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bddl/grid/grid_level_1/GRID_SCENE_task1.bddl

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+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the table)
+    (:regions
+      (white_bowl_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.090001 -0.090001 -0.089999 -0.089999)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (butter_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.089999 -0.110001 0.090001 -0.109999)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (tomato_sauce_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.150001 0.089999 -0.149999 0.090001)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (orange_juice_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.089999 0.089999 0.090001 0.090001)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    white_bowl_1 - white_bowl
+    butter_1 - butter
+    tomato_sauce_1 - tomato_sauce
+    orange_juice_1 - orange_juice
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On white_bowl_1 kitchen_table_white_bowl_1_region)
+    (On butter_1 kitchen_table_butter_1_region)
+    (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region)
+    (On orange_juice_1 kitchen_table_orange_juice_1_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

bddl/grid/grid_level_1/GRID_SCENE_task2.bddl

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+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the table)
+    (:regions
+      (milk_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.17000099999999999 -0.090001 -0.16999899999999998 -0.089999)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (white_bowl_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.149999 -0.090001 0.150001 -0.089999)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (tomato_sauce_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.150001 0.089999 -0.149999 0.090001)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (orange_juice_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.089999 0.089999 0.090001 0.090001)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    milk_1 - milk
+    white_bowl_1 - white_bowl
+    tomato_sauce_1 - tomato_sauce
+    orange_juice_1 - orange_juice
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On milk_1 kitchen_table_milk_1_region)
+    (On white_bowl_1 kitchen_table_white_bowl_1_region)
+    (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region)
+    (On orange_juice_1 kitchen_table_orange_juice_1_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

bddl/grid/grid_level_1/GRID_SCENE_task3.bddl

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+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the table)
+    (:regions
+      (milk_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.17000099999999999 -0.090001 -0.16999899999999998 -0.089999)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (butter_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.089999 -0.110001 0.090001 -0.109999)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (white_bowl_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.090001 0.089999 -0.089999 0.090001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (orange_juice_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.089999 0.089999 0.090001 0.090001)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    milk_1 - milk
+    butter_1 - butter
+    white_bowl_1 - white_bowl
+    orange_juice_1 - orange_juice
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On milk_1 kitchen_table_milk_1_region)
+    (On butter_1 kitchen_table_butter_1_region)
+    (On white_bowl_1 kitchen_table_white_bowl_1_region)
+    (On orange_juice_1 kitchen_table_orange_juice_1_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

bddl/grid/grid_level_1/GRID_SCENE_task4.bddl

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+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the table)
+    (:regions
+      (milk_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.17000099999999999 -0.090001 -0.16999899999999998 -0.089999)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (butter_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.089999 -0.110001 0.090001 -0.109999)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (tomato_sauce_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.150001 0.089999 -0.149999 0.090001)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (white_bowl_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.149999 0.089999 0.150001 0.090001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    milk_1 - milk
+    butter_1 - butter
+    tomato_sauce_1 - tomato_sauce
+    white_bowl_1 - white_bowl
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On milk_1 kitchen_table_milk_1_region)
+    (On butter_1 kitchen_table_butter_1_region)
+    (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region)
+    (On white_bowl_1 kitchen_table_white_bowl_1_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

bddl/grid/grid_level_2/GRID_SCENE_task1.bddl

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+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the table)
+    (:regions
+      (white_bowl_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.160001 -0.080001 -0.159999 -0.079999)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.005001 -0.075001 -0.004999 -0.074999)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (tomato_sauce_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.169999 -0.075001 0.170001 -0.074999)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (ketchup_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.165001 0.074999 -0.164999 0.075001)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (orange_juice_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.009999000000000001 0.074999 0.010001 0.075001)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (cream_cheese_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.159999 0.089999 0.160001 0.090001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    white_bowl_1 - white_bowl
+    milk_1 - milk
+    tomato_sauce_1 - tomato_sauce
+    ketchup_1 - ketchup
+    orange_juice_1 - orange_juice
+    cream_cheese_1 - cream_cheese
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On white_bowl_1 kitchen_table_white_bowl_1_region)
+    (On milk_1 kitchen_table_milk_1_region)
+    (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region)
+    (On ketchup_1 kitchen_table_ketchup_1_region)
+    (On orange_juice_1 kitchen_table_orange_juice_1_region)
+    (On cream_cheese_1 kitchen_table_cream_cheese_1_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

bddl/grid/grid_level_2/GRID_SCENE_task2.bddl

@@ -0,0 +1,151 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the table)
+    (:regions
+      (butter_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.170001 -0.08500100000000001 -0.169999 -0.084999)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (white_bowl_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-1e-06 -0.080001 1e-06 -0.079999)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (tomato_sauce_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.169999 -0.075001 0.170001 -0.074999)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (ketchup_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.165001 0.074999 -0.164999 0.075001)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (orange_juice_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.009999000000000001 0.074999 0.010001 0.075001)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (cream_cheese_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.159999 0.089999 0.160001 0.090001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    butter_1 - butter
+    white_bowl_1 - white_bowl
+    tomato_sauce_1 - tomato_sauce
+    ketchup_1 - ketchup
+    orange_juice_1 - orange_juice
+    cream_cheese_1 - cream_cheese
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On butter_1 kitchen_table_butter_1_region)
+    (On white_bowl_1 kitchen_table_white_bowl_1_region)
+    (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region)
+    (On ketchup_1 kitchen_table_ketchup_1_region)
+    (On orange_juice_1 kitchen_table_orange_juice_1_region)
+    (On cream_cheese_1 kitchen_table_cream_cheese_1_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

bddl/grid/grid_level_2/GRID_SCENE_task3.bddl

@@ -0,0 +1,151 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the table)
+    (:regions
+      (butter_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.170001 -0.08500100000000001 -0.169999 -0.084999)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.005001 -0.075001 -0.004999 -0.074999)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (white_bowl_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.159999 -0.080001 0.160001 -0.079999)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (ketchup_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.165001 0.074999 -0.164999 0.075001)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (orange_juice_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.009999000000000001 0.074999 0.010001 0.075001)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (cream_cheese_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.159999 0.089999 0.160001 0.090001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    butter_1 - butter
+    milk_1 - milk
+    white_bowl_1 - white_bowl
+    ketchup_1 - ketchup
+    orange_juice_1 - orange_juice
+    cream_cheese_1 - cream_cheese
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On butter_1 kitchen_table_butter_1_region)
+    (On milk_1 kitchen_table_milk_1_region)
+    (On white_bowl_1 kitchen_table_white_bowl_1_region)
+    (On ketchup_1 kitchen_table_ketchup_1_region)
+    (On orange_juice_1 kitchen_table_orange_juice_1_region)
+    (On cream_cheese_1 kitchen_table_cream_cheese_1_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

bddl/grid/grid_level_2/GRID_SCENE_task4.bddl

@@ -0,0 +1,151 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the table)
+    (:regions
+      (butter_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.170001 -0.08500100000000001 -0.169999 -0.084999)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.005001 -0.075001 -0.004999 -0.074999)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (tomato_sauce_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.169999 -0.075001 0.170001 -0.074999)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (white_bowl_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.160001 0.079999 -0.159999 0.080001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (orange_juice_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.009999000000000001 0.074999 0.010001 0.075001)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (cream_cheese_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.159999 0.089999 0.160001 0.090001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    butter_1 - butter
+    milk_1 - milk
+    tomato_sauce_1 - tomato_sauce
+    white_bowl_1 - white_bowl
+    orange_juice_1 - orange_juice
+    cream_cheese_1 - cream_cheese
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On butter_1 kitchen_table_butter_1_region)
+    (On milk_1 kitchen_table_milk_1_region)
+    (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region)
+    (On white_bowl_1 kitchen_table_white_bowl_1_region)
+    (On orange_juice_1 kitchen_table_orange_juice_1_region)
+    (On cream_cheese_1 kitchen_table_cream_cheese_1_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

bddl/grid/grid_level_2/GRID_SCENE_task5.bddl

@@ -0,0 +1,151 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the table)
+    (:regions
+      (butter_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.170001 -0.08500100000000001 -0.169999 -0.084999)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.005001 -0.075001 -0.004999 -0.074999)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (tomato_sauce_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.169999 -0.075001 0.170001 -0.074999)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (ketchup_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.165001 0.074999 -0.164999 0.075001)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (orange_juice_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.009999000000000001 0.074999 0.010001 0.075001)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (white_bowl_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.159999 0.079999 0.160001 0.080001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    butter_1 - butter
+    milk_1 - milk
+    tomato_sauce_1 - tomato_sauce
+    ketchup_1 - ketchup
+    orange_juice_1 - orange_juice
+    white_bowl_1 - white_bowl
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On butter_1 kitchen_table_butter_1_region)
+    (On milk_1 kitchen_table_milk_1_region)
+    (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region)
+    (On ketchup_1 kitchen_table_ketchup_1_region)
+    (On orange_juice_1 kitchen_table_orange_juice_1_region)
+    (On white_bowl_1 kitchen_table_white_bowl_1_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

bddl/grid/grid_level_3/GRID_SCENE_task1.bddl

@@ -0,0 +1,214 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the table)
+    (:regions
+      (butter_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.160001 -0.155001 -0.159999 -0.154999)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.005001 -0.145001 -0.004999 -0.144999)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (tomato_sauce_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.159999 -0.145001 0.160001 -0.144999)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (ketchup_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.155001 -0.005001 -0.154999 -0.004999)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (white_bowl_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-1e-06 -1e-06 1e-06 1e-06)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (orange_juice_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.159999 -0.005001 0.160001 -0.004999)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (cream_cheese_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.150001 0.159999 -0.149999 0.160001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (salad_dressing_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.007999000000000001 0.153999 0.008001 0.154001)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (bbq_sauce_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.149999 0.141999 0.150001 0.142001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    butter_1 - butter
+    milk_1 - milk
+    tomato_sauce_1 - tomato_sauce
+    ketchup_1 - ketchup
+    white_bowl_1 - white_bowl
+    orange_juice_1 - orange_juice
+    cream_cheese_1 - cream_cheese
+    salad_dressing_1 - salad_dressing
+    bbq_sauce_1 - bbq_sauce
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On butter_1 kitchen_table_butter_1_region)
+    (On milk_1 kitchen_table_milk_1_region)
+    (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region)
+    (On ketchup_1 kitchen_table_ketchup_1_region)
+    (On white_bowl_1 kitchen_table_white_bowl_1_region)
+    (On orange_juice_1 kitchen_table_orange_juice_1_region)
+    (On cream_cheese_1 kitchen_table_cream_cheese_1_region)
+    (On salad_dressing_1 kitchen_table_salad_dressing_1_region)
+    (On bbq_sauce_1 kitchen_table_bbq_sauce_1_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

bddl/grid/grid_level_3/GRID_SCENE_task2.bddl

@@ -0,0 +1,214 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the table)
+    (:regions
+      (butter_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.160001 -0.155001 -0.159999 -0.154999)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (white_bowl_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-1e-06 -0.150001 1e-06 -0.149999)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (tomato_sauce_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.159999 -0.145001 0.160001 -0.144999)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (ketchup_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.155001 -0.005001 -0.154999 -0.004999)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (milk_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.005001 0.004999 -0.004999 0.005001)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (orange_juice_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.159999 -0.005001 0.160001 -0.004999)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (cream_cheese_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.150001 0.159999 -0.149999 0.160001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (salad_dressing_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.007999000000000001 0.153999 0.008001 0.154001)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (bbq_sauce_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.149999 0.141999 0.150001 0.142001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    butter_1 - butter
+    white_bowl_1 - white_bowl
+    tomato_sauce_1 - tomato_sauce
+    ketchup_1 - ketchup
+    milk_1 - milk
+    orange_juice_1 - orange_juice
+    cream_cheese_1 - cream_cheese
+    salad_dressing_1 - salad_dressing
+    bbq_sauce_1 - bbq_sauce
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On butter_1 kitchen_table_butter_1_region)
+    (On white_bowl_1 kitchen_table_white_bowl_1_region)
+    (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region)
+    (On ketchup_1 kitchen_table_ketchup_1_region)
+    (On milk_1 kitchen_table_milk_1_region)
+    (On orange_juice_1 kitchen_table_orange_juice_1_region)
+    (On cream_cheese_1 kitchen_table_cream_cheese_1_region)
+    (On salad_dressing_1 kitchen_table_salad_dressing_1_region)
+    (On bbq_sauce_1 kitchen_table_bbq_sauce_1_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

bddl/grid/grid_level_3/GRID_SCENE_task3.bddl

@@ -0,0 +1,214 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the table)
+    (:regions
+      (butter_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.160001 -0.155001 -0.159999 -0.154999)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.005001 -0.145001 -0.004999 -0.144999)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (tomato_sauce_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.159999 -0.145001 0.160001 -0.144999)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (ketchup_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.155001 -0.005001 -0.154999 -0.004999)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (orange_juice_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.009999000000000001 -0.005001 0.010001 -0.004999)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (bbq_sauce_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.149999 -0.008001 0.150001 -0.007999000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (cream_cheese_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.150001 0.159999 -0.149999 0.160001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (white_bowl_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-1e-06 0.149999 1e-06 0.150001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (salad_dressing_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.157999 0.153999 0.158001 0.154001)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    butter_1 - butter
+    milk_1 - milk
+    tomato_sauce_1 - tomato_sauce
+    ketchup_1 - ketchup
+    orange_juice_1 - orange_juice
+    bbq_sauce_1 - bbq_sauce
+    cream_cheese_1 - cream_cheese
+    white_bowl_1 - white_bowl
+    salad_dressing_1 - salad_dressing
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On butter_1 kitchen_table_butter_1_region)
+    (On milk_1 kitchen_table_milk_1_region)
+    (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region)
+    (On ketchup_1 kitchen_table_ketchup_1_region)
+    (On orange_juice_1 kitchen_table_orange_juice_1_region)
+    (On bbq_sauce_1 kitchen_table_bbq_sauce_1_region)
+    (On cream_cheese_1 kitchen_table_cream_cheese_1_region)
+    (On white_bowl_1 kitchen_table_white_bowl_1_region)
+    (On salad_dressing_1 kitchen_table_salad_dressing_1_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

bddl/grid/grid_level_3/GRID_SCENE_task4.bddl

@@ -0,0 +1,214 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the table)
+    (:regions
+      (butter_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.160001 -0.155001 -0.159999 -0.154999)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.005001 -0.145001 -0.004999 -0.144999)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (tomato_sauce_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.159999 -0.145001 0.160001 -0.144999)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (white_bowl_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.150001 -1e-06 -0.149999 1e-06)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (ketchup_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.005001 -0.005001 -0.004999 -0.004999)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (orange_juice_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.159999 -0.005001 0.160001 -0.004999)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (cream_cheese_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.150001 0.159999 -0.149999 0.160001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (salad_dressing_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.007999000000000001 0.153999 0.008001 0.154001)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (bbq_sauce_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.149999 0.141999 0.150001 0.142001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    butter_1 - butter
+    milk_1 - milk
+    tomato_sauce_1 - tomato_sauce
+    white_bowl_1 - white_bowl
+    ketchup_1 - ketchup
+    orange_juice_1 - orange_juice
+    cream_cheese_1 - cream_cheese
+    salad_dressing_1 - salad_dressing
+    bbq_sauce_1 - bbq_sauce
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On butter_1 kitchen_table_butter_1_region)
+    (On milk_1 kitchen_table_milk_1_region)
+    (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region)
+    (On white_bowl_1 kitchen_table_white_bowl_1_region)
+    (On ketchup_1 kitchen_table_ketchup_1_region)
+    (On orange_juice_1 kitchen_table_orange_juice_1_region)
+    (On cream_cheese_1 kitchen_table_cream_cheese_1_region)
+    (On salad_dressing_1 kitchen_table_salad_dressing_1_region)
+    (On bbq_sauce_1 kitchen_table_bbq_sauce_1_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

bddl/grid/grid_level_3/GRID_SCENE_task5.bddl

@@ -0,0 +1,214 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the table)
+    (:regions
+      (butter_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.160001 -0.155001 -0.159999 -0.154999)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.005001 -0.145001 -0.004999 -0.144999)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (tomato_sauce_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.159999 -0.145001 0.160001 -0.144999)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (ketchup_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.155001 -0.005001 -0.154999 -0.004999)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (orange_juice_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.009999000000000001 -0.005001 0.010001 -0.004999)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (white_bowl_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.149999 -1e-06 0.150001 1e-06)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cream_cheese_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.150001 0.159999 -0.149999 0.160001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (salad_dressing_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.007999000000000001 0.153999 0.008001 0.154001)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (bbq_sauce_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.149999 0.141999 0.150001 0.142001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    butter_1 - butter
+    milk_1 - milk
+    tomato_sauce_1 - tomato_sauce
+    ketchup_1 - ketchup
+    orange_juice_1 - orange_juice
+    white_bowl_1 - white_bowl
+    cream_cheese_1 - cream_cheese
+    salad_dressing_1 - salad_dressing
+    bbq_sauce_1 - bbq_sauce
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On butter_1 kitchen_table_butter_1_region)
+    (On milk_1 kitchen_table_milk_1_region)
+    (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region)
+    (On ketchup_1 kitchen_table_ketchup_1_region)
+    (On orange_juice_1 kitchen_table_orange_juice_1_region)
+    (On white_bowl_1 kitchen_table_white_bowl_1_region)
+    (On cream_cheese_1 kitchen_table_cream_cheese_1_region)
+    (On salad_dressing_1 kitchen_table_salad_dressing_1_region)
+    (On bbq_sauce_1 kitchen_table_bbq_sauce_1_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

bddl/grid/grid_level_4/GRID_SCENE_task1.bddl

@@ -0,0 +1,273 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the table)
+    (:regions
+      (butter_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.22000100000000003 -0.14500100000000002 -0.21999900000000003 -0.14499900000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.07500100000000001 -0.135001 -0.07499900000000001 -0.134999)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (tomato_sauce_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.079999 -0.135001 0.080001 -0.134999)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (orange_juice_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.22199900000000003 -0.14500100000000002 0.22200100000000003 -0.14499900000000002)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (ketchup_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.21500100000000003 -0.005001 -0.21499900000000002 -0.004999)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (white_bowl_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.010001000000000008 -1e-06 -0.00999900000000001 1e-06)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cream_cheese_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.069999 0.009999000000000001 0.07000100000000001 0.010001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (salad_dressing_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.21799900000000003 0.003999 0.21800100000000003 0.004001)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (butter_2_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.22000100000000003 0.134999 -0.21999900000000003 0.135001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_2_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.07500100000000001 0.14499900000000002 -0.07499900000000001 0.14500100000000002)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (tomato_sauce_2_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.079999 0.14499900000000002 0.080001 0.14500100000000002)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (orange_juice_2_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.22199900000000003 0.134999 0.22200100000000003 0.135001)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    butter_1 butter_2 - butter
+    milk_1 milk_2 - milk
+    tomato_sauce_1 tomato_sauce_2 - tomato_sauce
+    orange_juice_1 orange_juice_2 - orange_juice
+    ketchup_1 - ketchup
+    white_bowl_1 - white_bowl
+    cream_cheese_1 - cream_cheese
+    salad_dressing_1 - salad_dressing
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On butter_1 kitchen_table_butter_1_region)
+    (On milk_1 kitchen_table_milk_1_region)
+    (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region)
+    (On orange_juice_1 kitchen_table_orange_juice_1_region)
+    (On ketchup_1 kitchen_table_ketchup_1_region)
+    (On white_bowl_1 kitchen_table_white_bowl_1_region)
+    (On cream_cheese_1 kitchen_table_cream_cheese_1_region)
+    (On salad_dressing_1 kitchen_table_salad_dressing_1_region)
+    (On butter_2 kitchen_table_butter_2_region)
+    (On milk_2 kitchen_table_milk_2_region)
+    (On tomato_sauce_2 kitchen_table_tomato_sauce_2_region)
+    (On orange_juice_2 kitchen_table_orange_juice_2_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

bddl/grid/grid_level_4/GRID_SCENE_task2.bddl

@@ -0,0 +1,273 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the table)
+    (:regions
+      (butter_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.22000100000000003 -0.14500100000000002 -0.21999900000000003 -0.14499900000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (white_bowl_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.030001000000000007 -0.14000100000000001 -0.029999000000000005 -0.139999)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (tomato_sauce_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.079999 -0.135001 0.080001 -0.134999)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (orange_juice_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.22199900000000003 -0.14500100000000002 0.22200100000000003 -0.14499900000000002)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (ketchup_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.21500100000000003 -0.005001 -0.21499900000000002 -0.004999)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (milk_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.07500100000000001 0.004999 -0.07499900000000001 0.005001)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (cream_cheese_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.069999 0.009999000000000001 0.07000100000000001 0.010001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (salad_dressing_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.21799900000000003 0.003999 0.21800100000000003 0.004001)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (butter_2_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.22000100000000003 0.134999 -0.21999900000000003 0.135001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_2_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.07500100000000001 0.14499900000000002 -0.07499900000000001 0.14500100000000002)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (tomato_sauce_2_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.079999 0.14499900000000002 0.080001 0.14500100000000002)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (orange_juice_2_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.22199900000000003 0.134999 0.22200100000000003 0.135001)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    butter_1 butter_2 - butter
+    white_bowl_1 - white_bowl
+    tomato_sauce_1 tomato_sauce_2 - tomato_sauce
+    orange_juice_1 orange_juice_2 - orange_juice
+    ketchup_1 - ketchup
+    milk_1 milk_2 - milk
+    cream_cheese_1 - cream_cheese
+    salad_dressing_1 - salad_dressing
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On butter_1 kitchen_table_butter_1_region)
+    (On white_bowl_1 kitchen_table_white_bowl_1_region)
+    (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region)
+    (On orange_juice_1 kitchen_table_orange_juice_1_region)
+    (On ketchup_1 kitchen_table_ketchup_1_region)
+    (On milk_1 kitchen_table_milk_1_region)
+    (On cream_cheese_1 kitchen_table_cream_cheese_1_region)
+    (On salad_dressing_1 kitchen_table_salad_dressing_1_region)
+    (On butter_2 kitchen_table_butter_2_region)
+    (On milk_2 kitchen_table_milk_2_region)
+    (On tomato_sauce_2 kitchen_table_tomato_sauce_2_region)
+    (On orange_juice_2 kitchen_table_orange_juice_2_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)

bddl/grid/grid_level_4/GRID_SCENE_task3.bddl

@@ -0,0 +1,273 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Reach the white bowl on the table)
+    (:regions
+      (butter_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.22000100000000003 -0.14500100000000002 -0.21999900000000003 -0.14499900000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.07500100000000001 -0.135001 -0.07499900000000001 -0.134999)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (tomato_sauce_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.079999 -0.135001 0.080001 -0.134999)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (orange_juice_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.22199900000000003 -0.14500100000000002 0.22200100000000003 -0.14499900000000002)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (ketchup_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.21500100000000003 -0.005001 -0.21499900000000002 -0.004999)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (cream_cheese_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.07000100000000001 0.009999000000000001 -0.069999 0.010001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (white_bowl_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.10999900000000001 -1e-06 0.11000100000000002 1e-06)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (salad_dressing_1_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.21799900000000003 0.003999 0.21800100000000003 0.004001)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (butter_2_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.22000100000000003 0.134999 -0.21999900000000003 0.135001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_2_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.07500100000000001 0.14499900000000002 -0.07499900000000001 0.14500100000000002)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (tomato_sauce_2_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.079999 0.14499900000000002 0.080001 0.14500100000000002)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+      (orange_juice_2_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.22199900000000003 0.134999 0.22200100000000003 0.135001)
+            )
+          )
+          (:yaw_rotation (
+              (1.57 1.57)
+            )
+          )
+          (:pitch_rotation (
+              (0.0 0.0)
+            )
+          )
+          (:roll_rotation (
+              (1.57 1.57)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+  )
+
+  (:objects
+    butter_1 butter_2 - butter
+    milk_1 milk_2 - milk
+    tomato_sauce_1 tomato_sauce_2 - tomato_sauce
+    orange_juice_1 orange_juice_2 - orange_juice
+    ketchup_1 - ketchup
+    cream_cheese_1 - cream_cheese
+    white_bowl_1 - white_bowl
+    salad_dressing_1 - salad_dressing
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+  )
+
+  (:init
+    (On butter_1 kitchen_table_butter_1_region)
+    (On milk_1 kitchen_table_milk_1_region)
+    (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region)
+    (On orange_juice_1 kitchen_table_orange_juice_1_region)
+    (On ketchup_1 kitchen_table_ketchup_1_region)
+    (On cream_cheese_1 kitchen_table_cream_cheese_1_region)
+    (On white_bowl_1 kitchen_table_white_bowl_1_region)
+    (On salad_dressing_1 kitchen_table_salad_dressing_1_region)
+    (On butter_2 kitchen_table_butter_2_region)
+    (On milk_2 kitchen_table_milk_2_region)
+    (On tomato_sauce_2 kitchen_table_tomato_sauce_2_region)
+    (On orange_juice_2 kitchen_table_orange_juice_2_region)
+  )
+
+  (:goal
+    (And (reached white_bowl_1))
+  )
+
+)