(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)
            )
          )
      )
      (cream_cheese_1_1_1_region
          (:target kitchen_table)
          (:ranges (
              (0.19154591949577218 0.05986342807799613 0.19154791949577218 0.05986542807799613)
            )
          )
          (:yaw_rotation (
              (0.0 0.0)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (0.0 0.0)
            )
          )
      )
      (butter_1_2_2_region
          (:target kitchen_table)
          (:ranges (
              (0.019999000000000003 0.149999 0.020001000000000005 0.150001)
            )
          )
          (:yaw_rotation (
              (0.0 0.0)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (0.0 0.0)
            )
          )
      )
      (orange_juice_1_2_3_region
          (:target kitchen_table)
          (:ranges (
              (0.11999900000000001 0.20999900000000002 0.12000100000000001 0.21000100000000002)
            )
          )
          (: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 (
              (0.033725571347937834 0.06467019978521185 0.033727571347937836 0.06467219978521185)
            )
          )
          (:yaw_rotation (
              (1.57 1.57)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (1.57 1.57)
            )
          )
      )
      (butter_2_3_2_region
          (:target kitchen_table)
          (:ranges (
              (-0.09441114297809322 0.09700579967781778 -0.09440914297809322 0.09700779967781778)
            )
          )
          (:yaw_rotation (
              (0.0 0.0)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (0.0 0.0)
            )
          )
      )
      (salad_dressing_1_4_1_region
          (:target kitchen_table)
          (:ranges (
              (0.05295565061634639 -0.06375303773800711 0.05295765061634639 -0.06375103773800711)
            )
          )
          (:yaw_rotation (
              (1.57 1.57)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (1.57 1.57)
            )
          )
      )
      (tomato_sauce_1_5_3_region
          (:target kitchen_table)
          (:ranges (
              (0.12999899999999995 -0.21000100000000002 0.13000099999999995 -0.20999900000000002)
            )
          )
          (:yaw_rotation (
              (1.57 1.57)
            )
          )
          (:pitch_rotation (
              (0.0 0.0)
            )
          )
          (:roll_rotation (
              (1.57 1.57)
            )
          )
      )
      (butter_3_6_3_region
          (:target kitchen_table)
          (:ranges (
              (0.19625131440312527 -0.09452677250433807 0.19625331440312527 -0.09452477250433806)
            )
          )
          (: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
    butter_1 butter_2 butter_3 - butter
    orange_juice_1 - orange_juice
    milk_1 - milk
    salad_dressing_1 - salad_dressing
    tomato_sauce_1 - tomato_sauce
  )

  (: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 butter_1 kitchen_table_butter_1_2_2_region)
    (On orange_juice_1 kitchen_table_orange_juice_1_2_3_region)
    (On milk_1 kitchen_table_milk_1_3_1_region)
    (On butter_2 kitchen_table_butter_2_3_2_region)
    (On salad_dressing_1 kitchen_table_salad_dressing_1_4_1_region)
    (On tomato_sauce_1 kitchen_table_tomato_sauce_1_5_3_region)
    (On butter_3 kitchen_table_butter_3_6_3_region)
  )

  (:goal
    (And (reached white_bowl_1))
  )

)