(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 (
              (0.09450995328938629 0.1426743685263295 0.09451195328938629 0.1426763685263295)
            )
          )
          (: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 0.229999 1.0000000000061232e-06 0.230001)
            )
          )
          (: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 (
              (-0.10848380997344821 0.13735227461125674 -0.10848180997344821 0.13735427461125674)
            )
          )
          (: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 (
              (-0.20666318194158606 0.14817620414476482 -0.20666118194158606 0.14817820414476482)
            )
          )
          (: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 (
              (-0.06009952709899189 0.05868142503735913 -0.06009752709899189 0.058683425037359134)
            )
          )
          (:yaw_rotation (
              (1.57 1.57)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (1.57 1.57)
            )
          )
      )
      (ketchup_1_4_2_region
          (:target kitchen_table)
          (:ranges (
              (-0.15421775961778217 -0.03689966491780991 -0.15421575961778217 -0.03689766491780991)
            )
          )
          (:yaw_rotation (
              (1.57 1.57)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (1.57 1.57)
            )
          )
      )
      (cookies_1_5_2_region
          (:target kitchen_table)
          (:ranges (
              (-1.0000000000404134e-06 -0.100001 9.999999999595865e-07 -0.099999)
            )
          )
          (:yaw_rotation (
              (0.0 0.0)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (0.0 0.0)
            )
          )
      )
    )

  (:fixtures
    kitchen_table - kitchen_table
  )

  (:objects
    white_bowl_1 - white_bowl
    cream_cheese_1 - cream_cheese
    orange_juice_1 - orange_juice
    milk_1 - milk
    tomato_sauce_1 - tomato_sauce
    salad_dressing_1 - salad_dressing
    ketchup_1 - ketchup
    cookies_1 - cookies
  )

  (: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 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)
    (On ketchup_1 kitchen_table_ketchup_1_4_2_region)
    (On cookies_1 kitchen_table_cookies_1_5_2_region)
  )

  (:goal
    (And (reached white_bowl_1))
  )

)