(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
  (:domain robosuite)
  (:language Reach the white bowl on the table)
    (:regions
      (milk_1_region
          (:target kitchen_table)
          (:ranges (
              (-0.17000099999999999 -0.090001 -0.16999899999999998 -0.089999)
            )
          )
          (:yaw_rotation (
              (1.57 1.57)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (1.57 1.57)
            )
          )
      )
      (butter_1_region
          (:target kitchen_table)
          (:ranges (
              (0.089999 -0.110001 0.090001 -0.109999)
            )
          )
          (:yaw_rotation (
              (0.0 0.0)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (0.0 0.0)
            )
          )
      )
      (white_bowl_1_region
          (:target kitchen_table)
          (:ranges (
              (-0.090001 0.089999 -0.089999 0.090001)
            )
          )
          (:yaw_rotation (
              (0.0 0.0)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (0.0 0.0)
            )
          )
      )
      (orange_juice_1_region
          (:target kitchen_table)
          (:ranges (
              (0.089999 0.089999 0.090001 0.090001)
            )
          )
          (:yaw_rotation (
              (1.57 1.57)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (1.57 1.57)
            )
          )
      )
    )

  (:fixtures
    kitchen_table - kitchen_table
  )

  (:objects
    milk_1 - milk
    butter_1 - butter
    white_bowl_1 - white_bowl
    orange_juice_1 - orange_juice
  )

  (:obj_of_interest
    white_bowl_1
  )

  (:init
    (On milk_1 kitchen_table_milk_1_region)
    (On butter_1 kitchen_table_butter_1_region)
    (On white_bowl_1 kitchen_table_white_bowl_1_region)
    (On orange_juice_1 kitchen_table_orange_juice_1_region)
  )

  (:goal
    (And (reached white_bowl_1))
  )

)