(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
  (:domain robosuite)
  (:language Reach the white bowl on the table)
    (:regions
      (white_bowl_init_region
          (:target kitchen_table)
          (:ranges (
              (-1e-06 0.119999 1e-06 0.120001)
            )
          )
          (:yaw_rotation (
              (0.0 0.0)
            )
          )
      )
      (butter_1_1_1_region
          (:target kitchen_table)
          (:ranges (
              (0.07644328110370126 0.23473291136968766 0.07644528110370126 0.23473491136968766)
            )
          )
          (:yaw_rotation (
              (0.0 0.0)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (0.0 0.0)
            )
          )
      )
      (tomato_sauce_1_2_1_region
          (:target kitchen_table)
          (:ranges (
              (0.009999000000000008 0.219999 0.010001000000000006 0.220001)
            )
          )
          (:yaw_rotation (
              (1.57 1.57)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (1.57 1.57)
            )
          )
      )
      (orange_juice_1_3_1_region
          (:target kitchen_table)
          (:ranges (
              (-0.06580667741904996 0.18529583140358521 -0.06580467741904995 0.18529783140358522)
            )
          )
          (:yaw_rotation (
              (1.57 1.57)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (1.57 1.57)
            )
          )
      )
      (ketchup_1_4_1_region
          (:target kitchen_table)
          (:ranges (
              (-0.09483643552248296 0.06705611681717139 -0.09483443552248295 0.06705811681717139)
            )
          )
          (:yaw_rotation (
              (1.57 1.57)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (1.57 1.57)
            )
          )
      )
    )

  (:fixtures
    kitchen_table - kitchen_table
  )

  (:objects
    white_bowl_1 - white_bowl
    butter_1 - butter
    tomato_sauce_1 - tomato_sauce
    orange_juice_1 - orange_juice
    ketchup_1 - ketchup
  )

  (:obj_of_interest
    white_bowl_1
  )

  (:init
    (On white_bowl_1 kitchen_table_white_bowl_init_region)
    (On butter_1 kitchen_table_butter_1_1_1_region)
    (On tomato_sauce_1 kitchen_table_tomato_sauce_1_2_1_region)
    (On orange_juice_1 kitchen_table_orange_juice_1_3_1_region)
    (On ketchup_1 kitchen_table_ketchup_1_4_1_region)
  )

  (:goal
    (And (reached white_bowl_1))
  )

)