(define (problem disposal-problem)
  (:domain robot-disposal)
  (:objects
    item1 item2 item3 - object
    table plate - location
  )

  (:init
    (at item1 table)
    (at item2 table)
    (at item3 table)
    (handempty)
  )

  (:goal
    (at tomato1 plate)
    (at tomato2 plate)
  )
)