(define (problem blocks-world-a) (:domain blocks-world) (:objects block_a - block block_b - block block_c - block gripper_a - gripper table_a - table) (:init (on-table block_a table_a) (on-table block_c table_a) (stacked block_b block_a) (empty gripper_a) (clear block_b) (clear block_c) ) (:goal (and (in-gripper block_b gripper_a))))