(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 -0.120001 1e-06 -0.119999)
            )
          )
          (:yaw_rotation (
              (0.0 0.0)
            )
          )
      )
      (butter_1_1_1_region
          (:target kitchen_table)
          (:ranges (
              (0.10813994290510334 -0.060808414825062114 0.10814194290510334 -0.06080641482506211)
            )
          )
          (: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 -0.02000099999999999 0.010001000000000006 -0.01999899999999999)
            )
          )
          (: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 (
              (-0.05990531523862373 -0.04992932575878287 -0.05990331523862373 -0.04992732575878287)
            )
          )
          (: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 (
              (-0.090288829880973 -0.1796152967165087 -0.090286829880973 -0.1796132967165087)
            )
          )
          (: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))
  )

)