(defproblem problem oldblocks (  (on-table b1) (on b2 b1) (on b7 b2) (clear b7)  (on-table b3) (on b4 b3) (on b10 b4) (clear b10)  (on-table b5) (on b6 b5) (clear b6)  (on-table b8) (clear b8)  (on-table b9) (clear b9) ) ((achieve-goals (  (on-table b1) (on b10 b1) (clear b10)  (on-table b2) (on b3 b2) (on b4 b3) (on b5 b4) (clear b5)  (on-table b6) (on b7 b6) (on b8 b7) (clear b8)  (on-table b9) (clear b9)  )) ))