(define (problem combined-problem)

  (:domain combined-domain)

  (:objects

    tomato1 tomato2 rubbish - object

    table plate - location

    bottom middle top - drawer

    gripper - gripper

    side-pos-bottom anchor-pos-bottom

    side-pos-middle anchor-pos-middle

    side-pos-top anchor-pos-top

    nowhere-pos - position

    zero_deg ninety_deg - angle

  )

  (:init

    (at tomato1 table)

    (at tomato2 table)

    (at rubbish table)

    (handempty)

    (gripper-at gripper nowhere-pos)

    (rotated gripper zero_deg)

    (is-locked top)

    (is-locked middle)

    (is-side-pos side-pos-bottom bottom)

    (is-anchor-pos anchor-pos-bottom bottom)

    (is-side-pos side-pos-middle middle)

    (is-anchor-pos anchor-pos-middle middle)

    (is-side-pos side-pos-top top)

    (is-anchor-pos anchor-pos-top top)

  )

  (:goal

    (and

      (or (is-open bottom)

          (is-open middle)

          (is-open top))

      (at tomato1 plate)

      (at tomato2 plate)

    )

  )

)
