/* Initial configuration: D E C A B Goal configuration: D C B E A */ (define (problem blocks5-2) (:objects D E C A B) (:init (on D E) (on E C) (on C A) (on A B) (ontable B) (clear D) ) (:goal (on D C) (on C B) (on B E) (on E A) (ontable A) ) )