(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
  (:domain robosuite)
  (:language Reach the white bowl on the table)
    (:regions
      (white_bowl_1_region
          (:target kitchen_table)
          (:ranges (
              (-0.155001 -0.195001 -0.154999 -0.194999)
            )
          )
          (:yaw_rotation (
              (0.0 0.0)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (0.0 0.0)
            )
          )
      )
      (milk_1_region
          (:target kitchen_table)
          (:ranges (
              (-0.07000100000000001 -0.190001 -0.069999 -0.189999)
            )
          )
          (:yaw_rotation (
              (1.57 1.57)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (1.57 1.57)
            )
          )
      )
      (tomato_sauce_1_region
          (:target kitchen_table)
          (:ranges (
              (0.074999 -0.190001 0.075001 -0.189999)
            )
          )
          (:yaw_rotation (
              (1.57 1.57)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (1.57 1.57)
            )
          )
      )
      (orange_juice_1_region
          (:target kitchen_table)
          (:ranges (
              (0.20699900000000002 -0.200001 0.20700100000000002 -0.199999)
            )
          )
          (:yaw_rotation (
              (1.57 1.57)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (1.57 1.57)
            )
          )
      )
      (ketchup_1_region
          (:target kitchen_table)
          (:ranges (
              (-0.201001 -0.07100100000000001 -0.200999 -0.070999)
            )
          )
          (:yaw_rotation (
              (1.57 1.57)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (1.57 1.57)
            )
          )
      )
      (cream_cheese_1_region
          (:target kitchen_table)
          (:ranges (
              (-0.065001 -0.055001 -0.064999 -0.054999)
            )
          )
          (:yaw_rotation (
              (0.0 0.0)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (0.0 0.0)
            )
          )
      )
      (salad_dressing_1_region
          (:target kitchen_table)
          (:ranges (
              (0.07299900000000001 -0.061001 0.07300100000000001 -0.060999)
            )
          )
          (: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 (
              (0.154999 -0.07000100000000001 0.155001 -0.069999)
            )
          )
          (:yaw_rotation (
              (0.0 0.0)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (0.0 0.0)
            )
          )
      )
      (chocolate_pudding_1_region
          (:target kitchen_table)
          (:ranges (
              (-0.199001 0.070999 -0.198999 0.07100100000000001)
            )
          )
          (:yaw_rotation (
              (0.0 0.0)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (0.0 0.0)
            )
          )
      )
      (wine_bottle_1_region
          (:target kitchen_table)
          (:ranges (
              (-0.025001000000000002 0.064999 -0.024999 0.065001)
            )
          )
          (:yaw_rotation (
              (0.0 0.0)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (0.0 0.0)
            )
          )
      )
      (macaroni_and_cheese_1_region
          (:target kitchen_table)
          (:ranges (
              (0.068999 0.060999 0.069001 0.061001)
            )
          )
          (:yaw_rotation (
              (0.0 0.0)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (0.0 0.0)
            )
          )
      )
      (popcorn_1_region
          (:target kitchen_table)
          (:ranges (
              (0.200999 0.070999 0.201001 0.07100100000000001)
            )
          )
          (:yaw_rotation (
              (0.0 0.0)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (0.0 0.0)
            )
          )
      )
      (white_yellow_mug_1_region
          (:target kitchen_table)
          (:ranges (
              (-0.201001 0.198999 -0.200999 0.199001)
            )
          )
          (:yaw_rotation (
              (0.0 0.0)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (0.0 0.0)
            )
          )
      )
      (milk_2_region
          (:target kitchen_table)
          (:ranges (
              (-0.07000100000000001 0.199999 -0.069999 0.200001)
            )
          )
          (:yaw_rotation (
              (1.57 1.57)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (1.57 1.57)
            )
          )
      )
      (tomato_sauce_2_region
          (:target kitchen_table)
          (:ranges (
              (0.074999 0.199999 0.075001 0.200001)
            )
          )
          (:yaw_rotation (
              (1.57 1.57)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (1.57 1.57)
            )
          )
      )
      (orange_juice_2_region
          (:target kitchen_table)
          (:ranges (
              (0.20699900000000002 0.189999 0.20700100000000002 0.190001)
            )
          )
          (:yaw_rotation (
              (1.57 1.57)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (1.57 1.57)
            )
          )
      )
    )

  (:fixtures
    kitchen_table - kitchen_table
  )

  (:objects
    white_bowl_1 - white_bowl
    milk_1 milk_2 - milk
    tomato_sauce_1 tomato_sauce_2 - tomato_sauce
    orange_juice_1 orange_juice_2 - orange_juice
    ketchup_1 - ketchup
    cream_cheese_1 - cream_cheese
    salad_dressing_1 - salad_dressing
    butter_1 - butter
    chocolate_pudding_1 - chocolate_pudding
    wine_bottle_1 - wine_bottle
    macaroni_and_cheese_1 - macaroni_and_cheese
    popcorn_1 - popcorn
    white_yellow_mug_1 - white_yellow_mug
  )

  (:obj_of_interest
    white_bowl_1
  )

  (:init
    (On white_bowl_1 kitchen_table_white_bowl_1_region)
    (On milk_1 kitchen_table_milk_1_region)
    (On tomato_sauce_1 kitchen_table_tomato_sauce_1_region)
    (On orange_juice_1 kitchen_table_orange_juice_1_region)
    (On ketchup_1 kitchen_table_ketchup_1_region)
    (On cream_cheese_1 kitchen_table_cream_cheese_1_region)
    (On salad_dressing_1 kitchen_table_salad_dressing_1_region)
    (On butter_1 kitchen_table_butter_1_region)
    (On chocolate_pudding_1 kitchen_table_chocolate_pudding_1_region)
    (On wine_bottle_1 kitchen_table_wine_bottle_1_region)
    (On macaroni_and_cheese_1 kitchen_table_macaroni_and_cheese_1_region)
    (On popcorn_1 kitchen_table_popcorn_1_region)
    (On white_yellow_mug_1 kitchen_table_white_yellow_mug_1_region)
    (On milk_2 kitchen_table_milk_2_region)
    (On tomato_sauce_2 kitchen_table_tomato_sauce_2_region)
    (On orange_juice_2 kitchen_table_orange_juice_2_region)
  )

  (:goal
    (And (reached white_bowl_1))
  )

)