(define (problem test-problem)
  (:domain open-drawer)
  (:objects
    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 gripper nowhere-pos)
    (rotated gripper zero_deg)
    (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
    (or
      (is-open middle)
      (is-open top)
    )
  )
)