alphabet_soup_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..aeb446da73c9057465ee432f0d245be36c578a90
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl
@@ -0,0 +1,209 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_10)
+    (:source_task LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object alphabet_soup_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.30 0.20 0.12 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference alphabet_soup_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target alphabet_soup_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target alphabet_soup_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..806f5543bb4fc17af079780818eec22935100c55
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl
@@ -0,0 +1,209 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_10)
+    (:source_task LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object cream_cheese_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.30 0.20 0.12 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference cream_cheese_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target cream_cheese_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target cream_cheese_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..dd6a74ea8cde40b09822169a608a0e5c309b9b59
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_10/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 +1,167 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_10)
+    (:source_task LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object plate_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1 plate_2)
+      (:rgba 0.30 0.20 0.12 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference plate_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target plate_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target plate_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..9f85d32d33b2b5b56eb9681302fe90fc41cc7bf2
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl
@@ -0,0 +1,176 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_10)
+    (:source_task LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object plate_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.30 0.20 0.12 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference plate_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target plate_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target plate_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..fef1fca32b3302b408c88fa2ca1af1acd86df83f
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl
@@ -0,0 +1,163 @@
+(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_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))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_10)
+    (:source_task STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object black_book_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets desk_caddy_1)
+      (:rgba 0.50 0.36 0.20 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference black_book_1)
+      (:front_direction 1.0 0.0)
+      (:targets yellow_book_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target black_book_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target black_book_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_goal/open_the_middle_drawer_of_the_cabinet.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_goal/open_the_middle_drawer_of_the_cabinet.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..f03993102990d35bfd9804b9ef04a7565d9fd246
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_goal/open_the_middle_drawer_of_the_cabinet.bddl
@@ -0,0 +1,202 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Open the middle layer of the 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))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_goal)
+    (:source_task open_the_middle_drawer_of_the_cabinet)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets wooden_cabinet_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target wooden_cabinet_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target wooden_cabinet_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..39050ba64404c54731e4f657369692ebf4aa1ff7
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Open the top layer of the drawer and put the bowl inside)
+    (: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))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_goal)
+    (:source_task open_the_top_drawer_and_put_the_bowl_inside)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets wooden_cabinet_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_goal/push_the_plate_to_the_front_of_the_stove.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_goal/push_the_plate_to_the_front_of_the_stove.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..d48f321473874428ecf2b6bedfb441fafe021952
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_goal/push_the_plate_to_the_front_of_the_stove.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Push the plate to the front of 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
+    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))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_goal)
+    (:source_task push_the_plate_to_the_front_of_the_stove)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object plate_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets flat_stove_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference plate_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target plate_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target plate_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_goal/put_the_bowl_on_the_plate.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_goal/put_the_bowl_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..354d09e19949e0fcaebb8a4b16c2ba6f5bbdca7b
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_goal/put_the_bowl_on_the_plate.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put the bowl on 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))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_goal)
+    (:source_task put_the_bowl_on_the_plate)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_goal/put_the_bowl_on_the_stove.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_goal/put_the_bowl_on_the_stove.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..7033ef77698c7d7ebbde5416a7536ff18858a31b
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_goal/put_the_bowl_on_the_stove.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put 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))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_goal)
+    (:source_task put_the_bowl_on_the_stove)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets flat_stove_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_goal/put_the_bowl_on_top_of_the_cabinet.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_goal/put_the_bowl_on_top_of_the_cabinet.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..2e36e14b25791d58b208a23ca09c386eb2d79f8b
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_goal/put_the_bowl_on_top_of_the_cabinet.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put the bowl on the top of the 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
+    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))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_goal)
+    (:source_task put_the_bowl_on_top_of_the_cabinet)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets wooden_cabinet_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_goal/put_the_cream_cheese_in_the_bowl.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_goal/put_the_cream_cheese_in_the_bowl.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..049d6cfc2b04b3946b144471d44bf064ac843937
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_goal/put_the_cream_cheese_in_the_bowl.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put the cream cheese on 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))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_goal)
+    (:source_task put_the_cream_cheese_in_the_bowl)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object cream_cheese_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets akita_black_bowl_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference cream_cheese_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target cream_cheese_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target cream_cheese_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_goal/put_the_wine_bottle_on_the_rack.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_goal/put_the_wine_bottle_on_the_rack.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..b365abc5e8fdb644c0d7df897c7ff7d32678a6a5
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_goal/put_the_wine_bottle_on_the_rack.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put 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))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_goal)
+    (:source_task put_the_wine_bottle_on_the_rack)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object wine_bottle_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets wine_rack_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference wine_bottle_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target wine_bottle_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target wine_bottle_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..b0a0a93dd9e4808f016ce5b01dbc70a63b3e14fb
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.bddl
@@ -0,0 +1,203 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Put the wine bottle on the top of the 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
+    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))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_goal)
+    (:source_task put_the_wine_bottle_on_top_of_the_cabinet)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object wine_bottle_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets wooden_cabinet_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference wine_bottle_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target wine_bottle_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target wine_bottle_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_goal/turn_on_the_stove.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_goal/turn_on_the_stove.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..5d284e69d449baaecf76f872f2835cb4b3f69240
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_goal/turn_on_the_stove.bddl
@@ -0,0 +1,202 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Turn 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))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_goal)
+    (:source_task turn_on_the_stove)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets flat_stove_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target flat_stove_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target flat_stove_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..c3bf6e552e52a110df52abda0bc5e35dc4250d7c
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the alphabet soup and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    alphabet_soup_1 - alphabet_soup
+    basket_1 - basket
+    salad_dressing_1 - salad_dressing
+    cream_cheese_1 - cream_cheese
+    milk_1 - milk
+    tomato_sauce_1 - tomato_sauce
+    butter_1 - butter
+  )
+
+  (:obj_of_interest
+    alphabet_soup_1
+    basket_1
+  )
+
+  (:init
+    (On alphabet_soup_1 floor_target_object_region)
+    (On salad_dressing_1 floor_other_object_region_0)
+    (On cream_cheese_1 floor_other_object_region_1)
+    (On milk_1 floor_other_object_region_2)
+    (On tomato_sauce_1 floor_other_object_region_3)
+    (On butter_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In alphabet_soup_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_alphabet_soup_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object alphabet_soup_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference alphabet_soup_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target alphabet_soup_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target alphabet_soup_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..8b1296e94bb8400789f33c90925db7f1eeac813b
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the bbq sauce and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    bbq_sauce_1 - bbq_sauce
+    basket_1 - basket
+    chocolate_pudding_1 - chocolate_pudding
+    ketchup_1 - ketchup
+    salad_dressing_1 - salad_dressing
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+  )
+
+  (:obj_of_interest
+    bbq_sauce_1
+    basket_1
+  )
+
+  (:init
+    (On bbq_sauce_1 floor_target_object_region)
+    (On chocolate_pudding_1 floor_other_object_region_0)
+    (On ketchup_1 floor_other_object_region_1)
+    (On salad_dressing_1 floor_other_object_region_2)
+    (On alphabet_soup_1 floor_other_object_region_3)
+    (On cream_cheese_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In bbq_sauce_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_bbq_sauce_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object bbq_sauce_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference bbq_sauce_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target bbq_sauce_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target bbq_sauce_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..1e3c98adfdc23bda20a04e05119f15e731b956df
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the butter and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    butter_1 - butter
+    basket_1 - basket
+    tomato_sauce_1 - tomato_sauce
+    orange_juice_1 - orange_juice
+    chocolate_pudding_1 - chocolate_pudding
+    bbq_sauce_1 - bbq_sauce
+    ketchup_1 - ketchup
+  )
+
+  (:obj_of_interest
+    butter_1
+    basket_1
+  )
+
+  (:init
+    (On butter_1 floor_target_object_region)
+    (On tomato_sauce_1 floor_other_object_region_0)
+    (On orange_juice_1 floor_other_object_region_1)
+    (On chocolate_pudding_1 floor_other_object_region_2)
+    (On bbq_sauce_1 floor_other_object_region_3)
+    (On ketchup_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In butter_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_butter_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object butter_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference butter_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target butter_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target butter_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..e28e19ff866163b782b784643471d4c9ebe42a89
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the chocolate pudding and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    chocolate_pudding_1 - chocolate_pudding
+    basket_1 - basket
+    orange_juice_1 - orange_juice
+    bbq_sauce_1 - bbq_sauce
+    ketchup_1 - ketchup
+    salad_dressing_1 - salad_dressing
+    alphabet_soup_1 - alphabet_soup
+  )
+
+  (:obj_of_interest
+    chocolate_pudding_1
+    basket_1
+  )
+
+  (:init
+    (On chocolate_pudding_1 floor_target_object_region)
+    (On orange_juice_1 floor_other_object_region_0)
+    (On bbq_sauce_1 floor_other_object_region_1)
+    (On ketchup_1 floor_other_object_region_2)
+    (On salad_dressing_1 floor_other_object_region_3)
+    (On alphabet_soup_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In chocolate_pudding_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_chocolate_pudding_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object chocolate_pudding_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference chocolate_pudding_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target chocolate_pudding_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target chocolate_pudding_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..272f1339c54da6ce18bad8d4960e9e80e03bf87d
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the cream cheese and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    cream_cheese_1 - cream_cheese
+    basket_1 - basket
+    alphabet_soup_1 - alphabet_soup
+    milk_1 - milk
+    tomato_sauce_1 - tomato_sauce
+    butter_1 - butter
+    orange_juice_1 - orange_juice
+  )
+
+  (:obj_of_interest
+    cream_cheese_1
+    basket_1
+  )
+
+  (:init
+    (On cream_cheese_1 floor_target_object_region)
+    (On alphabet_soup_1 floor_other_object_region_0)
+    (On milk_1 floor_other_object_region_1)
+    (On tomato_sauce_1 floor_other_object_region_2)
+    (On butter_1 floor_other_object_region_3)
+    (On orange_juice_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In cream_cheese_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_cream_cheese_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object cream_cheese_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference cream_cheese_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target cream_cheese_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target cream_cheese_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..38eb07f14ac352eeba49a131bbc738bcd8ba01d0
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the ketchup and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    ketchup_1 - ketchup
+    basket_1 - basket
+    bbq_sauce_1 - bbq_sauce
+    salad_dressing_1 - salad_dressing
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+    milk_1 - milk
+  )
+
+  (:obj_of_interest
+    ketchup_1
+    basket_1
+  )
+
+  (:init
+    (On ketchup_1 floor_target_object_region)
+    (On bbq_sauce_1 floor_other_object_region_0)
+    (On salad_dressing_1 floor_other_object_region_1)
+    (On alphabet_soup_1 floor_other_object_region_2)
+    (On cream_cheese_1 floor_other_object_region_3)
+    (On milk_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In ketchup_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_ketchup_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object ketchup_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference ketchup_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target ketchup_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target ketchup_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..61cea6bd1d95fa0a35cc5c2bb011aebc86c16658
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the milk and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    milk_1 - milk
+    basket_1 - basket
+    cream_cheese_1 - cream_cheese
+    tomato_sauce_1 - tomato_sauce
+    butter_1 - butter
+    orange_juice_1 - orange_juice
+    chocolate_pudding_1 - chocolate_pudding
+  )
+
+  (:obj_of_interest
+    milk_1
+    basket_1
+  )
+
+  (:init
+    (On milk_1 floor_target_object_region)
+    (On cream_cheese_1 floor_other_object_region_0)
+    (On tomato_sauce_1 floor_other_object_region_1)
+    (On butter_1 floor_other_object_region_2)
+    (On orange_juice_1 floor_other_object_region_3)
+    (On chocolate_pudding_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In milk_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_milk_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object milk_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference milk_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target milk_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target milk_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..4c5aac40e398481b5cd4e62cebd2ea3b104ad0e8
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the orange juice and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    orange_juice_1 - orange_juice
+    basket_1 - basket
+    butter_1 - butter
+    chocolate_pudding_1 - chocolate_pudding
+    bbq_sauce_1 - bbq_sauce
+    ketchup_1 - ketchup
+    salad_dressing_1 - salad_dressing
+  )
+
+  (:obj_of_interest
+    orange_juice_1
+    basket_1
+  )
+
+  (:init
+    (On orange_juice_1 floor_target_object_region)
+    (On butter_1 floor_other_object_region_0)
+    (On chocolate_pudding_1 floor_other_object_region_1)
+    (On bbq_sauce_1 floor_other_object_region_2)
+    (On ketchup_1 floor_other_object_region_3)
+    (On salad_dressing_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In orange_juice_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_orange_juice_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object orange_juice_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference orange_juice_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target orange_juice_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target orange_juice_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..a2d1446c7eb8b649491b97f00e2f5b9e5e82776d
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the salad dressing and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    salad_dressing_1 - salad_dressing
+    basket_1 - basket
+    ketchup_1 - ketchup
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+    milk_1 - milk
+    tomato_sauce_1 - tomato_sauce
+  )
+
+  (:obj_of_interest
+    salad_dressing_1
+    basket_1
+  )
+
+  (:init
+    (On salad_dressing_1 floor_target_object_region)
+    (On ketchup_1 floor_other_object_region_0)
+    (On alphabet_soup_1 floor_other_object_region_1)
+    (On cream_cheese_1 floor_other_object_region_2)
+    (On milk_1 floor_other_object_region_3)
+    (On tomato_sauce_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In salad_dressing_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_salad_dressing_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object salad_dressing_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference salad_dressing_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target salad_dressing_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target salad_dressing_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..f111c09744057137ec9a0631b624590879e1c177
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl
@@ -0,0 +1,167 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the tomato sauce and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    tomato_sauce_1 - tomato_sauce
+    basket_1 - basket
+    milk_1 - milk
+    butter_1 - butter
+    orange_juice_1 - orange_juice
+    chocolate_pudding_1 - chocolate_pudding
+    bbq_sauce_1 - bbq_sauce
+  )
+
+  (:obj_of_interest
+    tomato_sauce_1
+    basket_1
+  )
+
+  (:init
+    (On tomato_sauce_1 floor_target_object_region)
+    (On milk_1 floor_other_object_region_0)
+    (On butter_1 floor_other_object_region_1)
+    (On orange_juice_1 floor_other_object_region_2)
+    (On chocolate_pudding_1 floor_other_object_region_3)
+    (On bbq_sauce_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In tomato_sauce_1 basket_1_contain_region))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_object)
+    (:source_task pick_up_the_tomato_sauce_and_place_it_in_the_basket)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object tomato_sauce_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets basket_1)
+      (:rgba 0.35 0.34 0.32 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference tomato_sauce_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target tomato_sauce_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target tomato_sauce_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..2eff38597f73497aa2b845444eaa2b587916aa52
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl between the plate and the ramekin and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_between_plate_ramekin_region)
+    (On akita_black_bowl_2 main_table_next_to_ramekin_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..cfb3a2f55a58c0a04d29a4a7d6f540645237ae17
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl from table center and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_table_center)
+    (On akita_black_bowl_2 main_table_next_to_plate_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..5321f1c33f31af0cd9ca164e3c0f2b98d7c7de6a
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl
@@ -0,0 +1,211 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl in the top layer of the wooden cabinet and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (In akita_black_bowl_1 wooden_cabinet_1_top_region)
+    (On akita_black_bowl_2 wooden_cabinet_1_top_side)
+    (Open wooden_cabinet_1_top_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..485d322d5b22e1c6c3c60f2969d9d525e6502458
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl next to the cookies box and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_next_to_box_region)
+    (On akita_black_bowl_2 flat_stove_1_cook_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..fe5ef00a62670f08d823002ba60cad0fa00d5243
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl next to the plate and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_next_to_plate_region)
+    (On akita_black_bowl_2 main_table_next_to_ramekin_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..1ed23a0a837cedd81e39e1bafb9ceab4b7b921ca
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl next to the ramekin and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_next_to_ramekin_region)
+    (On akita_black_bowl_2 main_table_next_to_box_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..0a3ba17dcc822d5befbeaebd2efcf28551257746
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl on the cookies box and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 cookies_1)
+    (On akita_black_bowl_2 wooden_cabinet_1_top_side)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..d5a1f363ec4d4b75ff8caeb0101329e25f93d310
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl on the ramekin and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 glazed_rim_porcelain_ramekin_1)
+    (On akita_black_bowl_2 cookies_1)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..ce5b9a3e8ccd3f4b45d1db276f66415b2071ab7d
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl on the stove and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 flat_stove_1_cook_region)
+    (On akita_black_bowl_2 wooden_cabinet_1_top_side)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
diff --git a/bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl b/bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl
new file mode 100644
index 0000000000000000000000000000000000000000..1e8c7385e37a852e1f1056690e6c7b80f88c6ed0
--- /dev/null
+++ b/bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl
@@ -0,0 +1,210 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl on the wooden cabinet and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (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)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 wooden_cabinet_1_top_side)
+    (On akita_black_bowl_2 flat_stove_1_cook_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+  (:perturbation_config
+    (:case initial_pose_position_angle)
+    (:category initial_pose_position_angle)
+    (:source_suite libero_spatial)
+    (:source_task pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate)
+    (:bddl_only true)
+    (:detail shift_the_initial_position_and_yaw_of_the_target_object)
+    (:lighting
+      (:enabled false)
+      (:mode none)
+      (:ambient 1.0)
+      (:diffuse 1.0)
+      (:specular 1.0)
+    )
+    (:observation
+      (:enabled false)
+      (:mode none)
+      (:brightness 1.0)
+      (:sigma 0.0)
+    )
+    (:camera
+      (:enabled false)
+      (:mode none)
+      (:name agentview)
+      (:pos 0.0 0.0 0.0)
+      (:quat 1.0 0.0 0.0 0.0)
+    )
+    (:runtime_move
+      (:enabled false)
+      (:mode none)
+      (:object akita_black_bowl_1)
+      (:step 0)
+      (:delta_xy 0.0 0.0)
+      (:min_delta_norm 0.0)
+    )
+    (:object_appearance
+      (:enabled false)
+      (:mode none)
+      (:targets plate_1)
+      (:rgba 0.72 0.63 0.50 1.0)
+      (:override_material_rgba false)
+      (:disable_material_texture false)
+      (:apply_visible_geom_rgba false)
+    )
+    (:object_placement
+      (:enabled false)
+      (:mode none)
+      (:reference akita_black_bowl_1)
+      (:front_direction 1.0 0.0)
+      (:targets black_book_occluder_1)
+      (:offsets_xy (
+        (0.0 0.0)
+      ))
+      (:target_quat 1.0 0.0 0.0 0.0)
+      (:z_offset 0.0)
+      (:mesh_scale 1.0 1.0 1.0)
+      (:min_reference_distance 0.0)
+      (:pin_targets false)
+    )
+    (:object_shape
+      (:enabled false)
+      (:mode none)
+      (:target akita_black_bowl_1)
+      (:mesh_scale 1.0 1.0 1.0)
+    )
+    (:initial_pose
+      (:enabled true)
+      (:mode delta_xy_yaw)
+      (:target akita_black_bowl_1)
+      (:delta_xy 0.17 -0.06)
+      (:min_delta_norm 0.18)
+      (:yaw 0.7853981633974483)
+    )
+  )
+
+)
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diff --git a/metadata/bddl_40task_7perturbation_manifest.json b/metadata/bddl_40task_7perturbation_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..565d1bcede77ddea40b699cef6be2dac080f7775
--- /dev/null
+++ b/metadata/bddl_40task_7perturbation_manifest.json
@@ -0,0 +1,8036 @@
+{
+    "source_bddl_root":  "bddl_files/00_original/bddl",
+    "demo_root":  ".",
+    "categories":  {
+                       "01_visual_noise_glare":  {
+                                                     "folder":  "01_visual_noise_glare",
+                                                     "suites":  {
+                                                                    "libero_spatial":  [
+                                                                                           {
+                                                                                               "task":  "pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate",
+                                                                                               "path":  "bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl",
+                                                                                               "target":  "akita_black_bowl_1",
+                                                                                               "appearance_targets":  "plate_1",
+                                                                                               "appearance_rgba":  [
+                                                                                                                       0.72,
+                                                                                                                       0.63,
+                                                                                                                       0.5,
+                                                                                                                       1.0
+                                                                                                                   ],
+                                                                                               "occlusion_reference":  "akita_black_bowl_1",
+                                                                                               "occlusion_between_object":  "plate_1",
+                                                                                               "occlusion_avoid_target":  "plate_1",
+                                                                                               "runtime_target":  "akita_black_bowl_1",
+                                                                                               "pose_target":  "akita_black_bowl_1",
+                                                                                               "occluders":  "black_book_occluder_1",
+                                                                                               "occluder_type":  "black_book",
+                                                                                               "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                               "occlusion_offset_xy":  [
+                                                                                                                           0.08,
+                                                                                                                           0.0
+                                                                                                                       ],
+                                                                                               "critical_objects":  [
+                                                                                                                        "akita_black_bowl_1",
+                                                                                                                        "plate_1"
+                                                                                                                    ],
+                                                                                               "removed_duplicate_objects":  null
+                                                                                           },
+                                                                                           {
+                                                                                               "task":  "pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate",
+                                                                                               "path":  "bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl",
+                                                                                               "target":  "akita_black_bowl_1",
+                                                                                               "appearance_targets":  "plate_1",
+                                                                                               "appearance_rgba":  [
+                                                                                                                       0.72,
+                                                                                                                       0.63,
+                                                                                                                       0.5,
+                                                                                                                       1.0
+                                                                                                                   ],
+                                                                                               "occlusion_reference":  "akita_black_bowl_1",
+                                                                                               "occlusion_between_object":  "plate_1",
+                                                                                               "occlusion_avoid_target":  "plate_1",
+                                                                                               "runtime_target":  "akita_black_bowl_1",
+                                                                                               "pose_target":  "akita_black_bowl_1",
+                                                                                               "occluders":  "black_book_occluder_1",
+                                                                                               "occluder_type":  "black_book",
+                                                                                               "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                               "occlusion_offset_xy":  [
+                                                                                                                           0.08,
+                                                                                                                           0.0
+                                                                                                                       ],
+                                                                                               "critical_objects":  [
+                                                                                                                        "akita_black_bowl_1",
+                                                                                                                        "plate_1"
+                                                                                                                    ],
+                                                                                               "removed_duplicate_objects":  null
+                                                                                           },
+                                                                                           {
+                                                                                               "task":  "pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate",
+                                                                                               "path":  "bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl",
+                                                                                               "target":  "akita_black_bowl_1",
+                                                                                               "appearance_targets":  "plate_1",
+                                                                                               "appearance_rgba":  [
+                                                                                                                       0.72,
+                                                                                                                       0.63,
+                                                                                                                       0.5,
+                                                                                                                       1.0
+                                                                                                                   ],
+                                                                                               "occlusion_reference":  "akita_black_bowl_1",
+                                                                                               "occlusion_between_object":  "plate_1",
+                                                                                               "occlusion_avoid_target":  "plate_1",
+                                                                                               "runtime_target":  "akita_black_bowl_1",
+                                                                                               "pose_target":  "akita_black_bowl_1",
+                                                                                               "occluders":  "black_book_occluder_1",
+                                                                                               "occluder_type":  "black_book",
+                                                                                               "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                               "occlusion_offset_xy":  [
+                                                                                                                           0.08,
+                                                                                                                           0.0
+                                                                                                                       ],
+                                                                                               "critical_objects":  [
+                                                                                                                        "akita_black_bowl_1",
+                                                                                                                        "plate_1"
+                                                                                                                    ],
+                                                                                               "removed_duplicate_objects":  null
+                                                                                           },
+                                                                                           {
+                                                                                               "task":  "pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate",
+                                                                                               "path":  "bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl",
+                                                                                               "target":  "akita_black_bowl_1",
+                                                                                               "appearance_targets":  "plate_1",
+                                                                                               "appearance_rgba":  [
+                                                                                                                       0.72,
+                                                                                                                       0.63,
+                                                                                                                       0.5,
+                                                                                                                       1.0
+                                                                                                                   ],
+                                                                                               "occlusion_reference":  "akita_black_bowl_1",
+                                                                                               "occlusion_between_object":  "plate_1",
+                                                                                               "occlusion_avoid_target":  "plate_1",
+                                                                                               "runtime_target":  "akita_black_bowl_1",
+                                                                                               "pose_target":  "akita_black_bowl_1",
+                                                                                               "occluders":  "black_book_occluder_1",
+                                                                                               "occluder_type":  "black_book",
+                                                                                               "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                               "occlusion_offset_xy":  [
+                                                                                                                           0.08,
+                                                                                                                           0.0
+                                                                                                                       ],
+                                                                                               "critical_objects":  [
+                                                                                                                        "akita_black_bowl_1",
+                                                                                                                        "plate_1"
+                                                                                                                    ],
+                                                                                               "removed_duplicate_objects":  null
+                                                                                           },
+                                                                                           {
+                                                                                               "task":  "pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate",
+                                                                                               "path":  "bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl",
+                                                                                               "target":  "akita_black_bowl_1",
+                                                                                               "appearance_targets":  "plate_1",
+                                                                                               "appearance_rgba":  [
+                                                                                                                       0.72,
+                                                                                                                       0.63,
+                                                                                                                       0.5,
+                                                                                                                       1.0
+                                                                                                                   ],
+                                                                                               "occlusion_reference":  "akita_black_bowl_1",
+                                                                                               "occlusion_between_object":  "plate_1",
+                                                                                               "occlusion_avoid_target":  "plate_1",
+                                                                                               "runtime_target":  "akita_black_bowl_1",
+                                                                                               "pose_target":  "akita_black_bowl_1",
+                                                                                               "occluders":  "black_book_occluder_1",
+                                                                                               "occluder_type":  "black_book",
+                                                                                               "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                               "occlusion_offset_xy":  [
+                                                                                                                           0.08,
+                                                                                                                           0.0
+                                                                                                                       ],
+                                                                                               "critical_objects":  [
+                                                                                                                        "akita_black_bowl_1",
+                                                                                                                        "plate_1"
+                                                                                                                    ],
+                                                                                               "removed_duplicate_objects":  null
+                                                                                           },
+                                                                                           {
+                                                                                               "task":  "pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate",
+                                                                                               "path":  "bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl",
+                                                                                               "target":  "akita_black_bowl_1",
+                                                                                               "appearance_targets":  "plate_1",
+                                                                                               "appearance_rgba":  [
+                                                                                                                       0.72,
+                                                                                                                       0.63,
+                                                                                                                       0.5,
+                                                                                                                       1.0
+                                                                                                                   ],
+                                                                                               "occlusion_reference":  "akita_black_bowl_1",
+                                                                                               "occlusion_between_object":  "plate_1",
+                                                                                               "occlusion_avoid_target":  "plate_1",
+                                                                                               "runtime_target":  "akita_black_bowl_1",
+                                                                                               "pose_target":  "akita_black_bowl_1",
+                                                                                               "occluders":  "black_book_occluder_1",
+                                                                                               "occluder_type":  "black_book",
+                                                                                               "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                               "occlusion_offset_xy":  [
+                                                                                                                           0.08,
+                                                                                                                           0.0
+                                                                                                                       ],
+                                                                                               "critical_objects":  [
+                                                                                                                        "akita_black_bowl_1",
+                                                                                                                        "plate_1"
+                                                                                                                    ],
+                                                                                               "removed_duplicate_objects":  null
+                                                                                           },
+                                                                                           {
+                                                                                               "task":  "pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate",
+                                                                                               "path":  "bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl",
+                                                                                               "target":  "akita_black_bowl_1",
+                                                                                               "appearance_targets":  "plate_1",
+                                                                                               "appearance_rgba":  [
+                                                                                                                       0.72,
+                                                                                                                       0.63,
+                                                                                                                       0.5,
+                                                                                                                       1.0
+                                                                                                                   ],
+                                                                                               "occlusion_reference":  "akita_black_bowl_1",
+                                                                                               "occlusion_between_object":  "plate_1",
+                                                                                               "occlusion_avoid_target":  "plate_1",
+                                                                                               "runtime_target":  "akita_black_bowl_1",
+                                                                                               "pose_target":  "akita_black_bowl_1",
+                                                                                               "occluders":  "black_book_occluder_1",
+                                                                                               "occluder_type":  "black_book",
+                                                                                               "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                               "occlusion_offset_xy":  [
+                                                                                                                           0.08,
+                                                                                                                           0.0
+                                                                                                                       ],
+                                                                                               "critical_objects":  [
+                                                                                                                        "akita_black_bowl_1",
+                                                                                                                        "plate_1"
+                                                                                                                    ],
+                                                                                               "removed_duplicate_objects":  null
+                                                                                           },
+                                                                                           {
+                                                                                               "task":  "pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate",
+                                                                                               "path":  "bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl",
+                                                                                               "target":  "akita_black_bowl_1",
+                                                                                               "appearance_targets":  "plate_1",
+                                                                                               "appearance_rgba":  [
+                                                                                                                       0.72,
+                                                                                                                       0.63,
+                                                                                                                       0.5,
+                                                                                                                       1.0
+                                                                                                                   ],
+                                                                                               "occlusion_reference":  "akita_black_bowl_1",
+                                                                                               "occlusion_between_object":  "plate_1",
+                                                                                               "occlusion_avoid_target":  "plate_1",
+                                                                                               "runtime_target":  "akita_black_bowl_1",
+                                                                                               "pose_target":  "akita_black_bowl_1",
+                                                                                               "occluders":  "black_book_occluder_1",
+                                                                                               "occluder_type":  "black_book",
+                                                                                               "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                               "occlusion_offset_xy":  [
+                                                                                                                           0.08,
+                                                                                                                           0.0
+                                                                                                                       ],
+                                                                                               "critical_objects":  [
+                                                                                                                        "akita_black_bowl_1",
+                                                                                                                        "plate_1"
+                                                                                                                    ],
+                                                                                               "removed_duplicate_objects":  null
+                                                                                           },
+                                                                                           {
+                                                                                               "task":  "pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate",
+                                                                                               "path":  "bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl",
+                                                                                               "target":  "akita_black_bowl_1",
+                                                                                               "appearance_targets":  "plate_1",
+                                                                                               "appearance_rgba":  [
+                                                                                                                       0.72,
+                                                                                                                       0.63,
+                                                                                                                       0.5,
+                                                                                                                       1.0
+                                                                                                                   ],
+                                                                                               "occlusion_reference":  "akita_black_bowl_1",
+                                                                                               "occlusion_between_object":  "plate_1",
+                                                                                               "occlusion_avoid_target":  "plate_1",
+                                                                                               "runtime_target":  "akita_black_bowl_1",
+                                                                                               "pose_target":  "akita_black_bowl_1",
+                                                                                               "occluders":  "black_book_occluder_1",
+                                                                                               "occluder_type":  "black_book",
+                                                                                               "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                               "occlusion_offset_xy":  [
+                                                                                                                           0.08,
+                                                                                                                           0.0
+                                                                                                                       ],
+                                                                                               "critical_objects":  [
+                                                                                                                        "akita_black_bowl_1",
+                                                                                                                        "plate_1"
+                                                                                                                    ],
+                                                                                               "removed_duplicate_objects":  null
+                                                                                           },
+                                                                                           {
+                                                                                               "task":  "pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate",
+                                                                                               "path":  "bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl",
+                                                                                               "target":  "akita_black_bowl_1",
+                                                                                               "appearance_targets":  "plate_1",
+                                                                                               "appearance_rgba":  [
+                                                                                                                       0.72,
+                                                                                                                       0.63,
+                                                                                                                       0.5,
+                                                                                                                       1.0
+                                                                                                                   ],
+                                                                                               "occlusion_reference":  "akita_black_bowl_1",
+                                                                                               "occlusion_between_object":  "plate_1",
+                                                                                               "occlusion_avoid_target":  "plate_1",
+                                                                                               "runtime_target":  "akita_black_bowl_1",
+                                                                                               "pose_target":  "akita_black_bowl_1",
+                                                                                               "occluders":  "black_book_occluder_1",
+                                                                                               "occluder_type":  "black_book",
+                                                                                               "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                               "occlusion_offset_xy":  [
+                                                                                                                           0.08,
+                                                                                                                           0.0
+                                                                                                                       ],
+                                                                                               "critical_objects":  [
+                                                                                                                        "akita_black_bowl_1",
+                                                                                                                        "plate_1"
+                                                                                                                    ],
+                                                                                               "removed_duplicate_objects":  null
+                                                                                           }
+                                                                                       ],
+                                                                    "libero_object":  [
+                                                                                          {
+                                                                                              "task":  "pick_up_the_alphabet_soup_and_place_it_in_the_basket",
+                                                                                              "path":  "bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl",
+                                                                                              "target":  "alphabet_soup_1",
+                                                                                              "appearance_targets":  "basket_1",
+                                                                                              "appearance_rgba":  [
+                                                                                                                      0.35,
+                                                                                                                      0.34,
+                                                                                                                      0.32,
+                                                                                                                      1.0
+                                                                                                                  ],
+                                                                                              "occlusion_reference":  "alphabet_soup_1",
+                                                                                              "occlusion_between_object":  "",
+                                                                                              "occlusion_avoid_target":  "basket_1",
+                                                                                              "runtime_target":  "alphabet_soup_1",
+                                                                                              "pose_target":  "alphabet_soup_1",
+                                                                                              "occluders":  "black_book_occluder_1",
+                                                                                              "occluder_type":  "black_book",
+                                                                                              "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                              "occlusion_offset_xy":  [
+                                                                                                                          0.08,
+                                                                                                                          0.0
+                                                                                                                      ],
+                                                                                              "critical_objects":  [
+                                                                                                                       "alphabet_soup_1",
+                                                                                                                       "basket_1"
+                                                                                                                   ],
+                                                                                              "removed_duplicate_objects":  null
+                                                                                          },
+                                                                                          {
+                                                                                              "task":  "pick_up_the_bbq_sauce_and_place_it_in_the_basket",
+                                                                                              "path":  "bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl",
+                                                                                              "target":  "bbq_sauce_1",
+                                                                                              "appearance_targets":  "basket_1",
+                                                                                              "appearance_rgba":  [
+                                                                                                                      0.35,
+                                                                                                                      0.34,
+                                                                                                                      0.32,
+                                                                                                                      1.0
+                                                                                                                  ],
+                                                                                              "occlusion_reference":  "bbq_sauce_1",
+                                                                                              "occlusion_between_object":  "",
+                                                                                              "occlusion_avoid_target":  "basket_1",
+                                                                                              "runtime_target":  "bbq_sauce_1",
+                                                                                              "pose_target":  "bbq_sauce_1",
+                                                                                              "occluders":  "black_book_occluder_1",
+                                                                                              "occluder_type":  "black_book",
+                                                                                              "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                              "occlusion_offset_xy":  [
+                                                                                                                          0.08,
+                                                                                                                          0.0
+                                                                                                                      ],
+                                                                                              "critical_objects":  [
+                                                                                                                       "basket_1",
+                                                                                                                       "bbq_sauce_1"
+                                                                                                                   ],
+                                                                                              "removed_duplicate_objects":  null
+                                                                                          },
+                                                                                          {
+                                                                                              "task":  "pick_up_the_butter_and_place_it_in_the_basket",
+                                                                                              "path":  "bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl",
+                                                                                              "target":  "butter_1",
+                                                                                              "appearance_targets":  "basket_1",
+                                                                                              "appearance_rgba":  [
+                                                                                                                      0.35,
+                                                                                                                      0.34,
+                                                                                                                      0.32,
+                                                                                                                      1.0
+                                                                                                                  ],
+                                                                                              "occlusion_reference":  "butter_1",
+                                                                                              "occlusion_between_object":  "",
+                                                                                              "occlusion_avoid_target":  "basket_1",
+                                                                                              "runtime_target":  "butter_1",
+                                                                                              "pose_target":  "butter_1",
+                                                                                              "occluders":  "black_book_occluder_1",
+                                                                                              "occluder_type":  "black_book",
+                                                                                              "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                              "occlusion_offset_xy":  [
+                                                                                                                          0.08,
+                                                                                                                          0.0
+                                                                                                                      ],
+                                                                                              "critical_objects":  [
+                                                                                                                       "basket_1",
+                                                                                                                       "butter_1"
+                                                                                                                   ],
+                                                                                              "removed_duplicate_objects":  null
+                                                                                          },
+                                                                                          {
+                                                                                              "task":  "pick_up_the_chocolate_pudding_and_place_it_in_the_basket",
+                                                                                              "path":  "bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl",
+                                                                                              "target":  "chocolate_pudding_1",
+                                                                                              "appearance_targets":  "basket_1",
+                                                                                              "appearance_rgba":  [
+                                                                                                                      0.35,
+                                                                                                                      0.34,
+                                                                                                                      0.32,
+                                                                                                                      1.0
+                                                                                                                  ],
+                                                                                              "occlusion_reference":  "chocolate_pudding_1",
+                                                                                              "occlusion_between_object":  "",
+                                                                                              "occlusion_avoid_target":  "basket_1",
+                                                                                              "runtime_target":  "chocolate_pudding_1",
+                                                                                              "pose_target":  "chocolate_pudding_1",
+                                                                                              "occluders":  "black_book_occluder_1",
+                                                                                              "occluder_type":  "black_book",
+                                                                                              "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                              "occlusion_offset_xy":  [
+                                                                                                                          0.08,
+                                                                                                                          0.0
+                                                                                                                      ],
+                                                                                              "critical_objects":  [
+                                                                                                                       "basket_1",
+                                                                                                                       "chocolate_pudding_1"
+                                                                                                                   ],
+                                                                                              "removed_duplicate_objects":  null
+                                                                                          },
+                                                                                          {
+                                                                                              "task":  "pick_up_the_cream_cheese_and_place_it_in_the_basket",
+                                                                                              "path":  "bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl",
+                                                                                              "target":  "cream_cheese_1",
+                                                                                              "appearance_targets":  "basket_1",
+                                                                                              "appearance_rgba":  [
+                                                                                                                      0.35,
+                                                                                                                      0.34,
+                                                                                                                      0.32,
+                                                                                                                      1.0
+                                                                                                                  ],
+                                                                                              "occlusion_reference":  "cream_cheese_1",
+                                                                                              "occlusion_between_object":  "",
+                                                                                              "occlusion_avoid_target":  "basket_1",
+                                                                                              "runtime_target":  "cream_cheese_1",
+                                                                                              "pose_target":  "cream_cheese_1",
+                                                                                              "occluders":  "black_book_occluder_1",
+                                                                                              "occluder_type":  "black_book",
+                                                                                              "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                              "occlusion_offset_xy":  [
+                                                                                                                          0.08,
+                                                                                                                          0.0
+                                                                                                                      ],
+                                                                                              "critical_objects":  [
+                                                                                                                       "basket_1",
+                                                                                                                       "cream_cheese_1"
+                                                                                                                   ],
+                                                                                              "removed_duplicate_objects":  null
+                                                                                          },
+                                                                                          {
+                                                                                              "task":  "pick_up_the_ketchup_and_place_it_in_the_basket",
+                                                                                              "path":  "bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl",
+                                                                                              "target":  "ketchup_1",
+                                                                                              "appearance_targets":  "basket_1",
+                                                                                              "appearance_rgba":  [
+                                                                                                                      0.35,
+                                                                                                                      0.34,
+                                                                                                                      0.32,
+                                                                                                                      1.0
+                                                                                                                  ],
+                                                                                              "occlusion_reference":  "ketchup_1",
+                                                                                              "occlusion_between_object":  "",
+                                                                                              "occlusion_avoid_target":  "basket_1",
+                                                                                              "runtime_target":  "ketchup_1",
+                                                                                              "pose_target":  "ketchup_1",
+                                                                                              "occluders":  "black_book_occluder_1",
+                                                                                              "occluder_type":  "black_book",
+                                                                                              "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                              "occlusion_offset_xy":  [
+                                                                                                                          0.08,
+                                                                                                                          0.0
+                                                                                                                      ],
+                                                                                              "critical_objects":  [
+                                                                                                                       "basket_1",
+                                                                                                                       "ketchup_1"
+                                                                                                                   ],
+                                                                                              "removed_duplicate_objects":  null
+                                                                                          },
+                                                                                          {
+                                                                                              "task":  "pick_up_the_milk_and_place_it_in_the_basket",
+                                                                                              "path":  "bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl",
+                                                                                              "target":  "milk_1",
+                                                                                              "appearance_targets":  "basket_1",
+                                                                                              "appearance_rgba":  [
+                                                                                                                      0.35,
+                                                                                                                      0.34,
+                                                                                                                      0.32,
+                                                                                                                      1.0
+                                                                                                                  ],
+                                                                                              "occlusion_reference":  "milk_1",
+                                                                                              "occlusion_between_object":  "",
+                                                                                              "occlusion_avoid_target":  "basket_1",
+                                                                                              "runtime_target":  "milk_1",
+                                                                                              "pose_target":  "milk_1",
+                                                                                              "occluders":  "black_book_occluder_1",
+                                                                                              "occluder_type":  "black_book",
+                                                                                              "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                              "occlusion_offset_xy":  [
+                                                                                                                          0.08,
+                                                                                                                          0.0
+                                                                                                                      ],
+                                                                                              "critical_objects":  [
+                                                                                                                       "basket_1",
+                                                                                                                       "milk_1"
+                                                                                                                   ],
+                                                                                              "removed_duplicate_objects":  null
+                                                                                          },
+                                                                                          {
+                                                                                              "task":  "pick_up_the_orange_juice_and_place_it_in_the_basket",
+                                                                                              "path":  "bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl",
+                                                                                              "target":  "orange_juice_1",
+                                                                                              "appearance_targets":  "basket_1",
+                                                                                              "appearance_rgba":  [
+                                                                                                                      0.35,
+                                                                                                                      0.34,
+                                                                                                                      0.32,
+                                                                                                                      1.0
+                                                                                                                  ],
+                                                                                              "occlusion_reference":  "orange_juice_1",
+                                                                                              "occlusion_between_object":  "",
+                                                                                              "occlusion_avoid_target":  "basket_1",
+                                                                                              "runtime_target":  "orange_juice_1",
+                                                                                              "pose_target":  "orange_juice_1",
+                                                                                              "occluders":  "black_book_occluder_1",
+                                                                                              "occluder_type":  "black_book",
+                                                                                              "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                              "occlusion_offset_xy":  [
+                                                                                                                          0.08,
+                                                                                                                          0.0
+                                                                                                                      ],
+                                                                                              "critical_objects":  [
+                                                                                                                       "basket_1",
+                                                                                                                       "orange_juice_1"
+                                                                                                                   ],
+                                                                                              "removed_duplicate_objects":  null
+                                                                                          },
+                                                                                          {
+                                                                                              "task":  "pick_up_the_salad_dressing_and_place_it_in_the_basket",
+                                                                                              "path":  "bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl",
+                                                                                              "target":  "salad_dressing_1",
+                                                                                              "appearance_targets":  "basket_1",
+                                                                                              "appearance_rgba":  [
+                                                                                                                      0.35,
+                                                                                                                      0.34,
+                                                                                                                      0.32,
+                                                                                                                      1.0
+                                                                                                                  ],
+                                                                                              "occlusion_reference":  "salad_dressing_1",
+                                                                                              "occlusion_between_object":  "",
+                                                                                              "occlusion_avoid_target":  "basket_1",
+                                                                                              "runtime_target":  "salad_dressing_1",
+                                                                                              "pose_target":  "salad_dressing_1",
+                                                                                              "occluders":  "black_book_occluder_1",
+                                                                                              "occluder_type":  "black_book",
+                                                                                              "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                              "occlusion_offset_xy":  [
+                                                                                                                          0.08,
+                                                                                                                          0.0
+                                                                                                                      ],
+                                                                                              "critical_objects":  [
+                                                                                                                       "basket_1",
+                                                                                                                       "salad_dressing_1"
+                                                                                                                   ],
+                                                                                              "removed_duplicate_objects":  null
+                                                                                          },
+                                                                                          {
+                                                                                              "task":  "pick_up_the_tomato_sauce_and_place_it_in_the_basket",
+                                                                                              "path":  "bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl",
+                                                                                              "target":  "tomato_sauce_1",
+                                                                                              "appearance_targets":  "basket_1",
+                                                                                              "appearance_rgba":  [
+                                                                                                                      0.35,
+                                                                                                                      0.34,
+                                                                                                                      0.32,
+                                                                                                                      1.0
+                                                                                                                  ],
+                                                                                              "occlusion_reference":  "tomato_sauce_1",
+                                                                                              "occlusion_between_object":  "",
+                                                                                              "occlusion_avoid_target":  "basket_1",
+                                                                                              "runtime_target":  "tomato_sauce_1",
+                                                                                              "pose_target":  "tomato_sauce_1",
+                                                                                              "occluders":  "black_book_occluder_1",
+                                                                                              "occluder_type":  "black_book",
+                                                                                              "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                              "occlusion_offset_xy":  [
+                                                                                                                          0.08,
+                                                                                                                          0.0
+                                                                                                                      ],
+                                                                                              "critical_objects":  [
+                                                                                                                       "basket_1",
+                                                                                                                       "tomato_sauce_1"
+                                                                                                                   ],
+                                                                                              "removed_duplicate_objects":  null
+                                                                                          }
+                                                                                      ],
+                                                                    "libero_goal":  [
+                                                                                        {
+                                                                                            "task":  "open_the_middle_drawer_of_the_cabinet",
+                                                                                            "path":  "bddl_files/01_visual_noise_glare/bddl/libero_goal/open_the_middle_drawer_of_the_cabinet.bddl",
+                                                                                            "target":  "akita_black_bowl_1",
+                                                                                            "appearance_targets":  "wooden_cabinet_1",
+                                                                                            "appearance_rgba":  [
+                                                                                                                    0.72,
+                                                                                                                    0.63,
+                                                                                                                    0.5,
+                                                                                                                    1.0
+                                                                                                                ],
+                                                                                            "occlusion_reference":  "akita_black_bowl_1",
+                                                                                            "occlusion_between_object":  "",
+                                                                                            "occlusion_avoid_target":  "",
+                                                                                            "runtime_target":  "akita_black_bowl_1",
+                                                                                            "pose_target":  "akita_black_bowl_1",
+                                                                                            "occluders":  "black_book_occluder_1",
+                                                                                            "occluder_type":  "black_book",
+                                                                                            "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                            "occlusion_offset_xy":  [
+                                                                                                                        0.08,
+                                                                                                                        0.09
+                                                                                                                    ],
+                                                                                            "critical_objects":  null,
+                                                                                            "removed_duplicate_objects":  null
+                                                                                        },
+                                                                                        {
+                                                                                            "task":  "open_the_top_drawer_and_put_the_bowl_inside",
+                                                                                            "path":  "bddl_files/01_visual_noise_glare/bddl/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.bddl",
+                                                                                            "target":  "akita_black_bowl_1",
+                                                                                            "appearance_targets":  "wooden_cabinet_1",
+                                                                                            "appearance_rgba":  [
+                                                                                                                    0.72,
+                                                                                                                    0.63,
+                                                                                                                    0.5,
+                                                                                                                    1.0
+                                                                                                                ],
+                                                                                            "occlusion_reference":  "akita_black_bowl_1",
+                                                                                            "occlusion_between_object":  "",
+                                                                                            "occlusion_avoid_target":  "wooden_cabinet_1_top_region",
+                                                                                            "runtime_target":  "akita_black_bowl_1",
+                                                                                            "pose_target":  "akita_black_bowl_1",
+                                                                                            "occluders":  "black_book_occluder_1",
+                                                                                            "occluder_type":  "black_book",
+                                                                                            "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                            "occlusion_offset_xy":  [
+                                                                                                                        0.08,
+                                                                                                                        0.09
+                                                                                                                    ],
+                                                                                            "critical_objects":  "akita_black_bowl_1",
+                                                                                            "removed_duplicate_objects":  null
+                                                                                        },
+                                                                                        {
+                                                                                            "task":  "push_the_plate_to_the_front_of_the_stove",
+                                                                                            "path":  "bddl_files/01_visual_noise_glare/bddl/libero_goal/push_the_plate_to_the_front_of_the_stove.bddl",
+                                                                                            "target":  "plate_1",
+                                                                                            "appearance_targets":  "flat_stove_1",
+                                                                                            "appearance_rgba":  [
+                                                                                                                    0.72,
+                                                                                                                    0.63,
+                                                                                                                    0.5,
+                                                                                                                    1.0
+                                                                                                                ],
+                                                                                            "occlusion_reference":  "plate_1",
+                                                                                            "occlusion_between_object":  "",
+                                                                                            "occlusion_avoid_target":  "main_table_stove_front_region",
+                                                                                            "runtime_target":  "plate_1",
+                                                                                            "pose_target":  "plate_1",
+                                                                                            "occluders":  "black_book_occluder_1",
+                                                                                            "occluder_type":  "black_book",
+                                                                                            "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                            "occlusion_offset_xy":  [
+                                                                                                                        0.08,
+                                                                                                                        0.0
+                                                                                                                    ],
+                                                                                            "critical_objects":  "plate_1",
+                                                                                            "removed_duplicate_objects":  null
+                                                                                        },
+                                                                                        {
+                                                                                            "task":  "put_the_bowl_on_the_plate",
+                                                                                            "path":  "bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_bowl_on_the_plate.bddl",
+                                                                                            "target":  "akita_black_bowl_1",
+                                                                                            "appearance_targets":  "plate_1",
+                                                                                            "appearance_rgba":  [
+                                                                                                                    0.72,
+                                                                                                                    0.63,
+                                                                                                                    0.5,
+                                                                                                                    1.0
+                                                                                                                ],
+                                                                                            "occlusion_reference":  "akita_black_bowl_1",
+                                                                                            "occlusion_between_object":  "plate_1",
+                                                                                            "occlusion_avoid_target":  "plate_1",
+                                                                                            "runtime_target":  "akita_black_bowl_1",
+                                                                                            "pose_target":  "akita_black_bowl_1",
+                                                                                            "occluders":  "black_book_occluder_1",
+                                                                                            "occluder_type":  "black_book",
+                                                                                            "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                            "occlusion_offset_xy":  [
+                                                                                                                        0.08,
+                                                                                                                        0.0
+                                                                                                                    ],
+                                                                                            "critical_objects":  [
+                                                                                                                     "akita_black_bowl_1",
+                                                                                                                     "plate_1"
+                                                                                                                 ],
+                                                                                            "removed_duplicate_objects":  null
+                                                                                        },
+                                                                                        {
+                                                                                            "task":  "put_the_bowl_on_the_stove",
+                                                                                            "path":  "bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_bowl_on_the_stove.bddl",
+                                                                                            "target":  "akita_black_bowl_1",
+                                                                                            "appearance_targets":  "flat_stove_1",
+                                                                                            "appearance_rgba":  [
+                                                                                                                    0.72,
+                                                                                                                    0.63,
+                                                                                                                    0.5,
+                                                                                                                    1.0
+                                                                                                                ],
+                                                                                            "occlusion_reference":  "akita_black_bowl_1",
+                                                                                            "occlusion_between_object":  "",
+                                                                                            "occlusion_avoid_target":  "flat_stove_1_cook_region",
+                                                                                            "runtime_target":  "akita_black_bowl_1",
+                                                                                            "pose_target":  "akita_black_bowl_1",
+                                                                                            "occluders":  "black_book_occluder_1",
+                                                                                            "occluder_type":  "black_book",
+                                                                                            "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                            "occlusion_offset_xy":  [
+                                                                                                                        0.08,
+                                                                                                                        0.09
+                                                                                                                    ],
+                                                                                            "critical_objects":  "akita_black_bowl_1",
+                                                                                            "removed_duplicate_objects":  null
+                                                                                        },
+                                                                                        {
+                                                                                            "task":  "put_the_bowl_on_top_of_the_cabinet",
+                                                                                            "path":  "bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_bowl_on_top_of_the_cabinet.bddl",
+                                                                                            "target":  "akita_black_bowl_1",
+                                                                                            "appearance_targets":  "wooden_cabinet_1",
+                                                                                            "appearance_rgba":  [
+                                                                                                                    0.72,
+                                                                                                                    0.63,
+                                                                                                                    0.5,
+                                                                                                                    1.0
+                                                                                                                ],
+                                                                                            "occlusion_reference":  "akita_black_bowl_1",
+                                                                                            "occlusion_between_object":  "",
+                                                                                            "occlusion_avoid_target":  "wooden_cabinet_1_top_side",
+                                                                                            "runtime_target":  "akita_black_bowl_1",
+                                                                                            "pose_target":  "akita_black_bowl_1",
+                                                                                            "occluders":  "black_book_occluder_1",
+                                                                                            "occluder_type":  "black_book",
+                                                                                            "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                            "occlusion_offset_xy":  [
+                                                                                                                        0.08,
+                                                                                                                        0.09
+                                                                                                                    ],
+                                                                                            "critical_objects":  "akita_black_bowl_1",
+                                                                                            "removed_duplicate_objects":  null
+                                                                                        },
+                                                                                        {
+                                                                                            "task":  "put_the_cream_cheese_in_the_bowl",
+                                                                                            "path":  "bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_cream_cheese_in_the_bowl.bddl",
+                                                                                            "target":  "cream_cheese_1",
+                                                                                            "appearance_targets":  "akita_black_bowl_1",
+                                                                                            "appearance_rgba":  [
+                                                                                                                    0.72,
+                                                                                                                    0.63,
+                                                                                                                    0.5,
+                                                                                                                    1.0
+                                                                                                                ],
+                                                                                            "occlusion_reference":  "cream_cheese_1",
+                                                                                            "occlusion_between_object":  "",
+                                                                                            "occlusion_avoid_target":  "akita_black_bowl_1",
+                                                                                            "runtime_target":  "cream_cheese_1",
+                                                                                            "pose_target":  "cream_cheese_1",
+                                                                                            "occluders":  "black_book_occluder_1",
+                                                                                            "occluder_type":  "black_book",
+                                                                                            "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                            "occlusion_offset_xy":  [
+                                                                                                                        0.08,
+                                                                                                                        0.0
+                                                                                                                    ],
+                                                                                            "critical_objects":  [
+                                                                                                                     "akita_black_bowl_1",
+                                                                                                                     "cream_cheese_1"
+                                                                                                                 ],
+                                                                                            "removed_duplicate_objects":  null
+                                                                                        },
+                                                                                        {
+                                                                                            "task":  "put_the_wine_bottle_on_the_rack",
+                                                                                            "path":  "bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_wine_bottle_on_the_rack.bddl",
+                                                                                            "target":  "wine_bottle_1",
+                                                                                            "appearance_targets":  "wine_rack_1",
+                                                                                            "appearance_rgba":  [
+                                                                                                                    0.72,
+                                                                                                                    0.63,
+                                                                                                                    0.5,
+                                                                                                                    1.0
+                                                                                                                ],
+                                                                                            "occlusion_reference":  "wine_bottle_1",
+                                                                                            "occlusion_between_object":  "",
+                                                                                            "occlusion_avoid_target":  "wine_rack_1_top_region",
+                                                                                            "runtime_target":  "wine_bottle_1",
+                                                                                            "pose_target":  "wine_bottle_1",
+                                                                                            "occluders":  "black_book_occluder_1",
+                                                                                            "occluder_type":  "black_book",
+                                                                                            "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                            "occlusion_offset_xy":  [
+                                                                                                                        0.08,
+                                                                                                                        0.0
+                                                                                                                    ],
+                                                                                            "critical_objects":  "wine_bottle_1",
+                                                                                            "removed_duplicate_objects":  null
+                                                                                        },
+                                                                                        {
+                                                                                            "task":  "put_the_wine_bottle_on_top_of_the_cabinet",
+                                                                                            "path":  "bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.bddl",
+                                                                                            "target":  "wine_bottle_1",
+                                                                                            "appearance_targets":  "wooden_cabinet_1",
+                                                                                            "appearance_rgba":  [
+                                                                                                                    0.72,
+                                                                                                                    0.63,
+                                                                                                                    0.5,
+                                                                                                                    1.0
+                                                                                                                ],
+                                                                                            "occlusion_reference":  "wine_bottle_1",
+                                                                                            "occlusion_between_object":  "",
+                                                                                            "occlusion_avoid_target":  "wooden_cabinet_1_top_side",
+                                                                                            "runtime_target":  "wine_bottle_1",
+                                                                                            "pose_target":  "wine_bottle_1",
+                                                                                            "occluders":  "black_book_occluder_1",
+                                                                                            "occluder_type":  "black_book",
+                                                                                            "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                            "occlusion_offset_xy":  [
+                                                                                                                        0.08,
+                                                                                                                        0.0
+                                                                                                                    ],
+                                                                                            "critical_objects":  "wine_bottle_1",
+                                                                                            "removed_duplicate_objects":  null
+                                                                                        },
+                                                                                        {
+                                                                                            "task":  "turn_on_the_stove",
+                                                                                            "path":  "bddl_files/01_visual_noise_glare/bddl/libero_goal/turn_on_the_stove.bddl",
+                                                                                            "target":  "akita_black_bowl_1",
+                                                                                            "appearance_targets":  "flat_stove_1",
+                                                                                            "appearance_rgba":  [
+                                                                                                                    0.72,
+                                                                                                                    0.63,
+                                                                                                                    0.5,
+                                                                                                                    1.0
+                                                                                                                ],
+                                                                                            "occlusion_reference":  "akita_black_bowl_1",
+                                                                                            "occlusion_between_object":  "",
+                                                                                            "occlusion_avoid_target":  "",
+                                                                                            "runtime_target":  "akita_black_bowl_1",
+                                                                                            "pose_target":  "akita_black_bowl_1",
+                                                                                            "occluders":  "black_book_occluder_1",
+                                                                                            "occluder_type":  "black_book",
+                                                                                            "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                            "occlusion_offset_xy":  [
+                                                                                                                        0.08,
+                                                                                                                        0.09
+                                                                                                                    ],
+                                                                                            "critical_objects":  null,
+                                                                                            "removed_duplicate_objects":  null
+                                                                                        }
+                                                                                    ],
+                                                                    "libero_10":  [
+                                                                                      {
+                                                                                          "task":  "KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it",
+                                                                                          "path":  "bddl_files/01_visual_noise_glare/bddl/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl",
+                                                                                          "target":  "moka_pot_1",
+                                                                                          "appearance_targets":  "flat_stove_1",
+                                                                                          "appearance_rgba":  [
+                                                                                                                  0.72,
+                                                                                                                  0.63,
+                                                                                                                  0.5,
+                                                                                                                  1.0
+                                                                                                              ],
+                                                                                          "occlusion_reference":  "moka_pot_1",
+                                                                                          "occlusion_between_object":  "",
+                                                                                          "occlusion_avoid_target":  "flat_stove_1",
+                                                                                          "runtime_target":  "moka_pot_1",
+                                                                                          "pose_target":  "moka_pot_1",
+                                                                                          "occluders":  "black_book_occluder_1",
+                                                                                          "occluder_type":  "black_book",
+                                                                                          "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                          "occlusion_offset_xy":  [
+                                                                                                                      0.08,
+                                                                                                                      0.0
+                                                                                                                  ],
+                                                                                          "critical_objects":  "moka_pot_1",
+                                                                                          "removed_duplicate_objects":  null
+                                                                                      },
+                                                                                      {
+                                                                                          "task":  "KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it",
+                                                                                          "path":  "bddl_files/01_visual_noise_glare/bddl/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl",
+                                                                                          "target":  "akita_black_bowl_1",
+                                                                                          "appearance_targets":  "white_cabinet_1",
+                                                                                          "appearance_rgba":  [
+                                                                                                                  0.72,
+                                                                                                                  0.63,
+                                                                                                                  0.5,
+                                                                                                                  1.0
+                                                                                                              ],
+                                                                                          "occlusion_reference":  "akita_black_bowl_1",
+                                                                                          "occlusion_between_object":  "",
+                                                                                          "occlusion_avoid_target":  "white_cabinet_1",
+                                                                                          "runtime_target":  "akita_black_bowl_1",
+                                                                                          "pose_target":  "akita_black_bowl_1",
+                                                                                          "occluders":  "black_book_occluder_1",
+                                                                                          "occluder_type":  "black_book",
+                                                                                          "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                          "occlusion_offset_xy":  [
+                                                                                                                      0.08,
+                                                                                                                      0.0
+                                                                                                                  ],
+                                                                                          "critical_objects":  "akita_black_bowl_1",
+                                                                                          "removed_duplicate_objects":  null
+                                                                                      },
+                                                                                      {
+                                                                                          "task":  "KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it",
+                                                                                          "path":  "bddl_files/01_visual_noise_glare/bddl/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl",
+                                                                                          "target":  "white_yellow_mug_1",
+                                                                                          "appearance_targets":  "microwave_1",
+                                                                                          "appearance_rgba":  [
+                                                                                                                  0.72,
+                                                                                                                  0.63,
+                                                                                                                  0.5,
+                                                                                                                  1.0
+                                                                                                              ],
+                                                                                          "occlusion_reference":  "white_yellow_mug_1",
+                                                                                          "occlusion_between_object":  "",
+                                                                                          "occlusion_avoid_target":  "microwave_1",
+                                                                                          "runtime_target":  "white_yellow_mug_1",
+                                                                                          "pose_target":  "white_yellow_mug_1",
+                                                                                          "occluders":  "black_book_occluder_1",
+                                                                                          "occluder_type":  "black_book",
+                                                                                          "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                          "occlusion_offset_xy":  [
+                                                                                                                      0.08,
+                                                                                                                      0.0
+                                                                                                                  ],
+                                                                                          "critical_objects":  "white_yellow_mug_1",
+                                                                                          "removed_duplicate_objects":  null
+                                                                                      },
+                                                                                      {
+                                                                                          "task":  "KITCHEN_SCENE8_put_both_moka_pots_on_the_stove",
+                                                                                          "path":  "bddl_files/01_visual_noise_glare/bddl/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl",
+                                                                                          "target":  "moka_pot_1",
+                                                                                          "appearance_targets":  "flat_stove_1",
+                                                                                          "appearance_rgba":  [
+                                                                                                                  0.72,
+                                                                                                                  0.63,
+                                                                                                                  0.5,
+                                                                                                                  1.0
+                                                                                                              ],
+                                                                                          "occlusion_reference":  "moka_pot_1",
+                                                                                          "occlusion_between_object":  "",
+                                                                                          "occlusion_avoid_target":  "moka_pot_2",
+                                                                                          "runtime_target":  "moka_pot_1",
+                                                                                          "pose_target":  "moka_pot_1",
+                                                                                          "occluders":  "black_book_occluder_1",
+                                                                                          "occluder_type":  "black_book",
+                                                                                          "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                          "occlusion_offset_xy":  [
+                                                                                                                      0.08,
+                                                                                                                      0.0
+                                                                                                                  ],
+                                                                                          "critical_objects":  [
+                                                                                                                   "moka_pot_1",
+                                                                                                                   "moka_pot_2"
+                                                                                                               ],
+                                                                                          "removed_duplicate_objects":  null
+                                                                                      },
+                                                                                      {
+                                                                                          "task":  "LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket",
+                                                                                          "path":  "bddl_files/01_visual_noise_glare/bddl/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl",
+                                                                                          "target":  "alphabet_soup_1",
+                                                                                          "appearance_targets":  "basket_1",
+                                                                                          "appearance_rgba":  [
+                                                                                                                  0.3,
+                                                                                                                  0.2,
+                                                                                                                  0.12,
+                                                                                                                  1.0
+                                                                                                              ],
+                                                                                          "occlusion_reference":  "alphabet_soup_1",
+                                                                                          "occlusion_between_object":  "",
+                                                                                          "occlusion_avoid_target":  "cream_cheese_1",
+                                                                                          "runtime_target":  "alphabet_soup_1",
+                                                                                          "pose_target":  "alphabet_soup_1",
+                                                                                          "occluders":  "black_book_occluder_1",
+                                                                                          "occluder_type":  "black_book",
+                                                                                          "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                          "occlusion_offset_xy":  [
+                                                                                                                      0.08,
+                                                                                                                      0.0
+                                                                                                                  ],
+                                                                                          "critical_objects":  [
+                                                                                                                   "alphabet_soup_1",
+                                                                                                                   "basket_1",
+                                                                                                                   "cream_cheese_1"
+                                                                                                               ],
+                                                                                          "removed_duplicate_objects":  null
+                                                                                      },
+                                                                                      {
+                                                                                          "task":  "LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket",
+                                                                                          "path":  "bddl_files/01_visual_noise_glare/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl",
+                                                                                          "target":  "alphabet_soup_1",
+                                                                                          "appearance_targets":  "basket_1",
+                                                                                          "appearance_rgba":  [
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+                                                                                                                  0.2,
+                                                                                                                  0.12,
+                                                                                                                  1.0
+                                                                                                              ],
+                                                                                          "occlusion_reference":  "alphabet_soup_1",
+                                                                                          "occlusion_between_object":  "",
+                                                                                          "occlusion_avoid_target":  "tomato_sauce_1",
+                                                                                          "runtime_target":  "alphabet_soup_1",
+                                                                                          "pose_target":  "alphabet_soup_1",
+                                                                                          "occluders":  "black_book_occluder_1",
+                                                                                          "occluder_type":  "black_book",
+                                                                                          "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                          "occlusion_offset_xy":  [
+                                                                                                                      0.08,
+                                                                                                                      0.0
+                                                                                                                  ],
+                                                                                          "critical_objects":  [
+                                                                                                                   "alphabet_soup_1",
+                                                                                                                   "basket_1",
+                                                                                                                   "tomato_sauce_1"
+                                                                                                               ],
+                                                                                          "removed_duplicate_objects":  null
+                                                                                      },
+                                                                                      {
+                                                                                          "task":  "LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket",
+                                                                                          "path":  "bddl_files/01_visual_noise_glare/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl",
+                                                                                          "target":  "cream_cheese_1",
+                                                                                          "appearance_targets":  "basket_1",
+                                                                                          "appearance_rgba":  [
+                                                                                                                  0.3,
+                                                                                                                  0.2,
+                                                                                                                  0.12,
+                                                                                                                  1.0
+                                                                                                              ],
+                                                                                          "occlusion_reference":  "cream_cheese_1",
+                                                                                          "occlusion_between_object":  "",
+                                                                                          "occlusion_avoid_target":  "butter_1",
+                                                                                          "runtime_target":  "cream_cheese_1",
+                                                                                          "pose_target":  "cream_cheese_1",
+                                                                                          "occluders":  "black_book_occluder_1",
+                                                                                          "occluder_type":  "black_book",
+                                                                                          "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                          "occlusion_offset_xy":  [
+                                                                                                                      0.08,
+                                                                                                                      0.0
+                                                                                                                  ],
+                                                                                          "critical_objects":  [
+                                                                                                                   "basket_1",
+                                                                                                                   "butter_1",
+                                                                                                                   "cream_cheese_1"
+                                                                                                               ],
+                                                                                          "removed_duplicate_objects":  null
+                                                                                      },
+                                                                                      {
+                                                                                          "task":  "LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate",
+                                                                                          "path":  "bddl_files/01_visual_noise_glare/bddl/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl",
+                                                                                          "target":  "plate_1",
+                                                                                          "appearance_targets":  [
+                                                                                                                     "plate_1",
+                                                                                                                     "plate_2"
+                                                                                                                 ],
+                                                                                          "appearance_rgba":  [
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+                                                                                                                  0.2,
+                                                                                                                  0.12,
+                                                                                                                  1.0
+                                                                                                              ],
+                                                                                          "occlusion_reference":  "plate_1",
+                                                                                          "occlusion_between_object":  "",
+                                                                                          "occlusion_avoid_target":  "plate_2",
+                                                                                          "runtime_target":  "plate_1",
+                                                                                          "pose_target":  "plate_1",
+                                                                                          "occluders":  "black_book_occluder_1",
+                                                                                          "occluder_type":  "black_book",
+                                                                                          "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                          "occlusion_offset_xy":  [
+                                                                                                                      0.08,
+                                                                                                                      0.0
+                                                                                                                  ],
+                                                                                          "critical_objects":  [
+                                                                                                                   "plate_1",
+                                                                                                                   "plate_2",
+                                                                                                                   "porcelain_mug_1",
+                                                                                                                   "white_yellow_mug_1"
+                                                                                                               ],
+                                                                                          "removed_duplicate_objects":  null
+                                                                                      },
+                                                                                      {
+                                                                                          "task":  "LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate",
+                                                                                          "path":  "bddl_files/01_visual_noise_glare/bddl/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl",
+                                                                                          "target":  "plate_1",
+                                                                                          "appearance_targets":  "plate_1",
+                                                                                          "appearance_rgba":  [
+                                                                                                                  0.3,
+                                                                                                                  0.2,
+                                                                                                                  0.12,
+                                                                                                                  1.0
+                                                                                                              ],
+                                                                                          "occlusion_reference":  "plate_1",
+                                                                                          "occlusion_between_object":  "",
+                                                                                          "occlusion_avoid_target":  "chocolate_pudding_1",
+                                                                                          "runtime_target":  "plate_1",
+                                                                                          "pose_target":  "plate_1",
+                                                                                          "occluders":  "black_book_occluder_1",
+                                                                                          "occluder_type":  "black_book",
+                                                                                          "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                          "occlusion_offset_xy":  [
+                                                                                                                      0.08,
+                                                                                                                      0.0
+                                                                                                                  ],
+                                                                                          "critical_objects":  [
+                                                                                                                   "chocolate_pudding_1",
+                                                                                                                   "plate_1",
+                                                                                                                   "porcelain_mug_1"
+                                                                                                               ],
+                                                                                          "removed_duplicate_objects":  null
+                                                                                      },
+                                                                                      {
+                                                                                          "task":  "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy",
+                                                                                          "path":  "bddl_files/01_visual_noise_glare/bddl/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl",
+                                                                                          "target":  "black_book_1",
+                                                                                          "appearance_targets":  "desk_caddy_1",
+                                                                                          "appearance_rgba":  [
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+                                                                                                                  0.36,
+                                                                                                                  0.2,
+                                                                                                                  1.0
+                                                                                                              ],
+                                                                                          "occlusion_reference":  "black_book_1",
+                                                                                          "occlusion_between_object":  "",
+                                                                                          "occlusion_avoid_target":  "desk_caddy_1",
+                                                                                          "runtime_target":  "black_book_1",
+                                                                                          "pose_target":  "black_book_1",
+                                                                                          "occluders":  "yellow_book_1",
+                                                                                          "occluder_type":  "yellow_book",
+                                                                                          "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                          "occlusion_offset_xy":  [
+                                                                                                                      0.08,
+                                                                                                                      0.0
+                                                                                                                  ],
+                                                                                          "critical_objects":  "black_book_1",
+                                                                                          "removed_duplicate_objects":  null
+                                                                                      }
+                                                                                  ]
+                                                                },
+                                                     "count":  40
+                                                 },
+                       "02_camera_view_angle":  {
+                                                    "folder":  "02_camera_view_angle",
+                                                    "suites":  {
+                                                                   "libero_spatial":  [
+                                                                                          {
+                                                                                              "task":  "pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate",
+                                                                                              "path":  "bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl",
+                                                                                              "target":  "akita_black_bowl_1",
+                                                                                              "appearance_targets":  "plate_1",
+                                                                                              "appearance_rgba":  [
+                                                                                                                      0.72,
+                                                                                                                      0.63,
+                                                                                                                      0.5,
+                                                                                                                      1.0
+                                                                                                                  ],
+                                                                                              "occlusion_reference":  "akita_black_bowl_1",
+                                                                                              "occlusion_between_object":  "plate_1",
+                                                                                              "occlusion_avoid_target":  "plate_1",
+                                                                                              "runtime_target":  "akita_black_bowl_1",
+                                                                                              "pose_target":  "akita_black_bowl_1",
+                                                                                              "occluders":  "black_book_occluder_1",
+                                                                                              "occluder_type":  "black_book",
+                                                                                              "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                              "occlusion_offset_xy":  [
+                                                                                                                          0.08,
+                                                                                                                          0.0
+                                                                                                                      ],
+                                                                                              "critical_objects":  [
+                                                                                                                       "akita_black_bowl_1",
+                                                                                                                       "plate_1"
+                                                                                                                   ],
+                                                                                              "removed_duplicate_objects":  null
+                                                                                          },
+                                                                                          {
+                                                                                              "task":  "pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate",
+                                                                                              "path":  "bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl",
+                                                                                              "target":  "akita_black_bowl_1",
+                                                                                              "appearance_targets":  "plate_1",
+                                                                                              "appearance_rgba":  [
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+                                                                                                                      0.63,
+                                                                                                                      0.5,
+                                                                                                                      1.0
+                                                                                                                  ],
+                                                                                              "occlusion_reference":  "akita_black_bowl_1",
+                                                                                              "occlusion_between_object":  "plate_1",
+                                                                                              "occlusion_avoid_target":  "plate_1",
+                                                                                              "runtime_target":  "akita_black_bowl_1",
+                                                                                              "pose_target":  "akita_black_bowl_1",
+                                                                                              "occluders":  "black_book_occluder_1",
+                                                                                              "occluder_type":  "black_book",
+                                                                                              "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                              "occlusion_offset_xy":  [
+                                                                                                                          0.08,
+                                                                                                                          0.0
+                                                                                                                      ],
+                                                                                              "critical_objects":  [
+                                                                                                                       "akita_black_bowl_1",
+                                                                                                                       "plate_1"
+                                                                                                                   ],
+                                                                                              "removed_duplicate_objects":  null
+                                                                                          },
+                                                                                          {
+                                                                                              "task":  "pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate",
+                                                                                              "path":  "bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl",
+                                                                                              "target":  "akita_black_bowl_1",
+                                                                                              "appearance_targets":  "plate_1",
+                                                                                              "appearance_rgba":  [
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+                                                                                                                      0.63,
+                                                                                                                      0.5,
+                                                                                                                      1.0
+                                                                                                                  ],
+                                                                                              "occlusion_reference":  "akita_black_bowl_1",
+                                                                                              "occlusion_between_object":  "plate_1",
+                                                                                              "occlusion_avoid_target":  "plate_1",
+                                                                                              "runtime_target":  "akita_black_bowl_1",
+                                                                                              "pose_target":  "akita_black_bowl_1",
+                                                                                              "occluders":  "black_book_occluder_1",
+                                                                                              "occluder_type":  "black_book",
+                                                                                              "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                              "occlusion_offset_xy":  [
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+                                                                                                                          0.0
+                                                                                                                      ],
+                                                                                              "critical_objects":  [
+                                                                                                                       "akita_black_bowl_1",
+                                                                                                                       "plate_1"
+                                                                                                                   ],
+                                                                                              "removed_duplicate_objects":  null
+                                                                                          },
+                                                                                          {
+                                                                                              "task":  "pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate",
+                                                                                              "path":  "bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl",
+                                                                                              "target":  "akita_black_bowl_1",
+                                                                                              "appearance_targets":  "plate_1",
+                                                                                              "appearance_rgba":  [
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+                                                                                                                      0.63,
+                                                                                                                      0.5,
+                                                                                                                      1.0
+                                                                                                                  ],
+                                                                                              "occlusion_reference":  "akita_black_bowl_1",
+                                                                                              "occlusion_between_object":  "plate_1",
+                                                                                              "occlusion_avoid_target":  "plate_1",
+                                                                                              "runtime_target":  "akita_black_bowl_1",
+                                                                                              "pose_target":  "akita_black_bowl_1",
+                                                                                              "occluders":  "black_book_occluder_1",
+                                                                                              "occluder_type":  "black_book",
+                                                                                              "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                              "occlusion_offset_xy":  [
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+                                                                                                                          0.0
+                                                                                                                      ],
+                                                                                              "critical_objects":  [
+                                                                                                                       "akita_black_bowl_1",
+                                                                                                                       "plate_1"
+                                                                                                                   ],
+                                                                                              "removed_duplicate_objects":  null
+                                                                                          },
+                                                                                          {
+                                                                                              "task":  "pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate",
+                                                                                              "path":  "bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl",
+                                                                                              "target":  "akita_black_bowl_1",
+                                                                                              "appearance_targets":  "plate_1",
+                                                                                              "appearance_rgba":  [
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+                                                                                                                      0.63,
+                                                                                                                      0.5,
+                                                                                                                      1.0
+                                                                                                                  ],
+                                                                                              "occlusion_reference":  "akita_black_bowl_1",
+                                                                                              "occlusion_between_object":  "plate_1",
+                                                                                              "occlusion_avoid_target":  "plate_1",
+                                                                                              "runtime_target":  "akita_black_bowl_1",
+                                                                                              "pose_target":  "akita_black_bowl_1",
+                                                                                              "occluders":  "black_book_occluder_1",
+                                                                                              "occluder_type":  "black_book",
+                                                                                              "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                              "occlusion_offset_xy":  [
+                                                                                                                          0.08,
+                                                                                                                          0.0
+                                                                                                                      ],
+                                                                                              "critical_objects":  [
+                                                                                                                       "akita_black_bowl_1",
+                                                                                                                       "plate_1"
+                                                                                                                   ],
+                                                                                              "removed_duplicate_objects":  null
+                                                                                          },
+                                                                                          {
+                                                                                              "task":  "pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate",
+                                                                                              "path":  "bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl",
+                                                                                              "target":  "akita_black_bowl_1",
+                                                                                              "appearance_targets":  "plate_1",
+                                                                                              "appearance_rgba":  [
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+                                                                                                                      0.63,
+                                                                                                                      0.5,
+                                                                                                                      1.0
+                                                                                                                  ],
+                                                                                              "occlusion_reference":  "akita_black_bowl_1",
+                                                                                              "occlusion_between_object":  "plate_1",
+                                                                                              "occlusion_avoid_target":  "plate_1",
+                                                                                              "runtime_target":  "akita_black_bowl_1",
+                                                                                              "pose_target":  "akita_black_bowl_1",
+                                                                                              "occluders":  "black_book_occluder_1",
+                                                                                              "occluder_type":  "black_book",
+                                                                                              "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                              "occlusion_offset_xy":  [
+                                                                                                                          0.08,
+                                                                                                                          0.0
+                                                                                                                      ],
+                                                                                              "critical_objects":  [
+                                                                                                                       "akita_black_bowl_1",
+                                                                                                                       "plate_1"
+                                                                                                                   ],
+                                                                                              "removed_duplicate_objects":  null
+                                                                                          },
+                                                                                          {
+                                                                                              "task":  "pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate",
+                                                                                              "path":  "bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl",
+                                                                                              "target":  "akita_black_bowl_1",
+                                                                                              "appearance_targets":  "plate_1",
+                                                                                              "appearance_rgba":  [
+                                                                                                                      0.72,
+                                                                                                                      0.63,
+                                                                                                                      0.5,
+                                                                                                                      1.0
+                                                                                                                  ],
+                                                                                              "occlusion_reference":  "akita_black_bowl_1",
+                                                                                              "occlusion_between_object":  "plate_1",
+                                                                                              "occlusion_avoid_target":  "plate_1",
+                                                                                              "runtime_target":  "akita_black_bowl_1",
+                                                                                              "pose_target":  "akita_black_bowl_1",
+                                                                                              "occluders":  "black_book_occluder_1",
+                                                                                              "occluder_type":  "black_book",
+                                                                                              "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                              "occlusion_offset_xy":  [
+                                                                                                                          0.08,
+                                                                                                                          0.0
+                                                                                                                      ],
+                                                                                              "critical_objects":  [
+                                                                                                                       "akita_black_bowl_1",
+                                                                                                                       "plate_1"
+                                                                                                                   ],
+                                                                                              "removed_duplicate_objects":  null
+                                                                                          },
+                                                                                          {
+                                                                                              "task":  "pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate",
+                                                                                              "path":  "bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl",
+                                                                                              "target":  "akita_black_bowl_1",
+                                                                                              "appearance_targets":  "plate_1",
+                                                                                              "appearance_rgba":  [
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+                                                                                                                      0.63,
+                                                                                                                      0.5,
+                                                                                                                      1.0
+                                                                                                                  ],
+                                                                                              "occlusion_reference":  "akita_black_bowl_1",
+                                                                                              "occlusion_between_object":  "plate_1",
+                                                                                              "occlusion_avoid_target":  "plate_1",
+                                                                                              "runtime_target":  "akita_black_bowl_1",
+                                                                                              "pose_target":  "akita_black_bowl_1",
+                                                                                              "occluders":  "black_book_occluder_1",
+                                                                                              "occluder_type":  "black_book",
+                                                                                              "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                              "occlusion_offset_xy":  [
+                                                                                                                          0.08,
+                                                                                                                          0.0
+                                                                                                                      ],
+                                                                                              "critical_objects":  [
+                                                                                                                       "akita_black_bowl_1",
+                                                                                                                       "plate_1"
+                                                                                                                   ],
+                                                                                              "removed_duplicate_objects":  null
+                                                                                          },
+                                                                                          {
+                                                                                              "task":  "pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate",
+                                                                                              "path":  "bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl",
+                                                                                              "target":  "akita_black_bowl_1",
+                                                                                              "appearance_targets":  "plate_1",
+                                                                                              "appearance_rgba":  [
+                                                                                                                      0.72,
+                                                                                                                      0.63,
+                                                                                                                      0.5,
+                                                                                                                      1.0
+                                                                                                                  ],
+                                                                                              "occlusion_reference":  "akita_black_bowl_1",
+                                                                                              "occlusion_between_object":  "plate_1",
+                                                                                              "occlusion_avoid_target":  "plate_1",
+                                                                                              "runtime_target":  "akita_black_bowl_1",
+                                                                                              "pose_target":  "akita_black_bowl_1",
+                                                                                              "occluders":  "black_book_occluder_1",
+                                                                                              "occluder_type":  "black_book",
+                                                                                              "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                              "occlusion_offset_xy":  [
+                                                                                                                          0.08,
+                                                                                                                          0.0
+                                                                                                                      ],
+                                                                                              "critical_objects":  [
+                                                                                                                       "akita_black_bowl_1",
+                                                                                                                       "plate_1"
+                                                                                                                   ],
+                                                                                              "removed_duplicate_objects":  null
+                                                                                          },
+                                                                                          {
+                                                                                              "task":  "pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate",
+                                                                                              "path":  "bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl",
+                                                                                              "target":  "akita_black_bowl_1",
+                                                                                              "appearance_targets":  "plate_1",
+                                                                                              "appearance_rgba":  [
+                                                                                                                      0.72,
+                                                                                                                      0.63,
+                                                                                                                      0.5,
+                                                                                                                      1.0
+                                                                                                                  ],
+                                                                                              "occlusion_reference":  "akita_black_bowl_1",
+                                                                                              "occlusion_between_object":  "plate_1",
+                                                                                              "occlusion_avoid_target":  "plate_1",
+                                                                                              "runtime_target":  "akita_black_bowl_1",
+                                                                                              "pose_target":  "akita_black_bowl_1",
+                                                                                              "occluders":  "black_book_occluder_1",
+                                                                                              "occluder_type":  "black_book",
+                                                                                              "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                              "occlusion_offset_xy":  [
+                                                                                                                          0.08,
+                                                                                                                          0.0
+                                                                                                                      ],
+                                                                                              "critical_objects":  [
+                                                                                                                       "akita_black_bowl_1",
+                                                                                                                       "plate_1"
+                                                                                                                   ],
+                                                                                              "removed_duplicate_objects":  null
+                                                                                          }
+                                                                                      ],
+                                                                   "libero_object":  [
+                                                                                         {
+                                                                                             "task":  "pick_up_the_alphabet_soup_and_place_it_in_the_basket",
+                                                                                             "path":  "bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl",
+                                                                                             "target":  "alphabet_soup_1",
+                                                                                             "appearance_targets":  "basket_1",
+                                                                                             "appearance_rgba":  [
+                                                                                                                     0.35,
+                                                                                                                     0.34,
+                                                                                                                     0.32,
+                                                                                                                     1.0
+                                                                                                                 ],
+                                                                                             "occlusion_reference":  "alphabet_soup_1",
+                                                                                             "occlusion_between_object":  "",
+                                                                                             "occlusion_avoid_target":  "basket_1",
+                                                                                             "runtime_target":  "alphabet_soup_1",
+                                                                                             "pose_target":  "alphabet_soup_1",
+                                                                                             "occluders":  "black_book_occluder_1",
+                                                                                             "occluder_type":  "black_book",
+                                                                                             "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                             "occlusion_offset_xy":  [
+                                                                                                                         0.08,
+                                                                                                                         0.0
+                                                                                                                     ],
+                                                                                             "critical_objects":  [
+                                                                                                                      "alphabet_soup_1",
+                                                                                                                      "basket_1"
+                                                                                                                  ],
+                                                                                             "removed_duplicate_objects":  null
+                                                                                         },
+                                                                                         {
+                                                                                             "task":  "pick_up_the_bbq_sauce_and_place_it_in_the_basket",
+                                                                                             "path":  "bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl",
+                                                                                             "target":  "bbq_sauce_1",
+                                                                                             "appearance_targets":  "basket_1",
+                                                                                             "appearance_rgba":  [
+                                                                                                                     0.35,
+                                                                                                                     0.34,
+                                                                                                                     0.32,
+                                                                                                                     1.0
+                                                                                                                 ],
+                                                                                             "occlusion_reference":  "bbq_sauce_1",
+                                                                                             "occlusion_between_object":  "",
+                                                                                             "occlusion_avoid_target":  "basket_1",
+                                                                                             "runtime_target":  "bbq_sauce_1",
+                                                                                             "pose_target":  "bbq_sauce_1",
+                                                                                             "occluders":  "black_book_occluder_1",
+                                                                                             "occluder_type":  "black_book",
+                                                                                             "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                             "occlusion_offset_xy":  [
+                                                                                                                         0.08,
+                                                                                                                         0.0
+                                                                                                                     ],
+                                                                                             "critical_objects":  [
+                                                                                                                      "basket_1",
+                                                                                                                      "bbq_sauce_1"
+                                                                                                                  ],
+                                                                                             "removed_duplicate_objects":  null
+                                                                                         },
+                                                                                         {
+                                                                                             "task":  "pick_up_the_butter_and_place_it_in_the_basket",
+                                                                                             "path":  "bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl",
+                                                                                             "target":  "butter_1",
+                                                                                             "appearance_targets":  "basket_1",
+                                                                                             "appearance_rgba":  [
+                                                                                                                     0.35,
+                                                                                                                     0.34,
+                                                                                                                     0.32,
+                                                                                                                     1.0
+                                                                                                                 ],
+                                                                                             "occlusion_reference":  "butter_1",
+                                                                                             "occlusion_between_object":  "",
+                                                                                             "occlusion_avoid_target":  "basket_1",
+                                                                                             "runtime_target":  "butter_1",
+                                                                                             "pose_target":  "butter_1",
+                                                                                             "occluders":  "black_book_occluder_1",
+                                                                                             "occluder_type":  "black_book",
+                                                                                             "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                             "occlusion_offset_xy":  [
+                                                                                                                         0.08,
+                                                                                                                         0.0
+                                                                                                                     ],
+                                                                                             "critical_objects":  [
+                                                                                                                      "basket_1",
+                                                                                                                      "butter_1"
+                                                                                                                  ],
+                                                                                             "removed_duplicate_objects":  null
+                                                                                         },
+                                                                                         {
+                                                                                             "task":  "pick_up_the_chocolate_pudding_and_place_it_in_the_basket",
+                                                                                             "path":  "bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl",
+                                                                                             "target":  "chocolate_pudding_1",
+                                                                                             "appearance_targets":  "basket_1",
+                                                                                             "appearance_rgba":  [
+                                                                                                                     0.35,
+                                                                                                                     0.34,
+                                                                                                                     0.32,
+                                                                                                                     1.0
+                                                                                                                 ],
+                                                                                             "occlusion_reference":  "chocolate_pudding_1",
+                                                                                             "occlusion_between_object":  "",
+                                                                                             "occlusion_avoid_target":  "basket_1",
+                                                                                             "runtime_target":  "chocolate_pudding_1",
+                                                                                             "pose_target":  "chocolate_pudding_1",
+                                                                                             "occluders":  "black_book_occluder_1",
+                                                                                             "occluder_type":  "black_book",
+                                                                                             "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                             "occlusion_offset_xy":  [
+                                                                                                                         0.08,
+                                                                                                                         0.0
+                                                                                                                     ],
+                                                                                             "critical_objects":  [
+                                                                                                                      "basket_1",
+                                                                                                                      "chocolate_pudding_1"
+                                                                                                                  ],
+                                                                                             "removed_duplicate_objects":  null
+                                                                                         },
+                                                                                         {
+                                                                                             "task":  "pick_up_the_cream_cheese_and_place_it_in_the_basket",
+                                                                                             "path":  "bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl",
+                                                                                             "target":  "cream_cheese_1",
+                                                                                             "appearance_targets":  "basket_1",
+                                                                                             "appearance_rgba":  [
+                                                                                                                     0.35,
+                                                                                                                     0.34,
+                                                                                                                     0.32,
+                                                                                                                     1.0
+                                                                                                                 ],
+                                                                                             "occlusion_reference":  "cream_cheese_1",
+                                                                                             "occlusion_between_object":  "",
+                                                                                             "occlusion_avoid_target":  "basket_1",
+                                                                                             "runtime_target":  "cream_cheese_1",
+                                                                                             "pose_target":  "cream_cheese_1",
+                                                                                             "occluders":  "black_book_occluder_1",
+                                                                                             "occluder_type":  "black_book",
+                                                                                             "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                             "occlusion_offset_xy":  [
+                                                                                                                         0.08,
+                                                                                                                         0.0
+                                                                                                                     ],
+                                                                                             "critical_objects":  [
+                                                                                                                      "basket_1",
+                                                                                                                      "cream_cheese_1"
+                                                                                                                  ],
+                                                                                             "removed_duplicate_objects":  null
+                                                                                         },
+                                                                                         {
+                                                                                             "task":  "pick_up_the_ketchup_and_place_it_in_the_basket",
+                                                                                             "path":  "bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl",
+                                                                                             "target":  "ketchup_1",
+                                                                                             "appearance_targets":  "basket_1",
+                                                                                             "appearance_rgba":  [
+                                                                                                                     0.35,
+                                                                                                                     0.34,
+                                                                                                                     0.32,
+                                                                                                                     1.0
+                                                                                                                 ],
+                                                                                             "occlusion_reference":  "ketchup_1",
+                                                                                             "occlusion_between_object":  "",
+                                                                                             "occlusion_avoid_target":  "basket_1",
+                                                                                             "runtime_target":  "ketchup_1",
+                                                                                             "pose_target":  "ketchup_1",
+                                                                                             "occluders":  "black_book_occluder_1",
+                                                                                             "occluder_type":  "black_book",
+                                                                                             "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                             "occlusion_offset_xy":  [
+                                                                                                                         0.08,
+                                                                                                                         0.0
+                                                                                                                     ],
+                                                                                             "critical_objects":  [
+                                                                                                                      "basket_1",
+                                                                                                                      "ketchup_1"
+                                                                                                                  ],
+                                                                                             "removed_duplicate_objects":  null
+                                                                                         },
+                                                                                         {
+                                                                                             "task":  "pick_up_the_milk_and_place_it_in_the_basket",
+                                                                                             "path":  "bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl",
+                                                                                             "target":  "milk_1",
+                                                                                             "appearance_targets":  "basket_1",
+                                                                                             "appearance_rgba":  [
+                                                                                                                     0.35,
+                                                                                                                     0.34,
+                                                                                                                     0.32,
+                                                                                                                     1.0
+                                                                                                                 ],
+                                                                                             "occlusion_reference":  "milk_1",
+                                                                                             "occlusion_between_object":  "",
+                                                                                             "occlusion_avoid_target":  "basket_1",
+                                                                                             "runtime_target":  "milk_1",
+                                                                                             "pose_target":  "milk_1",
+                                                                                             "occluders":  "black_book_occluder_1",
+                                                                                             "occluder_type":  "black_book",
+                                                                                             "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                             "occlusion_offset_xy":  [
+                                                                                                                         0.08,
+                                                                                                                         0.0
+                                                                                                                     ],
+                                                                                             "critical_objects":  [
+                                                                                                                      "basket_1",
+                                                                                                                      "milk_1"
+                                                                                                                  ],
+                                                                                             "removed_duplicate_objects":  null
+                                                                                         },
+                                                                                         {
+                                                                                             "task":  "pick_up_the_orange_juice_and_place_it_in_the_basket",
+                                                                                             "path":  "bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl",
+                                                                                             "target":  "orange_juice_1",
+                                                                                             "appearance_targets":  "basket_1",
+                                                                                             "appearance_rgba":  [
+                                                                                                                     0.35,
+                                                                                                                     0.34,
+                                                                                                                     0.32,
+                                                                                                                     1.0
+                                                                                                                 ],
+                                                                                             "occlusion_reference":  "orange_juice_1",
+                                                                                             "occlusion_between_object":  "",
+                                                                                             "occlusion_avoid_target":  "basket_1",
+                                                                                             "runtime_target":  "orange_juice_1",
+                                                                                             "pose_target":  "orange_juice_1",
+                                                                                             "occluders":  "black_book_occluder_1",
+                                                                                             "occluder_type":  "black_book",
+                                                                                             "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                             "occlusion_offset_xy":  [
+                                                                                                                         0.08,
+                                                                                                                         0.0
+                                                                                                                     ],
+                                                                                             "critical_objects":  [
+                                                                                                                      "basket_1",
+                                                                                                                      "orange_juice_1"
+                                                                                                                  ],
+                                                                                             "removed_duplicate_objects":  null
+                                                                                         },
+                                                                                         {
+                                                                                             "task":  "pick_up_the_salad_dressing_and_place_it_in_the_basket",
+                                                                                             "path":  "bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl",
+                                                                                             "target":  "salad_dressing_1",
+                                                                                             "appearance_targets":  "basket_1",
+                                                                                             "appearance_rgba":  [
+                                                                                                                     0.35,
+                                                                                                                     0.34,
+                                                                                                                     0.32,
+                                                                                                                     1.0
+                                                                                                                 ],
+                                                                                             "occlusion_reference":  "salad_dressing_1",
+                                                                                             "occlusion_between_object":  "",
+                                                                                             "occlusion_avoid_target":  "basket_1",
+                                                                                             "runtime_target":  "salad_dressing_1",
+                                                                                             "pose_target":  "salad_dressing_1",
+                                                                                             "occluders":  "black_book_occluder_1",
+                                                                                             "occluder_type":  "black_book",
+                                                                                             "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                             "occlusion_offset_xy":  [
+                                                                                                                         0.08,
+                                                                                                                         0.0
+                                                                                                                     ],
+                                                                                             "critical_objects":  [
+                                                                                                                      "basket_1",
+                                                                                                                      "salad_dressing_1"
+                                                                                                                  ],
+                                                                                             "removed_duplicate_objects":  null
+                                                                                         },
+                                                                                         {
+                                                                                             "task":  "pick_up_the_tomato_sauce_and_place_it_in_the_basket",
+                                                                                             "path":  "bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl",
+                                                                                             "target":  "tomato_sauce_1",
+                                                                                             "appearance_targets":  "basket_1",
+                                                                                             "appearance_rgba":  [
+                                                                                                                     0.35,
+                                                                                                                     0.34,
+                                                                                                                     0.32,
+                                                                                                                     1.0
+                                                                                                                 ],
+                                                                                             "occlusion_reference":  "tomato_sauce_1",
+                                                                                             "occlusion_between_object":  "",
+                                                                                             "occlusion_avoid_target":  "basket_1",
+                                                                                             "runtime_target":  "tomato_sauce_1",
+                                                                                             "pose_target":  "tomato_sauce_1",
+                                                                                             "occluders":  "black_book_occluder_1",
+                                                                                             "occluder_type":  "black_book",
+                                                                                             "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                             "occlusion_offset_xy":  [
+                                                                                                                         0.08,
+                                                                                                                         0.0
+                                                                                                                     ],
+                                                                                             "critical_objects":  [
+                                                                                                                      "basket_1",
+                                                                                                                      "tomato_sauce_1"
+                                                                                                                  ],
+                                                                                             "removed_duplicate_objects":  null
+                                                                                         }
+                                                                                     ],
+                                                                   "libero_goal":  [
+                                                                                       {
+                                                                                           "task":  "open_the_middle_drawer_of_the_cabinet",
+                                                                                           "path":  "bddl_files/02_camera_view_angle/bddl/libero_goal/open_the_middle_drawer_of_the_cabinet.bddl",
+                                                                                           "target":  "akita_black_bowl_1",
+                                                                                           "appearance_targets":  "wooden_cabinet_1",
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.72,
+                                                                                                                   0.63,
+                                                                                                                   0.5,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "akita_black_bowl_1",
+                                                                                           "occlusion_between_object":  "",
+                                                                                           "occlusion_avoid_target":  "",
+                                                                                           "runtime_target":  "akita_black_bowl_1",
+                                                                                           "pose_target":  "akita_black_bowl_1",
+                                                                                           "occluders":  "black_book_occluder_1",
+                                                                                           "occluder_type":  "black_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.09
+                                                                                                                   ],
+                                                                                           "critical_objects":  null,
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       },
+                                                                                       {
+                                                                                           "task":  "open_the_top_drawer_and_put_the_bowl_inside",
+                                                                                           "path":  "bddl_files/02_camera_view_angle/bddl/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.bddl",
+                                                                                           "target":  "akita_black_bowl_1",
+                                                                                           "appearance_targets":  "wooden_cabinet_1",
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.72,
+                                                                                                                   0.63,
+                                                                                                                   0.5,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "akita_black_bowl_1",
+                                                                                           "occlusion_between_object":  "",
+                                                                                           "occlusion_avoid_target":  "wooden_cabinet_1_top_region",
+                                                                                           "runtime_target":  "akita_black_bowl_1",
+                                                                                           "pose_target":  "akita_black_bowl_1",
+                                                                                           "occluders":  "black_book_occluder_1",
+                                                                                           "occluder_type":  "black_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.09
+                                                                                                                   ],
+                                                                                           "critical_objects":  "akita_black_bowl_1",
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       },
+                                                                                       {
+                                                                                           "task":  "push_the_plate_to_the_front_of_the_stove",
+                                                                                           "path":  "bddl_files/02_camera_view_angle/bddl/libero_goal/push_the_plate_to_the_front_of_the_stove.bddl",
+                                                                                           "target":  "plate_1",
+                                                                                           "appearance_targets":  "flat_stove_1",
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.72,
+                                                                                                                   0.63,
+                                                                                                                   0.5,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "plate_1",
+                                                                                           "occlusion_between_object":  "",
+                                                                                           "occlusion_avoid_target":  "main_table_stove_front_region",
+                                                                                           "runtime_target":  "plate_1",
+                                                                                           "pose_target":  "plate_1",
+                                                                                           "occluders":  "black_book_occluder_1",
+                                                                                           "occluder_type":  "black_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.0
+                                                                                                                   ],
+                                                                                           "critical_objects":  "plate_1",
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       },
+                                                                                       {
+                                                                                           "task":  "put_the_bowl_on_the_plate",
+                                                                                           "path":  "bddl_files/02_camera_view_angle/bddl/libero_goal/put_the_bowl_on_the_plate.bddl",
+                                                                                           "target":  "akita_black_bowl_1",
+                                                                                           "appearance_targets":  "plate_1",
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.72,
+                                                                                                                   0.63,
+                                                                                                                   0.5,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "akita_black_bowl_1",
+                                                                                           "occlusion_between_object":  "plate_1",
+                                                                                           "occlusion_avoid_target":  "plate_1",
+                                                                                           "runtime_target":  "akita_black_bowl_1",
+                                                                                           "pose_target":  "akita_black_bowl_1",
+                                                                                           "occluders":  "black_book_occluder_1",
+                                                                                           "occluder_type":  "black_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.0
+                                                                                                                   ],
+                                                                                           "critical_objects":  [
+                                                                                                                    "akita_black_bowl_1",
+                                                                                                                    "plate_1"
+                                                                                                                ],
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       },
+                                                                                       {
+                                                                                           "task":  "put_the_bowl_on_the_stove",
+                                                                                           "path":  "bddl_files/02_camera_view_angle/bddl/libero_goal/put_the_bowl_on_the_stove.bddl",
+                                                                                           "target":  "akita_black_bowl_1",
+                                                                                           "appearance_targets":  "flat_stove_1",
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.72,
+                                                                                                                   0.63,
+                                                                                                                   0.5,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "akita_black_bowl_1",
+                                                                                           "occlusion_between_object":  "",
+                                                                                           "occlusion_avoid_target":  "flat_stove_1_cook_region",
+                                                                                           "runtime_target":  "akita_black_bowl_1",
+                                                                                           "pose_target":  "akita_black_bowl_1",
+                                                                                           "occluders":  "black_book_occluder_1",
+                                                                                           "occluder_type":  "black_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.09
+                                                                                                                   ],
+                                                                                           "critical_objects":  "akita_black_bowl_1",
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       },
+                                                                                       {
+                                                                                           "task":  "put_the_bowl_on_top_of_the_cabinet",
+                                                                                           "path":  "bddl_files/02_camera_view_angle/bddl/libero_goal/put_the_bowl_on_top_of_the_cabinet.bddl",
+                                                                                           "target":  "akita_black_bowl_1",
+                                                                                           "appearance_targets":  "wooden_cabinet_1",
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.72,
+                                                                                                                   0.63,
+                                                                                                                   0.5,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "akita_black_bowl_1",
+                                                                                           "occlusion_between_object":  "",
+                                                                                           "occlusion_avoid_target":  "wooden_cabinet_1_top_side",
+                                                                                           "runtime_target":  "akita_black_bowl_1",
+                                                                                           "pose_target":  "akita_black_bowl_1",
+                                                                                           "occluders":  "black_book_occluder_1",
+                                                                                           "occluder_type":  "black_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.09
+                                                                                                                   ],
+                                                                                           "critical_objects":  "akita_black_bowl_1",
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       },
+                                                                                       {
+                                                                                           "task":  "put_the_cream_cheese_in_the_bowl",
+                                                                                           "path":  "bddl_files/02_camera_view_angle/bddl/libero_goal/put_the_cream_cheese_in_the_bowl.bddl",
+                                                                                           "target":  "cream_cheese_1",
+                                                                                           "appearance_targets":  "akita_black_bowl_1",
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.72,
+                                                                                                                   0.63,
+                                                                                                                   0.5,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "cream_cheese_1",
+                                                                                           "occlusion_between_object":  "",
+                                                                                           "occlusion_avoid_target":  "akita_black_bowl_1",
+                                                                                           "runtime_target":  "cream_cheese_1",
+                                                                                           "pose_target":  "cream_cheese_1",
+                                                                                           "occluders":  "black_book_occluder_1",
+                                                                                           "occluder_type":  "black_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.0
+                                                                                                                   ],
+                                                                                           "critical_objects":  [
+                                                                                                                    "akita_black_bowl_1",
+                                                                                                                    "cream_cheese_1"
+                                                                                                                ],
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       },
+                                                                                       {
+                                                                                           "task":  "put_the_wine_bottle_on_the_rack",
+                                                                                           "path":  "bddl_files/02_camera_view_angle/bddl/libero_goal/put_the_wine_bottle_on_the_rack.bddl",
+                                                                                           "target":  "wine_bottle_1",
+                                                                                           "appearance_targets":  "wine_rack_1",
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.72,
+                                                                                                                   0.63,
+                                                                                                                   0.5,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "wine_bottle_1",
+                                                                                           "occlusion_between_object":  "",
+                                                                                           "occlusion_avoid_target":  "wine_rack_1_top_region",
+                                                                                           "runtime_target":  "wine_bottle_1",
+                                                                                           "pose_target":  "wine_bottle_1",
+                                                                                           "occluders":  "black_book_occluder_1",
+                                                                                           "occluder_type":  "black_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.0
+                                                                                                                   ],
+                                                                                           "critical_objects":  "wine_bottle_1",
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       },
+                                                                                       {
+                                                                                           "task":  "put_the_wine_bottle_on_top_of_the_cabinet",
+                                                                                           "path":  "bddl_files/02_camera_view_angle/bddl/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.bddl",
+                                                                                           "target":  "wine_bottle_1",
+                                                                                           "appearance_targets":  "wooden_cabinet_1",
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.72,
+                                                                                                                   0.63,
+                                                                                                                   0.5,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "wine_bottle_1",
+                                                                                           "occlusion_between_object":  "",
+                                                                                           "occlusion_avoid_target":  "wooden_cabinet_1_top_side",
+                                                                                           "runtime_target":  "wine_bottle_1",
+                                                                                           "pose_target":  "wine_bottle_1",
+                                                                                           "occluders":  "black_book_occluder_1",
+                                                                                           "occluder_type":  "black_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.0
+                                                                                                                   ],
+                                                                                           "critical_objects":  "wine_bottle_1",
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       },
+                                                                                       {
+                                                                                           "task":  "turn_on_the_stove",
+                                                                                           "path":  "bddl_files/02_camera_view_angle/bddl/libero_goal/turn_on_the_stove.bddl",
+                                                                                           "target":  "akita_black_bowl_1",
+                                                                                           "appearance_targets":  "flat_stove_1",
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.72,
+                                                                                                                   0.63,
+                                                                                                                   0.5,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "akita_black_bowl_1",
+                                                                                           "occlusion_between_object":  "",
+                                                                                           "occlusion_avoid_target":  "",
+                                                                                           "runtime_target":  "akita_black_bowl_1",
+                                                                                           "pose_target":  "akita_black_bowl_1",
+                                                                                           "occluders":  "black_book_occluder_1",
+                                                                                           "occluder_type":  "black_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.09
+                                                                                                                   ],
+                                                                                           "critical_objects":  null,
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       }
+                                                                                   ],
+                                                                   "libero_10":  [
+                                                                                     {
+                                                                                         "task":  "KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it",
+                                                                                         "path":  "bddl_files/02_camera_view_angle/bddl/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl",
+                                                                                         "target":  "moka_pot_1",
+                                                                                         "appearance_targets":  "flat_stove_1",
+                                                                                         "appearance_rgba":  [
+                                                                                                                 0.72,
+                                                                                                                 0.63,
+                                                                                                                 0.5,
+                                                                                                                 1.0
+                                                                                                             ],
+                                                                                         "occlusion_reference":  "moka_pot_1",
+                                                                                         "occlusion_between_object":  "",
+                                                                                         "occlusion_avoid_target":  "flat_stove_1",
+                                                                                         "runtime_target":  "moka_pot_1",
+                                                                                         "pose_target":  "moka_pot_1",
+                                                                                         "occluders":  "black_book_occluder_1",
+                                                                                         "occluder_type":  "black_book",
+                                                                                         "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                         "occlusion_offset_xy":  [
+                                                                                                                     0.08,
+                                                                                                                     0.0
+                                                                                                                 ],
+                                                                                         "critical_objects":  "moka_pot_1",
+                                                                                         "removed_duplicate_objects":  null
+                                                                                     },
+                                                                                     {
+                                                                                         "task":  "KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it",
+                                                                                         "path":  "bddl_files/02_camera_view_angle/bddl/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl",
+                                                                                         "target":  "akita_black_bowl_1",
+                                                                                         "appearance_targets":  "white_cabinet_1",
+                                                                                         "appearance_rgba":  [
+                                                                                                                 0.72,
+                                                                                                                 0.63,
+                                                                                                                 0.5,
+                                                                                                                 1.0
+                                                                                                             ],
+                                                                                         "occlusion_reference":  "akita_black_bowl_1",
+                                                                                         "occlusion_between_object":  "",
+                                                                                         "occlusion_avoid_target":  "white_cabinet_1",
+                                                                                         "runtime_target":  "akita_black_bowl_1",
+                                                                                         "pose_target":  "akita_black_bowl_1",
+                                                                                         "occluders":  "black_book_occluder_1",
+                                                                                         "occluder_type":  "black_book",
+                                                                                         "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                         "occlusion_offset_xy":  [
+                                                                                                                     0.08,
+                                                                                                                     0.0
+                                                                                                                 ],
+                                                                                         "critical_objects":  "akita_black_bowl_1",
+                                                                                         "removed_duplicate_objects":  null
+                                                                                     },
+                                                                                     {
+                                                                                         "task":  "KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it",
+                                                                                         "path":  "bddl_files/02_camera_view_angle/bddl/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl",
+                                                                                         "target":  "white_yellow_mug_1",
+                                                                                         "appearance_targets":  "microwave_1",
+                                                                                         "appearance_rgba":  [
+                                                                                                                 0.72,
+                                                                                                                 0.63,
+                                                                                                                 0.5,
+                                                                                                                 1.0
+                                                                                                             ],
+                                                                                         "occlusion_reference":  "white_yellow_mug_1",
+                                                                                         "occlusion_between_object":  "",
+                                                                                         "occlusion_avoid_target":  "microwave_1",
+                                                                                         "runtime_target":  "white_yellow_mug_1",
+                                                                                         "pose_target":  "white_yellow_mug_1",
+                                                                                         "occluders":  "black_book_occluder_1",
+                                                                                         "occluder_type":  "black_book",
+                                                                                         "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                         "occlusion_offset_xy":  [
+                                                                                                                     0.08,
+                                                                                                                     0.0
+                                                                                                                 ],
+                                                                                         "critical_objects":  "white_yellow_mug_1",
+                                                                                         "removed_duplicate_objects":  null
+                                                                                     },
+                                                                                     {
+                                                                                         "task":  "KITCHEN_SCENE8_put_both_moka_pots_on_the_stove",
+                                                                                         "path":  "bddl_files/02_camera_view_angle/bddl/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl",
+                                                                                         "target":  "moka_pot_1",
+                                                                                         "appearance_targets":  "flat_stove_1",
+                                                                                         "appearance_rgba":  [
+                                                                                                                 0.72,
+                                                                                                                 0.63,
+                                                                                                                 0.5,
+                                                                                                                 1.0
+                                                                                                             ],
+                                                                                         "occlusion_reference":  "moka_pot_1",
+                                                                                         "occlusion_between_object":  "",
+                                                                                         "occlusion_avoid_target":  "moka_pot_2",
+                                                                                         "runtime_target":  "moka_pot_1",
+                                                                                         "pose_target":  "moka_pot_1",
+                                                                                         "occluders":  "black_book_occluder_1",
+                                                                                         "occluder_type":  "black_book",
+                                                                                         "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                         "occlusion_offset_xy":  [
+                                                                                                                     0.08,
+                                                                                                                     0.0
+                                                                                                                 ],
+                                                                                         "critical_objects":  [
+                                                                                                                  "moka_pot_1",
+                                                                                                                  "moka_pot_2"
+                                                                                                              ],
+                                                                                         "removed_duplicate_objects":  null
+                                                                                     },
+                                                                                     {
+                                                                                         "task":  "LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket",
+                                                                                         "path":  "bddl_files/02_camera_view_angle/bddl/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl",
+                                                                                         "target":  "alphabet_soup_1",
+                                                                                         "appearance_targets":  "basket_1",
+                                                                                         "appearance_rgba":  [
+                                                                                                                 0.3,
+                                                                                                                 0.2,
+                                                                                                                 0.12,
+                                                                                                                 1.0
+                                                                                                             ],
+                                                                                         "occlusion_reference":  "alphabet_soup_1",
+                                                                                         "occlusion_between_object":  "",
+                                                                                         "occlusion_avoid_target":  "cream_cheese_1",
+                                                                                         "runtime_target":  "alphabet_soup_1",
+                                                                                         "pose_target":  "alphabet_soup_1",
+                                                                                         "occluders":  "black_book_occluder_1",
+                                                                                         "occluder_type":  "black_book",
+                                                                                         "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                         "occlusion_offset_xy":  [
+                                                                                                                     0.08,
+                                                                                                                     0.0
+                                                                                                                 ],
+                                                                                         "critical_objects":  [
+                                                                                                                  "alphabet_soup_1",
+                                                                                                                  "basket_1",
+                                                                                                                  "cream_cheese_1"
+                                                                                                              ],
+                                                                                         "removed_duplicate_objects":  null
+                                                                                     },
+                                                                                     {
+                                                                                         "task":  "LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket",
+                                                                                         "path":  "bddl_files/02_camera_view_angle/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl",
+                                                                                         "target":  "alphabet_soup_1",
+                                                                                         "appearance_targets":  "basket_1",
+                                                                                         "appearance_rgba":  [
+                                                                                                                 0.3,
+                                                                                                                 0.2,
+                                                                                                                 0.12,
+                                                                                                                 1.0
+                                                                                                             ],
+                                                                                         "occlusion_reference":  "alphabet_soup_1",
+                                                                                         "occlusion_between_object":  "",
+                                                                                         "occlusion_avoid_target":  "tomato_sauce_1",
+                                                                                         "runtime_target":  "alphabet_soup_1",
+                                                                                         "pose_target":  "alphabet_soup_1",
+                                                                                         "occluders":  "black_book_occluder_1",
+                                                                                         "occluder_type":  "black_book",
+                                                                                         "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                         "occlusion_offset_xy":  [
+                                                                                                                     0.08,
+                                                                                                                     0.0
+                                                                                                                 ],
+                                                                                         "critical_objects":  [
+                                                                                                                  "alphabet_soup_1",
+                                                                                                                  "basket_1",
+                                                                                                                  "tomato_sauce_1"
+                                                                                                              ],
+                                                                                         "removed_duplicate_objects":  null
+                                                                                     },
+                                                                                     {
+                                                                                         "task":  "LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket",
+                                                                                         "path":  "bddl_files/02_camera_view_angle/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl",
+                                                                                         "target":  "cream_cheese_1",
+                                                                                         "appearance_targets":  "basket_1",
+                                                                                         "appearance_rgba":  [
+                                                                                                                 0.3,
+                                                                                                                 0.2,
+                                                                                                                 0.12,
+                                                                                                                 1.0
+                                                                                                             ],
+                                                                                         "occlusion_reference":  "cream_cheese_1",
+                                                                                         "occlusion_between_object":  "",
+                                                                                         "occlusion_avoid_target":  "butter_1",
+                                                                                         "runtime_target":  "cream_cheese_1",
+                                                                                         "pose_target":  "cream_cheese_1",
+                                                                                         "occluders":  "black_book_occluder_1",
+                                                                                         "occluder_type":  "black_book",
+                                                                                         "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                         "occlusion_offset_xy":  [
+                                                                                                                     0.08,
+                                                                                                                     0.0
+                                                                                                                 ],
+                                                                                         "critical_objects":  [
+                                                                                                                  "basket_1",
+                                                                                                                  "butter_1",
+                                                                                                                  "cream_cheese_1"
+                                                                                                              ],
+                                                                                         "removed_duplicate_objects":  null
+                                                                                     },
+                                                                                     {
+                                                                                         "task":  "LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate",
+                                                                                         "path":  "bddl_files/02_camera_view_angle/bddl/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl",
+                                                                                         "target":  "plate_1",
+                                                                                         "appearance_targets":  [
+                                                                                                                    "plate_1",
+                                                                                                                    "plate_2"
+                                                                                                                ],
+                                                                                         "appearance_rgba":  [
+                                                                                                                 0.3,
+                                                                                                                 0.2,
+                                                                                                                 0.12,
+                                                                                                                 1.0
+                                                                                                             ],
+                                                                                         "occlusion_reference":  "plate_1",
+                                                                                         "occlusion_between_object":  "",
+                                                                                         "occlusion_avoid_target":  "plate_2",
+                                                                                         "runtime_target":  "plate_1",
+                                                                                         "pose_target":  "plate_1",
+                                                                                         "occluders":  "black_book_occluder_1",
+                                                                                         "occluder_type":  "black_book",
+                                                                                         "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                         "occlusion_offset_xy":  [
+                                                                                                                     0.08,
+                                                                                                                     0.0
+                                                                                                                 ],
+                                                                                         "critical_objects":  [
+                                                                                                                  "plate_1",
+                                                                                                                  "plate_2",
+                                                                                                                  "porcelain_mug_1",
+                                                                                                                  "white_yellow_mug_1"
+                                                                                                              ],
+                                                                                         "removed_duplicate_objects":  null
+                                                                                     },
+                                                                                     {
+                                                                                         "task":  "LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate",
+                                                                                         "path":  "bddl_files/02_camera_view_angle/bddl/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl",
+                                                                                         "target":  "plate_1",
+                                                                                         "appearance_targets":  "plate_1",
+                                                                                         "appearance_rgba":  [
+                                                                                                                 0.3,
+                                                                                                                 0.2,
+                                                                                                                 0.12,
+                                                                                                                 1.0
+                                                                                                             ],
+                                                                                         "occlusion_reference":  "plate_1",
+                                                                                         "occlusion_between_object":  "",
+                                                                                         "occlusion_avoid_target":  "chocolate_pudding_1",
+                                                                                         "runtime_target":  "plate_1",
+                                                                                         "pose_target":  "plate_1",
+                                                                                         "occluders":  "black_book_occluder_1",
+                                                                                         "occluder_type":  "black_book",
+                                                                                         "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                         "occlusion_offset_xy":  [
+                                                                                                                     0.08,
+                                                                                                                     0.0
+                                                                                                                 ],
+                                                                                         "critical_objects":  [
+                                                                                                                  "chocolate_pudding_1",
+                                                                                                                  "plate_1",
+                                                                                                                  "porcelain_mug_1"
+                                                                                                              ],
+                                                                                         "removed_duplicate_objects":  null
+                                                                                     },
+                                                                                     {
+                                                                                         "task":  "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy",
+                                                                                         "path":  "bddl_files/02_camera_view_angle/bddl/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl",
+                                                                                         "target":  "black_book_1",
+                                                                                         "appearance_targets":  "desk_caddy_1",
+                                                                                         "appearance_rgba":  [
+                                                                                                                 0.5,
+                                                                                                                 0.36,
+                                                                                                                 0.2,
+                                                                                                                 1.0
+                                                                                                             ],
+                                                                                         "occlusion_reference":  "black_book_1",
+                                                                                         "occlusion_between_object":  "",
+                                                                                         "occlusion_avoid_target":  "desk_caddy_1",
+                                                                                         "runtime_target":  "black_book_1",
+                                                                                         "pose_target":  "black_book_1",
+                                                                                         "occluders":  "yellow_book_1",
+                                                                                         "occluder_type":  "yellow_book",
+                                                                                         "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                         "occlusion_offset_xy":  [
+                                                                                                                     0.08,
+                                                                                                                     0.0
+                                                                                                                 ],
+                                                                                         "critical_objects":  "black_book_1",
+                                                                                         "removed_duplicate_objects":  null
+                                                                                     }
+                                                                                 ]
+                                                               },
+                                                    "count":  40
+                                                },
+                       "03_runtime_object_move":  {
+                                                      "folder":  "03_runtime_object_move",
+                                                      "suites":  {
+                                                                     "libero_spatial":  [
+                                                                                            {
+                                                                                                "task":  "pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate",
+                                                                                                "path":  "bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl",
+                                                                                                "target":  "akita_black_bowl_1",
+                                                                                                "appearance_targets":  "plate_1",
+                                                                                                "appearance_rgba":  [
+                                                                                                                        0.72,
+                                                                                                                        0.63,
+                                                                                                                        0.5,
+                                                                                                                        1.0
+                                                                                                                    ],
+                                                                                                "occlusion_reference":  "akita_black_bowl_1",
+                                                                                                "occlusion_between_object":  "plate_1",
+                                                                                                "occlusion_avoid_target":  "plate_1",
+                                                                                                "runtime_target":  "akita_black_bowl_1",
+                                                                                                "pose_target":  "akita_black_bowl_1",
+                                                                                                "occluders":  "black_book_occluder_1",
+                                                                                                "occluder_type":  "black_book",
+                                                                                                "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                "occlusion_offset_xy":  [
+                                                                                                                            0.08,
+                                                                                                                            0.0
+                                                                                                                        ],
+                                                                                                "critical_objects":  [
+                                                                                                                         "akita_black_bowl_1",
+                                                                                                                         "plate_1"
+                                                                                                                     ],
+                                                                                                "removed_duplicate_objects":  null
+                                                                                            },
+                                                                                            {
+                                                                                                "task":  "pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate",
+                                                                                                "path":  "bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl",
+                                                                                                "target":  "akita_black_bowl_1",
+                                                                                                "appearance_targets":  "plate_1",
+                                                                                                "appearance_rgba":  [
+                                                                                                                        0.72,
+                                                                                                                        0.63,
+                                                                                                                        0.5,
+                                                                                                                        1.0
+                                                                                                                    ],
+                                                                                                "occlusion_reference":  "akita_black_bowl_1",
+                                                                                                "occlusion_between_object":  "plate_1",
+                                                                                                "occlusion_avoid_target":  "plate_1",
+                                                                                                "runtime_target":  "akita_black_bowl_1",
+                                                                                                "pose_target":  "akita_black_bowl_1",
+                                                                                                "occluders":  "black_book_occluder_1",
+                                                                                                "occluder_type":  "black_book",
+                                                                                                "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                "occlusion_offset_xy":  [
+                                                                                                                            0.08,
+                                                                                                                            0.0
+                                                                                                                        ],
+                                                                                                "critical_objects":  [
+                                                                                                                         "akita_black_bowl_1",
+                                                                                                                         "plate_1"
+                                                                                                                     ],
+                                                                                                "removed_duplicate_objects":  null
+                                                                                            },
+                                                                                            {
+                                                                                                "task":  "pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate",
+                                                                                                "path":  "bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl",
+                                                                                                "target":  "akita_black_bowl_1",
+                                                                                                "appearance_targets":  "plate_1",
+                                                                                                "appearance_rgba":  [
+                                                                                                                        0.72,
+                                                                                                                        0.63,
+                                                                                                                        0.5,
+                                                                                                                        1.0
+                                                                                                                    ],
+                                                                                                "occlusion_reference":  "akita_black_bowl_1",
+                                                                                                "occlusion_between_object":  "plate_1",
+                                                                                                "occlusion_avoid_target":  "plate_1",
+                                                                                                "runtime_target":  "akita_black_bowl_1",
+                                                                                                "pose_target":  "akita_black_bowl_1",
+                                                                                                "occluders":  "black_book_occluder_1",
+                                                                                                "occluder_type":  "black_book",
+                                                                                                "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                "occlusion_offset_xy":  [
+                                                                                                                            0.08,
+                                                                                                                            0.0
+                                                                                                                        ],
+                                                                                                "critical_objects":  [
+                                                                                                                         "akita_black_bowl_1",
+                                                                                                                         "plate_1"
+                                                                                                                     ],
+                                                                                                "removed_duplicate_objects":  null
+                                                                                            },
+                                                                                            {
+                                                                                                "task":  "pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate",
+                                                                                                "path":  "bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl",
+                                                                                                "target":  "akita_black_bowl_1",
+                                                                                                "appearance_targets":  "plate_1",
+                                                                                                "appearance_rgba":  [
+                                                                                                                        0.72,
+                                                                                                                        0.63,
+                                                                                                                        0.5,
+                                                                                                                        1.0
+                                                                                                                    ],
+                                                                                                "occlusion_reference":  "akita_black_bowl_1",
+                                                                                                "occlusion_between_object":  "plate_1",
+                                                                                                "occlusion_avoid_target":  "plate_1",
+                                                                                                "runtime_target":  "akita_black_bowl_1",
+                                                                                                "pose_target":  "akita_black_bowl_1",
+                                                                                                "occluders":  "black_book_occluder_1",
+                                                                                                "occluder_type":  "black_book",
+                                                                                                "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                "occlusion_offset_xy":  [
+                                                                                                                            0.08,
+                                                                                                                            0.0
+                                                                                                                        ],
+                                                                                                "critical_objects":  [
+                                                                                                                         "akita_black_bowl_1",
+                                                                                                                         "plate_1"
+                                                                                                                     ],
+                                                                                                "removed_duplicate_objects":  null
+                                                                                            },
+                                                                                            {
+                                                                                                "task":  "pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate",
+                                                                                                "path":  "bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl",
+                                                                                                "target":  "akita_black_bowl_1",
+                                                                                                "appearance_targets":  "plate_1",
+                                                                                                "appearance_rgba":  [
+                                                                                                                        0.72,
+                                                                                                                        0.63,
+                                                                                                                        0.5,
+                                                                                                                        1.0
+                                                                                                                    ],
+                                                                                                "occlusion_reference":  "akita_black_bowl_1",
+                                                                                                "occlusion_between_object":  "plate_1",
+                                                                                                "occlusion_avoid_target":  "plate_1",
+                                                                                                "runtime_target":  "akita_black_bowl_1",
+                                                                                                "pose_target":  "akita_black_bowl_1",
+                                                                                                "occluders":  "black_book_occluder_1",
+                                                                                                "occluder_type":  "black_book",
+                                                                                                "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                "occlusion_offset_xy":  [
+                                                                                                                            0.08,
+                                                                                                                            0.0
+                                                                                                                        ],
+                                                                                                "critical_objects":  [
+                                                                                                                         "akita_black_bowl_1",
+                                                                                                                         "plate_1"
+                                                                                                                     ],
+                                                                                                "removed_duplicate_objects":  null
+                                                                                            },
+                                                                                            {
+                                                                                                "task":  "pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate",
+                                                                                                "path":  "bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl",
+                                                                                                "target":  "akita_black_bowl_1",
+                                                                                                "appearance_targets":  "plate_1",
+                                                                                                "appearance_rgba":  [
+                                                                                                                        0.72,
+                                                                                                                        0.63,
+                                                                                                                        0.5,
+                                                                                                                        1.0
+                                                                                                                    ],
+                                                                                                "occlusion_reference":  "akita_black_bowl_1",
+                                                                                                "occlusion_between_object":  "plate_1",
+                                                                                                "occlusion_avoid_target":  "plate_1",
+                                                                                                "runtime_target":  "akita_black_bowl_1",
+                                                                                                "pose_target":  "akita_black_bowl_1",
+                                                                                                "occluders":  "black_book_occluder_1",
+                                                                                                "occluder_type":  "black_book",
+                                                                                                "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                "occlusion_offset_xy":  [
+                                                                                                                            0.08,
+                                                                                                                            0.0
+                                                                                                                        ],
+                                                                                                "critical_objects":  [
+                                                                                                                         "akita_black_bowl_1",
+                                                                                                                         "plate_1"
+                                                                                                                     ],
+                                                                                                "removed_duplicate_objects":  null
+                                                                                            },
+                                                                                            {
+                                                                                                "task":  "pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate",
+                                                                                                "path":  "bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl",
+                                                                                                "target":  "akita_black_bowl_1",
+                                                                                                "appearance_targets":  "plate_1",
+                                                                                                "appearance_rgba":  [
+                                                                                                                        0.72,
+                                                                                                                        0.63,
+                                                                                                                        0.5,
+                                                                                                                        1.0
+                                                                                                                    ],
+                                                                                                "occlusion_reference":  "akita_black_bowl_1",
+                                                                                                "occlusion_between_object":  "plate_1",
+                                                                                                "occlusion_avoid_target":  "plate_1",
+                                                                                                "runtime_target":  "akita_black_bowl_1",
+                                                                                                "pose_target":  "akita_black_bowl_1",
+                                                                                                "occluders":  "black_book_occluder_1",
+                                                                                                "occluder_type":  "black_book",
+                                                                                                "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                "occlusion_offset_xy":  [
+                                                                                                                            0.08,
+                                                                                                                            0.0
+                                                                                                                        ],
+                                                                                                "critical_objects":  [
+                                                                                                                         "akita_black_bowl_1",
+                                                                                                                         "plate_1"
+                                                                                                                     ],
+                                                                                                "removed_duplicate_objects":  null
+                                                                                            },
+                                                                                            {
+                                                                                                "task":  "pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate",
+                                                                                                "path":  "bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl",
+                                                                                                "target":  "akita_black_bowl_1",
+                                                                                                "appearance_targets":  "plate_1",
+                                                                                                "appearance_rgba":  [
+                                                                                                                        0.72,
+                                                                                                                        0.63,
+                                                                                                                        0.5,
+                                                                                                                        1.0
+                                                                                                                    ],
+                                                                                                "occlusion_reference":  "akita_black_bowl_1",
+                                                                                                "occlusion_between_object":  "plate_1",
+                                                                                                "occlusion_avoid_target":  "plate_1",
+                                                                                                "runtime_target":  "akita_black_bowl_1",
+                                                                                                "pose_target":  "akita_black_bowl_1",
+                                                                                                "occluders":  "black_book_occluder_1",
+                                                                                                "occluder_type":  "black_book",
+                                                                                                "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                "occlusion_offset_xy":  [
+                                                                                                                            0.08,
+                                                                                                                            0.0
+                                                                                                                        ],
+                                                                                                "critical_objects":  [
+                                                                                                                         "akita_black_bowl_1",
+                                                                                                                         "plate_1"
+                                                                                                                     ],
+                                                                                                "removed_duplicate_objects":  null
+                                                                                            },
+                                                                                            {
+                                                                                                "task":  "pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate",
+                                                                                                "path":  "bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl",
+                                                                                                "target":  "akita_black_bowl_1",
+                                                                                                "appearance_targets":  "plate_1",
+                                                                                                "appearance_rgba":  [
+                                                                                                                        0.72,
+                                                                                                                        0.63,
+                                                                                                                        0.5,
+                                                                                                                        1.0
+                                                                                                                    ],
+                                                                                                "occlusion_reference":  "akita_black_bowl_1",
+                                                                                                "occlusion_between_object":  "plate_1",
+                                                                                                "occlusion_avoid_target":  "plate_1",
+                                                                                                "runtime_target":  "akita_black_bowl_1",
+                                                                                                "pose_target":  "akita_black_bowl_1",
+                                                                                                "occluders":  "black_book_occluder_1",
+                                                                                                "occluder_type":  "black_book",
+                                                                                                "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                "occlusion_offset_xy":  [
+                                                                                                                            0.08,
+                                                                                                                            0.0
+                                                                                                                        ],
+                                                                                                "critical_objects":  [
+                                                                                                                         "akita_black_bowl_1",
+                                                                                                                         "plate_1"
+                                                                                                                     ],
+                                                                                                "removed_duplicate_objects":  null
+                                                                                            },
+                                                                                            {
+                                                                                                "task":  "pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate",
+                                                                                                "path":  "bddl_files/03_runtime_object_move/bddl/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl",
+                                                                                                "target":  "akita_black_bowl_1",
+                                                                                                "appearance_targets":  "plate_1",
+                                                                                                "appearance_rgba":  [
+                                                                                                                        0.72,
+                                                                                                                        0.63,
+                                                                                                                        0.5,
+                                                                                                                        1.0
+                                                                                                                    ],
+                                                                                                "occlusion_reference":  "akita_black_bowl_1",
+                                                                                                "occlusion_between_object":  "plate_1",
+                                                                                                "occlusion_avoid_target":  "plate_1",
+                                                                                                "runtime_target":  "akita_black_bowl_1",
+                                                                                                "pose_target":  "akita_black_bowl_1",
+                                                                                                "occluders":  "black_book_occluder_1",
+                                                                                                "occluder_type":  "black_book",
+                                                                                                "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                "occlusion_offset_xy":  [
+                                                                                                                            0.08,
+                                                                                                                            0.0
+                                                                                                                        ],
+                                                                                                "critical_objects":  [
+                                                                                                                         "akita_black_bowl_1",
+                                                                                                                         "plate_1"
+                                                                                                                     ],
+                                                                                                "removed_duplicate_objects":  null
+                                                                                            }
+                                                                                        ],
+                                                                     "libero_object":  [
+                                                                                           {
+                                                                                               "task":  "pick_up_the_alphabet_soup_and_place_it_in_the_basket",
+                                                                                               "path":  "bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl",
+                                                                                               "target":  "alphabet_soup_1",
+                                                                                               "appearance_targets":  "basket_1",
+                                                                                               "appearance_rgba":  [
+                                                                                                                       0.35,
+                                                                                                                       0.34,
+                                                                                                                       0.32,
+                                                                                                                       1.0
+                                                                                                                   ],
+                                                                                               "occlusion_reference":  "alphabet_soup_1",
+                                                                                               "occlusion_between_object":  "",
+                                                                                               "occlusion_avoid_target":  "basket_1",
+                                                                                               "runtime_target":  "alphabet_soup_1",
+                                                                                               "pose_target":  "alphabet_soup_1",
+                                                                                               "occluders":  "black_book_occluder_1",
+                                                                                               "occluder_type":  "black_book",
+                                                                                               "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                               "occlusion_offset_xy":  [
+                                                                                                                           0.08,
+                                                                                                                           0.0
+                                                                                                                       ],
+                                                                                               "critical_objects":  [
+                                                                                                                        "alphabet_soup_1",
+                                                                                                                        "basket_1"
+                                                                                                                    ],
+                                                                                               "removed_duplicate_objects":  null
+                                                                                           },
+                                                                                           {
+                                                                                               "task":  "pick_up_the_bbq_sauce_and_place_it_in_the_basket",
+                                                                                               "path":  "bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl",
+                                                                                               "target":  "bbq_sauce_1",
+                                                                                               "appearance_targets":  "basket_1",
+                                                                                               "appearance_rgba":  [
+                                                                                                                       0.35,
+                                                                                                                       0.34,
+                                                                                                                       0.32,
+                                                                                                                       1.0
+                                                                                                                   ],
+                                                                                               "occlusion_reference":  "bbq_sauce_1",
+                                                                                               "occlusion_between_object":  "",
+                                                                                               "occlusion_avoid_target":  "basket_1",
+                                                                                               "runtime_target":  "bbq_sauce_1",
+                                                                                               "pose_target":  "bbq_sauce_1",
+                                                                                               "occluders":  "black_book_occluder_1",
+                                                                                               "occluder_type":  "black_book",
+                                                                                               "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                               "occlusion_offset_xy":  [
+                                                                                                                           0.08,
+                                                                                                                           0.0
+                                                                                                                       ],
+                                                                                               "critical_objects":  [
+                                                                                                                        "basket_1",
+                                                                                                                        "bbq_sauce_1"
+                                                                                                                    ],
+                                                                                               "removed_duplicate_objects":  null
+                                                                                           },
+                                                                                           {
+                                                                                               "task":  "pick_up_the_butter_and_place_it_in_the_basket",
+                                                                                               "path":  "bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl",
+                                                                                               "target":  "butter_1",
+                                                                                               "appearance_targets":  "basket_1",
+                                                                                               "appearance_rgba":  [
+                                                                                                                       0.35,
+                                                                                                                       0.34,
+                                                                                                                       0.32,
+                                                                                                                       1.0
+                                                                                                                   ],
+                                                                                               "occlusion_reference":  "butter_1",
+                                                                                               "occlusion_between_object":  "",
+                                                                                               "occlusion_avoid_target":  "basket_1",
+                                                                                               "runtime_target":  "butter_1",
+                                                                                               "pose_target":  "butter_1",
+                                                                                               "occluders":  "black_book_occluder_1",
+                                                                                               "occluder_type":  "black_book",
+                                                                                               "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                               "occlusion_offset_xy":  [
+                                                                                                                           0.08,
+                                                                                                                           0.0
+                                                                                                                       ],
+                                                                                               "critical_objects":  [
+                                                                                                                        "basket_1",
+                                                                                                                        "butter_1"
+                                                                                                                    ],
+                                                                                               "removed_duplicate_objects":  null
+                                                                                           },
+                                                                                           {
+                                                                                               "task":  "pick_up_the_chocolate_pudding_and_place_it_in_the_basket",
+                                                                                               "path":  "bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl",
+                                                                                               "target":  "chocolate_pudding_1",
+                                                                                               "appearance_targets":  "basket_1",
+                                                                                               "appearance_rgba":  [
+                                                                                                                       0.35,
+                                                                                                                       0.34,
+                                                                                                                       0.32,
+                                                                                                                       1.0
+                                                                                                                   ],
+                                                                                               "occlusion_reference":  "chocolate_pudding_1",
+                                                                                               "occlusion_between_object":  "",
+                                                                                               "occlusion_avoid_target":  "basket_1",
+                                                                                               "runtime_target":  "chocolate_pudding_1",
+                                                                                               "pose_target":  "chocolate_pudding_1",
+                                                                                               "occluders":  "black_book_occluder_1",
+                                                                                               "occluder_type":  "black_book",
+                                                                                               "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                               "occlusion_offset_xy":  [
+                                                                                                                           0.08,
+                                                                                                                           0.0
+                                                                                                                       ],
+                                                                                               "critical_objects":  [
+                                                                                                                        "basket_1",
+                                                                                                                        "chocolate_pudding_1"
+                                                                                                                    ],
+                                                                                               "removed_duplicate_objects":  null
+                                                                                           },
+                                                                                           {
+                                                                                               "task":  "pick_up_the_cream_cheese_and_place_it_in_the_basket",
+                                                                                               "path":  "bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl",
+                                                                                               "target":  "cream_cheese_1",
+                                                                                               "appearance_targets":  "basket_1",
+                                                                                               "appearance_rgba":  [
+                                                                                                                       0.35,
+                                                                                                                       0.34,
+                                                                                                                       0.32,
+                                                                                                                       1.0
+                                                                                                                   ],
+                                                                                               "occlusion_reference":  "cream_cheese_1",
+                                                                                               "occlusion_between_object":  "",
+                                                                                               "occlusion_avoid_target":  "basket_1",
+                                                                                               "runtime_target":  "cream_cheese_1",
+                                                                                               "pose_target":  "cream_cheese_1",
+                                                                                               "occluders":  "black_book_occluder_1",
+                                                                                               "occluder_type":  "black_book",
+                                                                                               "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                               "occlusion_offset_xy":  [
+                                                                                                                           0.08,
+                                                                                                                           0.0
+                                                                                                                       ],
+                                                                                               "critical_objects":  [
+                                                                                                                        "basket_1",
+                                                                                                                        "cream_cheese_1"
+                                                                                                                    ],
+                                                                                               "removed_duplicate_objects":  null
+                                                                                           },
+                                                                                           {
+                                                                                               "task":  "pick_up_the_ketchup_and_place_it_in_the_basket",
+                                                                                               "path":  "bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl",
+                                                                                               "target":  "ketchup_1",
+                                                                                               "appearance_targets":  "basket_1",
+                                                                                               "appearance_rgba":  [
+                                                                                                                       0.35,
+                                                                                                                       0.34,
+                                                                                                                       0.32,
+                                                                                                                       1.0
+                                                                                                                   ],
+                                                                                               "occlusion_reference":  "ketchup_1",
+                                                                                               "occlusion_between_object":  "",
+                                                                                               "occlusion_avoid_target":  "basket_1",
+                                                                                               "runtime_target":  "ketchup_1",
+                                                                                               "pose_target":  "ketchup_1",
+                                                                                               "occluders":  "black_book_occluder_1",
+                                                                                               "occluder_type":  "black_book",
+                                                                                               "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                               "occlusion_offset_xy":  [
+                                                                                                                           0.08,
+                                                                                                                           0.0
+                                                                                                                       ],
+                                                                                               "critical_objects":  [
+                                                                                                                        "basket_1",
+                                                                                                                        "ketchup_1"
+                                                                                                                    ],
+                                                                                               "removed_duplicate_objects":  null
+                                                                                           },
+                                                                                           {
+                                                                                               "task":  "pick_up_the_milk_and_place_it_in_the_basket",
+                                                                                               "path":  "bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl",
+                                                                                               "target":  "milk_1",
+                                                                                               "appearance_targets":  "basket_1",
+                                                                                               "appearance_rgba":  [
+                                                                                                                       0.35,
+                                                                                                                       0.34,
+                                                                                                                       0.32,
+                                                                                                                       1.0
+                                                                                                                   ],
+                                                                                               "occlusion_reference":  "milk_1",
+                                                                                               "occlusion_between_object":  "",
+                                                                                               "occlusion_avoid_target":  "basket_1",
+                                                                                               "runtime_target":  "milk_1",
+                                                                                               "pose_target":  "milk_1",
+                                                                                               "occluders":  "black_book_occluder_1",
+                                                                                               "occluder_type":  "black_book",
+                                                                                               "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                               "occlusion_offset_xy":  [
+                                                                                                                           0.08,
+                                                                                                                           0.0
+                                                                                                                       ],
+                                                                                               "critical_objects":  [
+                                                                                                                        "basket_1",
+                                                                                                                        "milk_1"
+                                                                                                                    ],
+                                                                                               "removed_duplicate_objects":  null
+                                                                                           },
+                                                                                           {
+                                                                                               "task":  "pick_up_the_orange_juice_and_place_it_in_the_basket",
+                                                                                               "path":  "bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl",
+                                                                                               "target":  "orange_juice_1",
+                                                                                               "appearance_targets":  "basket_1",
+                                                                                               "appearance_rgba":  [
+                                                                                                                       0.35,
+                                                                                                                       0.34,
+                                                                                                                       0.32,
+                                                                                                                       1.0
+                                                                                                                   ],
+                                                                                               "occlusion_reference":  "orange_juice_1",
+                                                                                               "occlusion_between_object":  "",
+                                                                                               "occlusion_avoid_target":  "basket_1",
+                                                                                               "runtime_target":  "orange_juice_1",
+                                                                                               "pose_target":  "orange_juice_1",
+                                                                                               "occluders":  "black_book_occluder_1",
+                                                                                               "occluder_type":  "black_book",
+                                                                                               "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                               "occlusion_offset_xy":  [
+                                                                                                                           0.08,
+                                                                                                                           0.0
+                                                                                                                       ],
+                                                                                               "critical_objects":  [
+                                                                                                                        "basket_1",
+                                                                                                                        "orange_juice_1"
+                                                                                                                    ],
+                                                                                               "removed_duplicate_objects":  null
+                                                                                           },
+                                                                                           {
+                                                                                               "task":  "pick_up_the_salad_dressing_and_place_it_in_the_basket",
+                                                                                               "path":  "bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl",
+                                                                                               "target":  "salad_dressing_1",
+                                                                                               "appearance_targets":  "basket_1",
+                                                                                               "appearance_rgba":  [
+                                                                                                                       0.35,
+                                                                                                                       0.34,
+                                                                                                                       0.32,
+                                                                                                                       1.0
+                                                                                                                   ],
+                                                                                               "occlusion_reference":  "salad_dressing_1",
+                                                                                               "occlusion_between_object":  "",
+                                                                                               "occlusion_avoid_target":  "basket_1",
+                                                                                               "runtime_target":  "salad_dressing_1",
+                                                                                               "pose_target":  "salad_dressing_1",
+                                                                                               "occluders":  "black_book_occluder_1",
+                                                                                               "occluder_type":  "black_book",
+                                                                                               "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                               "occlusion_offset_xy":  [
+                                                                                                                           0.08,
+                                                                                                                           0.0
+                                                                                                                       ],
+                                                                                               "critical_objects":  [
+                                                                                                                        "basket_1",
+                                                                                                                        "salad_dressing_1"
+                                                                                                                    ],
+                                                                                               "removed_duplicate_objects":  null
+                                                                                           },
+                                                                                           {
+                                                                                               "task":  "pick_up_the_tomato_sauce_and_place_it_in_the_basket",
+                                                                                               "path":  "bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl",
+                                                                                               "target":  "tomato_sauce_1",
+                                                                                               "appearance_targets":  "basket_1",
+                                                                                               "appearance_rgba":  [
+                                                                                                                       0.35,
+                                                                                                                       0.34,
+                                                                                                                       0.32,
+                                                                                                                       1.0
+                                                                                                                   ],
+                                                                                               "occlusion_reference":  "tomato_sauce_1",
+                                                                                               "occlusion_between_object":  "",
+                                                                                               "occlusion_avoid_target":  "basket_1",
+                                                                                               "runtime_target":  "tomato_sauce_1",
+                                                                                               "pose_target":  "tomato_sauce_1",
+                                                                                               "occluders":  "black_book_occluder_1",
+                                                                                               "occluder_type":  "black_book",
+                                                                                               "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                               "occlusion_offset_xy":  [
+                                                                                                                           0.08,
+                                                                                                                           0.0
+                                                                                                                       ],
+                                                                                               "critical_objects":  [
+                                                                                                                        "basket_1",
+                                                                                                                        "tomato_sauce_1"
+                                                                                                                    ],
+                                                                                               "removed_duplicate_objects":  null
+                                                                                           }
+                                                                                       ],
+                                                                     "libero_goal":  [
+                                                                                         {
+                                                                                             "task":  "open_the_middle_drawer_of_the_cabinet",
+                                                                                             "path":  "bddl_files/03_runtime_object_move/bddl/libero_goal/open_the_middle_drawer_of_the_cabinet.bddl",
+                                                                                             "target":  "akita_black_bowl_1",
+                                                                                             "appearance_targets":  "wooden_cabinet_1",
+                                                                                             "appearance_rgba":  [
+                                                                                                                     0.72,
+                                                                                                                     0.63,
+                                                                                                                     0.5,
+                                                                                                                     1.0
+                                                                                                                 ],
+                                                                                             "occlusion_reference":  "akita_black_bowl_1",
+                                                                                             "occlusion_between_object":  "",
+                                                                                             "occlusion_avoid_target":  "",
+                                                                                             "runtime_target":  "akita_black_bowl_1",
+                                                                                             "pose_target":  "akita_black_bowl_1",
+                                                                                             "occluders":  "black_book_occluder_1",
+                                                                                             "occluder_type":  "black_book",
+                                                                                             "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                             "occlusion_offset_xy":  [
+                                                                                                                         0.08,
+                                                                                                                         0.09
+                                                                                                                     ],
+                                                                                             "critical_objects":  null,
+                                                                                             "removed_duplicate_objects":  null
+                                                                                         },
+                                                                                         {
+                                                                                             "task":  "open_the_top_drawer_and_put_the_bowl_inside",
+                                                                                             "path":  "bddl_files/03_runtime_object_move/bddl/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.bddl",
+                                                                                             "target":  "akita_black_bowl_1",
+                                                                                             "appearance_targets":  "wooden_cabinet_1",
+                                                                                             "appearance_rgba":  [
+                                                                                                                     0.72,
+                                                                                                                     0.63,
+                                                                                                                     0.5,
+                                                                                                                     1.0
+                                                                                                                 ],
+                                                                                             "occlusion_reference":  "akita_black_bowl_1",
+                                                                                             "occlusion_between_object":  "",
+                                                                                             "occlusion_avoid_target":  "wooden_cabinet_1_top_region",
+                                                                                             "runtime_target":  "akita_black_bowl_1",
+                                                                                             "pose_target":  "akita_black_bowl_1",
+                                                                                             "occluders":  "black_book_occluder_1",
+                                                                                             "occluder_type":  "black_book",
+                                                                                             "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                             "occlusion_offset_xy":  [
+                                                                                                                         0.08,
+                                                                                                                         0.09
+                                                                                                                     ],
+                                                                                             "critical_objects":  "akita_black_bowl_1",
+                                                                                             "removed_duplicate_objects":  null
+                                                                                         },
+                                                                                         {
+                                                                                             "task":  "push_the_plate_to_the_front_of_the_stove",
+                                                                                             "path":  "bddl_files/03_runtime_object_move/bddl/libero_goal/push_the_plate_to_the_front_of_the_stove.bddl",
+                                                                                             "target":  "plate_1",
+                                                                                             "appearance_targets":  "flat_stove_1",
+                                                                                             "appearance_rgba":  [
+                                                                                                                     0.72,
+                                                                                                                     0.63,
+                                                                                                                     0.5,
+                                                                                                                     1.0
+                                                                                                                 ],
+                                                                                             "occlusion_reference":  "plate_1",
+                                                                                             "occlusion_between_object":  "",
+                                                                                             "occlusion_avoid_target":  "main_table_stove_front_region",
+                                                                                             "runtime_target":  "plate_1",
+                                                                                             "pose_target":  "plate_1",
+                                                                                             "occluders":  "black_book_occluder_1",
+                                                                                             "occluder_type":  "black_book",
+                                                                                             "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                             "occlusion_offset_xy":  [
+                                                                                                                         0.08,
+                                                                                                                         0.0
+                                                                                                                     ],
+                                                                                             "critical_objects":  "plate_1",
+                                                                                             "removed_duplicate_objects":  null
+                                                                                         },
+                                                                                         {
+                                                                                             "task":  "put_the_bowl_on_the_plate",
+                                                                                             "path":  "bddl_files/03_runtime_object_move/bddl/libero_goal/put_the_bowl_on_the_plate.bddl",
+                                                                                             "target":  "akita_black_bowl_1",
+                                                                                             "appearance_targets":  "plate_1",
+                                                                                             "appearance_rgba":  [
+                                                                                                                     0.72,
+                                                                                                                     0.63,
+                                                                                                                     0.5,
+                                                                                                                     1.0
+                                                                                                                 ],
+                                                                                             "occlusion_reference":  "akita_black_bowl_1",
+                                                                                             "occlusion_between_object":  "plate_1",
+                                                                                             "occlusion_avoid_target":  "plate_1",
+                                                                                             "runtime_target":  "akita_black_bowl_1",
+                                                                                             "pose_target":  "akita_black_bowl_1",
+                                                                                             "occluders":  "black_book_occluder_1",
+                                                                                             "occluder_type":  "black_book",
+                                                                                             "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                             "occlusion_offset_xy":  [
+                                                                                                                         0.08,
+                                                                                                                         0.0
+                                                                                                                     ],
+                                                                                             "critical_objects":  [
+                                                                                                                      "akita_black_bowl_1",
+                                                                                                                      "plate_1"
+                                                                                                                  ],
+                                                                                             "removed_duplicate_objects":  null
+                                                                                         },
+                                                                                         {
+                                                                                             "task":  "put_the_bowl_on_the_stove",
+                                                                                             "path":  "bddl_files/03_runtime_object_move/bddl/libero_goal/put_the_bowl_on_the_stove.bddl",
+                                                                                             "target":  "akita_black_bowl_1",
+                                                                                             "appearance_targets":  "flat_stove_1",
+                                                                                             "appearance_rgba":  [
+                                                                                                                     0.72,
+                                                                                                                     0.63,
+                                                                                                                     0.5,
+                                                                                                                     1.0
+                                                                                                                 ],
+                                                                                             "occlusion_reference":  "akita_black_bowl_1",
+                                                                                             "occlusion_between_object":  "",
+                                                                                             "occlusion_avoid_target":  "flat_stove_1_cook_region",
+                                                                                             "runtime_target":  "akita_black_bowl_1",
+                                                                                             "pose_target":  "akita_black_bowl_1",
+                                                                                             "occluders":  "black_book_occluder_1",
+                                                                                             "occluder_type":  "black_book",
+                                                                                             "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                             "occlusion_offset_xy":  [
+                                                                                                                         0.08,
+                                                                                                                         0.09
+                                                                                                                     ],
+                                                                                             "critical_objects":  "akita_black_bowl_1",
+                                                                                             "removed_duplicate_objects":  null
+                                                                                         },
+                                                                                         {
+                                                                                             "task":  "put_the_bowl_on_top_of_the_cabinet",
+                                                                                             "path":  "bddl_files/03_runtime_object_move/bddl/libero_goal/put_the_bowl_on_top_of_the_cabinet.bddl",
+                                                                                             "target":  "akita_black_bowl_1",
+                                                                                             "appearance_targets":  "wooden_cabinet_1",
+                                                                                             "appearance_rgba":  [
+                                                                                                                     0.72,
+                                                                                                                     0.63,
+                                                                                                                     0.5,
+                                                                                                                     1.0
+                                                                                                                 ],
+                                                                                             "occlusion_reference":  "akita_black_bowl_1",
+                                                                                             "occlusion_between_object":  "",
+                                                                                             "occlusion_avoid_target":  "wooden_cabinet_1_top_side",
+                                                                                             "runtime_target":  "akita_black_bowl_1",
+                                                                                             "pose_target":  "akita_black_bowl_1",
+                                                                                             "occluders":  "black_book_occluder_1",
+                                                                                             "occluder_type":  "black_book",
+                                                                                             "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                             "occlusion_offset_xy":  [
+                                                                                                                         0.08,
+                                                                                                                         0.09
+                                                                                                                     ],
+                                                                                             "critical_objects":  "akita_black_bowl_1",
+                                                                                             "removed_duplicate_objects":  null
+                                                                                         },
+                                                                                         {
+                                                                                             "task":  "put_the_cream_cheese_in_the_bowl",
+                                                                                             "path":  "bddl_files/03_runtime_object_move/bddl/libero_goal/put_the_cream_cheese_in_the_bowl.bddl",
+                                                                                             "target":  "cream_cheese_1",
+                                                                                             "appearance_targets":  "akita_black_bowl_1",
+                                                                                             "appearance_rgba":  [
+                                                                                                                     0.72,
+                                                                                                                     0.63,
+                                                                                                                     0.5,
+                                                                                                                     1.0
+                                                                                                                 ],
+                                                                                             "occlusion_reference":  "cream_cheese_1",
+                                                                                             "occlusion_between_object":  "",
+                                                                                             "occlusion_avoid_target":  "akita_black_bowl_1",
+                                                                                             "runtime_target":  "cream_cheese_1",
+                                                                                             "pose_target":  "cream_cheese_1",
+                                                                                             "occluders":  "black_book_occluder_1",
+                                                                                             "occluder_type":  "black_book",
+                                                                                             "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                             "occlusion_offset_xy":  [
+                                                                                                                         0.08,
+                                                                                                                         0.0
+                                                                                                                     ],
+                                                                                             "critical_objects":  [
+                                                                                                                      "akita_black_bowl_1",
+                                                                                                                      "cream_cheese_1"
+                                                                                                                  ],
+                                                                                             "removed_duplicate_objects":  null
+                                                                                         },
+                                                                                         {
+                                                                                             "task":  "put_the_wine_bottle_on_the_rack",
+                                                                                             "path":  "bddl_files/03_runtime_object_move/bddl/libero_goal/put_the_wine_bottle_on_the_rack.bddl",
+                                                                                             "target":  "wine_bottle_1",
+                                                                                             "appearance_targets":  "wine_rack_1",
+                                                                                             "appearance_rgba":  [
+                                                                                                                     0.72,
+                                                                                                                     0.63,
+                                                                                                                     0.5,
+                                                                                                                     1.0
+                                                                                                                 ],
+                                                                                             "occlusion_reference":  "wine_bottle_1",
+                                                                                             "occlusion_between_object":  "",
+                                                                                             "occlusion_avoid_target":  "wine_rack_1_top_region",
+                                                                                             "runtime_target":  "wine_bottle_1",
+                                                                                             "pose_target":  "wine_bottle_1",
+                                                                                             "occluders":  "black_book_occluder_1",
+                                                                                             "occluder_type":  "black_book",
+                                                                                             "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                             "occlusion_offset_xy":  [
+                                                                                                                         0.08,
+                                                                                                                         0.0
+                                                                                                                     ],
+                                                                                             "critical_objects":  "wine_bottle_1",
+                                                                                             "removed_duplicate_objects":  null
+                                                                                         },
+                                                                                         {
+                                                                                             "task":  "put_the_wine_bottle_on_top_of_the_cabinet",
+                                                                                             "path":  "bddl_files/03_runtime_object_move/bddl/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.bddl",
+                                                                                             "target":  "wine_bottle_1",
+                                                                                             "appearance_targets":  "wooden_cabinet_1",
+                                                                                             "appearance_rgba":  [
+                                                                                                                     0.72,
+                                                                                                                     0.63,
+                                                                                                                     0.5,
+                                                                                                                     1.0
+                                                                                                                 ],
+                                                                                             "occlusion_reference":  "wine_bottle_1",
+                                                                                             "occlusion_between_object":  "",
+                                                                                             "occlusion_avoid_target":  "wooden_cabinet_1_top_side",
+                                                                                             "runtime_target":  "wine_bottle_1",
+                                                                                             "pose_target":  "wine_bottle_1",
+                                                                                             "occluders":  "black_book_occluder_1",
+                                                                                             "occluder_type":  "black_book",
+                                                                                             "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                             "occlusion_offset_xy":  [
+                                                                                                                         0.08,
+                                                                                                                         0.0
+                                                                                                                     ],
+                                                                                             "critical_objects":  "wine_bottle_1",
+                                                                                             "removed_duplicate_objects":  null
+                                                                                         },
+                                                                                         {
+                                                                                             "task":  "turn_on_the_stove",
+                                                                                             "path":  "bddl_files/03_runtime_object_move/bddl/libero_goal/turn_on_the_stove.bddl",
+                                                                                             "target":  "akita_black_bowl_1",
+                                                                                             "appearance_targets":  "flat_stove_1",
+                                                                                             "appearance_rgba":  [
+                                                                                                                     0.72,
+                                                                                                                     0.63,
+                                                                                                                     0.5,
+                                                                                                                     1.0
+                                                                                                                 ],
+                                                                                             "occlusion_reference":  "akita_black_bowl_1",
+                                                                                             "occlusion_between_object":  "",
+                                                                                             "occlusion_avoid_target":  "",
+                                                                                             "runtime_target":  "akita_black_bowl_1",
+                                                                                             "pose_target":  "akita_black_bowl_1",
+                                                                                             "occluders":  "black_book_occluder_1",
+                                                                                             "occluder_type":  "black_book",
+                                                                                             "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                             "occlusion_offset_xy":  [
+                                                                                                                         0.08,
+                                                                                                                         0.09
+                                                                                                                     ],
+                                                                                             "critical_objects":  null,
+                                                                                             "removed_duplicate_objects":  null
+                                                                                         }
+                                                                                     ],
+                                                                     "libero_10":  [
+                                                                                       {
+                                                                                           "task":  "KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it",
+                                                                                           "path":  "bddl_files/03_runtime_object_move/bddl/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl",
+                                                                                           "target":  "moka_pot_1",
+                                                                                           "appearance_targets":  "flat_stove_1",
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.72,
+                                                                                                                   0.63,
+                                                                                                                   0.5,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "moka_pot_1",
+                                                                                           "occlusion_between_object":  "",
+                                                                                           "occlusion_avoid_target":  "flat_stove_1",
+                                                                                           "runtime_target":  "moka_pot_1",
+                                                                                           "pose_target":  "moka_pot_1",
+                                                                                           "occluders":  "black_book_occluder_1",
+                                                                                           "occluder_type":  "black_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.0
+                                                                                                                   ],
+                                                                                           "critical_objects":  "moka_pot_1",
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       },
+                                                                                       {
+                                                                                           "task":  "KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it",
+                                                                                           "path":  "bddl_files/03_runtime_object_move/bddl/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl",
+                                                                                           "target":  "akita_black_bowl_1",
+                                                                                           "appearance_targets":  "white_cabinet_1",
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.72,
+                                                                                                                   0.63,
+                                                                                                                   0.5,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "akita_black_bowl_1",
+                                                                                           "occlusion_between_object":  "",
+                                                                                           "occlusion_avoid_target":  "white_cabinet_1",
+                                                                                           "runtime_target":  "akita_black_bowl_1",
+                                                                                           "pose_target":  "akita_black_bowl_1",
+                                                                                           "occluders":  "black_book_occluder_1",
+                                                                                           "occluder_type":  "black_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.0
+                                                                                                                   ],
+                                                                                           "critical_objects":  "akita_black_bowl_1",
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       },
+                                                                                       {
+                                                                                           "task":  "KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it",
+                                                                                           "path":  "bddl_files/03_runtime_object_move/bddl/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl",
+                                                                                           "target":  "white_yellow_mug_1",
+                                                                                           "appearance_targets":  "microwave_1",
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.72,
+                                                                                                                   0.63,
+                                                                                                                   0.5,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "white_yellow_mug_1",
+                                                                                           "occlusion_between_object":  "",
+                                                                                           "occlusion_avoid_target":  "microwave_1",
+                                                                                           "runtime_target":  "white_yellow_mug_1",
+                                                                                           "pose_target":  "white_yellow_mug_1",
+                                                                                           "occluders":  "black_book_occluder_1",
+                                                                                           "occluder_type":  "black_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.0
+                                                                                                                   ],
+                                                                                           "critical_objects":  "white_yellow_mug_1",
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       },
+                                                                                       {
+                                                                                           "task":  "KITCHEN_SCENE8_put_both_moka_pots_on_the_stove",
+                                                                                           "path":  "bddl_files/03_runtime_object_move/bddl/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl",
+                                                                                           "target":  "moka_pot_1",
+                                                                                           "appearance_targets":  "flat_stove_1",
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.72,
+                                                                                                                   0.63,
+                                                                                                                   0.5,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "moka_pot_1",
+                                                                                           "occlusion_between_object":  "",
+                                                                                           "occlusion_avoid_target":  "moka_pot_2",
+                                                                                           "runtime_target":  "moka_pot_1",
+                                                                                           "pose_target":  "moka_pot_1",
+                                                                                           "occluders":  "black_book_occluder_1",
+                                                                                           "occluder_type":  "black_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.0
+                                                                                                                   ],
+                                                                                           "critical_objects":  [
+                                                                                                                    "moka_pot_1",
+                                                                                                                    "moka_pot_2"
+                                                                                                                ],
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       },
+                                                                                       {
+                                                                                           "task":  "LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket",
+                                                                                           "path":  "bddl_files/03_runtime_object_move/bddl/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl",
+                                                                                           "target":  "alphabet_soup_1",
+                                                                                           "appearance_targets":  "basket_1",
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.3,
+                                                                                                                   0.2,
+                                                                                                                   0.12,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "alphabet_soup_1",
+                                                                                           "occlusion_between_object":  "",
+                                                                                           "occlusion_avoid_target":  "cream_cheese_1",
+                                                                                           "runtime_target":  "alphabet_soup_1",
+                                                                                           "pose_target":  "alphabet_soup_1",
+                                                                                           "occluders":  "black_book_occluder_1",
+                                                                                           "occluder_type":  "black_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.0
+                                                                                                                   ],
+                                                                                           "critical_objects":  [
+                                                                                                                    "alphabet_soup_1",
+                                                                                                                    "basket_1",
+                                                                                                                    "cream_cheese_1"
+                                                                                                                ],
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       },
+                                                                                       {
+                                                                                           "task":  "LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket",
+                                                                                           "path":  "bddl_files/03_runtime_object_move/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl",
+                                                                                           "target":  "alphabet_soup_1",
+                                                                                           "appearance_targets":  "basket_1",
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.3,
+                                                                                                                   0.2,
+                                                                                                                   0.12,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "alphabet_soup_1",
+                                                                                           "occlusion_between_object":  "",
+                                                                                           "occlusion_avoid_target":  "tomato_sauce_1",
+                                                                                           "runtime_target":  "alphabet_soup_1",
+                                                                                           "pose_target":  "alphabet_soup_1",
+                                                                                           "occluders":  "black_book_occluder_1",
+                                                                                           "occluder_type":  "black_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.0
+                                                                                                                   ],
+                                                                                           "critical_objects":  [
+                                                                                                                    "alphabet_soup_1",
+                                                                                                                    "basket_1",
+                                                                                                                    "tomato_sauce_1"
+                                                                                                                ],
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       },
+                                                                                       {
+                                                                                           "task":  "LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket",
+                                                                                           "path":  "bddl_files/03_runtime_object_move/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl",
+                                                                                           "target":  "cream_cheese_1",
+                                                                                           "appearance_targets":  "basket_1",
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.3,
+                                                                                                                   0.2,
+                                                                                                                   0.12,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "cream_cheese_1",
+                                                                                           "occlusion_between_object":  "",
+                                                                                           "occlusion_avoid_target":  "butter_1",
+                                                                                           "runtime_target":  "cream_cheese_1",
+                                                                                           "pose_target":  "cream_cheese_1",
+                                                                                           "occluders":  "black_book_occluder_1",
+                                                                                           "occluder_type":  "black_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.0
+                                                                                                                   ],
+                                                                                           "critical_objects":  [
+                                                                                                                    "basket_1",
+                                                                                                                    "butter_1",
+                                                                                                                    "cream_cheese_1"
+                                                                                                                ],
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       },
+                                                                                       {
+                                                                                           "task":  "LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate",
+                                                                                           "path":  "bddl_files/03_runtime_object_move/bddl/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl",
+                                                                                           "target":  "plate_1",
+                                                                                           "appearance_targets":  [
+                                                                                                                      "plate_1",
+                                                                                                                      "plate_2"
+                                                                                                                  ],
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.3,
+                                                                                                                   0.2,
+                                                                                                                   0.12,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "plate_1",
+                                                                                           "occlusion_between_object":  "",
+                                                                                           "occlusion_avoid_target":  "plate_2",
+                                                                                           "runtime_target":  "plate_1",
+                                                                                           "pose_target":  "plate_1",
+                                                                                           "occluders":  "black_book_occluder_1",
+                                                                                           "occluder_type":  "black_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.0
+                                                                                                                   ],
+                                                                                           "critical_objects":  [
+                                                                                                                    "plate_1",
+                                                                                                                    "plate_2",
+                                                                                                                    "porcelain_mug_1",
+                                                                                                                    "white_yellow_mug_1"
+                                                                                                                ],
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       },
+                                                                                       {
+                                                                                           "task":  "LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate",
+                                                                                           "path":  "bddl_files/03_runtime_object_move/bddl/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl",
+                                                                                           "target":  "plate_1",
+                                                                                           "appearance_targets":  "plate_1",
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.3,
+                                                                                                                   0.2,
+                                                                                                                   0.12,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "plate_1",
+                                                                                           "occlusion_between_object":  "",
+                                                                                           "occlusion_avoid_target":  "chocolate_pudding_1",
+                                                                                           "runtime_target":  "plate_1",
+                                                                                           "pose_target":  "plate_1",
+                                                                                           "occluders":  "black_book_occluder_1",
+                                                                                           "occluder_type":  "black_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.0
+                                                                                                                   ],
+                                                                                           "critical_objects":  [
+                                                                                                                    "chocolate_pudding_1",
+                                                                                                                    "plate_1",
+                                                                                                                    "porcelain_mug_1"
+                                                                                                                ],
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       },
+                                                                                       {
+                                                                                           "task":  "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy",
+                                                                                           "path":  "bddl_files/03_runtime_object_move/bddl/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl",
+                                                                                           "target":  "black_book_1",
+                                                                                           "appearance_targets":  "desk_caddy_1",
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.5,
+                                                                                                                   0.36,
+                                                                                                                   0.2,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "black_book_1",
+                                                                                           "occlusion_between_object":  "",
+                                                                                           "occlusion_avoid_target":  "desk_caddy_1",
+                                                                                           "runtime_target":  "black_book_1",
+                                                                                           "pose_target":  "black_book_1",
+                                                                                           "occluders":  "yellow_book_1",
+                                                                                           "occluder_type":  "yellow_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.0
+                                                                                                                   ],
+                                                                                           "critical_objects":  "black_book_1",
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       }
+                                                                                   ]
+                                                                 },
+                                                      "count":  40
+                                                  },
+                       "04_object_texture":  {
+                                                 "folder":  "04_object_texture",
+                                                 "suites":  {
+                                                                "libero_spatial":  [
+                                                                                       {
+                                                                                           "task":  "pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate",
+                                                                                           "path":  "bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl",
+                                                                                           "target":  "akita_black_bowl_1",
+                                                                                           "appearance_targets":  "plate_1",
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.72,
+                                                                                                                   0.63,
+                                                                                                                   0.5,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "akita_black_bowl_1",
+                                                                                           "occlusion_between_object":  "plate_1",
+                                                                                           "occlusion_avoid_target":  "plate_1",
+                                                                                           "runtime_target":  "akita_black_bowl_1",
+                                                                                           "pose_target":  "akita_black_bowl_1",
+                                                                                           "occluders":  "black_book_occluder_1",
+                                                                                           "occluder_type":  "black_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.0
+                                                                                                                   ],
+                                                                                           "critical_objects":  [
+                                                                                                                    "akita_black_bowl_1",
+                                                                                                                    "plate_1"
+                                                                                                                ],
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       },
+                                                                                       {
+                                                                                           "task":  "pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate",
+                                                                                           "path":  "bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl",
+                                                                                           "target":  "akita_black_bowl_1",
+                                                                                           "appearance_targets":  "plate_1",
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.72,
+                                                                                                                   0.63,
+                                                                                                                   0.5,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "akita_black_bowl_1",
+                                                                                           "occlusion_between_object":  "plate_1",
+                                                                                           "occlusion_avoid_target":  "plate_1",
+                                                                                           "runtime_target":  "akita_black_bowl_1",
+                                                                                           "pose_target":  "akita_black_bowl_1",
+                                                                                           "occluders":  "black_book_occluder_1",
+                                                                                           "occluder_type":  "black_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.0
+                                                                                                                   ],
+                                                                                           "critical_objects":  [
+                                                                                                                    "akita_black_bowl_1",
+                                                                                                                    "plate_1"
+                                                                                                                ],
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       },
+                                                                                       {
+                                                                                           "task":  "pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate",
+                                                                                           "path":  "bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl",
+                                                                                           "target":  "akita_black_bowl_1",
+                                                                                           "appearance_targets":  "plate_1",
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.72,
+                                                                                                                   0.63,
+                                                                                                                   0.5,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "akita_black_bowl_1",
+                                                                                           "occlusion_between_object":  "plate_1",
+                                                                                           "occlusion_avoid_target":  "plate_1",
+                                                                                           "runtime_target":  "akita_black_bowl_1",
+                                                                                           "pose_target":  "akita_black_bowl_1",
+                                                                                           "occluders":  "black_book_occluder_1",
+                                                                                           "occluder_type":  "black_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.0
+                                                                                                                   ],
+                                                                                           "critical_objects":  [
+                                                                                                                    "akita_black_bowl_1",
+                                                                                                                    "plate_1"
+                                                                                                                ],
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       },
+                                                                                       {
+                                                                                           "task":  "pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate",
+                                                                                           "path":  "bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl",
+                                                                                           "target":  "akita_black_bowl_1",
+                                                                                           "appearance_targets":  "plate_1",
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.72,
+                                                                                                                   0.63,
+                                                                                                                   0.5,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "akita_black_bowl_1",
+                                                                                           "occlusion_between_object":  "plate_1",
+                                                                                           "occlusion_avoid_target":  "plate_1",
+                                                                                           "runtime_target":  "akita_black_bowl_1",
+                                                                                           "pose_target":  "akita_black_bowl_1",
+                                                                                           "occluders":  "black_book_occluder_1",
+                                                                                           "occluder_type":  "black_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.0
+                                                                                                                   ],
+                                                                                           "critical_objects":  [
+                                                                                                                    "akita_black_bowl_1",
+                                                                                                                    "plate_1"
+                                                                                                                ],
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       },
+                                                                                       {
+                                                                                           "task":  "pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate",
+                                                                                           "path":  "bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl",
+                                                                                           "target":  "akita_black_bowl_1",
+                                                                                           "appearance_targets":  "plate_1",
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.72,
+                                                                                                                   0.63,
+                                                                                                                   0.5,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "akita_black_bowl_1",
+                                                                                           "occlusion_between_object":  "plate_1",
+                                                                                           "occlusion_avoid_target":  "plate_1",
+                                                                                           "runtime_target":  "akita_black_bowl_1",
+                                                                                           "pose_target":  "akita_black_bowl_1",
+                                                                                           "occluders":  "black_book_occluder_1",
+                                                                                           "occluder_type":  "black_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.0
+                                                                                                                   ],
+                                                                                           "critical_objects":  [
+                                                                                                                    "akita_black_bowl_1",
+                                                                                                                    "plate_1"
+                                                                                                                ],
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       },
+                                                                                       {
+                                                                                           "task":  "pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate",
+                                                                                           "path":  "bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl",
+                                                                                           "target":  "akita_black_bowl_1",
+                                                                                           "appearance_targets":  "plate_1",
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.72,
+                                                                                                                   0.63,
+                                                                                                                   0.5,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "akita_black_bowl_1",
+                                                                                           "occlusion_between_object":  "plate_1",
+                                                                                           "occlusion_avoid_target":  "plate_1",
+                                                                                           "runtime_target":  "akita_black_bowl_1",
+                                                                                           "pose_target":  "akita_black_bowl_1",
+                                                                                           "occluders":  "black_book_occluder_1",
+                                                                                           "occluder_type":  "black_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.0
+                                                                                                                   ],
+                                                                                           "critical_objects":  [
+                                                                                                                    "akita_black_bowl_1",
+                                                                                                                    "plate_1"
+                                                                                                                ],
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       },
+                                                                                       {
+                                                                                           "task":  "pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate",
+                                                                                           "path":  "bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl",
+                                                                                           "target":  "akita_black_bowl_1",
+                                                                                           "appearance_targets":  "plate_1",
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.72,
+                                                                                                                   0.63,
+                                                                                                                   0.5,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "akita_black_bowl_1",
+                                                                                           "occlusion_between_object":  "plate_1",
+                                                                                           "occlusion_avoid_target":  "plate_1",
+                                                                                           "runtime_target":  "akita_black_bowl_1",
+                                                                                           "pose_target":  "akita_black_bowl_1",
+                                                                                           "occluders":  "black_book_occluder_1",
+                                                                                           "occluder_type":  "black_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.0
+                                                                                                                   ],
+                                                                                           "critical_objects":  [
+                                                                                                                    "akita_black_bowl_1",
+                                                                                                                    "plate_1"
+                                                                                                                ],
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       },
+                                                                                       {
+                                                                                           "task":  "pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate",
+                                                                                           "path":  "bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl",
+                                                                                           "target":  "akita_black_bowl_1",
+                                                                                           "appearance_targets":  "plate_1",
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.72,
+                                                                                                                   0.63,
+                                                                                                                   0.5,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "akita_black_bowl_1",
+                                                                                           "occlusion_between_object":  "plate_1",
+                                                                                           "occlusion_avoid_target":  "plate_1",
+                                                                                           "runtime_target":  "akita_black_bowl_1",
+                                                                                           "pose_target":  "akita_black_bowl_1",
+                                                                                           "occluders":  "black_book_occluder_1",
+                                                                                           "occluder_type":  "black_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.0
+                                                                                                                   ],
+                                                                                           "critical_objects":  [
+                                                                                                                    "akita_black_bowl_1",
+                                                                                                                    "plate_1"
+                                                                                                                ],
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       },
+                                                                                       {
+                                                                                           "task":  "pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate",
+                                                                                           "path":  "bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl",
+                                                                                           "target":  "akita_black_bowl_1",
+                                                                                           "appearance_targets":  "plate_1",
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.72,
+                                                                                                                   0.63,
+                                                                                                                   0.5,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "akita_black_bowl_1",
+                                                                                           "occlusion_between_object":  "plate_1",
+                                                                                           "occlusion_avoid_target":  "plate_1",
+                                                                                           "runtime_target":  "akita_black_bowl_1",
+                                                                                           "pose_target":  "akita_black_bowl_1",
+                                                                                           "occluders":  "black_book_occluder_1",
+                                                                                           "occluder_type":  "black_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.0
+                                                                                                                   ],
+                                                                                           "critical_objects":  [
+                                                                                                                    "akita_black_bowl_1",
+                                                                                                                    "plate_1"
+                                                                                                                ],
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       },
+                                                                                       {
+                                                                                           "task":  "pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate",
+                                                                                           "path":  "bddl_files/04_object_texture/bddl/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl",
+                                                                                           "target":  "akita_black_bowl_1",
+                                                                                           "appearance_targets":  "plate_1",
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.72,
+                                                                                                                   0.63,
+                                                                                                                   0.5,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "akita_black_bowl_1",
+                                                                                           "occlusion_between_object":  "plate_1",
+                                                                                           "occlusion_avoid_target":  "plate_1",
+                                                                                           "runtime_target":  "akita_black_bowl_1",
+                                                                                           "pose_target":  "akita_black_bowl_1",
+                                                                                           "occluders":  "black_book_occluder_1",
+                                                                                           "occluder_type":  "black_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.0
+                                                                                                                   ],
+                                                                                           "critical_objects":  [
+                                                                                                                    "akita_black_bowl_1",
+                                                                                                                    "plate_1"
+                                                                                                                ],
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       }
+                                                                                   ],
+                                                                "libero_object":  [
+                                                                                      {
+                                                                                          "task":  "pick_up_the_alphabet_soup_and_place_it_in_the_basket",
+                                                                                          "path":  "bddl_files/04_object_texture/bddl/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl",
+                                                                                          "target":  "alphabet_soup_1",
+                                                                                          "appearance_targets":  "basket_1",
+                                                                                          "appearance_rgba":  [
+                                                                                                                  0.35,
+                                                                                                                  0.34,
+                                                                                                                  0.32,
+                                                                                                                  1.0
+                                                                                                              ],
+                                                                                          "occlusion_reference":  "alphabet_soup_1",
+                                                                                          "occlusion_between_object":  "",
+                                                                                          "occlusion_avoid_target":  "basket_1",
+                                                                                          "runtime_target":  "alphabet_soup_1",
+                                                                                          "pose_target":  "alphabet_soup_1",
+                                                                                          "occluders":  "black_book_occluder_1",
+                                                                                          "occluder_type":  "black_book",
+                                                                                          "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                          "occlusion_offset_xy":  [
+                                                                                                                      0.08,
+                                                                                                                      0.0
+                                                                                                                  ],
+                                                                                          "critical_objects":  [
+                                                                                                                   "alphabet_soup_1",
+                                                                                                                   "basket_1"
+                                                                                                               ],
+                                                                                          "removed_duplicate_objects":  null
+                                                                                      },
+                                                                                      {
+                                                                                          "task":  "pick_up_the_bbq_sauce_and_place_it_in_the_basket",
+                                                                                          "path":  "bddl_files/04_object_texture/bddl/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl",
+                                                                                          "target":  "bbq_sauce_1",
+                                                                                          "appearance_targets":  "basket_1",
+                                                                                          "appearance_rgba":  [
+                                                                                                                  0.35,
+                                                                                                                  0.34,
+                                                                                                                  0.32,
+                                                                                                                  1.0
+                                                                                                              ],
+                                                                                          "occlusion_reference":  "bbq_sauce_1",
+                                                                                          "occlusion_between_object":  "",
+                                                                                          "occlusion_avoid_target":  "basket_1",
+                                                                                          "runtime_target":  "bbq_sauce_1",
+                                                                                          "pose_target":  "bbq_sauce_1",
+                                                                                          "occluders":  "black_book_occluder_1",
+                                                                                          "occluder_type":  "black_book",
+                                                                                          "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                          "occlusion_offset_xy":  [
+                                                                                                                      0.08,
+                                                                                                                      0.0
+                                                                                                                  ],
+                                                                                          "critical_objects":  [
+                                                                                                                   "basket_1",
+                                                                                                                   "bbq_sauce_1"
+                                                                                                               ],
+                                                                                          "removed_duplicate_objects":  null
+                                                                                      },
+                                                                                      {
+                                                                                          "task":  "pick_up_the_butter_and_place_it_in_the_basket",
+                                                                                          "path":  "bddl_files/04_object_texture/bddl/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl",
+                                                                                          "target":  "butter_1",
+                                                                                          "appearance_targets":  "basket_1",
+                                                                                          "appearance_rgba":  [
+                                                                                                                  0.35,
+                                                                                                                  0.34,
+                                                                                                                  0.32,
+                                                                                                                  1.0
+                                                                                                              ],
+                                                                                          "occlusion_reference":  "butter_1",
+                                                                                          "occlusion_between_object":  "",
+                                                                                          "occlusion_avoid_target":  "basket_1",
+                                                                                          "runtime_target":  "butter_1",
+                                                                                          "pose_target":  "butter_1",
+                                                                                          "occluders":  "black_book_occluder_1",
+                                                                                          "occluder_type":  "black_book",
+                                                                                          "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                          "occlusion_offset_xy":  [
+                                                                                                                      0.08,
+                                                                                                                      0.0
+                                                                                                                  ],
+                                                                                          "critical_objects":  [
+                                                                                                                   "basket_1",
+                                                                                                                   "butter_1"
+                                                                                                               ],
+                                                                                          "removed_duplicate_objects":  null
+                                                                                      },
+                                                                                      {
+                                                                                          "task":  "pick_up_the_chocolate_pudding_and_place_it_in_the_basket",
+                                                                                          "path":  "bddl_files/04_object_texture/bddl/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl",
+                                                                                          "target":  "chocolate_pudding_1",
+                                                                                          "appearance_targets":  "basket_1",
+                                                                                          "appearance_rgba":  [
+                                                                                                                  0.35,
+                                                                                                                  0.34,
+                                                                                                                  0.32,
+                                                                                                                  1.0
+                                                                                                              ],
+                                                                                          "occlusion_reference":  "chocolate_pudding_1",
+                                                                                          "occlusion_between_object":  "",
+                                                                                          "occlusion_avoid_target":  "basket_1",
+                                                                                          "runtime_target":  "chocolate_pudding_1",
+                                                                                          "pose_target":  "chocolate_pudding_1",
+                                                                                          "occluders":  "black_book_occluder_1",
+                                                                                          "occluder_type":  "black_book",
+                                                                                          "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                          "occlusion_offset_xy":  [
+                                                                                                                      0.08,
+                                                                                                                      0.0
+                                                                                                                  ],
+                                                                                          "critical_objects":  [
+                                                                                                                   "basket_1",
+                                                                                                                   "chocolate_pudding_1"
+                                                                                                               ],
+                                                                                          "removed_duplicate_objects":  null
+                                                                                      },
+                                                                                      {
+                                                                                          "task":  "pick_up_the_cream_cheese_and_place_it_in_the_basket",
+                                                                                          "path":  "bddl_files/04_object_texture/bddl/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl",
+                                                                                          "target":  "cream_cheese_1",
+                                                                                          "appearance_targets":  "basket_1",
+                                                                                          "appearance_rgba":  [
+                                                                                                                  0.35,
+                                                                                                                  0.34,
+                                                                                                                  0.32,
+                                                                                                                  1.0
+                                                                                                              ],
+                                                                                          "occlusion_reference":  "cream_cheese_1",
+                                                                                          "occlusion_between_object":  "",
+                                                                                          "occlusion_avoid_target":  "basket_1",
+                                                                                          "runtime_target":  "cream_cheese_1",
+                                                                                          "pose_target":  "cream_cheese_1",
+                                                                                          "occluders":  "black_book_occluder_1",
+                                                                                          "occluder_type":  "black_book",
+                                                                                          "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                          "occlusion_offset_xy":  [
+                                                                                                                      0.08,
+                                                                                                                      0.0
+                                                                                                                  ],
+                                                                                          "critical_objects":  [
+                                                                                                                   "basket_1",
+                                                                                                                   "cream_cheese_1"
+                                                                                                               ],
+                                                                                          "removed_duplicate_objects":  null
+                                                                                      },
+                                                                                      {
+                                                                                          "task":  "pick_up_the_ketchup_and_place_it_in_the_basket",
+                                                                                          "path":  "bddl_files/04_object_texture/bddl/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl",
+                                                                                          "target":  "ketchup_1",
+                                                                                          "appearance_targets":  "basket_1",
+                                                                                          "appearance_rgba":  [
+                                                                                                                  0.35,
+                                                                                                                  0.34,
+                                                                                                                  0.32,
+                                                                                                                  1.0
+                                                                                                              ],
+                                                                                          "occlusion_reference":  "ketchup_1",
+                                                                                          "occlusion_between_object":  "",
+                                                                                          "occlusion_avoid_target":  "basket_1",
+                                                                                          "runtime_target":  "ketchup_1",
+                                                                                          "pose_target":  "ketchup_1",
+                                                                                          "occluders":  "black_book_occluder_1",
+                                                                                          "occluder_type":  "black_book",
+                                                                                          "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                          "occlusion_offset_xy":  [
+                                                                                                                      0.08,
+                                                                                                                      0.0
+                                                                                                                  ],
+                                                                                          "critical_objects":  [
+                                                                                                                   "basket_1",
+                                                                                                                   "ketchup_1"
+                                                                                                               ],
+                                                                                          "removed_duplicate_objects":  null
+                                                                                      },
+                                                                                      {
+                                                                                          "task":  "pick_up_the_milk_and_place_it_in_the_basket",
+                                                                                          "path":  "bddl_files/04_object_texture/bddl/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl",
+                                                                                          "target":  "milk_1",
+                                                                                          "appearance_targets":  "basket_1",
+                                                                                          "appearance_rgba":  [
+                                                                                                                  0.35,
+                                                                                                                  0.34,
+                                                                                                                  0.32,
+                                                                                                                  1.0
+                                                                                                              ],
+                                                                                          "occlusion_reference":  "milk_1",
+                                                                                          "occlusion_between_object":  "",
+                                                                                          "occlusion_avoid_target":  "basket_1",
+                                                                                          "runtime_target":  "milk_1",
+                                                                                          "pose_target":  "milk_1",
+                                                                                          "occluders":  "black_book_occluder_1",
+                                                                                          "occluder_type":  "black_book",
+                                                                                          "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                          "occlusion_offset_xy":  [
+                                                                                                                      0.08,
+                                                                                                                      0.0
+                                                                                                                  ],
+                                                                                          "critical_objects":  [
+                                                                                                                   "basket_1",
+                                                                                                                   "milk_1"
+                                                                                                               ],
+                                                                                          "removed_duplicate_objects":  null
+                                                                                      },
+                                                                                      {
+                                                                                          "task":  "pick_up_the_orange_juice_and_place_it_in_the_basket",
+                                                                                          "path":  "bddl_files/04_object_texture/bddl/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl",
+                                                                                          "target":  "orange_juice_1",
+                                                                                          "appearance_targets":  "basket_1",
+                                                                                          "appearance_rgba":  [
+                                                                                                                  0.35,
+                                                                                                                  0.34,
+                                                                                                                  0.32,
+                                                                                                                  1.0
+                                                                                                              ],
+                                                                                          "occlusion_reference":  "orange_juice_1",
+                                                                                          "occlusion_between_object":  "",
+                                                                                          "occlusion_avoid_target":  "basket_1",
+                                                                                          "runtime_target":  "orange_juice_1",
+                                                                                          "pose_target":  "orange_juice_1",
+                                                                                          "occluders":  "black_book_occluder_1",
+                                                                                          "occluder_type":  "black_book",
+                                                                                          "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                          "occlusion_offset_xy":  [
+                                                                                                                      0.08,
+                                                                                                                      0.0
+                                                                                                                  ],
+                                                                                          "critical_objects":  [
+                                                                                                                   "basket_1",
+                                                                                                                   "orange_juice_1"
+                                                                                                               ],
+                                                                                          "removed_duplicate_objects":  null
+                                                                                      },
+                                                                                      {
+                                                                                          "task":  "pick_up_the_salad_dressing_and_place_it_in_the_basket",
+                                                                                          "path":  "bddl_files/04_object_texture/bddl/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl",
+                                                                                          "target":  "salad_dressing_1",
+                                                                                          "appearance_targets":  "basket_1",
+                                                                                          "appearance_rgba":  [
+                                                                                                                  0.35,
+                                                                                                                  0.34,
+                                                                                                                  0.32,
+                                                                                                                  1.0
+                                                                                                              ],
+                                                                                          "occlusion_reference":  "salad_dressing_1",
+                                                                                          "occlusion_between_object":  "",
+                                                                                          "occlusion_avoid_target":  "basket_1",
+                                                                                          "runtime_target":  "salad_dressing_1",
+                                                                                          "pose_target":  "salad_dressing_1",
+                                                                                          "occluders":  "black_book_occluder_1",
+                                                                                          "occluder_type":  "black_book",
+                                                                                          "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                          "occlusion_offset_xy":  [
+                                                                                                                      0.08,
+                                                                                                                      0.0
+                                                                                                                  ],
+                                                                                          "critical_objects":  [
+                                                                                                                   "basket_1",
+                                                                                                                   "salad_dressing_1"
+                                                                                                               ],
+                                                                                          "removed_duplicate_objects":  null
+                                                                                      },
+                                                                                      {
+                                                                                          "task":  "pick_up_the_tomato_sauce_and_place_it_in_the_basket",
+                                                                                          "path":  "bddl_files/04_object_texture/bddl/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl",
+                                                                                          "target":  "tomato_sauce_1",
+                                                                                          "appearance_targets":  "basket_1",
+                                                                                          "appearance_rgba":  [
+                                                                                                                  0.35,
+                                                                                                                  0.34,
+                                                                                                                  0.32,
+                                                                                                                  1.0
+                                                                                                              ],
+                                                                                          "occlusion_reference":  "tomato_sauce_1",
+                                                                                          "occlusion_between_object":  "",
+                                                                                          "occlusion_avoid_target":  "basket_1",
+                                                                                          "runtime_target":  "tomato_sauce_1",
+                                                                                          "pose_target":  "tomato_sauce_1",
+                                                                                          "occluders":  "black_book_occluder_1",
+                                                                                          "occluder_type":  "black_book",
+                                                                                          "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                          "occlusion_offset_xy":  [
+                                                                                                                      0.08,
+                                                                                                                      0.0
+                                                                                                                  ],
+                                                                                          "critical_objects":  [
+                                                                                                                   "basket_1",
+                                                                                                                   "tomato_sauce_1"
+                                                                                                               ],
+                                                                                          "removed_duplicate_objects":  null
+                                                                                      }
+                                                                                  ],
+                                                                "libero_goal":  [
+                                                                                    {
+                                                                                        "task":  "open_the_middle_drawer_of_the_cabinet",
+                                                                                        "path":  "bddl_files/04_object_texture/bddl/libero_goal/open_the_middle_drawer_of_the_cabinet.bddl",
+                                                                                        "target":  "akita_black_bowl_1",
+                                                                                        "appearance_targets":  "wooden_cabinet_1",
+                                                                                        "appearance_rgba":  [
+                                                                                                                0.72,
+                                                                                                                0.63,
+                                                                                                                0.5,
+                                                                                                                1.0
+                                                                                                            ],
+                                                                                        "occlusion_reference":  "akita_black_bowl_1",
+                                                                                        "occlusion_between_object":  "",
+                                                                                        "occlusion_avoid_target":  "",
+                                                                                        "runtime_target":  "akita_black_bowl_1",
+                                                                                        "pose_target":  "akita_black_bowl_1",
+                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                        "occluder_type":  "black_book",
+                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                        "occlusion_offset_xy":  [
+                                                                                                                    0.08,
+                                                                                                                    0.09
+                                                                                                                ],
+                                                                                        "critical_objects":  null,
+                                                                                        "removed_duplicate_objects":  null
+                                                                                    },
+                                                                                    {
+                                                                                        "task":  "open_the_top_drawer_and_put_the_bowl_inside",
+                                                                                        "path":  "bddl_files/04_object_texture/bddl/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.bddl",
+                                                                                        "target":  "akita_black_bowl_1",
+                                                                                        "appearance_targets":  "wooden_cabinet_1",
+                                                                                        "appearance_rgba":  [
+                                                                                                                0.72,
+                                                                                                                0.63,
+                                                                                                                0.5,
+                                                                                                                1.0
+                                                                                                            ],
+                                                                                        "occlusion_reference":  "akita_black_bowl_1",
+                                                                                        "occlusion_between_object":  "",
+                                                                                        "occlusion_avoid_target":  "wooden_cabinet_1_top_region",
+                                                                                        "runtime_target":  "akita_black_bowl_1",
+                                                                                        "pose_target":  "akita_black_bowl_1",
+                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                        "occluder_type":  "black_book",
+                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                        "occlusion_offset_xy":  [
+                                                                                                                    0.08,
+                                                                                                                    0.09
+                                                                                                                ],
+                                                                                        "critical_objects":  "akita_black_bowl_1",
+                                                                                        "removed_duplicate_objects":  null
+                                                                                    },
+                                                                                    {
+                                                                                        "task":  "push_the_plate_to_the_front_of_the_stove",
+                                                                                        "path":  "bddl_files/04_object_texture/bddl/libero_goal/push_the_plate_to_the_front_of_the_stove.bddl",
+                                                                                        "target":  "plate_1",
+                                                                                        "appearance_targets":  "flat_stove_1",
+                                                                                        "appearance_rgba":  [
+                                                                                                                0.72,
+                                                                                                                0.63,
+                                                                                                                0.5,
+                                                                                                                1.0
+                                                                                                            ],
+                                                                                        "occlusion_reference":  "plate_1",
+                                                                                        "occlusion_between_object":  "",
+                                                                                        "occlusion_avoid_target":  "main_table_stove_front_region",
+                                                                                        "runtime_target":  "plate_1",
+                                                                                        "pose_target":  "plate_1",
+                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                        "occluder_type":  "black_book",
+                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                        "occlusion_offset_xy":  [
+                                                                                                                    0.08,
+                                                                                                                    0.0
+                                                                                                                ],
+                                                                                        "critical_objects":  "plate_1",
+                                                                                        "removed_duplicate_objects":  null
+                                                                                    },
+                                                                                    {
+                                                                                        "task":  "put_the_bowl_on_the_plate",
+                                                                                        "path":  "bddl_files/04_object_texture/bddl/libero_goal/put_the_bowl_on_the_plate.bddl",
+                                                                                        "target":  "akita_black_bowl_1",
+                                                                                        "appearance_targets":  "plate_1",
+                                                                                        "appearance_rgba":  [
+                                                                                                                0.72,
+                                                                                                                0.63,
+                                                                                                                0.5,
+                                                                                                                1.0
+                                                                                                            ],
+                                                                                        "occlusion_reference":  "akita_black_bowl_1",
+                                                                                        "occlusion_between_object":  "plate_1",
+                                                                                        "occlusion_avoid_target":  "plate_1",
+                                                                                        "runtime_target":  "akita_black_bowl_1",
+                                                                                        "pose_target":  "akita_black_bowl_1",
+                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                        "occluder_type":  "black_book",
+                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                        "occlusion_offset_xy":  [
+                                                                                                                    0.08,
+                                                                                                                    0.0
+                                                                                                                ],
+                                                                                        "critical_objects":  [
+                                                                                                                 "akita_black_bowl_1",
+                                                                                                                 "plate_1"
+                                                                                                             ],
+                                                                                        "removed_duplicate_objects":  null
+                                                                                    },
+                                                                                    {
+                                                                                        "task":  "put_the_bowl_on_the_stove",
+                                                                                        "path":  "bddl_files/04_object_texture/bddl/libero_goal/put_the_bowl_on_the_stove.bddl",
+                                                                                        "target":  "akita_black_bowl_1",
+                                                                                        "appearance_targets":  "flat_stove_1",
+                                                                                        "appearance_rgba":  [
+                                                                                                                0.72,
+                                                                                                                0.63,
+                                                                                                                0.5,
+                                                                                                                1.0
+                                                                                                            ],
+                                                                                        "occlusion_reference":  "akita_black_bowl_1",
+                                                                                        "occlusion_between_object":  "",
+                                                                                        "occlusion_avoid_target":  "flat_stove_1_cook_region",
+                                                                                        "runtime_target":  "akita_black_bowl_1",
+                                                                                        "pose_target":  "akita_black_bowl_1",
+                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                        "occluder_type":  "black_book",
+                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                        "occlusion_offset_xy":  [
+                                                                                                                    0.08,
+                                                                                                                    0.09
+                                                                                                                ],
+                                                                                        "critical_objects":  "akita_black_bowl_1",
+                                                                                        "removed_duplicate_objects":  null
+                                                                                    },
+                                                                                    {
+                                                                                        "task":  "put_the_bowl_on_top_of_the_cabinet",
+                                                                                        "path":  "bddl_files/04_object_texture/bddl/libero_goal/put_the_bowl_on_top_of_the_cabinet.bddl",
+                                                                                        "target":  "akita_black_bowl_1",
+                                                                                        "appearance_targets":  "wooden_cabinet_1",
+                                                                                        "appearance_rgba":  [
+                                                                                                                0.72,
+                                                                                                                0.63,
+                                                                                                                0.5,
+                                                                                                                1.0
+                                                                                                            ],
+                                                                                        "occlusion_reference":  "akita_black_bowl_1",
+                                                                                        "occlusion_between_object":  "",
+                                                                                        "occlusion_avoid_target":  "wooden_cabinet_1_top_side",
+                                                                                        "runtime_target":  "akita_black_bowl_1",
+                                                                                        "pose_target":  "akita_black_bowl_1",
+                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                        "occluder_type":  "black_book",
+                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                        "occlusion_offset_xy":  [
+                                                                                                                    0.08,
+                                                                                                                    0.09
+                                                                                                                ],
+                                                                                        "critical_objects":  "akita_black_bowl_1",
+                                                                                        "removed_duplicate_objects":  null
+                                                                                    },
+                                                                                    {
+                                                                                        "task":  "put_the_cream_cheese_in_the_bowl",
+                                                                                        "path":  "bddl_files/04_object_texture/bddl/libero_goal/put_the_cream_cheese_in_the_bowl.bddl",
+                                                                                        "target":  "cream_cheese_1",
+                                                                                        "appearance_targets":  "akita_black_bowl_1",
+                                                                                        "appearance_rgba":  [
+                                                                                                                0.72,
+                                                                                                                0.63,
+                                                                                                                0.5,
+                                                                                                                1.0
+                                                                                                            ],
+                                                                                        "occlusion_reference":  "cream_cheese_1",
+                                                                                        "occlusion_between_object":  "",
+                                                                                        "occlusion_avoid_target":  "akita_black_bowl_1",
+                                                                                        "runtime_target":  "cream_cheese_1",
+                                                                                        "pose_target":  "cream_cheese_1",
+                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                        "occluder_type":  "black_book",
+                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                        "occlusion_offset_xy":  [
+                                                                                                                    0.08,
+                                                                                                                    0.0
+                                                                                                                ],
+                                                                                        "critical_objects":  [
+                                                                                                                 "akita_black_bowl_1",
+                                                                                                                 "cream_cheese_1"
+                                                                                                             ],
+                                                                                        "removed_duplicate_objects":  null
+                                                                                    },
+                                                                                    {
+                                                                                        "task":  "put_the_wine_bottle_on_the_rack",
+                                                                                        "path":  "bddl_files/04_object_texture/bddl/libero_goal/put_the_wine_bottle_on_the_rack.bddl",
+                                                                                        "target":  "wine_bottle_1",
+                                                                                        "appearance_targets":  "wine_rack_1",
+                                                                                        "appearance_rgba":  [
+                                                                                                                0.72,
+                                                                                                                0.63,
+                                                                                                                0.5,
+                                                                                                                1.0
+                                                                                                            ],
+                                                                                        "occlusion_reference":  "wine_bottle_1",
+                                                                                        "occlusion_between_object":  "",
+                                                                                        "occlusion_avoid_target":  "wine_rack_1_top_region",
+                                                                                        "runtime_target":  "wine_bottle_1",
+                                                                                        "pose_target":  "wine_bottle_1",
+                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                        "occluder_type":  "black_book",
+                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                        "occlusion_offset_xy":  [
+                                                                                                                    0.08,
+                                                                                                                    0.0
+                                                                                                                ],
+                                                                                        "critical_objects":  "wine_bottle_1",
+                                                                                        "removed_duplicate_objects":  null
+                                                                                    },
+                                                                                    {
+                                                                                        "task":  "put_the_wine_bottle_on_top_of_the_cabinet",
+                                                                                        "path":  "bddl_files/04_object_texture/bddl/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.bddl",
+                                                                                        "target":  "wine_bottle_1",
+                                                                                        "appearance_targets":  "wooden_cabinet_1",
+                                                                                        "appearance_rgba":  [
+                                                                                                                0.72,
+                                                                                                                0.63,
+                                                                                                                0.5,
+                                                                                                                1.0
+                                                                                                            ],
+                                                                                        "occlusion_reference":  "wine_bottle_1",
+                                                                                        "occlusion_between_object":  "",
+                                                                                        "occlusion_avoid_target":  "wooden_cabinet_1_top_side",
+                                                                                        "runtime_target":  "wine_bottle_1",
+                                                                                        "pose_target":  "wine_bottle_1",
+                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                        "occluder_type":  "black_book",
+                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                        "occlusion_offset_xy":  [
+                                                                                                                    0.08,
+                                                                                                                    0.0
+                                                                                                                ],
+                                                                                        "critical_objects":  "wine_bottle_1",
+                                                                                        "removed_duplicate_objects":  null
+                                                                                    },
+                                                                                    {
+                                                                                        "task":  "turn_on_the_stove",
+                                                                                        "path":  "bddl_files/04_object_texture/bddl/libero_goal/turn_on_the_stove.bddl",
+                                                                                        "target":  "akita_black_bowl_1",
+                                                                                        "appearance_targets":  "flat_stove_1",
+                                                                                        "appearance_rgba":  [
+                                                                                                                0.72,
+                                                                                                                0.63,
+                                                                                                                0.5,
+                                                                                                                1.0
+                                                                                                            ],
+                                                                                        "occlusion_reference":  "akita_black_bowl_1",
+                                                                                        "occlusion_between_object":  "",
+                                                                                        "occlusion_avoid_target":  "",
+                                                                                        "runtime_target":  "akita_black_bowl_1",
+                                                                                        "pose_target":  "akita_black_bowl_1",
+                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                        "occluder_type":  "black_book",
+                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                        "occlusion_offset_xy":  [
+                                                                                                                    0.08,
+                                                                                                                    0.09
+                                                                                                                ],
+                                                                                        "critical_objects":  null,
+                                                                                        "removed_duplicate_objects":  null
+                                                                                    }
+                                                                                ],
+                                                                "libero_10":  [
+                                                                                  {
+                                                                                      "task":  "KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it",
+                                                                                      "path":  "bddl_files/04_object_texture/bddl/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl",
+                                                                                      "target":  "moka_pot_1",
+                                                                                      "appearance_targets":  "flat_stove_1",
+                                                                                      "appearance_rgba":  [
+                                                                                                              0.72,
+                                                                                                              0.63,
+                                                                                                              0.5,
+                                                                                                              1.0
+                                                                                                          ],
+                                                                                      "occlusion_reference":  "moka_pot_1",
+                                                                                      "occlusion_between_object":  "",
+                                                                                      "occlusion_avoid_target":  "flat_stove_1",
+                                                                                      "runtime_target":  "moka_pot_1",
+                                                                                      "pose_target":  "moka_pot_1",
+                                                                                      "occluders":  "black_book_occluder_1",
+                                                                                      "occluder_type":  "black_book",
+                                                                                      "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                      "occlusion_offset_xy":  [
+                                                                                                                  0.08,
+                                                                                                                  0.0
+                                                                                                              ],
+                                                                                      "critical_objects":  "moka_pot_1",
+                                                                                      "removed_duplicate_objects":  null
+                                                                                  },
+                                                                                  {
+                                                                                      "task":  "KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it",
+                                                                                      "path":  "bddl_files/04_object_texture/bddl/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl",
+                                                                                      "target":  "akita_black_bowl_1",
+                                                                                      "appearance_targets":  "white_cabinet_1",
+                                                                                      "appearance_rgba":  [
+                                                                                                              0.72,
+                                                                                                              0.63,
+                                                                                                              0.5,
+                                                                                                              1.0
+                                                                                                          ],
+                                                                                      "occlusion_reference":  "akita_black_bowl_1",
+                                                                                      "occlusion_between_object":  "",
+                                                                                      "occlusion_avoid_target":  "white_cabinet_1",
+                                                                                      "runtime_target":  "akita_black_bowl_1",
+                                                                                      "pose_target":  "akita_black_bowl_1",
+                                                                                      "occluders":  "black_book_occluder_1",
+                                                                                      "occluder_type":  "black_book",
+                                                                                      "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                      "occlusion_offset_xy":  [
+                                                                                                                  0.08,
+                                                                                                                  0.0
+                                                                                                              ],
+                                                                                      "critical_objects":  "akita_black_bowl_1",
+                                                                                      "removed_duplicate_objects":  null
+                                                                                  },
+                                                                                  {
+                                                                                      "task":  "KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it",
+                                                                                      "path":  "bddl_files/04_object_texture/bddl/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl",
+                                                                                      "target":  "white_yellow_mug_1",
+                                                                                      "appearance_targets":  "microwave_1",
+                                                                                      "appearance_rgba":  [
+                                                                                                              0.72,
+                                                                                                              0.63,
+                                                                                                              0.5,
+                                                                                                              1.0
+                                                                                                          ],
+                                                                                      "occlusion_reference":  "white_yellow_mug_1",
+                                                                                      "occlusion_between_object":  "",
+                                                                                      "occlusion_avoid_target":  "microwave_1",
+                                                                                      "runtime_target":  "white_yellow_mug_1",
+                                                                                      "pose_target":  "white_yellow_mug_1",
+                                                                                      "occluders":  "black_book_occluder_1",
+                                                                                      "occluder_type":  "black_book",
+                                                                                      "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                      "occlusion_offset_xy":  [
+                                                                                                                  0.08,
+                                                                                                                  0.0
+                                                                                                              ],
+                                                                                      "critical_objects":  "white_yellow_mug_1",
+                                                                                      "removed_duplicate_objects":  null
+                                                                                  },
+                                                                                  {
+                                                                                      "task":  "KITCHEN_SCENE8_put_both_moka_pots_on_the_stove",
+                                                                                      "path":  "bddl_files/04_object_texture/bddl/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl",
+                                                                                      "target":  "moka_pot_1",
+                                                                                      "appearance_targets":  "flat_stove_1",
+                                                                                      "appearance_rgba":  [
+                                                                                                              0.72,
+                                                                                                              0.63,
+                                                                                                              0.5,
+                                                                                                              1.0
+                                                                                                          ],
+                                                                                      "occlusion_reference":  "moka_pot_1",
+                                                                                      "occlusion_between_object":  "",
+                                                                                      "occlusion_avoid_target":  "moka_pot_2",
+                                                                                      "runtime_target":  "moka_pot_1",
+                                                                                      "pose_target":  "moka_pot_1",
+                                                                                      "occluders":  "black_book_occluder_1",
+                                                                                      "occluder_type":  "black_book",
+                                                                                      "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                      "occlusion_offset_xy":  [
+                                                                                                                  0.08,
+                                                                                                                  0.0
+                                                                                                              ],
+                                                                                      "critical_objects":  [
+                                                                                                               "moka_pot_1",
+                                                                                                               "moka_pot_2"
+                                                                                                           ],
+                                                                                      "removed_duplicate_objects":  null
+                                                                                  },
+                                                                                  {
+                                                                                      "task":  "LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket",
+                                                                                      "path":  "bddl_files/04_object_texture/bddl/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl",
+                                                                                      "target":  "alphabet_soup_1",
+                                                                                      "appearance_targets":  "basket_1",
+                                                                                      "appearance_rgba":  [
+                                                                                                              0.3,
+                                                                                                              0.2,
+                                                                                                              0.12,
+                                                                                                              1.0
+                                                                                                          ],
+                                                                                      "occlusion_reference":  "alphabet_soup_1",
+                                                                                      "occlusion_between_object":  "",
+                                                                                      "occlusion_avoid_target":  "cream_cheese_1",
+                                                                                      "runtime_target":  "alphabet_soup_1",
+                                                                                      "pose_target":  "alphabet_soup_1",
+                                                                                      "occluders":  "black_book_occluder_1",
+                                                                                      "occluder_type":  "black_book",
+                                                                                      "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                      "occlusion_offset_xy":  [
+                                                                                                                  0.08,
+                                                                                                                  0.0
+                                                                                                              ],
+                                                                                      "critical_objects":  [
+                                                                                                               "alphabet_soup_1",
+                                                                                                               "basket_1",
+                                                                                                               "cream_cheese_1"
+                                                                                                           ],
+                                                                                      "removed_duplicate_objects":  null
+                                                                                  },
+                                                                                  {
+                                                                                      "task":  "LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket",
+                                                                                      "path":  "bddl_files/04_object_texture/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl",
+                                                                                      "target":  "alphabet_soup_1",
+                                                                                      "appearance_targets":  "basket_1",
+                                                                                      "appearance_rgba":  [
+                                                                                                              0.3,
+                                                                                                              0.2,
+                                                                                                              0.12,
+                                                                                                              1.0
+                                                                                                          ],
+                                                                                      "occlusion_reference":  "alphabet_soup_1",
+                                                                                      "occlusion_between_object":  "",
+                                                                                      "occlusion_avoid_target":  "tomato_sauce_1",
+                                                                                      "runtime_target":  "alphabet_soup_1",
+                                                                                      "pose_target":  "alphabet_soup_1",
+                                                                                      "occluders":  "black_book_occluder_1",
+                                                                                      "occluder_type":  "black_book",
+                                                                                      "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                      "occlusion_offset_xy":  [
+                                                                                                                  0.08,
+                                                                                                                  0.0
+                                                                                                              ],
+                                                                                      "critical_objects":  [
+                                                                                                               "alphabet_soup_1",
+                                                                                                               "basket_1",
+                                                                                                               "tomato_sauce_1"
+                                                                                                           ],
+                                                                                      "removed_duplicate_objects":  null
+                                                                                  },
+                                                                                  {
+                                                                                      "task":  "LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket",
+                                                                                      "path":  "bddl_files/04_object_texture/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl",
+                                                                                      "target":  "cream_cheese_1",
+                                                                                      "appearance_targets":  "basket_1",
+                                                                                      "appearance_rgba":  [
+                                                                                                              0.3,
+                                                                                                              0.2,
+                                                                                                              0.12,
+                                                                                                              1.0
+                                                                                                          ],
+                                                                                      "occlusion_reference":  "cream_cheese_1",
+                                                                                      "occlusion_between_object":  "",
+                                                                                      "occlusion_avoid_target":  "butter_1",
+                                                                                      "runtime_target":  "cream_cheese_1",
+                                                                                      "pose_target":  "cream_cheese_1",
+                                                                                      "occluders":  "black_book_occluder_1",
+                                                                                      "occluder_type":  "black_book",
+                                                                                      "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                      "occlusion_offset_xy":  [
+                                                                                                                  0.08,
+                                                                                                                  0.0
+                                                                                                              ],
+                                                                                      "critical_objects":  [
+                                                                                                               "basket_1",
+                                                                                                               "butter_1",
+                                                                                                               "cream_cheese_1"
+                                                                                                           ],
+                                                                                      "removed_duplicate_objects":  null
+                                                                                  },
+                                                                                  {
+                                                                                      "task":  "LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate",
+                                                                                      "path":  "bddl_files/04_object_texture/bddl/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl",
+                                                                                      "target":  "plate_1",
+                                                                                      "appearance_targets":  [
+                                                                                                                 "plate_1",
+                                                                                                                 "plate_2"
+                                                                                                             ],
+                                                                                      "appearance_rgba":  [
+                                                                                                              0.3,
+                                                                                                              0.2,
+                                                                                                              0.12,
+                                                                                                              1.0
+                                                                                                          ],
+                                                                                      "occlusion_reference":  "plate_1",
+                                                                                      "occlusion_between_object":  "",
+                                                                                      "occlusion_avoid_target":  "plate_2",
+                                                                                      "runtime_target":  "plate_1",
+                                                                                      "pose_target":  "plate_1",
+                                                                                      "occluders":  "black_book_occluder_1",
+                                                                                      "occluder_type":  "black_book",
+                                                                                      "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                      "occlusion_offset_xy":  [
+                                                                                                                  0.08,
+                                                                                                                  0.0
+                                                                                                              ],
+                                                                                      "critical_objects":  [
+                                                                                                               "plate_1",
+                                                                                                               "plate_2",
+                                                                                                               "porcelain_mug_1",
+                                                                                                               "white_yellow_mug_1"
+                                                                                                           ],
+                                                                                      "removed_duplicate_objects":  null
+                                                                                  },
+                                                                                  {
+                                                                                      "task":  "LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate",
+                                                                                      "path":  "bddl_files/04_object_texture/bddl/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl",
+                                                                                      "target":  "plate_1",
+                                                                                      "appearance_targets":  "plate_1",
+                                                                                      "appearance_rgba":  [
+                                                                                                              0.3,
+                                                                                                              0.2,
+                                                                                                              0.12,
+                                                                                                              1.0
+                                                                                                          ],
+                                                                                      "occlusion_reference":  "plate_1",
+                                                                                      "occlusion_between_object":  "",
+                                                                                      "occlusion_avoid_target":  "chocolate_pudding_1",
+                                                                                      "runtime_target":  "plate_1",
+                                                                                      "pose_target":  "plate_1",
+                                                                                      "occluders":  "black_book_occluder_1",
+                                                                                      "occluder_type":  "black_book",
+                                                                                      "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                      "occlusion_offset_xy":  [
+                                                                                                                  0.08,
+                                                                                                                  0.0
+                                                                                                              ],
+                                                                                      "critical_objects":  [
+                                                                                                               "chocolate_pudding_1",
+                                                                                                               "plate_1",
+                                                                                                               "porcelain_mug_1"
+                                                                                                           ],
+                                                                                      "removed_duplicate_objects":  null
+                                                                                  },
+                                                                                  {
+                                                                                      "task":  "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy",
+                                                                                      "path":  "bddl_files/04_object_texture/bddl/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl",
+                                                                                      "target":  "black_book_1",
+                                                                                      "appearance_targets":  "desk_caddy_1",
+                                                                                      "appearance_rgba":  [
+                                                                                                              0.5,
+                                                                                                              0.36,
+                                                                                                              0.2,
+                                                                                                              1.0
+                                                                                                          ],
+                                                                                      "occlusion_reference":  "black_book_1",
+                                                                                      "occlusion_between_object":  "",
+                                                                                      "occlusion_avoid_target":  "desk_caddy_1",
+                                                                                      "runtime_target":  "black_book_1",
+                                                                                      "pose_target":  "black_book_1",
+                                                                                      "occluders":  "yellow_book_1",
+                                                                                      "occluder_type":  "yellow_book",
+                                                                                      "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                      "occlusion_offset_xy":  [
+                                                                                                                  0.08,
+                                                                                                                  0.0
+                                                                                                              ],
+                                                                                      "critical_objects":  "black_book_1",
+                                                                                      "removed_duplicate_objects":  null
+                                                                                  }
+                                                                              ]
+                                                            },
+                                                 "count":  40
+                                             },
+                       "05_view_occlusion":  {
+                                                 "folder":  "05_view_occlusion",
+                                                 "suites":  {
+                                                                "libero_spatial":  [
+                                                                                       {
+                                                                                           "task":  "pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate",
+                                                                                           "path":  "bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl",
+                                                                                           "target":  "akita_black_bowl_1",
+                                                                                           "appearance_targets":  "plate_1",
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.72,
+                                                                                                                   0.63,
+                                                                                                                   0.5,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "akita_black_bowl_1",
+                                                                                           "occlusion_between_object":  "plate_1",
+                                                                                           "occlusion_avoid_target":  "plate_1",
+                                                                                           "runtime_target":  "akita_black_bowl_1",
+                                                                                           "pose_target":  "akita_black_bowl_1",
+                                                                                           "occluders":  "black_book_occluder_1",
+                                                                                           "occluder_type":  "black_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.0
+                                                                                                                   ],
+                                                                                           "critical_objects":  [
+                                                                                                                    "akita_black_bowl_1",
+                                                                                                                    "plate_1"
+                                                                                                                ],
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       },
+                                                                                       {
+                                                                                           "task":  "pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate",
+                                                                                           "path":  "bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl",
+                                                                                           "target":  "akita_black_bowl_1",
+                                                                                           "appearance_targets":  "plate_1",
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.72,
+                                                                                                                   0.63,
+                                                                                                                   0.5,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "akita_black_bowl_1",
+                                                                                           "occlusion_between_object":  "plate_1",
+                                                                                           "occlusion_avoid_target":  "plate_1",
+                                                                                           "runtime_target":  "akita_black_bowl_1",
+                                                                                           "pose_target":  "akita_black_bowl_1",
+                                                                                           "occluders":  "black_book_occluder_1",
+                                                                                           "occluder_type":  "black_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.0
+                                                                                                                   ],
+                                                                                           "critical_objects":  [
+                                                                                                                    "akita_black_bowl_1",
+                                                                                                                    "plate_1"
+                                                                                                                ],
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       },
+                                                                                       {
+                                                                                           "task":  "pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate",
+                                                                                           "path":  "bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl",
+                                                                                           "target":  "akita_black_bowl_1",
+                                                                                           "appearance_targets":  "plate_1",
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.72,
+                                                                                                                   0.63,
+                                                                                                                   0.5,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "akita_black_bowl_1",
+                                                                                           "occlusion_between_object":  "plate_1",
+                                                                                           "occlusion_avoid_target":  "plate_1",
+                                                                                           "runtime_target":  "akita_black_bowl_1",
+                                                                                           "pose_target":  "akita_black_bowl_1",
+                                                                                           "occluders":  "black_book_occluder_1",
+                                                                                           "occluder_type":  "black_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.0
+                                                                                                                   ],
+                                                                                           "critical_objects":  [
+                                                                                                                    "akita_black_bowl_1",
+                                                                                                                    "plate_1"
+                                                                                                                ],
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       },
+                                                                                       {
+                                                                                           "task":  "pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate",
+                                                                                           "path":  "bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl",
+                                                                                           "target":  "akita_black_bowl_1",
+                                                                                           "appearance_targets":  "plate_1",
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.72,
+                                                                                                                   0.63,
+                                                                                                                   0.5,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "akita_black_bowl_1",
+                                                                                           "occlusion_between_object":  "plate_1",
+                                                                                           "occlusion_avoid_target":  "plate_1",
+                                                                                           "runtime_target":  "akita_black_bowl_1",
+                                                                                           "pose_target":  "akita_black_bowl_1",
+                                                                                           "occluders":  "black_book_occluder_1",
+                                                                                           "occluder_type":  "black_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.0
+                                                                                                                   ],
+                                                                                           "critical_objects":  [
+                                                                                                                    "akita_black_bowl_1",
+                                                                                                                    "plate_1"
+                                                                                                                ],
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       },
+                                                                                       {
+                                                                                           "task":  "pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate",
+                                                                                           "path":  "bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl",
+                                                                                           "target":  "akita_black_bowl_1",
+                                                                                           "appearance_targets":  "plate_1",
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.72,
+                                                                                                                   0.63,
+                                                                                                                   0.5,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "akita_black_bowl_1",
+                                                                                           "occlusion_between_object":  "plate_1",
+                                                                                           "occlusion_avoid_target":  "plate_1",
+                                                                                           "runtime_target":  "akita_black_bowl_1",
+                                                                                           "pose_target":  "akita_black_bowl_1",
+                                                                                           "occluders":  "black_book_occluder_1",
+                                                                                           "occluder_type":  "black_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.0
+                                                                                                                   ],
+                                                                                           "critical_objects":  [
+                                                                                                                    "akita_black_bowl_1",
+                                                                                                                    "plate_1"
+                                                                                                                ],
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       },
+                                                                                       {
+                                                                                           "task":  "pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate",
+                                                                                           "path":  "bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl",
+                                                                                           "target":  "akita_black_bowl_1",
+                                                                                           "appearance_targets":  "plate_1",
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.72,
+                                                                                                                   0.63,
+                                                                                                                   0.5,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "akita_black_bowl_1",
+                                                                                           "occlusion_between_object":  "plate_1",
+                                                                                           "occlusion_avoid_target":  "plate_1",
+                                                                                           "runtime_target":  "akita_black_bowl_1",
+                                                                                           "pose_target":  "akita_black_bowl_1",
+                                                                                           "occluders":  "black_book_occluder_1",
+                                                                                           "occluder_type":  "black_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.0
+                                                                                                                   ],
+                                                                                           "critical_objects":  [
+                                                                                                                    "akita_black_bowl_1",
+                                                                                                                    "plate_1"
+                                                                                                                ],
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       },
+                                                                                       {
+                                                                                           "task":  "pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate",
+                                                                                           "path":  "bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl",
+                                                                                           "target":  "akita_black_bowl_1",
+                                                                                           "appearance_targets":  "plate_1",
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.72,
+                                                                                                                   0.63,
+                                                                                                                   0.5,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "akita_black_bowl_1",
+                                                                                           "occlusion_between_object":  "plate_1",
+                                                                                           "occlusion_avoid_target":  "plate_1",
+                                                                                           "runtime_target":  "akita_black_bowl_1",
+                                                                                           "pose_target":  "akita_black_bowl_1",
+                                                                                           "occluders":  "black_book_occluder_1",
+                                                                                           "occluder_type":  "black_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.0
+                                                                                                                   ],
+                                                                                           "critical_objects":  [
+                                                                                                                    "akita_black_bowl_1",
+                                                                                                                    "plate_1"
+                                                                                                                ],
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       },
+                                                                                       {
+                                                                                           "task":  "pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate",
+                                                                                           "path":  "bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl",
+                                                                                           "target":  "akita_black_bowl_1",
+                                                                                           "appearance_targets":  "plate_1",
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.72,
+                                                                                                                   0.63,
+                                                                                                                   0.5,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "akita_black_bowl_1",
+                                                                                           "occlusion_between_object":  "plate_1",
+                                                                                           "occlusion_avoid_target":  "plate_1",
+                                                                                           "runtime_target":  "akita_black_bowl_1",
+                                                                                           "pose_target":  "akita_black_bowl_1",
+                                                                                           "occluders":  "black_book_occluder_1",
+                                                                                           "occluder_type":  "black_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.0
+                                                                                                                   ],
+                                                                                           "critical_objects":  [
+                                                                                                                    "akita_black_bowl_1",
+                                                                                                                    "plate_1"
+                                                                                                                ],
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       },
+                                                                                       {
+                                                                                           "task":  "pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate",
+                                                                                           "path":  "bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl",
+                                                                                           "target":  "akita_black_bowl_1",
+                                                                                           "appearance_targets":  "plate_1",
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.72,
+                                                                                                                   0.63,
+                                                                                                                   0.5,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "akita_black_bowl_1",
+                                                                                           "occlusion_between_object":  "plate_1",
+                                                                                           "occlusion_avoid_target":  "plate_1",
+                                                                                           "runtime_target":  "akita_black_bowl_1",
+                                                                                           "pose_target":  "akita_black_bowl_1",
+                                                                                           "occluders":  "black_book_occluder_1",
+                                                                                           "occluder_type":  "black_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.0
+                                                                                                                   ],
+                                                                                           "critical_objects":  [
+                                                                                                                    "akita_black_bowl_1",
+                                                                                                                    "plate_1"
+                                                                                                                ],
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       },
+                                                                                       {
+                                                                                           "task":  "pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate",
+                                                                                           "path":  "bddl_files/05_view_occlusion/bddl/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl",
+                                                                                           "target":  "akita_black_bowl_1",
+                                                                                           "appearance_targets":  "plate_1",
+                                                                                           "appearance_rgba":  [
+                                                                                                                   0.72,
+                                                                                                                   0.63,
+                                                                                                                   0.5,
+                                                                                                                   1.0
+                                                                                                               ],
+                                                                                           "occlusion_reference":  "akita_black_bowl_1",
+                                                                                           "occlusion_between_object":  "plate_1",
+                                                                                           "occlusion_avoid_target":  "plate_1",
+                                                                                           "runtime_target":  "akita_black_bowl_1",
+                                                                                           "pose_target":  "akita_black_bowl_1",
+                                                                                           "occluders":  "black_book_occluder_1",
+                                                                                           "occluder_type":  "black_book",
+                                                                                           "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                           "occlusion_offset_xy":  [
+                                                                                                                       0.08,
+                                                                                                                       0.0
+                                                                                                                   ],
+                                                                                           "critical_objects":  [
+                                                                                                                    "akita_black_bowl_1",
+                                                                                                                    "plate_1"
+                                                                                                                ],
+                                                                                           "removed_duplicate_objects":  null
+                                                                                       }
+                                                                                   ],
+                                                                "libero_object":  [
+                                                                                      {
+                                                                                          "task":  "pick_up_the_alphabet_soup_and_place_it_in_the_basket",
+                                                                                          "path":  "bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl",
+                                                                                          "target":  "alphabet_soup_1",
+                                                                                          "appearance_targets":  "basket_1",
+                                                                                          "appearance_rgba":  [
+                                                                                                                  0.35,
+                                                                                                                  0.34,
+                                                                                                                  0.32,
+                                                                                                                  1.0
+                                                                                                              ],
+                                                                                          "occlusion_reference":  "alphabet_soup_1",
+                                                                                          "occlusion_between_object":  "",
+                                                                                          "occlusion_avoid_target":  "basket_1",
+                                                                                          "runtime_target":  "alphabet_soup_1",
+                                                                                          "pose_target":  "alphabet_soup_1",
+                                                                                          "occluders":  "black_book_occluder_1",
+                                                                                          "occluder_type":  "black_book",
+                                                                                          "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                          "occlusion_offset_xy":  [
+                                                                                                                      0.08,
+                                                                                                                      0.0
+                                                                                                                  ],
+                                                                                          "critical_objects":  [
+                                                                                                                   "alphabet_soup_1",
+                                                                                                                   "basket_1"
+                                                                                                               ],
+                                                                                          "removed_duplicate_objects":  null
+                                                                                      },
+                                                                                      {
+                                                                                          "task":  "pick_up_the_bbq_sauce_and_place_it_in_the_basket",
+                                                                                          "path":  "bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl",
+                                                                                          "target":  "bbq_sauce_1",
+                                                                                          "appearance_targets":  "basket_1",
+                                                                                          "appearance_rgba":  [
+                                                                                                                  0.35,
+                                                                                                                  0.34,
+                                                                                                                  0.32,
+                                                                                                                  1.0
+                                                                                                              ],
+                                                                                          "occlusion_reference":  "bbq_sauce_1",
+                                                                                          "occlusion_between_object":  "",
+                                                                                          "occlusion_avoid_target":  "basket_1",
+                                                                                          "runtime_target":  "bbq_sauce_1",
+                                                                                          "pose_target":  "bbq_sauce_1",
+                                                                                          "occluders":  "black_book_occluder_1",
+                                                                                          "occluder_type":  "black_book",
+                                                                                          "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                          "occlusion_offset_xy":  [
+                                                                                                                      0.08,
+                                                                                                                      0.0
+                                                                                                                  ],
+                                                                                          "critical_objects":  [
+                                                                                                                   "basket_1",
+                                                                                                                   "bbq_sauce_1"
+                                                                                                               ],
+                                                                                          "removed_duplicate_objects":  null
+                                                                                      },
+                                                                                      {
+                                                                                          "task":  "pick_up_the_butter_and_place_it_in_the_basket",
+                                                                                          "path":  "bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl",
+                                                                                          "target":  "butter_1",
+                                                                                          "appearance_targets":  "basket_1",
+                                                                                          "appearance_rgba":  [
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+                                                                                                                  0.34,
+                                                                                                                  0.32,
+                                                                                                                  1.0
+                                                                                                              ],
+                                                                                          "occlusion_reference":  "butter_1",
+                                                                                          "occlusion_between_object":  "",
+                                                                                          "occlusion_avoid_target":  "basket_1",
+                                                                                          "runtime_target":  "butter_1",
+                                                                                          "pose_target":  "butter_1",
+                                                                                          "occluders":  "black_book_occluder_1",
+                                                                                          "occluder_type":  "black_book",
+                                                                                          "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                          "occlusion_offset_xy":  [
+                                                                                                                      0.08,
+                                                                                                                      0.0
+                                                                                                                  ],
+                                                                                          "critical_objects":  [
+                                                                                                                   "basket_1",
+                                                                                                                   "butter_1"
+                                                                                                               ],
+                                                                                          "removed_duplicate_objects":  null
+                                                                                      },
+                                                                                      {
+                                                                                          "task":  "pick_up_the_chocolate_pudding_and_place_it_in_the_basket",
+                                                                                          "path":  "bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl",
+                                                                                          "target":  "chocolate_pudding_1",
+                                                                                          "appearance_targets":  "basket_1",
+                                                                                          "appearance_rgba":  [
+                                                                                                                  0.35,
+                                                                                                                  0.34,
+                                                                                                                  0.32,
+                                                                                                                  1.0
+                                                                                                              ],
+                                                                                          "occlusion_reference":  "chocolate_pudding_1",
+                                                                                          "occlusion_between_object":  "",
+                                                                                          "occlusion_avoid_target":  "basket_1",
+                                                                                          "runtime_target":  "chocolate_pudding_1",
+                                                                                          "pose_target":  "chocolate_pudding_1",
+                                                                                          "occluders":  "black_book_occluder_1",
+                                                                                          "occluder_type":  "black_book",
+                                                                                          "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                          "occlusion_offset_xy":  [
+                                                                                                                      0.08,
+                                                                                                                      0.0
+                                                                                                                  ],
+                                                                                          "critical_objects":  [
+                                                                                                                   "basket_1",
+                                                                                                                   "chocolate_pudding_1"
+                                                                                                               ],
+                                                                                          "removed_duplicate_objects":  null
+                                                                                      },
+                                                                                      {
+                                                                                          "task":  "pick_up_the_cream_cheese_and_place_it_in_the_basket",
+                                                                                          "path":  "bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl",
+                                                                                          "target":  "cream_cheese_1",
+                                                                                          "appearance_targets":  "basket_1",
+                                                                                          "appearance_rgba":  [
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+                                                                                                                  0.34,
+                                                                                                                  0.32,
+                                                                                                                  1.0
+                                                                                                              ],
+                                                                                          "occlusion_reference":  "cream_cheese_1",
+                                                                                          "occlusion_between_object":  "",
+                                                                                          "occlusion_avoid_target":  "basket_1",
+                                                                                          "runtime_target":  "cream_cheese_1",
+                                                                                          "pose_target":  "cream_cheese_1",
+                                                                                          "occluders":  "black_book_occluder_1",
+                                                                                          "occluder_type":  "black_book",
+                                                                                          "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                          "occlusion_offset_xy":  [
+                                                                                                                      0.08,
+                                                                                                                      0.0
+                                                                                                                  ],
+                                                                                          "critical_objects":  [
+                                                                                                                   "basket_1",
+                                                                                                                   "cream_cheese_1"
+                                                                                                               ],
+                                                                                          "removed_duplicate_objects":  null
+                                                                                      },
+                                                                                      {
+                                                                                          "task":  "pick_up_the_ketchup_and_place_it_in_the_basket",
+                                                                                          "path":  "bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl",
+                                                                                          "target":  "ketchup_1",
+                                                                                          "appearance_targets":  "basket_1",
+                                                                                          "appearance_rgba":  [
+                                                                                                                  0.35,
+                                                                                                                  0.34,
+                                                                                                                  0.32,
+                                                                                                                  1.0
+                                                                                                              ],
+                                                                                          "occlusion_reference":  "ketchup_1",
+                                                                                          "occlusion_between_object":  "",
+                                                                                          "occlusion_avoid_target":  "basket_1",
+                                                                                          "runtime_target":  "ketchup_1",
+                                                                                          "pose_target":  "ketchup_1",
+                                                                                          "occluders":  "black_book_occluder_1",
+                                                                                          "occluder_type":  "black_book",
+                                                                                          "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                          "occlusion_offset_xy":  [
+                                                                                                                      0.08,
+                                                                                                                      0.0
+                                                                                                                  ],
+                                                                                          "critical_objects":  [
+                                                                                                                   "basket_1",
+                                                                                                                   "ketchup_1"
+                                                                                                               ],
+                                                                                          "removed_duplicate_objects":  null
+                                                                                      },
+                                                                                      {
+                                                                                          "task":  "pick_up_the_milk_and_place_it_in_the_basket",
+                                                                                          "path":  "bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl",
+                                                                                          "target":  "milk_1",
+                                                                                          "appearance_targets":  "basket_1",
+                                                                                          "appearance_rgba":  [
+                                                                                                                  0.35,
+                                                                                                                  0.34,
+                                                                                                                  0.32,
+                                                                                                                  1.0
+                                                                                                              ],
+                                                                                          "occlusion_reference":  "milk_1",
+                                                                                          "occlusion_between_object":  "",
+                                                                                          "occlusion_avoid_target":  "basket_1",
+                                                                                          "runtime_target":  "milk_1",
+                                                                                          "pose_target":  "milk_1",
+                                                                                          "occluders":  "black_book_occluder_1",
+                                                                                          "occluder_type":  "black_book",
+                                                                                          "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                          "occlusion_offset_xy":  [
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+                                                                                                                      0.0
+                                                                                                                  ],
+                                                                                          "critical_objects":  [
+                                                                                                                   "basket_1",
+                                                                                                                   "milk_1"
+                                                                                                               ],
+                                                                                          "removed_duplicate_objects":  null
+                                                                                      },
+                                                                                      {
+                                                                                          "task":  "pick_up_the_orange_juice_and_place_it_in_the_basket",
+                                                                                          "path":  "bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl",
+                                                                                          "target":  "orange_juice_1",
+                                                                                          "appearance_targets":  "basket_1",
+                                                                                          "appearance_rgba":  [
+                                                                                                                  0.35,
+                                                                                                                  0.34,
+                                                                                                                  0.32,
+                                                                                                                  1.0
+                                                                                                              ],
+                                                                                          "occlusion_reference":  "orange_juice_1",
+                                                                                          "occlusion_between_object":  "",
+                                                                                          "occlusion_avoid_target":  "basket_1",
+                                                                                          "runtime_target":  "orange_juice_1",
+                                                                                          "pose_target":  "orange_juice_1",
+                                                                                          "occluders":  "black_book_occluder_1",
+                                                                                          "occluder_type":  "black_book",
+                                                                                          "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                          "occlusion_offset_xy":  [
+                                                                                                                      0.08,
+                                                                                                                      0.0
+                                                                                                                  ],
+                                                                                          "critical_objects":  [
+                                                                                                                   "basket_1",
+                                                                                                                   "orange_juice_1"
+                                                                                                               ],
+                                                                                          "removed_duplicate_objects":  null
+                                                                                      },
+                                                                                      {
+                                                                                          "task":  "pick_up_the_salad_dressing_and_place_it_in_the_basket",
+                                                                                          "path":  "bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl",
+                                                                                          "target":  "salad_dressing_1",
+                                                                                          "appearance_targets":  "basket_1",
+                                                                                          "appearance_rgba":  [
+                                                                                                                  0.35,
+                                                                                                                  0.34,
+                                                                                                                  0.32,
+                                                                                                                  1.0
+                                                                                                              ],
+                                                                                          "occlusion_reference":  "salad_dressing_1",
+                                                                                          "occlusion_between_object":  "",
+                                                                                          "occlusion_avoid_target":  "basket_1",
+                                                                                          "runtime_target":  "salad_dressing_1",
+                                                                                          "pose_target":  "salad_dressing_1",
+                                                                                          "occluders":  "black_book_occluder_1",
+                                                                                          "occluder_type":  "black_book",
+                                                                                          "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                          "occlusion_offset_xy":  [
+                                                                                                                      0.08,
+                                                                                                                      0.0
+                                                                                                                  ],
+                                                                                          "critical_objects":  [
+                                                                                                                   "basket_1",
+                                                                                                                   "salad_dressing_1"
+                                                                                                               ],
+                                                                                          "removed_duplicate_objects":  null
+                                                                                      },
+                                                                                      {
+                                                                                          "task":  "pick_up_the_tomato_sauce_and_place_it_in_the_basket",
+                                                                                          "path":  "bddl_files/05_view_occlusion/bddl/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl",
+                                                                                          "target":  "tomato_sauce_1",
+                                                                                          "appearance_targets":  "basket_1",
+                                                                                          "appearance_rgba":  [
+                                                                                                                  0.35,
+                                                                                                                  0.34,
+                                                                                                                  0.32,
+                                                                                                                  1.0
+                                                                                                              ],
+                                                                                          "occlusion_reference":  "tomato_sauce_1",
+                                                                                          "occlusion_between_object":  "",
+                                                                                          "occlusion_avoid_target":  "basket_1",
+                                                                                          "runtime_target":  "tomato_sauce_1",
+                                                                                          "pose_target":  "tomato_sauce_1",
+                                                                                          "occluders":  "black_book_occluder_1",
+                                                                                          "occluder_type":  "black_book",
+                                                                                          "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                          "occlusion_offset_xy":  [
+                                                                                                                      0.08,
+                                                                                                                      0.0
+                                                                                                                  ],
+                                                                                          "critical_objects":  [
+                                                                                                                   "basket_1",
+                                                                                                                   "tomato_sauce_1"
+                                                                                                               ],
+                                                                                          "removed_duplicate_objects":  null
+                                                                                      }
+                                                                                  ],
+                                                                "libero_goal":  [
+                                                                                    {
+                                                                                        "task":  "open_the_middle_drawer_of_the_cabinet",
+                                                                                        "path":  "bddl_files/05_view_occlusion/bddl/libero_goal/open_the_middle_drawer_of_the_cabinet.bddl",
+                                                                                        "target":  "akita_black_bowl_1",
+                                                                                        "appearance_targets":  "wooden_cabinet_1",
+                                                                                        "appearance_rgba":  [
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+                                                                                                                0.63,
+                                                                                                                0.5,
+                                                                                                                1.0
+                                                                                                            ],
+                                                                                        "occlusion_reference":  "akita_black_bowl_1",
+                                                                                        "occlusion_between_object":  "",
+                                                                                        "occlusion_avoid_target":  "",
+                                                                                        "runtime_target":  "akita_black_bowl_1",
+                                                                                        "pose_target":  "akita_black_bowl_1",
+                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                        "occluder_type":  "black_book",
+                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                        "occlusion_offset_xy":  [
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+                                                                                                                    0.09
+                                                                                                                ],
+                                                                                        "critical_objects":  null,
+                                                                                        "removed_duplicate_objects":  null
+                                                                                    },
+                                                                                    {
+                                                                                        "task":  "open_the_top_drawer_and_put_the_bowl_inside",
+                                                                                        "path":  "bddl_files/05_view_occlusion/bddl/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.bddl",
+                                                                                        "target":  "akita_black_bowl_1",
+                                                                                        "appearance_targets":  "wooden_cabinet_1",
+                                                                                        "appearance_rgba":  [
+                                                                                                                0.72,
+                                                                                                                0.63,
+                                                                                                                0.5,
+                                                                                                                1.0
+                                                                                                            ],
+                                                                                        "occlusion_reference":  "akita_black_bowl_1",
+                                                                                        "occlusion_between_object":  "",
+                                                                                        "occlusion_avoid_target":  "wooden_cabinet_1_top_region",
+                                                                                        "runtime_target":  "akita_black_bowl_1",
+                                                                                        "pose_target":  "akita_black_bowl_1",
+                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                        "occluder_type":  "black_book",
+                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                        "occlusion_offset_xy":  [
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+                                                                                                                    0.09
+                                                                                                                ],
+                                                                                        "critical_objects":  "akita_black_bowl_1",
+                                                                                        "removed_duplicate_objects":  null
+                                                                                    },
+                                                                                    {
+                                                                                        "task":  "push_the_plate_to_the_front_of_the_stove",
+                                                                                        "path":  "bddl_files/05_view_occlusion/bddl/libero_goal/push_the_plate_to_the_front_of_the_stove.bddl",
+                                                                                        "target":  "plate_1",
+                                                                                        "appearance_targets":  "flat_stove_1",
+                                                                                        "appearance_rgba":  [
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+                                                                                                                0.63,
+                                                                                                                0.5,
+                                                                                                                1.0
+                                                                                                            ],
+                                                                                        "occlusion_reference":  "plate_1",
+                                                                                        "occlusion_between_object":  "",
+                                                                                        "occlusion_avoid_target":  "main_table_stove_front_region",
+                                                                                        "runtime_target":  "plate_1",
+                                                                                        "pose_target":  "plate_1",
+                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                        "occluder_type":  "black_book",
+                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                        "occlusion_offset_xy":  [
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+                                                                                                                    0.0
+                                                                                                                ],
+                                                                                        "critical_objects":  "plate_1",
+                                                                                        "removed_duplicate_objects":  null
+                                                                                    },
+                                                                                    {
+                                                                                        "task":  "put_the_bowl_on_the_plate",
+                                                                                        "path":  "bddl_files/05_view_occlusion/bddl/libero_goal/put_the_bowl_on_the_plate.bddl",
+                                                                                        "target":  "akita_black_bowl_1",
+                                                                                        "appearance_targets":  "plate_1",
+                                                                                        "appearance_rgba":  [
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+                                                                                                                0.63,
+                                                                                                                0.5,
+                                                                                                                1.0
+                                                                                                            ],
+                                                                                        "occlusion_reference":  "akita_black_bowl_1",
+                                                                                        "occlusion_between_object":  "plate_1",
+                                                                                        "occlusion_avoid_target":  "plate_1",
+                                                                                        "runtime_target":  "akita_black_bowl_1",
+                                                                                        "pose_target":  "akita_black_bowl_1",
+                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                        "occluder_type":  "black_book",
+                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                        "occlusion_offset_xy":  [
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+                                                                                                                    0.0
+                                                                                                                ],
+                                                                                        "critical_objects":  [
+                                                                                                                 "akita_black_bowl_1",
+                                                                                                                 "plate_1"
+                                                                                                             ],
+                                                                                        "removed_duplicate_objects":  null
+                                                                                    },
+                                                                                    {
+                                                                                        "task":  "put_the_bowl_on_the_stove",
+                                                                                        "path":  "bddl_files/05_view_occlusion/bddl/libero_goal/put_the_bowl_on_the_stove.bddl",
+                                                                                        "target":  "akita_black_bowl_1",
+                                                                                        "appearance_targets":  "flat_stove_1",
+                                                                                        "appearance_rgba":  [
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+                                                                                                                0.63,
+                                                                                                                0.5,
+                                                                                                                1.0
+                                                                                                            ],
+                                                                                        "occlusion_reference":  "akita_black_bowl_1",
+                                                                                        "occlusion_between_object":  "",
+                                                                                        "occlusion_avoid_target":  "flat_stove_1_cook_region",
+                                                                                        "runtime_target":  "akita_black_bowl_1",
+                                                                                        "pose_target":  "akita_black_bowl_1",
+                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                        "occluder_type":  "black_book",
+                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                        "occlusion_offset_xy":  [
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+                                                                                                                    0.09
+                                                                                                                ],
+                                                                                        "critical_objects":  "akita_black_bowl_1",
+                                                                                        "removed_duplicate_objects":  null
+                                                                                    },
+                                                                                    {
+                                                                                        "task":  "put_the_bowl_on_top_of_the_cabinet",
+                                                                                        "path":  "bddl_files/05_view_occlusion/bddl/libero_goal/put_the_bowl_on_top_of_the_cabinet.bddl",
+                                                                                        "target":  "akita_black_bowl_1",
+                                                                                        "appearance_targets":  "wooden_cabinet_1",
+                                                                                        "appearance_rgba":  [
+                                                                                                                0.72,
+                                                                                                                0.63,
+                                                                                                                0.5,
+                                                                                                                1.0
+                                                                                                            ],
+                                                                                        "occlusion_reference":  "akita_black_bowl_1",
+                                                                                        "occlusion_between_object":  "",
+                                                                                        "occlusion_avoid_target":  "wooden_cabinet_1_top_side",
+                                                                                        "runtime_target":  "akita_black_bowl_1",
+                                                                                        "pose_target":  "akita_black_bowl_1",
+                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                        "occluder_type":  "black_book",
+                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                        "occlusion_offset_xy":  [
+                                                                                                                    0.08,
+                                                                                                                    0.09
+                                                                                                                ],
+                                                                                        "critical_objects":  "akita_black_bowl_1",
+                                                                                        "removed_duplicate_objects":  null
+                                                                                    },
+                                                                                    {
+                                                                                        "task":  "put_the_cream_cheese_in_the_bowl",
+                                                                                        "path":  "bddl_files/05_view_occlusion/bddl/libero_goal/put_the_cream_cheese_in_the_bowl.bddl",
+                                                                                        "target":  "cream_cheese_1",
+                                                                                        "appearance_targets":  "akita_black_bowl_1",
+                                                                                        "appearance_rgba":  [
+                                                                                                                0.72,
+                                                                                                                0.63,
+                                                                                                                0.5,
+                                                                                                                1.0
+                                                                                                            ],
+                                                                                        "occlusion_reference":  "cream_cheese_1",
+                                                                                        "occlusion_between_object":  "",
+                                                                                        "occlusion_avoid_target":  "akita_black_bowl_1",
+                                                                                        "runtime_target":  "cream_cheese_1",
+                                                                                        "pose_target":  "cream_cheese_1",
+                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                        "occluder_type":  "black_book",
+                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                        "occlusion_offset_xy":  [
+                                                                                                                    0.08,
+                                                                                                                    0.0
+                                                                                                                ],
+                                                                                        "critical_objects":  [
+                                                                                                                 "akita_black_bowl_1",
+                                                                                                                 "cream_cheese_1"
+                                                                                                             ],
+                                                                                        "removed_duplicate_objects":  null
+                                                                                    },
+                                                                                    {
+                                                                                        "task":  "put_the_wine_bottle_on_the_rack",
+                                                                                        "path":  "bddl_files/05_view_occlusion/bddl/libero_goal/put_the_wine_bottle_on_the_rack.bddl",
+                                                                                        "target":  "wine_bottle_1",
+                                                                                        "appearance_targets":  "wine_rack_1",
+                                                                                        "appearance_rgba":  [
+                                                                                                                0.72,
+                                                                                                                0.63,
+                                                                                                                0.5,
+                                                                                                                1.0
+                                                                                                            ],
+                                                                                        "occlusion_reference":  "wine_bottle_1",
+                                                                                        "occlusion_between_object":  "",
+                                                                                        "occlusion_avoid_target":  "wine_rack_1_top_region",
+                                                                                        "runtime_target":  "wine_bottle_1",
+                                                                                        "pose_target":  "wine_bottle_1",
+                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                        "occluder_type":  "black_book",
+                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                        "occlusion_offset_xy":  [
+                                                                                                                    0.08,
+                                                                                                                    0.0
+                                                                                                                ],
+                                                                                        "critical_objects":  "wine_bottle_1",
+                                                                                        "removed_duplicate_objects":  null
+                                                                                    },
+                                                                                    {
+                                                                                        "task":  "put_the_wine_bottle_on_top_of_the_cabinet",
+                                                                                        "path":  "bddl_files/05_view_occlusion/bddl/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.bddl",
+                                                                                        "target":  "wine_bottle_1",
+                                                                                        "appearance_targets":  "wooden_cabinet_1",
+                                                                                        "appearance_rgba":  [
+                                                                                                                0.72,
+                                                                                                                0.63,
+                                                                                                                0.5,
+                                                                                                                1.0
+                                                                                                            ],
+                                                                                        "occlusion_reference":  "wine_bottle_1",
+                                                                                        "occlusion_between_object":  "",
+                                                                                        "occlusion_avoid_target":  "wooden_cabinet_1_top_side",
+                                                                                        "runtime_target":  "wine_bottle_1",
+                                                                                        "pose_target":  "wine_bottle_1",
+                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                        "occluder_type":  "black_book",
+                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                        "occlusion_offset_xy":  [
+                                                                                                                    0.08,
+                                                                                                                    0.0
+                                                                                                                ],
+                                                                                        "critical_objects":  "wine_bottle_1",
+                                                                                        "removed_duplicate_objects":  null
+                                                                                    },
+                                                                                    {
+                                                                                        "task":  "turn_on_the_stove",
+                                                                                        "path":  "bddl_files/05_view_occlusion/bddl/libero_goal/turn_on_the_stove.bddl",
+                                                                                        "target":  "akita_black_bowl_1",
+                                                                                        "appearance_targets":  "flat_stove_1",
+                                                                                        "appearance_rgba":  [
+                                                                                                                0.72,
+                                                                                                                0.63,
+                                                                                                                0.5,
+                                                                                                                1.0
+                                                                                                            ],
+                                                                                        "occlusion_reference":  "akita_black_bowl_1",
+                                                                                        "occlusion_between_object":  "",
+                                                                                        "occlusion_avoid_target":  "",
+                                                                                        "runtime_target":  "akita_black_bowl_1",
+                                                                                        "pose_target":  "akita_black_bowl_1",
+                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                        "occluder_type":  "black_book",
+                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                        "occlusion_offset_xy":  [
+                                                                                                                    0.08,
+                                                                                                                    0.09
+                                                                                                                ],
+                                                                                        "critical_objects":  null,
+                                                                                        "removed_duplicate_objects":  null
+                                                                                    }
+                                                                                ],
+                                                                "libero_10":  [
+                                                                                  {
+                                                                                      "task":  "KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it",
+                                                                                      "path":  "bddl_files/05_view_occlusion/bddl/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl",
+                                                                                      "target":  "moka_pot_1",
+                                                                                      "appearance_targets":  "flat_stove_1",
+                                                                                      "appearance_rgba":  [
+                                                                                                              0.72,
+                                                                                                              0.63,
+                                                                                                              0.5,
+                                                                                                              1.0
+                                                                                                          ],
+                                                                                      "occlusion_reference":  "moka_pot_1",
+                                                                                      "occlusion_between_object":  "",
+                                                                                      "occlusion_avoid_target":  "flat_stove_1",
+                                                                                      "runtime_target":  "moka_pot_1",
+                                                                                      "pose_target":  "moka_pot_1",
+                                                                                      "occluders":  "black_book_occluder_1",
+                                                                                      "occluder_type":  "black_book",
+                                                                                      "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                      "occlusion_offset_xy":  [
+                                                                                                                  0.08,
+                                                                                                                  0.0
+                                                                                                              ],
+                                                                                      "critical_objects":  "moka_pot_1",
+                                                                                      "removed_duplicate_objects":  null
+                                                                                  },
+                                                                                  {
+                                                                                      "task":  "KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it",
+                                                                                      "path":  "bddl_files/05_view_occlusion/bddl/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl",
+                                                                                      "target":  "akita_black_bowl_1",
+                                                                                      "appearance_targets":  "white_cabinet_1",
+                                                                                      "appearance_rgba":  [
+                                                                                                              0.72,
+                                                                                                              0.63,
+                                                                                                              0.5,
+                                                                                                              1.0
+                                                                                                          ],
+                                                                                      "occlusion_reference":  "akita_black_bowl_1",
+                                                                                      "occlusion_between_object":  "",
+                                                                                      "occlusion_avoid_target":  "white_cabinet_1",
+                                                                                      "runtime_target":  "akita_black_bowl_1",
+                                                                                      "pose_target":  "akita_black_bowl_1",
+                                                                                      "occluders":  "black_book_occluder_1",
+                                                                                      "occluder_type":  "black_book",
+                                                                                      "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                      "occlusion_offset_xy":  [
+                                                                                                                  0.08,
+                                                                                                                  0.0
+                                                                                                              ],
+                                                                                      "critical_objects":  "akita_black_bowl_1",
+                                                                                      "removed_duplicate_objects":  null
+                                                                                  },
+                                                                                  {
+                                                                                      "task":  "KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it",
+                                                                                      "path":  "bddl_files/05_view_occlusion/bddl/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl",
+                                                                                      "target":  "white_yellow_mug_1",
+                                                                                      "appearance_targets":  "microwave_1",
+                                                                                      "appearance_rgba":  [
+                                                                                                              0.72,
+                                                                                                              0.63,
+                                                                                                              0.5,
+                                                                                                              1.0
+                                                                                                          ],
+                                                                                      "occlusion_reference":  "white_yellow_mug_1",
+                                                                                      "occlusion_between_object":  "",
+                                                                                      "occlusion_avoid_target":  "microwave_1",
+                                                                                      "runtime_target":  "white_yellow_mug_1",
+                                                                                      "pose_target":  "white_yellow_mug_1",
+                                                                                      "occluders":  "black_book_occluder_1",
+                                                                                      "occluder_type":  "black_book",
+                                                                                      "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                      "occlusion_offset_xy":  [
+                                                                                                                  0.08,
+                                                                                                                  0.0
+                                                                                                              ],
+                                                                                      "critical_objects":  "white_yellow_mug_1",
+                                                                                      "removed_duplicate_objects":  null
+                                                                                  },
+                                                                                  {
+                                                                                      "task":  "KITCHEN_SCENE8_put_both_moka_pots_on_the_stove",
+                                                                                      "path":  "bddl_files/05_view_occlusion/bddl/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl",
+                                                                                      "target":  "moka_pot_1",
+                                                                                      "appearance_targets":  "flat_stove_1",
+                                                                                      "appearance_rgba":  [
+                                                                                                              0.72,
+                                                                                                              0.63,
+                                                                                                              0.5,
+                                                                                                              1.0
+                                                                                                          ],
+                                                                                      "occlusion_reference":  "moka_pot_1",
+                                                                                      "occlusion_between_object":  "",
+                                                                                      "occlusion_avoid_target":  "moka_pot_2",
+                                                                                      "runtime_target":  "moka_pot_1",
+                                                                                      "pose_target":  "moka_pot_1",
+                                                                                      "occluders":  "black_book_occluder_1",
+                                                                                      "occluder_type":  "black_book",
+                                                                                      "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                      "occlusion_offset_xy":  [
+                                                                                                                  0.08,
+                                                                                                                  0.0
+                                                                                                              ],
+                                                                                      "critical_objects":  [
+                                                                                                               "moka_pot_1",
+                                                                                                               "moka_pot_2"
+                                                                                                           ],
+                                                                                      "removed_duplicate_objects":  null
+                                                                                  },
+                                                                                  {
+                                                                                      "task":  "LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket",
+                                                                                      "path":  "bddl_files/05_view_occlusion/bddl/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl",
+                                                                                      "target":  "alphabet_soup_1",
+                                                                                      "appearance_targets":  "basket_1",
+                                                                                      "appearance_rgba":  [
+                                                                                                              0.3,
+                                                                                                              0.2,
+                                                                                                              0.12,
+                                                                                                              1.0
+                                                                                                          ],
+                                                                                      "occlusion_reference":  "alphabet_soup_1",
+                                                                                      "occlusion_between_object":  "",
+                                                                                      "occlusion_avoid_target":  "cream_cheese_1",
+                                                                                      "runtime_target":  "alphabet_soup_1",
+                                                                                      "pose_target":  "alphabet_soup_1",
+                                                                                      "occluders":  "black_book_occluder_1",
+                                                                                      "occluder_type":  "black_book",
+                                                                                      "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                      "occlusion_offset_xy":  [
+                                                                                                                  0.08,
+                                                                                                                  0.0
+                                                                                                              ],
+                                                                                      "critical_objects":  [
+                                                                                                               "alphabet_soup_1",
+                                                                                                               "basket_1",
+                                                                                                               "cream_cheese_1"
+                                                                                                           ],
+                                                                                      "removed_duplicate_objects":  null
+                                                                                  },
+                                                                                  {
+                                                                                      "task":  "LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket",
+                                                                                      "path":  "bddl_files/05_view_occlusion/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl",
+                                                                                      "target":  "alphabet_soup_1",
+                                                                                      "appearance_targets":  "basket_1",
+                                                                                      "appearance_rgba":  [
+                                                                                                              0.3,
+                                                                                                              0.2,
+                                                                                                              0.12,
+                                                                                                              1.0
+                                                                                                          ],
+                                                                                      "occlusion_reference":  "alphabet_soup_1",
+                                                                                      "occlusion_between_object":  "",
+                                                                                      "occlusion_avoid_target":  "tomato_sauce_1",
+                                                                                      "runtime_target":  "alphabet_soup_1",
+                                                                                      "pose_target":  "alphabet_soup_1",
+                                                                                      "occluders":  "black_book_occluder_1",
+                                                                                      "occluder_type":  "black_book",
+                                                                                      "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                      "occlusion_offset_xy":  [
+                                                                                                                  0.08,
+                                                                                                                  0.0
+                                                                                                              ],
+                                                                                      "critical_objects":  [
+                                                                                                               "alphabet_soup_1",
+                                                                                                               "basket_1",
+                                                                                                               "tomato_sauce_1"
+                                                                                                           ],
+                                                                                      "removed_duplicate_objects":  null
+                                                                                  },
+                                                                                  {
+                                                                                      "task":  "LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket",
+                                                                                      "path":  "bddl_files/05_view_occlusion/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl",
+                                                                                      "target":  "cream_cheese_1",
+                                                                                      "appearance_targets":  "basket_1",
+                                                                                      "appearance_rgba":  [
+                                                                                                              0.3,
+                                                                                                              0.2,
+                                                                                                              0.12,
+                                                                                                              1.0
+                                                                                                          ],
+                                                                                      "occlusion_reference":  "cream_cheese_1",
+                                                                                      "occlusion_between_object":  "",
+                                                                                      "occlusion_avoid_target":  "butter_1",
+                                                                                      "runtime_target":  "cream_cheese_1",
+                                                                                      "pose_target":  "cream_cheese_1",
+                                                                                      "occluders":  "black_book_occluder_1",
+                                                                                      "occluder_type":  "black_book",
+                                                                                      "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                      "occlusion_offset_xy":  [
+                                                                                                                  0.08,
+                                                                                                                  0.0
+                                                                                                              ],
+                                                                                      "critical_objects":  [
+                                                                                                               "basket_1",
+                                                                                                               "butter_1",
+                                                                                                               "cream_cheese_1"
+                                                                                                           ],
+                                                                                      "removed_duplicate_objects":  null
+                                                                                  },
+                                                                                  {
+                                                                                      "task":  "LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate",
+                                                                                      "path":  "bddl_files/05_view_occlusion/bddl/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl",
+                                                                                      "target":  "plate_1",
+                                                                                      "appearance_targets":  [
+                                                                                                                 "plate_1",
+                                                                                                                 "plate_2"
+                                                                                                             ],
+                                                                                      "appearance_rgba":  [
+                                                                                                              0.3,
+                                                                                                              0.2,
+                                                                                                              0.12,
+                                                                                                              1.0
+                                                                                                          ],
+                                                                                      "occlusion_reference":  "plate_1",
+                                                                                      "occlusion_between_object":  "",
+                                                                                      "occlusion_avoid_target":  "plate_2",
+                                                                                      "runtime_target":  "plate_1",
+                                                                                      "pose_target":  "plate_1",
+                                                                                      "occluders":  "black_book_occluder_1",
+                                                                                      "occluder_type":  "black_book",
+                                                                                      "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                      "occlusion_offset_xy":  [
+                                                                                                                  0.08,
+                                                                                                                  0.0
+                                                                                                              ],
+                                                                                      "critical_objects":  [
+                                                                                                               "plate_1",
+                                                                                                               "plate_2",
+                                                                                                               "porcelain_mug_1",
+                                                                                                               "white_yellow_mug_1"
+                                                                                                           ],
+                                                                                      "removed_duplicate_objects":  null
+                                                                                  },
+                                                                                  {
+                                                                                      "task":  "LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate",
+                                                                                      "path":  "bddl_files/05_view_occlusion/bddl/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl",
+                                                                                      "target":  "plate_1",
+                                                                                      "appearance_targets":  "plate_1",
+                                                                                      "appearance_rgba":  [
+                                                                                                              0.3,
+                                                                                                              0.2,
+                                                                                                              0.12,
+                                                                                                              1.0
+                                                                                                          ],
+                                                                                      "occlusion_reference":  "plate_1",
+                                                                                      "occlusion_between_object":  "",
+                                                                                      "occlusion_avoid_target":  "chocolate_pudding_1",
+                                                                                      "runtime_target":  "plate_1",
+                                                                                      "pose_target":  "plate_1",
+                                                                                      "occluders":  "black_book_occluder_1",
+                                                                                      "occluder_type":  "black_book",
+                                                                                      "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                      "occlusion_offset_xy":  [
+                                                                                                                  0.08,
+                                                                                                                  0.0
+                                                                                                              ],
+                                                                                      "critical_objects":  [
+                                                                                                               "chocolate_pudding_1",
+                                                                                                               "plate_1",
+                                                                                                               "porcelain_mug_1"
+                                                                                                           ],
+                                                                                      "removed_duplicate_objects":  null
+                                                                                  },
+                                                                                  {
+                                                                                      "task":  "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy",
+                                                                                      "path":  "bddl_files/05_view_occlusion/bddl/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl",
+                                                                                      "target":  "black_book_1",
+                                                                                      "appearance_targets":  "desk_caddy_1",
+                                                                                      "appearance_rgba":  [
+                                                                                                              0.5,
+                                                                                                              0.36,
+                                                                                                              0.2,
+                                                                                                              1.0
+                                                                                                          ],
+                                                                                      "occlusion_reference":  "black_book_1",
+                                                                                      "occlusion_between_object":  "",
+                                                                                      "occlusion_avoid_target":  "desk_caddy_1",
+                                                                                      "runtime_target":  "black_book_1",
+                                                                                      "pose_target":  "black_book_1",
+                                                                                      "occluders":  "yellow_book_1",
+                                                                                      "occluder_type":  "yellow_book",
+                                                                                      "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                      "occlusion_offset_xy":  [
+                                                                                                                  0.08,
+                                                                                                                  0.0
+                                                                                                              ],
+                                                                                      "critical_objects":  "black_book_1",
+                                                                                      "removed_duplicate_objects":  null
+                                                                                  }
+                                                                              ]
+                                                            },
+                                                 "count":  40
+                                             },
+                       "06_object_shape":  {
+                                               "folder":  "06_object_shape",
+                                               "suites":  {
+                                                              "libero_spatial":  [
+                                                                                     {
+                                                                                         "task":  "pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate",
+                                                                                         "path":  "bddl_files/06_object_shape/bddl/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl",
+                                                                                         "target":  "akita_black_bowl_1",
+                                                                                         "appearance_targets":  "plate_1",
+                                                                                         "appearance_rgba":  [
+                                                                                                                 0.72,
+                                                                                                                 0.63,
+                                                                                                                 0.5,
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+                                                                                                                  "plate_1"
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+                                                                                         "appearance_rgba":  [
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+                                                                                                                 0.5,
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+                                                                                                                  "plate_1"
+                                                                                                              ],
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+                                                                                     },
+                                                                                     {
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+                                                                                         "target":  "akita_black_bowl_1",
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+                                                                                         "appearance_rgba":  [
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+                                                                                                                 0.63,
+                                                                                                                 0.5,
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+                                                                                         "runtime_target":  "akita_black_bowl_1",
+                                                                                         "pose_target":  "akita_black_bowl_1",
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+                                                                                                                  "plate_1"
+                                                                                                              ],
+                                                                                         "removed_duplicate_objects":  null
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+                                                                                         "target":  "akita_black_bowl_1",
+                                                                                         "appearance_targets":  "plate_1",
+                                                                                         "appearance_rgba":  [
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+                                                                                                                 0.63,
+                                                                                                                 0.5,
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+                                                                                                             ],
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+                                                                                         "occluders":  "black_book_occluder_1",
+                                                                                         "occluder_type":  "black_book",
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+                                                                                                                     0.0
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+                                                                                                                  "plate_1"
+                                                                                                              ],
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+                                                                                     {
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+                                                                                         "target":  "akita_black_bowl_1",
+                                                                                         "appearance_targets":  "plate_1",
+                                                                                         "appearance_rgba":  [
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+                                                                                                                 0.63,
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+                                                                                                             ],
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+                                                                                         "pose_target":  "akita_black_bowl_1",
+                                                                                         "occluders":  "black_book_occluder_1",
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+                                                                                                                     0.0
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+                                                                                                                  "plate_1"
+                                                                                                              ],
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+                                                                                     },
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+                                                                                         "target":  "akita_black_bowl_1",
+                                                                                         "appearance_targets":  "plate_1",
+                                                                                         "appearance_rgba":  [
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+                                                                                                                 0.63,
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+                                                                                         "runtime_target":  "akita_black_bowl_1",
+                                                                                         "pose_target":  "akita_black_bowl_1",
+                                                                                         "occluders":  "black_book_occluder_1",
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+                                                                                                                     0.0
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+                                                                                                                  "plate_1"
+                                                                                                              ],
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+                                                                                     },
+                                                                                     {
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+                                                                                         "path":  "bddl_files/06_object_shape/bddl/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl",
+                                                                                         "target":  "akita_black_bowl_1",
+                                                                                         "appearance_targets":  "plate_1",
+                                                                                         "appearance_rgba":  [
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+                                                                                                                 0.63,
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+                                                                                         "runtime_target":  "akita_black_bowl_1",
+                                                                                         "pose_target":  "akita_black_bowl_1",
+                                                                                         "occluders":  "black_book_occluder_1",
+                                                                                         "occluder_type":  "black_book",
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+                                                                                                                     0.0
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+                                                                                                                  "plate_1"
+                                                                                                              ],
+                                                                                         "removed_duplicate_objects":  null
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+                                                                                     {
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+                                                                                         "path":  "bddl_files/06_object_shape/bddl/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl",
+                                                                                         "target":  "akita_black_bowl_1",
+                                                                                         "appearance_targets":  "plate_1",
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+                                                                                                                 0.63,
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+                                                                                         "runtime_target":  "akita_black_bowl_1",
+                                                                                         "pose_target":  "akita_black_bowl_1",
+                                                                                         "occluders":  "black_book_occluder_1",
+                                                                                         "occluder_type":  "black_book",
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+                                                                                                                     0.0
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+                                                                                                                  "plate_1"
+                                                                                                              ],
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+                                                                                     },
+                                                                                     {
+                                                                                         "task":  "pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate",
+                                                                                         "path":  "bddl_files/06_object_shape/bddl/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl",
+                                                                                         "target":  "akita_black_bowl_1",
+                                                                                         "appearance_targets":  "plate_1",
+                                                                                         "appearance_rgba":  [
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+                                                                                                                 0.63,
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+                                                                                         "occlusion_between_object":  "plate_1",
+                                                                                         "occlusion_avoid_target":  "plate_1",
+                                                                                         "runtime_target":  "akita_black_bowl_1",
+                                                                                         "pose_target":  "akita_black_bowl_1",
+                                                                                         "occluders":  "black_book_occluder_1",
+                                                                                         "occluder_type":  "black_book",
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+                                                                                         "occlusion_offset_xy":  [
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+                                                                                                                     0.0
+                                                                                                                 ],
+                                                                                         "critical_objects":  [
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+                                                                                                                  "plate_1"
+                                                                                                              ],
+                                                                                         "removed_duplicate_objects":  null
+                                                                                     },
+                                                                                     {
+                                                                                         "task":  "pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate",
+                                                                                         "path":  "bddl_files/06_object_shape/bddl/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl",
+                                                                                         "target":  "akita_black_bowl_1",
+                                                                                         "appearance_targets":  "plate_1",
+                                                                                         "appearance_rgba":  [
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+                                                                                                                 0.63,
+                                                                                                                 0.5,
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+                                                                                                             ],
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+                                                                                         "occlusion_avoid_target":  "plate_1",
+                                                                                         "runtime_target":  "akita_black_bowl_1",
+                                                                                         "pose_target":  "akita_black_bowl_1",
+                                                                                         "occluders":  "black_book_occluder_1",
+                                                                                         "occluder_type":  "black_book",
+                                                                                         "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                         "occlusion_offset_xy":  [
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+                                                                                                                     0.0
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+                                                                                         "critical_objects":  [
+                                                                                                                  "akita_black_bowl_1",
+                                                                                                                  "plate_1"
+                                                                                                              ],
+                                                                                         "removed_duplicate_objects":  null
+                                                                                     }
+                                                                                 ],
+                                                              "libero_object":  [
+                                                                                    {
+                                                                                        "task":  "pick_up_the_alphabet_soup_and_place_it_in_the_basket",
+                                                                                        "path":  "bddl_files/06_object_shape/bddl/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl",
+                                                                                        "target":  "alphabet_soup_1",
+                                                                                        "appearance_targets":  "basket_1",
+                                                                                        "appearance_rgba":  [
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+                                                                                                                0.34,
+                                                                                                                0.32,
+                                                                                                                1.0
+                                                                                                            ],
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+                                                                                        "occlusion_between_object":  "",
+                                                                                        "occlusion_avoid_target":  "basket_1",
+                                                                                        "runtime_target":  "alphabet_soup_1",
+                                                                                        "pose_target":  "alphabet_soup_1",
+                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                        "occluder_type":  "black_book",
+                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                        "occlusion_offset_xy":  [
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+                                                                                                                    0.0
+                                                                                                                ],
+                                                                                        "critical_objects":  [
+                                                                                                                 "alphabet_soup_1",
+                                                                                                                 "basket_1"
+                                                                                                             ],
+                                                                                        "removed_duplicate_objects":  null
+                                                                                    },
+                                                                                    {
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+                                                                                        "path":  "bddl_files/06_object_shape/bddl/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl",
+                                                                                        "target":  "bbq_sauce_1",
+                                                                                        "appearance_targets":  "basket_1",
+                                                                                        "appearance_rgba":  [
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+                                                                                                                0.34,
+                                                                                                                0.32,
+                                                                                                                1.0
+                                                                                                            ],
+                                                                                        "occlusion_reference":  "bbq_sauce_1",
+                                                                                        "occlusion_between_object":  "",
+                                                                                        "occlusion_avoid_target":  "basket_1",
+                                                                                        "runtime_target":  "bbq_sauce_1",
+                                                                                        "pose_target":  "bbq_sauce_1",
+                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                        "occluder_type":  "black_book",
+                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                        "occlusion_offset_xy":  [
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+                                                                                                                    0.0
+                                                                                                                ],
+                                                                                        "critical_objects":  [
+                                                                                                                 "basket_1",
+                                                                                                                 "bbq_sauce_1"
+                                                                                                             ],
+                                                                                        "removed_duplicate_objects":  null
+                                                                                    },
+                                                                                    {
+                                                                                        "task":  "pick_up_the_butter_and_place_it_in_the_basket",
+                                                                                        "path":  "bddl_files/06_object_shape/bddl/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl",
+                                                                                        "target":  "butter_1",
+                                                                                        "appearance_targets":  "basket_1",
+                                                                                        "appearance_rgba":  [
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+                                                                                                                0.34,
+                                                                                                                0.32,
+                                                                                                                1.0
+                                                                                                            ],
+                                                                                        "occlusion_reference":  "butter_1",
+                                                                                        "occlusion_between_object":  "",
+                                                                                        "occlusion_avoid_target":  "basket_1",
+                                                                                        "runtime_target":  "butter_1",
+                                                                                        "pose_target":  "butter_1",
+                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                        "occluder_type":  "black_book",
+                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                        "occlusion_offset_xy":  [
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+                                                                                                                    0.0
+                                                                                                                ],
+                                                                                        "critical_objects":  [
+                                                                                                                 "basket_1",
+                                                                                                                 "butter_1"
+                                                                                                             ],
+                                                                                        "removed_duplicate_objects":  null
+                                                                                    },
+                                                                                    {
+                                                                                        "task":  "pick_up_the_chocolate_pudding_and_place_it_in_the_basket",
+                                                                                        "path":  "bddl_files/06_object_shape/bddl/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl",
+                                                                                        "target":  "chocolate_pudding_1",
+                                                                                        "appearance_targets":  "basket_1",
+                                                                                        "appearance_rgba":  [
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+                                                                                                                0.34,
+                                                                                                                0.32,
+                                                                                                                1.0
+                                                                                                            ],
+                                                                                        "occlusion_reference":  "chocolate_pudding_1",
+                                                                                        "occlusion_between_object":  "",
+                                                                                        "occlusion_avoid_target":  "basket_1",
+                                                                                        "runtime_target":  "chocolate_pudding_1",
+                                                                                        "pose_target":  "chocolate_pudding_1",
+                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                        "occluder_type":  "black_book",
+                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                        "occlusion_offset_xy":  [
+                                                                                                                    0.08,
+                                                                                                                    0.0
+                                                                                                                ],
+                                                                                        "critical_objects":  [
+                                                                                                                 "basket_1",
+                                                                                                                 "chocolate_pudding_1"
+                                                                                                             ],
+                                                                                        "removed_duplicate_objects":  null
+                                                                                    },
+                                                                                    {
+                                                                                        "task":  "pick_up_the_cream_cheese_and_place_it_in_the_basket",
+                                                                                        "path":  "bddl_files/06_object_shape/bddl/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl",
+                                                                                        "target":  "cream_cheese_1",
+                                                                                        "appearance_targets":  "basket_1",
+                                                                                        "appearance_rgba":  [
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+                                                                                                                0.34,
+                                                                                                                0.32,
+                                                                                                                1.0
+                                                                                                            ],
+                                                                                        "occlusion_reference":  "cream_cheese_1",
+                                                                                        "occlusion_between_object":  "",
+                                                                                        "occlusion_avoid_target":  "basket_1",
+                                                                                        "runtime_target":  "cream_cheese_1",
+                                                                                        "pose_target":  "cream_cheese_1",
+                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                        "occluder_type":  "black_book",
+                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                        "occlusion_offset_xy":  [
+                                                                                                                    0.08,
+                                                                                                                    0.0
+                                                                                                                ],
+                                                                                        "critical_objects":  [
+                                                                                                                 "basket_1",
+                                                                                                                 "cream_cheese_1"
+                                                                                                             ],
+                                                                                        "removed_duplicate_objects":  null
+                                                                                    },
+                                                                                    {
+                                                                                        "task":  "pick_up_the_ketchup_and_place_it_in_the_basket",
+                                                                                        "path":  "bddl_files/06_object_shape/bddl/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl",
+                                                                                        "target":  "ketchup_1",
+                                                                                        "appearance_targets":  "basket_1",
+                                                                                        "appearance_rgba":  [
+                                                                                                                0.35,
+                                                                                                                0.34,
+                                                                                                                0.32,
+                                                                                                                1.0
+                                                                                                            ],
+                                                                                        "occlusion_reference":  "ketchup_1",
+                                                                                        "occlusion_between_object":  "",
+                                                                                        "occlusion_avoid_target":  "basket_1",
+                                                                                        "runtime_target":  "ketchup_1",
+                                                                                        "pose_target":  "ketchup_1",
+                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                        "occluder_type":  "black_book",
+                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                        "occlusion_offset_xy":  [
+                                                                                                                    0.08,
+                                                                                                                    0.0
+                                                                                                                ],
+                                                                                        "critical_objects":  [
+                                                                                                                 "basket_1",
+                                                                                                                 "ketchup_1"
+                                                                                                             ],
+                                                                                        "removed_duplicate_objects":  null
+                                                                                    },
+                                                                                    {
+                                                                                        "task":  "pick_up_the_milk_and_place_it_in_the_basket",
+                                                                                        "path":  "bddl_files/06_object_shape/bddl/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl",
+                                                                                        "target":  "milk_1",
+                                                                                        "appearance_targets":  "basket_1",
+                                                                                        "appearance_rgba":  [
+                                                                                                                0.35,
+                                                                                                                0.34,
+                                                                                                                0.32,
+                                                                                                                1.0
+                                                                                                            ],
+                                                                                        "occlusion_reference":  "milk_1",
+                                                                                        "occlusion_between_object":  "",
+                                                                                        "occlusion_avoid_target":  "basket_1",
+                                                                                        "runtime_target":  "milk_1",
+                                                                                        "pose_target":  "milk_1",
+                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                        "occluder_type":  "black_book",
+                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                        "occlusion_offset_xy":  [
+                                                                                                                    0.08,
+                                                                                                                    0.0
+                                                                                                                ],
+                                                                                        "critical_objects":  [
+                                                                                                                 "basket_1",
+                                                                                                                 "milk_1"
+                                                                                                             ],
+                                                                                        "removed_duplicate_objects":  null
+                                                                                    },
+                                                                                    {
+                                                                                        "task":  "pick_up_the_orange_juice_and_place_it_in_the_basket",
+                                                                                        "path":  "bddl_files/06_object_shape/bddl/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl",
+                                                                                        "target":  "orange_juice_1",
+                                                                                        "appearance_targets":  "basket_1",
+                                                                                        "appearance_rgba":  [
+                                                                                                                0.35,
+                                                                                                                0.34,
+                                                                                                                0.32,
+                                                                                                                1.0
+                                                                                                            ],
+                                                                                        "occlusion_reference":  "orange_juice_1",
+                                                                                        "occlusion_between_object":  "",
+                                                                                        "occlusion_avoid_target":  "basket_1",
+                                                                                        "runtime_target":  "orange_juice_1",
+                                                                                        "pose_target":  "orange_juice_1",
+                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                        "occluder_type":  "black_book",
+                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                        "occlusion_offset_xy":  [
+                                                                                                                    0.08,
+                                                                                                                    0.0
+                                                                                                                ],
+                                                                                        "critical_objects":  [
+                                                                                                                 "basket_1",
+                                                                                                                 "orange_juice_1"
+                                                                                                             ],
+                                                                                        "removed_duplicate_objects":  null
+                                                                                    },
+                                                                                    {
+                                                                                        "task":  "pick_up_the_salad_dressing_and_place_it_in_the_basket",
+                                                                                        "path":  "bddl_files/06_object_shape/bddl/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl",
+                                                                                        "target":  "salad_dressing_1",
+                                                                                        "appearance_targets":  "basket_1",
+                                                                                        "appearance_rgba":  [
+                                                                                                                0.35,
+                                                                                                                0.34,
+                                                                                                                0.32,
+                                                                                                                1.0
+                                                                                                            ],
+                                                                                        "occlusion_reference":  "salad_dressing_1",
+                                                                                        "occlusion_between_object":  "",
+                                                                                        "occlusion_avoid_target":  "basket_1",
+                                                                                        "runtime_target":  "salad_dressing_1",
+                                                                                        "pose_target":  "salad_dressing_1",
+                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                        "occluder_type":  "black_book",
+                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                        "occlusion_offset_xy":  [
+                                                                                                                    0.08,
+                                                                                                                    0.0
+                                                                                                                ],
+                                                                                        "critical_objects":  [
+                                                                                                                 "basket_1",
+                                                                                                                 "salad_dressing_1"
+                                                                                                             ],
+                                                                                        "removed_duplicate_objects":  null
+                                                                                    },
+                                                                                    {
+                                                                                        "task":  "pick_up_the_tomato_sauce_and_place_it_in_the_basket",
+                                                                                        "path":  "bddl_files/06_object_shape/bddl/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl",
+                                                                                        "target":  "tomato_sauce_1",
+                                                                                        "appearance_targets":  "basket_1",
+                                                                                        "appearance_rgba":  [
+                                                                                                                0.35,
+                                                                                                                0.34,
+                                                                                                                0.32,
+                                                                                                                1.0
+                                                                                                            ],
+                                                                                        "occlusion_reference":  "tomato_sauce_1",
+                                                                                        "occlusion_between_object":  "",
+                                                                                        "occlusion_avoid_target":  "basket_1",
+                                                                                        "runtime_target":  "tomato_sauce_1",
+                                                                                        "pose_target":  "tomato_sauce_1",
+                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                        "occluder_type":  "black_book",
+                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                        "occlusion_offset_xy":  [
+                                                                                                                    0.08,
+                                                                                                                    0.0
+                                                                                                                ],
+                                                                                        "critical_objects":  [
+                                                                                                                 "basket_1",
+                                                                                                                 "tomato_sauce_1"
+                                                                                                             ],
+                                                                                        "removed_duplicate_objects":  null
+                                                                                    }
+                                                                                ],
+                                                              "libero_goal":  [
+                                                                                  {
+                                                                                      "task":  "open_the_middle_drawer_of_the_cabinet",
+                                                                                      "path":  "bddl_files/06_object_shape/bddl/libero_goal/open_the_middle_drawer_of_the_cabinet.bddl",
+                                                                                      "target":  "akita_black_bowl_1",
+                                                                                      "appearance_targets":  "wooden_cabinet_1",
+                                                                                      "appearance_rgba":  [
+                                                                                                              0.72,
+                                                                                                              0.63,
+                                                                                                              0.5,
+                                                                                                              1.0
+                                                                                                          ],
+                                                                                      "occlusion_reference":  "akita_black_bowl_1",
+                                                                                      "occlusion_between_object":  "",
+                                                                                      "occlusion_avoid_target":  "",
+                                                                                      "runtime_target":  "akita_black_bowl_1",
+                                                                                      "pose_target":  "akita_black_bowl_1",
+                                                                                      "occluders":  "black_book_occluder_1",
+                                                                                      "occluder_type":  "black_book",
+                                                                                      "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                      "occlusion_offset_xy":  [
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+                                                                                                                  0.09
+                                                                                                              ],
+                                                                                      "critical_objects":  null,
+                                                                                      "removed_duplicate_objects":  null
+                                                                                  },
+                                                                                  {
+                                                                                      "task":  "open_the_top_drawer_and_put_the_bowl_inside",
+                                                                                      "path":  "bddl_files/06_object_shape/bddl/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.bddl",
+                                                                                      "target":  "akita_black_bowl_1",
+                                                                                      "appearance_targets":  "wooden_cabinet_1",
+                                                                                      "appearance_rgba":  [
+                                                                                                              0.72,
+                                                                                                              0.63,
+                                                                                                              0.5,
+                                                                                                              1.0
+                                                                                                          ],
+                                                                                      "occlusion_reference":  "akita_black_bowl_1",
+                                                                                      "occlusion_between_object":  "",
+                                                                                      "occlusion_avoid_target":  "wooden_cabinet_1_top_region",
+                                                                                      "runtime_target":  "akita_black_bowl_1",
+                                                                                      "pose_target":  "akita_black_bowl_1",
+                                                                                      "occluders":  "black_book_occluder_1",
+                                                                                      "occluder_type":  "black_book",
+                                                                                      "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                      "occlusion_offset_xy":  [
+                                                                                                                  0.08,
+                                                                                                                  0.09
+                                                                                                              ],
+                                                                                      "critical_objects":  "akita_black_bowl_1",
+                                                                                      "removed_duplicate_objects":  null
+                                                                                  },
+                                                                                  {
+                                                                                      "task":  "push_the_plate_to_the_front_of_the_stove",
+                                                                                      "path":  "bddl_files/06_object_shape/bddl/libero_goal/push_the_plate_to_the_front_of_the_stove.bddl",
+                                                                                      "target":  "plate_1",
+                                                                                      "appearance_targets":  "flat_stove_1",
+                                                                                      "appearance_rgba":  [
+                                                                                                              0.72,
+                                                                                                              0.63,
+                                                                                                              0.5,
+                                                                                                              1.0
+                                                                                                          ],
+                                                                                      "occlusion_reference":  "plate_1",
+                                                                                      "occlusion_between_object":  "",
+                                                                                      "occlusion_avoid_target":  "main_table_stove_front_region",
+                                                                                      "runtime_target":  "plate_1",
+                                                                                      "pose_target":  "plate_1",
+                                                                                      "occluders":  "black_book_occluder_1",
+                                                                                      "occluder_type":  "black_book",
+                                                                                      "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                      "occlusion_offset_xy":  [
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+                                                                                                                  0.0
+                                                                                                              ],
+                                                                                      "critical_objects":  "plate_1",
+                                                                                      "removed_duplicate_objects":  null
+                                                                                  },
+                                                                                  {
+                                                                                      "task":  "put_the_bowl_on_the_plate",
+                                                                                      "path":  "bddl_files/06_object_shape/bddl/libero_goal/put_the_bowl_on_the_plate.bddl",
+                                                                                      "target":  "akita_black_bowl_1",
+                                                                                      "appearance_targets":  "plate_1",
+                                                                                      "appearance_rgba":  [
+                                                                                                              0.72,
+                                                                                                              0.63,
+                                                                                                              0.5,
+                                                                                                              1.0
+                                                                                                          ],
+                                                                                      "occlusion_reference":  "akita_black_bowl_1",
+                                                                                      "occlusion_between_object":  "plate_1",
+                                                                                      "occlusion_avoid_target":  "plate_1",
+                                                                                      "runtime_target":  "akita_black_bowl_1",
+                                                                                      "pose_target":  "akita_black_bowl_1",
+                                                                                      "occluders":  "black_book_occluder_1",
+                                                                                      "occluder_type":  "black_book",
+                                                                                      "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                      "occlusion_offset_xy":  [
+                                                                                                                  0.08,
+                                                                                                                  0.0
+                                                                                                              ],
+                                                                                      "critical_objects":  [
+                                                                                                               "akita_black_bowl_1",
+                                                                                                               "plate_1"
+                                                                                                           ],
+                                                                                      "removed_duplicate_objects":  null
+                                                                                  },
+                                                                                  {
+                                                                                      "task":  "put_the_bowl_on_the_stove",
+                                                                                      "path":  "bddl_files/06_object_shape/bddl/libero_goal/put_the_bowl_on_the_stove.bddl",
+                                                                                      "target":  "akita_black_bowl_1",
+                                                                                      "appearance_targets":  "flat_stove_1",
+                                                                                      "appearance_rgba":  [
+                                                                                                              0.72,
+                                                                                                              0.63,
+                                                                                                              0.5,
+                                                                                                              1.0
+                                                                                                          ],
+                                                                                      "occlusion_reference":  "akita_black_bowl_1",
+                                                                                      "occlusion_between_object":  "",
+                                                                                      "occlusion_avoid_target":  "flat_stove_1_cook_region",
+                                                                                      "runtime_target":  "akita_black_bowl_1",
+                                                                                      "pose_target":  "akita_black_bowl_1",
+                                                                                      "occluders":  "black_book_occluder_1",
+                                                                                      "occluder_type":  "black_book",
+                                                                                      "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                      "occlusion_offset_xy":  [
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+                                                                                                                  0.09
+                                                                                                              ],
+                                                                                      "critical_objects":  "akita_black_bowl_1",
+                                                                                      "removed_duplicate_objects":  null
+                                                                                  },
+                                                                                  {
+                                                                                      "task":  "put_the_bowl_on_top_of_the_cabinet",
+                                                                                      "path":  "bddl_files/06_object_shape/bddl/libero_goal/put_the_bowl_on_top_of_the_cabinet.bddl",
+                                                                                      "target":  "akita_black_bowl_1",
+                                                                                      "appearance_targets":  "wooden_cabinet_1",
+                                                                                      "appearance_rgba":  [
+                                                                                                              0.72,
+                                                                                                              0.63,
+                                                                                                              0.5,
+                                                                                                              1.0
+                                                                                                          ],
+                                                                                      "occlusion_reference":  "akita_black_bowl_1",
+                                                                                      "occlusion_between_object":  "",
+                                                                                      "occlusion_avoid_target":  "wooden_cabinet_1_top_side",
+                                                                                      "runtime_target":  "akita_black_bowl_1",
+                                                                                      "pose_target":  "akita_black_bowl_1",
+                                                                                      "occluders":  "black_book_occluder_1",
+                                                                                      "occluder_type":  "black_book",
+                                                                                      "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                      "occlusion_offset_xy":  [
+                                                                                                                  0.08,
+                                                                                                                  0.09
+                                                                                                              ],
+                                                                                      "critical_objects":  "akita_black_bowl_1",
+                                                                                      "removed_duplicate_objects":  null
+                                                                                  },
+                                                                                  {
+                                                                                      "task":  "put_the_cream_cheese_in_the_bowl",
+                                                                                      "path":  "bddl_files/06_object_shape/bddl/libero_goal/put_the_cream_cheese_in_the_bowl.bddl",
+                                                                                      "target":  "cream_cheese_1",
+                                                                                      "appearance_targets":  "akita_black_bowl_1",
+                                                                                      "appearance_rgba":  [
+                                                                                                              0.72,
+                                                                                                              0.63,
+                                                                                                              0.5,
+                                                                                                              1.0
+                                                                                                          ],
+                                                                                      "occlusion_reference":  "cream_cheese_1",
+                                                                                      "occlusion_between_object":  "",
+                                                                                      "occlusion_avoid_target":  "akita_black_bowl_1",
+                                                                                      "runtime_target":  "cream_cheese_1",
+                                                                                      "pose_target":  "cream_cheese_1",
+                                                                                      "occluders":  "black_book_occluder_1",
+                                                                                      "occluder_type":  "black_book",
+                                                                                      "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                      "occlusion_offset_xy":  [
+                                                                                                                  0.08,
+                                                                                                                  0.0
+                                                                                                              ],
+                                                                                      "critical_objects":  [
+                                                                                                               "akita_black_bowl_1",
+                                                                                                               "cream_cheese_1"
+                                                                                                           ],
+                                                                                      "removed_duplicate_objects":  null
+                                                                                  },
+                                                                                  {
+                                                                                      "task":  "put_the_wine_bottle_on_the_rack",
+                                                                                      "path":  "bddl_files/06_object_shape/bddl/libero_goal/put_the_wine_bottle_on_the_rack.bddl",
+                                                                                      "target":  "wine_bottle_1",
+                                                                                      "appearance_targets":  "wine_rack_1",
+                                                                                      "appearance_rgba":  [
+                                                                                                              0.72,
+                                                                                                              0.63,
+                                                                                                              0.5,
+                                                                                                              1.0
+                                                                                                          ],
+                                                                                      "occlusion_reference":  "wine_bottle_1",
+                                                                                      "occlusion_between_object":  "",
+                                                                                      "occlusion_avoid_target":  "wine_rack_1_top_region",
+                                                                                      "runtime_target":  "wine_bottle_1",
+                                                                                      "pose_target":  "wine_bottle_1",
+                                                                                      "occluders":  "black_book_occluder_1",
+                                                                                      "occluder_type":  "black_book",
+                                                                                      "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                      "occlusion_offset_xy":  [
+                                                                                                                  0.08,
+                                                                                                                  0.0
+                                                                                                              ],
+                                                                                      "critical_objects":  "wine_bottle_1",
+                                                                                      "removed_duplicate_objects":  null
+                                                                                  },
+                                                                                  {
+                                                                                      "task":  "put_the_wine_bottle_on_top_of_the_cabinet",
+                                                                                      "path":  "bddl_files/06_object_shape/bddl/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.bddl",
+                                                                                      "target":  "wine_bottle_1",
+                                                                                      "appearance_targets":  "wooden_cabinet_1",
+                                                                                      "appearance_rgba":  [
+                                                                                                              0.72,
+                                                                                                              0.63,
+                                                                                                              0.5,
+                                                                                                              1.0
+                                                                                                          ],
+                                                                                      "occlusion_reference":  "wine_bottle_1",
+                                                                                      "occlusion_between_object":  "",
+                                                                                      "occlusion_avoid_target":  "wooden_cabinet_1_top_side",
+                                                                                      "runtime_target":  "wine_bottle_1",
+                                                                                      "pose_target":  "wine_bottle_1",
+                                                                                      "occluders":  "black_book_occluder_1",
+                                                                                      "occluder_type":  "black_book",
+                                                                                      "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                      "occlusion_offset_xy":  [
+                                                                                                                  0.08,
+                                                                                                                  0.0
+                                                                                                              ],
+                                                                                      "critical_objects":  "wine_bottle_1",
+                                                                                      "removed_duplicate_objects":  null
+                                                                                  },
+                                                                                  {
+                                                                                      "task":  "turn_on_the_stove",
+                                                                                      "path":  "bddl_files/06_object_shape/bddl/libero_goal/turn_on_the_stove.bddl",
+                                                                                      "target":  "akita_black_bowl_1",
+                                                                                      "appearance_targets":  "flat_stove_1",
+                                                                                      "appearance_rgba":  [
+                                                                                                              0.72,
+                                                                                                              0.63,
+                                                                                                              0.5,
+                                                                                                              1.0
+                                                                                                          ],
+                                                                                      "occlusion_reference":  "akita_black_bowl_1",
+                                                                                      "occlusion_between_object":  "",
+                                                                                      "occlusion_avoid_target":  "",
+                                                                                      "runtime_target":  "akita_black_bowl_1",
+                                                                                      "pose_target":  "akita_black_bowl_1",
+                                                                                      "occluders":  "black_book_occluder_1",
+                                                                                      "occluder_type":  "black_book",
+                                                                                      "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                      "occlusion_offset_xy":  [
+                                                                                                                  0.08,
+                                                                                                                  0.09
+                                                                                                              ],
+                                                                                      "critical_objects":  null,
+                                                                                      "removed_duplicate_objects":  null
+                                                                                  }
+                                                                              ],
+                                                              "libero_10":  [
+                                                                                {
+                                                                                    "task":  "KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it",
+                                                                                    "path":  "bddl_files/06_object_shape/bddl/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl",
+                                                                                    "target":  "moka_pot_1",
+                                                                                    "appearance_targets":  "flat_stove_1",
+                                                                                    "appearance_rgba":  [
+                                                                                                            0.72,
+                                                                                                            0.63,
+                                                                                                            0.5,
+                                                                                                            1.0
+                                                                                                        ],
+                                                                                    "occlusion_reference":  "moka_pot_1",
+                                                                                    "occlusion_between_object":  "",
+                                                                                    "occlusion_avoid_target":  "flat_stove_1",
+                                                                                    "runtime_target":  "moka_pot_1",
+                                                                                    "pose_target":  "moka_pot_1",
+                                                                                    "occluders":  "black_book_occluder_1",
+                                                                                    "occluder_type":  "black_book",
+                                                                                    "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                    "occlusion_offset_xy":  [
+                                                                                                                0.08,
+                                                                                                                0.0
+                                                                                                            ],
+                                                                                    "critical_objects":  "moka_pot_1",
+                                                                                    "removed_duplicate_objects":  null
+                                                                                },
+                                                                                {
+                                                                                    "task":  "KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it",
+                                                                                    "path":  "bddl_files/06_object_shape/bddl/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl",
+                                                                                    "target":  "akita_black_bowl_1",
+                                                                                    "appearance_targets":  "white_cabinet_1",
+                                                                                    "appearance_rgba":  [
+                                                                                                            0.72,
+                                                                                                            0.63,
+                                                                                                            0.5,
+                                                                                                            1.0
+                                                                                                        ],
+                                                                                    "occlusion_reference":  "akita_black_bowl_1",
+                                                                                    "occlusion_between_object":  "",
+                                                                                    "occlusion_avoid_target":  "white_cabinet_1",
+                                                                                    "runtime_target":  "akita_black_bowl_1",
+                                                                                    "pose_target":  "akita_black_bowl_1",
+                                                                                    "occluders":  "black_book_occluder_1",
+                                                                                    "occluder_type":  "black_book",
+                                                                                    "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                    "occlusion_offset_xy":  [
+                                                                                                                0.08,
+                                                                                                                0.0
+                                                                                                            ],
+                                                                                    "critical_objects":  "akita_black_bowl_1",
+                                                                                    "removed_duplicate_objects":  null
+                                                                                },
+                                                                                {
+                                                                                    "task":  "KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it",
+                                                                                    "path":  "bddl_files/06_object_shape/bddl/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl",
+                                                                                    "target":  "white_yellow_mug_1",
+                                                                                    "appearance_targets":  "microwave_1",
+                                                                                    "appearance_rgba":  [
+                                                                                                            0.72,
+                                                                                                            0.63,
+                                                                                                            0.5,
+                                                                                                            1.0
+                                                                                                        ],
+                                                                                    "occlusion_reference":  "white_yellow_mug_1",
+                                                                                    "occlusion_between_object":  "",
+                                                                                    "occlusion_avoid_target":  "microwave_1",
+                                                                                    "runtime_target":  "white_yellow_mug_1",
+                                                                                    "pose_target":  "white_yellow_mug_1",
+                                                                                    "occluders":  "black_book_occluder_1",
+                                                                                    "occluder_type":  "black_book",
+                                                                                    "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                    "occlusion_offset_xy":  [
+                                                                                                                0.08,
+                                                                                                                0.0
+                                                                                                            ],
+                                                                                    "critical_objects":  "white_yellow_mug_1",
+                                                                                    "removed_duplicate_objects":  null
+                                                                                },
+                                                                                {
+                                                                                    "task":  "KITCHEN_SCENE8_put_both_moka_pots_on_the_stove",
+                                                                                    "path":  "bddl_files/06_object_shape/bddl/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl",
+                                                                                    "target":  "moka_pot_1",
+                                                                                    "appearance_targets":  "flat_stove_1",
+                                                                                    "appearance_rgba":  [
+                                                                                                            0.72,
+                                                                                                            0.63,
+                                                                                                            0.5,
+                                                                                                            1.0
+                                                                                                        ],
+                                                                                    "occlusion_reference":  "moka_pot_1",
+                                                                                    "occlusion_between_object":  "",
+                                                                                    "occlusion_avoid_target":  "moka_pot_2",
+                                                                                    "runtime_target":  "moka_pot_1",
+                                                                                    "pose_target":  "moka_pot_1",
+                                                                                    "occluders":  "black_book_occluder_1",
+                                                                                    "occluder_type":  "black_book",
+                                                                                    "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                    "occlusion_offset_xy":  [
+                                                                                                                0.08,
+                                                                                                                0.0
+                                                                                                            ],
+                                                                                    "critical_objects":  [
+                                                                                                             "moka_pot_1",
+                                                                                                             "moka_pot_2"
+                                                                                                         ],
+                                                                                    "removed_duplicate_objects":  null
+                                                                                },
+                                                                                {
+                                                                                    "task":  "LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket",
+                                                                                    "path":  "bddl_files/06_object_shape/bddl/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl",
+                                                                                    "target":  "alphabet_soup_1",
+                                                                                    "appearance_targets":  "basket_1",
+                                                                                    "appearance_rgba":  [
+                                                                                                            0.3,
+                                                                                                            0.2,
+                                                                                                            0.12,
+                                                                                                            1.0
+                                                                                                        ],
+                                                                                    "occlusion_reference":  "alphabet_soup_1",
+                                                                                    "occlusion_between_object":  "",
+                                                                                    "occlusion_avoid_target":  "cream_cheese_1",
+                                                                                    "runtime_target":  "alphabet_soup_1",
+                                                                                    "pose_target":  "alphabet_soup_1",
+                                                                                    "occluders":  "black_book_occluder_1",
+                                                                                    "occluder_type":  "black_book",
+                                                                                    "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                    "occlusion_offset_xy":  [
+                                                                                                                0.08,
+                                                                                                                0.0
+                                                                                                            ],
+                                                                                    "critical_objects":  [
+                                                                                                             "alphabet_soup_1",
+                                                                                                             "basket_1",
+                                                                                                             "cream_cheese_1"
+                                                                                                         ],
+                                                                                    "removed_duplicate_objects":  null
+                                                                                },
+                                                                                {
+                                                                                    "task":  "LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket",
+                                                                                    "path":  "bddl_files/06_object_shape/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl",
+                                                                                    "target":  "alphabet_soup_1",
+                                                                                    "appearance_targets":  "basket_1",
+                                                                                    "appearance_rgba":  [
+                                                                                                            0.3,
+                                                                                                            0.2,
+                                                                                                            0.12,
+                                                                                                            1.0
+                                                                                                        ],
+                                                                                    "occlusion_reference":  "alphabet_soup_1",
+                                                                                    "occlusion_between_object":  "",
+                                                                                    "occlusion_avoid_target":  "tomato_sauce_1",
+                                                                                    "runtime_target":  "alphabet_soup_1",
+                                                                                    "pose_target":  "alphabet_soup_1",
+                                                                                    "occluders":  "black_book_occluder_1",
+                                                                                    "occluder_type":  "black_book",
+                                                                                    "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                    "occlusion_offset_xy":  [
+                                                                                                                0.08,
+                                                                                                                0.0
+                                                                                                            ],
+                                                                                    "critical_objects":  [
+                                                                                                             "alphabet_soup_1",
+                                                                                                             "basket_1",
+                                                                                                             "tomato_sauce_1"
+                                                                                                         ],
+                                                                                    "removed_duplicate_objects":  null
+                                                                                },
+                                                                                {
+                                                                                    "task":  "LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket",
+                                                                                    "path":  "bddl_files/06_object_shape/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl",
+                                                                                    "target":  "cream_cheese_1",
+                                                                                    "appearance_targets":  "basket_1",
+                                                                                    "appearance_rgba":  [
+                                                                                                            0.3,
+                                                                                                            0.2,
+                                                                                                            0.12,
+                                                                                                            1.0
+                                                                                                        ],
+                                                                                    "occlusion_reference":  "cream_cheese_1",
+                                                                                    "occlusion_between_object":  "",
+                                                                                    "occlusion_avoid_target":  "butter_1",
+                                                                                    "runtime_target":  "cream_cheese_1",
+                                                                                    "pose_target":  "cream_cheese_1",
+                                                                                    "occluders":  "black_book_occluder_1",
+                                                                                    "occluder_type":  "black_book",
+                                                                                    "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                    "occlusion_offset_xy":  [
+                                                                                                                0.08,
+                                                                                                                0.0
+                                                                                                            ],
+                                                                                    "critical_objects":  [
+                                                                                                             "basket_1",
+                                                                                                             "butter_1",
+                                                                                                             "cream_cheese_1"
+                                                                                                         ],
+                                                                                    "removed_duplicate_objects":  null
+                                                                                },
+                                                                                {
+                                                                                    "task":  "LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate",
+                                                                                    "path":  "bddl_files/06_object_shape/bddl/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl",
+                                                                                    "target":  "plate_1",
+                                                                                    "appearance_targets":  [
+                                                                                                               "plate_1",
+                                                                                                               "plate_2"
+                                                                                                           ],
+                                                                                    "appearance_rgba":  [
+                                                                                                            0.3,
+                                                                                                            0.2,
+                                                                                                            0.12,
+                                                                                                            1.0
+                                                                                                        ],
+                                                                                    "occlusion_reference":  "plate_1",
+                                                                                    "occlusion_between_object":  "",
+                                                                                    "occlusion_avoid_target":  "plate_2",
+                                                                                    "runtime_target":  "plate_1",
+                                                                                    "pose_target":  "plate_1",
+                                                                                    "occluders":  "black_book_occluder_1",
+                                                                                    "occluder_type":  "black_book",
+                                                                                    "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                    "occlusion_offset_xy":  [
+                                                                                                                0.08,
+                                                                                                                0.0
+                                                                                                            ],
+                                                                                    "critical_objects":  [
+                                                                                                             "plate_1",
+                                                                                                             "plate_2",
+                                                                                                             "porcelain_mug_1",
+                                                                                                             "white_yellow_mug_1"
+                                                                                                         ],
+                                                                                    "removed_duplicate_objects":  null
+                                                                                },
+                                                                                {
+                                                                                    "task":  "LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate",
+                                                                                    "path":  "bddl_files/06_object_shape/bddl/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl",
+                                                                                    "target":  "plate_1",
+                                                                                    "appearance_targets":  "plate_1",
+                                                                                    "appearance_rgba":  [
+                                                                                                            0.3,
+                                                                                                            0.2,
+                                                                                                            0.12,
+                                                                                                            1.0
+                                                                                                        ],
+                                                                                    "occlusion_reference":  "plate_1",
+                                                                                    "occlusion_between_object":  "",
+                                                                                    "occlusion_avoid_target":  "chocolate_pudding_1",
+                                                                                    "runtime_target":  "plate_1",
+                                                                                    "pose_target":  "plate_1",
+                                                                                    "occluders":  "black_book_occluder_1",
+                                                                                    "occluder_type":  "black_book",
+                                                                                    "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                    "occlusion_offset_xy":  [
+                                                                                                                0.08,
+                                                                                                                0.0
+                                                                                                            ],
+                                                                                    "critical_objects":  [
+                                                                                                             "chocolate_pudding_1",
+                                                                                                             "plate_1",
+                                                                                                             "porcelain_mug_1"
+                                                                                                         ],
+                                                                                    "removed_duplicate_objects":  null
+                                                                                },
+                                                                                {
+                                                                                    "task":  "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy",
+                                                                                    "path":  "bddl_files/06_object_shape/bddl/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl",
+                                                                                    "target":  "black_book_1",
+                                                                                    "appearance_targets":  "desk_caddy_1",
+                                                                                    "appearance_rgba":  [
+                                                                                                            0.5,
+                                                                                                            0.36,
+                                                                                                            0.2,
+                                                                                                            1.0
+                                                                                                        ],
+                                                                                    "occlusion_reference":  "black_book_1",
+                                                                                    "occlusion_between_object":  "",
+                                                                                    "occlusion_avoid_target":  "desk_caddy_1",
+                                                                                    "runtime_target":  "black_book_1",
+                                                                                    "pose_target":  "black_book_1",
+                                                                                    "occluders":  "yellow_book_1",
+                                                                                    "occluder_type":  "yellow_book",
+                                                                                    "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                    "occlusion_offset_xy":  [
+                                                                                                                0.08,
+                                                                                                                0.0
+                                                                                                            ],
+                                                                                    "critical_objects":  "black_book_1",
+                                                                                    "removed_duplicate_objects":  null
+                                                                                }
+                                                                            ]
+                                                          },
+                                               "count":  40
+                                           },
+                       "07_initial_pose_position_angle":  {
+                                                              "folder":  "07_initial_pose_position_angle",
+                                                              "suites":  {
+                                                                             "libero_spatial":  [
+                                                                                                    {
+                                                                                                        "task":  "pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate",
+                                                                                                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl",
+                                                                                                        "target":  "akita_black_bowl_1",
+                                                                                                        "appearance_targets":  "plate_1",
+                                                                                                        "appearance_rgba":  [
+                                                                                                                                0.72,
+                                                                                                                                0.63,
+                                                                                                                                0.5,
+                                                                                                                                1.0
+                                                                                                                            ],
+                                                                                                        "occlusion_reference":  "akita_black_bowl_1",
+                                                                                                        "occlusion_between_object":  "plate_1",
+                                                                                                        "occlusion_avoid_target":  "plate_1",
+                                                                                                        "runtime_target":  "akita_black_bowl_1",
+                                                                                                        "pose_target":  "akita_black_bowl_1",
+                                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                                        "occluder_type":  "black_book",
+                                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                        "occlusion_offset_xy":  [
+                                                                                                                                    0.08,
+                                                                                                                                    0.0
+                                                                                                                                ],
+                                                                                                        "critical_objects":  [
+                                                                                                                                 "akita_black_bowl_1",
+                                                                                                                                 "plate_1"
+                                                                                                                             ],
+                                                                                                        "removed_duplicate_objects":  null
+                                                                                                    },
+                                                                                                    {
+                                                                                                        "task":  "pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate",
+                                                                                                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl",
+                                                                                                        "target":  "akita_black_bowl_1",
+                                                                                                        "appearance_targets":  "plate_1",
+                                                                                                        "appearance_rgba":  [
+                                                                                                                                0.72,
+                                                                                                                                0.63,
+                                                                                                                                0.5,
+                                                                                                                                1.0
+                                                                                                                            ],
+                                                                                                        "occlusion_reference":  "akita_black_bowl_1",
+                                                                                                        "occlusion_between_object":  "plate_1",
+                                                                                                        "occlusion_avoid_target":  "plate_1",
+                                                                                                        "runtime_target":  "akita_black_bowl_1",
+                                                                                                        "pose_target":  "akita_black_bowl_1",
+                                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                                        "occluder_type":  "black_book",
+                                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                        "occlusion_offset_xy":  [
+                                                                                                                                    0.08,
+                                                                                                                                    0.0
+                                                                                                                                ],
+                                                                                                        "critical_objects":  [
+                                                                                                                                 "akita_black_bowl_1",
+                                                                                                                                 "plate_1"
+                                                                                                                             ],
+                                                                                                        "removed_duplicate_objects":  null
+                                                                                                    },
+                                                                                                    {
+                                                                                                        "task":  "pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate",
+                                                                                                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl",
+                                                                                                        "target":  "akita_black_bowl_1",
+                                                                                                        "appearance_targets":  "plate_1",
+                                                                                                        "appearance_rgba":  [
+                                                                                                                                0.72,
+                                                                                                                                0.63,
+                                                                                                                                0.5,
+                                                                                                                                1.0
+                                                                                                                            ],
+                                                                                                        "occlusion_reference":  "akita_black_bowl_1",
+                                                                                                        "occlusion_between_object":  "plate_1",
+                                                                                                        "occlusion_avoid_target":  "plate_1",
+                                                                                                        "runtime_target":  "akita_black_bowl_1",
+                                                                                                        "pose_target":  "akita_black_bowl_1",
+                                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                                        "occluder_type":  "black_book",
+                                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                        "occlusion_offset_xy":  [
+                                                                                                                                    0.08,
+                                                                                                                                    0.0
+                                                                                                                                ],
+                                                                                                        "critical_objects":  [
+                                                                                                                                 "akita_black_bowl_1",
+                                                                                                                                 "plate_1"
+                                                                                                                             ],
+                                                                                                        "removed_duplicate_objects":  null
+                                                                                                    },
+                                                                                                    {
+                                                                                                        "task":  "pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate",
+                                                                                                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl",
+                                                                                                        "target":  "akita_black_bowl_1",
+                                                                                                        "appearance_targets":  "plate_1",
+                                                                                                        "appearance_rgba":  [
+                                                                                                                                0.72,
+                                                                                                                                0.63,
+                                                                                                                                0.5,
+                                                                                                                                1.0
+                                                                                                                            ],
+                                                                                                        "occlusion_reference":  "akita_black_bowl_1",
+                                                                                                        "occlusion_between_object":  "plate_1",
+                                                                                                        "occlusion_avoid_target":  "plate_1",
+                                                                                                        "runtime_target":  "akita_black_bowl_1",
+                                                                                                        "pose_target":  "akita_black_bowl_1",
+                                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                                        "occluder_type":  "black_book",
+                                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                        "occlusion_offset_xy":  [
+                                                                                                                                    0.08,
+                                                                                                                                    0.0
+                                                                                                                                ],
+                                                                                                        "critical_objects":  [
+                                                                                                                                 "akita_black_bowl_1",
+                                                                                                                                 "plate_1"
+                                                                                                                             ],
+                                                                                                        "removed_duplicate_objects":  null
+                                                                                                    },
+                                                                                                    {
+                                                                                                        "task":  "pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate",
+                                                                                                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl",
+                                                                                                        "target":  "akita_black_bowl_1",
+                                                                                                        "appearance_targets":  "plate_1",
+                                                                                                        "appearance_rgba":  [
+                                                                                                                                0.72,
+                                                                                                                                0.63,
+                                                                                                                                0.5,
+                                                                                                                                1.0
+                                                                                                                            ],
+                                                                                                        "occlusion_reference":  "akita_black_bowl_1",
+                                                                                                        "occlusion_between_object":  "plate_1",
+                                                                                                        "occlusion_avoid_target":  "plate_1",
+                                                                                                        "runtime_target":  "akita_black_bowl_1",
+                                                                                                        "pose_target":  "akita_black_bowl_1",
+                                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                                        "occluder_type":  "black_book",
+                                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                        "occlusion_offset_xy":  [
+                                                                                                                                    0.08,
+                                                                                                                                    0.0
+                                                                                                                                ],
+                                                                                                        "critical_objects":  [
+                                                                                                                                 "akita_black_bowl_1",
+                                                                                                                                 "plate_1"
+                                                                                                                             ],
+                                                                                                        "removed_duplicate_objects":  null
+                                                                                                    },
+                                                                                                    {
+                                                                                                        "task":  "pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate",
+                                                                                                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl",
+                                                                                                        "target":  "akita_black_bowl_1",
+                                                                                                        "appearance_targets":  "plate_1",
+                                                                                                        "appearance_rgba":  [
+                                                                                                                                0.72,
+                                                                                                                                0.63,
+                                                                                                                                0.5,
+                                                                                                                                1.0
+                                                                                                                            ],
+                                                                                                        "occlusion_reference":  "akita_black_bowl_1",
+                                                                                                        "occlusion_between_object":  "plate_1",
+                                                                                                        "occlusion_avoid_target":  "plate_1",
+                                                                                                        "runtime_target":  "akita_black_bowl_1",
+                                                                                                        "pose_target":  "akita_black_bowl_1",
+                                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                                        "occluder_type":  "black_book",
+                                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                        "occlusion_offset_xy":  [
+                                                                                                                                    0.08,
+                                                                                                                                    0.0
+                                                                                                                                ],
+                                                                                                        "critical_objects":  [
+                                                                                                                                 "akita_black_bowl_1",
+                                                                                                                                 "plate_1"
+                                                                                                                             ],
+                                                                                                        "removed_duplicate_objects":  null
+                                                                                                    },
+                                                                                                    {
+                                                                                                        "task":  "pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate",
+                                                                                                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl",
+                                                                                                        "target":  "akita_black_bowl_1",
+                                                                                                        "appearance_targets":  "plate_1",
+                                                                                                        "appearance_rgba":  [
+                                                                                                                                0.72,
+                                                                                                                                0.63,
+                                                                                                                                0.5,
+                                                                                                                                1.0
+                                                                                                                            ],
+                                                                                                        "occlusion_reference":  "akita_black_bowl_1",
+                                                                                                        "occlusion_between_object":  "plate_1",
+                                                                                                        "occlusion_avoid_target":  "plate_1",
+                                                                                                        "runtime_target":  "akita_black_bowl_1",
+                                                                                                        "pose_target":  "akita_black_bowl_1",
+                                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                                        "occluder_type":  "black_book",
+                                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                        "occlusion_offset_xy":  [
+                                                                                                                                    0.08,
+                                                                                                                                    0.0
+                                                                                                                                ],
+                                                                                                        "critical_objects":  [
+                                                                                                                                 "akita_black_bowl_1",
+                                                                                                                                 "plate_1"
+                                                                                                                             ],
+                                                                                                        "removed_duplicate_objects":  null
+                                                                                                    },
+                                                                                                    {
+                                                                                                        "task":  "pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate",
+                                                                                                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl",
+                                                                                                        "target":  "akita_black_bowl_1",
+                                                                                                        "appearance_targets":  "plate_1",
+                                                                                                        "appearance_rgba":  [
+                                                                                                                                0.72,
+                                                                                                                                0.63,
+                                                                                                                                0.5,
+                                                                                                                                1.0
+                                                                                                                            ],
+                                                                                                        "occlusion_reference":  "akita_black_bowl_1",
+                                                                                                        "occlusion_between_object":  "plate_1",
+                                                                                                        "occlusion_avoid_target":  "plate_1",
+                                                                                                        "runtime_target":  "akita_black_bowl_1",
+                                                                                                        "pose_target":  "akita_black_bowl_1",
+                                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                                        "occluder_type":  "black_book",
+                                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                        "occlusion_offset_xy":  [
+                                                                                                                                    0.08,
+                                                                                                                                    0.0
+                                                                                                                                ],
+                                                                                                        "critical_objects":  [
+                                                                                                                                 "akita_black_bowl_1",
+                                                                                                                                 "plate_1"
+                                                                                                                             ],
+                                                                                                        "removed_duplicate_objects":  null
+                                                                                                    },
+                                                                                                    {
+                                                                                                        "task":  "pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate",
+                                                                                                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl",
+                                                                                                        "target":  "akita_black_bowl_1",
+                                                                                                        "appearance_targets":  "plate_1",
+                                                                                                        "appearance_rgba":  [
+                                                                                                                                0.72,
+                                                                                                                                0.63,
+                                                                                                                                0.5,
+                                                                                                                                1.0
+                                                                                                                            ],
+                                                                                                        "occlusion_reference":  "akita_black_bowl_1",
+                                                                                                        "occlusion_between_object":  "plate_1",
+                                                                                                        "occlusion_avoid_target":  "plate_1",
+                                                                                                        "runtime_target":  "akita_black_bowl_1",
+                                                                                                        "pose_target":  "akita_black_bowl_1",
+                                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                                        "occluder_type":  "black_book",
+                                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                        "occlusion_offset_xy":  [
+                                                                                                                                    0.08,
+                                                                                                                                    0.0
+                                                                                                                                ],
+                                                                                                        "critical_objects":  [
+                                                                                                                                 "akita_black_bowl_1",
+                                                                                                                                 "plate_1"
+                                                                                                                             ],
+                                                                                                        "removed_duplicate_objects":  null
+                                                                                                    },
+                                                                                                    {
+                                                                                                        "task":  "pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate",
+                                                                                                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl",
+                                                                                                        "target":  "akita_black_bowl_1",
+                                                                                                        "appearance_targets":  "plate_1",
+                                                                                                        "appearance_rgba":  [
+                                                                                                                                0.72,
+                                                                                                                                0.63,
+                                                                                                                                0.5,
+                                                                                                                                1.0
+                                                                                                                            ],
+                                                                                                        "occlusion_reference":  "akita_black_bowl_1",
+                                                                                                        "occlusion_between_object":  "plate_1",
+                                                                                                        "occlusion_avoid_target":  "plate_1",
+                                                                                                        "runtime_target":  "akita_black_bowl_1",
+                                                                                                        "pose_target":  "akita_black_bowl_1",
+                                                                                                        "occluders":  "black_book_occluder_1",
+                                                                                                        "occluder_type":  "black_book",
+                                                                                                        "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                        "occlusion_offset_xy":  [
+                                                                                                                                    0.08,
+                                                                                                                                    0.0
+                                                                                                                                ],
+                                                                                                        "critical_objects":  [
+                                                                                                                                 "akita_black_bowl_1",
+                                                                                                                                 "plate_1"
+                                                                                                                             ],
+                                                                                                        "removed_duplicate_objects":  null
+                                                                                                    }
+                                                                                                ],
+                                                                             "libero_object":  [
+                                                                                                   {
+                                                                                                       "task":  "pick_up_the_alphabet_soup_and_place_it_in_the_basket",
+                                                                                                       "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl",
+                                                                                                       "target":  "alphabet_soup_1",
+                                                                                                       "appearance_targets":  "basket_1",
+                                                                                                       "appearance_rgba":  [
+                                                                                                                               0.35,
+                                                                                                                               0.34,
+                                                                                                                               0.32,
+                                                                                                                               1.0
+                                                                                                                           ],
+                                                                                                       "occlusion_reference":  "alphabet_soup_1",
+                                                                                                       "occlusion_between_object":  "",
+                                                                                                       "occlusion_avoid_target":  "basket_1",
+                                                                                                       "runtime_target":  "alphabet_soup_1",
+                                                                                                       "pose_target":  "alphabet_soup_1",
+                                                                                                       "occluders":  "black_book_occluder_1",
+                                                                                                       "occluder_type":  "black_book",
+                                                                                                       "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                       "occlusion_offset_xy":  [
+                                                                                                                                   0.08,
+                                                                                                                                   0.0
+                                                                                                                               ],
+                                                                                                       "critical_objects":  [
+                                                                                                                                "alphabet_soup_1",
+                                                                                                                                "basket_1"
+                                                                                                                            ],
+                                                                                                       "removed_duplicate_objects":  null
+                                                                                                   },
+                                                                                                   {
+                                                                                                       "task":  "pick_up_the_bbq_sauce_and_place_it_in_the_basket",
+                                                                                                       "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl",
+                                                                                                       "target":  "bbq_sauce_1",
+                                                                                                       "appearance_targets":  "basket_1",
+                                                                                                       "appearance_rgba":  [
+                                                                                                                               0.35,
+                                                                                                                               0.34,
+                                                                                                                               0.32,
+                                                                                                                               1.0
+                                                                                                                           ],
+                                                                                                       "occlusion_reference":  "bbq_sauce_1",
+                                                                                                       "occlusion_between_object":  "",
+                                                                                                       "occlusion_avoid_target":  "basket_1",
+                                                                                                       "runtime_target":  "bbq_sauce_1",
+                                                                                                       "pose_target":  "bbq_sauce_1",
+                                                                                                       "occluders":  "black_book_occluder_1",
+                                                                                                       "occluder_type":  "black_book",
+                                                                                                       "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                       "occlusion_offset_xy":  [
+                                                                                                                                   0.08,
+                                                                                                                                   0.0
+                                                                                                                               ],
+                                                                                                       "critical_objects":  [
+                                                                                                                                "basket_1",
+                                                                                                                                "bbq_sauce_1"
+                                                                                                                            ],
+                                                                                                       "removed_duplicate_objects":  null
+                                                                                                   },
+                                                                                                   {
+                                                                                                       "task":  "pick_up_the_butter_and_place_it_in_the_basket",
+                                                                                                       "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl",
+                                                                                                       "target":  "butter_1",
+                                                                                                       "appearance_targets":  "basket_1",
+                                                                                                       "appearance_rgba":  [
+                                                                                                                               0.35,
+                                                                                                                               0.34,
+                                                                                                                               0.32,
+                                                                                                                               1.0
+                                                                                                                           ],
+                                                                                                       "occlusion_reference":  "butter_1",
+                                                                                                       "occlusion_between_object":  "",
+                                                                                                       "occlusion_avoid_target":  "basket_1",
+                                                                                                       "runtime_target":  "butter_1",
+                                                                                                       "pose_target":  "butter_1",
+                                                                                                       "occluders":  "black_book_occluder_1",
+                                                                                                       "occluder_type":  "black_book",
+                                                                                                       "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                       "occlusion_offset_xy":  [
+                                                                                                                                   0.08,
+                                                                                                                                   0.0
+                                                                                                                               ],
+                                                                                                       "critical_objects":  [
+                                                                                                                                "basket_1",
+                                                                                                                                "butter_1"
+                                                                                                                            ],
+                                                                                                       "removed_duplicate_objects":  null
+                                                                                                   },
+                                                                                                   {
+                                                                                                       "task":  "pick_up_the_chocolate_pudding_and_place_it_in_the_basket",
+                                                                                                       "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl",
+                                                                                                       "target":  "chocolate_pudding_1",
+                                                                                                       "appearance_targets":  "basket_1",
+                                                                                                       "appearance_rgba":  [
+                                                                                                                               0.35,
+                                                                                                                               0.34,
+                                                                                                                               0.32,
+                                                                                                                               1.0
+                                                                                                                           ],
+                                                                                                       "occlusion_reference":  "chocolate_pudding_1",
+                                                                                                       "occlusion_between_object":  "",
+                                                                                                       "occlusion_avoid_target":  "basket_1",
+                                                                                                       "runtime_target":  "chocolate_pudding_1",
+                                                                                                       "pose_target":  "chocolate_pudding_1",
+                                                                                                       "occluders":  "black_book_occluder_1",
+                                                                                                       "occluder_type":  "black_book",
+                                                                                                       "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                       "occlusion_offset_xy":  [
+                                                                                                                                   0.08,
+                                                                                                                                   0.0
+                                                                                                                               ],
+                                                                                                       "critical_objects":  [
+                                                                                                                                "basket_1",
+                                                                                                                                "chocolate_pudding_1"
+                                                                                                                            ],
+                                                                                                       "removed_duplicate_objects":  null
+                                                                                                   },
+                                                                                                   {
+                                                                                                       "task":  "pick_up_the_cream_cheese_and_place_it_in_the_basket",
+                                                                                                       "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl",
+                                                                                                       "target":  "cream_cheese_1",
+                                                                                                       "appearance_targets":  "basket_1",
+                                                                                                       "appearance_rgba":  [
+                                                                                                                               0.35,
+                                                                                                                               0.34,
+                                                                                                                               0.32,
+                                                                                                                               1.0
+                                                                                                                           ],
+                                                                                                       "occlusion_reference":  "cream_cheese_1",
+                                                                                                       "occlusion_between_object":  "",
+                                                                                                       "occlusion_avoid_target":  "basket_1",
+                                                                                                       "runtime_target":  "cream_cheese_1",
+                                                                                                       "pose_target":  "cream_cheese_1",
+                                                                                                       "occluders":  "black_book_occluder_1",
+                                                                                                       "occluder_type":  "black_book",
+                                                                                                       "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                       "occlusion_offset_xy":  [
+                                                                                                                                   0.08,
+                                                                                                                                   0.0
+                                                                                                                               ],
+                                                                                                       "critical_objects":  [
+                                                                                                                                "basket_1",
+                                                                                                                                "cream_cheese_1"
+                                                                                                                            ],
+                                                                                                       "removed_duplicate_objects":  null
+                                                                                                   },
+                                                                                                   {
+                                                                                                       "task":  "pick_up_the_ketchup_and_place_it_in_the_basket",
+                                                                                                       "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl",
+                                                                                                       "target":  "ketchup_1",
+                                                                                                       "appearance_targets":  "basket_1",
+                                                                                                       "appearance_rgba":  [
+                                                                                                                               0.35,
+                                                                                                                               0.34,
+                                                                                                                               0.32,
+                                                                                                                               1.0
+                                                                                                                           ],
+                                                                                                       "occlusion_reference":  "ketchup_1",
+                                                                                                       "occlusion_between_object":  "",
+                                                                                                       "occlusion_avoid_target":  "basket_1",
+                                                                                                       "runtime_target":  "ketchup_1",
+                                                                                                       "pose_target":  "ketchup_1",
+                                                                                                       "occluders":  "black_book_occluder_1",
+                                                                                                       "occluder_type":  "black_book",
+                                                                                                       "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                       "occlusion_offset_xy":  [
+                                                                                                                                   0.08,
+                                                                                                                                   0.0
+                                                                                                                               ],
+                                                                                                       "critical_objects":  [
+                                                                                                                                "basket_1",
+                                                                                                                                "ketchup_1"
+                                                                                                                            ],
+                                                                                                       "removed_duplicate_objects":  null
+                                                                                                   },
+                                                                                                   {
+                                                                                                       "task":  "pick_up_the_milk_and_place_it_in_the_basket",
+                                                                                                       "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl",
+                                                                                                       "target":  "milk_1",
+                                                                                                       "appearance_targets":  "basket_1",
+                                                                                                       "appearance_rgba":  [
+                                                                                                                               0.35,
+                                                                                                                               0.34,
+                                                                                                                               0.32,
+                                                                                                                               1.0
+                                                                                                                           ],
+                                                                                                       "occlusion_reference":  "milk_1",
+                                                                                                       "occlusion_between_object":  "",
+                                                                                                       "occlusion_avoid_target":  "basket_1",
+                                                                                                       "runtime_target":  "milk_1",
+                                                                                                       "pose_target":  "milk_1",
+                                                                                                       "occluders":  "black_book_occluder_1",
+                                                                                                       "occluder_type":  "black_book",
+                                                                                                       "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                       "occlusion_offset_xy":  [
+                                                                                                                                   0.08,
+                                                                                                                                   0.0
+                                                                                                                               ],
+                                                                                                       "critical_objects":  [
+                                                                                                                                "basket_1",
+                                                                                                                                "milk_1"
+                                                                                                                            ],
+                                                                                                       "removed_duplicate_objects":  null
+                                                                                                   },
+                                                                                                   {
+                                                                                                       "task":  "pick_up_the_orange_juice_and_place_it_in_the_basket",
+                                                                                                       "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl",
+                                                                                                       "target":  "orange_juice_1",
+                                                                                                       "appearance_targets":  "basket_1",
+                                                                                                       "appearance_rgba":  [
+                                                                                                                               0.35,
+                                                                                                                               0.34,
+                                                                                                                               0.32,
+                                                                                                                               1.0
+                                                                                                                           ],
+                                                                                                       "occlusion_reference":  "orange_juice_1",
+                                                                                                       "occlusion_between_object":  "",
+                                                                                                       "occlusion_avoid_target":  "basket_1",
+                                                                                                       "runtime_target":  "orange_juice_1",
+                                                                                                       "pose_target":  "orange_juice_1",
+                                                                                                       "occluders":  "black_book_occluder_1",
+                                                                                                       "occluder_type":  "black_book",
+                                                                                                       "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                       "occlusion_offset_xy":  [
+                                                                                                                                   0.08,
+                                                                                                                                   0.0
+                                                                                                                               ],
+                                                                                                       "critical_objects":  [
+                                                                                                                                "basket_1",
+                                                                                                                                "orange_juice_1"
+                                                                                                                            ],
+                                                                                                       "removed_duplicate_objects":  null
+                                                                                                   },
+                                                                                                   {
+                                                                                                       "task":  "pick_up_the_salad_dressing_and_place_it_in_the_basket",
+                                                                                                       "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl",
+                                                                                                       "target":  "salad_dressing_1",
+                                                                                                       "appearance_targets":  "basket_1",
+                                                                                                       "appearance_rgba":  [
+                                                                                                                               0.35,
+                                                                                                                               0.34,
+                                                                                                                               0.32,
+                                                                                                                               1.0
+                                                                                                                           ],
+                                                                                                       "occlusion_reference":  "salad_dressing_1",
+                                                                                                       "occlusion_between_object":  "",
+                                                                                                       "occlusion_avoid_target":  "basket_1",
+                                                                                                       "runtime_target":  "salad_dressing_1",
+                                                                                                       "pose_target":  "salad_dressing_1",
+                                                                                                       "occluders":  "black_book_occluder_1",
+                                                                                                       "occluder_type":  "black_book",
+                                                                                                       "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                       "occlusion_offset_xy":  [
+                                                                                                                                   0.08,
+                                                                                                                                   0.0
+                                                                                                                               ],
+                                                                                                       "critical_objects":  [
+                                                                                                                                "basket_1",
+                                                                                                                                "salad_dressing_1"
+                                                                                                                            ],
+                                                                                                       "removed_duplicate_objects":  null
+                                                                                                   },
+                                                                                                   {
+                                                                                                       "task":  "pick_up_the_tomato_sauce_and_place_it_in_the_basket",
+                                                                                                       "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl",
+                                                                                                       "target":  "tomato_sauce_1",
+                                                                                                       "appearance_targets":  "basket_1",
+                                                                                                       "appearance_rgba":  [
+                                                                                                                               0.35,
+                                                                                                                               0.34,
+                                                                                                                               0.32,
+                                                                                                                               1.0
+                                                                                                                           ],
+                                                                                                       "occlusion_reference":  "tomato_sauce_1",
+                                                                                                       "occlusion_between_object":  "",
+                                                                                                       "occlusion_avoid_target":  "basket_1",
+                                                                                                       "runtime_target":  "tomato_sauce_1",
+                                                                                                       "pose_target":  "tomato_sauce_1",
+                                                                                                       "occluders":  "black_book_occluder_1",
+                                                                                                       "occluder_type":  "black_book",
+                                                                                                       "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                       "occlusion_offset_xy":  [
+                                                                                                                                   0.08,
+                                                                                                                                   0.0
+                                                                                                                               ],
+                                                                                                       "critical_objects":  [
+                                                                                                                                "basket_1",
+                                                                                                                                "tomato_sauce_1"
+                                                                                                                            ],
+                                                                                                       "removed_duplicate_objects":  null
+                                                                                                   }
+                                                                                               ],
+                                                                             "libero_goal":  [
+                                                                                                 {
+                                                                                                     "task":  "open_the_middle_drawer_of_the_cabinet",
+                                                                                                     "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_goal/open_the_middle_drawer_of_the_cabinet.bddl",
+                                                                                                     "target":  "akita_black_bowl_1",
+                                                                                                     "appearance_targets":  "wooden_cabinet_1",
+                                                                                                     "appearance_rgba":  [
+                                                                                                                             0.72,
+                                                                                                                             0.63,
+                                                                                                                             0.5,
+                                                                                                                             1.0
+                                                                                                                         ],
+                                                                                                     "occlusion_reference":  "akita_black_bowl_1",
+                                                                                                     "occlusion_between_object":  "",
+                                                                                                     "occlusion_avoid_target":  "",
+                                                                                                     "runtime_target":  "akita_black_bowl_1",
+                                                                                                     "pose_target":  "akita_black_bowl_1",
+                                                                                                     "occluders":  "black_book_occluder_1",
+                                                                                                     "occluder_type":  "black_book",
+                                                                                                     "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                     "occlusion_offset_xy":  [
+                                                                                                                                 0.08,
+                                                                                                                                 0.09
+                                                                                                                             ],
+                                                                                                     "critical_objects":  null,
+                                                                                                     "removed_duplicate_objects":  null
+                                                                                                 },
+                                                                                                 {
+                                                                                                     "task":  "open_the_top_drawer_and_put_the_bowl_inside",
+                                                                                                     "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.bddl",
+                                                                                                     "target":  "akita_black_bowl_1",
+                                                                                                     "appearance_targets":  "wooden_cabinet_1",
+                                                                                                     "appearance_rgba":  [
+                                                                                                                             0.72,
+                                                                                                                             0.63,
+                                                                                                                             0.5,
+                                                                                                                             1.0
+                                                                                                                         ],
+                                                                                                     "occlusion_reference":  "akita_black_bowl_1",
+                                                                                                     "occlusion_between_object":  "",
+                                                                                                     "occlusion_avoid_target":  "wooden_cabinet_1_top_region",
+                                                                                                     "runtime_target":  "akita_black_bowl_1",
+                                                                                                     "pose_target":  "akita_black_bowl_1",
+                                                                                                     "occluders":  "black_book_occluder_1",
+                                                                                                     "occluder_type":  "black_book",
+                                                                                                     "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                     "occlusion_offset_xy":  [
+                                                                                                                                 0.08,
+                                                                                                                                 0.09
+                                                                                                                             ],
+                                                                                                     "critical_objects":  "akita_black_bowl_1",
+                                                                                                     "removed_duplicate_objects":  null
+                                                                                                 },
+                                                                                                 {
+                                                                                                     "task":  "push_the_plate_to_the_front_of_the_stove",
+                                                                                                     "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_goal/push_the_plate_to_the_front_of_the_stove.bddl",
+                                                                                                     "target":  "plate_1",
+                                                                                                     "appearance_targets":  "flat_stove_1",
+                                                                                                     "appearance_rgba":  [
+                                                                                                                             0.72,
+                                                                                                                             0.63,
+                                                                                                                             0.5,
+                                                                                                                             1.0
+                                                                                                                         ],
+                                                                                                     "occlusion_reference":  "plate_1",
+                                                                                                     "occlusion_between_object":  "",
+                                                                                                     "occlusion_avoid_target":  "main_table_stove_front_region",
+                                                                                                     "runtime_target":  "plate_1",
+                                                                                                     "pose_target":  "plate_1",
+                                                                                                     "occluders":  "black_book_occluder_1",
+                                                                                                     "occluder_type":  "black_book",
+                                                                                                     "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                     "occlusion_offset_xy":  [
+                                                                                                                                 0.08,
+                                                                                                                                 0.0
+                                                                                                                             ],
+                                                                                                     "critical_objects":  "plate_1",
+                                                                                                     "removed_duplicate_objects":  null
+                                                                                                 },
+                                                                                                 {
+                                                                                                     "task":  "put_the_bowl_on_the_plate",
+                                                                                                     "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_goal/put_the_bowl_on_the_plate.bddl",
+                                                                                                     "target":  "akita_black_bowl_1",
+                                                                                                     "appearance_targets":  "plate_1",
+                                                                                                     "appearance_rgba":  [
+                                                                                                                             0.72,
+                                                                                                                             0.63,
+                                                                                                                             0.5,
+                                                                                                                             1.0
+                                                                                                                         ],
+                                                                                                     "occlusion_reference":  "akita_black_bowl_1",
+                                                                                                     "occlusion_between_object":  "plate_1",
+                                                                                                     "occlusion_avoid_target":  "plate_1",
+                                                                                                     "runtime_target":  "akita_black_bowl_1",
+                                                                                                     "pose_target":  "akita_black_bowl_1",
+                                                                                                     "occluders":  "black_book_occluder_1",
+                                                                                                     "occluder_type":  "black_book",
+                                                                                                     "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                     "occlusion_offset_xy":  [
+                                                                                                                                 0.08,
+                                                                                                                                 0.0
+                                                                                                                             ],
+                                                                                                     "critical_objects":  [
+                                                                                                                              "akita_black_bowl_1",
+                                                                                                                              "plate_1"
+                                                                                                                          ],
+                                                                                                     "removed_duplicate_objects":  null
+                                                                                                 },
+                                                                                                 {
+                                                                                                     "task":  "put_the_bowl_on_the_stove",
+                                                                                                     "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_goal/put_the_bowl_on_the_stove.bddl",
+                                                                                                     "target":  "akita_black_bowl_1",
+                                                                                                     "appearance_targets":  "flat_stove_1",
+                                                                                                     "appearance_rgba":  [
+                                                                                                                             0.72,
+                                                                                                                             0.63,
+                                                                                                                             0.5,
+                                                                                                                             1.0
+                                                                                                                         ],
+                                                                                                     "occlusion_reference":  "akita_black_bowl_1",
+                                                                                                     "occlusion_between_object":  "",
+                                                                                                     "occlusion_avoid_target":  "flat_stove_1_cook_region",
+                                                                                                     "runtime_target":  "akita_black_bowl_1",
+                                                                                                     "pose_target":  "akita_black_bowl_1",
+                                                                                                     "occluders":  "black_book_occluder_1",
+                                                                                                     "occluder_type":  "black_book",
+                                                                                                     "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                     "occlusion_offset_xy":  [
+                                                                                                                                 0.08,
+                                                                                                                                 0.09
+                                                                                                                             ],
+                                                                                                     "critical_objects":  "akita_black_bowl_1",
+                                                                                                     "removed_duplicate_objects":  null
+                                                                                                 },
+                                                                                                 {
+                                                                                                     "task":  "put_the_bowl_on_top_of_the_cabinet",
+                                                                                                     "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_goal/put_the_bowl_on_top_of_the_cabinet.bddl",
+                                                                                                     "target":  "akita_black_bowl_1",
+                                                                                                     "appearance_targets":  "wooden_cabinet_1",
+                                                                                                     "appearance_rgba":  [
+                                                                                                                             0.72,
+                                                                                                                             0.63,
+                                                                                                                             0.5,
+                                                                                                                             1.0
+                                                                                                                         ],
+                                                                                                     "occlusion_reference":  "akita_black_bowl_1",
+                                                                                                     "occlusion_between_object":  "",
+                                                                                                     "occlusion_avoid_target":  "wooden_cabinet_1_top_side",
+                                                                                                     "runtime_target":  "akita_black_bowl_1",
+                                                                                                     "pose_target":  "akita_black_bowl_1",
+                                                                                                     "occluders":  "black_book_occluder_1",
+                                                                                                     "occluder_type":  "black_book",
+                                                                                                     "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                     "occlusion_offset_xy":  [
+                                                                                                                                 0.08,
+                                                                                                                                 0.09
+                                                                                                                             ],
+                                                                                                     "critical_objects":  "akita_black_bowl_1",
+                                                                                                     "removed_duplicate_objects":  null
+                                                                                                 },
+                                                                                                 {
+                                                                                                     "task":  "put_the_cream_cheese_in_the_bowl",
+                                                                                                     "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_goal/put_the_cream_cheese_in_the_bowl.bddl",
+                                                                                                     "target":  "cream_cheese_1",
+                                                                                                     "appearance_targets":  "akita_black_bowl_1",
+                                                                                                     "appearance_rgba":  [
+                                                                                                                             0.72,
+                                                                                                                             0.63,
+                                                                                                                             0.5,
+                                                                                                                             1.0
+                                                                                                                         ],
+                                                                                                     "occlusion_reference":  "cream_cheese_1",
+                                                                                                     "occlusion_between_object":  "",
+                                                                                                     "occlusion_avoid_target":  "akita_black_bowl_1",
+                                                                                                     "runtime_target":  "cream_cheese_1",
+                                                                                                     "pose_target":  "cream_cheese_1",
+                                                                                                     "occluders":  "black_book_occluder_1",
+                                                                                                     "occluder_type":  "black_book",
+                                                                                                     "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                     "occlusion_offset_xy":  [
+                                                                                                                                 0.08,
+                                                                                                                                 0.0
+                                                                                                                             ],
+                                                                                                     "critical_objects":  [
+                                                                                                                              "akita_black_bowl_1",
+                                                                                                                              "cream_cheese_1"
+                                                                                                                          ],
+                                                                                                     "removed_duplicate_objects":  null
+                                                                                                 },
+                                                                                                 {
+                                                                                                     "task":  "put_the_wine_bottle_on_the_rack",
+                                                                                                     "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_goal/put_the_wine_bottle_on_the_rack.bddl",
+                                                                                                     "target":  "wine_bottle_1",
+                                                                                                     "appearance_targets":  "wine_rack_1",
+                                                                                                     "appearance_rgba":  [
+                                                                                                                             0.72,
+                                                                                                                             0.63,
+                                                                                                                             0.5,
+                                                                                                                             1.0
+                                                                                                                         ],
+                                                                                                     "occlusion_reference":  "wine_bottle_1",
+                                                                                                     "occlusion_between_object":  "",
+                                                                                                     "occlusion_avoid_target":  "wine_rack_1_top_region",
+                                                                                                     "runtime_target":  "wine_bottle_1",
+                                                                                                     "pose_target":  "wine_bottle_1",
+                                                                                                     "occluders":  "black_book_occluder_1",
+                                                                                                     "occluder_type":  "black_book",
+                                                                                                     "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                     "occlusion_offset_xy":  [
+                                                                                                                                 0.08,
+                                                                                                                                 0.0
+                                                                                                                             ],
+                                                                                                     "critical_objects":  "wine_bottle_1",
+                                                                                                     "removed_duplicate_objects":  null
+                                                                                                 },
+                                                                                                 {
+                                                                                                     "task":  "put_the_wine_bottle_on_top_of_the_cabinet",
+                                                                                                     "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.bddl",
+                                                                                                     "target":  "wine_bottle_1",
+                                                                                                     "appearance_targets":  "wooden_cabinet_1",
+                                                                                                     "appearance_rgba":  [
+                                                                                                                             0.72,
+                                                                                                                             0.63,
+                                                                                                                             0.5,
+                                                                                                                             1.0
+                                                                                                                         ],
+                                                                                                     "occlusion_reference":  "wine_bottle_1",
+                                                                                                     "occlusion_between_object":  "",
+                                                                                                     "occlusion_avoid_target":  "wooden_cabinet_1_top_side",
+                                                                                                     "runtime_target":  "wine_bottle_1",
+                                                                                                     "pose_target":  "wine_bottle_1",
+                                                                                                     "occluders":  "black_book_occluder_1",
+                                                                                                     "occluder_type":  "black_book",
+                                                                                                     "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                     "occlusion_offset_xy":  [
+                                                                                                                                 0.08,
+                                                                                                                                 0.0
+                                                                                                                             ],
+                                                                                                     "critical_objects":  "wine_bottle_1",
+                                                                                                     "removed_duplicate_objects":  null
+                                                                                                 },
+                                                                                                 {
+                                                                                                     "task":  "turn_on_the_stove",
+                                                                                                     "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_goal/turn_on_the_stove.bddl",
+                                                                                                     "target":  "akita_black_bowl_1",
+                                                                                                     "appearance_targets":  "flat_stove_1",
+                                                                                                     "appearance_rgba":  [
+                                                                                                                             0.72,
+                                                                                                                             0.63,
+                                                                                                                             0.5,
+                                                                                                                             1.0
+                                                                                                                         ],
+                                                                                                     "occlusion_reference":  "akita_black_bowl_1",
+                                                                                                     "occlusion_between_object":  "",
+                                                                                                     "occlusion_avoid_target":  "",
+                                                                                                     "runtime_target":  "akita_black_bowl_1",
+                                                                                                     "pose_target":  "akita_black_bowl_1",
+                                                                                                     "occluders":  "black_book_occluder_1",
+                                                                                                     "occluder_type":  "black_book",
+                                                                                                     "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                     "occlusion_offset_xy":  [
+                                                                                                                                 0.08,
+                                                                                                                                 0.09
+                                                                                                                             ],
+                                                                                                     "critical_objects":  null,
+                                                                                                     "removed_duplicate_objects":  null
+                                                                                                 }
+                                                                                             ],
+                                                                             "libero_10":  [
+                                                                                               {
+                                                                                                   "task":  "KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it",
+                                                                                                   "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl",
+                                                                                                   "target":  "moka_pot_1",
+                                                                                                   "appearance_targets":  "flat_stove_1",
+                                                                                                   "appearance_rgba":  [
+                                                                                                                           0.72,
+                                                                                                                           0.63,
+                                                                                                                           0.5,
+                                                                                                                           1.0
+                                                                                                                       ],
+                                                                                                   "occlusion_reference":  "moka_pot_1",
+                                                                                                   "occlusion_between_object":  "",
+                                                                                                   "occlusion_avoid_target":  "flat_stove_1",
+                                                                                                   "runtime_target":  "moka_pot_1",
+                                                                                                   "pose_target":  "moka_pot_1",
+                                                                                                   "occluders":  "black_book_occluder_1",
+                                                                                                   "occluder_type":  "black_book",
+                                                                                                   "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                   "occlusion_offset_xy":  [
+                                                                                                                               0.08,
+                                                                                                                               0.0
+                                                                                                                           ],
+                                                                                                   "critical_objects":  "moka_pot_1",
+                                                                                                   "removed_duplicate_objects":  null
+                                                                                               },
+                                                                                               {
+                                                                                                   "task":  "KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it",
+                                                                                                   "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl",
+                                                                                                   "target":  "akita_black_bowl_1",
+                                                                                                   "appearance_targets":  "white_cabinet_1",
+                                                                                                   "appearance_rgba":  [
+                                                                                                                           0.72,
+                                                                                                                           0.63,
+                                                                                                                           0.5,
+                                                                                                                           1.0
+                                                                                                                       ],
+                                                                                                   "occlusion_reference":  "akita_black_bowl_1",
+                                                                                                   "occlusion_between_object":  "",
+                                                                                                   "occlusion_avoid_target":  "white_cabinet_1",
+                                                                                                   "runtime_target":  "akita_black_bowl_1",
+                                                                                                   "pose_target":  "akita_black_bowl_1",
+                                                                                                   "occluders":  "black_book_occluder_1",
+                                                                                                   "occluder_type":  "black_book",
+                                                                                                   "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                   "occlusion_offset_xy":  [
+                                                                                                                               0.08,
+                                                                                                                               0.0
+                                                                                                                           ],
+                                                                                                   "critical_objects":  "akita_black_bowl_1",
+                                                                                                   "removed_duplicate_objects":  null
+                                                                                               },
+                                                                                               {
+                                                                                                   "task":  "KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it",
+                                                                                                   "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl",
+                                                                                                   "target":  "white_yellow_mug_1",
+                                                                                                   "appearance_targets":  "microwave_1",
+                                                                                                   "appearance_rgba":  [
+                                                                                                                           0.72,
+                                                                                                                           0.63,
+                                                                                                                           0.5,
+                                                                                                                           1.0
+                                                                                                                       ],
+                                                                                                   "occlusion_reference":  "white_yellow_mug_1",
+                                                                                                   "occlusion_between_object":  "",
+                                                                                                   "occlusion_avoid_target":  "microwave_1",
+                                                                                                   "runtime_target":  "white_yellow_mug_1",
+                                                                                                   "pose_target":  "white_yellow_mug_1",
+                                                                                                   "occluders":  "black_book_occluder_1",
+                                                                                                   "occluder_type":  "black_book",
+                                                                                                   "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                   "occlusion_offset_xy":  [
+                                                                                                                               0.08,
+                                                                                                                               0.0
+                                                                                                                           ],
+                                                                                                   "critical_objects":  "white_yellow_mug_1",
+                                                                                                   "removed_duplicate_objects":  null
+                                                                                               },
+                                                                                               {
+                                                                                                   "task":  "KITCHEN_SCENE8_put_both_moka_pots_on_the_stove",
+                                                                                                   "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl",
+                                                                                                   "target":  "moka_pot_1",
+                                                                                                   "appearance_targets":  "flat_stove_1",
+                                                                                                   "appearance_rgba":  [
+                                                                                                                           0.72,
+                                                                                                                           0.63,
+                                                                                                                           0.5,
+                                                                                                                           1.0
+                                                                                                                       ],
+                                                                                                   "occlusion_reference":  "moka_pot_1",
+                                                                                                   "occlusion_between_object":  "",
+                                                                                                   "occlusion_avoid_target":  "moka_pot_2",
+                                                                                                   "runtime_target":  "moka_pot_1",
+                                                                                                   "pose_target":  "moka_pot_1",
+                                                                                                   "occluders":  "black_book_occluder_1",
+                                                                                                   "occluder_type":  "black_book",
+                                                                                                   "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                   "occlusion_offset_xy":  [
+                                                                                                                               0.08,
+                                                                                                                               0.0
+                                                                                                                           ],
+                                                                                                   "critical_objects":  [
+                                                                                                                            "moka_pot_1",
+                                                                                                                            "moka_pot_2"
+                                                                                                                        ],
+                                                                                                   "removed_duplicate_objects":  null
+                                                                                               },
+                                                                                               {
+                                                                                                   "task":  "LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket",
+                                                                                                   "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl",
+                                                                                                   "target":  "alphabet_soup_1",
+                                                                                                   "appearance_targets":  "basket_1",
+                                                                                                   "appearance_rgba":  [
+                                                                                                                           0.3,
+                                                                                                                           0.2,
+                                                                                                                           0.12,
+                                                                                                                           1.0
+                                                                                                                       ],
+                                                                                                   "occlusion_reference":  "alphabet_soup_1",
+                                                                                                   "occlusion_between_object":  "",
+                                                                                                   "occlusion_avoid_target":  "cream_cheese_1",
+                                                                                                   "runtime_target":  "alphabet_soup_1",
+                                                                                                   "pose_target":  "alphabet_soup_1",
+                                                                                                   "occluders":  "black_book_occluder_1",
+                                                                                                   "occluder_type":  "black_book",
+                                                                                                   "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                   "occlusion_offset_xy":  [
+                                                                                                                               0.08,
+                                                                                                                               0.0
+                                                                                                                           ],
+                                                                                                   "critical_objects":  [
+                                                                                                                            "alphabet_soup_1",
+                                                                                                                            "basket_1",
+                                                                                                                            "cream_cheese_1"
+                                                                                                                        ],
+                                                                                                   "removed_duplicate_objects":  null
+                                                                                               },
+                                                                                               {
+                                                                                                   "task":  "LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket",
+                                                                                                   "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl",
+                                                                                                   "target":  "alphabet_soup_1",
+                                                                                                   "appearance_targets":  "basket_1",
+                                                                                                   "appearance_rgba":  [
+                                                                                                                           0.3,
+                                                                                                                           0.2,
+                                                                                                                           0.12,
+                                                                                                                           1.0
+                                                                                                                       ],
+                                                                                                   "occlusion_reference":  "alphabet_soup_1",
+                                                                                                   "occlusion_between_object":  "",
+                                                                                                   "occlusion_avoid_target":  "tomato_sauce_1",
+                                                                                                   "runtime_target":  "alphabet_soup_1",
+                                                                                                   "pose_target":  "alphabet_soup_1",
+                                                                                                   "occluders":  "black_book_occluder_1",
+                                                                                                   "occluder_type":  "black_book",
+                                                                                                   "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                   "occlusion_offset_xy":  [
+                                                                                                                               0.08,
+                                                                                                                               0.0
+                                                                                                                           ],
+                                                                                                   "critical_objects":  [
+                                                                                                                            "alphabet_soup_1",
+                                                                                                                            "basket_1",
+                                                                                                                            "tomato_sauce_1"
+                                                                                                                        ],
+                                                                                                   "removed_duplicate_objects":  null
+                                                                                               },
+                                                                                               {
+                                                                                                   "task":  "LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket",
+                                                                                                   "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl",
+                                                                                                   "target":  "cream_cheese_1",
+                                                                                                   "appearance_targets":  "basket_1",
+                                                                                                   "appearance_rgba":  [
+                                                                                                                           0.3,
+                                                                                                                           0.2,
+                                                                                                                           0.12,
+                                                                                                                           1.0
+                                                                                                                       ],
+                                                                                                   "occlusion_reference":  "cream_cheese_1",
+                                                                                                   "occlusion_between_object":  "",
+                                                                                                   "occlusion_avoid_target":  "butter_1",
+                                                                                                   "runtime_target":  "cream_cheese_1",
+                                                                                                   "pose_target":  "cream_cheese_1",
+                                                                                                   "occluders":  "black_book_occluder_1",
+                                                                                                   "occluder_type":  "black_book",
+                                                                                                   "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                   "occlusion_offset_xy":  [
+                                                                                                                               0.08,
+                                                                                                                               0.0
+                                                                                                                           ],
+                                                                                                   "critical_objects":  [
+                                                                                                                            "basket_1",
+                                                                                                                            "butter_1",
+                                                                                                                            "cream_cheese_1"
+                                                                                                                        ],
+                                                                                                   "removed_duplicate_objects":  null
+                                                                                               },
+                                                                                               {
+                                                                                                   "task":  "LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate",
+                                                                                                   "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl",
+                                                                                                   "target":  "plate_1",
+                                                                                                   "appearance_targets":  [
+                                                                                                                              "plate_1",
+                                                                                                                              "plate_2"
+                                                                                                                          ],
+                                                                                                   "appearance_rgba":  [
+                                                                                                                           0.3,
+                                                                                                                           0.2,
+                                                                                                                           0.12,
+                                                                                                                           1.0
+                                                                                                                       ],
+                                                                                                   "occlusion_reference":  "plate_1",
+                                                                                                   "occlusion_between_object":  "",
+                                                                                                   "occlusion_avoid_target":  "plate_2",
+                                                                                                   "runtime_target":  "plate_1",
+                                                                                                   "pose_target":  "plate_1",
+                                                                                                   "occluders":  "black_book_occluder_1",
+                                                                                                   "occluder_type":  "black_book",
+                                                                                                   "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                   "occlusion_offset_xy":  [
+                                                                                                                               0.08,
+                                                                                                                               0.0
+                                                                                                                           ],
+                                                                                                   "critical_objects":  [
+                                                                                                                            "plate_1",
+                                                                                                                            "plate_2",
+                                                                                                                            "porcelain_mug_1",
+                                                                                                                            "white_yellow_mug_1"
+                                                                                                                        ],
+                                                                                                   "removed_duplicate_objects":  null
+                                                                                               },
+                                                                                               {
+                                                                                                   "task":  "LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate",
+                                                                                                   "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl",
+                                                                                                   "target":  "plate_1",
+                                                                                                   "appearance_targets":  "plate_1",
+                                                                                                   "appearance_rgba":  [
+                                                                                                                           0.3,
+                                                                                                                           0.2,
+                                                                                                                           0.12,
+                                                                                                                           1.0
+                                                                                                                       ],
+                                                                                                   "occlusion_reference":  "plate_1",
+                                                                                                   "occlusion_between_object":  "",
+                                                                                                   "occlusion_avoid_target":  "chocolate_pudding_1",
+                                                                                                   "runtime_target":  "plate_1",
+                                                                                                   "pose_target":  "plate_1",
+                                                                                                   "occluders":  "black_book_occluder_1",
+                                                                                                   "occluder_type":  "black_book",
+                                                                                                   "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                   "occlusion_offset_xy":  [
+                                                                                                                               0.08,
+                                                                                                                               0.0
+                                                                                                                           ],
+                                                                                                   "critical_objects":  [
+                                                                                                                            "chocolate_pudding_1",
+                                                                                                                            "plate_1",
+                                                                                                                            "porcelain_mug_1"
+                                                                                                                        ],
+                                                                                                   "removed_duplicate_objects":  null
+                                                                                               },
+                                                                                               {
+                                                                                                   "task":  "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy",
+                                                                                                   "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl",
+                                                                                                   "target":  "black_book_1",
+                                                                                                   "appearance_targets":  "desk_caddy_1",
+                                                                                                   "appearance_rgba":  [
+                                                                                                                           0.5,
+                                                                                                                           0.36,
+                                                                                                                           0.2,
+                                                                                                                           1.0
+                                                                                                                       ],
+                                                                                                   "occlusion_reference":  "black_book_1",
+                                                                                                   "occlusion_between_object":  "",
+                                                                                                   "occlusion_avoid_target":  "desk_caddy_1",
+                                                                                                   "runtime_target":  "black_book_1",
+                                                                                                   "pose_target":  "black_book_1",
+                                                                                                   "occluders":  "yellow_book_1",
+                                                                                                   "occluder_type":  "yellow_book",
+                                                                                                   "occlusion_style":  "upright_book_face_to_agentview_pinned",
+                                                                                                   "occlusion_offset_xy":  [
+                                                                                                                               0.08,
+                                                                                                                               0.0
+                                                                                                                           ],
+                                                                                                   "critical_objects":  "black_book_1",
+                                                                                                   "removed_duplicate_objects":  null
+                                                                                               }
+                                                                                           ]
+                                                                         },
+                                                              "count":  40
+                                                          }
+                   },
+    "total_files":  280
+}
diff --git a/metadata/dataset_index.json b/metadata/dataset_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..b628a2c6228c628734cc8e5f812ce8ca6502a743
--- /dev/null
+++ b/metadata/dataset_index.json
@@ -0,0 +1,1976 @@
+{
+    "schema_version":  1,
+    "generated_at":  "2026-07-17",
+    "total_bddl_files":  280,
+    "counts_by_category":  {
+                               "01_visual_noise_glare":  40,
+                               "02_camera_view_angle":  40,
+                               "03_runtime_object_move":  40,
+                               "04_object_texture":  40,
+                               "05_view_occlusion":  40,
+                               "06_object_shape":  40,
+                               "07_initial_pose_position_angle":  40
+                           },
+    "entries":  [
+                    {
+                        "category":  "01_visual_noise_glare",
+                        "suite":  "libero_10",
+                        "task":  "KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it",
+                        "path":  "bddl_files/01_visual_noise_glare/bddl/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl",
+                        "sha256":  "07bcadf75e130feaf140a7d37b213e17f06084a6a927db11f4b1d7f2387bfafc"
+                    },
+                    {
+                        "category":  "01_visual_noise_glare",
+                        "suite":  "libero_10",
+                        "task":  "KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it",
+                        "path":  "bddl_files/01_visual_noise_glare/bddl/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl",
+                        "sha256":  "a59420bb77ad53afc937631c0a6c8909455ccd48bccd782b4bed883d39a73a8d"
+                    },
+                    {
+                        "category":  "01_visual_noise_glare",
+                        "suite":  "libero_10",
+                        "task":  "KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it",
+                        "path":  "bddl_files/01_visual_noise_glare/bddl/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl",
+                        "sha256":  "ca8d6d9f50f763e92cf1415bc4c4823eeac474729fdd0e3bfd94091224361a98"
+                    },
+                    {
+                        "category":  "01_visual_noise_glare",
+                        "suite":  "libero_10",
+                        "task":  "KITCHEN_SCENE8_put_both_moka_pots_on_the_stove",
+                        "path":  "bddl_files/01_visual_noise_glare/bddl/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl",
+                        "sha256":  "b64c5d45ecbe3614ce17abcf51fbaa71e75d0c8c5417c48e5b3c0175f301cd95"
+                    },
+                    {
+                        "category":  "01_visual_noise_glare",
+                        "suite":  "libero_10",
+                        "task":  "LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket",
+                        "path":  "bddl_files/01_visual_noise_glare/bddl/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl",
+                        "sha256":  "11dad447e58ec1fa7fee31fefd316e2c4a0f95c3c512fa077f541f841a62039a"
+                    },
+                    {
+                        "category":  "01_visual_noise_glare",
+                        "suite":  "libero_10",
+                        "task":  "LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket",
+                        "path":  "bddl_files/01_visual_noise_glare/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl",
+                        "sha256":  "e9681ee52b780e2f57185f0053c6013a8f7c238fb95a5d949395ea5923c4ee93"
+                    },
+                    {
+                        "category":  "01_visual_noise_glare",
+                        "suite":  "libero_10",
+                        "task":  "LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket",
+                        "path":  "bddl_files/01_visual_noise_glare/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl",
+                        "sha256":  "f6d5f52d5b2c7977733cb6b92defdf22c5628fe30df0c3e1ea41c0f197207aa8"
+                    },
+                    {
+                        "category":  "01_visual_noise_glare",
+                        "suite":  "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",
+                        "path":  "bddl_files/01_visual_noise_glare/bddl/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl",
+                        "sha256":  "1084a32980d1c04b8483c6f6e20248e9cbfb5d18c3d769dad4e430b1f875a0a3"
+                    },
+                    {
+                        "category":  "01_visual_noise_glare",
+                        "suite":  "libero_10",
+                        "task":  "LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate",
+                        "path":  "bddl_files/01_visual_noise_glare/bddl/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl",
+                        "sha256":  "ab8acd65d73c07c521c29f48e7cee81c23e86d48513889c58f0f8c6191c90fba"
+                    },
+                    {
+                        "category":  "01_visual_noise_glare",
+                        "suite":  "libero_10",
+                        "task":  "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy",
+                        "path":  "bddl_files/01_visual_noise_glare/bddl/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl",
+                        "sha256":  "cabdd8242badeffd264d24be76792c143d84ce0bb36f7dc3d87b2152ab7f0879"
+                    },
+                    {
+                        "category":  "01_visual_noise_glare",
+                        "suite":  "libero_goal",
+                        "task":  "open_the_middle_drawer_of_the_cabinet",
+                        "path":  "bddl_files/01_visual_noise_glare/bddl/libero_goal/open_the_middle_drawer_of_the_cabinet.bddl",
+                        "sha256":  "2e0dbb92a5d70ed1f9085125fa1b0b05626b2f607ba02e53ec035f33f45db95b"
+                    },
+                    {
+                        "category":  "01_visual_noise_glare",
+                        "suite":  "libero_goal",
+                        "task":  "open_the_top_drawer_and_put_the_bowl_inside",
+                        "path":  "bddl_files/01_visual_noise_glare/bddl/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.bddl",
+                        "sha256":  "86cdade31e22d0b26b03e26a46689396c884b335432cc37297c10201aa2efdc6"
+                    },
+                    {
+                        "category":  "01_visual_noise_glare",
+                        "suite":  "libero_goal",
+                        "task":  "push_the_plate_to_the_front_of_the_stove",
+                        "path":  "bddl_files/01_visual_noise_glare/bddl/libero_goal/push_the_plate_to_the_front_of_the_stove.bddl",
+                        "sha256":  "4444a1222326bef0d56fb7420295c7a5bfb4b2101d42d219ee5ac46a6d0a2970"
+                    },
+                    {
+                        "category":  "01_visual_noise_glare",
+                        "suite":  "libero_goal",
+                        "task":  "put_the_bowl_on_the_plate",
+                        "path":  "bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_bowl_on_the_plate.bddl",
+                        "sha256":  "7fa057b8626b242cf22021f87d9e82b3116107f8dcbe53f625aaf8f9b09bbd7d"
+                    },
+                    {
+                        "category":  "01_visual_noise_glare",
+                        "suite":  "libero_goal",
+                        "task":  "put_the_bowl_on_the_stove",
+                        "path":  "bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_bowl_on_the_stove.bddl",
+                        "sha256":  "094685692c1b411aec2feb7a492a0061b6e0d6c7bae8d356b998a257700aa037"
+                    },
+                    {
+                        "category":  "01_visual_noise_glare",
+                        "suite":  "libero_goal",
+                        "task":  "put_the_bowl_on_top_of_the_cabinet",
+                        "path":  "bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_bowl_on_top_of_the_cabinet.bddl",
+                        "sha256":  "aec263cfbdac70d9077c771cf1da965486b0cee6503e5bc5f2fdab09bdfa8465"
+                    },
+                    {
+                        "category":  "01_visual_noise_glare",
+                        "suite":  "libero_goal",
+                        "task":  "put_the_cream_cheese_in_the_bowl",
+                        "path":  "bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_cream_cheese_in_the_bowl.bddl",
+                        "sha256":  "22774530bd760f0df76ac63c224eda317c398c9839b8575f0f1219a6a03feb2a"
+                    },
+                    {
+                        "category":  "01_visual_noise_glare",
+                        "suite":  "libero_goal",
+                        "task":  "put_the_wine_bottle_on_the_rack",
+                        "path":  "bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_wine_bottle_on_the_rack.bddl",
+                        "sha256":  "666d2407818e7d20ef2d72a098240ebe9d5f4efa011b3051d3ba1a51fe055a4f"
+                    },
+                    {
+                        "category":  "01_visual_noise_glare",
+                        "suite":  "libero_goal",
+                        "task":  "put_the_wine_bottle_on_top_of_the_cabinet",
+                        "path":  "bddl_files/01_visual_noise_glare/bddl/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.bddl",
+                        "sha256":  "4f098bb066c26cf486f38621334702933b9bcf99b0e2bd7b0f6584c0832d4f36"
+                    },
+                    {
+                        "category":  "01_visual_noise_glare",
+                        "suite":  "libero_goal",
+                        "task":  "turn_on_the_stove",
+                        "path":  "bddl_files/01_visual_noise_glare/bddl/libero_goal/turn_on_the_stove.bddl",
+                        "sha256":  "e59dbcd38469b1c544be26cce3b71d2b173b13ab475a0e91cac0a759b4a72124"
+                    },
+                    {
+                        "category":  "01_visual_noise_glare",
+                        "suite":  "libero_object",
+                        "task":  "pick_up_the_alphabet_soup_and_place_it_in_the_basket",
+                        "path":  "bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl",
+                        "sha256":  "acf9cef46d94aaebc21f16851a28b00fb62d2b1944b7e664507a1dd88a7a1f1d"
+                    },
+                    {
+                        "category":  "01_visual_noise_glare",
+                        "suite":  "libero_object",
+                        "task":  "pick_up_the_bbq_sauce_and_place_it_in_the_basket",
+                        "path":  "bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl",
+                        "sha256":  "2a9a6f01c542a4d4c0acbcfc3fda356d02a1968ab1492085a46a03f335465f2f"
+                    },
+                    {
+                        "category":  "01_visual_noise_glare",
+                        "suite":  "libero_object",
+                        "task":  "pick_up_the_butter_and_place_it_in_the_basket",
+                        "path":  "bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl",
+                        "sha256":  "bec9da0136265d75d643ef96b04e9660d423194379ac905ee1849c6c3b53676e"
+                    },
+                    {
+                        "category":  "01_visual_noise_glare",
+                        "suite":  "libero_object",
+                        "task":  "pick_up_the_chocolate_pudding_and_place_it_in_the_basket",
+                        "path":  "bddl_files/01_visual_noise_glare/bddl/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl",
+                        "sha256":  "9d5096ec3dfc5c18f9bc87b877d93f1a95195b00446e3b472aef22a038dfd99e"
+                    },
+                    {
+                        "category":  "01_visual_noise_glare",
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+                        "path":  "bddl_files/02_camera_view_angle/bddl/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl",
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+                        "path":  "bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl",
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+                        "suite":  "libero_spatial",
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+                        "path":  "bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl",
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+                        "path":  "bddl_files/02_camera_view_angle/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl",
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+                        "path":  "bddl_files/03_runtime_object_move/bddl/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl",
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+                        "path":  "bddl_files/03_runtime_object_move/bddl/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl",
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+                        "suite":  "libero_10",
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+                        "path":  "bddl_files/03_runtime_object_move/bddl/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl",
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+                        "suite":  "libero_10",
+                        "task":  "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy",
+                        "path":  "bddl_files/03_runtime_object_move/bddl/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl",
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+                        "path":  "bddl_files/03_runtime_object_move/bddl/libero_goal/open_the_middle_drawer_of_the_cabinet.bddl",
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+                        "path":  "bddl_files/03_runtime_object_move/bddl/libero_goal/push_the_plate_to_the_front_of_the_stove.bddl",
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+                        "suite":  "libero_object",
+                        "task":  "pick_up_the_alphabet_soup_and_place_it_in_the_basket",
+                        "path":  "bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl",
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+                        "suite":  "libero_object",
+                        "task":  "pick_up_the_bbq_sauce_and_place_it_in_the_basket",
+                        "path":  "bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl",
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+                        "task":  "pick_up_the_chocolate_pudding_and_place_it_in_the_basket",
+                        "path":  "bddl_files/03_runtime_object_move/bddl/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl",
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+                        "path":  "bddl_files/06_object_shape/bddl/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl",
+                        "sha256":  "b388ff472675cbb48b87c3e92db2ed2107849a439913620d2fd49c3db4097881"
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+                        "category":  "06_object_shape",
+                        "suite":  "libero_spatial",
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+                        "path":  "bddl_files/06_object_shape/bddl/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl",
+                        "sha256":  "fd1f25ba0e36a726e4497843b8924ed232d8514dc960ce308bb738f23371932c"
+                    },
+                    {
+                        "category":  "06_object_shape",
+                        "suite":  "libero_spatial",
+                        "task":  "pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate",
+                        "path":  "bddl_files/06_object_shape/bddl/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl",
+                        "sha256":  "1946266a632abe349879fe396ed59be214902e9053586c2eee157a87c512fcd9"
+                    },
+                    {
+                        "category":  "06_object_shape",
+                        "suite":  "libero_spatial",
+                        "task":  "pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate",
+                        "path":  "bddl_files/06_object_shape/bddl/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl",
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+                    },
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+                        "category":  "07_initial_pose_position_angle",
+                        "suite":  "libero_10",
+                        "task":  "KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it",
+                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl",
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+                    },
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+                        "suite":  "libero_10",
+                        "task":  "KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it",
+                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl",
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+                        "suite":  "libero_10",
+                        "task":  "KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it",
+                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl",
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+                        "category":  "07_initial_pose_position_angle",
+                        "suite":  "libero_10",
+                        "task":  "KITCHEN_SCENE8_put_both_moka_pots_on_the_stove",
+                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl",
+                        "sha256":  "4daa94c05cd4a7f0697e5fb3af9fc09087fb63aa307c290827f057b0f79ab013"
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+                        "category":  "07_initial_pose_position_angle",
+                        "suite":  "libero_10",
+                        "task":  "LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket",
+                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl",
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+                        "category":  "07_initial_pose_position_angle",
+                        "suite":  "libero_10",
+                        "task":  "LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket",
+                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl",
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+                        "suite":  "libero_10",
+                        "task":  "LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket",
+                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl",
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+                        "category":  "07_initial_pose_position_angle",
+                        "suite":  "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",
+                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl",
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+                        "category":  "07_initial_pose_position_angle",
+                        "suite":  "libero_10",
+                        "task":  "LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate",
+                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl",
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+                        "category":  "07_initial_pose_position_angle",
+                        "suite":  "libero_10",
+                        "task":  "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy",
+                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl",
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+                        "category":  "07_initial_pose_position_angle",
+                        "suite":  "libero_goal",
+                        "task":  "open_the_middle_drawer_of_the_cabinet",
+                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_goal/open_the_middle_drawer_of_the_cabinet.bddl",
+                        "sha256":  "287d7edae7ea3efd9480714992dbf2dc004213bfd5ea14c05bfbb1b84520406a"
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+                        "category":  "07_initial_pose_position_angle",
+                        "suite":  "libero_goal",
+                        "task":  "open_the_top_drawer_and_put_the_bowl_inside",
+                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.bddl",
+                        "sha256":  "275b7359985c46d19910d5be4ed04b2e939acef7dcfdde82e3590186c3417464"
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+                        "category":  "07_initial_pose_position_angle",
+                        "suite":  "libero_goal",
+                        "task":  "push_the_plate_to_the_front_of_the_stove",
+                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_goal/push_the_plate_to_the_front_of_the_stove.bddl",
+                        "sha256":  "d12c7a5d97e02aa23918744de687972b9ad61388e5e25d9d399d9998156348ec"
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+                        "suite":  "libero_goal",
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+                        "suite":  "libero_goal",
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+                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_goal/put_the_bowl_on_the_stove.bddl",
+                        "sha256":  "4fb722822302f24f350ab94a1bf53c5d3bdf2d723ae03819a4de26973dae0d09"
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+                        "suite":  "libero_goal",
+                        "task":  "put_the_bowl_on_top_of_the_cabinet",
+                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_goal/put_the_bowl_on_top_of_the_cabinet.bddl",
+                        "sha256":  "9c8b75cbb3d6aca7419de76a7c9733fc91dd7f95b0ce084c6c65aed362ed68a3"
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+                        "suite":  "libero_goal",
+                        "task":  "put_the_cream_cheese_in_the_bowl",
+                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_goal/put_the_cream_cheese_in_the_bowl.bddl",
+                        "sha256":  "10df80556809516b42c5e8f19d49ee5d25299aa4e717dc971ad3347acabb94b3"
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+                        "category":  "07_initial_pose_position_angle",
+                        "suite":  "libero_goal",
+                        "task":  "put_the_wine_bottle_on_the_rack",
+                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_goal/put_the_wine_bottle_on_the_rack.bddl",
+                        "sha256":  "5a6e4042ef3f86b8ec06bae06c520a110b53f5053f034d3e00445ba724d90388"
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+                        "suite":  "libero_goal",
+                        "task":  "put_the_wine_bottle_on_top_of_the_cabinet",
+                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.bddl",
+                        "sha256":  "d5ae94d10d515bb4a26d5e819b492471357ef1b71c160c61c42e979c9d57cfd3"
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+                        "category":  "07_initial_pose_position_angle",
+                        "suite":  "libero_goal",
+                        "task":  "turn_on_the_stove",
+                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_goal/turn_on_the_stove.bddl",
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+                        "category":  "07_initial_pose_position_angle",
+                        "suite":  "libero_object",
+                        "task":  "pick_up_the_alphabet_soup_and_place_it_in_the_basket",
+                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl",
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+                        "suite":  "libero_object",
+                        "task":  "pick_up_the_bbq_sauce_and_place_it_in_the_basket",
+                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl",
+                        "sha256":  "6a7a6e4e630f8a2d5b83ce6f2ef109e92f8addd411cd29160f8c4fea1dfc373a"
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+                        "suite":  "libero_object",
+                        "task":  "pick_up_the_butter_and_place_it_in_the_basket",
+                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl",
+                        "sha256":  "723ff9d760fbf24dccbd7a3e3535655d2f1be6a4fe01f4287f43ffe28ae697ed"
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+                        "suite":  "libero_object",
+                        "task":  "pick_up_the_chocolate_pudding_and_place_it_in_the_basket",
+                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl",
+                        "sha256":  "6c8e9c4b77c7a0938ce91685826c650512b85de49eacc1186f12e03b28f53096"
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+                        "suite":  "libero_object",
+                        "task":  "pick_up_the_cream_cheese_and_place_it_in_the_basket",
+                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl",
+                        "sha256":  "0cbaf3b0fa36aa3cb3b1354d64f1b1f69c041073bf6981c1e8d86c24fafbdf6a"
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+                        "category":  "07_initial_pose_position_angle",
+                        "suite":  "libero_object",
+                        "task":  "pick_up_the_ketchup_and_place_it_in_the_basket",
+                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl",
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+                        "suite":  "libero_object",
+                        "task":  "pick_up_the_milk_and_place_it_in_the_basket",
+                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl",
+                        "sha256":  "c54f799c154356fe633967ef9ee9a549688c83f1b7954a6c37900b28cc133b6e"
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+                        "suite":  "libero_object",
+                        "task":  "pick_up_the_orange_juice_and_place_it_in_the_basket",
+                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl",
+                        "sha256":  "6ca72d550b0cdb9e56ac34dc64150b31b78e12771fe0c49d04d6c09b86c29e24"
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+                        "suite":  "libero_object",
+                        "task":  "pick_up_the_salad_dressing_and_place_it_in_the_basket",
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+                        "suite":  "libero_object",
+                        "task":  "pick_up_the_tomato_sauce_and_place_it_in_the_basket",
+                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl",
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+                        "suite":  "libero_spatial",
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+                        "suite":  "libero_spatial",
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+                        "suite":  "libero_spatial",
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+                        "task":  "pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate",
+                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl",
+                        "sha256":  "22aa051958cbf47fe4de0d29aef2f05a00fba994b2364c6a635f5ecc6af46280"
+                    },
+                    {
+                        "category":  "07_initial_pose_position_angle",
+                        "suite":  "libero_spatial",
+                        "task":  "pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate",
+                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl",
+                        "sha256":  "c246d5e68ad88510f4743ea301a41b07e57231d01ef1b68db0c6ce04183a91fd"
+                    },
+                    {
+                        "category":  "07_initial_pose_position_angle",
+                        "suite":  "libero_spatial",
+                        "task":  "pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate",
+                        "path":  "bddl_files/07_initial_pose_position_angle/bddl/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl",
+                        "sha256":  "eaaf9ed820abf8bcaa25965db41575b408ee89dca78d579c071e817b57d34b9a"
+                    }
+                ]
+}
diff --git a/metadata/static_validation_40task_7perturbation_summary.json b/metadata/static_validation_40task_7perturbation_summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef0b67df3dba325d5908e3d94283f8f3f4088846
--- /dev/null
+++ b/metadata/static_validation_40task_7perturbation_summary.json
@@ -0,0 +1,37396 @@
+{
+    "demo_root":  ".",
+    "expected_categories":  7,
+    "expected_suites":  4,
+    "expected_total":  280,
+    "actual_total":  280,
+    "unique_total":  280,
+    "duplicate_count":  0,
+    "duplicates":  null,
+    "counts":  {
+                   "01_visual_noise_glare":  {
+                                                 "libero_spatial":  10,
+                                                 "libero_object":  10,
+                                                 "libero_goal":  10,
+                                                 "libero_10":  10
+                                             },
+                   "02_camera_view_angle":  {
+                                                "libero_spatial":  10,
+                                                "libero_object":  10,
+                                                "libero_goal":  10,
+                                                "libero_10":  10
+                                            },
+                   "03_runtime_object_move":  {
+                                                  "libero_spatial":  10,
+                                                  "libero_object":  10,
+                                                  "libero_goal":  10,
+                                                  "libero_10":  10
+                                              },
+                   "04_object_texture":  {
+                                             "libero_spatial":  10,
+                                             "libero_object":  10,
+                                             "libero_goal":  10,
+                                             "libero_10":  10
+                                         },
+                   "05_view_occlusion":  {
+                                             "libero_spatial":  10,
+                                             "libero_object":  10,
+                                             "libero_goal":  10,
+                                             "libero_10":  10
+                                         },
+                   "06_object_shape":  {
+                                           "libero_spatial":  10,
+                                           "libero_object":  10,
+                                           "libero_goal":  10,
+                                           "libero_10":  10
+                                       },
+                   "07_initial_pose_position_angle":  {
+                                                          "libero_spatial":  10,
+                                                          "libero_object":  10,
+                                                          "libero_goal":  10,
+                                                          "libero_10":  10
+                                                      }
+               },
+    "failure_count":  0,
+    "failures":  null,
+    "results":  [
+                    {
+                        "path":  "bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl",
+                        "category":  "visual_noise_glare",
+                        "suite":  "libero_spatial",
+                        "task":  "pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate",
+                        "objects":  {
+                                        "akita_black_bowl_1":  "akita_black_bowl",
+                                        "akita_black_bowl_2":  "akita_black_bowl",
+                                        "cookies_1":  "cookies",
+                                        "glazed_rim_porcelain_ramekin_1":  "glazed_rim_porcelain_ramekin",
+                                        "plate_1":  "plate"
+                                    },
+                        "fixtures":  {
+                                         "main_table":  "table",
+                                         "wooden_cabinet_1":  "wooden_cabinet",
+                                         "flat_stove_1":  "flat_stove"
+                                     },
+                        "config":  {
+                                       "case":  "visual_noise_glare",
+                                       "category":  "visual_noise_glare",
+                                       "source_suite":  "libero_spatial",
+                                       "source_task":  "pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate",
+                                       "bddl_only":  true,
+                                       "detail":  "mildly_dim_lighting_with_light_policy_observation_noise",
+                                       "lighting":  {
+                                                        "enabled":  true,
+                                                        "mode":  "dark_lighting",
+                                                        "ambient":  0.02,
+                                                        "diffuse":  0.16,
+                                                        "specular":  0.01
+                                                    },
+                                       "observation":  {
+                                                           "enabled":  true,
+                                                           "mode":  "dark_noise",
+                                                           "brightness":  0.68,
+                                                           "sigma":  12.0
+                                                       },
+                                       "camera":  {
+                                                      "enabled":  false,
+                                                      "mode":  "none",
+                                                      "name":  "agentview",
+                                                      "pos":  [
+                                                                  0.0,
+                                                                  0.0,
+                                                                  0.0
+                                                              ],
+                                                      "quat":  [
+                                                                   1.0,
+                                                                   0.0,
+                                                                   0.0,
+                                                                   0.0
+                                                               ]
+                                                  },
+                                       "runtime_move":  {
+                                                            "enabled":  false,
+                                                            "mode":  "none",
+                                                            "object":  "akita_black_bowl_1",
+                                                            "step":  0,
+                                                            "delta_xy":  [
+                                                                             0.0,
+                                                                             0.0
+                                                                         ],
+                                                            "min_delta_norm":  0.0
+                                                        },
+                                       "object_appearance":  {
+                                                                 "enabled":  false,
+                                                                 "mode":  "none",
+                                                                 "targets":  "plate_1",
+                                                                 "rgba":  [
+                                                                              0.72,
+                                                                              0.63,
+                                                                              0.5,
+                                                                              1.0
+                                                                          ],
+                                                                 "override_material_rgba":  false,
+                                                                 "disable_material_texture":  false,
+                                                                 "apply_visible_geom_rgba":  false
+                                                             },
+                                       "object_placement":  {
+                                                                "enabled":  false,
+                                                                "mode":  "none",
+                                                                "reference":  "akita_black_bowl_1",
+                                                                "front_direction":  [
+                                                                                        1.0,
+                                                                                        0.0
+                                                                                    ],
+                                                                "targets":  "black_book_occluder_1",
+                                                                "offsets_xy":  [
+                                                                                   0.0,
+                                                                                   0.0
+                                                                               ],
+                                                                "target_quat":  [
+                                                                                    1.0,
+                                                                                    0.0,
+                                                                                    0.0,
+                                                                                    0.0
+                                                                                ],
+                                                                "z_offset":  0.0,
+                                                                "mesh_scale":  [
+                                                                                   1.0,
+                                                                                   1.0,
+                                                                                   1.0
+                                                                               ],
+                                                                "min_reference_distance":  0.0,
+                                                                "pin_targets":  false
+                                                            },
+                                       "object_shape":  {
+                                                            "enabled":  false,
+                                                            "mode":  "none",
+                                                            "target":  "akita_black_bowl_1",
+                                                            "mesh_scale":  [
+                                                                               1.0,
+                                                                               1.0,
+                                                                               1.0
+                                                                           ]
+                                                        },
+                                       "initial_pose":  {
+                                                            "enabled":  false,
+                                                            "mode":  "none",
+                                                            "target":  "akita_black_bowl_1",
+                                                            "delta_xy":  [
+                                                                             0.0,
+                                                                             0.0
+                                                                         ],
+                                                            "min_delta_norm":  0.0,
+                                                            "yaw":  0.0
+                                                        }
+                                   },
+                        "errors":  null,
+                        "warnings":  [
+                                         "source-scene duplicate target-type objects are preserved: [\u0027akita_black_bowl_2\u0027]",
+                                         "preserved duplicate \u0027akita_black_bowl_2\u0027 is still referenced in init"
+                                     ],
+                        "ok":  true
+                    },
+                    {
+                        "path":  "bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl",
+                        "category":  "visual_noise_glare",
+                        "suite":  "libero_spatial",
+                        "task":  "pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate",
+                        "objects":  {
+                                        "akita_black_bowl_1":  "akita_black_bowl",
+                                        "akita_black_bowl_2":  "akita_black_bowl",
+                                        "cookies_1":  "cookies",
+                                        "glazed_rim_porcelain_ramekin_1":  "glazed_rim_porcelain_ramekin",
+                                        "plate_1":  "plate"
+                                    },
+                        "fixtures":  {
+                                         "main_table":  "table",
+                                         "wooden_cabinet_1":  "wooden_cabinet",
+                                         "flat_stove_1":  "flat_stove"
+                                     },
+                        "config":  {
+                                       "case":  "visual_noise_glare",
+                                       "category":  "visual_noise_glare",
+                                       "source_suite":  "libero_spatial",
+                                       "source_task":  "pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate",
+                                       "bddl_only":  true,
+                                       "detail":  "mildly_dim_lighting_with_light_policy_observation_noise",
+                                       "lighting":  {
+                                                        "enabled":  true,
+                                                        "mode":  "dark_lighting",
+                                                        "ambient":  0.02,
+                                                        "diffuse":  0.16,
+                                                        "specular":  0.01
+                                                    },
+                                       "observation":  {
+                                                           "enabled":  true,
+                                                           "mode":  "dark_noise",
+                                                           "brightness":  0.68,
+                                                           "sigma":  12.0
+                                                       },
+                                       "camera":  {
+                                                      "enabled":  false,
+                                                      "mode":  "none",
+                                                      "name":  "agentview",
+                                                      "pos":  [
+                                                                  0.0,
+                                                                  0.0,
+                                                                  0.0
+                                                              ],
+                                                      "quat":  [
+                                                                   1.0,
+                                                                   0.0,
+                                                                   0.0,
+                                                                   0.0
+                                                               ]
+                                                  },
+                                       "runtime_move":  {
+                                                            "enabled":  false,
+                                                            "mode":  "none",
+                                                            "object":  "akita_black_bowl_1",
+                                                            "step":  0,
+                                                            "delta_xy":  [
+                                                                             0.0,
+                                                                             0.0
+                                                                         ],
+                                                            "min_delta_norm":  0.0
+                                                        },
+                                       "object_appearance":  {
+                                                                 "enabled":  false,
+                                                                 "mode":  "none",
+                                                                 "targets":  "plate_1",
+                                                                 "rgba":  [
+                                                                              0.72,
+                                                                              0.63,
+                                                                              0.5,
+                                                                              1.0
+                                                                          ],
+                                                                 "override_material_rgba":  false,
+                                                                 "disable_material_texture":  false,
+                                                                 "apply_visible_geom_rgba":  false
+                                                             },
+                                       "object_placement":  {
+                                                                "enabled":  false,
+                                                                "mode":  "none",
+                                                                "reference":  "akita_black_bowl_1",
+                                                                "front_direction":  [
+                                                                                        1.0,
+                                                                                        0.0
+                                                                                    ],
+                                                                "targets":  "black_book_occluder_1",
+                                                                "offsets_xy":  [
+                                                                                   0.0,
+                                                                                   0.0
+                                                                               ],
+                                                                "target_quat":  [
+                                                                                    1.0,
+                                                                                    0.0,
+                                                                                    0.0,
+                                                                                    0.0
+                                                                                ],
+                                                                "z_offset":  0.0,
+                                                                "mesh_scale":  [
+                                                                                   1.0,
+                                                                                   1.0,
+                                                                                   1.0
+                                                                               ],
+                                                                "min_reference_distance":  0.0,
+                                                                "pin_targets":  false
+                                                            },
+                                       "object_shape":  {
+                                                            "enabled":  false,
+                                                            "mode":  "none",
+                                                            "target":  "akita_black_bowl_1",
+                                                            "mesh_scale":  [
+                                                                               1.0,
+                                                                               1.0,
+                                                                               1.0
+                                                                           ]
+                                                        },
+                                       "initial_pose":  {
+                                                            "enabled":  false,
+                                                            "mode":  "none",
+                                                            "target":  "akita_black_bowl_1",
+                                                            "delta_xy":  [
+                                                                             0.0,
+                                                                             0.0
+                                                                         ],
+                                                            "min_delta_norm":  0.0,
+                                                            "yaw":  0.0
+                                                        }
+                                   },
+                        "errors":  null,
+                        "warnings":  [
+                                         "source-scene duplicate target-type objects are preserved: [\u0027akita_black_bowl_2\u0027]",
+                                         "preserved duplicate \u0027akita_black_bowl_2\u0027 is still referenced in init"
+                                     ],
+                        "ok":  true
+                    },
+                    {
+                        "path":  "bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl",
+                        "category":  "visual_noise_glare",
+                        "suite":  "libero_spatial",
+                        "task":  "pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate",
+                        "objects":  {
+                                        "akita_black_bowl_1":  "akita_black_bowl",
+                                        "akita_black_bowl_2":  "akita_black_bowl",
+                                        "cookies_1":  "cookies",
+                                        "glazed_rim_porcelain_ramekin_1":  "glazed_rim_porcelain_ramekin",
+                                        "plate_1":  "plate"
+                                    },
+                        "fixtures":  {
+                                         "main_table":  "table",
+                                         "wooden_cabinet_1":  "wooden_cabinet",
+                                         "flat_stove_1":  "flat_stove"
+                                     },
+                        "config":  {
+                                       "case":  "visual_noise_glare",
+                                       "category":  "visual_noise_glare",
+                                       "source_suite":  "libero_spatial",
+                                       "source_task":  "pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate",
+                                       "bddl_only":  true,
+                                       "detail":  "mildly_dim_lighting_with_light_policy_observation_noise",
+                                       "lighting":  {
+                                                        "enabled":  true,
+                                                        "mode":  "dark_lighting",
+                                                        "ambient":  0.02,
+                                                        "diffuse":  0.16,
+                                                        "specular":  0.01
+                                                    },
+                                       "observation":  {
+                                                           "enabled":  true,
+                                                           "mode":  "dark_noise",
+                                                           "brightness":  0.68,
+                                                           "sigma":  12.0
+                                                       },
+                                       "camera":  {
+                                                      "enabled":  false,
+                                                      "mode":  "none",
+                                                      "name":  "agentview",
+                                                      "pos":  [
+                                                                  0.0,
+                                                                  0.0,
+                                                                  0.0
+                                                              ],
+                                                      "quat":  [
+                                                                   1.0,
+                                                                   0.0,
+                                                                   0.0,
+                                                                   0.0
+                                                               ]
+                                                  },
+                                       "runtime_move":  {
+                                                            "enabled":  false,
+                                                            "mode":  "none",
+                                                            "object":  "akita_black_bowl_1",
+                                                            "step":  0,
+                                                            "delta_xy":  [
+                                                                             0.0,
+                                                                             0.0
+                                                                         ],
+                                                            "min_delta_norm":  0.0
+                                                        },
+                                       "object_appearance":  {
+                                                                 "enabled":  false,
+                                                                 "mode":  "none",
+                                                                 "targets":  "plate_1",
+                                                                 "rgba":  [
+                                                                              0.72,
+                                                                              0.63,
+                                                                              0.5,
+                                                                              1.0
+                                                                          ],
+                                                                 "override_material_rgba":  false,
+                                                                 "disable_material_texture":  false,
+                                                                 "apply_visible_geom_rgba":  false
+                                                             },
+                                       "object_placement":  {
+                                                                "enabled":  false,
+                                                                "mode":  "none",
+                                                                "reference":  "akita_black_bowl_1",
+                                                                "front_direction":  [
+                                                                                        1.0,
+                                                                                        0.0
+                                                                                    ],
+                                                                "targets":  "black_book_occluder_1",
+                                                                "offsets_xy":  [
+                                                                                   0.0,
+                                                                                   0.0
+                                                                               ],
+                                                                "target_quat":  [
+                                                                                    1.0,
+                                                                                    0.0,
+                                                                                    0.0,
+                                                                                    0.0
+                                                                                ],
+                                                                "z_offset":  0.0,
+                                                                "mesh_scale":  [
+                                                                                   1.0,
+                                                                                   1.0,
+                                                                                   1.0
+                                                                               ],
+                                                                "min_reference_distance":  0.0,
+                                                                "pin_targets":  false
+                                                            },
+                                       "object_shape":  {
+                                                            "enabled":  false,
+                                                            "mode":  "none",
+                                                            "target":  "akita_black_bowl_1",
+                                                            "mesh_scale":  [
+                                                                               1.0,
+                                                                               1.0,
+                                                                               1.0
+                                                                           ]
+                                                        },
+                                       "initial_pose":  {
+                                                            "enabled":  false,
+                                                            "mode":  "none",
+                                                            "target":  "akita_black_bowl_1",
+                                                            "delta_xy":  [
+                                                                             0.0,
+                                                                             0.0
+                                                                         ],
+                                                            "min_delta_norm":  0.0,
+                                                            "yaw":  0.0
+                                                        }
+                                   },
+                        "errors":  null,
+                        "warnings":  [
+                                         "source-scene duplicate target-type objects are preserved: [\u0027akita_black_bowl_2\u0027]",
+                                         "preserved duplicate \u0027akita_black_bowl_2\u0027 is still referenced in init"
+                                     ],
+                        "ok":  true
+                    },
+                    {
+                        "path":  "bddl_files/01_visual_noise_glare/bddl/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl",
+                        "category":  "visual_noise_glare",
+                        "suite":  "libero_spatial",
+                        "task":  "pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate",
+                        "objects":  {
+                                        "akita_black_bowl_1":  "akita_black_bowl",
+                                        "akita_black_bowl_2":  "akita_black_bowl",
+                                        "cookies_1":  "cookies",
+                                        "glazed_rim_porcelain_ramekin_1":  "glazed_rim_porcelain_ramekin",
+                                        "plate_1":  "plate"
+                                    },
+                        "fixtures":  {
+                                         "main_table":  "table",
+                                         "wooden_cabinet_1":  "wooden_cabinet",
+                                         "flat_stove_1":  "flat_stove"
+                                     },
+                        "config":  {
+                                       "case":  "visual_noise_glare",
+                                       "category":  "visual_noise_glare",
+                                       "source_suite":  "libero_spatial",
+                                       "source_task":  "pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate",
+                                       "bddl_only":  true,
+                                       "detail":  "mildly_dim_lighting_with_light_policy_observation_noise",
+                                       "lighting":  {
+                                                        "enabled":  true,
+                                                        "mode":  "dark_lighting",
+                                                        "ambient":  0.02,
+                                                        "diffuse":  0.16,
+                                                        "specular":  0.01
+                                                    },
+                                       "observation":  {
+                                                           "enabled":  true,
+                                                           "mode":  "dark_noise",
+                                                           "brightness":  0.68,
+                                                           "sigma":  12.0
+                                                       },
+                                       "camera":  {
+                                                      "enabled":  false,
+                                                      "mode":  "none",
+                                                      "name":  "agentview",
+                                                      "pos":  [
+                                                                  0.0,
+                                                                  0.0,
+                                                                  0.0
+                                                              ],
+                                                      "quat":  [
+                                                                   1.0,
+                                                                   0.0,
+                                                                   0.0,
+                                                                   0.0
+                                                               ]
+                                                  },
+                                       "runtime_move":  {
+                                                            "enabled":  false,
+                                                            "mode":  "none",
+                                                            "object":  "akita_black_bowl_1",
+                                                            "step":  0,
+                                                            "delta_xy":  [
+                                                                             0.0,
+                                                                             0.0
+                                                                         ],
+                                                            "min_delta_norm":  0.0
+                                                        },
+                                       "object_appearance":  {
+                                                                 "enabled":  false,
+                                                                 "mode":  "none",
+                                                                 "targets":  "plate_1",
+                                                                 "rgba":  [
+                                                                              0.72,
+                                                                              0.63,
+                                                                              0.5,
+                                                                              1.0
+                                                                          ],
+                                                                 "override_material_rgba":  false,
+                                                                 "disable_material_texture":  false,
+                                                                 "apply_visible_geom_rgba":  false
+                                                             },
+                                       "object_placement":  {
+                                                                "enabled":  false,
+                                                                "mode":  "none",
+                                                                "reference":  "akita_black_bowl_1",
+                                                                "front_direction":  [
+                                                                                        1.0,
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+                                         "wooden_cabinet_1":  "wooden_cabinet",
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+                                        "akita_black_bowl_2":  "akita_black_bowl",
+                                        "cookies_1":  "cookies",
+                                        "glazed_rim_porcelain_ramekin_1":  "glazed_rim_porcelain_ramekin",
+                                        "plate_1":  "plate"
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+                                         "wooden_cabinet_1":  "wooden_cabinet",
+                                         "flat_stove_1":  "flat_stove"
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+                                       "category":  "initial_pose_position_angle",
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+                                         "flat_stove_1":  "flat_stove"
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+                                        "plate_1":  "plate"
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+                                        "plate_1":  "plate"
+                                    },
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+                                         "wooden_cabinet_1":  "wooden_cabinet",
+                                         "flat_stove_1":  "flat_stove"
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+                                       "category":  "initial_pose_position_angle",
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+                                     ],
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+                                        "basket_1":  "basket",
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+                                        "cream_cheese_1":  "cream_cheese",
+                                        "milk_1":  "milk",
+                                        "tomato_sauce_1":  "tomato_sauce",
+                                        "butter_1":  "butter"
+                                    },
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+                                        "ketchup_1":  "ketchup",
+                                        "salad_dressing_1":  "salad_dressing",
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+                                        "cream_cheese_1":  "cream_cheese"
+                                    },
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+                                     },
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+                                        "tomato_sauce_1":  "tomato_sauce",
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+                                        "ketchup_1":  "ketchup"
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+                                        "ketchup_1":  "ketchup",
+                                        "salad_dressing_1":  "salad_dressing",
+                                        "alphabet_soup_1":  "alphabet_soup"
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+}