(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)
            )
          )
      )
      (cream_cheese_1_1_1_region
          (:target kitchen_table)
          (:ranges (
              (-0.050790110131412367 0.06217830952564062 -0.050788110131412365 0.062180309525640624)
            )
          )
          (: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 (
              (-0.120001 0.109999 -0.119999 0.110001)
            )
          )
          (: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 (
              (-0.22999864718775967 0.0006849715098641171 -0.22999664718775967 0.0006869715098641172)
            )
          )
          (: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 (
              (-0.3299958238130712 -0.008491862678298942 -0.32999382381307124 -0.008489862678298944)
            )
          )
          (: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 (
              (-0.16597590186665342 -0.07286721966168434 -0.16597390186665342 -0.07286521966168434)
            )
          )
          (: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 (
              (-0.24314578410663756 -0.1823066832557055 -0.24314378410663756 -0.1823046832557055)
            )
          )
          (: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 (
              (-0.12000100000000004 -0.220001 -0.11999900000000004 -0.219999)
            )
          )
          (: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))
  )

)