(define (problem robossembler-p1)
    (:domain robossembler)
    (:objects
        ;; information from Scene
        rasmt - arm
        workspace1 - workspace
        ;; information from CAD
        ${types}
    )
    (:init
        ;; information from Scene 
        (assembled subasm0 workspace1)
        ${part_at}
        (arm_available rasmt)

        ;; information from CAD
        ${assembled}
    )
    (:goal
        (and
            ;; information from CAD
            (assembled ${target} workspace1)
        )
    )
)-=