(define (problem tower-invert4) ; graphplan 6 steps, 8 actions (:domain blocks-world-domain) (:objects A B C D) (:init (block A) (block B) (block C) (block D) (block Table) (on a b) (on b c) (on c d) (on d table) (clear a) (clear table)) (:goal (and (on b c) (on c d) (on d a))) (:length (:serial 6) (:parallel 6)))