(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)
            )
          )
      )
      (cream_cheese_1_1_1_region
          (:target kitchen_table)
          (:ranges (
              (0.09741278289750621 0.1525944619691107 0.09741478289750621 0.1525964619691107)
            )
          )
          (:yaw_rotation (
              (0.0 0.0)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (0.0 0.0)
            )
          )
      )
      (orange_juice_1_2_1_region
          (:target kitchen_table)
          (:ranges (
              (-9.999999999938768e-07 0.209999 1.0000000000061232e-06 0.210001)
            )
          )
          (:yaw_rotation (
              (1.57 1.57)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (1.57 1.57)
            )
          )
      )
      (ketchup_1_2_2_region
          (:target kitchen_table)
          (:ranges (
              (-0.010000999999999987 0.31999900000000003 -0.009998999999999989 0.320001)
            )
          )
          (:yaw_rotation (
              (1.57 1.57)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (1.57 1.57)
            )
          )
      )
      (milk_1_3_1_region
          (:target kitchen_table)
          (:ranges (
              (-0.07889898683856654 0.20247704777719053 -0.07889698683856654 0.20247904777719053)
            )
          )
          (:yaw_rotation (
              (1.57 1.57)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (1.57 1.57)
            )
          )
      )
      (tomato_sauce_1_3_2_region
          (:target kitchen_table)
          (:ranges (
              (-0.12779697367713308 0.26495509555438107 -0.12779497367713308 0.264957095554381)
            )
          )
          (:yaw_rotation (
              (1.57 1.57)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (1.57 1.57)
            )
          )
      )
      (salad_dressing_1_4_1_region
          (:target kitchen_table)
          (:ranges (
              (-0.08440594043423938 0.08701859336806597 -0.08440394043423938 0.08702059336806597)
            )
          )
          (: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
    cream_cheese_1 - cream_cheese
    orange_juice_1 - orange_juice
    ketchup_1 - ketchup
    milk_1 - milk
    tomato_sauce_1 - tomato_sauce
    salad_dressing_1 - salad_dressing
  )

  (:obj_of_interest
    white_bowl_1
  )

  (:init
    (On white_bowl_1 kitchen_table_white_bowl_init_region)
    (On cream_cheese_1 kitchen_table_cream_cheese_1_1_1_region)
    (On orange_juice_1 kitchen_table_orange_juice_1_2_1_region)
    (On ketchup_1 kitchen_table_ketchup_1_2_2_region)
    (On milk_1 kitchen_table_milk_1_3_1_region)
    (On tomato_sauce_1 kitchen_table_tomato_sauce_1_3_2_region)
    (On salad_dressing_1 kitchen_table_salad_dressing_1_4_1_region)
  )

  (:goal
    (And (reached white_bowl_1))
  )

)