Backfill OpenPI third_party libero core code

.gitattributes

@@ -79,3 +79,10 @@ openpi/third_party/aloha/aloha2/RSd405[[:space:]]2020[[:space:]]Worms-eye[[:spac
 openpi/third_party/aloha/aloha2/aloha_gripper_assembly.pdf filter=lfs diff=lfs merge=lfs -text
 openpi/third_party/aloha/aloha2/workcell_v2/Aloha[[:space:]]workcell[[:space:]]v2.stl filter=lfs diff=lfs merge=lfs -text
 openpi/third_party/libero/images/fig1.png filter=lfs diff=lfs merge=lfs -text
+openpi/third_party/libero/libero/libero/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
+openpi/third_party/libero/libero/libero/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
+openpi/third_party/libero/libero/libero/init_files/libero_90/LIVING_ROOM_SCENE2_pick_up_the_alphabet_soup_and_put_it_in_the_basket.init filter=lfs diff=lfs merge=lfs -text
+openpi/third_party/libero/libero/libero/init_files/libero_90/LIVING_ROOM_SCENE2_pick_up_the_butter_and_put_it_in_the_basket.init filter=lfs diff=lfs merge=lfs -text
+openpi/third_party/libero/libero/libero/init_files/libero_90/LIVING_ROOM_SCENE2_pick_up_the_milk_and_put_it_in_the_basket.init filter=lfs diff=lfs merge=lfs -text
+openpi/third_party/libero/libero/libero/init_files/libero_90/LIVING_ROOM_SCENE2_pick_up_the_orange_juice_and_put_it_in_the_basket.init filter=lfs diff=lfs merge=lfs -text
+openpi/third_party/libero/libero/libero/init_files/libero_90/LIVING_ROOM_SCENE2_pick_up_the_tomato_sauce_and_put_it_in_the_basket.init filter=lfs diff=lfs merge=lfs -text

openpi/third_party/libero/libero/libero/__init__.py

@@ -0,0 +1,96 @@
+import os
+import yaml
+
+# This is a default path for localizing all the benchmark related files
+libero_config_path = os.environ.get(
+    "LIBERO_CONFIG_PATH", os.path.expanduser("~/.libero")
+)
+config_file = os.path.join(libero_config_path, "config.yaml")
+
+
+def get_default_path_dict(custom_location=None):
+    if custom_location is None:
+        benchmark_root_path = os.path.dirname(os.path.abspath(__file__))
+    else:
+        benchmark_root_path = custom_location
+
+    # This is a default path for localizing all the default bddl files
+    bddl_files_default_path = os.path.join(benchmark_root_path, "./bddl_files")
+
+    # This is a default path for localizing all the default bddl files
+    init_states_default_path = os.path.join(benchmark_root_path, "./init_files")
+
+    # This is a default path for localizing all the default datasets
+    dataset_default_path = os.path.join(benchmark_root_path, "../datasets")
+
+    # This is a default path for localizing all the default assets
+    assets_default_path = os.path.join(benchmark_root_path, "./assets")
+
+    return {
+        "benchmark_root": benchmark_root_path,
+        "bddl_files": bddl_files_default_path,
+        "init_states": init_states_default_path,
+        "datasets": dataset_default_path,
+        "assets": assets_default_path,
+    }
+
+
+def get_libero_path(query_key):
+    with open(config_file, "r") as f:
+        config = dict(yaml.load(f.read(), Loader=yaml.FullLoader))
+
+    # Give warnings in case the user needs to access the paths
+    for key in config:
+        if not os.path.exists(config[key]):
+            print(f"[Warning]: {key} path {config[key]} does not exist!")
+
+    assert (
+        query_key in config
+    ), f"Key {query_key} not found in config file {config_file}. You need to modify it. Available keys are: {config.keys()}"
+    return config[query_key]
+
+
+def set_libero_default_path(custom_location=os.path.dirname(os.path.abspath(__file__))):
+    print(
+        f"[Warning] You are changing the default path for Libero config. This will affect all the paths in the config file."
+    )
+    new_config = get_default_path_dict(custom_location)
+    with open(config_file, "w") as f:
+        yaml.dump(new_config, f)
+
+
+if not os.path.exists(libero_config_path):
+    os.makedirs(libero_config_path)
+
+if not os.path.exists(config_file):
+    # Create a default config file
+
+    default_path_dict = get_default_path_dict()
+    answer = input(
+        "Do you want to specify a custom path for the dataset folder? (Y/N): "
+    ).lower()
+    if answer == "y":
+        # If the user wants to specify a custom storage path, prompt them to enter it
+        custom_dataset_path = input(
+            "Enter the path where you want to store the datasets: "
+        )
+        full_custom_dataset_path = os.path.join(
+            os.path.abspath(os.path.expanduser(custom_dataset_path)), "datasets"
+        )
+        # Check if the custom storage path exists, and create if it doesn't
+
+        print("The full path of the custom storage path you entered is:")
+        print(full_custom_dataset_path)
+        print("Do you want to continue? (Y/N)")
+        confirm_answer = input().lower()
+        if confirm_answer == "y":
+            if not os.path.exists(full_custom_dataset_path):
+                os.makedirs(full_custom_dataset_path)
+            default_path_dict["datasets"] = full_custom_dataset_path
+    print("Initializing the default config file...")
+    print(f"The following information is stored in the config file: {config_file}")
+    # write all the paths into a yaml file
+    with open(config_file, "w") as f:
+        yaml.dump(default_path_dict, f)
+    for key, value in default_path_dict.items():
+        print(f"{key}: {value}")

openpi/third_party/libero/libero/libero/bddl_files/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl

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

openpi/third_party/libero/libero/libero/bddl_files/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl

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

openpi/third_party/libero/libero/libero/bddl_files/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl

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

openpi/third_party/libero/libero/libero/bddl_files/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl

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

openpi/third_party/libero/libero/libero/bddl_files/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl

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

openpi/third_party/libero/libero/libero/bddl_files/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl

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

openpi/third_party/libero/libero/libero/bddl_files/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl

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

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

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

openpi/third_party/libero/libero/libero/bddl_files/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl

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

openpi/third_party/libero/libero/libero/bddl_files/libero_10/tasks_info.txt

@@ -0,0 +1,10 @@
+libero/bddl_files/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl
+libero/bddl_files/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl
+libero/bddl_files/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl
+libero/bddl_files/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl
+libero/bddl_files/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl
+libero/bddl_files/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl
+libero/bddl_files/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl
+libero/bddl_files/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
+libero/bddl_files/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl
+libero/bddl_files/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl

openpi/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet.bddl

@@ -0,0 +1,102 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language close the top drawer of the cabinet)
+    (:regions
+      (wooden_cabinet_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 -0.31 0.01 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (akita_black_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.125 -0.025 -0.07500000000000001 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (butter_back_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.125 0.17500000000000002 -0.07500000000000001 0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (butter_front_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 0.17500000000000002 0.025 0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (chocolate_pudding_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 0.025 0.025 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (top_side
+          (:target wooden_cabinet_1)
+      )
+      (top_region
+          (:target wooden_cabinet_1)
+      )
+      (middle_region
+          (:target wooden_cabinet_1)
+      )
+      (bottom_region
+          (:target wooden_cabinet_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    wooden_cabinet_1 - wooden_cabinet
+  )
+
+  (:objects
+    akita_black_bowl_1 - akita_black_bowl
+    butter_1 butter_2 - butter
+    chocolate_pudding_1 - chocolate_pudding
+  )
+
+  (:obj_of_interest
+    wooden_cabinet_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region)
+    (On butter_1 kitchen_table_butter_front_init_region)
+    (On butter_2 kitchen_table_butter_back_init_region)
+    (On chocolate_pudding_1 kitchen_table_chocolate_pudding_init_region)
+    (On wooden_cabinet_1 kitchen_table_wooden_cabinet_init_region)
+    (Open wooden_cabinet_1_top_region)
+  )
+
+  (:goal
+    (And (Close wooden_cabinet_1_top_region))
+  )
+
+)

openpi/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet_and_put_the_black_bowl_on_top_of_it.bddl

@@ -0,0 +1,103 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language close the top drawer of the cabinet and put the black bowl on top of it)
+    (:regions
+      (wooden_cabinet_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 -0.31 0.01 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (akita_black_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.125 -0.025 -0.07500000000000001 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (butter_back_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.125 0.17500000000000002 -0.07500000000000001 0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (butter_front_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 0.17500000000000002 0.025 0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (chocolate_pudding_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 0.025 0.025 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (top_side
+          (:target wooden_cabinet_1)
+      )
+      (top_region
+          (:target wooden_cabinet_1)
+      )
+      (middle_region
+          (:target wooden_cabinet_1)
+      )
+      (bottom_region
+          (:target wooden_cabinet_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    wooden_cabinet_1 - wooden_cabinet
+  )
+
+  (:objects
+    akita_black_bowl_1 - akita_black_bowl
+    butter_1 butter_2 - butter
+    chocolate_pudding_1 - chocolate_pudding
+  )
+
+  (:obj_of_interest
+    wooden_cabinet_1
+    akita_black_bowl_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region)
+    (On butter_1 kitchen_table_butter_front_init_region)
+    (On butter_2 kitchen_table_butter_back_init_region)
+    (On chocolate_pudding_1 kitchen_table_chocolate_pudding_init_region)
+    (On wooden_cabinet_1 kitchen_table_wooden_cabinet_init_region)
+    (Open wooden_cabinet_1_top_region)
+  )
+
+  (:goal
+    (And (Close wooden_cabinet_1_top_region) (On akita_black_bowl_1 wooden_cabinet_1_top_side))
+  )
+
+)

openpi/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE10_put_the_black_bowl_in_the_top_drawer_of_the_cabinet.bddl

@@ -0,0 +1,103 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the black bowl in the top drawer of the cabinet)
+    (:regions
+      (wooden_cabinet_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 -0.31 0.01 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (akita_black_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.125 -0.025 -0.07500000000000001 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (butter_back_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.125 0.17500000000000002 -0.07500000000000001 0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (butter_front_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 0.17500000000000002 0.025 0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (chocolate_pudding_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 0.025 0.025 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (top_side
+          (:target wooden_cabinet_1)
+      )
+      (top_region
+          (:target wooden_cabinet_1)
+      )
+      (middle_region
+          (:target wooden_cabinet_1)
+      )
+      (bottom_region
+          (:target wooden_cabinet_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    wooden_cabinet_1 - wooden_cabinet
+  )
+
+  (:objects
+    akita_black_bowl_1 - akita_black_bowl
+    butter_1 butter_2 - butter
+    chocolate_pudding_1 - chocolate_pudding
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    wooden_cabinet_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region)
+    (On butter_1 kitchen_table_butter_front_init_region)
+    (On butter_2 kitchen_table_butter_back_init_region)
+    (On chocolate_pudding_1 kitchen_table_chocolate_pudding_init_region)
+    (On wooden_cabinet_1 kitchen_table_wooden_cabinet_init_region)
+    (Open wooden_cabinet_1_top_region)
+  )
+
+  (:goal
+    (And (In akita_black_bowl_1 wooden_cabinet_1_top_region))
+  )
+
+)

openpi/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE10_put_the_butter_at_the_back_in_the_top_drawer_of_the_cabinet_and_close_it.bddl

@@ -0,0 +1,103 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the butter at the back in the top drawer of the cabinet and close it)
+    (:regions
+      (wooden_cabinet_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 -0.31 0.01 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (akita_black_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.125 -0.025 -0.07500000000000001 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (butter_back_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.125 0.17500000000000002 -0.07500000000000001 0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (butter_front_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 0.17500000000000002 0.025 0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (chocolate_pudding_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 0.025 0.025 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (top_side
+          (:target wooden_cabinet_1)
+      )
+      (top_region
+          (:target wooden_cabinet_1)
+      )
+      (middle_region
+          (:target wooden_cabinet_1)
+      )
+      (bottom_region
+          (:target wooden_cabinet_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    wooden_cabinet_1 - wooden_cabinet
+  )
+
+  (:objects
+    akita_black_bowl_1 - akita_black_bowl
+    butter_1 butter_2 - butter
+    chocolate_pudding_1 - chocolate_pudding
+  )
+
+  (:obj_of_interest
+    butter_2
+    wooden_cabinet_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region)
+    (On butter_1 kitchen_table_butter_front_init_region)
+    (On butter_2 kitchen_table_butter_back_init_region)
+    (On chocolate_pudding_1 kitchen_table_chocolate_pudding_init_region)
+    (On wooden_cabinet_1 kitchen_table_wooden_cabinet_init_region)
+    (Open wooden_cabinet_1_top_region)
+  )
+
+  (:goal
+    (And (In butter_2 wooden_cabinet_1_top_region) (Close wooden_cabinet_1_top_region))
+  )
+
+)

openpi/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE10_put_the_butter_at_the_front_in_the_top_drawer_of_the_cabinet_and_close_it.bddl

@@ -0,0 +1,103 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the butter at the front in the top drawer of the cabinet and close it)
+    (:regions
+      (wooden_cabinet_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 -0.31 0.01 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (akita_black_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.125 -0.025 -0.07500000000000001 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (butter_back_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.125 0.17500000000000002 -0.07500000000000001 0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (butter_front_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 0.17500000000000002 0.025 0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (chocolate_pudding_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 0.025 0.025 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (top_side
+          (:target wooden_cabinet_1)
+      )
+      (top_region
+          (:target wooden_cabinet_1)
+      )
+      (middle_region
+          (:target wooden_cabinet_1)
+      )
+      (bottom_region
+          (:target wooden_cabinet_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    wooden_cabinet_1 - wooden_cabinet
+  )
+
+  (:objects
+    akita_black_bowl_1 - akita_black_bowl
+    butter_1 butter_2 - butter
+    chocolate_pudding_1 - chocolate_pudding
+  )
+
+  (:obj_of_interest
+    butter_1
+    wooden_cabinet_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region)
+    (On butter_1 kitchen_table_butter_front_init_region)
+    (On butter_2 kitchen_table_butter_back_init_region)
+    (On chocolate_pudding_1 kitchen_table_chocolate_pudding_init_region)
+    (On wooden_cabinet_1 kitchen_table_wooden_cabinet_init_region)
+    (Open wooden_cabinet_1_top_region)
+  )
+
+  (:goal
+    (And (In butter_1 wooden_cabinet_1_top_region) (Close wooden_cabinet_1_top_region))
+  )
+
+)

openpi/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE10_put_the_chocolate_pudding_in_the_top_drawer_of_the_cabinet_and_close_it.bddl

@@ -0,0 +1,103 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the chocolate pudding in the top drawer of the cabinet and close it)
+    (:regions
+      (wooden_cabinet_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 -0.31 0.01 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (akita_black_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.125 -0.025 -0.07500000000000001 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (butter_back_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.125 0.17500000000000002 -0.07500000000000001 0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (butter_front_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 0.17500000000000002 0.025 0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (chocolate_pudding_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 0.025 0.025 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (top_side
+          (:target wooden_cabinet_1)
+      )
+      (top_region
+          (:target wooden_cabinet_1)
+      )
+      (middle_region
+          (:target wooden_cabinet_1)
+      )
+      (bottom_region
+          (:target wooden_cabinet_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    wooden_cabinet_1 - wooden_cabinet
+  )
+
+  (:objects
+    akita_black_bowl_1 - akita_black_bowl
+    butter_1 butter_2 - butter
+    chocolate_pudding_1 - chocolate_pudding
+  )
+
+  (:obj_of_interest
+    chocolate_pudding_1
+    wooden_cabinet_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region)
+    (On butter_1 kitchen_table_butter_front_init_region)
+    (On butter_2 kitchen_table_butter_back_init_region)
+    (On chocolate_pudding_1 kitchen_table_chocolate_pudding_init_region)
+    (On wooden_cabinet_1 kitchen_table_wooden_cabinet_init_region)
+    (Open wooden_cabinet_1_top_region)
+  )
+
+  (:goal
+    (And (In chocolate_pudding_1 wooden_cabinet_1_top_region) (Close wooden_cabinet_1_top_region))
+  )
+
+)

openpi/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE1_open_the_bottom_drawer_of_the_cabinet.bddl

@@ -0,0 +1,76 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language open the bottom drawer of the cabinet)
+    (:regions
+      (wooden_cabinet_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 -0.31 0.01 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (akita_black_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 -0.025 0.025 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (plate_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 0.225 0.025 0.275)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (top_side
+          (:target wooden_cabinet_1)
+      )
+      (top_region
+          (:target wooden_cabinet_1)
+      )
+      (middle_region
+          (:target wooden_cabinet_1)
+      )
+      (bottom_region
+          (:target wooden_cabinet_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    wooden_cabinet_1 - wooden_cabinet
+  )
+
+  (:objects
+    akita_black_bowl_1 - akita_black_bowl
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    wooden_cabinet_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region)
+    (On plate_1 kitchen_table_plate_init_region)
+    (On wooden_cabinet_1 kitchen_table_wooden_cabinet_init_region)
+  )
+
+  (:goal
+    (And (Open wooden_cabinet_1_bottom_region))
+  )
+
+)

openpi/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet.bddl

@@ -0,0 +1,76 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language open the top drawer of the cabinet)
+    (:regions
+      (wooden_cabinet_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 -0.31 0.01 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (akita_black_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 -0.025 0.025 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (plate_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 0.225 0.025 0.275)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (top_side
+          (:target wooden_cabinet_1)
+      )
+      (top_region
+          (:target wooden_cabinet_1)
+      )
+      (middle_region
+          (:target wooden_cabinet_1)
+      )
+      (bottom_region
+          (:target wooden_cabinet_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    wooden_cabinet_1 - wooden_cabinet
+  )
+
+  (:objects
+    akita_black_bowl_1 - akita_black_bowl
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    wooden_cabinet_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region)
+    (On plate_1 kitchen_table_plate_init_region)
+    (On wooden_cabinet_1 kitchen_table_wooden_cabinet_init_region)
+  )
+
+  (:goal
+    (And (Open wooden_cabinet_1_top_region))
+  )
+
+)

openpi/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet_and_put_the_bowl_in_it.bddl

@@ -0,0 +1,77 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language open the top drawer of the cabinet and put the bowl in it)
+    (:regions
+      (wooden_cabinet_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 -0.31 0.01 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (akita_black_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 -0.025 0.025 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (plate_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 0.225 0.025 0.275)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (top_side
+          (:target wooden_cabinet_1)
+      )
+      (top_region
+          (:target wooden_cabinet_1)
+      )
+      (middle_region
+          (:target wooden_cabinet_1)
+      )
+      (bottom_region
+          (:target wooden_cabinet_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    wooden_cabinet_1 - wooden_cabinet
+  )
+
+  (:objects
+    akita_black_bowl_1 - akita_black_bowl
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    wooden_cabinet_1
+    akita_black_bowl_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region)
+    (On plate_1 kitchen_table_plate_init_region)
+    (On wooden_cabinet_1 kitchen_table_wooden_cabinet_init_region)
+  )
+
+  (:goal
+    (And (Open wooden_cabinet_1_top_region) (In akita_black_bowl_1 wooden_cabinet_1_top_region))
+  )
+
+)

openpi/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE1_put_the_black_bowl_on_the_plate.bddl

@@ -0,0 +1,77 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the black bowl on the plate)
+    (:regions
+      (wooden_cabinet_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 -0.31 0.01 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (akita_black_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 -0.025 0.025 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (plate_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 0.225 0.025 0.275)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (top_side
+          (:target wooden_cabinet_1)
+      )
+      (top_region
+          (:target wooden_cabinet_1)
+      )
+      (middle_region
+          (:target wooden_cabinet_1)
+      )
+      (bottom_region
+          (:target wooden_cabinet_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    wooden_cabinet_1 - wooden_cabinet
+  )
+
+  (:objects
+    akita_black_bowl_1 - akita_black_bowl
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region)
+    (On plate_1 kitchen_table_plate_init_region)
+    (On wooden_cabinet_1 kitchen_table_wooden_cabinet_init_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+)

openpi/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE1_put_the_black_bowl_on_top_of_the_cabinet.bddl

@@ -0,0 +1,77 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the black bowl on top of the cabinet)
+    (:regions
+      (wooden_cabinet_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 -0.31 0.01 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (akita_black_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 -0.025 0.025 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (plate_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 0.225 0.025 0.275)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (top_side
+          (:target wooden_cabinet_1)
+      )
+      (top_region
+          (:target wooden_cabinet_1)
+      )
+      (middle_region
+          (:target wooden_cabinet_1)
+      )
+      (bottom_region
+          (:target wooden_cabinet_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    wooden_cabinet_1 - wooden_cabinet
+  )
+
+  (:objects
+    akita_black_bowl_1 - akita_black_bowl
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    wooden_cabinet_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region)
+    (On plate_1 kitchen_table_plate_init_region)
+    (On wooden_cabinet_1 kitchen_table_wooden_cabinet_init_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 wooden_cabinet_1_top_side))
+  )
+
+)

openpi/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE2_open_the_top_drawer_of_the_cabinet.bddl

@@ -0,0 +1,100 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language open the top drawer of the cabinet)
+    (:regions
+      (wooden_cabinet_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 -0.31 0.01 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (akita_black_bowl_middle_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.07500000000000001 0.17500000000000002 -0.025 0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (akita_black_bowl_front_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.07500000000000001 0.125 0.125 0.175)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (akita_black_bowl_back_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.175 0.025 -0.125 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (plate_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 -0.025 0.025 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (top_side
+          (:target wooden_cabinet_1)
+      )
+      (top_region
+          (:target wooden_cabinet_1)
+      )
+      (middle_region
+          (:target wooden_cabinet_1)
+      )
+      (bottom_region
+          (:target wooden_cabinet_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    wooden_cabinet_1 - wooden_cabinet
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 akita_black_bowl_3 - akita_black_bowl
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    wooden_cabinet_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 kitchen_table_akita_black_bowl_front_init_region)
+    (On akita_black_bowl_2 kitchen_table_akita_black_bowl_middle_init_region)
+    (On akita_black_bowl_3 kitchen_table_akita_black_bowl_back_init_region)
+    (On plate_1 kitchen_table_plate_init_region)
+    (On wooden_cabinet_1 kitchen_table_wooden_cabinet_init_region)
+  )
+
+  (:goal
+    (And (Open wooden_cabinet_1_top_region))
+  )
+
+)

openpi/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE2_put_the_black_bowl_at_the_back_on_the_plate.bddl

@@ -0,0 +1,101 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the black bowl at the back on the plate)
+    (:regions
+      (wooden_cabinet_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 -0.31 0.01 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (akita_black_bowl_middle_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.07500000000000001 0.17500000000000002 -0.025 0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (akita_black_bowl_front_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.07500000000000001 0.125 0.125 0.175)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (akita_black_bowl_back_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.175 0.025 -0.125 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (plate_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 -0.025 0.025 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (top_side
+          (:target wooden_cabinet_1)
+      )
+      (top_region
+          (:target wooden_cabinet_1)
+      )
+      (middle_region
+          (:target wooden_cabinet_1)
+      )
+      (bottom_region
+          (:target wooden_cabinet_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    wooden_cabinet_1 - wooden_cabinet
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 akita_black_bowl_3 - akita_black_bowl
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_3
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 kitchen_table_akita_black_bowl_front_init_region)
+    (On akita_black_bowl_2 kitchen_table_akita_black_bowl_middle_init_region)
+    (On akita_black_bowl_3 kitchen_table_akita_black_bowl_back_init_region)
+    (On plate_1 kitchen_table_plate_init_region)
+    (On wooden_cabinet_1 kitchen_table_wooden_cabinet_init_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_3 plate_1))
+  )
+
+)

openpi/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE2_put_the_black_bowl_at_the_front_on_the_plate.bddl

@@ -0,0 +1,101 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the black bowl at the front on the plate)
+    (:regions
+      (wooden_cabinet_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 -0.31 0.01 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (akita_black_bowl_middle_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.07500000000000001 0.17500000000000002 -0.025 0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (akita_black_bowl_front_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.07500000000000001 0.125 0.125 0.175)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (akita_black_bowl_back_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.175 0.025 -0.125 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (plate_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 -0.025 0.025 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (top_side
+          (:target wooden_cabinet_1)
+      )
+      (top_region
+          (:target wooden_cabinet_1)
+      )
+      (middle_region
+          (:target wooden_cabinet_1)
+      )
+      (bottom_region
+          (:target wooden_cabinet_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    wooden_cabinet_1 - wooden_cabinet
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 akita_black_bowl_3 - akita_black_bowl
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 kitchen_table_akita_black_bowl_front_init_region)
+    (On akita_black_bowl_2 kitchen_table_akita_black_bowl_middle_init_region)
+    (On akita_black_bowl_3 kitchen_table_akita_black_bowl_back_init_region)
+    (On plate_1 kitchen_table_plate_init_region)
+    (On wooden_cabinet_1 kitchen_table_wooden_cabinet_init_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+)

openpi/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE2_put_the_middle_black_bowl_on_the_plate.bddl

@@ -0,0 +1,101 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the black bowl in the middle on the plate)
+    (:regions
+      (wooden_cabinet_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 -0.31 0.01 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (akita_black_bowl_middle_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.07500000000000001 0.17500000000000002 -0.025 0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (akita_black_bowl_front_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.07500000000000001 0.125 0.125 0.175)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (akita_black_bowl_back_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.175 0.025 -0.125 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (plate_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 -0.025 0.025 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (top_side
+          (:target wooden_cabinet_1)
+      )
+      (top_region
+          (:target wooden_cabinet_1)
+      )
+      (middle_region
+          (:target wooden_cabinet_1)
+      )
+      (bottom_region
+          (:target wooden_cabinet_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    wooden_cabinet_1 - wooden_cabinet
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 akita_black_bowl_3 - akita_black_bowl
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_2
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 kitchen_table_akita_black_bowl_front_init_region)
+    (On akita_black_bowl_2 kitchen_table_akita_black_bowl_middle_init_region)
+    (On akita_black_bowl_3 kitchen_table_akita_black_bowl_back_init_region)
+    (On plate_1 kitchen_table_plate_init_region)
+    (On wooden_cabinet_1 kitchen_table_wooden_cabinet_init_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_2 plate_1))
+  )
+
+)

openpi/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE2_put_the_middle_black_bowl_on_top_of_the_cabinet.bddl

@@ -0,0 +1,101 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the middle black bowl on top of the cabinet)
+    (:regions
+      (wooden_cabinet_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 -0.31 0.01 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (akita_black_bowl_middle_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.07500000000000001 0.17500000000000002 -0.025 0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (akita_black_bowl_front_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.07500000000000001 0.125 0.125 0.175)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (akita_black_bowl_back_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.175 0.025 -0.125 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (plate_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 -0.025 0.025 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (top_side
+          (:target wooden_cabinet_1)
+      )
+      (top_region
+          (:target wooden_cabinet_1)
+      )
+      (middle_region
+          (:target wooden_cabinet_1)
+      )
+      (bottom_region
+          (:target wooden_cabinet_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    wooden_cabinet_1 - wooden_cabinet
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 akita_black_bowl_3 - akita_black_bowl
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_2
+    wooden_cabinet_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 kitchen_table_akita_black_bowl_front_init_region)
+    (On akita_black_bowl_2 kitchen_table_akita_black_bowl_middle_init_region)
+    (On akita_black_bowl_3 kitchen_table_akita_black_bowl_back_init_region)
+    (On plate_1 kitchen_table_plate_init_region)
+    (On wooden_cabinet_1 kitchen_table_wooden_cabinet_init_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_2 wooden_cabinet_1_top_side))
+  )
+
+)

openpi/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle.bddl

@@ -0,0 +1,101 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language stack the black bowl at the front on the black bowl in the middle)
+    (:regions
+      (wooden_cabinet_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 -0.31 0.01 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (akita_black_bowl_middle_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.07500000000000001 0.17500000000000002 -0.025 0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (akita_black_bowl_front_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.07500000000000001 0.125 0.125 0.175)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (akita_black_bowl_back_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.175 0.025 -0.125 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (plate_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 -0.025 0.025 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (top_side
+          (:target wooden_cabinet_1)
+      )
+      (top_region
+          (:target wooden_cabinet_1)
+      )
+      (middle_region
+          (:target wooden_cabinet_1)
+      )
+      (bottom_region
+          (:target wooden_cabinet_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    wooden_cabinet_1 - wooden_cabinet
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 akita_black_bowl_3 - akita_black_bowl
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    akita_black_bowl_2
+  )
+
+  (:init
+    (On akita_black_bowl_1 kitchen_table_akita_black_bowl_front_init_region)
+    (On akita_black_bowl_2 kitchen_table_akita_black_bowl_middle_init_region)
+    (On akita_black_bowl_3 kitchen_table_akita_black_bowl_back_init_region)
+    (On plate_1 kitchen_table_plate_init_region)
+    (On wooden_cabinet_1 kitchen_table_wooden_cabinet_init_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 akita_black_bowl_2))
+  )
+
+)

openpi/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE2_stack_the_middle_black_bowl_on_the_back_black_bowl.bddl

@@ -0,0 +1,101 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language stack the black bowl in the middle on the black bowl at the front)
+    (:regions
+      (wooden_cabinet_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 -0.31 0.01 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (akita_black_bowl_middle_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.07500000000000001 0.17500000000000002 -0.025 0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (akita_black_bowl_front_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.07500000000000001 0.125 0.125 0.175)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (akita_black_bowl_back_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.175 0.025 -0.125 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (plate_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 -0.025 0.025 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (top_side
+          (:target wooden_cabinet_1)
+      )
+      (top_region
+          (:target wooden_cabinet_1)
+      )
+      (middle_region
+          (:target wooden_cabinet_1)
+      )
+      (bottom_region
+          (:target wooden_cabinet_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    wooden_cabinet_1 - wooden_cabinet
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 akita_black_bowl_3 - akita_black_bowl
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_2
+    akita_black_bowl_3
+  )
+
+  (:init
+    (On akita_black_bowl_1 kitchen_table_akita_black_bowl_front_init_region)
+    (On akita_black_bowl_2 kitchen_table_akita_black_bowl_middle_init_region)
+    (On akita_black_bowl_3 kitchen_table_akita_black_bowl_back_init_region)
+    (On plate_1 kitchen_table_plate_init_region)
+    (On wooden_cabinet_1 kitchen_table_wooden_cabinet_init_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_2 akita_black_bowl_3))
+  )
+
+)

openpi/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE3_put_the_frying_pan_on_the_stove.bddl

@@ -0,0 +1,68 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the frying pan on the stove)
+    (: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
+    chefmate_8_frypan_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 (On chefmate_8_frypan_1 flat_stove_1_cook_region))
+  )
+
+)

openpi/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE3_put_the_moka_pot_on_the_stove.bddl

@@ -0,0 +1,68 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the moka pot on the stove)
+    (: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 (On moka_pot_1 flat_stove_1_cook_region))
+  )
+
+)

openpi/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE3_turn_on_the_stove.bddl

@@ -0,0 +1,67 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language turn on the stove)
+    (:regions
+      (flat_stove_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.21000000000000002 0.19 -0.19 0.21000000000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (frypan_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.07500000000000001 -0.275 -0.025 -0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (moka_pot_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.025 -0.025 0.07500000000000001 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cook_region
+          (:target flat_stove_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    chefmate_8_frypan_1 - chefmate_8_frypan
+    moka_pot_1 - moka_pot
+  )
+
+  (:obj_of_interest
+    flat_stove_1
+  )
+
+  (: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))
+  )
+
+)

openpi/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_frying_pan_on_it.bddl

@@ -0,0 +1,68 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language turn on the stove and put the frying pan on it)
+    (:regions
+      (flat_stove_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.21000000000000002 0.19 -0.19 0.21000000000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (frypan_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.07500000000000001 -0.275 -0.025 -0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (moka_pot_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.025 -0.025 0.07500000000000001 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cook_region
+          (:target flat_stove_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    chefmate_8_frypan_1 - chefmate_8_frypan
+    moka_pot_1 - moka_pot
+  )
+
+  (:obj_of_interest
+    chefmate_8_frypan_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 chefmate_8_frypan_1 flat_stove_1_cook_region))
+  )
+
+)

openpi/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet.bddl

@@ -0,0 +1,93 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language close the bottom drawer of the cabinet)
+    (:regions
+      (white_cabinet_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 0.29 0.01 0.31)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (wine_rack_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.11 -0.31 -0.09000000000000001 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (akita_black_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.0049999999999999975 -0.07500000000000001 0.055 -0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (wine_bottle_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.175 0.025 -0.125 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (top_side
+          (:target white_cabinet_1)
+      )
+      (top_region
+          (:target white_cabinet_1)
+      )
+      (middle_region
+          (:target white_cabinet_1)
+      )
+      (bottom_region
+          (:target white_cabinet_1)
+      )
+      (top_region
+          (:target wine_rack_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    white_cabinet_1 - white_cabinet
+    wine_rack_1 - wine_rack
+  )
+
+  (:objects
+    akita_black_bowl_1 - akita_black_bowl
+    wine_bottle_1 - wine_bottle
+  )
+
+  (:obj_of_interest
+    white_cabinet_1
+  )
+
+  (: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))
+  )
+
+)

openpi/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet_and_open_the_top_drawer.bddl

@@ -0,0 +1,93 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language close the bottom drawer of the cabinet and open the top drawer)
+    (:regions
+      (white_cabinet_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 0.29 0.01 0.31)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (wine_rack_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.11 -0.31 -0.09000000000000001 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (akita_black_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.0049999999999999975 -0.07500000000000001 0.055 -0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (wine_bottle_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.175 0.025 -0.125 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (top_side
+          (:target white_cabinet_1)
+      )
+      (top_region
+          (:target white_cabinet_1)
+      )
+      (middle_region
+          (:target white_cabinet_1)
+      )
+      (bottom_region
+          (:target white_cabinet_1)
+      )
+      (top_region
+          (:target wine_rack_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    white_cabinet_1 - white_cabinet
+    wine_rack_1 - wine_rack
+  )
+
+  (:objects
+    akita_black_bowl_1 - akita_black_bowl
+    wine_bottle_1 - wine_bottle
+  )
+
+  (:obj_of_interest
+    white_cabinet_1
+  )
+
+  (: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) (Open white_cabinet_1_top_region))
+  )
+
+)

openpi/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet.bddl

@@ -0,0 +1,94 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the black bowl in the bottom drawer of the cabinet)
+    (: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 (In akita_black_bowl_1 white_cabinet_1_bottom_region))
+  )
+
+)

openpi/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE4_put_the_black_bowl_on_top_of_the_cabinet.bddl

@@ -0,0 +1,94 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the black bowl on top of the cabinet)
+    (: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 (On akita_black_bowl_1 white_cabinet_1_top_side))
+  )
+
+)

openpi/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE4_put_the_wine_bottle_in_the_bottom_drawer_of_the_cabinet.bddl

@@ -0,0 +1,94 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the wine bottle in the bottom drawer of the cabinet)
+    (: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
+    wine_bottle_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 (In wine_bottle_1 white_cabinet_1_bottom_region))
+  )
+
+)

openpi/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE4_put_the_wine_bottle_on_the_wine_rack.bddl

@@ -0,0 +1,94 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the wine bottle on the wine rack)
+    (: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
+    wine_bottle_1
+    wine_rack_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 (On wine_bottle_1 wine_rack_1_top_region))
+  )
+
+)

openpi/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE5_close_the_top_drawer_of_the_cabinet.bddl

@@ -0,0 +1,90 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language close the top drawer of the cabinet)
+    (:regions
+      (white_cabinet_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 0.29 0.01 0.31)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (akita_black_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.0049999999999999975 -0.07500000000000001 0.055 -0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (ketchup_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.125 -0.125 -0.07500000000000001 -0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (plate_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.07500000000000001 -0.275 -0.025 -0.225)
+            )
+          )
+          (: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)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    white_cabinet_1 - white_cabinet
+  )
+
+  (:objects
+    akita_black_bowl_1 - akita_black_bowl
+    plate_1 - plate
+    ketchup_1 - ketchup
+  )
+
+  (:obj_of_interest
+    white_cabinet_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region)
+    (On plate_1 kitchen_table_plate_init_region)
+    (On white_cabinet_1 kitchen_table_white_cabinet_init_region)
+    (On ketchup_1 kitchen_table_ketchup_init_region)
+    (Open white_cabinet_1_top_region)
+  )
+
+  (:goal
+    (And (Close white_cabinet_1_top_region))
+  )
+
+)

openpi/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE5_put_the_black_bowl_in_the_top_drawer_of_the_cabinet.bddl

@@ -0,0 +1,91 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the black bowl in the top drawer of the cabinet)
+    (:regions
+      (white_cabinet_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 0.29 0.01 0.31)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (akita_black_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.0049999999999999975 -0.07500000000000001 0.055 -0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (ketchup_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.125 -0.125 -0.07500000000000001 -0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (plate_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.07500000000000001 -0.275 -0.025 -0.225)
+            )
+          )
+          (: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)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    white_cabinet_1 - white_cabinet
+  )
+
+  (:objects
+    akita_black_bowl_1 - akita_black_bowl
+    plate_1 - plate
+    ketchup_1 - ketchup
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    white_cabinet_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region)
+    (On plate_1 kitchen_table_plate_init_region)
+    (On white_cabinet_1 kitchen_table_white_cabinet_init_region)
+    (On ketchup_1 kitchen_table_ketchup_init_region)
+    (Open white_cabinet_1_top_region)
+  )
+
+  (:goal
+    (And (In akita_black_bowl_1 white_cabinet_1_top_region))
+  )
+
+)

openpi/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE5_put_the_black_bowl_on_the_plate.bddl

@@ -0,0 +1,91 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the black bowl on the plate)
+    (:regions
+      (white_cabinet_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 0.29 0.01 0.31)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (akita_black_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.0049999999999999975 -0.07500000000000001 0.055 -0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (ketchup_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.125 -0.125 -0.07500000000000001 -0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (plate_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.07500000000000001 -0.275 -0.025 -0.225)
+            )
+          )
+          (: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)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    white_cabinet_1 - white_cabinet
+  )
+
+  (:objects
+    akita_black_bowl_1 - akita_black_bowl
+    plate_1 - plate
+    ketchup_1 - ketchup
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region)
+    (On plate_1 kitchen_table_plate_init_region)
+    (On white_cabinet_1 kitchen_table_white_cabinet_init_region)
+    (On ketchup_1 kitchen_table_ketchup_init_region)
+    (Open white_cabinet_1_top_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+)

openpi/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE5_put_the_black_bowl_on_top_of_the_cabinet.bddl

@@ -0,0 +1,91 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the black bowl on top of the cabinet)
+    (:regions
+      (white_cabinet_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 0.29 0.01 0.31)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (akita_black_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.0049999999999999975 -0.07500000000000001 0.055 -0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (ketchup_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.125 -0.125 -0.07500000000000001 -0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (plate_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.07500000000000001 -0.275 -0.025 -0.225)
+            )
+          )
+          (: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)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    white_cabinet_1 - white_cabinet
+  )
+
+  (:objects
+    akita_black_bowl_1 - akita_black_bowl
+    plate_1 - plate
+    ketchup_1 - ketchup
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    white_cabinet_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region)
+    (On plate_1 kitchen_table_plate_init_region)
+    (On white_cabinet_1 kitchen_table_white_cabinet_init_region)
+    (On ketchup_1 kitchen_table_ketchup_init_region)
+    (Open white_cabinet_1_top_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 white_cabinet_1_top_side))
+  )
+
+)

openpi/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE5_put_the_ketchup_in_the_top_drawer_of_the_cabinet.bddl

@@ -0,0 +1,91 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the ketchup in the top drawer of the cabinet)
+    (:regions
+      (white_cabinet_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 0.29 0.01 0.31)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (akita_black_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.0049999999999999975 -0.07500000000000001 0.055 -0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (ketchup_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.125 -0.125 -0.07500000000000001 -0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (plate_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.07500000000000001 -0.275 -0.025 -0.225)
+            )
+          )
+          (: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)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    white_cabinet_1 - white_cabinet
+  )
+
+  (:objects
+    akita_black_bowl_1 - akita_black_bowl
+    plate_1 - plate
+    ketchup_1 - ketchup
+  )
+
+  (:obj_of_interest
+    ketchup_1
+    white_cabinet_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region)
+    (On plate_1 kitchen_table_plate_init_region)
+    (On white_cabinet_1 kitchen_table_white_cabinet_init_region)
+    (On ketchup_1 kitchen_table_ketchup_init_region)
+    (Open white_cabinet_1_top_region)
+  )
+
+  (:goal
+    (And (In ketchup_1 white_cabinet_1_top_region))
+  )
+
+)

openpi/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE6_close_the_microwave.bddl

@@ -0,0 +1,82 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language close the microwave)
+    (: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
+    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 (Close microwave_1))
+  )
+
+)

openpi/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE6_put_the_yellow_and_white_mug_to_the_front_of_the_white_mug.bddl

@@ -0,0 +1,83 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the yellow and white mug to the front of the white mug)
+    (:regions
+      (microwave_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 0.33999999999999997 0.01 0.36)
+            )
+          )
+          (:yaw_rotation (
+              (0 0)
+            )
+          )
+      )
+      (white_yellow_mug_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 -0.025 0.025 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (porcelain_mug_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.125 -0.275 -0.07500000000000001 -0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (porcelain_mug_front_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.05 -0.3 0.05 -0.2)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (top_side
+          (:target microwave_1)
+      )
+      (heating_region
+          (:target microwave_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    microwave_1 - microwave
+  )
+
+  (:objects
+    porcelain_mug_1 - porcelain_mug
+    white_yellow_mug_1 - white_yellow_mug
+  )
+
+  (:obj_of_interest
+    porcelain_mug_1
+    white_yellow_mug_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 (On white_yellow_mug_1 kitchen_table_porcelain_mug_front_region))
+  )
+
+)

openpi/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE7_open_the_microwave.bddl

@@ -0,0 +1,71 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language open the microwave)
+    (:regions
+      (microwave_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 -0.26 0.01 -0.24)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (plate_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 -0.025 0.025 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (plate_right_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.05 0.05 0.05 0.15000000000000002)
+            )
+          )
+          (: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
+    white_bowl_1 - white_bowl
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    microwave_1
+  )
+
+  (:init
+    (On white_bowl_1 microwave_1_top_side)
+    (On microwave_1 kitchen_table_microwave_init_region)
+    (Close microwave_1)
+    (On plate_1 kitchen_table_plate_init_region)
+  )
+
+  (:goal
+    (And (Open microwave_1))
+  )
+
+)

openpi/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE7_put_the_white_bowl_on_the_plate.bddl

@@ -0,0 +1,72 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the white bowl on the plate)
+    (:regions
+      (microwave_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 -0.26 0.01 -0.24)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (plate_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 -0.025 0.025 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (plate_right_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.05 0.05 0.05 0.15000000000000002)
+            )
+          )
+          (: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
+    white_bowl_1 - white_bowl
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    white_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On white_bowl_1 microwave_1_top_side)
+    (On microwave_1 kitchen_table_microwave_init_region)
+    (Close microwave_1)
+    (On plate_1 kitchen_table_plate_init_region)
+  )
+
+  (:goal
+    (And (On white_bowl_1 plate_1))
+  )
+
+)