(define (problem disposal-problem)
  (:domain robot-disposal)
  (:objects
    tomato2 item2 tomato1 - object
    table bin - location
  )

  (:init
    (at tomato2 table)
    (at item2 table)
    (at tomato1 table)
    (handempty)
  )

  (:goal
    (at rubbish bin)
  )
)