Datasets:

NanQiangHF

/

BlocksWorldDatasetAN

like 0

GOAL: (clear b2) (on b1 b3) (arm-empty) (on-table b2) (clear b4) (on-table b4) (clear b1) (on-table b3)

GOAL: (clear b2) (on b1 b3) (arm-empty) (on-table b2) (clear b4) (on-table b4) (clear b1) (on-table b3) STATE: (arm-empty) (on b3 b2) (on-table b4) (on b1 b4) (on b2 b1) (clear b3)

ACTION: (unstack b3 b2) NEXT STATE: (on-table b4) (clear b2) (on b1 b4) (on b2 b1) (holding b3) ACTION: (put-down b3) NEXT STATE: (on-table b4) (clear b2) (arm-empty) (on b1 b4) (on b2 b1) (clear b3) (on-table b3) ACTION: (unstack b2 b1) NEXT STATE: (on b1 b4) (on-table b4) (holding b2) (clear b3) (clear b1) (on-table b3) ACTION: (put-down b2) NEXT STATE: (arm-empty) (on-table b2) (clear b2) (on-table b4) (on b1 b4) (clear b3) (clear b1) (on-table b3) ACTION: (unstack b1 b4) NEXT STATE: (holding b1) (clear b2) (on-table b2) (clear b4) (on-table b4) (clear b3) (on-table b3) ACTION: (stack b1 b3) NEXT STATE: (clear b2) (on b1 b3) (arm-empty) (on-table b2) (clear b4) (on-table b4) (clear b1) (on-table b3)

file_162026

GOAL: (on b4 b1) (arm-empty) (on-table b5) (on-table b1) (on b3 b2) (on b2 b4) (clear b3) (clear b5)

GOAL: (on b4 b1) (arm-empty) (on-table b5) (on-table b1) (on b3 b2) (on b2 b4) (clear b3) (clear b5) STATE: (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b4 b3) (on b3 b1) (on b1 b2) (clear b5)

ACTION: (unstack b4 b3) NEXT STATE: (on-table b2) (on-table b5) (holding b4) (on b3 b1) (clear b3) (on b1 b2) (clear b5) ACTION: (stack b4 b5) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (on b4 b5) (clear b4) (on b3 b1) (clear b3) (on b1 b2) ACTION: (unstack b3 b1) NEXT STATE: (on-table b2) (on-table b5) (on b4 b5) (clear b4) (on b1 b2) (clear b1) (holding b3) ACTION: (stack b3 b4) NEXT STATE: (on b3 b4) (arm-empty) (on-table b2) (on-table b5) (on b4 b5) (clear b3) (on b1 b2) (clear b1) ACTION: (unstack b1 b2) NEXT STATE: (holding b1) (on b3 b4) (clear b2) (on-table b2) (on-table b5) (on b4 b5) (clear b3) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (on b4 b5) (on b3 b4) (clear b2) (on-table b1) (clear b3) (clear b1) ACTION: (unstack b3 b4) NEXT STATE: (clear b2) (on-table b2) (on-table b5) (on b4 b5) (on-table b1) (clear b4) (holding b3) (clear b1) ACTION: (put-down b3) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b5) (on b4 b5) (on-table b1) (clear b4) (clear b3) (clear b1) (on-table b3) ACTION: (unstack b4 b5) NEXT STATE: (clear b2) (on-table b2) (on-table b5) (holding b4) (on-table b1) (clear b3) (clear b1) (on-table b3) (clear b5) ACTION: (stack b4 b1) NEXT STATE: (clear b2) (on b4 b1) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (clear b3) (on-table b3) (clear b5) ACTION: (pick-up b3) NEXT STATE: (clear b2) (on b4 b1) (on-table b2) (on-table b5) (on-table b1) (clear b4) (holding b3) (clear b5) ACTION: (stack b3 b5) NEXT STATE: (clear b2) (on b4 b1) (on b3 b5) (on-table b2) (on-table b5) (on-table b1) (arm-empty) (clear b4) (clear b3) ACTION: (pick-up b2) NEXT STATE: (on b4 b1) (on b3 b5) (on-table b5) (on-table b1) (clear b4) (holding b2) (clear b3) ACTION: (stack b2 b4) NEXT STATE: (on b3 b5) (on b4 b1) (arm-empty) (on-table b5) (on b2 b4) (clear b2) (on-table b1) (clear b3) ACTION: (unstack b3 b5) NEXT STATE: (on b4 b1) (clear b2) (on-table b5) (on-table b1) (on b2 b4) (holding b3) (clear b5) ACTION: (stack b3 b2) NEXT STATE: (on b4 b1) (arm-empty) (on-table b5) (on-table b1) (on b3 b2) (on b2 b4) (clear b3) (clear b5)

file_169248

GOAL: (arm-empty) (on-table b2) (on-table b1) (on b5 b2) (clear b4) (on-table b4) (on b3 b1) (clear b3) (clear b5)

GOAL: (arm-empty) (on-table b2) (on-table b1) (on b5 b2) (clear b4) (on-table b4) (on b3 b1) (clear b3) (clear b5) STATE: (clear b2) (on-table b2) (on-table b1) (clear b4) (holding b5) (on-table b4) (clear b3) (clear b1) (on-table b3)

ACTION: (stack b5 b1) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (clear b3) (on-table b3) (clear b5) ACTION: (pick-up b3) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (holding b3) (clear b5) ACTION: (stack b3 b4) NEXT STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b2) (on-table b1) (on b5 b1) (on-table b4) (clear b3) (clear b5) ACTION: (unstack b5 b1) NEXT STATE: (on b3 b4) (clear b2) (on-table b2) (on-table b1) (holding b5) (on-table b4) (clear b3) (clear b1) ACTION: (stack b5 b2) NEXT STATE: (on b3 b4) (arm-empty) (on-table b2) (on-table b1) (on b5 b2) (on-table b4) (clear b3) (clear b1) (clear b5) ACTION: (unstack b3 b4) NEXT STATE: (on-table b2) (on-table b1) (on b5 b2) (clear b4) (on-table b4) (holding b3) (clear b1) (clear b5) ACTION: (stack b3 b1) NEXT STATE: (arm-empty) (on-table b2) (on-table b1) (on b5 b2) (clear b4) (on-table b4) (on b3 b1) (clear b3) (clear b5)

file_21845

GOAL: (on-table b5) (on b4 b5) (holding b2) (on b1 b4) (clear b3) (clear b1) (on-table b3)

GOAL: (on-table b5) (on b4 b5) (holding b2) (on b1 b4) (clear b3) (clear b1) (on-table b3) STATE: (on b1 b5) (clear b2) (on b4 b1) (arm-empty) (on-table b2) (on-table b5) (clear b4) (clear b3) (on-table b3)

ACTION: (pick-up b2) NEXT STATE: (on b1 b5) (on b4 b1) (on-table b5) (clear b4) (holding b2) (clear b3) (on-table b3) ACTION: (stack b2 b3) NEXT STATE: (on b1 b5) (clear b2) (on b4 b1) (arm-empty) (on-table b5) (clear b4) (on b2 b3) (on-table b3) ACTION: (unstack b4 b1) NEXT STATE: (on b1 b5) (clear b2) (on-table b5) (holding b4) (on b2 b3) (clear b1) (on-table b3) ACTION: (put-down b4) NEXT STATE: (on b1 b5) (arm-empty) (on-table b5) (clear b4) (clear b2) (on-table b4) (on b2 b3) (clear b1) (on-table b3) ACTION: (unstack b1 b5) NEXT STATE: (holding b1) (clear b2) (on-table b5) (clear b4) (on-table b4) (on b2 b3) (on-table b3) (clear b5) ACTION: (stack b1 b2) NEXT STATE: (clear b1) (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b2 b3) (on b1 b2) (on-table b3) (clear b5) ACTION: (pick-up b4) NEXT STATE: (on-table b5) (holding b4) (on b1 b2) (on b2 b3) (clear b1) (on-table b3) (clear b5) ACTION: (stack b4 b5) NEXT STATE: (arm-empty) (on-table b5) (on b4 b5) (clear b4) (on b2 b3) (on b1 b2) (on-table b3) (clear b1) ACTION: (unstack b1 b2) NEXT STATE: (holding b1) (clear b2) (on-table b5) (on b4 b5) (clear b4) (on b2 b3) (on-table b3) ACTION: (stack b1 b4) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on b4 b5) (on b1 b4) (on b2 b3) (clear b1) (on-table b3) ACTION: (unstack b2 b3) NEXT STATE: (on-table b5) (on b4 b5) (holding b2) (on b1 b4) (clear b3) (clear b1) (on-table b3)

file_151906

GOAL: (holding b1) (clear b2) (on b5 b3) (on-table b4) (on b2 b4) (on-table b3) (clear b5)

GOAL: (holding b1) (clear b2) (on b5 b3) (on-table b4) (on b2 b4) (on-table b3) (clear b5) STATE: (clear b2) (on b1 b3) (on-table b2) (clear b4) (holding b5) (on-table b4) (clear b1) (on-table b3)

ACTION: (put-down b5) NEXT STATE: (clear b2) (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b2) NEXT STATE: (on b1 b3) (on-table b5) (clear b4) (on-table b4) (holding b2) (clear b1) (on-table b3) (clear b5) ACTION: (stack b2 b4) NEXT STATE: (clear b2) (on b1 b3) (arm-empty) (on-table b5) (on-table b4) (on b2 b4) (clear b1) (on-table b3) (clear b5) ACTION: (unstack b1 b3) NEXT STATE: (holding b1) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (clear b3) (on-table b3) (clear b5) ACTION: (stack b1 b2) NEXT STATE: (arm-empty) (on-table b5) (on-table b4) (on b2 b4) (clear b3) (on b1 b2) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b5) NEXT STATE: (holding b5) (on-table b4) (on b2 b4) (clear b3) (on b1 b2) (clear b1) (on-table b3) ACTION: (stack b5 b3) NEXT STATE: (arm-empty) (on b5 b3) (on-table b4) (on b2 b4) (on b1 b2) (clear b1) (on-table b3) (clear b5) ACTION: (unstack b1 b2) NEXT STATE: (holding b1) (clear b2) (on b5 b3) (on-table b4) (on b2 b4) (on-table b3) (clear b5)

file_218315

GOAL: (on b4 b5) (on-table b1) (clear b4) (on b5 b3) (holding b2) (on b3 b1)

GOAL: (on b4 b5) (on-table b1) (clear b4) (on b5 b3) (holding b2) (on b3 b1) STATE: (holding b1) (on b3 b5) (on b5 b4) (on-table b2) (on b4 b2) (clear b3)

ACTION: (put-down b1) NEXT STATE: (on b3 b5) (arm-empty) (on b5 b4) (on-table b2) (on-table b1) (on b4 b2) (clear b3) (clear b1) ACTION: (unstack b3 b5) NEXT STATE: (on b5 b4) (on-table b2) (on-table b1) (on b4 b2) (holding b3) (clear b1) (clear b5) ACTION: (stack b3 b1) NEXT STATE: (arm-empty) (on b5 b4) (on-table b2) (on-table b1) (on b3 b1) (on b4 b2) (clear b3) (clear b5) ACTION: (unstack b5 b4) NEXT STATE: (on-table b2) (on-table b1) (clear b4) (on b3 b1) (holding b5) (on b4 b2) (clear b3) ACTION: (stack b5 b3) NEXT STATE: (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b3) (on b3 b1) (on b4 b2) (clear b5) ACTION: (unstack b4 b2) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (holding b4) (on b5 b3) (on b3 b1) (clear b5) ACTION: (stack b4 b5) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on b4 b5) (on-table b1) (clear b4) (on b5 b3) (on b3 b1) ACTION: (pick-up b2) NEXT STATE: (on b4 b5) (on-table b1) (clear b4) (on b5 b3) (holding b2) (on b3 b1)

file_102003

GOAL: (clear b2) (on b1 b3) (on b4 b1) (on-table b2) (on b5 b4) (arm-empty) (on-table b3) (clear b5)

GOAL: (clear b2) (on b1 b3) (on b4 b1) (on-table b2) (on b5 b4) (arm-empty) (on-table b3) (clear b5) STATE: (holding b1) (on-table b5) (clear b4) (on b4 b2) (on b2 b5) (clear b3) (on-table b3)

ACTION: (stack b1 b3) NEXT STATE: (on b1 b3) (arm-empty) (on-table b5) (clear b4) (on b4 b2) (on b2 b5) (clear b1) (on-table b3) ACTION: (unstack b4 b2) NEXT STATE: (clear b2) (on b1 b3) (on-table b5) (holding b4) (on b2 b5) (clear b1) (on-table b3) ACTION: (stack b4 b1) NEXT STATE: (clear b2) (on b1 b3) (on b4 b1) (arm-empty) (on-table b5) (clear b4) (on b2 b5) (on-table b3) ACTION: (unstack b2 b5) NEXT STATE: (on b1 b3) (on b4 b1) (on-table b5) (clear b4) (holding b2) (on-table b3) (clear b5) ACTION: (put-down b2) NEXT STATE: (on b1 b3) (on b4 b1) (on-table b2) (on-table b5) (arm-empty) (clear b4) (clear b5) (clear b2) (on-table b3) ACTION: (pick-up b5) NEXT STATE: (clear b2) (on b1 b3) (on b4 b1) (on-table b2) (clear b4) (holding b5) (on-table b3) ACTION: (stack b5 b4) NEXT STATE: (clear b2) (on b1 b3) (on b4 b1) (on-table b2) (on b5 b4) (arm-empty) (on-table b3) (clear b5)

file_75087

GOAL: (on-table b1) (clear b4) (on b5 b3) (on-table b4) (holding b2) (clear b1) (on-table b3) (clear b5)

GOAL: (on-table b1) (clear b4) (on b5 b3) (on-table b4) (holding b2) (clear b1) (on-table b3) (clear b5) STATE: (holding b1) (clear b4) (on b5 b3) (on b4 b2) (on b2 b5) (on-table b3)

ACTION: (put-down b1) NEXT STATE: (arm-empty) (clear b4) (on b5 b3) (on b2 b5) (on-table b1) (on b4 b2) (clear b1) (on-table b3) ACTION: (unstack b4 b2) NEXT STATE: (clear b2) (on-table b1) (holding b4) (on b5 b3) (on b2 b5) (clear b1) (on-table b3) ACTION: (put-down b4) NEXT STATE: (arm-empty) (clear b4) (on b5 b3) (on b2 b5) (clear b2) (on-table b1) (on-table b4) (clear b1) (on-table b3) ACTION: (unstack b2 b5) NEXT STATE: (on-table b1) (clear b4) (on b5 b3) (on-table b4) (holding b2) (clear b1) (on-table b3) (clear b5)

file_189649

GOAL: (on-table b1) (holding b4) (on b5 b2) (on b3 b1) (on b2 b3) (clear b5)

GOAL: (on-table b1) (holding b4) (on b5 b2) (on b3 b1) (on b2 b3) (clear b5) STATE: (clear b2) (on-table b1) (clear b4) (holding b5) (on-table b4) (on b2 b1) (clear b3) (on-table b3)

ACTION: (stack b5 b4) NEXT STATE: (clear b2) (arm-empty) (on b5 b4) (on-table b1) (on-table b4) (on b2 b1) (clear b3) (on-table b3) (clear b5) ACTION: (unstack b2 b1) NEXT STATE: (on b5 b4) (on-table b1) (on-table b4) (holding b2) (clear b3) (clear b1) (on-table b3) (clear b5) ACTION: (stack b2 b5) NEXT STATE: (clear b2) (arm-empty) (on b5 b4) (on-table b1) (on-table b4) (on b2 b5) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b3) NEXT STATE: (clear b2) (on b5 b4) (on-table b1) (on-table b4) (on b2 b5) (holding b3) (clear b1) ACTION: (stack b3 b1) NEXT STATE: (clear b2) (arm-empty) (on b5 b4) (on-table b1) (on-table b4) (on b3 b1) (on b2 b5) (clear b3) ACTION: (unstack b2 b5) NEXT STATE: (on b5 b4) (on-table b1) (on-table b4) (holding b2) (on b3 b1) (clear b3) (clear b5) ACTION: (stack b2 b3) NEXT STATE: (clear b2) (arm-empty) (on b5 b4) (on-table b1) (on-table b4) (on b3 b1) (on b2 b3) (clear b5) ACTION: (unstack b5 b4) NEXT STATE: (clear b2) (on-table b1) (clear b4) (holding b5) (on-table b4) (on b3 b1) (on b2 b3) ACTION: (stack b5 b2) NEXT STATE: (arm-empty) (on-table b1) (on b5 b2) (clear b4) (on-table b4) (on b3 b1) (on b2 b3) (clear b5) ACTION: (pick-up b4) NEXT STATE: (on-table b1) (holding b4) (on b5 b2) (on b3 b1) (on b2 b3) (clear b5)

file_134202

GOAL: (clear b2) (arm-empty) (on b5 b4) (on-table b1) (on b4 b3) (on b2 b5) (clear b1) (on-table b3)

GOAL: (clear b2) (arm-empty) (on b5 b4) (on-table b1) (on b4 b3) (on b2 b5) (clear b1) (on-table b3) STATE: (on b1 b5) (on b5 b4) (on b4 b3) (holding b2) (clear b1) (on-table b3)

ACTION: (put-down b2) NEXT STATE: (on b1 b5) (arm-empty) (on b5 b4) (on-table b2) (clear b2) (on b4 b3) (clear b1) (on-table b3) ACTION: (unstack b1 b5) NEXT STATE: (holding b1) (clear b2) (on b5 b4) (on-table b2) (on b4 b3) (on-table b3) (clear b5) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on b5 b4) (on-table b2) (clear b5) (clear b2) (on-table b1) (on b4 b3) (clear b1) (on-table b3) ACTION: (pick-up b2) NEXT STATE: (on b5 b4) (on-table b1) (on b4 b3) (holding b2) (clear b1) (on-table b3) (clear b5) ACTION: (stack b2 b5) NEXT STATE: (clear b2) (arm-empty) (on b5 b4) (on-table b1) (on b4 b3) (on b2 b5) (clear b1) (on-table b3)

file_51908

GOAL: (holding b2) (on b3 b1) (clear b3) (on-table b1)

GOAL: (holding b2) (on b3 b1) (clear b3) (on-table b1) STATE: (holding b1) (on b3 b2) (on-table b2) (clear b3)

ACTION: (put-down b1) NEXT STATE: (arm-empty) (on-table b2) (on-table b1) (on b3 b2) (clear b3) (clear b1) ACTION: (unstack b3 b2) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (holding b3) (clear b1) ACTION: (stack b3 b1) NEXT STATE: (on b3 b1) (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b3) ACTION: (pick-up b2) NEXT STATE: (holding b2) (on b3 b1) (clear b3) (on-table b1)

file_71492

GOAL: (arm-empty) (on b5 b4) (on-table b1) (on b3 b2) (on b4 b3) (on b2 b1) (clear b5)

GOAL: (arm-empty) (on b5 b4) (on-table b1) (on b3 b2) (on b4 b3) (on b2 b1) (clear b5) STATE: (holding b1) (clear b2) (on b3 b5) (on-table b5) (clear b4) (on-table b4) (on b2 b3)

ACTION: (put-down b1) NEXT STATE: (on b3 b5) (arm-empty) (on-table b5) (clear b4) (clear b2) (on-table b1) (on-table b4) (on b2 b3) (clear b1) ACTION: (unstack b2 b3) NEXT STATE: (on b3 b5) (on-table b5) (on-table b1) (clear b4) (on-table b4) (holding b2) (clear b3) (clear b1) ACTION: (stack b2 b1) NEXT STATE: (on b3 b5) (clear b2) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b2 b1) (clear b3) ACTION: (unstack b3 b5) NEXT STATE: (clear b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b2 b1) (holding b3) (clear b5) ACTION: (stack b3 b2) NEXT STATE: (arm-empty) (on-table b5) (on-table b1) (on b3 b2) (clear b4) (on-table b4) (on b2 b1) (clear b3) (clear b5) ACTION: (pick-up b4) NEXT STATE: (on-table b5) (on-table b1) (holding b4) (on b3 b2) (on b2 b1) (clear b3) (clear b5) ACTION: (stack b4 b3) NEXT STATE: (arm-empty) (on-table b5) (clear b4) (on b2 b1) (clear b5) (on-table b1) (on b3 b2) (on b4 b3) ACTION: (pick-up b5) NEXT STATE: (on-table b1) (on b3 b2) (clear b4) (on b4 b3) (holding b5) (on b2 b1) ACTION: (stack b5 b4) NEXT STATE: (arm-empty) (on b5 b4) (on-table b1) (on b3 b2) (on b4 b3) (on b2 b1) (clear b5)

file_73022

GOAL: (arm-empty) (on-table b2) (on b4 b5) (on-table b5) (on b3 b4) (clear b2) (on-table b1) (clear b3) (clear b1)

GOAL: (arm-empty) (on-table b2) (on b4 b5) (on-table b5) (on b3 b4) (clear b2) (on-table b1) (clear b3) (clear b1) STATE: (on b3 b4) (clear b2) (on b1 b3) (arm-empty) (on-table b2) (on b4 b5) (on-table b5) (clear b1)

ACTION: (unstack b1 b3) NEXT STATE: (holding b1) (on b3 b4) (clear b2) (on-table b2) (on b4 b5) (on-table b5) (clear b3) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on-table b2) (on b4 b5) (on-table b5) (on b3 b4) (clear b2) (on-table b1) (clear b3) (clear b1)

file_177006

GOAL: (on-table b5) (on-table b1) (on b4 b5) (clear b4) (holding b2) (clear b3) (clear b1) (on-table b3)

GOAL: (on-table b5) (on-table b1) (on b4 b5) (clear b4) (holding b2) (clear b3) (clear b1) (on-table b3) STATE: (clear b2) (on-table b2) (on-table b1) (clear b4) (on b4 b3) (holding b5) (clear b1) (on-table b3)

ACTION: (put-down b5) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on b4 b3) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b2) NEXT STATE: (on-table b5) (on-table b1) (clear b4) (on b4 b3) (holding b2) (clear b1) (on-table b3) (clear b5) ACTION: (stack b2 b1) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on b4 b3) (on b2 b1) (on-table b3) (clear b5) ACTION: (unstack b4 b3) NEXT STATE: (clear b2) (on-table b5) (on-table b1) (holding b4) (on b2 b1) (clear b3) (on-table b3) (clear b5) ACTION: (stack b4 b5) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on-table b1) (on b4 b5) (clear b4) (on b2 b1) (clear b3) (on-table b3) ACTION: (unstack b2 b1) NEXT STATE: (on-table b5) (on-table b1) (on b4 b5) (clear b4) (holding b2) (clear b3) (clear b1) (on-table b3)

file_142684

GOAL: (on b3 b4) (clear b2) (arm-empty) (on-table b1) (on-table b4) (on b2 b1) (clear b3)

GOAL: (on b3 b4) (clear b2) (arm-empty) (on-table b1) (on-table b4) (on b2 b1) (clear b3) STATE: (on b3 b4) (clear b2) (on b1 b3) (arm-empty) (on-table b2) (on-table b4) (clear b1)

ACTION: (unstack b1 b3) NEXT STATE: (on-table b2) (holding b1) (on b3 b4) (clear b2) (on-table b4) (clear b3) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on-table b2) (on b3 b4) (clear b2) (on-table b1) (on-table b4) (clear b3) (clear b1) ACTION: (pick-up b2) NEXT STATE: (on b3 b4) (on-table b1) (on-table b4) (holding b2) (clear b3) (clear b1) ACTION: (stack b2 b1) NEXT STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b1) (on-table b4) (on b2 b1) (clear b3)

file_152791

GOAL: (on-table b1) (on b3 b2) (holding b5) (on-table b4) (on b2 b4) (clear b3) (clear b1)

GOAL: (on-table b1) (on b3 b2) (holding b5) (on-table b4) (on b2 b4) (clear b3) (clear b1) STATE: (clear b2) (on-table b1) (holding b5) (on-table b4) (on b2 b4) (clear b3) (clear b1) (on-table b3)

ACTION: (put-down b5) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on-table b1) (on-table b4) (on b2 b4) (clear b3) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b1) NEXT STATE: (holding b1) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (clear b3) (on-table b3) (clear b5) ACTION: (stack b1 b5) NEXT STATE: (on b1 b5) (clear b2) (arm-empty) (on-table b5) (on-table b4) (on b2 b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b3) NEXT STATE: (on b1 b5) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (holding b3) (clear b1) ACTION: (stack b3 b2) NEXT STATE: (on b1 b5) (arm-empty) (on-table b5) (on b3 b2) (on-table b4) (on b2 b4) (clear b3) (clear b1) ACTION: (unstack b1 b5) NEXT STATE: (holding b1) (on-table b5) (on b3 b2) (on-table b4) (on b2 b4) (clear b3) (clear b5) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on-table b5) (on b2 b4) (clear b5) (on-table b1) (on b3 b2) (on-table b4) (clear b3) (clear b1) ACTION: (pick-up b5) NEXT STATE: (on-table b1) (on b3 b2) (holding b5) (on-table b4) (on b2 b4) (clear b3) (clear b1)

file_80405

GOAL: (clear b2) (on b1 b3) (on-table b2) (clear b4) (holding b5) (on-table b4) (clear b1) (on-table b3)

GOAL: (clear b2) (on b1 b3) (on-table b2) (clear b4) (holding b5) (on-table b4) (clear b1) (on-table b3) STATE: (on b1 b3) (clear b4) (on b5 b1) (on-table b4) (holding b2) (on-table b3) (clear b5)

ACTION: (put-down b2) NEXT STATE: (on b1 b3) (arm-empty) (on-table b2) (clear b4) (clear b5) (clear b2) (on b5 b1) (on-table b4) (on-table b3) ACTION: (unstack b5 b1) NEXT STATE: (clear b2) (on b1 b3) (on-table b2) (clear b4) (holding b5) (on-table b4) (clear b1) (on-table b3)

file_213034

GOAL: (clear b2) (on-table b1) (holding b4) (on b5 b1) (on b2 b3) (on-table b3) (clear b5)

GOAL: (clear b2) (on-table b1) (holding b4) (on b5 b1) (on b2 b3) (on-table b3) (clear b5) STATE: (on-table b2) (on-table b1) (on b3 b2) (clear b4) (on b4 b3) (holding b5) (clear b1)

ACTION: (stack b5 b1) NEXT STATE: (arm-empty) (on-table b2) (clear b4) (clear b5) (on-table b1) (on b3 b2) (on b4 b3) (on b5 b1) ACTION: (unstack b4 b3) NEXT STATE: (on-table b2) (on-table b1) (holding b4) (on b3 b2) (on b5 b1) (clear b3) (clear b5) ACTION: (stack b4 b5) NEXT STATE: (arm-empty) (on-table b2) (on b4 b5) (on-table b1) (on b3 b2) (clear b4) (on b5 b1) (clear b3) ACTION: (unstack b3 b2) NEXT STATE: (clear b2) (on-table b2) (on b4 b5) (on-table b1) (clear b4) (on b5 b1) (holding b3) ACTION: (put-down b3) NEXT STATE: (arm-empty) (on-table b2) (on b4 b5) (clear b4) (clear b2) (on-table b1) (on b5 b1) (clear b3) (on-table b3) ACTION: (pick-up b2) NEXT STATE: (on b4 b5) (on-table b1) (clear b4) (on b5 b1) (holding b2) (clear b3) (on-table b3) ACTION: (stack b2 b3) NEXT STATE: (clear b2) (arm-empty) (on b4 b5) (on-table b1) (clear b4) (on b5 b1) (on b2 b3) (on-table b3) ACTION: (unstack b4 b5) NEXT STATE: (clear b2) (on-table b1) (holding b4) (on b5 b1) (on b2 b3) (on-table b3) (clear b5)

file_119679

GOAL: (clear b1) (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b2 b3) (on b1 b2) (on-table b3) (clear b5)

GOAL: (clear b1) (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b2 b3) (on b1 b2) (on-table b3) (clear b5) STATE: (clear b2) (on-table b5) (on b4 b5) (on b1 b4) (on b2 b1) (holding b3)

ACTION: (put-down b3) NEXT STATE: (arm-empty) (on-table b5) (on b4 b5) (on b2 b1) (clear b2) (on b1 b4) (clear b3) (on-table b3) ACTION: (unstack b2 b1) NEXT STATE: (on-table b5) (on b4 b5) (holding b2) (on b1 b4) (clear b3) (clear b1) (on-table b3) ACTION: (stack b2 b3) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on b4 b5) (on b1 b4) (on b2 b3) (clear b1) (on-table b3) ACTION: (unstack b1 b4) NEXT STATE: (holding b1) (clear b2) (on-table b5) (on b4 b5) (clear b4) (on b2 b3) (on-table b3) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on-table b5) (on b4 b5) (clear b4) (clear b2) (on-table b1) (on b2 b3) (clear b1) (on-table b3) ACTION: (unstack b4 b5) NEXT STATE: (clear b2) (on-table b5) (holding b4) (on-table b1) (on b2 b3) (clear b1) (on-table b3) (clear b5) ACTION: (put-down b4) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b2 b3) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b1) NEXT STATE: (holding b1) (clear b2) (on-table b5) (clear b4) (on-table b4) (on b2 b3) (on-table b3) (clear b5) ACTION: (stack b1 b2) NEXT STATE: (clear b1) (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b2 b3) (on b1 b2) (on-table b3) (clear b5)

file_50513

GOAL: (on b3 b5) (on b1 b3) (on b5 b4) (on-table b2) (arm-empty) (on b4 b2) (clear b1)

GOAL: (on b3 b5) (on b1 b3) (on b5 b4) (on-table b2) (arm-empty) (on b4 b2) (clear b1) STATE: (holding b1) (on b3 b5) (on b5 b4) (on-table b2) (on b4 b2) (clear b3)

ACTION: (stack b1 b3) NEXT STATE: (on b3 b5) (on b1 b3) (on b5 b4) (on-table b2) (arm-empty) (on b4 b2) (clear b1)

file_102000

GOAL: (clear b2) (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b1) (on-table b3) (clear b5)

GOAL: (clear b2) (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b1) (on-table b3) (clear b5) STATE: (arm-empty) (on b5 b2) (on-table b4) (on b1 b4) (on b3 b1) (on b2 b3) (clear b5)

ACTION: (unstack b5 b2) NEXT STATE: (holding b5) (on b3 b1) (clear b2) (on-table b4) (on b1 b4) (on b2 b3) ACTION: (put-down b5) NEXT STATE: (arm-empty) (on-table b5) (on b3 b1) (clear b5) (clear b2) (on-table b4) (on b1 b4) (on b2 b3) ACTION: (unstack b2 b3) NEXT STATE: (on-table b5) (holding b2) (on-table b4) (on b1 b4) (on b3 b1) (clear b3) (clear b5) ACTION: (stack b2 b5) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on-table b4) (on b1 b4) (on b3 b1) (on b2 b5) (clear b3) ACTION: (unstack b3 b1) NEXT STATE: (clear b2) (on-table b5) (on-table b4) (on b1 b4) (on b2 b5) (holding b3) (clear b1) ACTION: (put-down b3) NEXT STATE: (arm-empty) (on-table b5) (on b2 b5) (clear b2) (on-table b4) (on b1 b4) (clear b3) (clear b1) (on-table b3) ACTION: (unstack b1 b4) NEXT STATE: (holding b1) (clear b2) (on-table b5) (clear b4) (on-table b4) (on b2 b5) (clear b3) (on-table b3) ACTION: (stack b1 b3) NEXT STATE: (clear b2) (on b1 b3) (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b2 b5) (clear b1) (on-table b3) ACTION: (unstack b2 b5) NEXT STATE: (on b1 b3) (on-table b5) (clear b4) (on-table b4) (holding b2) (clear b1) (on-table b3) (clear b5) ACTION: (put-down b2) NEXT STATE: (clear b2) (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b1) (on-table b3) (clear b5)

file_207764

GOAL: (on b3 b5) (clear b2) (arm-empty) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (on b2 b3)

GOAL: (on b3 b5) (clear b2) (arm-empty) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (on b2 b3) STATE: (on b1 b5) (clear b2) (on-table b2) (on-table b5) (holding b4) (clear b3) (clear b1) (on-table b3)

ACTION: (put-down b4) NEXT STATE: (on b1 b5) (clear b2) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b2) NEXT STATE: (on b1 b5) (on-table b5) (clear b4) (on-table b4) (holding b2) (clear b3) (clear b1) (on-table b3) ACTION: (stack b2 b4) NEXT STATE: (on b1 b5) (clear b2) (arm-empty) (on-table b5) (on-table b4) (on b2 b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b3) NEXT STATE: (on b1 b5) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (holding b3) (clear b1) ACTION: (stack b3 b2) NEXT STATE: (on b1 b5) (arm-empty) (on-table b5) (on b3 b2) (on-table b4) (on b2 b4) (clear b3) (clear b1) ACTION: (unstack b1 b5) NEXT STATE: (holding b1) (on-table b5) (on b3 b2) (on-table b4) (on b2 b4) (clear b3) (clear b5) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on-table b5) (on b2 b4) (clear b5) (on-table b1) (on b3 b2) (on-table b4) (clear b3) (clear b1) ACTION: (pick-up b5) NEXT STATE: (on-table b1) (on b3 b2) (holding b5) (on-table b4) (on b2 b4) (clear b3) (clear b1) ACTION: (stack b5 b1) NEXT STATE: (arm-empty) (on b2 b4) (clear b5) (on-table b1) (on b3 b2) (on b5 b1) (on-table b4) (clear b3) ACTION: (unstack b3 b2) NEXT STATE: (clear b2) (on-table b1) (on b5 b1) (on-table b4) (on b2 b4) (holding b3) (clear b5) ACTION: (stack b3 b5) NEXT STATE: (clear b2) (on b3 b5) (arm-empty) (on-table b1) (on b5 b1) (on-table b4) (on b2 b4) (clear b3) ACTION: (unstack b2 b4) NEXT STATE: (on b3 b5) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (holding b2) (clear b3) ACTION: (stack b2 b3) NEXT STATE: (on b3 b5) (clear b2) (arm-empty) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (on b2 b3)

file_37375

GOAL: (clear b2) (on b1 b3) (arm-empty) (on b4 b5) (on-table b5) (clear b4) (on b2 b1) (on-table b3)

GOAL: (clear b2) (on b1 b3) (arm-empty) (on b4 b5) (on-table b5) (clear b4) (on b2 b1) (on-table b3) STATE: (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b4) (on b1 b4) (clear b3) (clear b1) (on-table b3) (clear b5)

ACTION: (unstack b1 b4) NEXT STATE: (holding b1) (clear b2) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b3) (on-table b3) (clear b5) ACTION: (stack b1 b3) NEXT STATE: (clear b2) (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b2) NEXT STATE: (on b1 b3) (on-table b5) (clear b4) (on-table b4) (holding b2) (clear b1) (on-table b3) (clear b5) ACTION: (stack b2 b1) NEXT STATE: (clear b2) (on b1 b3) (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b2 b1) (on-table b3) (clear b5) ACTION: (pick-up b4) NEXT STATE: (clear b2) (on b1 b3) (on-table b5) (holding b4) (on b2 b1) (on-table b3) (clear b5) ACTION: (stack b4 b5) NEXT STATE: (clear b2) (on b1 b3) (arm-empty) (on b4 b5) (on-table b5) (clear b4) (on b2 b1) (on-table b3)

file_132593

GOAL: (clear b2) (on b4 b1) (on-table b2) (on-table b1) (clear b4) (holding b5) (clear b3) (on-table b3)

GOAL: (clear b2) (on b4 b1) (on-table b2) (on-table b1) (clear b4) (holding b5) (clear b3) (on-table b3) STATE: (on b5 b1) (on-table b4) (on b2 b4) (holding b3) (on b1 b2) (clear b5)

ACTION: (put-down b3) NEXT STATE: (arm-empty) (on b2 b4) (on b1 b2) (clear b5) (on b5 b1) (on-table b4) (clear b3) (on-table b3) ACTION: (unstack b5 b1) NEXT STATE: (holding b5) (on-table b4) (on b2 b4) (clear b3) (on b1 b2) (clear b1) (on-table b3) ACTION: (stack b5 b3) NEXT STATE: (arm-empty) (on b5 b3) (on-table b4) (on b2 b4) (on b1 b2) (clear b1) (on-table b3) (clear b5) ACTION: (unstack b1 b2) NEXT STATE: (holding b1) (clear b2) (on b5 b3) (on-table b4) (on b2 b4) (on-table b3) (clear b5) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on b5 b3) (on b2 b4) (clear b5) (clear b2) (on-table b1) (on-table b4) (clear b1) (on-table b3) ACTION: (unstack b2 b4) NEXT STATE: (on-table b1) (clear b4) (on b5 b3) (on-table b4) (holding b2) (clear b1) (on-table b3) (clear b5) ACTION: (put-down b2) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b3) (on-table b4) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b4) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (holding b4) (on b5 b3) (clear b1) (on-table b3) (clear b5) ACTION: (stack b4 b1) NEXT STATE: (clear b2) (on b4 b1) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b3) (on-table b3) (clear b5) ACTION: (unstack b5 b3) NEXT STATE: (clear b2) (on b4 b1) (on-table b2) (on-table b1) (clear b4) (holding b5) (clear b3) (on-table b3)

file_52488

GOAL: (on b1 b5) (on-table b5) (clear b4) (on-table b4) (holding b2) (on b3 b1) (clear b3)

GOAL: (on b1 b5) (on-table b5) (clear b4) (on-table b4) (holding b2) (on b3 b1) (clear b3) STATE: (clear b2) (on-table b1) (clear b4) (holding b5) (on-table b4) (on b2 b3) (clear b1) (on-table b3)

ACTION: (stack b5 b4) NEXT STATE: (clear b2) (arm-empty) (on b5 b4) (on-table b1) (on-table b4) (on b2 b3) (clear b1) (on-table b3) (clear b5) ACTION: (unstack b2 b3) NEXT STATE: (on b5 b4) (on-table b1) (on-table b4) (holding b2) (clear b3) (clear b1) (on-table b3) (clear b5) ACTION: (stack b2 b1) NEXT STATE: (clear b2) (arm-empty) (on b5 b4) (on-table b1) (on-table b4) (on b2 b1) (clear b3) (on-table b3) (clear b5) ACTION: (unstack b5 b4) NEXT STATE: (clear b2) (on-table b1) (clear b4) (holding b5) (on-table b4) (on b2 b1) (clear b3) (on-table b3) ACTION: (put-down b5) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b2 b1) (clear b3) (on-table b3) (clear b5) ACTION: (unstack b2 b1) NEXT STATE: (on-table b5) (on-table b1) (clear b4) (on-table b4) (holding b2) (clear b3) (clear b1) (on-table b3) (clear b5) ACTION: (stack b2 b4) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on-table b1) (on-table b4) (on b2 b4) (clear b3) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b1) NEXT STATE: (holding b1) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (clear b3) (on-table b3) (clear b5) ACTION: (stack b1 b5) NEXT STATE: (on b1 b5) (clear b2) (arm-empty) (on-table b5) (on-table b4) (on b2 b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b3) NEXT STATE: (on b1 b5) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (holding b3) (clear b1) ACTION: (stack b3 b1) NEXT STATE: (on b1 b5) (clear b2) (arm-empty) (on-table b5) (on b2 b4) (on-table b4) (on b3 b1) (clear b3) ACTION: (unstack b2 b4) NEXT STATE: (on b1 b5) (on-table b5) (clear b4) (on-table b4) (holding b2) (on b3 b1) (clear b3)

file_52700

GOAL: (arm-empty) (on-table b2) (clear b4) (on b5 b3) (clear b5) (on-table b1) (on b3 b2) (on-table b4) (clear b1)

GOAL: (arm-empty) (on-table b2) (clear b4) (on b5 b3) (clear b5) (on-table b1) (on b3 b2) (on-table b4) (clear b1) STATE: (clear b2) (arm-empty) (on b5 b1) (on-table b4) (on b1 b4) (on b2 b5) (clear b3) (on-table b3)

ACTION: (unstack b2 b5) NEXT STATE: (holding b2) (on b5 b1) (on-table b4) (on b1 b4) (clear b3) (on-table b3) (clear b5) ACTION: (put-down b2) NEXT STATE: (arm-empty) (on-table b2) (clear b5) (clear b2) (on b5 b1) (on-table b4) (on b1 b4) (clear b3) (on-table b3) ACTION: (pick-up b3) NEXT STATE: (clear b2) (on-table b2) (on b5 b1) (on-table b4) (on b1 b4) (holding b3) (clear b5) ACTION: (stack b3 b2) NEXT STATE: (arm-empty) (on-table b2) (on b3 b2) (on b5 b1) (on-table b4) (on b1 b4) (clear b3) (clear b5) ACTION: (unstack b5 b1) NEXT STATE: (on-table b2) (on b3 b2) (holding b5) (on-table b4) (on b1 b4) (clear b3) (clear b1) ACTION: (stack b5 b3) NEXT STATE: (arm-empty) (on-table b2) (on b3 b2) (on b5 b3) (on-table b4) (on b1 b4) (clear b1) (clear b5) ACTION: (unstack b1 b4) NEXT STATE: (holding b1) (on-table b2) (on b3 b2) (clear b4) (on b5 b3) (on-table b4) (clear b5) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on-table b2) (clear b4) (on b5 b3) (clear b5) (on-table b1) (on b3 b2) (on-table b4) (clear b1)

file_113284

GOAL: (arm-empty) (on b5 b2) (clear b4) (on b2 b1) (clear b5) (on-table b1) (on-table b4) (clear b3) (on-table b3)

GOAL: (arm-empty) (on b5 b2) (clear b4) (on b2 b1) (clear b5) (on-table b1) (on-table b4) (clear b3) (on-table b3) STATE: (on b3 b5) (holding b4) (on-table b1) (on b5 b2) (on b2 b1) (clear b3)

ACTION: (put-down b4) NEXT STATE: (on b3 b5) (arm-empty) (on b5 b2) (clear b4) (on b2 b1) (on-table b1) (on-table b4) (clear b3) ACTION: (unstack b3 b5) NEXT STATE: (on-table b1) (on b5 b2) (clear b4) (on-table b4) (on b2 b1) (holding b3) (clear b5) ACTION: (put-down b3) NEXT STATE: (arm-empty) (on b5 b2) (clear b4) (on b2 b1) (clear b5) (on-table b1) (on-table b4) (clear b3) (on-table b3)

file_47116

GOAL: (holding b1) (on b3 b5) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (clear b3)

GOAL: (holding b1) (on b3 b5) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (clear b3) STATE: (on b3 b5) (on b4 b1) (on b1 b3) (arm-empty) (on-table b5) (on-table b2) (clear b2) (clear b4)

ACTION: (unstack b4 b1) NEXT STATE: (on b3 b5) (on b1 b3) (on-table b5) (on-table b2) (clear b2) (holding b4) (clear b1) ACTION: (put-down b4) NEXT STATE: (on b3 b5) (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (clear b4) (clear b2) (on-table b4) (clear b1) ACTION: (pick-up b2) NEXT STATE: (on b3 b5) (on b1 b3) (on-table b5) (clear b4) (on-table b4) (holding b2) (clear b1) ACTION: (stack b2 b4) NEXT STATE: (on b3 b5) (on b1 b3) (clear b2) (arm-empty) (on-table b5) (on-table b4) (on b2 b4) (clear b1) ACTION: (unstack b1 b3) NEXT STATE: (holding b1) (on b3 b5) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (clear b3)

file_115333

GOAL: (clear b2) (holding b5) (on-table b4) (on b1 b4) (on b2 b1) (clear b3) (on-table b3)

GOAL: (clear b2) (holding b5) (on-table b4) (on b1 b4) (on b2 b1) (clear b3) (on-table b3) STATE: (arm-empty) (clear b4) (on b5 b3) (on-table b4) (on b2 b5) (on b1 b2) (clear b1) (on-table b3)

ACTION: (unstack b1 b2) NEXT STATE: (holding b1) (clear b2) (clear b4) (on b5 b3) (on-table b4) (on b2 b5) (on-table b3) ACTION: (stack b1 b4) NEXT STATE: (clear b2) (arm-empty) (on b5 b3) (on-table b4) (on b1 b4) (on b2 b5) (clear b1) (on-table b3) ACTION: (unstack b2 b5) NEXT STATE: (holding b2) (on b5 b3) (on-table b4) (on b1 b4) (clear b1) (on-table b3) (clear b5) ACTION: (stack b2 b1) NEXT STATE: (clear b2) (arm-empty) (on b5 b3) (on-table b4) (on b1 b4) (on b2 b1) (on-table b3) (clear b5) ACTION: (unstack b5 b3) NEXT STATE: (clear b2) (holding b5) (on-table b4) (on b1 b4) (on b2 b1) (clear b3) (on-table b3)

file_130383

GOAL: (on-table b2) (on b3 b2) (holding b5) (on-table b4) (on b1 b4) (clear b3) (clear b1)

GOAL: (on-table b2) (on b3 b2) (holding b5) (on-table b4) (on b1 b4) (clear b3) (clear b1) STATE: (on b3 b5) (holding b2) (on b5 b1) (on-table b4) (on b1 b4) (clear b3)

ACTION: (put-down b2) NEXT STATE: (on b5 b1) (on b3 b5) (on-table b4) (clear b2) (on-table b2) (arm-empty) (clear b3) (on b1 b4) ACTION: (unstack b3 b5) NEXT STATE: (clear b2) (on-table b2) (on b5 b1) (on-table b4) (on b1 b4) (holding b3) (clear b5) ACTION: (stack b3 b2) NEXT STATE: (arm-empty) (on-table b2) (on b3 b2) (on b5 b1) (on-table b4) (on b1 b4) (clear b3) (clear b5) ACTION: (unstack b5 b1) NEXT STATE: (on-table b2) (on b3 b2) (holding b5) (on-table b4) (on b1 b4) (clear b3) (clear b1)

file_176709

GOAL: (holding b1) (clear b2) (on b5 b4) (on b4 b3) (on b2 b5) (on-table b3)

GOAL: (holding b1) (clear b2) (on b5 b4) (on b4 b3) (on b2 b5) (on-table b3) STATE: (on b1 b5) (clear b2) (arm-empty) (on b5 b4) (on b4 b3) (on b2 b1) (on-table b3)

ACTION: (unstack b2 b1) NEXT STATE: (on b1 b5) (on b5 b4) (on b4 b3) (holding b2) (clear b1) (on-table b3) ACTION: (put-down b2) NEXT STATE: (on b1 b5) (arm-empty) (on b5 b4) (on-table b2) (clear b2) (on b4 b3) (clear b1) (on-table b3) ACTION: (unstack b1 b5) NEXT STATE: (holding b1) (clear b2) (on b5 b4) (on-table b2) (on b4 b3) (on-table b3) (clear b5) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on b5 b4) (on-table b2) (clear b5) (clear b2) (on-table b1) (on b4 b3) (clear b1) (on-table b3) ACTION: (pick-up b2) NEXT STATE: (on b5 b4) (on-table b1) (on b4 b3) (holding b2) (clear b1) (on-table b3) (clear b5) ACTION: (stack b2 b5) NEXT STATE: (clear b2) (arm-empty) (on b5 b4) (on-table b1) (on b4 b3) (on b2 b5) (clear b1) (on-table b3) ACTION: (pick-up b1) NEXT STATE: (holding b1) (clear b2) (on b5 b4) (on b4 b3) (on b2 b5) (on-table b3)

file_162699

GOAL: (arm-empty) (on-table b2) (on b5 b2) (on b4 b3) (on b1 b4) (clear b1) (on-table b3) (clear b5)

GOAL: (arm-empty) (on-table b2) (on b5 b2) (on b4 b3) (on b1 b4) (clear b1) (on-table b3) (clear b5) STATE: (holding b1) (clear b2) (on-table b5) (clear b4) (on-table b4) (on b2 b5) (clear b3) (on-table b3)

ACTION: (stack b1 b3) NEXT STATE: (clear b2) (on b1 b3) (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b2 b5) (clear b1) (on-table b3) ACTION: (unstack b2 b5) NEXT STATE: (on b1 b3) (on-table b5) (clear b4) (on-table b4) (holding b2) (clear b1) (on-table b3) (clear b5) ACTION: (put-down b2) NEXT STATE: (clear b2) (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b1) (on-table b3) (clear b5) ACTION: (unstack b1 b3) NEXT STATE: (holding b1) (clear b2) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b3) (on-table b3) (clear b5) ACTION: (stack b1 b2) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b3) (on b1 b2) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b4) NEXT STATE: (on-table b2) (on-table b5) (holding b4) (clear b3) (on b1 b2) (clear b1) (on-table b3) (clear b5) ACTION: (stack b4 b3) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b4 b3) (on b1 b2) (clear b1) (on-table b3) (clear b5) ACTION: (unstack b1 b2) NEXT STATE: (holding b1) (clear b2) (on-table b2) (on-table b5) (clear b4) (on b4 b3) (on-table b3) (clear b5) ACTION: (stack b1 b4) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b5) (on b4 b3) (on b1 b4) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b5) NEXT STATE: (clear b2) (on-table b2) (on b4 b3) (holding b5) (on b1 b4) (clear b1) (on-table b3) ACTION: (stack b5 b2) NEXT STATE: (arm-empty) (on-table b2) (on b5 b2) (on b4 b3) (on b1 b4) (clear b1) (on-table b3) (clear b5)

file_109051

GOAL: (on b3 b4) (arm-empty) (on-table b5) (on b4 b5) (on b2 b3) (on b1 b2) (clear b1)

GOAL: (on b3 b4) (arm-empty) (on-table b5) (on b4 b5) (on b2 b3) (on b1 b2) (clear b1) STATE: (clear b2) (on b1 b3) (on-table b5) (holding b4) (on b2 b1) (on-table b3) (clear b5)

ACTION: (stack b4 b5) NEXT STATE: (clear b2) (on b1 b3) (arm-empty) (on b4 b5) (on-table b5) (clear b4) (on b2 b1) (on-table b3) ACTION: (unstack b2 b1) NEXT STATE: (on b1 b3) (on b4 b5) (on-table b5) (clear b4) (holding b2) (clear b1) (on-table b3) ACTION: (stack b2 b4) NEXT STATE: (clear b2) (on b1 b3) (arm-empty) (on-table b5) (on b4 b5) (on b2 b4) (clear b1) (on-table b3) ACTION: (unstack b1 b3) NEXT STATE: (holding b1) (clear b2) (on-table b5) (on b4 b5) (on b2 b4) (clear b3) (on-table b3) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on-table b5) (on b4 b5) (on b2 b4) (clear b2) (on-table b1) (clear b3) (clear b1) (on-table b3) ACTION: (unstack b2 b4) NEXT STATE: (on-table b5) (on b4 b5) (on-table b1) (clear b4) (holding b2) (clear b3) (clear b1) (on-table b3) ACTION: (stack b2 b1) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on b4 b5) (on-table b1) (clear b4) (on b2 b1) (clear b3) (on-table b3) ACTION: (pick-up b3) NEXT STATE: (clear b2) (on-table b5) (on b4 b5) (on-table b1) (clear b4) (on b2 b1) (holding b3) ACTION: (stack b3 b4) NEXT STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b5) (on-table b1) (on b4 b5) (on b2 b1) (clear b3) ACTION: (unstack b2 b1) NEXT STATE: (on b3 b4) (on-table b5) (on-table b1) (on b4 b5) (holding b2) (clear b3) (clear b1) ACTION: (stack b2 b3) NEXT STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b5) (on-table b1) (on b4 b5) (on b2 b3) (clear b1) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on b3 b4) (clear b2) (on-table b5) (on b4 b5) (on b2 b3) ACTION: (stack b1 b2) NEXT STATE: (on b3 b4) (arm-empty) (on-table b5) (on b4 b5) (on b2 b3) (on b1 b2) (clear b1)

file_183175

GOAL: (holding b1) (on-table b2) (on b3 b2) (clear b4) (on b5 b3) (on-table b4) (clear b5)

GOAL: (holding b1) (on-table b2) (on b3 b2) (clear b4) (on b5 b3) (on-table b4) (clear b5) STATE: (clear b2) (on-table b2) (on-table b5) (on-table b4) (on b1 b4) (holding b3) (clear b1) (clear b5)

ACTION: (stack b3 b2) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (on b3 b2) (on-table b4) (on b1 b4) (clear b3) (clear b1) (clear b5) ACTION: (pick-up b5) NEXT STATE: (on-table b2) (on b3 b2) (holding b5) (on-table b4) (on b1 b4) (clear b3) (clear b1) ACTION: (stack b5 b3) NEXT STATE: (arm-empty) (on-table b2) (on b3 b2) (on b5 b3) (on-table b4) (on b1 b4) (clear b1) (clear b5) ACTION: (unstack b1 b4) NEXT STATE: (holding b1) (on-table b2) (on b3 b2) (clear b4) (on b5 b3) (on-table b4) (clear b5)

file_195626

GOAL: (holding b1) (on b3 b5) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (clear b3)

GOAL: (holding b1) (on b3 b5) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (clear b3) STATE: (clear b2) (on b3 b5) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (clear b3) (clear b1)

ACTION: (pick-up b2) NEXT STATE: (on b3 b5) (on-table b5) (on-table b1) (clear b4) (on-table b4) (holding b2) (clear b3) (clear b1) ACTION: (stack b2 b4) NEXT STATE: (on b3 b5) (clear b2) (arm-empty) (on-table b5) (on-table b1) (on-table b4) (on b2 b4) (clear b3) (clear b1) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on b3 b5) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (clear b3)

file_8672

GOAL: (on b5 b1) (on b3 b4) (on-table b4) (arm-empty) (on b2 b3) (on b1 b2) (clear b5)

GOAL: (on b5 b1) (on b3 b4) (on-table b4) (arm-empty) (on b2 b3) (on b1 b2) (clear b5) STATE: (clear b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b2 b5) (holding b3) (clear b1)

ACTION: (stack b3 b4) NEXT STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b5) (on-table b1) (on-table b4) (on b2 b5) (clear b3) (clear b1) ACTION: (unstack b2 b5) NEXT STATE: (on b3 b4) (on-table b5) (on-table b1) (on-table b4) (holding b2) (clear b3) (clear b1) (clear b5) ACTION: (stack b2 b3) NEXT STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b5) (on-table b1) (on-table b4) (on b2 b3) (clear b1) (clear b5) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on b3 b4) (clear b2) (on-table b5) (on-table b4) (on b2 b3) (clear b5) ACTION: (stack b1 b2) NEXT STATE: (arm-empty) (on-table b5) (on b1 b2) (clear b5) (on b3 b4) (on-table b4) (on b2 b3) (clear b1) ACTION: (pick-up b5) NEXT STATE: (on b3 b4) (holding b5) (on-table b4) (on b2 b3) (on b1 b2) (clear b1) ACTION: (stack b5 b1) NEXT STATE: (on b5 b1) (on b3 b4) (on-table b4) (arm-empty) (on b2 b3) (on b1 b2) (clear b5)

file_121586

GOAL: (clear b2) (on-table b1) (holding b4) (on b5 b1) (on b2 b3) (on-table b3) (clear b5)

GOAL: (clear b2) (on-table b1) (holding b4) (on b5 b1) (on b2 b3) (on-table b3) (clear b5) STATE: (clear b2) (on b5 b4) (on-table b2) (on-table b1) (on-table b4) (holding b3) (clear b1) (clear b5)

ACTION: (stack b3 b5) NEXT STATE: (clear b2) (on b3 b5) (on b5 b4) (on-table b2) (arm-empty) (on-table b1) (on-table b4) (clear b3) (clear b1) ACTION: (pick-up b2) NEXT STATE: (on b3 b5) (on b5 b4) (on-table b1) (on-table b4) (holding b2) (clear b3) (clear b1) ACTION: (stack b2 b1) NEXT STATE: (on b3 b5) (clear b2) (on b5 b4) (arm-empty) (on-table b1) (on-table b4) (on b2 b1) (clear b3) ACTION: (unstack b3 b5) NEXT STATE: (clear b2) (on b5 b4) (on-table b1) (on-table b4) (on b2 b1) (holding b3) (clear b5) ACTION: (put-down b3) NEXT STATE: (arm-empty) (on b5 b4) (on b2 b1) (clear b5) (clear b2) (on-table b1) (on-table b4) (clear b3) (on-table b3) ACTION: (unstack b2 b1) NEXT STATE: (on b5 b4) (on-table b1) (on-table b4) (holding b2) (clear b3) (clear b1) (on-table b3) (clear b5) ACTION: (stack b2 b3) NEXT STATE: (clear b2) (arm-empty) (on b5 b4) (on-table b1) (on-table b4) (on b2 b3) (clear b1) (on-table b3) (clear b5) ACTION: (unstack b5 b4) NEXT STATE: (clear b2) (on-table b1) (clear b4) (holding b5) (on-table b4) (on b2 b3) (clear b1) (on-table b3) ACTION: (stack b5 b1) NEXT STATE: (clear b2) (arm-empty) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (on b2 b3) (on-table b3) (clear b5) ACTION: (pick-up b4) NEXT STATE: (clear b2) (on-table b1) (holding b4) (on b5 b1) (on b2 b3) (on-table b3) (clear b5)

file_196339

GOAL: (on b5 b3) (on b2 b4) (clear b5) (holding b1) (on b3 b2) (on-table b4)

GOAL: (on b5 b3) (on b2 b4) (clear b5) (holding b1) (on b3 b2) (on-table b4) STATE: (on b1 b5) (arm-empty) (on b3 b2) (on b5 b3) (on-table b4) (on b2 b4) (clear b1)

ACTION: (unstack b1 b5) NEXT STATE: (on b5 b3) (on b2 b4) (clear b5) (holding b1) (on b3 b2) (on-table b4)

file_226503

GOAL: (on-table b5) (on-table b4) (on b2 b4) (on b1 b2) (clear b1) (holding b3) (clear b5)

GOAL: (on-table b5) (on-table b4) (on b2 b4) (on b1 b2) (clear b1) (holding b3) (clear b5) STATE: (on-table b1) (clear b4) (on b5 b3) (on-table b4) (holding b2) (clear b1) (on-table b3) (clear b5)

ACTION: (stack b2 b4) NEXT STATE: (clear b2) (arm-empty) (on-table b1) (on b5 b3) (on-table b4) (on b2 b4) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b1) NEXT STATE: (holding b1) (clear b2) (on b5 b3) (on-table b4) (on b2 b4) (on-table b3) (clear b5) ACTION: (stack b1 b2) NEXT STATE: (arm-empty) (on b5 b3) (on-table b4) (on b2 b4) (on b1 b2) (clear b1) (on-table b3) (clear b5) ACTION: (unstack b5 b3) NEXT STATE: (holding b5) (on-table b4) (on b2 b4) (clear b3) (on b1 b2) (clear b1) (on-table b3) ACTION: (put-down b5) NEXT STATE: (arm-empty) (on-table b5) (on b2 b4) (on b1 b2) (clear b5) (on-table b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b3) NEXT STATE: (on-table b5) (on-table b4) (on b2 b4) (on b1 b2) (clear b1) (holding b3) (clear b5)

file_178949

GOAL: (on b1 b5) (on b3 b4) (arm-empty) (on-table b5) (on b4 b2) (on b2 b1) (clear b3)

GOAL: (on b1 b5) (on b3 b4) (arm-empty) (on-table b5) (on b4 b2) (on b2 b1) (clear b3) STATE: (on b1 b5) (clear b2) (on b4 b1) (arm-empty) (on-table b2) (on-table b5) (clear b4) (clear b3) (on-table b3)

ACTION: (unstack b4 b1) NEXT STATE: (on b1 b5) (clear b2) (on-table b2) (on-table b5) (holding b4) (clear b3) (clear b1) (on-table b3) ACTION: (put-down b4) NEXT STATE: (on b1 b5) (clear b2) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b2) NEXT STATE: (on b1 b5) (on-table b5) (clear b4) (on-table b4) (holding b2) (clear b3) (clear b1) (on-table b3) ACTION: (stack b2 b1) NEXT STATE: (on b1 b5) (clear b2) (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b2 b1) (clear b3) (on-table b3) ACTION: (pick-up b4) NEXT STATE: (on b1 b5) (clear b2) (on-table b5) (holding b4) (on b2 b1) (clear b3) (on-table b3) ACTION: (stack b4 b2) NEXT STATE: (on b1 b5) (arm-empty) (on-table b5) (clear b4) (on b2 b1) (on b4 b2) (clear b3) (on-table b3) ACTION: (pick-up b3) NEXT STATE: (on b1 b5) (on-table b5) (clear b4) (on b4 b2) (on b2 b1) (holding b3) ACTION: (stack b3 b4) NEXT STATE: (on b1 b5) (on b3 b4) (arm-empty) (on-table b5) (on b4 b2) (on b2 b1) (clear b3)

file_151857

GOAL: (arm-empty) (on-table b2) (on-table b5) (on b4 b5) (on-table b1) (on b3 b2) (clear b4) (clear b3) (clear b1)

GOAL: (arm-empty) (on-table b2) (on-table b5) (on b4 b5) (on-table b1) (on b3 b2) (clear b4) (clear b3) (clear b1) STATE: (arm-empty) (on-table b1) (on b3 b2) (clear b4) (on b5 b3) (on-table b4) (on b2 b1) (clear b5)

ACTION: (unstack b5 b3) NEXT STATE: (on-table b1) (on b3 b2) (clear b4) (holding b5) (on-table b4) (on b2 b1) (clear b3) ACTION: (put-down b5) NEXT STATE: (arm-empty) (on-table b5) (clear b4) (on b2 b1) (clear b5) (on-table b1) (on b3 b2) (on-table b4) (clear b3) ACTION: (pick-up b4) NEXT STATE: (on-table b5) (on-table b1) (holding b4) (on b3 b2) (on b2 b1) (clear b3) (clear b5) ACTION: (stack b4 b5) NEXT STATE: (arm-empty) (on b4 b5) (on-table b5) (on-table b1) (on b3 b2) (clear b4) (on b2 b1) (clear b3) ACTION: (unstack b3 b2) NEXT STATE: (clear b2) (on b4 b5) (on-table b5) (on-table b1) (clear b4) (on b2 b1) (holding b3) ACTION: (stack b3 b4) NEXT STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b5) (on b4 b5) (on-table b1) (on b2 b1) (clear b3) ACTION: (unstack b2 b1) NEXT STATE: (on b3 b4) (on-table b5) (on b4 b5) (on-table b1) (holding b2) (clear b3) (clear b1) ACTION: (put-down b2) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (on b4 b5) (on b3 b4) (clear b2) (on-table b1) (clear b3) (clear b1) ACTION: (unstack b3 b4) NEXT STATE: (clear b2) (on-table b2) (on-table b5) (on b4 b5) (on-table b1) (clear b4) (holding b3) (clear b1) ACTION: (stack b3 b2) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (on b4 b5) (on-table b1) (on b3 b2) (clear b4) (clear b3) (clear b1)

file_153173

GOAL: (clear b1) (arm-empty) (on b5 b4) (on-table b4) (on b2 b3) (on b1 b2) (on-table b3) (clear b5)

GOAL: (clear b1) (arm-empty) (on b5 b4) (on-table b4) (on b2 b3) (on b1 b2) (on-table b3) (clear b5) STATE: (on-table b5) (on b4 b5) (holding b2) (on b1 b4) (clear b3) (clear b1) (on-table b3)

ACTION: (stack b2 b3) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on b4 b5) (on b1 b4) (on b2 b3) (clear b1) (on-table b3) ACTION: (unstack b1 b4) NEXT STATE: (holding b1) (clear b2) (on-table b5) (on b4 b5) (clear b4) (on b2 b3) (on-table b3) ACTION: (stack b1 b2) NEXT STATE: (arm-empty) (on-table b5) (on b4 b5) (clear b4) (on b2 b3) (on b1 b2) (on-table b3) (clear b1) ACTION: (unstack b4 b5) NEXT STATE: (on-table b5) (holding b4) (clear b5) (on b2 b3) (on b1 b2) (on-table b3) (clear b1) ACTION: (put-down b4) NEXT STATE: (arm-empty) (on-table b5) (clear b4) (on b1 b2) (clear b5) (on-table b4) (on b2 b3) (clear b1) (on-table b3) ACTION: (pick-up b5) NEXT STATE: (clear b4) (holding b5) (on-table b4) (on b2 b3) (on b1 b2) (clear b1) (on-table b3) ACTION: (stack b5 b4) NEXT STATE: (clear b1) (arm-empty) (on b5 b4) (on-table b4) (on b2 b3) (on b1 b2) (on-table b3) (clear b5)

file_123423

GOAL: (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (on b4 b5) (clear b4) (clear b3) (clear b1) (on-table b3)

GOAL: (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (on b4 b5) (clear b4) (clear b3) (clear b1) (on-table b3) STATE: (holding b4) (on-table b1) (on b3 b2) (on b5 b1) (on b2 b5) (clear b3)

ACTION: (put-down b4) NEXT STATE: (arm-empty) (clear b4) (on b2 b5) (on-table b1) (on b3 b2) (on b5 b1) (on-table b4) (clear b3) ACTION: (unstack b3 b2) NEXT STATE: (clear b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (on b2 b5) (holding b3) ACTION: (put-down b3) NEXT STATE: (arm-empty) (clear b4) (on b2 b5) (clear b2) (on-table b1) (on b5 b1) (on-table b4) (clear b3) (on-table b3) ACTION: (unstack b2 b5) NEXT STATE: (on-table b1) (clear b4) (on b5 b1) (on-table b4) (holding b2) (clear b3) (on-table b3) (clear b5) ACTION: (stack b2 b3) NEXT STATE: (clear b2) (arm-empty) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (on b2 b3) (on-table b3) (clear b5) ACTION: (pick-up b4) NEXT STATE: (clear b2) (on-table b1) (holding b4) (on b5 b1) (on b2 b3) (on-table b3) (clear b5) ACTION: (stack b4 b2) NEXT STATE: (arm-empty) (on-table b1) (clear b4) (on b5 b1) (on b4 b2) (on b2 b3) (on-table b3) (clear b5) ACTION: (unstack b5 b1) NEXT STATE: (on-table b1) (clear b4) (holding b5) (on b4 b2) (on b2 b3) (clear b1) (on-table b3) ACTION: (put-down b5) NEXT STATE: (arm-empty) (on-table b5) (clear b4) (clear b5) (on-table b1) (on b4 b2) (on b2 b3) (clear b1) (on-table b3) ACTION: (unstack b4 b2) NEXT STATE: (clear b2) (on-table b5) (on-table b1) (holding b4) (on b2 b3) (clear b1) (on-table b3) (clear b5) ACTION: (stack b4 b5) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on-table b1) (on b4 b5) (clear b4) (on b2 b3) (clear b1) (on-table b3) ACTION: (unstack b2 b3) NEXT STATE: (on-table b5) (on-table b1) (on b4 b5) (clear b4) (holding b2) (clear b3) (clear b1) (on-table b3) ACTION: (put-down b2) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (on b4 b5) (clear b4) (clear b3) (clear b1) (on-table b3)

file_26722

GOAL: (on b3 b5) (on b4 b1) (arm-empty) (on-table b5) (on b2 b4) (clear b2) (on-table b1) (clear b3)

GOAL: (on b3 b5) (on b4 b1) (arm-empty) (on-table b5) (on b2 b4) (clear b2) (on-table b1) (clear b3) STATE: (on b3 b5) (on-table b5) (holding b4) (on b2 b3) (on b1 b2) (clear b1)

ACTION: (put-down b4) NEXT STATE: (on b3 b5) (arm-empty) (on-table b5) (clear b4) (on b1 b2) (on-table b4) (on b2 b3) (clear b1) ACTION: (unstack b1 b2) NEXT STATE: (holding b1) (on b3 b5) (clear b2) (on-table b5) (clear b4) (on-table b4) (on b2 b3) ACTION: (put-down b1) NEXT STATE: (on b3 b5) (arm-empty) (on-table b5) (clear b4) (clear b2) (on-table b1) (on-table b4) (on b2 b3) (clear b1) ACTION: (pick-up b4) NEXT STATE: (on b3 b5) (clear b2) (on-table b5) (on-table b1) (holding b4) (on b2 b3) (clear b1) ACTION: (stack b4 b1) NEXT STATE: (on b3 b5) (clear b2) (on b4 b1) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on b2 b3) ACTION: (unstack b2 b3) NEXT STATE: (on b3 b5) (on b4 b1) (on-table b5) (on-table b1) (clear b4) (holding b2) (clear b3) ACTION: (stack b2 b4) NEXT STATE: (on b3 b5) (on b4 b1) (arm-empty) (on-table b5) (on b2 b4) (clear b2) (on-table b1) (clear b3)

file_137741

GOAL: (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b4) (on b1 b4) (on b3 b1) (clear b3) (clear b5)

GOAL: (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b4) (on b1 b4) (on b3 b1) (clear b3) (clear b5) STATE: (on b3 b5) (on-table b5) (holding b4) (on b2 b3) (on b1 b2) (clear b1)

ACTION: (put-down b4) NEXT STATE: (on b3 b5) (arm-empty) (on-table b5) (clear b4) (on b1 b2) (on-table b4) (on b2 b3) (clear b1) ACTION: (unstack b1 b2) NEXT STATE: (holding b1) (on b3 b5) (clear b2) (on-table b5) (clear b4) (on-table b4) (on b2 b3) ACTION: (stack b1 b4) NEXT STATE: (on b3 b5) (clear b2) (arm-empty) (on-table b5) (on-table b4) (on b1 b4) (on b2 b3) (clear b1) ACTION: (unstack b2 b3) NEXT STATE: (on b3 b5) (on-table b5) (holding b2) (on-table b4) (on b1 b4) (clear b3) (clear b1) ACTION: (put-down b2) NEXT STATE: (on b3 b5) (arm-empty) (on-table b2) (on-table b5) (clear b2) (on-table b4) (on b1 b4) (clear b3) (clear b1) ACTION: (unstack b3 b5) NEXT STATE: (clear b2) (on-table b2) (on-table b5) (on-table b4) (on b1 b4) (holding b3) (clear b1) (clear b5) ACTION: (stack b3 b1) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b4) (on b1 b4) (on b3 b1) (clear b3) (clear b5)

file_137868

GOAL: (clear b2) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (holding b3) (clear b1) (clear b5)

GOAL: (clear b2) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (holding b3) (clear b1) (clear b5) STATE: (clear b2) (on-table b2) (on-table b5) (on-table b1) (on b4 b5) (clear b4) (holding b3) (clear b1)

ACTION: (stack b3 b1) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (on b4 b5) (clear b4) (on b3 b1) (clear b3) ACTION: (unstack b4 b5) NEXT STATE: (clear b2) (on-table b2) (on-table b5) (on-table b1) (holding b4) (on b3 b1) (clear b3) (clear b5) ACTION: (put-down b4) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b3 b1) (clear b3) (clear b5) ACTION: (unstack b3 b1) NEXT STATE: (clear b2) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (holding b3) (clear b1) (clear b5)

file_149585

GOAL: (on-table b2) (clear b4) (holding b5) (on-table b4) (clear b3) (on b1 b2) (clear b1) (on-table b3)

GOAL: (on-table b2) (clear b4) (holding b5) (on-table b4) (clear b3) (on b1 b2) (clear b1) (on-table b3) STATE: (holding b1) (on-table b2) (on-table b5) (clear b4) (on b4 b2) (clear b3) (on-table b3) (clear b5)

ACTION: (stack b1 b3) NEXT STATE: (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b4 b2) (clear b1) (on-table b3) (clear b5) ACTION: (unstack b4 b2) NEXT STATE: (clear b2) (on b1 b3) (on-table b2) (on-table b5) (holding b4) (clear b1) (on-table b3) (clear b5) ACTION: (put-down b4) NEXT STATE: (clear b2) (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b1) (on-table b3) (clear b5) ACTION: (unstack b1 b3) NEXT STATE: (holding b1) (clear b2) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b3) (on-table b3) (clear b5) ACTION: (stack b1 b2) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b3) (on b1 b2) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b5) NEXT STATE: (on-table b2) (clear b4) (holding b5) (on-table b4) (clear b3) (on b1 b2) (clear b1) (on-table b3)

file_217465

GOAL: (arm-empty) (on b4 b5) (on-table b1) (on b5 b2) (clear b4) (on b2 b3) (clear b1) (on-table b3)

GOAL: (arm-empty) (on b4 b5) (on-table b1) (on b5 b2) (clear b4) (on b2 b3) (clear b1) (on-table b3) STATE: (holding b1) (on b5 b2) (clear b4) (on-table b4) (on b2 b3) (on-table b3) (clear b5)

ACTION: (put-down b1) NEXT STATE: (arm-empty) (on b5 b2) (clear b4) (clear b5) (on-table b1) (on-table b4) (on b2 b3) (clear b1) (on-table b3) ACTION: (pick-up b4) NEXT STATE: (on-table b1) (holding b4) (on b5 b2) (on b2 b3) (clear b1) (on-table b3) (clear b5) ACTION: (stack b4 b5) NEXT STATE: (arm-empty) (on b4 b5) (on-table b1) (on b5 b2) (clear b4) (on b2 b3) (clear b1) (on-table b3)

file_182103

GOAL: (arm-empty) (on b5 b4) (on-table b2) (on b1 b2) (clear b5) (on-table b4) (clear b3) (clear b1) (on-table b3)

GOAL: (arm-empty) (on b5 b4) (on-table b2) (on b1 b2) (clear b5) (on-table b4) (clear b3) (clear b1) (on-table b3) STATE: (on b3 b5) (arm-empty) (on b5 b4) (on-table b4) (on b2 b3) (on b1 b2) (clear b1)

ACTION: (unstack b1 b2) NEXT STATE: (on b3 b5) (on b5 b4) (holding b1) (clear b2) (on-table b4) (on b2 b3) ACTION: (put-down b1) NEXT STATE: (on b3 b5) (arm-empty) (on b5 b4) (clear b2) (on-table b1) (on-table b4) (on b2 b3) (clear b1) ACTION: (unstack b2 b3) NEXT STATE: (on b3 b5) (on b5 b4) (on-table b1) (on-table b4) (holding b2) (clear b3) (clear b1) ACTION: (put-down b2) NEXT STATE: (on b3 b5) (arm-empty) (on b5 b4) (on-table b2) (clear b2) (on-table b1) (on-table b4) (clear b3) (clear b1) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on b3 b5) (on b5 b4) (on-table b2) (clear b2) (on-table b4) (clear b3) ACTION: (stack b1 b2) NEXT STATE: (on b3 b5) (arm-empty) (on b5 b4) (on-table b2) (on-table b4) (clear b3) (on b1 b2) (clear b1) ACTION: (unstack b3 b5) NEXT STATE: (on b5 b4) (on-table b2) (on-table b4) (on b1 b2) (clear b1) (holding b3) (clear b5) ACTION: (put-down b3) NEXT STATE: (arm-empty) (on b5 b4) (on-table b2) (on b1 b2) (clear b5) (on-table b4) (clear b3) (clear b1) (on-table b3)

file_122333

GOAL: (arm-empty) (on-table b1) (on b5 b2) (clear b4) (on-table b4) (on b2 b3) (clear b1) (on-table b3) (clear b5)

GOAL: (arm-empty) (on-table b1) (on b5 b2) (clear b4) (on-table b4) (on b2 b3) (clear b1) (on-table b3) (clear b5) STATE: (on b4 b1) (on b5 b4) (arm-empty) (on b2 b3) (on b1 b2) (on-table b3) (clear b5)

ACTION: (unstack b5 b4) NEXT STATE: (holding b5) (on b4 b1) (clear b4) (on b2 b3) (on b1 b2) (on-table b3) ACTION: (put-down b5) NEXT STATE: (on b4 b1) (arm-empty) (on-table b5) (clear b4) (on b1 b2) (clear b5) (on b2 b3) (on-table b3) ACTION: (unstack b4 b1) NEXT STATE: (on-table b5) (holding b4) (on b2 b3) (on b1 b2) (clear b1) (on-table b3) (clear b5) ACTION: (put-down b4) NEXT STATE: (arm-empty) (on-table b5) (clear b4) (on b1 b2) (clear b5) (on-table b4) (on b2 b3) (clear b1) (on-table b3) ACTION: (unstack b1 b2) NEXT STATE: (holding b1) (clear b2) (on-table b5) (clear b4) (on-table b4) (on b2 b3) (on-table b3) (clear b5) ACTION: (put-down b1) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b2 b3) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b5) NEXT STATE: (clear b2) (on-table b1) (clear b4) (holding b5) (on-table b4) (on b2 b3) (clear b1) (on-table b3) ACTION: (stack b5 b2) NEXT STATE: (arm-empty) (on-table b1) (on b5 b2) (clear b4) (on-table b4) (on b2 b3) (clear b1) (on-table b3) (clear b5)

file_64420

GOAL: (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b3) (on-table b4) (clear b1) (on-table b3) (clear b5)

GOAL: (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b3) (on-table b4) (clear b1) (on-table b3) (clear b5) STATE: (on b1 b5) (clear b2) (arm-empty) (on b5 b4) (on-table b2) (on-table b4) (on b3 b1) (clear b3)

ACTION: (unstack b3 b1) NEXT STATE: (on b1 b5) (clear b2) (on b5 b4) (on-table b2) (on-table b4) (holding b3) (clear b1) ACTION: (put-down b3) NEXT STATE: (on b1 b5) (arm-empty) (on b5 b4) (on-table b2) (clear b2) (on-table b4) (clear b3) (clear b1) (on-table b3) ACTION: (unstack b1 b5) NEXT STATE: (holding b1) (clear b2) (on b5 b4) (on-table b2) (on-table b4) (clear b3) (on-table b3) (clear b5) ACTION: (put-down b1) NEXT STATE: (clear b2) (arm-empty) (on b5 b4) (on-table b2) (on-table b1) (on-table b4) (clear b3) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b3) NEXT STATE: (clear b2) (on b5 b4) (on-table b2) (on-table b1) (on-table b4) (holding b3) (clear b1) (clear b5) ACTION: (stack b3 b1) NEXT STATE: (clear b2) (arm-empty) (on b5 b4) (on-table b2) (on-table b1) (on-table b4) (on b3 b1) (clear b3) (clear b5) ACTION: (unstack b5 b4) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (clear b4) (holding b5) (on-table b4) (on b3 b1) (clear b3) ACTION: (stack b5 b2) NEXT STATE: (arm-empty) (on-table b2) (on-table b1) (on b5 b2) (clear b4) (on-table b4) (on b3 b1) (clear b3) (clear b5) ACTION: (unstack b3 b1) NEXT STATE: (on-table b2) (on-table b1) (on b5 b2) (clear b4) (on-table b4) (holding b3) (clear b1) (clear b5) ACTION: (put-down b3) NEXT STATE: (arm-empty) (on-table b2) (on-table b1) (on b5 b2) (clear b4) (on-table b4) (clear b3) (clear b1) (on-table b3) (clear b5) ACTION: (unstack b5 b2) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (clear b4) (holding b5) (on-table b4) (clear b3) (clear b1) (on-table b3) ACTION: (stack b5 b3) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b3) (on-table b4) (clear b1) (on-table b3) (clear b5)

file_19322

GOAL: (holding b1) (on b3 b4) (clear b2) (on-table b2) (on-table b4) (clear b3)

GOAL: (holding b1) (on b3 b4) (clear b2) (on-table b2) (on-table b4) (clear b3) STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b2) (on-table b1) (on-table b4) (clear b3) (clear b1)

ACTION: (pick-up b1) NEXT STATE: (holding b1) (on b3 b4) (clear b2) (on-table b2) (on-table b4) (clear b3)

file_172514

GOAL: (on b4 b3) (clear b2) (arm-empty) (on b2 b1) (on b1 b4) (on-table b3)

GOAL: (on b4 b3) (clear b2) (arm-empty) (on b2 b1) (on b1 b4) (on-table b3) STATE: (holding b1) (on b3 b4) (clear b2) (on-table b2) (on-table b4) (clear b3)

ACTION: (stack b1 b2) NEXT STATE: (on b3 b4) (arm-empty) (on-table b2) (on-table b4) (clear b3) (on b1 b2) (clear b1) ACTION: (unstack b3 b4) NEXT STATE: (on-table b2) (clear b4) (on b1 b2) (on-table b4) (holding b3) (clear b1) ACTION: (put-down b3) NEXT STATE: (on-table b4) (arm-empty) (on-table b2) (clear b3) (clear b4) (on b1 b2) (on-table b3) (clear b1) ACTION: (pick-up b4) NEXT STATE: (on-table b2) (holding b4) (clear b3) (on b1 b2) (clear b1) (on-table b3) ACTION: (stack b4 b3) NEXT STATE: (arm-empty) (on-table b2) (clear b4) (on b4 b3) (on b1 b2) (clear b1) (on-table b3) ACTION: (unstack b1 b2) NEXT STATE: (on-table b2) (clear b4) (holding b1) (clear b2) (on b4 b3) (on-table b3) ACTION: (stack b1 b4) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on b4 b3) (on b1 b4) (clear b1) (on-table b3) ACTION: (pick-up b2) NEXT STATE: (on b4 b3) (holding b2) (on b1 b4) (clear b1) (on-table b3) ACTION: (stack b2 b1) NEXT STATE: (on b4 b3) (clear b2) (arm-empty) (on b2 b1) (on b1 b4) (on-table b3)

file_133528

GOAL: (on b1 b5) (on b4 b1) (clear b4) (on b5 b3) (holding b2) (on-table b3)

GOAL: (on b1 b5) (on b4 b1) (clear b4) (on b5 b3) (holding b2) (on-table b3) STATE: (holding b1) (clear b4) (on b5 b3) (on b4 b2) (on b2 b5) (on-table b3)

ACTION: (put-down b1) NEXT STATE: (arm-empty) (clear b4) (on b5 b3) (on b2 b5) (on-table b1) (on b4 b2) (clear b1) (on-table b3) ACTION: (unstack b4 b2) NEXT STATE: (clear b2) (on-table b1) (holding b4) (on b5 b3) (on b2 b5) (clear b1) (on-table b3) ACTION: (put-down b4) NEXT STATE: (arm-empty) (clear b4) (on b5 b3) (on b2 b5) (clear b2) (on-table b1) (on-table b4) (clear b1) (on-table b3) ACTION: (unstack b2 b5) NEXT STATE: (on-table b1) (clear b4) (on b5 b3) (on-table b4) (holding b2) (clear b1) (on-table b3) (clear b5) ACTION: (put-down b2) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b3) (on-table b4) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b4) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (holding b4) (on b5 b3) (clear b1) (on-table b3) (clear b5) ACTION: (stack b4 b2) NEXT STATE: (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b3) (on b4 b2) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on-table b2) (clear b4) (on b5 b3) (on b4 b2) (on-table b3) (clear b5) ACTION: (stack b1 b5) NEXT STATE: (on b1 b5) (arm-empty) (on-table b2) (clear b4) (on b5 b3) (on b4 b2) (clear b1) (on-table b3) ACTION: (unstack b4 b2) NEXT STATE: (on b1 b5) (clear b2) (on-table b2) (holding b4) (on b5 b3) (clear b1) (on-table b3) ACTION: (stack b4 b1) NEXT STATE: (on b1 b5) (clear b2) (on b4 b1) (arm-empty) (on-table b2) (clear b4) (on b5 b3) (on-table b3) ACTION: (pick-up b2) NEXT STATE: (on b1 b5) (on b4 b1) (clear b4) (on b5 b3) (holding b2) (on-table b3)

file_189690

GOAL: (clear b2) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (holding b3) (clear b5)

GOAL: (clear b2) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (holding b3) (clear b5) STATE: (holding b1) (on b3 b4) (on b5 b2) (on-table b4) (on b2 b3) (clear b5)

ACTION: (put-down b1) NEXT STATE: (arm-empty) (on b5 b2) (clear b5) (on b3 b4) (on-table b1) (on-table b4) (on b2 b3) (clear b1) ACTION: (unstack b5 b2) NEXT STATE: (on b3 b4) (clear b2) (on-table b1) (holding b5) (on-table b4) (on b2 b3) (clear b1) ACTION: (stack b5 b1) NEXT STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b1) (on b5 b1) (on-table b4) (on b2 b3) (clear b5) ACTION: (unstack b2 b3) NEXT STATE: (on b3 b4) (on-table b1) (on b5 b1) (on-table b4) (holding b2) (clear b3) (clear b5) ACTION: (stack b2 b5) NEXT STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b1) (on b5 b1) (on-table b4) (on b2 b5) (clear b3) ACTION: (unstack b3 b4) NEXT STATE: (clear b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (on b2 b5) (holding b3) ACTION: (put-down b3) NEXT STATE: (arm-empty) (clear b4) (on b2 b5) (clear b2) (on-table b1) (on b5 b1) (on-table b4) (clear b3) (on-table b3) ACTION: (unstack b2 b5) NEXT STATE: (on-table b1) (clear b4) (on b5 b1) (on-table b4) (holding b2) (clear b3) (on-table b3) (clear b5) ACTION: (put-down b2) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (clear b3) (on-table b3) (clear b5) ACTION: (pick-up b3) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (holding b3) (clear b5)

file_207383

GOAL: (on b4 b2) (on b5 b1) (arm-empty) (on-table b1) (on b2 b5) (clear b3) (clear b4) (on-table b3)

GOAL: (on b4 b2) (on b5 b1) (arm-empty) (on-table b1) (on b2 b5) (clear b3) (clear b4) (on-table b3) STATE: (on-table b1) (clear b4) (on b5 b1) (on b4 b2) (on b2 b5) (holding b3)

ACTION: (put-down b3) NEXT STATE: (on b4 b2) (on b5 b1) (arm-empty) (on-table b1) (on b2 b5) (clear b3) (clear b4) (on-table b3)

file_170434

GOAL: (arm-empty) (on-table b2) (on-table b1) (on b3 b2) (clear b4) (on b5 b1) (on-table b4) (clear b3) (clear b5)

GOAL: (arm-empty) (on-table b2) (on-table b1) (on b3 b2) (clear b4) (on b5 b1) (on-table b4) (clear b3) (clear b5) STATE: (on b3 b4) (on-table b2) (on-table b1) (holding b5) (on b4 b2) (clear b3) (clear b1)

ACTION: (stack b5 b1) NEXT STATE: (on b3 b4) (arm-empty) (on-table b2) (on-table b1) (on b5 b1) (on b4 b2) (clear b3) (clear b5) ACTION: (unstack b3 b4) NEXT STATE: (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on b4 b2) (holding b3) (clear b5) ACTION: (put-down b3) NEXT STATE: (arm-empty) (on-table b2) (clear b4) (clear b5) (on-table b1) (on b5 b1) (on b4 b2) (clear b3) (on-table b3) ACTION: (unstack b4 b2) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (holding b4) (on b5 b1) (clear b3) (on-table b3) (clear b5) ACTION: (put-down b4) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (clear b3) (on-table b3) (clear b5) ACTION: (pick-up b3) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (holding b3) (clear b5) ACTION: (stack b3 b2) NEXT STATE: (arm-empty) (on-table b2) (on-table b1) (on b3 b2) (clear b4) (on b5 b1) (on-table b4) (clear b3) (clear b5)

file_94434

GOAL: (on b1 b5) (on-table b2) (on-table b5) (holding b4) (on b3 b2) (clear b3) (clear b1)

GOAL: (on b1 b5) (on-table b2) (on-table b5) (holding b4) (on b3 b2) (clear b3) (clear b1) STATE: (on b1 b5) (clear b2) (on-table b5) (holding b4) (on b3 b1) (on b2 b3)

ACTION: (put-down b4) NEXT STATE: (on b1 b5) (arm-empty) (on-table b5) (clear b4) (on b3 b1) (clear b2) (on-table b4) (on b2 b3) ACTION: (unstack b2 b3) NEXT STATE: (on b1 b5) (on-table b5) (clear b4) (on-table b4) (holding b2) (on b3 b1) (clear b3) ACTION: (put-down b2) NEXT STATE: (on b1 b5) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b3 b1) (clear b2) (on-table b4) (clear b3) ACTION: (unstack b3 b1) NEXT STATE: (on b1 b5) (clear b2) (on-table b2) (on-table b5) (clear b4) (on-table b4) (holding b3) (clear b1) ACTION: (stack b3 b2) NEXT STATE: (on b1 b5) (arm-empty) (on-table b2) (on-table b5) (on b3 b2) (clear b4) (on-table b4) (clear b3) (clear b1) ACTION: (pick-up b4) NEXT STATE: (on b1 b5) (on-table b2) (on-table b5) (holding b4) (on b3 b2) (clear b3) (clear b1)

file_157676

GOAL: (clear b2) (on-table b2) (on-table b1) (holding b4) (on b3 b1) (clear b3)

GOAL: (clear b2) (on-table b2) (on-table b1) (holding b4) (on b3 b1) (clear b3) STATE: (arm-empty) (on-table b2) (on b1 b4) (on b4 b2) (clear b3) (clear b1) (on-table b3)

ACTION: (unstack b1 b4) NEXT STATE: (on-table b2) (clear b4) (holding b1) (on b4 b2) (clear b3) (on-table b3) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on-table b2) (clear b4) (on-table b1) (on b4 b2) (clear b3) (clear b1) (on-table b3) ACTION: (unstack b4 b2) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (holding b4) (clear b3) (clear b1) (on-table b3) ACTION: (put-down b4) NEXT STATE: (arm-empty) (on-table b2) (clear b4) (clear b2) (on-table b1) (on-table b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b3) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (clear b4) (on-table b4) (holding b3) (clear b1) ACTION: (stack b3 b1) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on-table b4) (on b3 b1) (clear b3) ACTION: (pick-up b4) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (holding b4) (on b3 b1) (clear b3)

file_163903

GOAL: (on-table b4) (arm-empty) (on-table b2) (clear b3) (clear b4) (on b1 b2) (on-table b3) (clear b1)

GOAL: (on-table b4) (arm-empty) (on-table b2) (clear b3) (clear b4) (on b1 b2) (on-table b3) (clear b1) STATE: (on-table b2) (holding b4) (on b3 b1) (clear b3) (on b1 b2)

ACTION: (put-down b4) NEXT STATE: (on b3 b1) (on-table b4) (arm-empty) (clear b4) (on-table b2) (clear b3) (on b1 b2) ACTION: (unstack b3 b1) NEXT STATE: (on-table b2) (clear b4) (on b1 b2) (on-table b4) (holding b3) (clear b1) ACTION: (put-down b3) NEXT STATE: (on-table b4) (arm-empty) (on-table b2) (clear b3) (clear b4) (on b1 b2) (on-table b3) (clear b1)

file_146116

GOAL: (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b2 b5) (clear b3) (on b1 b2) (clear b1) (on-table b3)

GOAL: (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b2 b5) (clear b3) (on b1 b2) (clear b1) (on-table b3) STATE: (holding b1) (on-table b5) (clear b4) (on b4 b2) (on b2 b3) (on-table b3) (clear b5)

ACTION: (put-down b1) NEXT STATE: (arm-empty) (on-table b5) (clear b4) (clear b5) (on-table b1) (on b4 b2) (on b2 b3) (clear b1) (on-table b3) ACTION: (unstack b4 b2) NEXT STATE: (clear b2) (on-table b5) (on-table b1) (holding b4) (on b2 b3) (clear b1) (on-table b3) (clear b5) ACTION: (stack b4 b1) NEXT STATE: (clear b2) (on b4 b1) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on b2 b3) (on-table b3) (clear b5) ACTION: (unstack b2 b3) NEXT STATE: (on b4 b1) (on-table b5) (on-table b1) (clear b4) (holding b2) (clear b3) (on-table b3) (clear b5) ACTION: (stack b2 b5) NEXT STATE: (clear b2) (on b4 b1) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on b2 b5) (clear b3) (on-table b3) ACTION: (unstack b4 b1) NEXT STATE: (clear b2) (on-table b5) (on-table b1) (holding b4) (on b2 b5) (clear b3) (clear b1) (on-table b3) ACTION: (put-down b4) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b2 b5) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b1) NEXT STATE: (holding b1) (clear b2) (on-table b5) (clear b4) (on-table b4) (on b2 b5) (clear b3) (on-table b3) ACTION: (stack b1 b2) NEXT STATE: (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b2 b5) (clear b3) (on b1 b2) (clear b1) (on-table b3)

file_37932

GOAL: (arm-empty) (on-table b2) (on b4 b5) (on b3 b2) (on b5 b3) (on b1 b4) (clear b1)

GOAL: (arm-empty) (on-table b2) (on b4 b5) (on b3 b2) (on b5 b3) (on b1 b4) (clear b1) STATE: (clear b2) (on b3 b5) (on-table b2) (holding b4) (on-table b1) (on b5 b1) (clear b3)

ACTION: (put-down b4) NEXT STATE: (on b3 b5) (arm-empty) (on-table b2) (clear b4) (clear b2) (on-table b1) (on b5 b1) (on-table b4) (clear b3) ACTION: (unstack b3 b5) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (holding b3) (clear b5) ACTION: (stack b3 b2) NEXT STATE: (arm-empty) (on-table b2) (on-table b1) (on b3 b2) (clear b4) (on b5 b1) (on-table b4) (clear b3) (clear b5) ACTION: (unstack b5 b1) NEXT STATE: (on-table b2) (on-table b1) (on b3 b2) (clear b4) (holding b5) (on-table b4) (clear b3) (clear b1) ACTION: (stack b5 b3) NEXT STATE: (arm-empty) (on-table b2) (on-table b1) (on b3 b2) (clear b4) (on b5 b3) (on-table b4) (clear b1) (clear b5) ACTION: (pick-up b4) NEXT STATE: (on-table b2) (on-table b1) (holding b4) (on b3 b2) (on b5 b3) (clear b1) (clear b5) ACTION: (stack b4 b5) NEXT STATE: (arm-empty) (on-table b2) (on b4 b5) (on-table b1) (on b3 b2) (clear b4) (on b5 b3) (clear b1) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on-table b2) (on b4 b5) (on b3 b2) (clear b4) (on b5 b3) ACTION: (stack b1 b4) NEXT STATE: (arm-empty) (on-table b2) (on b4 b5) (on b3 b2) (on b5 b3) (on b1 b4) (clear b1)

file_184649

GOAL: (on b3 b5) (clear b2) (arm-empty) (on-table b1) (on b4 b3) (on b5 b1) (on b2 b4)

GOAL: (on b3 b5) (clear b2) (arm-empty) (on-table b1) (on b4 b3) (on b5 b1) (on b2 b4) STATE: (on-table b2) (on b5 b1) (on b1 b4) (on b4 b2) (holding b3) (clear b5)

ACTION: (put-down b3) NEXT STATE: (arm-empty) (on-table b2) (clear b5) (on b5 b1) (on b1 b4) (on b4 b2) (clear b3) (on-table b3) ACTION: (unstack b5 b1) NEXT STATE: (on-table b2) (holding b5) (on b1 b4) (on b4 b2) (clear b3) (clear b1) (on-table b3) ACTION: (put-down b5) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (clear b5) (on b1 b4) (on b4 b2) (clear b3) (clear b1) (on-table b3) ACTION: (unstack b1 b4) NEXT STATE: (holding b1) (on-table b2) (on-table b5) (clear b4) (on b4 b2) (clear b3) (on-table b3) (clear b5) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on b4 b2) (clear b3) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b5) NEXT STATE: (on-table b2) (on-table b1) (clear b4) (holding b5) (on b4 b2) (clear b3) (clear b1) (on-table b3) ACTION: (stack b5 b1) NEXT STATE: (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on b4 b2) (clear b3) (on-table b3) (clear b5) ACTION: (pick-up b3) NEXT STATE: (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on b4 b2) (holding b3) (clear b5) ACTION: (stack b3 b5) NEXT STATE: (on b3 b5) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on b4 b2) (clear b3) ACTION: (unstack b4 b2) NEXT STATE: (on b3 b5) (clear b2) (on-table b2) (on-table b1) (holding b4) (on b5 b1) (clear b3) ACTION: (stack b4 b3) NEXT STATE: (on b3 b5) (arm-empty) (on-table b2) (clear b4) (clear b2) (on-table b1) (on b4 b3) (on b5 b1) ACTION: (pick-up b2) NEXT STATE: (on b3 b5) (on-table b1) (clear b4) (on b4 b3) (on b5 b1) (holding b2) ACTION: (stack b2 b4) NEXT STATE: (on b3 b5) (clear b2) (arm-empty) (on-table b1) (on b4 b3) (on b5 b1) (on b2 b4)

file_145629

GOAL: (on b3 b4) (on b1 b5) (arm-empty) (on-table b2) (on-table b5) (on b4 b2) (clear b3) (clear b1)

GOAL: (on b3 b4) (on b1 b5) (arm-empty) (on-table b2) (on-table b5) (on b4 b2) (clear b3) (clear b1) STATE: (on b3 b4) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (on b4 b2) (clear b3) (clear b1) (clear b5)

ACTION: (pick-up b1) NEXT STATE: (holding b1) (on b3 b4) (on-table b2) (on-table b5) (on b4 b2) (clear b3) (clear b5) ACTION: (stack b1 b5) NEXT STATE: (on b3 b4) (on b1 b5) (arm-empty) (on-table b2) (on-table b5) (on b4 b2) (clear b3) (clear b1)

file_221184

GOAL: (on b4 b3) (on b3 b1) (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4)

GOAL: (on b4 b3) (on b3 b1) (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) STATE: (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on-table b4) (clear b3) (clear b1) (on-table b3)

ACTION: (pick-up b2) NEXT STATE: (on-table b1) (clear b4) (on-table b4) (holding b2) (clear b3) (clear b1) (on-table b3) ACTION: (stack b2 b4) NEXT STATE: (clear b2) (arm-empty) (on-table b1) (on-table b4) (on b2 b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b3) NEXT STATE: (clear b2) (on-table b1) (on-table b4) (on b2 b4) (holding b3) (clear b1) ACTION: (stack b3 b1) NEXT STATE: (clear b2) (arm-empty) (on-table b1) (on b2 b4) (on-table b4) (on b3 b1) (clear b3) ACTION: (unstack b2 b4) NEXT STATE: (clear b4) (on b3 b1) (on-table b1) (on-table b4) (holding b2) (clear b3) ACTION: (put-down b2) NEXT STATE: (arm-empty) (on-table b2) (clear b4) (on b3 b1) (clear b2) (on-table b1) (on-table b4) (clear b3) ACTION: (pick-up b4) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (holding b4) (on b3 b1) (clear b3) ACTION: (stack b4 b3) NEXT STATE: (on b4 b3) (on b3 b1) (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4)

file_65827

GOAL: (holding b1) (on b3 b5) (on b5 b4) (on-table b2) (on b4 b2) (clear b3)

GOAL: (holding b1) (on b3 b5) (on b5 b4) (on-table b2) (on b4 b2) (clear b3) STATE: (on b1 b5) (on-table b5) (clear b4) (on-table b4) (holding b2) (on b3 b1) (clear b3)

ACTION: (put-down b2) NEXT STATE: (on b1 b5) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b3 b1) (clear b2) (on-table b4) (clear b3) ACTION: (pick-up b4) NEXT STATE: (on b1 b5) (clear b2) (on-table b2) (on-table b5) (holding b4) (on b3 b1) (clear b3) ACTION: (stack b4 b2) NEXT STATE: (on b1 b5) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b3 b1) (on b4 b2) (clear b3) ACTION: (unstack b3 b1) NEXT STATE: (on b1 b5) (on-table b2) (on-table b5) (on b4 b2) (clear b4) (holding b3) (clear b1) ACTION: (stack b3 b4) NEXT STATE: (on b1 b5) (on b3 b4) (arm-empty) (on-table b2) (on-table b5) (on b4 b2) (clear b3) (clear b1) ACTION: (unstack b1 b5) NEXT STATE: (holding b1) (on b3 b4) (on-table b2) (on-table b5) (on b4 b2) (clear b3) (clear b5) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (clear b5) (on b3 b4) (on-table b1) (on b4 b2) (clear b3) (clear b1) ACTION: (unstack b3 b4) NEXT STATE: (on-table b2) (on-table b5) (on-table b1) (clear b4) (on b4 b2) (holding b3) (clear b1) (clear b5) ACTION: (stack b3 b1) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on b3 b1) (on b4 b2) (clear b3) (clear b5) ACTION: (pick-up b5) NEXT STATE: (on-table b2) (on-table b1) (on b4 b2) (clear b4) (holding b5) (on b3 b1) (clear b3) ACTION: (stack b5 b4) NEXT STATE: (arm-empty) (on b5 b4) (on-table b2) (on-table b1) (on b3 b1) (on b4 b2) (clear b3) (clear b5) ACTION: (unstack b3 b1) NEXT STATE: (on b5 b4) (on-table b2) (on-table b1) (on b4 b2) (holding b3) (clear b1) (clear b5) ACTION: (stack b3 b5) NEXT STATE: (on b3 b5) (arm-empty) (on b5 b4) (on-table b2) (on-table b1) (on b4 b2) (clear b3) (clear b1) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on b3 b5) (on b5 b4) (on-table b2) (on b4 b2) (clear b3)

file_210227

GOAL: (on b3 b5) (arm-empty) (on b5 b4) (on-table b1) (on b4 b2) (on b2 b1) (clear b3)

GOAL: (on b3 b5) (arm-empty) (on b5 b4) (on-table b1) (on b4 b2) (on b2 b1) (clear b3) STATE: (on b3 b5) (on b5 b4) (on-table b1) (on-table b4) (holding b2) (clear b3) (clear b1)

ACTION: (stack b2 b1) NEXT STATE: (on b3 b5) (clear b2) (on b5 b4) (arm-empty) (on-table b1) (on-table b4) (on b2 b1) (clear b3) ACTION: (unstack b3 b5) NEXT STATE: (clear b2) (on b5 b4) (on-table b1) (on-table b4) (on b2 b1) (holding b3) (clear b5) ACTION: (stack b3 b2) NEXT STATE: (arm-empty) (on b5 b4) (on-table b1) (on b3 b2) (on-table b4) (on b2 b1) (clear b3) (clear b5) ACTION: (unstack b5 b4) NEXT STATE: (on-table b1) (on b3 b2) (clear b4) (holding b5) (on-table b4) (on b2 b1) (clear b3) ACTION: (put-down b5) NEXT STATE: (arm-empty) (on-table b5) (clear b4) (on b2 b1) (clear b5) (on-table b1) (on b3 b2) (on-table b4) (clear b3) ACTION: (unstack b3 b2) NEXT STATE: (clear b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b2 b1) (holding b3) (clear b5) ACTION: (put-down b3) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b2 b1) (clear b3) (on-table b3) (clear b5) ACTION: (pick-up b4) NEXT STATE: (clear b2) (on-table b5) (on-table b1) (holding b4) (on b2 b1) (clear b3) (on-table b3) (clear b5) ACTION: (stack b4 b2) NEXT STATE: (arm-empty) (on-table b5) (on-table b1) (clear b4) (on b4 b2) (on b2 b1) (clear b3) (on-table b3) (clear b5) ACTION: (pick-up b5) NEXT STATE: (on-table b1) (clear b4) (holding b5) (on b4 b2) (on b2 b1) (clear b3) (on-table b3) ACTION: (stack b5 b4) NEXT STATE: (arm-empty) (on b5 b4) (on-table b1) (on b4 b2) (on b2 b1) (clear b3) (on-table b3) (clear b5) ACTION: (pick-up b3) NEXT STATE: (on b5 b4) (on-table b1) (on b4 b2) (on b2 b1) (holding b3) (clear b5) ACTION: (stack b3 b5) NEXT STATE: (on b3 b5) (arm-empty) (on b5 b4) (on-table b1) (on b4 b2) (on b2 b1) (clear b3)

file_155458

GOAL: (arm-empty) (on-table b5) (clear b4) (on b1 b2) (clear b5) (on-table b4) (on b2 b3) (clear b1) (on-table b3)

GOAL: (arm-empty) (on-table b5) (clear b4) (on b1 b2) (clear b5) (on-table b4) (on b2 b3) (clear b1) (on-table b3) STATE: (clear b2) (on-table b2) (on-table b5) (on-table b1) (on b4 b5) (clear b4) (holding b3) (clear b1)

ACTION: (put-down b3) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (on b4 b5) (clear b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b2) NEXT STATE: (on-table b5) (on-table b1) (on b4 b5) (clear b4) (holding b2) (clear b3) (clear b1) (on-table b3) ACTION: (stack b2 b3) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on-table b1) (on b4 b5) (clear b4) (on b2 b3) (clear b1) (on-table b3) ACTION: (pick-up b1) NEXT STATE: (holding b1) (clear b2) (on-table b5) (on b4 b5) (clear b4) (on b2 b3) (on-table b3) ACTION: (stack b1 b2) NEXT STATE: (arm-empty) (on-table b5) (on b4 b5) (clear b4) (on b2 b3) (on b1 b2) (on-table b3) (clear b1) ACTION: (unstack b4 b5) NEXT STATE: (on-table b5) (holding b4) (clear b5) (on b2 b3) (on b1 b2) (on-table b3) (clear b1) ACTION: (put-down b4) NEXT STATE: (arm-empty) (on-table b5) (clear b4) (on b1 b2) (clear b5) (on-table b4) (on b2 b3) (clear b1) (on-table b3)

file_149552

GOAL: (arm-empty) (on-table b2) (on-table b1) (on b5 b2) (clear b4) (on b4 b3) (clear b1) (on-table b3) (clear b5)

GOAL: (arm-empty) (on-table b2) (on-table b1) (on b5 b2) (clear b4) (on b4 b3) (clear b1) (on-table b3) (clear b5) STATE: (on b3 b5) (on b1 b3) (on-table b2) (holding b4) (on b5 b2) (clear b1)

ACTION: (put-down b4) NEXT STATE: (on b3 b5) (on b1 b3) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b1) ACTION: (unstack b1 b3) NEXT STATE: (holding b1) (on b3 b5) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b3) ACTION: (put-down b1) NEXT STATE: (on b3 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on-table b1) (on-table b4) (clear b3) (clear b1) ACTION: (pick-up b4) NEXT STATE: (on b3 b5) (on-table b2) (on-table b1) (holding b4) (on b5 b2) (clear b3) (clear b1) ACTION: (stack b4 b1) NEXT STATE: (on b3 b5) (on b4 b1) (arm-empty) (on-table b2) (on-table b1) (on b5 b2) (clear b4) (clear b3) ACTION: (unstack b3 b5) NEXT STATE: (on b4 b1) (on-table b2) (on-table b1) (on b5 b2) (clear b4) (holding b3) (clear b5) ACTION: (put-down b3) NEXT STATE: (on b4 b1) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (clear b5) (on-table b1) (clear b3) (on-table b3) ACTION: (unstack b4 b1) NEXT STATE: (on-table b2) (on-table b1) (holding b4) (on b5 b2) (clear b3) (clear b1) (on-table b3) (clear b5) ACTION: (stack b4 b3) NEXT STATE: (arm-empty) (on-table b2) (on-table b1) (on b5 b2) (clear b4) (on b4 b3) (clear b1) (on-table b3) (clear b5)

file_174214

GOAL: (on b3 b4) (clear b2) (arm-empty) (on-table b5) (on-table b1) (on-table b4) (on b2 b3) (clear b1) (clear b5)

GOAL: (on b3 b4) (clear b2) (arm-empty) (on-table b5) (on-table b1) (on-table b4) (on b2 b3) (clear b1) (clear b5) STATE: (on b3 b4) (on b1 b3) (on-table b5) (on-table b4) (holding b2) (clear b1) (clear b5)

ACTION: (stack b2 b5) NEXT STATE: (on b3 b4) (clear b2) (on b1 b3) (arm-empty) (on-table b5) (on-table b4) (on b2 b5) (clear b1) ACTION: (unstack b1 b3) NEXT STATE: (holding b1) (on b3 b4) (clear b2) (on-table b5) (on-table b4) (on b2 b5) (clear b3) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on-table b5) (on b2 b5) (on b3 b4) (clear b2) (on-table b1) (on-table b4) (clear b3) (clear b1) ACTION: (unstack b2 b5) NEXT STATE: (on b3 b4) (on-table b5) (on-table b1) (on-table b4) (holding b2) (clear b3) (clear b1) (clear b5) ACTION: (stack b2 b3) NEXT STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b5) (on-table b1) (on-table b4) (on b2 b3) (clear b1) (clear b5)

file_39875

GOAL: (on-table b5) (on b4 b5) (holding b2) (on b1 b4) (clear b3) (clear b1) (on-table b3)

GOAL: (on-table b5) (on b4 b5) (holding b2) (on b1 b4) (clear b3) (clear b1) (on-table b3) STATE: (clear b2) (on-table b2) (on-table b5) (on b4 b5) (on b1 b4) (holding b3) (clear b1)

ACTION: (put-down b3) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (on b4 b5) (clear b2) (on b1 b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b2) NEXT STATE: (on-table b5) (on b4 b5) (holding b2) (on b1 b4) (clear b3) (clear b1) (on-table b3)

file_152419

GOAL: (holding b1) (on b3 b4) (on-table b2) (on b5 b3) (on b4 b2) (clear b5)

GOAL: (holding b1) (on b3 b4) (on-table b2) (on b5 b3) (on b4 b2) (clear b5) STATE: (on-table b1) (clear b4) (on b5 b1) (on-table b4) (holding b2) (clear b3) (on-table b3) (clear b5)

ACTION: (put-down b2) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (clear b3) (on-table b3) (clear b5) ACTION: (pick-up b3) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (holding b3) (clear b5) ACTION: (stack b3 b5) NEXT STATE: (clear b2) (on b3 b5) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (clear b3) ACTION: (pick-up b4) NEXT STATE: (clear b2) (on b3 b5) (on-table b2) (on-table b1) (holding b4) (on b5 b1) (clear b3) ACTION: (stack b4 b2) NEXT STATE: (on b3 b5) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on b4 b2) (clear b3) ACTION: (unstack b3 b5) NEXT STATE: (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on b4 b2) (holding b3) (clear b5) ACTION: (stack b3 b4) NEXT STATE: (on b3 b4) (arm-empty) (on-table b2) (on-table b1) (on b5 b1) (on b4 b2) (clear b3) (clear b5) ACTION: (unstack b5 b1) NEXT STATE: (on b3 b4) (on-table b2) (on-table b1) (holding b5) (on b4 b2) (clear b3) (clear b1) ACTION: (stack b5 b3) NEXT STATE: (on b3 b4) (arm-empty) (on-table b2) (on-table b1) (on b5 b3) (on b4 b2) (clear b1) (clear b5) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on b3 b4) (on-table b2) (on b5 b3) (on b4 b2) (clear b5)

file_210416

GOAL: (on b1 b5) (clear b2) (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b2 b3) (clear b1) (on-table b3)

GOAL: (on b1 b5) (clear b2) (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b2 b3) (clear b1) (on-table b3) STATE: (on b1 b5) (clear b2) (on b4 b1) (on-table b2) (on-table b5) (clear b4) (holding b3)

ACTION: (put-down b3) NEXT STATE: (on b1 b5) (on b4 b1) (arm-empty) (on-table b2) (on-table b5) (clear b4) (clear b2) (clear b3) (on-table b3) ACTION: (unstack b4 b1) NEXT STATE: (on b1 b5) (clear b2) (on-table b2) (on-table b5) (holding b4) (clear b3) (clear b1) (on-table b3) ACTION: (put-down b4) NEXT STATE: (on b1 b5) (clear b2) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b2) NEXT STATE: (on b1 b5) (on-table b5) (clear b4) (on-table b4) (holding b2) (clear b3) (clear b1) (on-table b3) ACTION: (stack b2 b3) NEXT STATE: (on b1 b5) (clear b2) (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b2 b3) (clear b1) (on-table b3)

file_206128

GOAL: (clear b2) (on-table b1) (holding b4) (on b5 b1) (on b2 b5) (clear b3) (on-table b3)

GOAL: (clear b2) (on-table b1) (holding b4) (on b5 b1) (on b2 b5) (clear b3) (on-table b3) STATE: (clear b2) (on-table b1) (on b4 b3) (holding b5) (on b2 b4) (clear b1) (on-table b3)

ACTION: (stack b5 b1) NEXT STATE: (on b4 b3) (on b5 b1) (clear b2) (arm-empty) (on-table b1) (on b2 b4) (on-table b3) (clear b5) ACTION: (unstack b2 b4) NEXT STATE: (on-table b1) (clear b4) (on b4 b3) (on b5 b1) (holding b2) (on-table b3) (clear b5) ACTION: (stack b2 b5) NEXT STATE: (clear b2) (arm-empty) (on-table b1) (clear b4) (on b4 b3) (on b5 b1) (on b2 b5) (on-table b3) ACTION: (unstack b4 b3) NEXT STATE: (clear b2) (on-table b1) (holding b4) (on b5 b1) (on b2 b5) (clear b3) (on-table b3)

file_48339

GOAL: (clear b2) (arm-empty) (on-table b5) (on b4 b5) (on-table b1) (clear b4) (on b2 b3) (clear b1) (on-table b3)

GOAL: (clear b2) (arm-empty) (on-table b5) (on b4 b5) (on-table b1) (clear b4) (on b2 b3) (clear b1) (on-table b3) STATE: (clear b2) (on b4 b1) (on b1 b3) (arm-empty) (on-table b5) (on b2 b4) (on-table b3) (clear b5)

ACTION: (unstack b2 b4) NEXT STATE: (on b4 b1) (on b1 b3) (on-table b5) (clear b4) (holding b2) (on-table b3) (clear b5) ACTION: (put-down b2) NEXT STATE: (on b4 b1) (on b1 b3) (on-table b2) (on-table b5) (arm-empty) (clear b4) (clear b5) (clear b2) (on-table b3) ACTION: (unstack b4 b1) NEXT STATE: (clear b2) (on b1 b3) (on-table b2) (on-table b5) (holding b4) (clear b1) (on-table b3) (clear b5) ACTION: (stack b4 b5) NEXT STATE: (clear b2) (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (on b4 b5) (clear b4) (clear b1) (on-table b3) ACTION: (unstack b1 b3) NEXT STATE: (holding b1) (clear b2) (on-table b2) (on-table b5) (on b4 b5) (clear b4) (clear b3) (on-table b3) ACTION: (put-down b1) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b5) (on b4 b5) (on-table b1) (clear b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b2) NEXT STATE: (on-table b5) (on b4 b5) (on-table b1) (clear b4) (holding b2) (clear b3) (clear b1) (on-table b3) ACTION: (stack b2 b3) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on b4 b5) (on-table b1) (clear b4) (on b2 b3) (clear b1) (on-table b3)

file_38124

GOAL: (on b3 b4) (on b1 b3) (arm-empty) (on-table b2) (on b4 b2) (clear b1)

GOAL: (on b3 b4) (on b1 b3) (arm-empty) (on-table b2) (on b4 b2) (clear b1) STATE: (on-table b2) (on b1 b4) (on b4 b2) (holding b3) (clear b1)

ACTION: (put-down b3) NEXT STATE: (arm-empty) (on-table b2) (on b1 b4) (on b4 b2) (clear b3) (clear b1) (on-table b3) ACTION: (unstack b1 b4) NEXT STATE: (on-table b2) (clear b4) (holding b1) (on b4 b2) (clear b3) (on-table b3) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on-table b2) (clear b4) (on-table b1) (on b4 b2) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b3) NEXT STATE: (on-table b2) (on-table b1) (clear b4) (on b4 b2) (holding b3) (clear b1) ACTION: (stack b3 b4) NEXT STATE: (on b3 b4) (arm-empty) (on-table b2) (on-table b1) (on b4 b2) (clear b3) (clear b1) ACTION: (pick-up b1) NEXT STATE: (on b4 b2) (holding b1) (on b3 b4) (on-table b2) (clear b3) ACTION: (stack b1 b3) NEXT STATE: (on b3 b4) (on b1 b3) (arm-empty) (on-table b2) (on b4 b2) (clear b1)

file_45932

GOAL: (on-table b2) (on b5 b2) (on-table b4) (on b1 b4) (holding b3) (clear b1) (clear b5)

GOAL: (on-table b2) (on b5 b2) (on-table b4) (on b1 b4) (holding b3) (clear b1) (clear b5) STATE: (on b1 b5) (clear b2) (on-table b2) (holding b4) (on b5 b3) (clear b1) (on-table b3)

ACTION: (put-down b4) NEXT STATE: (on b1 b5) (arm-empty) (on-table b2) (clear b4) (on b5 b3) (clear b2) (on-table b4) (clear b1) (on-table b3) ACTION: (unstack b1 b5) NEXT STATE: (holding b1) (clear b2) (on-table b2) (clear b4) (on b5 b3) (on-table b4) (on-table b3) (clear b5) ACTION: (stack b1 b4) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on b5 b3) (on-table b4) (on b1 b4) (clear b1) (on-table b3) (clear b5) ACTION: (unstack b5 b3) NEXT STATE: (clear b2) (on-table b2) (holding b5) (on-table b4) (on b1 b4) (clear b3) (clear b1) (on-table b3) ACTION: (stack b5 b2) NEXT STATE: (arm-empty) (on-table b2) (on b5 b2) (on-table b4) (on b1 b4) (clear b3) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b3) NEXT STATE: (on-table b2) (on b5 b2) (on-table b4) (on b1 b4) (holding b3) (clear b1) (clear b5)

file_161279

GOAL: (on b3 b4) (clear b2) (on b1 b3) (arm-empty) (on b5 b1) (on-table b4) (on b2 b5)

GOAL: (on b3 b4) (clear b2) (on b1 b3) (arm-empty) (on b5 b1) (on-table b4) (on b2 b5) STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b1) (on b5 b3) (on-table b4) (on b2 b5) (clear b1)

ACTION: (unstack b2 b5) NEXT STATE: (on b3 b4) (on-table b1) (on b5 b3) (on-table b4) (holding b2) (clear b1) (clear b5) ACTION: (put-down b2) NEXT STATE: (arm-empty) (on-table b2) (on b5 b3) (clear b5) (on b3 b4) (clear b2) (on-table b1) (on-table b4) (clear b1) ACTION: (unstack b5 b3) NEXT STATE: (on b3 b4) (clear b2) (on-table b2) (on-table b1) (holding b5) (on-table b4) (clear b3) (clear b1) ACTION: (put-down b5) NEXT STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (on-table b4) (clear b3) (clear b1) (clear b5) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on b3 b4) (clear b2) (on-table b2) (on-table b5) (on-table b4) (clear b3) (clear b5) ACTION: (stack b1 b3) NEXT STATE: (on b3 b4) (clear b2) (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (on-table b4) (clear b1) (clear b5) ACTION: (pick-up b5) NEXT STATE: (on b3 b4) (clear b2) (on b1 b3) (on-table b2) (holding b5) (on-table b4) (clear b1) ACTION: (stack b5 b1) NEXT STATE: (on b3 b4) (clear b2) (on b1 b3) (arm-empty) (on-table b2) (on b5 b1) (on-table b4) (clear b5) ACTION: (pick-up b2) NEXT STATE: (on b3 b4) (on b1 b3) (on b5 b1) (on-table b4) (holding b2) (clear b5) ACTION: (stack b2 b5) NEXT STATE: (on b3 b4) (clear b2) (on b1 b3) (arm-empty) (on b5 b1) (on-table b4) (on b2 b5)

file_66290

GOAL: (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b3 b1) (on b2 b5) (clear b3) (on b1 b2)

GOAL: (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b3 b1) (on b2 b5) (clear b3) (on b1 b2) STATE: (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b2 b5) (clear b3) (on b1 b2) (clear b1) (on-table b3)

ACTION: (pick-up b3) NEXT STATE: (on-table b5) (clear b4) (on-table b4) (on b2 b5) (on b1 b2) (clear b1) (holding b3) ACTION: (stack b3 b1) NEXT STATE: (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b3 b1) (on b2 b5) (clear b3) (on b1 b2)

file_171322

GOAL: (on b1 b3) (on b4 b5) (on-table b5) (clear b4) (holding b2) (clear b1) (on-table b3)

GOAL: (on b1 b3) (on b4 b5) (on-table b5) (clear b4) (holding b2) (clear b1) (on-table b3) STATE: (clear b2) (on b1 b3) (on-table b5) (holding b4) (on b2 b1) (on-table b3) (clear b5)

ACTION: (stack b4 b5) NEXT STATE: (clear b2) (on b1 b3) (arm-empty) (on b4 b5) (on-table b5) (clear b4) (on b2 b1) (on-table b3) ACTION: (unstack b2 b1) NEXT STATE: (on b1 b3) (on b4 b5) (on-table b5) (clear b4) (holding b2) (clear b1) (on-table b3)

file_183013

GOAL: (arm-empty) (on-table b5) (on b3 b1) (on b2 b4) (clear b5) (clear b2) (on-table b1) (on-table b4) (clear b3)

GOAL: (arm-empty) (on-table b5) (on b3 b1) (on b2 b4) (clear b5) (clear b2) (on-table b1) (on-table b4) (clear b3) STATE: (on b3 b5) (arm-empty) (on-table b1) (clear b4) (on b5 b1) (on b4 b2) (on b2 b3)

ACTION: (unstack b4 b2) NEXT STATE: (on b3 b5) (holding b4) (clear b2) (on-table b1) (on b5 b1) (on b2 b3) ACTION: (put-down b4) NEXT STATE: (on b5 b1) (on b3 b5) (clear b2) (on-table b4) (on b2 b3) (clear b4) (arm-empty) (on-table b1) ACTION: (unstack b2 b3) NEXT STATE: (on b3 b5) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (holding b2) (clear b3) ACTION: (stack b2 b4) NEXT STATE: (on b3 b5) (clear b2) (arm-empty) (on-table b1) (on b5 b1) (on-table b4) (on b2 b4) (clear b3) ACTION: (unstack b3 b5) NEXT STATE: (clear b2) (on-table b1) (on b5 b1) (on-table b4) (on b2 b4) (holding b3) (clear b5) ACTION: (put-down b3) NEXT STATE: (arm-empty) (on b2 b4) (clear b5) (clear b2) (on-table b1) (on b5 b1) (on-table b4) (clear b3) (on-table b3) ACTION: (unstack b5 b1) NEXT STATE: (clear b2) (on-table b1) (holding b5) (on-table b4) (on b2 b4) (clear b3) (clear b1) (on-table b3) ACTION: (stack b5 b2) NEXT STATE: (arm-empty) (on-table b1) (on b5 b2) (on-table b4) (on b2 b4) (clear b3) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b3) NEXT STATE: (on-table b1) (on b5 b2) (on-table b4) (on b2 b4) (holding b3) (clear b1) (clear b5) ACTION: (stack b3 b1) NEXT STATE: (arm-empty) (on-table b1) (on b5 b2) (on b2 b4) (on-table b4) (on b3 b1) (clear b3) (clear b5) ACTION: (unstack b5 b2) NEXT STATE: (clear b2) (on-table b1) (on b2 b4) (holding b5) (on-table b4) (on b3 b1) (clear b3) ACTION: (put-down b5) NEXT STATE: (arm-empty) (on-table b5) (on b3 b1) (on b2 b4) (clear b5) (clear b2) (on-table b1) (on-table b4) (clear b3)

file_77904

GOAL: (on b3 b4) (arm-empty) (on b4 b2) (on b2 b1) (clear b3) (on-table b1)

GOAL: (on b3 b4) (arm-empty) (on b4 b2) (on b2 b1) (clear b3) (on-table b1) STATE: (on b1 b3) (clear b4) (on-table b4) (holding b2) (clear b1) (on-table b3)

ACTION: (stack b2 b4) NEXT STATE: (clear b2) (on b1 b3) (arm-empty) (on-table b4) (on b2 b4) (clear b1) (on-table b3) ACTION: (unstack b1 b3) NEXT STATE: (on b2 b4) (holding b1) (clear b2) (on-table b4) (clear b3) (on-table b3) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on b2 b4) (clear b2) (on-table b1) (on-table b4) (clear b3) (clear b1) (on-table b3) ACTION: (unstack b2 b4) NEXT STATE: (on-table b1) (clear b4) (on-table b4) (holding b2) (clear b3) (clear b1) (on-table b3) ACTION: (stack b2 b1) NEXT STATE: (clear b2) (arm-empty) (on-table b1) (clear b4) (on-table b4) (on b2 b1) (clear b3) (on-table b3) ACTION: (pick-up b4) NEXT STATE: (clear b2) (on-table b1) (holding b4) (on b2 b1) (clear b3) (on-table b3) ACTION: (stack b4 b2) NEXT STATE: (arm-empty) (on-table b1) (clear b4) (on b4 b2) (on b2 b1) (clear b3) (on-table b3) ACTION: (pick-up b3) NEXT STATE: (on b4 b2) (on-table b1) (on b2 b1) (clear b4) (holding b3) ACTION: (stack b3 b4) NEXT STATE: (on b3 b4) (arm-empty) (on b4 b2) (on b2 b1) (clear b3) (on-table b1)

file_33343

GOAL: (clear b2) (arm-empty) (on-table b5) (on b4 b5) (on-table b1) (on b2 b4) (clear b3) (clear b1) (on-table b3)

GOAL: (clear b2) (arm-empty) (on-table b5) (on b4 b5) (on-table b1) (on b2 b4) (clear b3) (clear b1) (on-table b3) STATE: (holding b1) (clear b2) (on-table b2) (on-table b5) (on b4 b5) (clear b4) (clear b3) (on-table b3)

ACTION: (put-down b1) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b5) (on b4 b5) (on-table b1) (clear b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b2) NEXT STATE: (on-table b5) (on b4 b5) (on-table b1) (clear b4) (holding b2) (clear b3) (clear b1) (on-table b3) ACTION: (stack b2 b4) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on b4 b5) (on-table b1) (on b2 b4) (clear b3) (clear b1) (on-table b3)

file_87324

GOAL: (on b1 b5) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (holding b3) (clear b1)

GOAL: (on b1 b5) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (holding b3) (clear b1) STATE: (clear b2) (arm-empty) (on-table b5) (on-table b1) (on-table b4) (on b2 b4) (clear b3) (clear b1) (on-table b3) (clear b5)

ACTION: (pick-up b1) NEXT STATE: (holding b1) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (clear b3) (on-table b3) (clear b5) ACTION: (stack b1 b5) NEXT STATE: (on b1 b5) (clear b2) (arm-empty) (on-table b5) (on-table b4) (on b2 b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b3) NEXT STATE: (on b1 b5) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (holding b3) (clear b1)

file_113413

GOAL: (on b3 b4) (clear b2) (on b1 b3) (arm-empty) (on-table b5) (on-table b4) (on b2 b5) (clear b1)

GOAL: (on b3 b4) (clear b2) (on b1 b3) (arm-empty) (on-table b5) (on-table b4) (on b2 b5) (clear b1) STATE: (on b3 b4) (on-table b5) (on-table b1) (on-table b4) (holding b2) (clear b3) (clear b1) (clear b5)

ACTION: (stack b2 b5) NEXT STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b5) (on-table b1) (on-table b4) (on b2 b5) (clear b3) (clear b1) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on b3 b4) (clear b2) (on-table b5) (on-table b4) (on b2 b5) (clear b3) ACTION: (stack b1 b3) NEXT STATE: (on b3 b4) (clear b2) (on b1 b3) (arm-empty) (on-table b5) (on-table b4) (on b2 b5) (clear b1)

file_156971

GOAL: (holding b1) (on b5 b2) (on b4 b3) (on b2 b4) (on-table b3) (clear b5)

GOAL: (holding b1) (on b5 b2) (on b4 b3) (on b2 b4) (on-table b3) (clear b5) STATE: (clear b2) (on-table b1) (on b4 b3) (holding b5) (on b2 b4) (clear b1) (on-table b3)

ACTION: (stack b5 b2) NEXT STATE: (arm-empty) (on-table b1) (on b5 b2) (on b4 b3) (on b2 b4) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on b5 b2) (on b4 b3) (on b2 b4) (on-table b3) (clear b5)

file_48330

GOAL: (on b1 b5) (arm-empty) (on-table b2) (on-table b5) (on b4 b2) (clear b4) (on b3 b1) (clear b3)

GOAL: (on b1 b5) (arm-empty) (on-table b2) (on-table b5) (on b4 b2) (clear b4) (on b3 b1) (clear b3) STATE: (on b4 b1) (on b5 b4) (arm-empty) (on-table b1) (on b3 b2) (on b2 b5) (clear b3)

ACTION: (unstack b3 b2) NEXT STATE: (on b4 b1) (on b5 b4) (on b2 b5) (clear b2) (on-table b1) (holding b3) ACTION: (put-down b3) NEXT STATE: (on b4 b1) (on b5 b4) (arm-empty) (on b2 b5) (clear b2) (on-table b1) (clear b3) (on-table b3) ACTION: (unstack b2 b5) NEXT STATE: (on b4 b1) (on b5 b4) (on-table b1) (holding b2) (clear b3) (on-table b3) (clear b5) ACTION: (put-down b2) NEXT STATE: (on b4 b1) (on b5 b4) (on-table b2) (arm-empty) (clear b5) (clear b2) (on-table b1) (clear b3) (on-table b3) ACTION: (unstack b5 b4) NEXT STATE: (clear b2) (on b4 b1) (on-table b2) (on-table b1) (clear b4) (holding b5) (clear b3) (on-table b3) ACTION: (put-down b5) NEXT STATE: (clear b2) (on b4 b1) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (clear b3) (on-table b3) (clear b5) ACTION: (unstack b4 b1) NEXT STATE: (clear b2) (on-table b2) (on-table b5) (on-table b1) (holding b4) (clear b3) (clear b1) (on-table b3) (clear b5) ACTION: (put-down b4) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (clear b3) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b1) NEXT STATE: (holding b1) (clear b2) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b3) (on-table b3) (clear b5) ACTION: (stack b1 b5) NEXT STATE: (on b1 b5) (clear b2) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b4) NEXT STATE: (on b1 b5) (clear b2) (on-table b2) (on-table b5) (holding b4) (clear b3) (clear b1) (on-table b3) ACTION: (stack b4 b2) NEXT STATE: (on b1 b5) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b4 b2) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b3) NEXT STATE: (on b1 b5) (on-table b2) (on-table b5) (clear b4) (on b4 b2) (holding b3) (clear b1) ACTION: (stack b3 b1) NEXT STATE: (on b1 b5) (arm-empty) (on-table b2) (on-table b5) (on b4 b2) (clear b4) (on b3 b1) (clear b3)

file_72215

GOAL: (holding b1) (on b5 b4) (on-table b2) (on b4 b2) (clear b3) (on-table b3) (clear b5)

GOAL: (holding b1) (on b5 b4) (on-table b2) (on b4 b2) (clear b3) (on-table b3) (clear b5) STATE: (on-table b2) (on-table b5) (on-table b1) (clear b4) (on b4 b2) (holding b3) (clear b1) (clear b5)

ACTION: (stack b3 b1) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on b3 b1) (on b4 b2) (clear b3) (clear b5) ACTION: (pick-up b5) NEXT STATE: (on-table b2) (on-table b1) (on b4 b2) (clear b4) (holding b5) (on b3 b1) (clear b3) ACTION: (stack b5 b4) NEXT STATE: (arm-empty) (on b5 b4) (on-table b2) (on-table b1) (on b3 b1) (on b4 b2) (clear b3) (clear b5) ACTION: (unstack b3 b1) NEXT STATE: (on b5 b4) (on-table b2) (on-table b1) (on b4 b2) (holding b3) (clear b1) (clear b5) ACTION: (put-down b3) NEXT STATE: (arm-empty) (on b5 b4) (on-table b2) (clear b5) (on-table b1) (on b4 b2) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on b5 b4) (on-table b2) (on b4 b2) (clear b3) (on-table b3) (clear b5)

file_122507

GOAL: (clear b2) (on b1 b3) (on b4 b1) (on-table b2) (clear b4) (holding b5) (on-table b3)

GOAL: (clear b2) (on b1 b3) (on b4 b1) (on-table b2) (clear b4) (holding b5) (on-table b3) STATE: (on-table b2) (on-table b5) (on b1 b4) (on b4 b2) (holding b3) (clear b1) (clear b5)

ACTION: (put-down b3) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (clear b5) (on b1 b4) (on b4 b2) (clear b3) (clear b1) (on-table b3) ACTION: (unstack b1 b4) NEXT STATE: (holding b1) (on-table b2) (on-table b5) (clear b4) (on b4 b2) (clear b3) (on-table b3) (clear b5) ACTION: (stack b1 b3) NEXT STATE: (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b4 b2) (clear b1) (on-table b3) (clear b5) ACTION: (unstack b4 b2) NEXT STATE: (clear b2) (on b1 b3) (on-table b2) (on-table b5) (holding b4) (clear b1) (on-table b3) (clear b5) ACTION: (stack b4 b1) NEXT STATE: (clear b2) (on b1 b3) (on b4 b1) (on-table b2) (on-table b5) (arm-empty) (clear b4) (on-table b3) (clear b5) ACTION: (pick-up b5) NEXT STATE: (clear b2) (on b1 b3) (on b4 b1) (on-table b2) (clear b4) (holding b5) (on-table b3)

file_106283

GOAL: (arm-empty) (on-table b1) (clear b4) (on b5 b1) (on b4 b2) (on b2 b5) (clear b3) (on-table b3)

GOAL: (arm-empty) (on-table b1) (clear b4) (on b5 b1) (on b4 b2) (on b2 b5) (clear b3) (on-table b3) STATE: (holding b1) (on b5 b4) (on-table b2) (on b4 b2) (clear b3) (on-table b3) (clear b5)

ACTION: (put-down b1) NEXT STATE: (arm-empty) (on b5 b4) (on-table b2) (clear b5) (on-table b1) (on b4 b2) (clear b3) (clear b1) (on-table b3) ACTION: (unstack b5 b4) NEXT STATE: (on-table b2) (on-table b1) (clear b4) (holding b5) (on b4 b2) (clear b3) (clear b1) (on-table b3) ACTION: (stack b5 b1) NEXT STATE: (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on b4 b2) (clear b3) (on-table b3) (clear b5) ACTION: (unstack b4 b2) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (holding b4) (on b5 b1) (clear b3) (on-table b3) (clear b5) ACTION: (put-down b4) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (clear b3) (on-table b3) (clear b5) ACTION: (pick-up b2) NEXT STATE: (on-table b1) (clear b4) (on b5 b1) (on-table b4) (holding b2) (clear b3) (on-table b3) (clear b5) ACTION: (stack b2 b5) NEXT STATE: (clear b2) (arm-empty) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (on b2 b5) (clear b3) (on-table b3) ACTION: (pick-up b4) NEXT STATE: (clear b2) (on-table b1) (holding b4) (on b5 b1) (on b2 b5) (clear b3) (on-table b3) ACTION: (stack b4 b2) NEXT STATE: (arm-empty) (on-table b1) (clear b4) (on b5 b1) (on b4 b2) (on b2 b5) (clear b3) (on-table b3)

file_62424

GOAL: (on b4 b3) (on b1 b5) (clear b2) (arm-empty) (on-table b5) (on b3 b1) (on b2 b4)

GOAL: (on b4 b3) (on b1 b5) (clear b2) (arm-empty) (on-table b5) (on b3 b1) (on b2 b4) STATE: (on b1 b5) (clear b2) (on b4 b1) (on-table b2) (on-table b5) (clear b4) (holding b3)

ACTION: (stack b3 b2) NEXT STATE: (on b1 b5) (on b4 b1) (arm-empty) (on-table b2) (on-table b5) (on b3 b2) (clear b4) (clear b3) ACTION: (unstack b4 b1) NEXT STATE: (on b1 b5) (on-table b2) (on-table b5) (holding b4) (on b3 b2) (clear b3) (clear b1) ACTION: (put-down b4) NEXT STATE: (on b1 b5) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b3 b2) (on-table b4) (clear b3) (clear b1) ACTION: (unstack b3 b2) NEXT STATE: (on b1 b5) (clear b2) (on-table b2) (on-table b5) (clear b4) (on-table b4) (holding b3) (clear b1) ACTION: (stack b3 b1) NEXT STATE: (on b1 b5) (clear b2) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (on b3 b1) (clear b3) ACTION: (pick-up b4) NEXT STATE: (on b1 b5) (clear b2) (on-table b2) (on-table b5) (holding b4) (on b3 b1) (clear b3) ACTION: (stack b4 b3) NEXT STATE: (on b1 b5) (clear b2) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b4 b3) (on b3 b1) ACTION: (pick-up b2) NEXT STATE: (on b1 b5) (on-table b5) (clear b4) (on b4 b3) (holding b2) (on b3 b1) ACTION: (stack b2 b4) NEXT STATE: (on b4 b3) (on b1 b5) (clear b2) (arm-empty) (on-table b5) (on b3 b1) (on b2 b4)

file_206137

GOAL: (holding b1) (on-table b2) (on-table b5) (clear b4) (on b4 b2) (clear b3) (on-table b3) (clear b5)

GOAL: (holding b1) (on-table b2) (on-table b5) (clear b4) (on b4 b2) (clear b3) (on-table b3) (clear b5) STATE: (arm-empty) (on-table b2) (on b4 b2) (on b5 b3) (on b1 b4) (on b3 b1) (clear b5)

ACTION: (unstack b5 b3) NEXT STATE: (on-table b2) (holding b5) (on b3 b1) (on b1 b4) (on b4 b2) (clear b3) ACTION: (put-down b5) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (on b3 b1) (clear b5) (on b1 b4) (on b4 b2) (clear b3) ACTION: (unstack b3 b1) NEXT STATE: (on-table b2) (on-table b5) (on b4 b2) (on b1 b4) (holding b3) (clear b1) (clear b5) ACTION: (put-down b3) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (clear b5) (on b1 b4) (on b4 b2) (clear b3) (clear b1) (on-table b3) ACTION: (unstack b1 b4) NEXT STATE: (holding b1) (on-table b2) (on-table b5) (clear b4) (on b4 b2) (clear b3) (on-table b3) (clear b5)

file_143726

GOAL: (on-table b5) (clear b4) (on-table b4) (on b2 b5) (on b1 b2) (clear b1) (holding b3)

GOAL: (on-table b5) (clear b4) (on-table b4) (on b2 b5) (on b1 b2) (clear b1) (holding b3) STATE: (on-table b5) (holding b4) (on b3 b1) (on b2 b5) (clear b3) (on b1 b2)

ACTION: (put-down b4) NEXT STATE: (arm-empty) (on-table b5) (clear b4) (on b3 b1) (on b2 b5) (on b1 b2) (on-table b4) (clear b3) ACTION: (unstack b3 b1) NEXT STATE: (on-table b5) (clear b4) (on-table b4) (on b2 b5) (on b1 b2) (clear b1) (holding b3)

file_171902

GOAL: (on b3 b4) (on b1 b5) (arm-empty) (on-table b2) (on-table b5) (on b4 b2) (clear b3) (clear b1)

GOAL: (on b3 b4) (on b1 b5) (arm-empty) (on-table b2) (on-table b5) (on b4 b2) (clear b3) (clear b1) STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b5) (on-table b1) (on-table b4) (on b2 b3) (clear b1) (clear b5)

ACTION: (unstack b2 b3) NEXT STATE: (on b3 b4) (on-table b5) (on-table b1) (on-table b4) (holding b2) (clear b3) (clear b1) (clear b5) ACTION: (put-down b2) NEXT STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (on-table b4) (clear b3) (clear b1) (clear b5) ACTION: (unstack b3 b4) NEXT STATE: (clear b2) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (holding b3) (clear b1) (clear b5) ACTION: (stack b3 b1) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b3 b1) (clear b3) (clear b5) ACTION: (pick-up b5) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (clear b4) (holding b5) (on-table b4) (on b3 b1) (clear b3) ACTION: (stack b5 b3) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b3) (on-table b4) (on b3 b1) (clear b5) ACTION: (pick-up b4) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (holding b4) (on b5 b3) (on b3 b1) (clear b5) ACTION: (stack b4 b2) NEXT STATE: (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b3) (on b3 b1) (on b4 b2) (clear b5) ACTION: (unstack b5 b3) NEXT STATE: (on-table b2) (on-table b1) (clear b4) (on b3 b1) (holding b5) (on b4 b2) (clear b3) ACTION: (put-down b5) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b3 b1) (clear b5) (on-table b1) (on b4 b2) (clear b3) ACTION: (unstack b3 b1) NEXT STATE: (on-table b2) (on-table b5) (on-table b1) (on b4 b2) (clear b4) (holding b3) (clear b1) (clear b5) ACTION: (stack b3 b4) NEXT STATE: (on b3 b4) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (on b4 b2) (clear b3) (clear b1) (clear b5) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on b3 b4) (on-table b2) (on-table b5) (on b4 b2) (clear b3) (clear b5) ACTION: (stack b1 b5) NEXT STATE: (on b3 b4) (on b1 b5) (arm-empty) (on-table b2) (on-table b5) (on b4 b2) (clear b3) (clear b1)

file_3312

GOAL: (clear b2) (on-table b1) (on-table b4) (on b2 b4) (holding b3) (clear b1)

GOAL: (clear b2) (on-table b1) (on-table b4) (on b2 b4) (holding b3) (clear b1) STATE: (on b1 b3) (on b4 b1) (clear b4) (holding b2) (on-table b3)

ACTION: (put-down b2) NEXT STATE: (clear b2) (on b1 b3) (on b4 b1) (on-table b2) (arm-empty) (clear b4) (on-table b3) ACTION: (unstack b4 b1) NEXT STATE: (on b1 b3) (on-table b2) (holding b4) (clear b2) (clear b1) (on-table b3) ACTION: (put-down b4) NEXT STATE: (on b1 b3) (arm-empty) (on-table b2) (clear b4) (clear b2) (on-table b4) (clear b1) (on-table b3) ACTION: (pick-up b2) NEXT STATE: (on b1 b3) (clear b4) (on-table b4) (holding b2) (clear b1) (on-table b3) ACTION: (stack b2 b4) NEXT STATE: (clear b2) (on b1 b3) (arm-empty) (on-table b4) (on b2 b4) (clear b1) (on-table b3) ACTION: (unstack b1 b3) NEXT STATE: (on b2 b4) (holding b1) (clear b2) (on-table b4) (clear b3) (on-table b3) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on b2 b4) (clear b2) (on-table b1) (on-table b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b3) NEXT STATE: (clear b2) (on-table b1) (on-table b4) (on b2 b4) (holding b3) (clear b1)

file_2838

GOAL: (holding b1) (on-table b2) (on-table b5) (on b3 b2) (clear b4) (on-table b4) (clear b3) (clear b5)

GOAL: (holding b1) (on-table b2) (on-table b5) (on b3 b2) (clear b4) (on-table b4) (clear b3) (clear b5) STATE: (clear b2) (arm-empty) (on-table b2) (on b5 b3) (on-table b4) (on b1 b4) (on b3 b1) (clear b5)

ACTION: (unstack b5 b3) NEXT STATE: (clear b2) (on-table b2) (holding b5) (on-table b4) (on b1 b4) (on b3 b1) (clear b3) ACTION: (put-down b5) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (on b3 b1) (clear b5) (clear b2) (on-table b4) (on b1 b4) (clear b3) ACTION: (unstack b3 b1) NEXT STATE: (clear b2) (on-table b2) (on-table b5) (on-table b4) (on b1 b4) (holding b3) (clear b1) (clear b5) ACTION: (stack b3 b2) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (on b3 b2) (on-table b4) (on b1 b4) (clear b3) (clear b1) (clear b5) ACTION: (unstack b1 b4) NEXT STATE: (holding b1) (on-table b2) (on-table b5) (on b3 b2) (clear b4) (on-table b4) (clear b3) (clear b5)

file_13203

GOAL: (arm-empty) (on-table b1) (on b3 b2) (on b2 b1) (clear b3)

GOAL: (arm-empty) (on-table b1) (on b3 b2) (on b2 b1) (clear b3) STATE: (clear b2) (arm-empty) (on-table b1) (on b2 b1) (clear b3) (on-table b3)

ACTION: (pick-up b3) NEXT STATE: (clear b2) (on-table b1) (on b2 b1) (holding b3) ACTION: (stack b3 b2) NEXT STATE: (arm-empty) (on-table b1) (on b3 b2) (on b2 b1) (clear b3)

file_4801

GOAL: (on b3 b5) (clear b2) (on b5 b4) (arm-empty) (on-table b1) (on-table b4) (on b2 b1) (clear b3)

GOAL: (on b3 b5) (clear b2) (on b5 b4) (arm-empty) (on-table b1) (on-table b4) (on b2 b1) (clear b3) STATE: (on b1 b5) (clear b2) (on b5 b4) (on-table b2) (on-table b4) (holding b3) (clear b1)

ACTION: (put-down b3) NEXT STATE: (on b1 b5) (arm-empty) (on b5 b4) (on-table b2) (clear b2) (on-table b4) (clear b3) (clear b1) (on-table b3) ACTION: (unstack b1 b5) NEXT STATE: (holding b1) (clear b2) (on b5 b4) (on-table b2) (on-table b4) (clear b3) (on-table b3) (clear b5) ACTION: (stack b1 b2) NEXT STATE: (arm-empty) (on b5 b4) (on-table b2) (on-table b4) (clear b3) (on b1 b2) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b3) NEXT STATE: (on b5 b4) (on-table b2) (on-table b4) (on b1 b2) (clear b1) (holding b3) (clear b5) ACTION: (stack b3 b5) NEXT STATE: (on b3 b5) (arm-empty) (on b5 b4) (on-table b2) (on-table b4) (clear b3) (on b1 b2) (clear b1) ACTION: (unstack b1 b2) NEXT STATE: (holding b1) (on b3 b5) (on b5 b4) (on-table b2) (clear b2) (on-table b4) (clear b3) ACTION: (put-down b1) NEXT STATE: (on b3 b5) (arm-empty) (on b5 b4) (on-table b2) (clear b2) (on-table b1) (on-table b4) (clear b3) (clear b1) ACTION: (pick-up b2) NEXT STATE: (on b3 b5) (on b5 b4) (on-table b1) (on-table b4) (holding b2) (clear b3) (clear b1) ACTION: (stack b2 b1) NEXT STATE: (on b3 b5) (clear b2) (on b5 b4) (arm-empty) (on-table b1) (on-table b4) (on b2 b1) (clear b3)

file_74368

GOAL: (clear b2) (arm-empty) (on-table b4) (on b1 b4) (on b2 b3) (clear b1) (on-table b3)

GOAL: (clear b2) (arm-empty) (on-table b4) (on b1 b4) (on b2 b3) (clear b1) (on-table b3) STATE: (clear b2) (holding b4) (on-table b1) (on b2 b3) (clear b1) (on-table b3)

ACTION: (put-down b4) NEXT STATE: (arm-empty) (clear b4) (clear b2) (on-table b1) (on-table b4) (on b2 b3) (clear b1) (on-table b3) ACTION: (pick-up b1) NEXT STATE: (holding b1) (clear b2) (clear b4) (on-table b4) (on b2 b3) (on-table b3) ACTION: (stack b1 b4) NEXT STATE: (clear b2) (arm-empty) (on-table b4) (on b1 b4) (on b2 b3) (clear b1) (on-table b3)

file_108289

GOAL: (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (clear b3) (on-table b3) (clear b5)

GOAL: (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (clear b3) (on-table b3) (clear b5) STATE: (holding b4) (on b5 b1) (on b2 b3) (on b1 b2) (on-table b3) (clear b5)

ACTION: (put-down b4) NEXT STATE: (arm-empty) (clear b4) (on b1 b2) (clear b5) (on b5 b1) (on-table b4) (on b2 b3) (on-table b3) ACTION: (unstack b5 b1) NEXT STATE: (clear b4) (holding b5) (on-table b4) (on b2 b3) (on b1 b2) (clear b1) (on-table b3) ACTION: (stack b5 b4) NEXT STATE: (clear b1) (arm-empty) (on b5 b4) (on-table b4) (on b2 b3) (on b1 b2) (on-table b3) (clear b5) ACTION: (unstack b1 b2) NEXT STATE: (holding b1) (clear b2) (on b5 b4) (on-table b4) (on b2 b3) (on-table b3) (clear b5) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on b5 b4) (clear b5) (clear b2) (on-table b1) (on-table b4) (on b2 b3) (clear b1) (on-table b3) ACTION: (unstack b5 b4) NEXT STATE: (clear b2) (on-table b1) (clear b4) (holding b5) (on-table b4) (on b2 b3) (clear b1) (on-table b3) ACTION: (stack b5 b1) NEXT STATE: (clear b2) (arm-empty) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (on b2 b3) (on-table b3) (clear b5) ACTION: (unstack b2 b3) NEXT STATE: (on-table b1) (clear b4) (on b5 b1) (on-table b4) (holding b2) (clear b3) (on-table b3) (clear b5) ACTION: (put-down b2) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (clear b3) (on-table b3) (clear b5)

file_13519