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

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

  (:goal
    (and
      (at item1 plate)
      (at item3 plate)
    )
  )
)