(define (problem put_items_in_drawer_ready_pose)
  (:domain primitive_skills_static_lock_v4)

  (:objects
    dice1 dice2                                   - object
    handle_bottom handle_middle handle_top        - object
    drawer_bottom drawer_middle drawer_top        - drawer
    floor drawer-area ready-pose                  - location
  )

  (:init
    (on-floor dice1) (on-floor dice2)
    (on-floor handle_bottom)
    (on-floor handle_middle)
    (on-floor handle_top)

    (is-handle handle_bottom)
    (is-handle handle_middle)
    (is-handle handle_top)

    (handle-of handle_bottom drawer_bottom)
    (handle-of handle_middle drawer_middle)
    (handle-of handle_top    drawer_top)

    (hand-empty) (robot-free)
    (robot-at ready-pose)
  )

  (:goal
    (and
      (in-drawer dice1 drawer_top)
      (robot-at ready-pose)
      (not (need-ready))
    )
  )
)