(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 (
              (-0.120001 -1e-06 -0.119999 1e-06)
            )
          )
          (:yaw_rotation (
              (0.0 0.0)
            )
          )
      )
      (butter_1_1_1_region
          (:target kitchen_table)
          (:ranges (
              (-0.010799560039549232 0.05261146644289228 -0.010797560039549233 0.05261346644289228)
            )
          )
          (: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 (
              (-0.110001 0.099999 -0.109999 0.100001)
            )
          )
          (: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 (
              (-0.2082781958528896 0.03697917339634425 -0.2082761958528896 0.036981173396344255)
            )
          )
          (: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 (
              (-0.22001781413310942 -0.0435552555133851 -0.22001581413310942 -0.0435532555133851)
            )
          )
          (: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))
  )

)