(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 (
              (0.119999 -1e-06 0.120001 1e-06)
            )
          )
          (:yaw_rotation (
              (0.0 0.0)
            )
          )
      )
      (butter_1_1_1_region
          (:target kitchen_table)
          (:ranges (
              (0.21246885455839806 0.09655625496447537 0.21247085455839806 0.09655825496447537)
            )
          )
          (: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 (
              (0.129999 0.099999 0.130001 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 (
              (0.052629693653035645 0.06390012693544578 0.05263169365303565 0.06390212693544578)
            )
          )
          (: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 (
              (0.025571371885076168 -0.05359181647902117 0.02557337188507617 -0.05358981647902117)
            )
          )
          (: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))
  )

)