Datasets:

NanQiangHF

/

BlocksWorldTestingOfuscatedXYZ

like 0

[ [ "stack gpjqb ltxyl" ], [ "unstack gmxox olcks" ], [ "stack gmxox gpjqb" ], [ "pick-up dgiet" ], [ "stack dgiet olcks" ], [ "unstack gmxox gpjqb" ], [ "stack gmxox dgiet" ], [ "unstack gpjqb ltxyl" ] ]

[ "(arm-empty) (on-table ltxyl) (on-table dgiet) (on gpjqb ltxyl) (on-table olcks) (clear gpjqb) (on gmxox olcks) (clear gmxox) (clear dgiet)", "(on-table ltxyl) (on-table dgiet) (on-table olcks) (clear gpjqb) (on gpjqb ltxyl) (holding gmxox) (clear olcks) (clear dgiet)", "(on gmxox gpjqb) (arm-empty) (on-table ltxyl) (on-table dgiet) (on-table olcks) (on gpjqb ltxyl) (clear gmxox) (clear olcks) (clear dgiet)", "(on gmxox gpjqb) (on-table ltxyl) (on-table olcks) (holding dgiet) (on gpjqb ltxyl) (clear gmxox) (clear olcks)", "(on gmxox gpjqb) (arm-empty) (on-table ltxyl) (on-table olcks) (on dgiet olcks) (on gpjqb ltxyl) (clear gmxox) (clear dgiet)", "(on-table ltxyl) (on-table olcks) (clear gpjqb) (on dgiet olcks) (on gpjqb ltxyl) (holding gmxox) (clear dgiet)", "(on gmxox dgiet) (arm-empty) (on-table ltxyl) (on-table olcks) (clear gpjqb) (on dgiet olcks) (on gpjqb ltxyl) (clear gmxox)", "(on gmxox dgiet) (clear ltxyl) (on-table ltxyl) (on-table olcks) (holding gpjqb) (on dgiet olcks) (clear gmxox)" ]

[ [ "put-down gpaoa" ], [ "unstack ohmsb fzphg" ], [ "put-down ohmsb" ], [ "pick-up gpaoa" ], [ "stack gpaoa ohmsb" ], [ "unstack fzphg hoprg" ], [ "stack fzphg gpaoa" ], [ "unstack hoprg kjzpz" ], [ "put-down hoprg" ], [ "unstack fzphg gpaoa" ], [ "stack fzphg hoprg" ] ]

[ "(on hoprg kjzpz) (arm-empty) (on-table gpaoa) (on ohmsb fzphg) (clear ohmsb) (on fzphg hoprg) (clear gpaoa) (on-table kjzpz)", "(on fzphg hoprg) (clear gpaoa) (on hoprg kjzpz) (on-table gpaoa) (on-table kjzpz) (holding ohmsb) (clear fzphg)", "(on hoprg kjzpz) (arm-empty) (on-table gpaoa) (on-table ohmsb) (clear ohmsb) (on fzphg hoprg) (clear gpaoa) (on-table kjzpz) (clear fzphg)", "(on fzphg hoprg) (on hoprg kjzpz) (on-table ohmsb) (on-table kjzpz) (holding gpaoa) (clear fzphg) (clear ohmsb)", "(on fzphg hoprg) (clear gpaoa) (on hoprg kjzpz) (arm-empty) (on-table ohmsb) (on-table kjzpz) (on gpaoa ohmsb) (clear fzphg)", "(clear gpaoa) (on hoprg kjzpz) (on-table ohmsb) (on-table kjzpz) (clear hoprg) (on gpaoa ohmsb) (holding fzphg)", "(on hoprg kjzpz) (arm-empty) (on-table ohmsb) (on-table kjzpz) (on fzphg gpaoa) (clear hoprg) (on gpaoa ohmsb) (clear fzphg)", "(on-table ohmsb) (on-table kjzpz) (holding hoprg) (on fzphg gpaoa) (on gpaoa ohmsb) (clear fzphg) (clear kjzpz)", "(arm-empty) (on-table ohmsb) (clear hoprg) (on gpaoa ohmsb) (on-table kjzpz) (on fzphg gpaoa) (on-table hoprg) (clear fzphg) (clear kjzpz)", "(clear gpaoa) (on-table ohmsb) (on-table kjzpz) (clear hoprg) (on-table hoprg) (on gpaoa ohmsb) (holding fzphg) (clear kjzpz)", "(on fzphg hoprg) (clear gpaoa) (arm-empty) (on-table ohmsb) (on-table kjzpz) (on-table hoprg) (on gpaoa ohmsb) (clear fzphg) (clear kjzpz)" ]

[ [ "stack hxzmp rinuh" ] ]

[ "(arm-empty) (on-table puqbo) (on-table rinuh) (clear anenz) (on hxzmp rinuh) (on anenz qrilh) (on qrilh puqbo) (clear hxzmp)" ]

[ [ "stack jijtu qiouj" ] ]

[ "(on jijtu qiouj) (on-table eolkw) (arm-empty) (on mdcsn eolkw) (clear jijtu) (on qiouj mdcsn)" ]

[ [ "unstack flche lclil" ], [ "put-down flche" ], [ "unstack lclil vdfdn" ], [ "put-down lclil" ], [ "unstack vdfdn lnkeg" ], [ "stack vdfdn flche" ], [ "pick-up lclil" ], [ "stack lclil lnkeg" ] ]

[ "(on-table lnkeg) (on vdfdn lnkeg) (on lclil vdfdn) (clear lclil) (holding flche)", "(on-table lnkeg) (clear flche) (arm-empty) (on-table flche) (on vdfdn lnkeg) (on lclil vdfdn) (clear lclil)", "(on-table flche) (clear flche) (on-table lnkeg) (on vdfdn lnkeg) (holding lclil) (clear vdfdn)", "(arm-empty) (on-table flche) (clear flche) (on-table lnkeg) (on vdfdn lnkeg) (clear lclil) (clear vdfdn) (on-table lclil)", "(holding vdfdn) (clear flche) (on-table flche) (clear lnkeg) (on-table lnkeg) (clear lclil) (on-table lclil)", "(arm-empty) (on-table flche) (clear lnkeg) (on-table lnkeg) (clear lclil) (on vdfdn flche) (clear vdfdn) (on-table lclil)", "(on-table flche) (clear lnkeg) (on-table lnkeg) (on vdfdn flche) (clear vdfdn) (holding lclil)", "(on lclil lnkeg) (arm-empty) (on-table flche) (on-table lnkeg) (clear lclil) (on vdfdn flche) (clear vdfdn)" ]

[ [ "stack glnau pxmdi" ], [ "unstack gzfdy hwbbp" ], [ "put-down gzfdy" ], [ "unstack hwbbp vgnjk" ], [ "stack hwbbp glnau" ], [ "pick-up vgnjk" ] ]

[ "(clear glnau) (on hwbbp vgnjk) (on gzfdy hwbbp) (arm-empty) (on-table pxmdi) (clear gzfdy) (on glnau pxmdi) (on-table vgnjk)", "(clear glnau) (on hwbbp vgnjk) (on-table pxmdi) (holding gzfdy) (on glnau pxmdi) (clear hwbbp) (on-table vgnjk)", "(on hwbbp vgnjk) (arm-empty) (on-table pxmdi) (clear gzfdy) (on glnau pxmdi) (clear glnau) (on-table gzfdy) (clear hwbbp) (on-table vgnjk)", "(holding hwbbp) (clear glnau) (on-table pxmdi) (clear gzfdy) (on-table gzfdy) (on glnau pxmdi) (clear vgnjk) (on-table vgnjk)", "(arm-empty) (on-table pxmdi) (clear gzfdy) (on-table gzfdy) (on glnau pxmdi) (clear vgnjk) (on hwbbp glnau) (clear hwbbp) (on-table vgnjk)", "(on-table pxmdi) (clear gzfdy) (on-table gzfdy) (on glnau pxmdi) (on hwbbp glnau) (clear hwbbp) (holding vgnjk)" ]

[ [ "put-down qftow" ], [ "unstack vogdw qqern" ], [ "stack vogdw qftow" ], [ "unstack qqern xussd" ] ]

[ "(arm-empty) (on qqern xussd) (on xussd smjkh) (on vogdw qqern) (clear vogdw) (on-table qftow) (clear qftow) (on-table smjkh)", "(on qqern xussd) (on-table qftow) (clear qqern) (on xussd smjkh) (holding vogdw) (clear qftow) (on-table smjkh)", "(arm-empty) (on qqern xussd) (clear qqern) (on xussd smjkh) (on vogdw qftow) (clear vogdw) (on-table qftow) (on-table smjkh)", "(clear vogdw) (on-table qftow) (holding qqern) (on xussd smjkh) (on vogdw qftow) (on-table smjkh) (clear xussd)" ]

[ [ "unstack ephkb gpaxt" ], [ "put-down ephkb" ], [ "unstack gpaxt bzqve" ], [ "stack gpaxt kufkt" ], [ "pick-up ephkb" ] ]

[ "(holding ephkb) (on gpaxt bzqve) (on-table speah) (on bzqve speah) (clear kufkt) (on-table kufkt) (clear gpaxt)", "(on gpaxt bzqve) (arm-empty) (on-table speah) (on bzqve speah) (clear kufkt) (on-table ephkb) (on-table kufkt) (clear gpaxt) (clear ephkb)", "(on-table speah) (on-table ephkb) (on bzqve speah) (clear kufkt) (on-table kufkt) (holding gpaxt) (clear ephkb) (clear bzqve)", "(on gpaxt kufkt) (arm-empty) (on-table speah) (on-table ephkb) (on bzqve speah) (on-table kufkt) (clear gpaxt) (clear ephkb) (clear bzqve)", "(holding ephkb) (on gpaxt kufkt) (on-table speah) (on bzqve speah) (on-table kufkt) (clear gpaxt) (clear bzqve)" ]

[ [ "unstack hulwf nlabk" ], [ "stack hulwf mfppf" ], [ "unstack nlabk vqrvj" ], [ "stack nlabk hulwf" ], [ "unstack vqrvj vzxuq" ], [ "put-down vqrvj" ], [ "pick-up vzxuq" ], [ "stack vzxuq vqrvj" ], [ "unstack nlabk hulwf" ], [ "stack nlabk vzxuq" ] ]

[ "(on nlabk vqrvj) (on-table vzxuq) (on vqrvj vzxuq) (clear mfppf) (holding hulwf) (on-table mfppf) (clear nlabk)", "(on nlabk vqrvj) (on hulwf mfppf) (on-table vzxuq) (arm-empty) (on vqrvj vzxuq) (on-table mfppf) (clear nlabk) (clear hulwf)", "(holding nlabk) (on hulwf mfppf) (on-table vzxuq) (on vqrvj vzxuq) (on-table mfppf) (clear vqrvj) (clear hulwf)", "(on nlabk hulwf) (arm-empty) (on hulwf mfppf) (on-table vzxuq) (on vqrvj vzxuq) (on-table mfppf) (clear vqrvj) (clear nlabk)", "(on nlabk hulwf) (clear vzxuq) (on hulwf mfppf) (on-table vzxuq) (on-table mfppf) (holding vqrvj) (clear nlabk)", "(on nlabk hulwf) (arm-empty) (on hulwf mfppf) (on-table vzxuq) (clear vzxuq) (on-table mfppf) (clear vqrvj) (clear nlabk) (on-table vqrvj)", "(on nlabk hulwf) (on hulwf mfppf) (on-table mfppf) (holding vzxuq) (clear vqrvj) (clear nlabk) (on-table vqrvj)", "(on nlabk hulwf) (clear vzxuq) (arm-empty) (on hulwf mfppf) (on-table mfppf) (on vzxuq vqrvj) (clear nlabk) (on-table vqrvj)", "(holding nlabk) (clear vzxuq) (on hulwf mfppf) (on-table mfppf) (on vzxuq vqrvj) (on-table vqrvj) (clear hulwf)", "(arm-empty) (on hulwf mfppf) (on nlabk vzxuq) (on-table mfppf) (on vzxuq vqrvj) (clear nlabk) (on-table vqrvj) (clear hulwf)" ]

[ [ "put-down rsait" ], [ "unstack cndij daaes" ], [ "stack cndij upksp" ], [ "unstack daaes qyxwk" ] ]

[ "(arm-empty) (on cndij daaes) (on-table qyxwk) (clear cndij) (on-table upksp) (on daaes qyxwk) (clear rsait) (clear upksp) (on-table rsait)", "(on-table qyxwk) (on-table upksp) (clear daaes) (holding cndij) (on daaes qyxwk) (clear rsait) (clear upksp) (on-table rsait)", "(arm-empty) (on-table qyxwk) (on-table upksp) (clear daaes) (on cndij upksp) (on daaes qyxwk) (clear rsait) (on-table rsait) (clear cndij)", "(clear qyxwk) (on-table qyxwk) (on-table upksp) (holding daaes) (on cndij upksp) (clear rsait) (on-table rsait) (clear cndij)" ]

[ [ "stack mybko ehwcn" ], [ "unstack stbwd cdrxn" ], [ "put-down stbwd" ], [ "unstack mybko ehwcn" ], [ "stack mybko cdrxn" ], [ "pick-up stbwd" ] ]

[ "(on mybko ehwcn) (on stbwd cdrxn) (on-table xlarv) (arm-empty) (on cdrxn xlarv) (clear mybko) (on-table ehwcn) (clear stbwd)", "(on mybko ehwcn) (on-table xlarv) (clear cdrxn) (holding stbwd) (on cdrxn xlarv) (clear mybko) (on-table ehwcn)", "(on mybko ehwcn) (arm-empty) (on-table xlarv) (on-table stbwd) (clear cdrxn) (clear stbwd) (on cdrxn xlarv) (clear mybko) (on-table ehwcn)", "(holding mybko) (on-table xlarv) (on-table stbwd) (clear cdrxn) (on cdrxn xlarv) (clear ehwcn) (on-table ehwcn) (clear stbwd)", "(arm-empty) (on-table xlarv) (on-table stbwd) (on mybko cdrxn) (on cdrxn xlarv) (clear ehwcn) (clear mybko) (on-table ehwcn) (clear stbwd)", "(on-table xlarv) (holding stbwd) (on mybko cdrxn) (on cdrxn xlarv) (clear ehwcn) (clear mybko) (on-table ehwcn)" ]

[ [ "stack pebsr dxzun" ] ]

[ "(on pebsr dxzun) (arm-empty) (on-table hcsfn) (on dxzun tvvvd) (clear dsvcl) (on-table dsvcl) (on tvvvd hcsfn) (clear pebsr)" ]

[ [ "stack fxvql wenqu" ], [ "unstack mupyu wxorr" ], [ "put-down mupyu" ], [ "unstack fxvql wenqu" ], [ "stack fxvql wxorr" ], [ "pick-up mupyu" ], [ "stack mupyu wenqu" ], [ "unstack fxvql wxorr" ], [ "stack fxvql mupyu" ], [ "unstack wxorr zjqct" ], [ "put-down wxorr" ], [ "pick-up zjqct" ], [ "stack zjqct fxvql" ] ]

[ "(arm-empty) (on-table zjqct) (clear mupyu) (on fxvql wenqu) (on mupyu wxorr) (on wxorr zjqct) (on-table wenqu) (clear fxvql)", "(clear wxorr) (on-table zjqct) (holding mupyu) (on fxvql wenqu) (on wxorr zjqct) (on-table wenqu) (clear fxvql)", "(arm-empty) (clear mupyu) (on fxvql wenqu) (on wxorr zjqct) (clear fxvql) (clear wxorr) (on-table zjqct) (on-table mupyu) (on-table wenqu)", "(clear wxorr) (on-table zjqct) (clear mupyu) (holding fxvql) (on-table mupyu) (on wxorr zjqct) (clear wenqu) (on-table wenqu)", "(arm-empty) (on-table zjqct) (on fxvql wxorr) (clear mupyu) (on-table mupyu) (on wxorr zjqct) (clear wenqu) (on-table wenqu) (clear fxvql)", "(on-table zjqct) (holding mupyu) (on fxvql wxorr) (on wxorr zjqct) (clear wenqu) (on-table wenqu) (clear fxvql)", "(arm-empty) (on fxvql wxorr) (clear mupyu) (on wxorr zjqct) (clear fxvql) (on-table zjqct) (on mupyu wenqu) (on-table wenqu)", "(clear wxorr) (on-table zjqct) (clear mupyu) (on mupyu wenqu) (holding fxvql) (on wxorr zjqct) (on-table wenqu)", "(clear wxorr) (arm-empty) (on fxvql mupyu) (on-table zjqct) (on mupyu wenqu) (on wxorr zjqct) (on-table wenqu) (clear fxvql)", "(on fxvql mupyu) (on-table zjqct) (on mupyu wenqu) (holding wxorr) (clear zjqct) (on-table wenqu) (clear fxvql)", "(arm-empty) (on fxvql mupyu) (on-table wxorr) (clear fxvql) (clear wxorr) (on-table zjqct) (on mupyu wenqu) (clear zjqct) (on-table wenqu)", "(holding zjqct) (clear wxorr) (on fxvql mupyu) (on-table wxorr) (on mupyu wenqu) (on-table wenqu) (clear fxvql)", "(on zjqct fxvql) (clear wxorr) (arm-empty) (on fxvql mupyu) (on-table wxorr) (on mupyu wenqu) (clear zjqct) (on-table wenqu)" ]

[ [ "unstack ngnxk modpx" ], [ "put-down ngnxk" ], [ "unstack modpx gmfew" ], [ "stack modpx ngnxk" ], [ "unstack gmfew silya" ], [ "put-down gmfew" ], [ "unstack silya izrdl" ], [ "stack silya gmfew" ], [ "unstack modpx ngnxk" ], [ "stack modpx izrdl" ], [ "pick-up ngnxk" ], [ "stack ngnxk silya" ], [ "unstack modpx izrdl" ] ]

[ "(on modpx gmfew) (on silya izrdl) (holding ngnxk) (clear modpx) (on-table izrdl) (on gmfew silya)", "(arm-empty) (on-table ngnxk) (clear modpx) (on silya izrdl) (clear ngnxk) (on-table izrdl) (on modpx gmfew) (on gmfew silya)", "(clear gmfew) (on-table ngnxk) (on-table izrdl) (holding modpx) (on silya izrdl) (on gmfew silya) (clear ngnxk)", "(clear gmfew) (arm-empty) (on-table ngnxk) (on-table izrdl) (on modpx ngnxk) (clear modpx) (on silya izrdl) (on gmfew silya)", "(on-table ngnxk) (on-table izrdl) (on modpx ngnxk) (clear modpx) (holding gmfew) (on silya izrdl) (clear silya)", "(arm-empty) (on-table gmfew) (on-table ngnxk) (on modpx ngnxk) (clear modpx) (on silya izrdl) (clear gmfew) (on-table izrdl) (clear silya)", "(clear gmfew) (on-table gmfew) (on-table ngnxk) (on modpx ngnxk) (on-table izrdl) (clear modpx) (holding silya) (clear izrdl)", "(arm-empty) (on-table gmfew) (on-table ngnxk) (on modpx ngnxk) (on-table izrdl) (on silya gmfew) (clear modpx) (clear silya) (clear izrdl)", "(on-table gmfew) (on-table ngnxk) (holding modpx) (on-table izrdl) (on silya gmfew) (clear silya) (clear izrdl) (clear ngnxk)", "(on modpx izrdl) (arm-empty) (on-table gmfew) (on-table ngnxk) (on-table izrdl) (on silya gmfew) (clear modpx) (clear silya) (clear ngnxk)", "(on modpx izrdl) (on-table gmfew) (on-table izrdl) (on silya gmfew) (clear modpx) (holding ngnxk) (clear silya)", "(on modpx izrdl) (arm-empty) (on-table gmfew) (on-table izrdl) (on silya gmfew) (clear modpx) (on ngnxk silya) (clear ngnxk)", "(on-table gmfew) (on-table izrdl) (holding modpx) (on silya gmfew) (on ngnxk silya) (clear izrdl) (clear ngnxk)" ]

[ [ "unstack wxoyd zkhgr" ], [ "put-down wxoyd" ], [ "unstack zkhgr oymxc" ], [ "stack zkhgr wxoyd" ] ]

[ "(on zxppc wuhib) (holding wxoyd) (on oymxc zxppc) (on zkhgr oymxc) (clear zkhgr) (on-table wuhib)", "(arm-empty) (on-table wxoyd) (on oymxc zxppc) (on zkhgr oymxc) (clear wxoyd) (on zxppc wuhib) (clear zkhgr) (on-table wuhib)", "(holding zkhgr) (clear oymxc) (on-table wxoyd) (on zxppc wuhib) (on oymxc zxppc) (on-table wuhib) (clear wxoyd)", "(on zkhgr wxoyd) (clear oymxc) (arm-empty) (on-table wxoyd) (on zxppc wuhib) (on oymxc zxppc) (clear zkhgr) (on-table wuhib)" ]

[ [ "stack pywqa rqmgx" ], [ "pick-up idvnp" ] ]

[ "(on pywqa rqmgx) (arm-empty) (on-table cllds) (on-table rqmgx) (clear zytdh) (on zytdh cllds) (clear idvnp) (clear pywqa) (on-table idvnp)", "(on pywqa rqmgx) (on-table cllds) (on-table rqmgx) (clear zytdh) (on zytdh cllds) (holding idvnp) (clear pywqa)" ]

[ [ "put-down xattb" ], [ "unstack bfimu xbvqp" ], [ "put-down bfimu" ], [ "unstack xbvqp bhkzp" ], [ "put-down xbvqp" ] ]

[ "(arm-empty) (on-table xattb) (clear xattb) (on bfimu xbvqp) (on xbvqp bhkzp) (on bhkzp nlyhv) (clear bfimu) (on-table nlyhv)", "(holding bfimu) (on-table xattb) (clear xbvqp) (on xbvqp bhkzp) (on bhkzp nlyhv) (on-table nlyhv) (clear xattb)", "(arm-empty) (on-table xattb) (clear xbvqp) (clear xattb) (on-table bfimu) (on xbvqp bhkzp) (on bhkzp nlyhv) (clear bfimu) (on-table nlyhv)", "(clear bhkzp) (on-table xattb) (on-table bfimu) (holding xbvqp) (on bhkzp nlyhv) (clear bfimu) (on-table nlyhv) (clear xattb)", "(clear bhkzp) (arm-empty) (on-table xattb) (on-table bfimu) (clear xbvqp) (on-table xbvqp) (on bhkzp nlyhv) (clear bfimu) (on-table nlyhv) (clear xattb)" ]

[ [ "unstack fkrtj ukjfo" ], [ "stack fkrtj uhsux" ], [ "unstack ukjfo isiby" ], [ "stack ukjfo fkrtj" ] ]

[ "(clear ukjfo) (on-table uhsux) (holding fkrtj) (on isiby xelsq) (on ukjfo isiby) (on-table xelsq) (clear uhsux)", "(arm-empty) (on-table uhsux) (on fkrtj uhsux) (clear fkrtj) (on isiby xelsq) (on ukjfo isiby) (clear ukjfo) (on-table xelsq)", "(holding ukjfo) (clear isiby) (on-table uhsux) (on fkrtj uhsux) (clear fkrtj) (on isiby xelsq) (on-table xelsq)", "(clear isiby) (arm-empty) (on-table uhsux) (on fkrtj uhsux) (on ukjfo fkrtj) (on isiby xelsq) (clear ukjfo) (on-table xelsq)" ]

[ [ "pick-up rjvnz" ], [ "stack rjvnz rfajl" ], [ "pick-up mxexc" ], [ "stack mxexc sxxsd" ], [ "unstack rjvnz rfajl" ], [ "stack rjvnz mxexc" ], [ "unstack rfajl kcths" ] ]

[ "(holding rjvnz) (clear rfajl) (on-table kcths) (clear sxxsd) (on-table sxxsd) (on rfajl kcths) (clear mxexc) (on-table mxexc)", "(arm-empty) (on-table kcths) (clear sxxsd) (on-table sxxsd) (on rfajl kcths) (clear mxexc) (on rjvnz rfajl) (clear rjvnz) (on-table mxexc)", "(on-table kcths) (clear sxxsd) (on-table sxxsd) (on rfajl kcths) (on rjvnz rfajl) (clear rjvnz) (holding mxexc)", "(on mxexc sxxsd) (arm-empty) (on-table kcths) (on-table sxxsd) (on rfajl kcths) (clear mxexc) (on rjvnz rfajl) (clear rjvnz)", "(holding rjvnz) (on mxexc sxxsd) (clear rfajl) (on-table kcths) (on-table sxxsd) (on rfajl kcths) (clear mxexc)", "(on mxexc sxxsd) (clear rfajl) (on rjvnz mxexc) (arm-empty) (on-table kcths) (on-table sxxsd) (on rfajl kcths) (clear rjvnz)", "(on mxexc sxxsd) (on rjvnz mxexc) (on-table kcths) (on-table sxxsd) (holding rfajl) (clear rjvnz) (clear kcths)" ]

[ [ "unstack ijqys sjmdb" ], [ "put-down ijqys" ], [ "unstack sjmdb potrf" ], [ "stack sjmdb ijqys" ], [ "unstack potrf fdacj" ], [ "put-down potrf" ], [ "unstack fdacj pjybw" ], [ "stack fdacj sjmdb" ], [ "pick-up pjybw" ], [ "stack pjybw fdacj" ], [ "pick-up potrf" ], [ "stack potrf pjybw" ] ]

[ "(on potrf fdacj) (clear sjmdb) (on-table pjybw) (on fdacj pjybw) (on sjmdb potrf) (holding ijqys)", "(on potrf fdacj) (arm-empty) (on-table ijqys) (clear sjmdb) (clear ijqys) (on-table pjybw) (on fdacj pjybw) (on sjmdb potrf)", "(on potrf fdacj) (clear ijqys) (on-table ijqys) (on-table pjybw) (holding sjmdb) (on fdacj pjybw) (clear potrf)", "(on potrf fdacj) (arm-empty) (on-table ijqys) (on-table pjybw) (clear sjmdb) (on fdacj pjybw) (on sjmdb ijqys) (clear potrf)", "(on-table ijqys) (on-table pjybw) (clear sjmdb) (on fdacj pjybw) (on sjmdb ijqys) (holding potrf) (clear fdacj)", "(arm-empty) (on-table ijqys) (clear sjmdb) (clear fdacj) (on-table pjybw) (on fdacj pjybw) (on sjmdb ijqys) (clear potrf) (on-table potrf)", "(on-table ijqys) (on-table pjybw) (clear sjmdb) (holding fdacj) (on sjmdb ijqys) (clear potrf) (clear pjybw) (on-table potrf)", "(arm-empty) (on fdacj sjmdb) (on-table ijqys) (on-table pjybw) (on sjmdb ijqys) (clear potrf) (clear pjybw) (on-table potrf) (clear fdacj)", "(holding pjybw) (on fdacj sjmdb) (on-table ijqys) (on sjmdb ijqys) (clear potrf) (on-table potrf) (clear fdacj)", "(on pjybw fdacj) (arm-empty) (on fdacj sjmdb) (on-table ijqys) (on sjmdb ijqys) (clear potrf) (clear pjybw) (on-table potrf)", "(on pjybw fdacj) (on fdacj sjmdb) (on-table ijqys) (on sjmdb ijqys) (holding potrf) (clear pjybw)", "(on pjybw fdacj) (arm-empty) (on fdacj sjmdb) (on-table ijqys) (on sjmdb ijqys) (on potrf pjybw) (clear potrf)" ]

[ [ "put-down vcmkt" ], [ "pick-up umpma" ], [ "stack umpma vcmkt" ], [ "unstack qsuca wehxy" ] ]

[ "(on qsuca wehxy) (arm-empty) (on-table vcmkt) (clear umpma) (on wehxy zzlpv) (clear vcmkt) (on-table umpma) (clear qsuca) (on-table zzlpv)", "(on qsuca wehxy) (clear vcmkt) (on-table vcmkt) (holding umpma) (on wehxy zzlpv) (clear qsuca) (on-table zzlpv)", "(on qsuca wehxy) (arm-empty) (on-table vcmkt) (clear umpma) (on wehxy zzlpv) (on umpma vcmkt) (clear qsuca) (on-table zzlpv)", "(holding qsuca) (on-table vcmkt) (clear umpma) (on wehxy zzlpv) (on umpma vcmkt) (on-table zzlpv) (clear wehxy)" ]

[ [ "put-down adolu" ], [ "pick-up dzaup" ], [ "stack dzaup adolu" ], [ "unstack rpmls muouo" ], [ "put-down rpmls" ], [ "pick-up muouo" ], [ "stack muouo dzaup" ] ]

[ "(clear adolu) (arm-empty) (on rpmls muouo) (on-table adolu) (on-table acuoy) (on-table muouo) (clear dzaup) (clear acuoy) (on-table dzaup) (clear rpmls)", "(clear adolu) (on rpmls muouo) (on-table adolu) (on-table acuoy) (on-table muouo) (holding dzaup) (clear acuoy) (clear rpmls)", "(arm-empty) (on rpmls muouo) (on-table adolu) (on-table acuoy) (on dzaup adolu) (on-table muouo) (clear dzaup) (clear acuoy) (clear rpmls)", "(on-table adolu) (on-table acuoy) (on dzaup adolu) (clear muouo) (holding rpmls) (on-table muouo) (clear dzaup) (clear acuoy)", "(arm-empty) (on-table adolu) (on-table rpmls) (on-table acuoy) (on dzaup adolu) (clear muouo) (on-table muouo) (clear dzaup) (clear acuoy) (clear rpmls)", "(on-table adolu) (on-table rpmls) (on-table acuoy) (holding muouo) (on dzaup adolu) (clear dzaup) (clear acuoy) (clear rpmls)", "(arm-empty) (on-table adolu) (on-table rpmls) (on-table acuoy) (on dzaup adolu) (clear muouo) (on muouo dzaup) (clear acuoy) (clear rpmls)" ]

[ [ "unstack ckrlw fhgfa" ], [ "stack ckrlw nesjn" ], [ "unstack fhgfa nuqvc" ], [ "put-down fhgfa" ], [ "pick-up nuqvc" ], [ "stack nuqvc yvesy" ], [ "pick-up fhgfa" ], [ "stack fhgfa nuqvc" ] ]

[ "(holding ckrlw) (on fhgfa nuqvc) (clear nesjn) (on-table nesjn) (on-table yvesy) (on-table nuqvc) (clear fhgfa) (clear yvesy)", "(on fhgfa nuqvc) (arm-empty) (on-table nesjn) (on-table yvesy) (on-table nuqvc) (clear fhgfa) (on ckrlw nesjn) (clear ckrlw) (clear yvesy)", "(on-table nesjn) (on-table yvesy) (clear nuqvc) (on-table nuqvc) (on ckrlw nesjn) (clear ckrlw) (holding fhgfa) (clear yvesy)", "(arm-empty) (on-table nesjn) (on-table yvesy) (clear nuqvc) (on-table nuqvc) (clear fhgfa) (on ckrlw nesjn) (clear ckrlw) (on-table fhgfa) (clear yvesy)", "(on-table nesjn) (on-table yvesy) (holding nuqvc) (clear fhgfa) (on ckrlw nesjn) (clear ckrlw) (on-table fhgfa) (clear yvesy)", "(arm-empty) (on-table nesjn) (on-table yvesy) (on nuqvc yvesy) (clear nuqvc) (clear fhgfa) (on ckrlw nesjn) (clear ckrlw) (on-table fhgfa)", "(on-table nesjn) (on-table yvesy) (on nuqvc yvesy) (clear nuqvc) (on ckrlw nesjn) (clear ckrlw) (holding fhgfa)", "(on fhgfa nuqvc) (arm-empty) (on-table nesjn) (on-table yvesy) (on nuqvc yvesy) (clear fhgfa) (on ckrlw nesjn) (clear ckrlw)" ]

[ [ "put-down zelyd" ], [ "pick-up cbcuc" ], [ "stack cbcuc rvopk" ], [ "pick-up zelyd" ], [ "stack zelyd cbcuc" ], [ "unstack uxnrd gaawh" ], [ "put-down uxnrd" ], [ "pick-up gaawh" ], [ "stack gaawh zelyd" ], [ "pick-up uxnrd" ], [ "stack uxnrd gaawh" ] ]

[ "(clear uxnrd) (arm-empty) (on-table zelyd) (on-table gaawh) (clear rvopk) (on-table rvopk) (on uxnrd gaawh) (clear cbcuc) (on-table cbcuc) (clear zelyd)", "(clear uxnrd) (on-table zelyd) (on-table gaawh) (clear rvopk) (on-table rvopk) (on uxnrd gaawh) (holding cbcuc) (clear zelyd)", "(on cbcuc rvopk) (clear uxnrd) (arm-empty) (on-table zelyd) (on-table gaawh) (on-table rvopk) (on uxnrd gaawh) (clear cbcuc) (clear zelyd)", "(on cbcuc rvopk) (clear uxnrd) (on-table gaawh) (holding zelyd) (on-table rvopk) (on uxnrd gaawh) (clear cbcuc)", "(on cbcuc rvopk) (clear uxnrd) (arm-empty) (on-table gaawh) (on zelyd cbcuc) (on-table rvopk) (on uxnrd gaawh) (clear zelyd)", "(on cbcuc rvopk) (on-table gaawh) (on zelyd cbcuc) (on-table rvopk) (holding uxnrd) (clear gaawh) (clear zelyd)", "(arm-empty) (on-table uxnrd) (on zelyd cbcuc) (clear zelyd) (on cbcuc rvopk) (clear uxnrd) (on-table gaawh) (on-table rvopk) (clear gaawh)", "(holding gaawh) (on cbcuc rvopk) (clear uxnrd) (on-table uxnrd) (on zelyd cbcuc) (on-table rvopk) (clear zelyd)", "(on cbcuc rvopk) (clear uxnrd) (on gaawh zelyd) (arm-empty) (on-table uxnrd) (on zelyd cbcuc) (on-table rvopk) (clear gaawh)", "(on cbcuc rvopk) (on gaawh zelyd) (on zelyd cbcuc) (on-table rvopk) (holding uxnrd) (clear gaawh)", "(on cbcuc rvopk) (on gaawh zelyd) (clear uxnrd) (arm-empty) (on zelyd cbcuc) (on-table rvopk) (on uxnrd gaawh)" ]

[ [ "unstack ofxfz jjrfz" ], [ "put-down ofxfz" ], [ "unstack jjrfz mzqpg" ], [ "put-down jjrfz" ], [ "unstack mzqpg yeanu" ], [ "stack mzqpg ofxfz" ], [ "pick-up jjrfz" ], [ "stack jjrfz yeanu" ], [ "unstack mzqpg ofxfz" ], [ "put-down mzqpg" ] ]

[ "(on yeanu ldxle) (holding ofxfz) (on jjrfz mzqpg) (on mzqpg yeanu) (clear jjrfz) (on-table ldxle)", "(on yeanu ldxle) (arm-empty) (on jjrfz mzqpg) (clear ofxfz) (on mzqpg yeanu) (clear jjrfz) (on-table ofxfz) (on-table ldxle)", "(clear mzqpg) (on yeanu ldxle) (clear ofxfz) (holding jjrfz) (on-table ofxfz) (on mzqpg yeanu) (on-table ldxle)", "(on yeanu ldxle) (arm-empty) (on-table jjrfz) (clear ofxfz) (on mzqpg yeanu) (clear jjrfz) (clear mzqpg) (on-table ofxfz) (on-table ldxle)", "(on yeanu ldxle) (on-table jjrfz) (clear ofxfz) (on-table ofxfz) (holding mzqpg) (clear yeanu) (on-table ldxle) (clear jjrfz)", "(clear mzqpg) (on yeanu ldxle) (arm-empty) (on-table jjrfz) (on-table ofxfz) (on mzqpg ofxfz) (clear yeanu) (on-table ldxle) (clear jjrfz)", "(clear mzqpg) (on yeanu ldxle) (holding jjrfz) (on-table ofxfz) (on mzqpg ofxfz) (clear yeanu) (on-table ldxle)", "(clear mzqpg) (on yeanu ldxle) (arm-empty) (on jjrfz yeanu) (on-table ofxfz) (on mzqpg ofxfz) (on-table ldxle) (clear jjrfz)", "(on yeanu ldxle) (clear ofxfz) (on jjrfz yeanu) (on-table ofxfz) (holding mzqpg) (on-table ldxle) (clear jjrfz)", "(on yeanu ldxle) (arm-empty) (on-table mzqpg) (clear ofxfz) (clear jjrfz) (clear mzqpg) (on jjrfz yeanu) (on-table ofxfz) (on-table ldxle)" ]

[ [ "put-down uaxak" ], [ "unstack kejvs xhzkv" ], [ "stack kejvs sisiw" ], [ "pick-up uaxak" ], [ "stack uaxak kejvs" ], [ "unstack xhzkv fejzl" ], [ "stack xhzkv uaxak" ], [ "pick-up fejzl" ], [ "stack fejzl xhzkv" ] ]

[ "(on kejvs xhzkv) (arm-empty) (on-table fejzl) (on xhzkv fejzl) (clear sisiw) (on-table uaxak) (on-table sisiw) (clear kejvs) (clear uaxak)", "(on-table fejzl) (on-table uaxak) (on xhzkv fejzl) (clear sisiw) (on-table sisiw) (holding kejvs) (clear uaxak) (clear xhzkv)", "(on kejvs sisiw) (arm-empty) (on-table fejzl) (on-table uaxak) (on xhzkv fejzl) (on-table sisiw) (clear kejvs) (clear uaxak) (clear xhzkv)", "(holding uaxak) (on kejvs sisiw) (on-table fejzl) (on xhzkv fejzl) (on-table sisiw) (clear kejvs) (clear xhzkv)", "(on kejvs sisiw) (on uaxak kejvs) (arm-empty) (on-table fejzl) (on xhzkv fejzl) (on-table sisiw) (clear uaxak) (clear xhzkv)", "(on kejvs sisiw) (clear fejzl) (on uaxak kejvs) (on-table fejzl) (holding xhzkv) (on-table sisiw) (clear uaxak)", "(on kejvs sisiw) (clear fejzl) (on uaxak kejvs) (arm-empty) (on-table fejzl) (on xhzkv uaxak) (on-table sisiw) (clear xhzkv)", "(on kejvs sisiw) (on uaxak kejvs) (on xhzkv uaxak) (on-table sisiw) (holding fejzl) (clear xhzkv)", "(on kejvs sisiw) (clear fejzl) (on uaxak kejvs) (arm-empty) (on xhzkv uaxak) (on-table sisiw) (on fejzl xhzkv)" ]

[ [ "stack lpdxl xggtl" ], [ "pick-up ubaej" ], [ "stack ubaej xustb" ], [ "unstack lpdxl xggtl" ], [ "stack lpdxl ubaej" ], [ "pick-up xggtl" ], [ "stack xggtl lpdxl" ] ]

[ "(on xustb cuhsa) (arm-empty) (on-table xggtl) (on-table ubaej) (clear lpdxl) (on lpdxl xggtl) (clear xustb) (on-table cuhsa) (clear ubaej)", "(on xustb cuhsa) (on-table xggtl) (clear lpdxl) (holding ubaej) (on lpdxl xggtl) (clear xustb) (on-table cuhsa)", "(on xustb cuhsa) (arm-empty) (on-table xggtl) (clear lpdxl) (on ubaej xustb) (on lpdxl xggtl) (on-table cuhsa) (clear ubaej)", "(clear xggtl) (on xustb cuhsa) (on-table xggtl) (holding lpdxl) (on ubaej xustb) (on-table cuhsa) (clear ubaej)", "(clear xggtl) (on xustb cuhsa) (arm-empty) (on-table xggtl) (on lpdxl ubaej) (clear lpdxl) (on ubaej xustb) (on-table cuhsa)", "(on xustb cuhsa) (on lpdxl ubaej) (clear lpdxl) (on ubaej xustb) (holding xggtl) (on-table cuhsa)", "(clear xggtl) (on xustb cuhsa) (arm-empty) (on lpdxl ubaej) (on ubaej xustb) (on xggtl lpdxl) (on-table cuhsa)" ]

[ [ "unstack aebmq ojvws" ], [ "put-down aebmq" ], [ "unstack ojvws gkeng" ], [ "stack ojvws aebmq" ], [ "unstack gkeng thvem" ], [ "put-down gkeng" ], [ "unstack ojvws aebmq" ], [ "put-down ojvws" ], [ "pick-up gkeng" ], [ "stack gkeng aebmq" ], [ "pick-up ojvws" ] ]

[ "(holding aebmq) (clear ojvws) (on-table thvem) (on gkeng thvem) (on ojvws gkeng)", "(on ojvws gkeng) (on-table aebmq) (arm-empty) (clear aebmq) (on gkeng thvem) (clear ojvws) (on-table thvem)", "(clear aebmq) (on gkeng thvem) (clear gkeng) (on-table thvem) (on-table aebmq) (holding ojvws)", "(on ojvws aebmq) (clear gkeng) (arm-empty) (on-table thvem) (on-table aebmq) (on gkeng thvem) (clear ojvws)", "(on ojvws aebmq) (on-table thvem) (on-table aebmq) (holding gkeng) (clear ojvws) (clear thvem)", "(arm-empty) (on-table gkeng) (on ojvws aebmq) (clear gkeng) (on-table thvem) (on-table aebmq) (clear ojvws) (clear thvem)", "(clear gkeng) (on-table gkeng) (on-table thvem) (clear aebmq) (on-table aebmq) (holding ojvws) (clear thvem)", "(arm-empty) (on-table gkeng) (clear aebmq) (clear gkeng) (on-table thvem) (on-table aebmq) (clear ojvws) (clear thvem) (on-table ojvws)", "(on-table thvem) (clear aebmq) (on-table aebmq) (holding gkeng) (clear ojvws) (clear thvem) (on-table ojvws)", "(clear gkeng) (arm-empty) (on-table thvem) (on-table aebmq) (on gkeng aebmq) (clear ojvws) (clear thvem) (on-table ojvws)", "(clear gkeng) (on-table thvem) (on-table aebmq) (on gkeng aebmq) (holding ojvws) (clear thvem)" ]

[ [ "unstack walwv ofoeb" ], [ "stack walwv kqhqm" ], [ "unstack ofoeb uatqo" ], [ "put-down ofoeb" ], [ "unstack uatqo axgjc" ], [ "stack uatqo walwv" ], [ "pick-up ofoeb" ], [ "stack ofoeb uatqo" ], [ "pick-up axgjc" ] ]

[ "(holding walwv) (clear kqhqm) (on uatqo axgjc) (on-table kqhqm) (on-table axgjc) (clear ofoeb) (on ofoeb uatqo)", "(on uatqo axgjc) (arm-empty) (on-table kqhqm) (on-table axgjc) (clear ofoeb) (on ofoeb uatqo) (on walwv kqhqm) (clear walwv)", "(on uatqo axgjc) (on-table kqhqm) (on-table axgjc) (holding ofoeb) (clear uatqo) (on walwv kqhqm) (clear walwv)", "(on uatqo axgjc) (arm-empty) (on-table kqhqm) (on-table axgjc) (clear ofoeb) (on walwv kqhqm) (on-table ofoeb) (clear uatqo) (clear walwv)", "(on-table kqhqm) (on-table axgjc) (clear ofoeb) (on-table ofoeb) (on walwv kqhqm) (clear walwv) (holding uatqo) (clear axgjc)", "(arm-empty) (on-table kqhqm) (on-table axgjc) (clear ofoeb) (on-table ofoeb) (on uatqo walwv) (clear uatqo) (on walwv kqhqm) (clear axgjc)", "(on-table kqhqm) (on-table axgjc) (holding ofoeb) (on uatqo walwv) (clear uatqo) (on walwv kqhqm) (clear axgjc)", "(arm-empty) (on-table kqhqm) (on-table axgjc) (clear ofoeb) (on ofoeb uatqo) (on uatqo walwv) (on walwv kqhqm) (clear axgjc)", "(on-table kqhqm) (clear ofoeb) (on ofoeb uatqo) (holding axgjc) (on uatqo walwv) (on walwv kqhqm)" ]

[ [ "unstack gjual yhgga" ], [ "stack gjual wxeau" ], [ "unstack yhgga fgnjy" ], [ "put-down yhgga" ] ]

[ "(clear pgxur) (on-table pgxur) (on-table wxeau) (on-table fgnjy) (on yhgga fgnjy) (holding gjual) (clear yhgga) (clear wxeau)", "(clear pgxur) (on gjual wxeau) (arm-empty) (on-table pgxur) (on-table wxeau) (on-table fgnjy) (on yhgga fgnjy) (clear gjual) (clear yhgga)", "(holding yhgga) (clear pgxur) (on gjual wxeau) (on-table pgxur) (on-table wxeau) (clear fgnjy) (on-table fgnjy) (clear gjual)", "(clear pgxur) (on gjual wxeau) (arm-empty) (on-table pgxur) (on-table wxeau) (on-table yhgga) (clear fgnjy) (on-table fgnjy) (clear gjual) (clear yhgga)" ]

[ [ "put-down sugee" ], [ "pick-up glkdd" ], [ "stack glkdd fmkkr" ], [ "pick-up sugee" ], [ "stack sugee glkdd" ] ]

[ "(clear glkdd) (arm-empty) (on-table glkdd) (on-table fvkic) (on-table zwxxa) (on fmkkr zwxxa) (clear sugee) (clear fmkkr) (on-table sugee) (clear fvkic)", "(on-table fvkic) (holding glkdd) (on-table zwxxa) (on fmkkr zwxxa) (clear sugee) (clear fmkkr) (on-table sugee) (clear fvkic)", "(clear glkdd) (arm-empty) (on-table fvkic) (clear fvkic) (on-table zwxxa) (on glkdd fmkkr) (clear sugee) (on fmkkr zwxxa) (on-table sugee)", "(clear glkdd) (on-table fvkic) (on-table zwxxa) (on fmkkr zwxxa) (on glkdd fmkkr) (holding sugee) (clear fvkic)", "(arm-empty) (on-table fvkic) (on sugee glkdd) (on-table zwxxa) (on fmkkr zwxxa) (on glkdd fmkkr) (clear sugee) (clear fvkic)" ]

[ [ "stack miwny qfocz" ], [ "pick-up lovfw" ], [ "stack lovfw bvuki" ], [ "unstack miwny qfocz" ], [ "put-down miwny" ], [ "pick-up zalzx" ], [ "stack zalzx miwny" ], [ "pick-up qfocz" ], [ "stack qfocz zalzx" ], [ "unstack lovfw bvuki" ], [ "stack lovfw qfocz" ], [ "pick-up bvuki" ] ]

[ "(clear bvuki) (arm-empty) (on-table bvuki) (on-table qfocz) (on miwny qfocz) (on-table zalzx) (clear miwny) (clear lovfw) (clear zalzx) (on-table lovfw)", "(clear bvuki) (on-table bvuki) (on-table qfocz) (on miwny qfocz) (on-table zalzx) (clear miwny) (holding lovfw) (clear zalzx)", "(arm-empty) (on-table bvuki) (on-table qfocz) (on miwny qfocz) (on-table zalzx) (on lovfw bvuki) (clear miwny) (clear lovfw) (clear zalzx)", "(on-table bvuki) (on-table qfocz) (holding miwny) (on-table zalzx) (on lovfw bvuki) (clear lovfw) (clear zalzx) (clear qfocz)", "(arm-empty) (on-table bvuki) (on-table qfocz) (on-table zalzx) (on lovfw bvuki) (clear miwny) (on-table miwny) (clear lovfw) (clear zalzx) (clear qfocz)", "(holding zalzx) (on-table bvuki) (on-table qfocz) (on lovfw bvuki) (clear miwny) (on-table miwny) (clear lovfw) (clear qfocz)", "(arm-empty) (on-table bvuki) (on-table qfocz) (on lovfw bvuki) (on-table miwny) (on zalzx miwny) (clear lovfw) (clear zalzx) (clear qfocz)", "(on-table bvuki) (on lovfw bvuki) (holding qfocz) (on-table miwny) (on zalzx miwny) (clear lovfw) (clear zalzx)", "(arm-empty) (on-table bvuki) (on lovfw bvuki) (on qfocz zalzx) (on-table miwny) (on zalzx miwny) (clear lovfw) (clear qfocz)", "(clear bvuki) (on-table bvuki) (on qfocz zalzx) (on-table miwny) (on zalzx miwny) (holding lovfw) (clear qfocz)", "(clear bvuki) (on lovfw qfocz) (arm-empty) (on-table bvuki) (on qfocz zalzx) (on-table miwny) (on zalzx miwny) (clear lovfw)", "(on lovfw qfocz) (holding bvuki) (on qfocz zalzx) (on-table miwny) (on zalzx miwny) (clear lovfw)" ]

[ [ "unstack zbxcb kfpsc" ], [ "put-down zbxcb" ], [ "unstack kfpsc hcdso" ], [ "put-down kfpsc" ], [ "unstack hcdso xutul" ] ]

[ "(holding zbxcb) (on kfpsc hcdso) (on xutul slxck) (clear kfpsc) (on-table slxck) (on hcdso xutul)", "(arm-empty) (clear zbxcb) (on kfpsc hcdso) (on xutul slxck) (clear kfpsc) (on-table slxck) (on hcdso xutul) (on-table zbxcb)", "(on-table slxck) (on hcdso xutul) (clear zbxcb) (holding kfpsc) (on-table zbxcb) (on xutul slxck) (clear hcdso)", "(arm-empty) (on-table kfpsc) (clear zbxcb) (on xutul slxck) (clear kfpsc) (on-table slxck) (on hcdso xutul) (on-table zbxcb) (clear hcdso)", "(clear xutul) (on-table kfpsc) (on-table slxck) (clear zbxcb) (on-table zbxcb) (on xutul slxck) (holding hcdso) (clear kfpsc)" ]

[ [ "unstack vgsvd wldie" ], [ "put-down vgsvd" ], [ "unstack wldie rsblo" ], [ "stack wldie hjpji" ], [ "pick-up vgsvd" ], [ "stack vgsvd wldie" ] ]

[ "(on-table uhzvd) (on-table hjpji) (clear wldie) (on wldie rsblo) (on rsblo uhzvd) (holding vgsvd) (clear hjpji)", "(arm-empty) (on-table uhzvd) (clear wldie) (on rsblo uhzvd) (on-table hjpji) (on wldie rsblo) (clear vgsvd) (clear hjpji) (on-table vgsvd)", "(clear rsblo) (on-table uhzvd) (on-table hjpji) (holding wldie) (on rsblo uhzvd) (clear vgsvd) (clear hjpji) (on-table vgsvd)", "(clear rsblo) (on wldie hjpji) (arm-empty) (on-table uhzvd) (on-table hjpji) (clear wldie) (on rsblo uhzvd) (clear vgsvd) (on-table vgsvd)", "(clear rsblo) (on wldie hjpji) (on-table uhzvd) (on-table hjpji) (clear wldie) (on rsblo uhzvd) (holding vgsvd)", "(on vgsvd wldie) (clear rsblo) (on wldie hjpji) (arm-empty) (on-table uhzvd) (on-table hjpji) (on rsblo uhzvd) (clear vgsvd)" ]

[ [ "put-down dvnkn" ], [ "unstack esosg xfwtc" ], [ "stack esosg dvnkn" ] ]

[ "(arm-empty) (clear lizhs) (clear esosg) (on-table dvnkn) (on-table lizhs) (on esosg xfwtc) (clear dvnkn) (on-table xfwtc)", "(on-table dvnkn) (clear lizhs) (on-table lizhs) (holding esosg) (clear xfwtc) (clear dvnkn) (on-table xfwtc)", "(clear esosg) (arm-empty) (on-table dvnkn) (clear lizhs) (on-table lizhs) (on esosg dvnkn) (clear xfwtc) (on-table xfwtc)" ]

[ [ "unstack wplti tnssw" ], [ "stack wplti sgwqp" ], [ "pick-up tnssw" ], [ "stack tnssw eimro" ] ]

[ "(holding wplti) (clear tnssw) (on-table tnssw) (clear eimro) (on-table eimro) (clear sgwqp) (on-table sgwqp)", "(clear tnssw) (on wplti sgwqp) (arm-empty) (on-table tnssw) (clear eimro) (on-table eimro) (clear wplti) (on-table sgwqp)", "(on wplti sgwqp) (clear eimro) (on-table eimro) (holding tnssw) (clear wplti) (on-table sgwqp)", "(clear tnssw) (on wplti sgwqp) (arm-empty) (on-table eimro) (on tnssw eimro) (clear wplti) (on-table sgwqp)" ]

[ [ "put-down hfrjh" ], [ "unstack aodrv chgaa" ], [ "stack aodrv hfrjh" ], [ "unstack chgaa zxwyx" ], [ "put-down chgaa" ], [ "unstack aodrv hfrjh" ], [ "stack aodrv chgaa" ], [ "unstack zxwyx ldknx" ], [ "stack zxwyx aodrv" ], [ "pick-up ldknx" ] ]

[ "(arm-empty) (on-table ldknx) (on chgaa zxwyx) (on zxwyx ldknx) (on aodrv chgaa) (clear hfrjh) (clear aodrv) (on-table hfrjh)", "(holding aodrv) (on-table ldknx) (on chgaa zxwyx) (on zxwyx ldknx) (clear chgaa) (clear hfrjh) (on-table hfrjh)", "(on aodrv hfrjh) (arm-empty) (on-table ldknx) (on chgaa zxwyx) (on zxwyx ldknx) (clear chgaa) (clear aodrv) (on-table hfrjh)", "(on aodrv hfrjh) (on-table ldknx) (holding chgaa) (on zxwyx ldknx) (clear aodrv) (on-table hfrjh) (clear zxwyx)", "(on aodrv hfrjh) (arm-empty) (on-table ldknx) (on zxwyx ldknx) (clear chgaa) (clear zxwyx) (on-table chgaa) (clear aodrv) (on-table hfrjh)", "(holding aodrv) (on-table ldknx) (on zxwyx ldknx) (clear chgaa) (on-table chgaa) (clear hfrjh) (on-table hfrjh) (clear zxwyx)", "(arm-empty) (on-table ldknx) (on zxwyx ldknx) (on-table chgaa) (on aodrv chgaa) (clear hfrjh) (clear aodrv) (on-table hfrjh) (clear zxwyx)", "(clear ldknx) (on-table ldknx) (holding zxwyx) (on-table chgaa) (on aodrv chgaa) (clear hfrjh) (clear aodrv) (on-table hfrjh)", "(clear ldknx) (arm-empty) (on-table ldknx) (on zxwyx aodrv) (on-table chgaa) (on aodrv chgaa) (clear hfrjh) (on-table hfrjh) (clear zxwyx)", "(holding ldknx) (on zxwyx aodrv) (on-table chgaa) (on aodrv chgaa) (clear hfrjh) (on-table hfrjh) (clear zxwyx)" ]

[ [ "put-down auiir" ], [ "unstack iobgj hlssn" ], [ "stack iobgj auiir" ], [ "unstack hlssn fojba" ], [ "stack hlssn iobgj" ], [ "unstack fojba frmdz" ] ]

[ "(arm-empty) (on iobgj hlssn) (on hlssn fojba) (clear iobgj) (on-table auiir) (on fojba frmdz) (clear auiir) (on-table frmdz)", "(clear hlssn) (on-table auiir) (on fojba frmdz) (holding iobgj) (on hlssn fojba) (clear auiir) (on-table frmdz)", "(on fojba frmdz) (on iobgj auiir) (clear hlssn) (arm-empty) (on-table auiir) (on hlssn fojba) (on-table frmdz) (clear iobgj)", "(on-table auiir) (clear fojba) (on fojba frmdz) (on iobgj auiir) (holding hlssn) (on-table frmdz) (clear iobgj)", "(clear hlssn) (arm-empty) (on-table auiir) (clear fojba) (on fojba frmdz) (on iobgj auiir) (on hlssn iobgj) (on-table frmdz)", "(clear hlssn) (on-table auiir) (holding fojba) (on iobgj auiir) (on hlssn iobgj) (clear frmdz) (on-table frmdz)" ]

[ [ "unstack wwizz yrqbd" ], [ "put-down wwizz" ], [ "unstack yrqbd twptk" ], [ "stack yrqbd wwizz" ], [ "pick-up uzbta" ], [ "stack uzbta yrqbd" ] ]

[ "(holding wwizz) (clear yrqbd) (on twptk tkpjg) (on-table tkpjg) (on yrqbd twptk) (clear uzbta) (on-table uzbta)", "(arm-empty) (on twptk tkpjg) (on yrqbd twptk) (clear yrqbd) (on-table wwizz) (on-table tkpjg) (clear uzbta) (clear wwizz) (on-table uzbta)", "(on twptk tkpjg) (on-table wwizz) (on-table tkpjg) (holding yrqbd) (clear uzbta) (clear wwizz) (on-table uzbta) (clear twptk)", "(clear yrqbd) (arm-empty) (on twptk tkpjg) (on-table wwizz) (on-table tkpjg) (on yrqbd wwizz) (clear uzbta) (on-table uzbta) (clear twptk)", "(clear yrqbd) (on twptk tkpjg) (on-table wwizz) (on-table tkpjg) (on yrqbd wwizz) (holding uzbta) (clear twptk)", "(arm-empty) (on twptk tkpjg) (on-table wwizz) (on uzbta yrqbd) (on-table tkpjg) (on yrqbd wwizz) (clear uzbta) (clear twptk)" ]

[ [ "put-down erfyo" ], [ "pick-up vkcna" ], [ "stack vkcna erfyo" ], [ "unstack qsjsm etnah" ], [ "put-down qsjsm" ], [ "unstack etnah eebuz" ], [ "stack etnah vkcna" ] ]

[ "(arm-empty) (on-table erfyo) (on etnah eebuz) (clear erfyo) (on-table vkcna) (on qsjsm etnah) (on-table eebuz) (clear qsjsm) (clear vkcna)", "(holding vkcna) (on-table erfyo) (on qsjsm etnah) (on-table eebuz) (on etnah eebuz) (clear qsjsm) (clear erfyo)", "(on vkcna erfyo) (arm-empty) (on-table erfyo) (on qsjsm etnah) (on-table eebuz) (on etnah eebuz) (clear qsjsm) (clear vkcna)", "(on vkcna erfyo) (clear etnah) (on-table erfyo) (on-table eebuz) (on etnah eebuz) (holding qsjsm) (clear vkcna)", "(on vkcna erfyo) (arm-empty) (on-table erfyo) (on etnah eebuz) (clear etnah) (on-table eebuz) (clear qsjsm) (clear vkcna) (on-table qsjsm)", "(on vkcna erfyo) (on-table erfyo) (clear eebuz) (on-table eebuz) (holding etnah) (clear qsjsm) (clear vkcna) (on-table qsjsm)", "(on vkcna erfyo) (clear etnah) (arm-empty) (on-table erfyo) (clear eebuz) (on-table eebuz) (on etnah vkcna) (clear qsjsm) (on-table qsjsm)" ]

[ [ "stack xbron yfjlg" ], [ "unstack hpugv epvej" ], [ "stack hpugv xbron" ], [ "unstack epvej basvo" ], [ "put-down epvej" ], [ "unstack hpugv xbron" ] ]

[ "(on hpugv epvej) (on xbron yfjlg) (arm-empty) (on-table basvo) (on-table yfjlg) (on epvej basvo) (clear xbron) (clear hpugv)", "(on xbron yfjlg) (on-table basvo) (on-table yfjlg) (on epvej basvo) (clear xbron) (holding hpugv) (clear epvej)", "(on hpugv xbron) (on xbron yfjlg) (arm-empty) (on-table basvo) (on-table yfjlg) (on epvej basvo) (clear hpugv) (clear epvej)", "(on hpugv xbron) (clear basvo) (on xbron yfjlg) (on-table basvo) (on-table yfjlg) (holding epvej) (clear hpugv)", "(on xbron yfjlg) (arm-empty) (on-table basvo) (on-table epvej) (clear epvej) (on hpugv xbron) (clear basvo) (on-table yfjlg) (clear hpugv)", "(clear basvo) (on xbron yfjlg) (on-table basvo) (on-table epvej) (on-table yfjlg) (clear xbron) (holding hpugv) (clear epvej)" ]

[ [ "unstack fnlcw xwxcj" ], [ "stack fnlcw fvnit" ], [ "pick-up qmyxu" ], [ "stack qmyxu fnlcw" ], [ "unstack xwxcj ayetr" ], [ "put-down xwxcj" ], [ "pick-up ayetr" ], [ "stack ayetr xwxcj" ], [ "unstack qmyxu fnlcw" ], [ "stack qmyxu ayetr" ] ]

[ "(on xwxcj ayetr) (on-table ayetr) (clear fvnit) (on-table fvnit) (holding fnlcw) (clear qmyxu) (clear xwxcj) (on-table qmyxu)", "(on xwxcj ayetr) (clear fnlcw) (arm-empty) (on-table ayetr) (on-table fvnit) (on fnlcw fvnit) (clear qmyxu) (clear xwxcj) (on-table qmyxu)", "(on xwxcj ayetr) (clear fnlcw) (on-table ayetr) (on-table fvnit) (on fnlcw fvnit) (holding qmyxu) (clear xwxcj)", "(on xwxcj ayetr) (arm-empty) (on-table ayetr) (on qmyxu fnlcw) (on-table fvnit) (on fnlcw fvnit) (clear qmyxu) (clear xwxcj)", "(holding xwxcj) (on-table ayetr) (on qmyxu fnlcw) (on-table fvnit) (on fnlcw fvnit) (clear qmyxu) (clear ayetr)", "(arm-empty) (on-table ayetr) (on fnlcw fvnit) (clear ayetr) (on-table xwxcj) (on qmyxu fnlcw) (on-table fvnit) (clear qmyxu) (clear xwxcj)", "(on-table xwxcj) (on qmyxu fnlcw) (holding ayetr) (on-table fvnit) (on fnlcw fvnit) (clear qmyxu) (clear xwxcj)", "(arm-empty) (on fnlcw fvnit) (clear ayetr) (on-table xwxcj) (on qmyxu fnlcw) (on ayetr xwxcj) (on-table fvnit) (clear qmyxu)", "(clear fnlcw) (on-table xwxcj) (on ayetr xwxcj) (on-table fvnit) (on fnlcw fvnit) (holding qmyxu) (clear ayetr)", "(clear fnlcw) (on qmyxu ayetr) (arm-empty) (on-table xwxcj) (on ayetr xwxcj) (on-table fvnit) (on fnlcw fvnit) (clear qmyxu)" ]

[ [ "stack wxpnm seoyq" ], [ "unstack pfhwe pyzrm" ], [ "put-down pfhwe" ], [ "unstack pyzrm jmbsi" ], [ "stack pyzrm pfhwe" ] ]

[ "(arm-empty) (on-table seoyq) (clear pfhwe) (on wxpnm seoyq) (on pfhwe pyzrm) (on pyzrm jmbsi) (on-table jmbsi) (clear wxpnm)", "(clear pyzrm) (on-table seoyq) (holding pfhwe) (on wxpnm seoyq) (on pyzrm jmbsi) (on-table jmbsi) (clear wxpnm)", "(arm-empty) (clear pfhwe) (clear wxpnm) (clear pyzrm) (on-table seoyq) (on wxpnm seoyq) (on-table pfhwe) (on pyzrm jmbsi) (on-table jmbsi)", "(on-table seoyq) (clear pfhwe) (on wxpnm seoyq) (on-table pfhwe) (holding pyzrm) (clear jmbsi) (on-table jmbsi) (clear wxpnm)", "(clear pyzrm) (arm-empty) (on-table seoyq) (on wxpnm seoyq) (on-table pfhwe) (on pyzrm pfhwe) (clear jmbsi) (on-table jmbsi) (clear wxpnm)" ]

[ [ "unstack allen vdqnp" ], [ "put-down allen" ], [ "unstack vdqnp gsovi" ], [ "stack vdqnp allen" ], [ "unstack gsovi eafuj" ], [ "stack gsovi vdqnp" ], [ "unstack eafuj xfrnr" ], [ "put-down eafuj" ], [ "pick-up xfrnr" ], [ "stack xfrnr eafuj" ], [ "unstack gsovi vdqnp" ] ]

[ "(on gsovi eafuj) (clear vdqnp) (on eafuj xfrnr) (holding allen) (on vdqnp gsovi) (on-table xfrnr)", "(on eafuj xfrnr) (arm-empty) (clear allen) (on vdqnp gsovi) (clear vdqnp) (on gsovi eafuj) (on-table allen) (on-table xfrnr)", "(on eafuj xfrnr) (clear allen) (on gsovi eafuj) (on-table allen) (holding vdqnp) (on-table xfrnr) (clear gsovi)", "(clear vdqnp) (on eafuj xfrnr) (arm-empty) (on gsovi eafuj) (on-table allen) (on vdqnp allen) (on-table xfrnr) (clear gsovi)", "(clear vdqnp) (on eafuj xfrnr) (holding gsovi) (on-table allen) (on vdqnp allen) (clear eafuj) (on-table xfrnr)", "(on eafuj xfrnr) (arm-empty) (on gsovi vdqnp) (on-table allen) (on vdqnp allen) (clear eafuj) (on-table xfrnr) (clear gsovi)", "(holding eafuj) (on gsovi vdqnp) (on-table allen) (on vdqnp allen) (clear xfrnr) (on-table xfrnr) (clear gsovi)", "(arm-empty) (on gsovi vdqnp) (on vdqnp allen) (clear gsovi) (on-table eafuj) (on-table allen) (clear xfrnr) (clear eafuj) (on-table xfrnr)", "(on-table eafuj) (on gsovi vdqnp) (on-table allen) (on vdqnp allen) (holding xfrnr) (clear eafuj) (clear gsovi)", "(arm-empty) (on-table eafuj) (on gsovi vdqnp) (on vdqnp allen) (on-table allen) (on xfrnr eafuj) (clear xfrnr) (clear gsovi)", "(clear vdqnp) (on-table eafuj) (on vdqnp allen) (holding gsovi) (on-table allen) (on xfrnr eafuj) (clear xfrnr)" ]

[ [ "stack xxzoo uuvad" ], [ "unstack kxvxg faeko" ] ]

[ "(on xxzoo uuvad) (arm-empty) (on-table faeko) (on kxvxg faeko) (clear vtdxh) (on-table vtdxh) (clear xxzoo) (on-table uuvad) (clear kxvxg)", "(clear faeko) (on xxzoo uuvad) (on-table faeko) (clear vtdxh) (holding kxvxg) (on-table vtdxh) (clear xxzoo) (on-table uuvad)" ]

[ [ "stack roxqp sqvrr" ], [ "unstack fnkpl tqyaz" ], [ "put-down fnkpl" ], [ "unstack roxqp sqvrr" ], [ "stack roxqp fnkpl" ], [ "pick-up sqvrr" ], [ "stack sqvrr tqyaz" ] ]

[ "(on roxqp sqvrr) (on fnkpl tqyaz) (on-table ingju) (arm-empty) (on tqyaz ingju) (clear roxqp) (on-table sqvrr) (clear fnkpl)", "(on roxqp sqvrr) (on-table ingju) (clear tqyaz) (holding fnkpl) (on tqyaz ingju) (clear roxqp) (on-table sqvrr)", "(on roxqp sqvrr) (arm-empty) (on-table ingju) (on-table fnkpl) (clear tqyaz) (clear fnkpl) (on tqyaz ingju) (clear roxqp) (on-table sqvrr)", "(holding roxqp) (on-table ingju) (on-table fnkpl) (clear tqyaz) (on tqyaz ingju) (clear sqvrr) (on-table sqvrr) (clear fnkpl)", "(on roxqp fnkpl) (arm-empty) (on-table ingju) (on-table fnkpl) (clear tqyaz) (on tqyaz ingju) (clear sqvrr) (clear roxqp) (on-table sqvrr)", "(on roxqp fnkpl) (on-table ingju) (on-table fnkpl) (clear tqyaz) (on tqyaz ingju) (holding sqvrr) (clear roxqp)", "(on roxqp fnkpl) (on sqvrr tqyaz) (arm-empty) (on-table ingju) (on-table fnkpl) (on tqyaz ingju) (clear sqvrr) (clear roxqp)" ]

[ [ "unstack xisnq xacxo" ], [ "stack xisnq jauaq" ], [ "unstack xacxo yobov" ], [ "stack xacxo xisnq" ], [ "unstack yobov dvhkf" ], [ "stack yobov xacxo" ] ]

[ "(on yobov dvhkf) (clear xacxo) (on-table dvhkf) (clear jauaq) (on-table jauaq) (on xacxo yobov) (holding xisnq)", "(on yobov dvhkf) (clear xacxo) (on xisnq jauaq) (arm-empty) (on-table dvhkf) (on-table jauaq) (on xacxo yobov) (clear xisnq)", "(on yobov dvhkf) (on xisnq jauaq) (on-table dvhkf) (on-table jauaq) (holding xacxo) (clear xisnq) (clear yobov)", "(on yobov dvhkf) (on xisnq jauaq) (clear xacxo) (arm-empty) (on-table dvhkf) (on-table jauaq) (on xacxo xisnq) (clear yobov)", "(holding yobov) (on xisnq jauaq) (clear xacxo) (on-table dvhkf) (on-table jauaq) (on xacxo xisnq) (clear dvhkf)", "(arm-empty) (on-table dvhkf) (on yobov xacxo) (clear dvhkf) (on xisnq jauaq) (on-table jauaq) (on xacxo xisnq) (clear yobov)" ]

[ [ "put-down wmqkf" ], [ "unstack npahu lflui" ], [ "put-down npahu" ], [ "unstack lflui pghra" ], [ "put-down lflui" ], [ "pick-up wmqkf" ], [ "stack wmqkf lflui" ], [ "unstack pghra fahsp" ], [ "put-down pghra" ], [ "unstack wmqkf lflui" ], [ "stack wmqkf npahu" ], [ "pick-up pghra" ], [ "stack pghra wmqkf" ], [ "pick-up lflui" ], [ "stack lflui pghra" ] ]

[ "(on pghra fahsp) (arm-empty) (on-table wmqkf) (clear npahu) (on lflui pghra) (clear wmqkf) (on npahu lflui) (on-table fahsp)", "(clear lflui) (on pghra fahsp) (on-table wmqkf) (holding npahu) (on lflui pghra) (on-table fahsp) (clear wmqkf)", "(on pghra fahsp) (arm-empty) (on-table wmqkf) (clear npahu) (on lflui pghra) (clear wmqkf) (clear lflui) (on-table npahu) (on-table fahsp)", "(on pghra fahsp) (on-table wmqkf) (clear npahu) (on-table npahu) (holding lflui) (clear pghra) (on-table fahsp) (clear wmqkf)", "(clear lflui) (on pghra fahsp) (arm-empty) (on-table lflui) (on-table wmqkf) (clear npahu) (on-table npahu) (clear pghra) (on-table fahsp) (clear wmqkf)", "(clear lflui) (on pghra fahsp) (on-table lflui) (clear npahu) (holding wmqkf) (on-table npahu) (clear pghra) (on-table fahsp)", "(on pghra fahsp) (arm-empty) (on-table lflui) (on wmqkf lflui) (clear npahu) (on-table npahu) (clear pghra) (on-table fahsp) (clear wmqkf)", "(holding pghra) (on-table lflui) (on wmqkf lflui) (clear npahu) (on-table npahu) (clear fahsp) (on-table fahsp) (clear wmqkf)", "(arm-empty) (on-table lflui) (on-table pghra) (on wmqkf lflui) (clear npahu) (on-table npahu) (clear fahsp) (clear pghra) (on-table fahsp) (clear wmqkf)", "(clear lflui) (on-table lflui) (on-table pghra) (clear npahu) (holding wmqkf) (on-table npahu) (clear fahsp) (clear pghra) (on-table fahsp)", "(clear lflui) (arm-empty) (on wmqkf npahu) (on-table lflui) (on-table pghra) (on-table npahu) (clear fahsp) (clear pghra) (on-table fahsp) (clear wmqkf)", "(holding pghra) (clear lflui) (on wmqkf npahu) (on-table lflui) (on-table npahu) (clear fahsp) (on-table fahsp) (clear wmqkf)", "(on pghra wmqkf) (clear lflui) (arm-empty) (on wmqkf npahu) (on-table lflui) (on-table npahu) (clear fahsp) (clear pghra) (on-table fahsp)", "(on pghra wmqkf) (on wmqkf npahu) (on-table npahu) (holding lflui) (clear fahsp) (clear pghra) (on-table fahsp)", "(on pghra wmqkf) (clear lflui) (arm-empty) (on wmqkf npahu) (on-table npahu) (on lflui pghra) (clear fahsp) (on-table fahsp)" ]

[ [ "unstack htaad rxhtz" ], [ "put-down htaad" ], [ "unstack rxhtz gnzvz" ], [ "put-down rxhtz" ], [ "unstack gnzvz iifla" ] ]

[ "(holding htaad) (on-table xqvnj) (clear rxhtz) (on rxhtz gnzvz) (on gnzvz iifla) (on-table iifla) (clear xqvnj)", "(arm-empty) (on-table xqvnj) (clear rxhtz) (clear xqvnj) (on-table htaad) (on rxhtz gnzvz) (on gnzvz iifla) (clear htaad) (on-table iifla)", "(clear gnzvz) (on-table xqvnj) (on-table htaad) (holding rxhtz) (on gnzvz iifla) (clear htaad) (on-table iifla) (clear xqvnj)", "(clear gnzvz) (arm-empty) (on-table xqvnj) (on-table htaad) (clear rxhtz) (on-table rxhtz) (on gnzvz iifla) (clear htaad) (on-table iifla) (clear xqvnj)", "(on-table xqvnj) (on-table htaad) (clear rxhtz) (on-table rxhtz) (holding gnzvz) (clear iifla) (clear htaad) (on-table iifla) (clear xqvnj)" ]

[ [ "unstack uztum ipdyh" ], [ "put-down uztum" ], [ "unstack ipdyh ltmcx" ], [ "stack ipdyh uztum" ], [ "unstack ltmcx nzeov" ], [ "put-down ltmcx" ], [ "unstack nzeov wpvte" ], [ "stack nzeov ipdyh" ], [ "pick-up wpvte" ], [ "stack wpvte nzeov" ], [ "pick-up ltmcx" ], [ "stack ltmcx wpvte" ] ]

[ "(on ltmcx nzeov) (clear ipdyh) (on nzeov wpvte) (holding uztum) (on ipdyh ltmcx) (on-table wpvte)", "(on nzeov wpvte) (arm-empty) (clear uztum) (on ipdyh ltmcx) (clear ipdyh) (on ltmcx nzeov) (on-table uztum) (on-table wpvte)", "(on nzeov wpvte) (clear uztum) (on ltmcx nzeov) (on-table uztum) (holding ipdyh) (on-table wpvte) (clear ltmcx)", "(clear ipdyh) (on nzeov wpvte) (arm-empty) (on ltmcx nzeov) (on-table uztum) (on ipdyh uztum) (on-table wpvte) (clear ltmcx)", "(clear ipdyh) (on nzeov wpvte) (holding ltmcx) (on-table uztum) (on ipdyh uztum) (clear nzeov) (on-table wpvte)", "(on nzeov wpvte) (arm-empty) (on-table ltmcx) (on ipdyh uztum) (clear ltmcx) (clear ipdyh) (on-table uztum) (clear nzeov) (on-table wpvte)", "(holding nzeov) (clear ipdyh) (on-table ltmcx) (on-table uztum) (on ipdyh uztum) (clear wpvte) (on-table wpvte) (clear ltmcx)", "(arm-empty) (on-table ltmcx) (on-table uztum) (on ipdyh uztum) (clear wpvte) (on nzeov ipdyh) (clear nzeov) (on-table wpvte) (clear ltmcx)", "(on-table ltmcx) (on-table uztum) (on ipdyh uztum) (on nzeov ipdyh) (clear nzeov) (holding wpvte) (clear ltmcx)", "(arm-empty) (on-table ltmcx) (on ipdyh uztum) (on-table uztum) (on wpvte nzeov) (clear wpvte) (on nzeov ipdyh) (clear ltmcx)", "(on ipdyh uztum) (holding ltmcx) (on-table uztum) (on wpvte nzeov) (clear wpvte) (on nzeov ipdyh)", "(arm-empty) (on ipdyh uztum) (on ltmcx wpvte) (on-table uztum) (on wpvte nzeov) (on nzeov ipdyh) (clear ltmcx)" ]

[ [ "put-down fexlo" ], [ "unstack zbgru bzgzc" ], [ "stack zbgru nuatw" ], [ "pick-up fexlo" ], [ "stack fexlo zbgru" ], [ "unstack bzgzc nhgya" ], [ "put-down bzgzc" ], [ "pick-up nhgya" ] ]

[ "(arm-empty) (on-table nuatw) (on bzgzc nhgya) (clear nuatw) (on-table fexlo) (on zbgru bzgzc) (on-table nhgya) (clear zbgru) (clear fexlo)", "(clear bzgzc) (on-table nuatw) (on-table fexlo) (on-table nhgya) (on bzgzc nhgya) (holding zbgru) (clear fexlo) (clear nuatw)", "(clear bzgzc) (on zbgru nuatw) (arm-empty) (on-table nuatw) (on-table fexlo) (on-table nhgya) (on bzgzc nhgya) (clear zbgru) (clear fexlo)", "(holding fexlo) (clear bzgzc) (on zbgru nuatw) (on-table nuatw) (on-table nhgya) (on bzgzc nhgya) (clear zbgru)", "(clear bzgzc) (on zbgru nuatw) (on fexlo zbgru) (arm-empty) (on-table nuatw) (on-table nhgya) (on bzgzc nhgya) (clear fexlo)", "(on zbgru nuatw) (on fexlo zbgru) (on-table nuatw) (clear nhgya) (on-table nhgya) (holding bzgzc) (clear fexlo)", "(on zbgru nuatw) (on fexlo zbgru) (arm-empty) (on-table bzgzc) (on-table nuatw) (clear nhgya) (clear bzgzc) (on-table nhgya) (clear fexlo)", "(on zbgru nuatw) (on fexlo zbgru) (on-table bzgzc) (on-table nuatw) (clear bzgzc) (holding nhgya) (clear fexlo)" ]

[ [ "put-down vahpn" ], [ "unstack cfgfj klxee" ], [ "stack cfgfj vahpn" ], [ "unstack klxee xbzku" ], [ "put-down klxee" ], [ "unstack xbzku azfdy" ], [ "put-down xbzku" ], [ "pick-up azfdy" ], [ "stack azfdy cfgfj" ] ]

[ "(on xbzku azfdy) (on klxee xbzku) (arm-empty) (on-table vahpn) (on-table azfdy) (on cfgfj klxee) (clear vahpn) (clear cfgfj)", "(on xbzku azfdy) (on klxee xbzku) (on-table vahpn) (on-table azfdy) (clear vahpn) (clear klxee) (holding cfgfj)", "(on xbzku azfdy) (on klxee xbzku) (arm-empty) (on-table vahpn) (on-table azfdy) (on cfgfj vahpn) (clear klxee) (clear cfgfj)", "(on xbzku azfdy) (on-table vahpn) (on-table azfdy) (holding klxee) (on cfgfj vahpn) (clear cfgfj) (clear xbzku)", "(on xbzku azfdy) (arm-empty) (on-table vahpn) (on-table azfdy) (clear klxee) (on cfgfj vahpn) (on-table klxee) (clear cfgfj) (clear xbzku)", "(holding xbzku) (on-table vahpn) (on-table azfdy) (on cfgfj vahpn) (clear klxee) (on-table klxee) (clear cfgfj) (clear azfdy)", "(arm-empty) (on-table vahpn) (on-table azfdy) (on-table xbzku) (on cfgfj vahpn) (clear klxee) (on-table klxee) (clear cfgfj) (clear xbzku) (clear azfdy)", "(on-table vahpn) (on-table xbzku) (on cfgfj vahpn) (clear klxee) (holding azfdy) (on-table klxee) (clear cfgfj) (clear xbzku)", "(arm-empty) (on-table vahpn) (on-table xbzku) (on cfgfj vahpn) (clear klxee) (on azfdy cfgfj) (on-table klxee) (clear xbzku) (clear azfdy)" ]

[ [ "unstack qlkqw ncvis" ], [ "put-down qlkqw" ], [ "unstack ncvis fglvb" ], [ "put-down ncvis" ], [ "unstack fglvb dcmjc" ], [ "stack fglvb qlkqw" ], [ "unstack dcmjc uysdt" ], [ "put-down dcmjc" ], [ "unstack fglvb qlkqw" ], [ "stack fglvb dcmjc" ], [ "pick-up uysdt" ], [ "stack uysdt ncvis" ], [ "unstack fglvb dcmjc" ], [ "stack fglvb uysdt" ], [ "pick-up qlkqw" ], [ "stack qlkqw fglvb" ] ]

[ "(on fglvb dcmjc) (on ncvis fglvb) (clear ncvis) (on-table uysdt) (on dcmjc uysdt) (holding qlkqw)", "(on dcmjc uysdt) (clear ncvis) (arm-empty) (on fglvb dcmjc) (on ncvis fglvb) (clear qlkqw) (on-table uysdt) (on-table qlkqw)", "(on fglvb dcmjc) (on-table uysdt) (clear fglvb) (on dcmjc uysdt) (holding ncvis) (clear qlkqw) (on-table qlkqw)", "(arm-empty) (on-table ncvis) (on fglvb dcmjc) (clear fglvb) (clear ncvis) (on-table uysdt) (on dcmjc uysdt) (clear qlkqw) (on-table qlkqw)", "(clear ncvis) (on-table ncvis) (on-table uysdt) (holding fglvb) (on dcmjc uysdt) (clear qlkqw) (on-table qlkqw) (clear dcmjc)", "(clear ncvis) (arm-empty) (on-table ncvis) (on-table uysdt) (clear fglvb) (on dcmjc uysdt) (on fglvb qlkqw) (on-table qlkqw) (clear dcmjc)", "(clear ncvis) (on-table ncvis) (on-table uysdt) (clear fglvb) (on fglvb qlkqw) (holding dcmjc) (clear uysdt) (on-table qlkqw)", "(clear ncvis) (arm-empty) (on-table ncvis) (on-table dcmjc) (on-table uysdt) (clear fglvb) (on fglvb qlkqw) (clear uysdt) (on-table qlkqw) (clear dcmjc)", "(clear ncvis) (on-table ncvis) (on-table dcmjc) (on-table uysdt) (holding fglvb) (clear qlkqw) (clear uysdt) (on-table qlkqw) (clear dcmjc)", "(clear ncvis) (arm-empty) (on-table ncvis) (on-table dcmjc) (on-table uysdt) (on fglvb dcmjc) (clear fglvb) (clear qlkqw) (clear uysdt) (on-table qlkqw)", "(holding uysdt) (clear ncvis) (on-table ncvis) (on-table dcmjc) (on fglvb dcmjc) (clear fglvb) (clear qlkqw) (on-table qlkqw)", "(arm-empty) (on-table ncvis) (on-table dcmjc) (on fglvb dcmjc) (clear fglvb) (clear qlkqw) (on uysdt ncvis) (clear uysdt) (on-table qlkqw)", "(on-table ncvis) (on-table dcmjc) (holding fglvb) (clear qlkqw) (on uysdt ncvis) (clear uysdt) (on-table qlkqw) (clear dcmjc)", "(on fglvb uysdt) (arm-empty) (on-table ncvis) (on-table dcmjc) (clear fglvb) (clear qlkqw) (on uysdt ncvis) (on-table qlkqw) (clear dcmjc)", "(on fglvb uysdt) (on-table ncvis) (on-table dcmjc) (clear fglvb) (on uysdt ncvis) (holding qlkqw) (clear dcmjc)", "(on qlkqw fglvb) (on fglvb uysdt) (arm-empty) (on-table ncvis) (on-table dcmjc) (clear qlkqw) (on uysdt ncvis) (clear dcmjc)" ]

[ [ "unstack gokui wfvxj" ], [ "put-down gokui" ], [ "unstack wfvxj uirou" ], [ "stack wfvxj gokui" ], [ "unstack uirou dpyon" ], [ "put-down uirou" ], [ "unstack wfvxj gokui" ], [ "stack wfvxj uirou" ], [ "pick-up gokui" ], [ "stack gokui wfvxj" ] ]

[ "(on wfvxj uirou) (on uirou dpyon) (clear wfvxj) (on-table gonkk) (on dpyon gonkk) (holding gokui)", "(arm-empty) (on wfvxj uirou) (on uirou dpyon) (clear wfvxj) (on-table gonkk) (on dpyon gonkk) (clear gokui) (on-table gokui)", "(clear uirou) (holding wfvxj) (on-table gonkk) (on dpyon gonkk) (on uirou dpyon) (clear gokui) (on-table gokui)", "(clear uirou) (arm-empty) (on wfvxj gokui) (on-table gonkk) (on dpyon gonkk) (on uirou dpyon) (on-table gokui) (clear wfvxj)", "(holding uirou) (on wfvxj gokui) (on-table gonkk) (on dpyon gonkk) (clear dpyon) (on-table gokui) (clear wfvxj)", "(arm-empty) (on-table uirou) (on wfvxj gokui) (clear wfvxj) (clear uirou) (on-table gonkk) (on dpyon gonkk) (clear dpyon) (on-table gokui)", "(clear uirou) (on-table uirou) (holding wfvxj) (on-table gonkk) (on dpyon gonkk) (clear gokui) (clear dpyon) (on-table gokui)", "(arm-empty) (on-table uirou) (on wfvxj uirou) (on-table gonkk) (on dpyon gonkk) (clear gokui) (clear dpyon) (on-table gokui) (clear wfvxj)", "(on-table uirou) (on wfvxj uirou) (on-table gonkk) (on dpyon gonkk) (holding gokui) (clear dpyon) (clear wfvxj)", "(on gokui wfvxj) (arm-empty) (on-table uirou) (on wfvxj uirou) (on-table gonkk) (on dpyon gonkk) (clear gokui) (clear dpyon)" ]

[ [ "unstack eifjl wyxxq" ], [ "put-down eifjl" ], [ "unstack wyxxq hdqxq" ], [ "stack wyxxq eifjl" ], [ "unstack hdqxq nkcbr" ], [ "stack hdqxq wyxxq" ], [ "unstack nkcbr fxelp" ], [ "put-down nkcbr" ], [ "pick-up fxelp" ], [ "stack fxelp nkcbr" ], [ "unstack hdqxq wyxxq" ], [ "put-down hdqxq" ] ]

[ "(on nkcbr fxelp) (on hdqxq nkcbr) (on-table fxelp) (on wyxxq hdqxq) (holding eifjl) (clear wyxxq)", "(on nkcbr fxelp) (on hdqxq nkcbr) (arm-empty) (on-table eifjl) (on-table fxelp) (on wyxxq hdqxq) (clear eifjl) (clear wyxxq)", "(on nkcbr fxelp) (on hdqxq nkcbr) (on-table eifjl) (on-table fxelp) (clear eifjl) (clear hdqxq) (holding wyxxq)", "(on nkcbr fxelp) (on hdqxq nkcbr) (arm-empty) (on-table eifjl) (on-table fxelp) (on wyxxq eifjl) (clear hdqxq) (clear wyxxq)", "(on nkcbr fxelp) (on-table eifjl) (on-table fxelp) (holding hdqxq) (on wyxxq eifjl) (clear wyxxq) (clear nkcbr)", "(on nkcbr fxelp) (arm-empty) (on-table eifjl) (on-table fxelp) (on wyxxq eifjl) (clear hdqxq) (on hdqxq wyxxq) (clear nkcbr)", "(holding nkcbr) (on-table eifjl) (on-table fxelp) (on wyxxq eifjl) (clear hdqxq) (on hdqxq wyxxq) (clear fxelp)", "(arm-empty) (on-table eifjl) (on-table fxelp) (clear hdqxq) (clear fxelp) (on-table nkcbr) (on wyxxq eifjl) (on hdqxq wyxxq) (clear nkcbr)", "(on-table eifjl) (on-table nkcbr) (on wyxxq eifjl) (clear hdqxq) (on hdqxq wyxxq) (holding fxelp) (clear nkcbr)", "(arm-empty) (on-table eifjl) (clear hdqxq) (clear fxelp) (on-table nkcbr) (on wyxxq eifjl) (on hdqxq wyxxq) (on fxelp nkcbr)", "(on-table eifjl) (on-table nkcbr) (holding hdqxq) (on wyxxq eifjl) (on fxelp nkcbr) (clear wyxxq) (clear fxelp)", "(arm-empty) (on-table eifjl) (clear hdqxq) (clear fxelp) (on-table nkcbr) (on wyxxq eifjl) (on fxelp nkcbr) (on-table hdqxq) (clear wyxxq)" ]

[ [ "pick-up yyhkg" ], [ "stack yyhkg qyssc" ], [ "unstack durqq thbgx" ], [ "put-down durqq" ], [ "unstack yyhkg qyssc" ], [ "stack yyhkg thbgx" ], [ "pick-up qyssc" ], [ "stack qyssc yyhkg" ] ]

[ "(on durqq thbgx) (on thbgx vxqud) (on-table qyssc) (clear durqq) (holding yyhkg) (on-table vxqud) (clear qyssc)", "(clear yyhkg) (on durqq thbgx) (on thbgx vxqud) (arm-empty) (on-table qyssc) (clear durqq) (on yyhkg qyssc) (on-table vxqud)", "(clear yyhkg) (on thbgx vxqud) (on-table qyssc) (holding durqq) (on yyhkg qyssc) (clear thbgx) (on-table vxqud)", "(on thbgx vxqud) (arm-empty) (on-table qyssc) (clear durqq) (on yyhkg qyssc) (clear yyhkg) (on-table durqq) (clear thbgx) (on-table vxqud)", "(on thbgx vxqud) (on-table qyssc) (clear durqq) (on-table durqq) (holding yyhkg) (clear thbgx) (on-table vxqud) (clear qyssc)", "(clear yyhkg) (on thbgx vxqud) (arm-empty) (on-table qyssc) (clear durqq) (on-table durqq) (on yyhkg thbgx) (on-table vxqud) (clear qyssc)", "(clear yyhkg) (on thbgx vxqud) (clear durqq) (holding qyssc) (on-table durqq) (on yyhkg thbgx) (on-table vxqud)", "(on thbgx vxqud) (arm-empty) (on qyssc yyhkg) (clear durqq) (on-table durqq) (on yyhkg thbgx) (on-table vxqud) (clear qyssc)" ]

[ [ "unstack tmcqi cgrkf" ], [ "stack tmcqi kefkf" ], [ "pick-up cgrkf" ], [ "stack cgrkf gnxqu" ], [ "unstack tmcqi kefkf" ], [ "put-down tmcqi" ], [ "pick-up kefkf" ], [ "stack kefkf cgrkf" ], [ "pick-up tmcqi" ], [ "stack tmcqi kefkf" ] ]

[ "(holding tmcqi) (clear kefkf) (on-table kefkf) (clear gnxqu) (on-table gnxqu) (clear cgrkf) (on-table cgrkf)", "(arm-empty) (on-table kefkf) (clear gnxqu) (on-table gnxqu) (clear cgrkf) (on tmcqi kefkf) (clear tmcqi) (on-table cgrkf)", "(on-table kefkf) (clear gnxqu) (on-table gnxqu) (on tmcqi kefkf) (clear tmcqi) (holding cgrkf)", "(on cgrkf gnxqu) (arm-empty) (on-table kefkf) (on-table gnxqu) (clear cgrkf) (on tmcqi kefkf) (clear tmcqi)", "(on-table kefkf) (holding tmcqi) (on cgrkf gnxqu) (clear kefkf) (on-table gnxqu) (clear cgrkf)", "(arm-empty) (on-table kefkf) (on cgrkf gnxqu) (clear kefkf) (on-table tmcqi) (on-table gnxqu) (clear cgrkf) (clear tmcqi)", "(on cgrkf gnxqu) (on-table tmcqi) (on-table gnxqu) (holding kefkf) (clear cgrkf) (clear tmcqi)", "(on cgrkf gnxqu) (clear kefkf) (arm-empty) (on-table tmcqi) (on-table gnxqu) (on kefkf cgrkf) (clear tmcqi)", "(holding tmcqi) (on cgrkf gnxqu) (clear kefkf) (on-table gnxqu) (on kefkf cgrkf)", "(on cgrkf gnxqu) (on-table gnxqu) (arm-empty) (on kefkf cgrkf) (on tmcqi kefkf) (clear tmcqi)" ]

[ [ "unstack mtcee vylcm" ], [ "stack mtcee qqces" ], [ "unstack vylcm gkomb" ], [ "stack vylcm mtcee" ], [ "pick-up gkomb" ], [ "stack gkomb vylcm" ], [ "pick-up wzzrd" ], [ "stack wzzrd gkomb" ] ]

[ "(on vylcm gkomb) (clear wzzrd) (on-table wzzrd) (on-table gkomb) (holding mtcee) (clear qqces) (clear vylcm) (on-table qqces)", "(on vylcm gkomb) (clear wzzrd) (arm-empty) (on-table wzzrd) (on-table gkomb) (clear mtcee) (on mtcee qqces) (clear vylcm) (on-table qqces)", "(holding vylcm) (clear wzzrd) (on-table wzzrd) (on-table gkomb) (clear mtcee) (on mtcee qqces) (on-table qqces) (clear gkomb)", "(clear wzzrd) (arm-empty) (on-table wzzrd) (on-table gkomb) (on mtcee qqces) (on vylcm mtcee) (clear vylcm) (on-table qqces) (clear gkomb)", "(clear wzzrd) (on-table wzzrd) (on mtcee qqces) (holding gkomb) (on vylcm mtcee) (clear vylcm) (on-table qqces)", "(arm-empty) (on-table wzzrd) (clear gkomb) (clear wzzrd) (on mtcee qqces) (on gkomb vylcm) (on vylcm mtcee) (on-table qqces)", "(holding wzzrd) (on mtcee qqces) (on gkomb vylcm) (on vylcm mtcee) (on-table qqces) (clear gkomb)", "(clear wzzrd) (arm-empty) (on mtcee qqces) (on gkomb vylcm) (on vylcm mtcee) (on wzzrd gkomb) (on-table qqces)" ]

[ [ "unstack kecyd oajza" ], [ "stack kecyd lpptf" ], [ "unstack oajza rhqil" ], [ "stack oajza hplil" ], [ "unstack kecyd lpptf" ] ]

[ "(holding kecyd) (clear oajza) (on-table lpptf) (clear hplil) (on-table hplil) (on oajza rhqil) (on-table rhqil) (clear lpptf)", "(on kecyd lpptf) (clear oajza) (arm-empty) (on-table lpptf) (clear hplil) (on-table hplil) (on oajza rhqil) (clear kecyd) (on-table rhqil)", "(on kecyd lpptf) (on-table lpptf) (clear hplil) (on-table hplil) (holding oajza) (clear rhqil) (clear kecyd) (on-table rhqil)", "(on kecyd lpptf) (clear oajza) (arm-empty) (on-table lpptf) (on-table hplil) (on oajza hplil) (clear rhqil) (clear kecyd) (on-table rhqil)", "(holding kecyd) (clear oajza) (on-table lpptf) (on-table hplil) (on oajza hplil) (clear rhqil) (on-table rhqil) (clear lpptf)" ]

[ [ "unstack zfdbq asezr" ], [ "put-down zfdbq" ], [ "pick-up nnlwb" ], [ "stack nnlwb zfdbq" ], [ "pick-up zwdmp" ], [ "stack zwdmp nnlwb" ], [ "pick-up asezr" ], [ "stack asezr zwdmp" ] ]

[ "(clear nnlwb) (on-table nnlwb) (on-table zwdmp) (clear asezr) (on-table asezr) (holding zfdbq) (clear zwdmp)", "(arm-empty) (on-table nnlwb) (clear asezr) (clear nnlwb) (on-table zwdmp) (on-table asezr) (clear zfdbq) (clear zwdmp) (on-table zfdbq)", "(on-table zwdmp) (clear asezr) (on-table asezr) (holding nnlwb) (clear zfdbq) (clear zwdmp) (on-table zfdbq)", "(clear nnlwb) (arm-empty) (on-table zwdmp) (clear asezr) (on-table asezr) (on nnlwb zfdbq) (clear zwdmp) (on-table zfdbq)", "(holding zwdmp) (clear nnlwb) (clear asezr) (on-table asezr) (on nnlwb zfdbq) (on-table zfdbq)", "(arm-empty) (clear asezr) (on-table asezr) (on nnlwb zfdbq) (on zwdmp nnlwb) (on-table zfdbq) (clear zwdmp)", "(on nnlwb zfdbq) (holding asezr) (on zwdmp nnlwb) (on-table zfdbq) (clear zwdmp)", "(on asezr zwdmp) (clear asezr) (arm-empty) (on nnlwb zfdbq) (on zwdmp nnlwb) (on-table zfdbq)" ]

[ [ "stack heent rzmpl" ], [ "unstack bpqcm yafjm" ], [ "stack bpqcm ksqcz" ], [ "pick-up yafjm" ], [ "stack yafjm bpqcm" ], [ "unstack heent rzmpl" ], [ "put-down heent" ], [ "unstack yafjm bpqcm" ] ]

[ "(clear bpqcm) (arm-empty) (on-table ksqcz) (on heent rzmpl) (on-table yafjm) (on bpqcm yafjm) (clear ksqcz) (on-table rzmpl) (clear heent)", "(on-table ksqcz) (clear yafjm) (on heent rzmpl) (on-table yafjm) (holding bpqcm) (clear ksqcz) (on-table rzmpl) (clear heent)", "(clear bpqcm) (arm-empty) (on-table ksqcz) (clear yafjm) (on heent rzmpl) (on-table yafjm) (on bpqcm ksqcz) (on-table rzmpl) (clear heent)", "(clear bpqcm) (on-table ksqcz) (holding yafjm) (on heent rzmpl) (on bpqcm ksqcz) (on-table rzmpl) (clear heent)", "(arm-empty) (on-table ksqcz) (clear yafjm) (on heent rzmpl) (on yafjm bpqcm) (on bpqcm ksqcz) (on-table rzmpl) (clear heent)", "(on-table ksqcz) (clear yafjm) (holding heent) (on yafjm bpqcm) (on bpqcm ksqcz) (clear rzmpl) (on-table rzmpl)", "(arm-empty) (on-table heent) (clear yafjm) (on bpqcm ksqcz) (clear heent) (on-table ksqcz) (on yafjm bpqcm) (clear rzmpl) (on-table rzmpl)", "(clear bpqcm) (on-table heent) (on-table ksqcz) (holding yafjm) (on bpqcm ksqcz) (clear rzmpl) (on-table rzmpl) (clear heent)" ]

[ [ "pick-up lmnux" ], [ "stack lmnux vynsa" ], [ "pick-up ynwsv" ], [ "stack ynwsv ebrcp" ], [ "unstack lmnux vynsa" ], [ "put-down lmnux" ] ]

[ "(on-table psird) (on-table vynsa) (on ebrcp psird) (clear ynwsv) (on-table ynwsv) (holding lmnux) (clear vynsa) (clear ebrcp)", "(arm-empty) (on-table psird) (on-table vynsa) (on ebrcp psird) (clear ynwsv) (on-table ynwsv) (on lmnux vynsa) (clear lmnux) (clear ebrcp)", "(on-table psird) (on-table vynsa) (holding ynwsv) (on ebrcp psird) (on lmnux vynsa) (clear lmnux) (clear ebrcp)", "(arm-empty) (on-table psird) (on ynwsv ebrcp) (on-table vynsa) (on ebrcp psird) (clear ynwsv) (on lmnux vynsa) (clear lmnux)", "(on-table psird) (on ynwsv ebrcp) (on-table vynsa) (on ebrcp psird) (clear ynwsv) (holding lmnux) (clear vynsa)", "(arm-empty) (on-table psird) (on ynwsv ebrcp) (on ebrcp psird) (clear ynwsv) (on-table vynsa) (clear lmnux) (clear vynsa) (on-table lmnux)" ]

[ [ "put-down esovb" ], [ "unstack zwrsv hwxse" ], [ "put-down zwrsv" ], [ "pick-up esovb" ], [ "stack esovb zwrsv" ], [ "unstack hwxse ianbc" ], [ "stack hwxse esovb" ], [ "unstack ianbc taasu" ], [ "put-down ianbc" ] ]

[ "(on hwxse ianbc) (arm-empty) (on-table taasu) (on-table esovb) (on ianbc taasu) (clear esovb) (on zwrsv hwxse) (clear zwrsv)", "(on hwxse ianbc) (on-table taasu) (on-table esovb) (clear hwxse) (on ianbc taasu) (holding zwrsv) (clear esovb)", "(on hwxse ianbc) (arm-empty) (on-table taasu) (on-table esovb) (clear hwxse) (on ianbc taasu) (clear esovb) (clear zwrsv) (on-table zwrsv)", "(on hwxse ianbc) (on-table taasu) (clear hwxse) (holding esovb) (clear zwrsv) (on ianbc taasu) (on-table zwrsv)", "(on hwxse ianbc) (arm-empty) (on-table taasu) (clear hwxse) (on esovb zwrsv) (on ianbc taasu) (on-table zwrsv) (clear esovb)", "(on-table taasu) (holding hwxse) (on esovb zwrsv) (on ianbc taasu) (clear ianbc) (on-table zwrsv) (clear esovb)", "(arm-empty) (on-table taasu) (on hwxse esovb) (clear hwxse) (on esovb zwrsv) (on ianbc taasu) (clear ianbc) (on-table zwrsv)", "(holding ianbc) (clear taasu) (on-table taasu) (on hwxse esovb) (clear hwxse) (on esovb zwrsv) (on-table zwrsv)", "(arm-empty) (on-table taasu) (on hwxse esovb) (clear hwxse) (on esovb zwrsv) (clear taasu) (on-table ianbc) (clear ianbc) (on-table zwrsv)" ]

[ [ "put-down mrjwm" ], [ "pick-up qyphq" ], [ "stack qyphq mrjwm" ], [ "unstack bmoaa fkbel" ], [ "stack bmoaa qyphq" ], [ "unstack fkbel nspsa" ], [ "put-down fkbel" ], [ "pick-up nspsa" ], [ "stack nspsa bmoaa" ], [ "pick-up fkbel" ], [ "stack fkbel nspsa" ] ]

[ "(arm-empty) (on-table nspsa) (on bmoaa fkbel) (on fkbel nspsa) (clear bmoaa) (on-table mrjwm) (clear qyphq) (clear mrjwm) (on-table qyphq)", "(on-table nspsa) (on bmoaa fkbel) (on-table mrjwm) (on fkbel nspsa) (clear bmoaa) (holding qyphq) (clear mrjwm)", "(arm-empty) (on-table nspsa) (on bmoaa fkbel) (on-table mrjwm) (on fkbel nspsa) (clear bmoaa) (on qyphq mrjwm) (clear qyphq)", "(on-table nspsa) (on-table mrjwm) (holding bmoaa) (on fkbel nspsa) (on qyphq mrjwm) (clear qyphq) (clear fkbel)", "(arm-empty) (on-table nspsa) (on fkbel nspsa) (clear bmoaa) (on qyphq mrjwm) (clear fkbel) (on-table mrjwm) (on bmoaa qyphq)", "(clear nspsa) (on-table nspsa) (on-table mrjwm) (clear bmoaa) (on bmoaa qyphq) (holding fkbel) (on qyphq mrjwm)", "(arm-empty) (on-table nspsa) (on-table fkbel) (clear bmoaa) (on qyphq mrjwm) (clear fkbel) (clear nspsa) (on-table mrjwm) (on bmoaa qyphq)", "(on-table fkbel) (on-table mrjwm) (clear bmoaa) (on bmoaa qyphq) (holding nspsa) (on qyphq mrjwm) (clear fkbel)", "(arm-empty) (on-table fkbel) (on qyphq mrjwm) (on nspsa bmoaa) (clear fkbel) (clear nspsa) (on-table mrjwm) (on bmoaa qyphq)", "(clear nspsa) (on-table mrjwm) (on nspsa bmoaa) (on bmoaa qyphq) (holding fkbel) (on qyphq mrjwm)", "(arm-empty) (on-table mrjwm) (on fkbel nspsa) (on nspsa bmoaa) (on bmoaa qyphq) (on qyphq mrjwm) (clear fkbel)" ]

[ [ "pick-up nslfu" ], [ "stack nslfu ztuve" ], [ "unstack tyuzt blrap" ], [ "stack tyuzt nslfu" ], [ "unstack blrap oedkz" ] ]

[ "(clear ztuve) (on blrap oedkz) (on tyuzt blrap) (on-table ztuve) (on-table oedkz) (holding nslfu) (clear tyuzt)", "(on blrap oedkz) (on tyuzt blrap) (on-table ztuve) (arm-empty) (on-table oedkz) (on nslfu ztuve) (clear nslfu) (clear tyuzt)", "(on blrap oedkz) (on-table ztuve) (on-table oedkz) (on nslfu ztuve) (clear blrap) (holding tyuzt) (clear nslfu)", "(on blrap oedkz) (arm-empty) (on-table ztuve) (on-table oedkz) (on nslfu ztuve) (clear blrap) (on tyuzt nslfu) (clear tyuzt)", "(on-table ztuve) (on-table oedkz) (holding blrap) (on nslfu ztuve) (on tyuzt nslfu) (clear oedkz) (clear tyuzt)" ]

[ [ "unstack olevy ppmar" ], [ "put-down olevy" ], [ "unstack ppmar fxbts" ], [ "put-down ppmar" ], [ "unstack fxbts ucjnu" ], [ "stack fxbts ppmar" ], [ "pick-up krjxi" ] ]

[ "(on ppmar fxbts) (on-table ucjnu) (clear ppmar) (holding olevy) (clear krjxi) (on fxbts ucjnu) (on-table krjxi)", "(on ppmar fxbts) (arm-empty) (on-table ucjnu) (on-table olevy) (clear ppmar) (on fxbts ucjnu) (clear olevy) (clear krjxi) (on-table krjxi)", "(on-table ucjnu) (on-table olevy) (holding ppmar) (clear krjxi) (on fxbts ucjnu) (clear fxbts) (on-table krjxi) (clear olevy)", "(arm-empty) (on-table ucjnu) (on-table olevy) (clear ppmar) (on-table ppmar) (clear krjxi) (on fxbts ucjnu) (clear fxbts) (on-table krjxi) (clear olevy)", "(holding fxbts) (clear ucjnu) (on-table ucjnu) (on-table olevy) (clear ppmar) (on-table ppmar) (clear krjxi) (on-table krjxi) (clear olevy)", "(clear ucjnu) (arm-empty) (on-table ucjnu) (on-table olevy) (on-table ppmar) (on fxbts ppmar) (clear krjxi) (clear fxbts) (on-table krjxi) (clear olevy)", "(clear ucjnu) (on-table ucjnu) (on-table olevy) (on-table ppmar) (on fxbts ppmar) (holding krjxi) (clear fxbts) (clear olevy)" ]

[ [ "unstack dpity vcgep" ], [ "put-down dpity" ], [ "unstack vcgep lkxti" ], [ "stack vcgep ztgsp" ], [ "pick-up dpity" ], [ "stack dpity lkxti" ], [ "unstack vcgep ztgsp" ], [ "put-down vcgep" ] ]

[ "(on-table gipbm) (holding dpity) (on vcgep lkxti) (on lkxti gipbm) (clear ztgsp) (on-table ztgsp) (clear vcgep)", "(arm-empty) (on vcgep lkxti) (clear dpity) (on lkxti gipbm) (clear vcgep) (on-table gipbm) (on-table dpity) (clear ztgsp) (on-table ztgsp)", "(clear lkxti) (on-table gipbm) (clear dpity) (holding vcgep) (on-table dpity) (on lkxti gipbm) (clear ztgsp) (on-table ztgsp)", "(clear lkxti) (arm-empty) (on-table gipbm) (clear dpity) (on vcgep ztgsp) (on-table dpity) (on lkxti gipbm) (on-table ztgsp) (clear vcgep)", "(clear lkxti) (on-table gipbm) (holding dpity) (on vcgep ztgsp) (on lkxti gipbm) (on-table ztgsp) (clear vcgep)", "(arm-empty) (on-table gipbm) (clear dpity) (on vcgep ztgsp) (on dpity lkxti) (on lkxti gipbm) (on-table ztgsp) (clear vcgep)", "(on-table gipbm) (clear dpity) (holding vcgep) (on dpity lkxti) (on lkxti gipbm) (clear ztgsp) (on-table ztgsp)", "(arm-empty) (on-table vcgep) (clear dpity) (on lkxti gipbm) (clear vcgep) (on-table gipbm) (on dpity lkxti) (clear ztgsp) (on-table ztgsp)" ]

[ [ "put-down ngtbv" ], [ "unstack nesrb jgkgn" ] ]

[ "(arm-empty) (on-table rfncy) (clear ngtbv) (on nesrb jgkgn) (on jgkgn ceurk) (on ceurk rfncy) (clear nesrb) (on-table ngtbv)", "(on-table rfncy) (clear ngtbv) (holding nesrb) (on-table ngtbv) (on jgkgn ceurk) (clear jgkgn) (on ceurk rfncy)" ]

[ [ "unstack lmmem oqcjn" ], [ "stack lmmem zkrco" ], [ "unstack oqcjn fhxjf" ], [ "stack oqcjn lmmem" ], [ "unstack fhxjf zejlp" ], [ "stack fhxjf oqcjn" ] ]

[ "(on fhxjf zejlp) (clear oqcjn) (on-table zejlp) (holding lmmem) (on oqcjn fhxjf) (clear zkrco) (on-table zkrco)", "(on fhxjf zejlp) (clear oqcjn) (arm-empty) (on-table zejlp) (clear lmmem) (on lmmem zkrco) (on oqcjn fhxjf) (on-table zkrco)", "(on fhxjf zejlp) (on-table zejlp) (clear lmmem) (on lmmem zkrco) (holding oqcjn) (clear fhxjf) (on-table zkrco)", "(on fhxjf zejlp) (clear oqcjn) (arm-empty) (on-table zejlp) (on lmmem zkrco) (on oqcjn lmmem) (clear fhxjf) (on-table zkrco)", "(holding fhxjf) (clear oqcjn) (on-table zejlp) (on lmmem zkrco) (on oqcjn lmmem) (on-table zkrco) (clear zejlp)", "(arm-empty) (on-table zejlp) (on lmmem zkrco) (on oqcjn lmmem) (on fhxjf oqcjn) (clear fhxjf) (on-table zkrco) (clear zejlp)" ]

[ [ "put-down bxupb" ], [ "unstack rfywq mmrer" ], [ "stack rfywq bxupb" ], [ "unstack mmrer dyydp" ], [ "put-down mmrer" ], [ "unstack rfywq bxupb" ], [ "stack rfywq dyydp" ] ]

[ "(on-table dyydp) (clear bxupb) (arm-empty) (on-table bxupb) (on rfywq mmrer) (clear rfywq) (on mmrer dyydp)", "(on-table bxupb) (clear bxupb) (on-table dyydp) (on mmrer dyydp) (holding rfywq) (clear mmrer)", "(arm-empty) (on-table bxupb) (on rfywq bxupb) (on-table dyydp) (on mmrer dyydp) (clear rfywq) (clear mmrer)", "(on-table bxupb) (clear dyydp) (holding mmrer) (on rfywq bxupb) (on-table dyydp) (clear rfywq)", "(arm-empty) (on-table bxupb) (clear dyydp) (on-table mmrer) (on rfywq bxupb) (on-table dyydp) (clear rfywq) (clear mmrer)", "(clear bxupb) (on-table bxupb) (on-table mmrer) (clear dyydp) (on-table dyydp) (holding rfywq) (clear mmrer)", "(on rfywq dyydp) (clear bxupb) (arm-empty) (on-table bxupb) (on-table mmrer) (on-table dyydp) (clear rfywq) (clear mmrer)" ]

[ [ "put-down nnjty" ], [ "unstack bkouh zyyde" ], [ "put-down bkouh" ], [ "pick-up nnjty" ] ]

[ "(clear uvlox) (on bkouh zyyde) (arm-empty) (on-table uvlox) (on-table nnjty) (on-table zyyde) (clear bkouh) (clear mbbge) (on-table mbbge) (clear nnjty)", "(clear uvlox) (on-table uvlox) (on-table nnjty) (on-table zyyde) (holding bkouh) (clear mbbge) (clear zyyde) (on-table mbbge) (clear nnjty)", "(clear uvlox) (arm-empty) (on-table uvlox) (on-table nnjty) (on-table zyyde) (clear bkouh) (on-table bkouh) (clear mbbge) (clear zyyde) (on-table mbbge) (clear nnjty)", "(clear uvlox) (on-table uvlox) (on-table zyyde) (clear bkouh) (holding nnjty) (on-table bkouh) (clear mbbge) (clear zyyde) (on-table mbbge)" ]

[ [ "pick-up mnyaq" ], [ "stack mnyaq ibdbx" ], [ "pick-up erhcj" ], [ "stack erhcj hhkmw" ], [ "unstack mnyaq ibdbx" ] ]

[ "(on ibdbx gskys) (clear erhcj) (on-table erhcj) (on-table gskys) (holding mnyaq) (clear hhkmw) (clear ibdbx) (on-table hhkmw)", "(on ibdbx gskys) (clear erhcj) (on mnyaq ibdbx) (arm-empty) (on-table erhcj) (on-table gskys) (clear mnyaq) (clear hhkmw) (on-table hhkmw)", "(on ibdbx gskys) (on mnyaq ibdbx) (on-table gskys) (clear mnyaq) (holding erhcj) (clear hhkmw) (on-table hhkmw)", "(on ibdbx gskys) (clear erhcj) (on mnyaq ibdbx) (arm-empty) (on-table gskys) (clear mnyaq) (on erhcj hhkmw) (on-table hhkmw)", "(on ibdbx gskys) (clear erhcj) (on-table gskys) (holding mnyaq) (on erhcj hhkmw) (clear ibdbx) (on-table hhkmw)" ]

[ [ "put-down ydtcf" ], [ "unstack ivoyf fsnmg" ], [ "stack ivoyf ydtcf" ], [ "unstack fsnmg qqzlm" ], [ "stack fsnmg ivoyf" ], [ "unstack qqzlm bjuaq" ], [ "put-down qqzlm" ], [ "pick-up bjuaq" ], [ "stack bjuaq qqzlm" ], [ "unstack fsnmg ivoyf" ], [ "put-down fsnmg" ], [ "unstack bjuaq qqzlm" ], [ "stack bjuaq fsnmg" ] ]

[ "(on-table bjuaq) (arm-empty) (on qqzlm bjuaq) (on fsnmg qqzlm) (clear ydtcf) (on ivoyf fsnmg) (clear ivoyf) (on-table ydtcf)", "(holding ivoyf) (clear fsnmg) (on qqzlm bjuaq) (on-table bjuaq) (on fsnmg qqzlm) (clear ydtcf) (on-table ydtcf)", "(clear fsnmg) (on ivoyf ydtcf) (on qqzlm bjuaq) (arm-empty) (on-table bjuaq) (on fsnmg qqzlm) (clear ivoyf) (on-table ydtcf)", "(on ivoyf ydtcf) (on qqzlm bjuaq) (on-table bjuaq) (holding fsnmg) (clear ivoyf) (on-table ydtcf) (clear qqzlm)", "(clear fsnmg) (on ivoyf ydtcf) (on qqzlm bjuaq) (arm-empty) (on-table bjuaq) (on fsnmg ivoyf) (on-table ydtcf) (clear qqzlm)", "(clear fsnmg) (on ivoyf ydtcf) (clear bjuaq) (holding qqzlm) (on-table bjuaq) (on fsnmg ivoyf) (on-table ydtcf)", "(on ivoyf ydtcf) (arm-empty) (on-table qqzlm) (clear bjuaq) (on fsnmg ivoyf) (clear qqzlm) (clear fsnmg) (on-table bjuaq) (on-table ydtcf)", "(clear fsnmg) (on ivoyf ydtcf) (on-table qqzlm) (holding bjuaq) (on fsnmg ivoyf) (on-table ydtcf) (clear qqzlm)", "(clear fsnmg) (on ivoyf ydtcf) (arm-empty) (on bjuaq qqzlm) (on-table qqzlm) (clear bjuaq) (on fsnmg ivoyf) (on-table ydtcf)", "(on ivoyf ydtcf) (on bjuaq qqzlm) (on-table qqzlm) (clear bjuaq) (holding fsnmg) (clear ivoyf) (on-table ydtcf)", "(on ivoyf ydtcf) (arm-empty) (on-table fsnmg) (on-table qqzlm) (on bjuaq qqzlm) (clear bjuaq) (clear fsnmg) (clear ivoyf) (on-table ydtcf)", "(clear fsnmg) (on ivoyf ydtcf) (on-table fsnmg) (on-table qqzlm) (holding bjuaq) (clear ivoyf) (on-table ydtcf) (clear qqzlm)", "(on ivoyf ydtcf) (arm-empty) (on-table fsnmg) (on-table qqzlm) (clear bjuaq) (on bjuaq fsnmg) (clear ivoyf) (on-table ydtcf) (clear qqzlm)" ]

[ [ "put-down zmcez" ], [ "unstack skxpd uubhy" ], [ "stack skxpd zmcez" ], [ "pick-up cdxuu" ], [ "stack cdxuu unbbp" ], [ "unstack skxpd zmcez" ], [ "put-down skxpd" ], [ "pick-up zmcez" ], [ "stack zmcez cdxuu" ] ]

[ "(clear zmcez) (arm-empty) (on-table zmcez) (on-table uubhy) (clear unbbp) (on skxpd uubhy) (on-table unbbp) (clear cdxuu) (on-table cdxuu) (clear skxpd)", "(clear zmcez) (on-table zmcez) (on-table uubhy) (clear unbbp) (holding skxpd) (on-table unbbp) (clear cdxuu) (clear uubhy) (on-table cdxuu)", "(arm-empty) (on-table zmcez) (on-table uubhy) (on skxpd zmcez) (clear unbbp) (on-table unbbp) (clear cdxuu) (clear uubhy) (on-table cdxuu) (clear skxpd)", "(on-table zmcez) (on-table uubhy) (on skxpd zmcez) (clear unbbp) (on-table unbbp) (holding cdxuu) (clear uubhy) (clear skxpd)", "(on cdxuu unbbp) (arm-empty) (on-table zmcez) (on-table uubhy) (on skxpd zmcez) (on-table unbbp) (clear cdxuu) (clear uubhy) (clear skxpd)", "(on cdxuu unbbp) (clear zmcez) (on-table zmcez) (on-table uubhy) (holding skxpd) (on-table unbbp) (clear cdxuu) (clear uubhy)", "(on cdxuu unbbp) (clear zmcez) (arm-empty) (on-table zmcez) (on-table skxpd) (on-table uubhy) (on-table unbbp) (clear cdxuu) (clear uubhy) (clear skxpd)", "(on cdxuu unbbp) (on-table skxpd) (on-table uubhy) (on-table unbbp) (holding zmcez) (clear cdxuu) (clear uubhy) (clear skxpd)", "(on cdxuu unbbp) (clear zmcez) (arm-empty) (on-table skxpd) (on-table uubhy) (on-table unbbp) (on zmcez cdxuu) (clear uubhy) (clear skxpd)" ]

[ [ "put-down anlxb" ], [ "unstack xmrue bpais" ], [ "stack xmrue anlxb" ] ]

[ "(arm-empty) (on-table bpais) (clear drver) (on-table anlxb) (on xmrue bpais) (on-table drver) (clear xmrue) (clear anlxb)", "(clear bpais) (on-table bpais) (on-table anlxb) (clear drver) (on-table drver) (holding xmrue) (clear anlxb)", "(clear bpais) (arm-empty) (on-table bpais) (on-table anlxb) (clear drver) (on-table drver) (on xmrue anlxb) (clear xmrue)" ]

[ [ "unstack emfmu ljksh" ], [ "put-down emfmu" ], [ "unstack ljksh hkdui" ], [ "stack ljksh emfmu" ], [ "unstack hkdui dpvdc" ], [ "put-down hkdui" ], [ "unstack dpvdc iajsl" ], [ "stack dpvdc hkdui" ], [ "unstack ljksh emfmu" ], [ "stack ljksh dpvdc" ], [ "pick-up iajsl" ] ]

[ "(on dpvdc iajsl) (on hkdui dpvdc) (on-table iajsl) (on ljksh hkdui) (holding emfmu) (clear ljksh)", "(on dpvdc iajsl) (on hkdui dpvdc) (arm-empty) (on-table emfmu) (on-table iajsl) (on ljksh hkdui) (clear emfmu) (clear ljksh)", "(on dpvdc iajsl) (on hkdui dpvdc) (on-table emfmu) (on-table iajsl) (clear emfmu) (clear hkdui) (holding ljksh)", "(on dpvdc iajsl) (on hkdui dpvdc) (arm-empty) (on-table emfmu) (on-table iajsl) (on ljksh emfmu) (clear hkdui) (clear ljksh)", "(on dpvdc iajsl) (on-table emfmu) (on-table iajsl) (holding hkdui) (on ljksh emfmu) (clear ljksh) (clear dpvdc)", "(on dpvdc iajsl) (arm-empty) (on-table emfmu) (on-table iajsl) (clear hkdui) (on ljksh emfmu) (on-table hkdui) (clear ljksh) (clear dpvdc)", "(holding dpvdc) (on-table emfmu) (on-table iajsl) (on ljksh emfmu) (clear hkdui) (on-table hkdui) (clear ljksh) (clear iajsl)", "(arm-empty) (on-table emfmu) (on-table iajsl) (on ljksh emfmu) (on-table hkdui) (on dpvdc hkdui) (clear ljksh) (clear dpvdc) (clear iajsl)", "(clear emfmu) (on-table emfmu) (on-table iajsl) (on-table hkdui) (on dpvdc hkdui) (holding ljksh) (clear dpvdc) (clear iajsl)", "(clear emfmu) (arm-empty) (on-table emfmu) (on-table iajsl) (on-table hkdui) (on dpvdc hkdui) (on ljksh dpvdc) (clear ljksh) (clear iajsl)", "(clear emfmu) (on-table emfmu) (holding iajsl) (on-table hkdui) (on dpvdc hkdui) (on ljksh dpvdc) (clear ljksh)" ]

[ [ "put-down sfpgr" ], [ "unstack lqsse rbuap" ], [ "put-down lqsse" ], [ "unstack rbuap pkswr" ], [ "stack rbuap lqsse" ], [ "pick-up sfpgr" ], [ "stack sfpgr pkswr" ] ]

[ "(on rbuap pkswr) (on lqsse rbuap) (arm-empty) (on-table cujut) (on pkswr cujut) (clear sfpgr) (on-table sfpgr) (clear lqsse)", "(holding lqsse) (on rbuap pkswr) (on-table cujut) (on pkswr cujut) (clear sfpgr) (on-table sfpgr) (clear rbuap)", "(on rbuap pkswr) (arm-empty) (on-table cujut) (on pkswr cujut) (clear sfpgr) (on-table lqsse) (on-table sfpgr) (clear rbuap) (clear lqsse)", "(on-table cujut) (on-table lqsse) (on pkswr cujut) (clear sfpgr) (on-table sfpgr) (holding rbuap) (clear lqsse) (clear pkswr)", "(arm-empty) (on-table cujut) (on-table lqsse) (on pkswr cujut) (clear sfpgr) (on-table sfpgr) (on rbuap lqsse) (clear rbuap) (clear pkswr)", "(on-table cujut) (on-table lqsse) (holding sfpgr) (on pkswr cujut) (on rbuap lqsse) (clear rbuap) (clear pkswr)", "(arm-empty) (on-table cujut) (on sfpgr pkswr) (on-table lqsse) (on pkswr cujut) (clear sfpgr) (on rbuap lqsse) (clear rbuap)" ]

[ [ "stack updim qcjyt" ], [ "pick-up leeps" ], [ "stack leeps hpxay" ], [ "unstack updim qcjyt" ], [ "put-down updim" ], [ "unstack qcjyt fxhhe" ], [ "stack qcjyt updim" ], [ "unstack leeps hpxay" ], [ "stack leeps qcjyt" ], [ "pick-up hpxay" ], [ "stack hpxay fxhhe" ], [ "unstack leeps qcjyt" ] ]

[ "(clear hpxay) (arm-empty) (on-table hpxay) (on-table leeps) (on qcjyt fxhhe) (on updim qcjyt) (clear updim) (on-table fxhhe) (clear leeps)", "(clear hpxay) (on-table hpxay) (on qcjyt fxhhe) (holding leeps) (on updim qcjyt) (clear updim) (on-table fxhhe)", "(arm-empty) (on-table hpxay) (on leeps hpxay) (on qcjyt fxhhe) (on updim qcjyt) (clear updim) (on-table fxhhe) (clear leeps)", "(holding updim) (on-table hpxay) (on leeps hpxay) (clear qcjyt) (on qcjyt fxhhe) (on-table fxhhe) (clear leeps)", "(arm-empty) (on-table hpxay) (on leeps hpxay) (clear qcjyt) (clear leeps) (on-table updim) (on qcjyt fxhhe) (clear updim) (on-table fxhhe)", "(on-table hpxay) (on-table updim) (holding qcjyt) (on leeps hpxay) (clear fxhhe) (clear updim) (on-table fxhhe) (clear leeps)", "(on qcjyt updim) (arm-empty) (on-table hpxay) (on-table updim) (on leeps hpxay) (clear qcjyt) (clear fxhhe) (on-table fxhhe) (clear leeps)", "(clear hpxay) (on qcjyt updim) (on-table hpxay) (on-table updim) (clear qcjyt) (holding leeps) (clear fxhhe) (on-table fxhhe)", "(clear hpxay) (on qcjyt updim) (on leeps qcjyt) (on-table hpxay) (arm-empty) (on-table updim) (clear fxhhe) (on-table fxhhe) (clear leeps)", "(on qcjyt updim) (on leeps qcjyt) (on-table updim) (holding hpxay) (clear fxhhe) (on-table fxhhe) (clear leeps)", "(clear hpxay) (on qcjyt updim) (on leeps qcjyt) (arm-empty) (on-table updim) (on hpxay fxhhe) (on-table fxhhe) (clear leeps)", "(clear hpxay) (on qcjyt updim) (on-table updim) (clear qcjyt) (holding leeps) (on hpxay fxhhe) (on-table fxhhe)" ]

[ [ "put-down knkrk" ], [ "unstack bdwfc zsxuv" ] ]

[ "(arm-empty) (on-table upkmy) (on bdwfc zsxuv) (clear bdwfc) (on zsxuv cmiyu) (on-table knkrk) (on cmiyu upkmy) (clear knkrk)", "(on-table upkmy) (on-table knkrk) (holding bdwfc) (on cmiyu upkmy) (on zsxuv cmiyu) (clear knkrk) (clear zsxuv)" ]

[ [ "unstack mzghl ulsvi" ], [ "put-down mzghl" ], [ "unstack ulsvi uahzp" ], [ "stack ulsvi mzghl" ], [ "unstack uahzp eycqn" ], [ "put-down uahzp" ], [ "unstack eycqn thozh" ], [ "put-down eycqn" ], [ "unstack ulsvi mzghl" ], [ "put-down ulsvi" ], [ "pick-up eycqn" ], [ "stack eycqn mzghl" ], [ "pick-up ulsvi" ] ]

[ "(on uahzp eycqn) (clear ulsvi) (on-table thozh) (on eycqn thozh) (on ulsvi uahzp) (holding mzghl)", "(on uahzp eycqn) (arm-empty) (on-table mzghl) (clear ulsvi) (clear mzghl) (on-table thozh) (on eycqn thozh) (on ulsvi uahzp)", "(on uahzp eycqn) (clear mzghl) (on-table mzghl) (on-table thozh) (holding ulsvi) (on eycqn thozh) (clear uahzp)", "(on uahzp eycqn) (arm-empty) (on-table mzghl) (on-table thozh) (clear ulsvi) (on eycqn thozh) (on ulsvi mzghl) (clear uahzp)", "(on-table mzghl) (on-table thozh) (clear ulsvi) (on eycqn thozh) (on ulsvi mzghl) (holding uahzp) (clear eycqn)", "(arm-empty) (on-table mzghl) (clear ulsvi) (clear eycqn) (on-table thozh) (on eycqn thozh) (on ulsvi mzghl) (clear uahzp) (on-table uahzp)", "(on-table mzghl) (on-table thozh) (clear ulsvi) (holding eycqn) (on ulsvi mzghl) (clear uahzp) (clear thozh) (on-table uahzp)", "(arm-empty) (on-table mzghl) (on-table eycqn) (on-table thozh) (clear ulsvi) (on ulsvi mzghl) (clear uahzp) (clear thozh) (on-table uahzp) (clear eycqn)", "(clear mzghl) (on-table mzghl) (on-table eycqn) (on-table thozh) (holding ulsvi) (clear uahzp) (clear thozh) (on-table uahzp) (clear eycqn)", "(clear mzghl) (arm-empty) (on-table mzghl) (on-table eycqn) (on-table thozh) (clear ulsvi) (on-table ulsvi) (clear uahzp) (clear thozh) (on-table uahzp) (clear eycqn)", "(clear mzghl) (on-table mzghl) (on-table thozh) (clear ulsvi) (holding eycqn) (on-table ulsvi) (clear uahzp) (clear thozh) (on-table uahzp)", "(arm-empty) (on-table mzghl) (on-table thozh) (on eycqn mzghl) (clear ulsvi) (on-table ulsvi) (clear uahzp) (clear thozh) (on-table uahzp) (clear eycqn)", "(on-table mzghl) (on-table thozh) (holding ulsvi) (on eycqn mzghl) (clear uahzp) (clear thozh) (on-table uahzp) (clear eycqn)" ]

[ [ "unstack dhgts pxovb" ], [ "put-down dhgts" ], [ "unstack pxovb bhrrt" ], [ "put-down pxovb" ], [ "pick-up gllhz" ], [ "stack gllhz bhrrt" ], [ "pick-up dhgts" ], [ "stack dhgts pxovb" ], [ "unstack gllhz bhrrt" ], [ "put-down gllhz" ], [ "unstack dhgts pxovb" ], [ "stack dhgts bhrrt" ] ]

[ "(holding dhgts) (on pxovb bhrrt) (clear gllhz) (on-table gllhz) (on bhrrt kepxg) (on-table kepxg) (clear pxovb)", "(arm-empty) (on-table gllhz) (on bhrrt kepxg) (on-table kepxg) (on pxovb bhrrt) (clear gllhz) (on-table dhgts) (clear pxovb) (clear dhgts)", "(clear gllhz) (on-table gllhz) (on bhrrt kepxg) (on-table kepxg) (on-table dhgts) (clear bhrrt) (holding pxovb) (clear dhgts)", "(clear gllhz) (arm-empty) (on-table gllhz) (on bhrrt kepxg) (on-table kepxg) (on-table dhgts) (clear bhrrt) (clear pxovb) (clear dhgts) (on-table pxovb)", "(on bhrrt kepxg) (on-table kepxg) (on-table dhgts) (clear bhrrt) (holding gllhz) (clear pxovb) (clear dhgts) (on-table pxovb)", "(clear gllhz) (arm-empty) (on bhrrt kepxg) (on-table kepxg) (on-table dhgts) (on gllhz bhrrt) (clear pxovb) (clear dhgts) (on-table pxovb)", "(holding dhgts) (clear gllhz) (on bhrrt kepxg) (on-table kepxg) (on gllhz bhrrt) (clear pxovb) (on-table pxovb)", "(clear gllhz) (on dhgts pxovb) (arm-empty) (on-table kepxg) (on bhrrt kepxg) (on gllhz bhrrt) (clear dhgts) (on-table pxovb)", "(on dhgts pxovb) (on-table kepxg) (on bhrrt kepxg) (clear bhrrt) (holding gllhz) (clear dhgts) (on-table pxovb)", "(on dhgts pxovb) (arm-empty) (on-table gllhz) (on-table kepxg) (on bhrrt kepxg) (clear bhrrt) (clear gllhz) (clear dhgts) (on-table pxovb)", "(holding dhgts) (clear gllhz) (on-table gllhz) (on-table kepxg) (on bhrrt kepxg) (clear bhrrt) (clear pxovb) (on-table pxovb)", "(clear gllhz) (arm-empty) (on-table gllhz) (on-table kepxg) (on bhrrt kepxg) (on dhgts bhrrt) (clear pxovb) (clear dhgts) (on-table pxovb)" ]

[ [ "stack dxhdm jodzf" ], [ "unstack rnlhj ievji" ], [ "stack rnlhj ntjzq" ], [ "unstack dxhdm jodzf" ], [ "stack dxhdm rnlhj" ], [ "pick-up ievji" ], [ "stack ievji dxhdm" ], [ "pick-up jodzf" ], [ "stack jodzf ievji" ] ]

[ "(arm-empty) (on-table ievji) (on-table jodzf) (on dxhdm jodzf) (clear dxhdm) (clear ntjzq) (on rnlhj ievji) (clear rnlhj) (on-table ntjzq)", "(holding rnlhj) (clear ievji) (on-table ievji) (on-table jodzf) (on dxhdm jodzf) (clear dxhdm) (clear ntjzq) (on-table ntjzq)", "(clear ievji) (on rnlhj ntjzq) (arm-empty) (on-table ievji) (on-table jodzf) (on dxhdm jodzf) (clear dxhdm) (clear rnlhj) (on-table ntjzq)", "(clear ievji) (on rnlhj ntjzq) (on-table ievji) (on-table jodzf) (holding dxhdm) (clear rnlhj) (on-table ntjzq) (clear jodzf)", "(clear ievji) (on rnlhj ntjzq) (on dxhdm rnlhj) (on-table ievji) (on-table jodzf) (arm-empty) (clear dxhdm) (on-table ntjzq) (clear jodzf)", "(on rnlhj ntjzq) (on dxhdm rnlhj) (on-table jodzf) (clear dxhdm) (holding ievji) (on-table ntjzq) (clear jodzf)", "(clear ievji) (on rnlhj ntjzq) (on dxhdm rnlhj) (arm-empty) (on-table jodzf) (on ievji dxhdm) (on-table ntjzq) (clear jodzf)", "(clear ievji) (on rnlhj ntjzq) (on dxhdm rnlhj) (holding jodzf) (on ievji dxhdm) (on-table ntjzq)", "(on rnlhj ntjzq) (on dxhdm rnlhj) (arm-empty) (on jodzf ievji) (on ievji dxhdm) (on-table ntjzq) (clear jodzf)" ]

[ [ "pick-up tijhv" ], [ "stack tijhv avyts" ] ]

[ "(on oehjz basop) (holding tijhv) (on-table basop) (on eezdo oehjz) (on avyts eezdo) (clear avyts)", "(on tijhv avyts) (on oehjz basop) (on-table basop) (arm-empty) (on eezdo oehjz) (on avyts eezdo) (clear tijhv)" ]

[ [ "put-down udcuw" ], [ "unstack iyiob rrspk" ], [ "stack iyiob mcdyt" ], [ "pick-up udcuw" ], [ "stack udcuw iyiob" ], [ "unstack rrspk pkelw" ], [ "stack rrspk udcuw" ], [ "pick-up pkelw" ], [ "stack pkelw rrspk" ] ]

[ "(arm-empty) (on iyiob rrspk) (clear mcdyt) (on rrspk pkelw) (clear iyiob) (on-table pkelw) (on-table mcdyt) (clear udcuw) (on-table udcuw)", "(clear rrspk) (on-table pkelw) (clear mcdyt) (holding iyiob) (on-table mcdyt) (on rrspk pkelw) (clear udcuw) (on-table udcuw)", "(clear rrspk) (arm-empty) (on iyiob mcdyt) (on-table pkelw) (on-table mcdyt) (on rrspk pkelw) (clear udcuw) (on-table udcuw) (clear iyiob)", "(clear rrspk) (on iyiob mcdyt) (on-table pkelw) (on-table mcdyt) (on rrspk pkelw) (holding udcuw) (clear iyiob)", "(clear rrspk) (on udcuw iyiob) (on iyiob mcdyt) (arm-empty) (on-table pkelw) (on-table mcdyt) (on rrspk pkelw) (clear udcuw)", "(on udcuw iyiob) (on iyiob mcdyt) (on-table pkelw) (on-table mcdyt) (holding rrspk) (clear udcuw) (clear pkelw)", "(on udcuw iyiob) (clear rrspk) (on iyiob mcdyt) (arm-empty) (on-table pkelw) (on-table mcdyt) (on rrspk udcuw) (clear pkelw)", "(holding pkelw) (on udcuw iyiob) (clear rrspk) (on iyiob mcdyt) (on-table mcdyt) (on rrspk udcuw)", "(on udcuw iyiob) (arm-empty) (on iyiob mcdyt) (on-table mcdyt) (on rrspk udcuw) (on pkelw rrspk) (clear pkelw)" ]

[ [ "unstack mixpc tlylk" ], [ "put-down mixpc" ], [ "pick-up cmuin" ], [ "stack cmuin tlylk" ], [ "pick-up mixpc" ], [ "stack mixpc cmuin" ] ]

[ "(clear cmuin) (on-table cmuin) (on-table chkpr) (on ayzwg chkpr) (on tlylk ayzwg) (holding mixpc) (clear tlylk)", "(arm-empty) (on-table cmuin) (on-table chkpr) (on ayzwg chkpr) (clear cmuin) (on tlylk ayzwg) (clear mixpc) (clear tlylk) (on-table mixpc)", "(on-table chkpr) (on ayzwg chkpr) (holding cmuin) (on tlylk ayzwg) (clear mixpc) (clear tlylk) (on-table mixpc)", "(arm-empty) (on-table chkpr) (on ayzwg chkpr) (on cmuin tlylk) (clear cmuin) (on tlylk ayzwg) (clear mixpc) (on-table mixpc)", "(clear cmuin) (on-table chkpr) (on ayzwg chkpr) (on tlylk ayzwg) (on cmuin tlylk) (holding mixpc)", "(arm-empty) (on-table chkpr) (on ayzwg chkpr) (on mixpc cmuin) (on tlylk ayzwg) (on cmuin tlylk) (clear mixpc)" ]

[ [ "unstack jzopl fmxom" ], [ "put-down jzopl" ], [ "unstack fmxom xdqpb" ], [ "stack fmxom jzopl" ], [ "pick-up nsqfo" ] ]

[ "(on fmxom xdqpb) (holding jzopl) (clear fmxom) (on-table xdqpb) (clear nsqfo) (on-table nsqfo)", "(arm-empty) (on fmxom xdqpb) (clear fmxom) (on-table jzopl) (on-table xdqpb) (clear nsqfo) (clear jzopl) (on-table nsqfo)", "(on-table jzopl) (clear xdqpb) (on-table xdqpb) (holding fmxom) (clear nsqfo) (clear jzopl) (on-table nsqfo)", "(clear fmxom) (arm-empty) (on-table jzopl) (clear xdqpb) (on-table xdqpb) (on fmxom jzopl) (clear nsqfo) (on-table nsqfo)", "(clear fmxom) (on-table jzopl) (clear xdqpb) (on-table xdqpb) (on fmxom jzopl) (holding nsqfo)" ]

[ [ "put-down mqbkk" ], [ "pick-up otptb" ], [ "stack otptb mqbkk" ], [ "pick-up btntu" ], [ "stack btntu ndkqw" ] ]

[ "(clear mqbkk) (arm-empty) (on-table mqbkk) (on-table otptb) (on-table btntu) (clear ndkqw) (on ndkqw uwgms) (clear btntu) (on-table uwgms) (clear otptb)", "(clear mqbkk) (on-table mqbkk) (on-table btntu) (clear ndkqw) (on ndkqw uwgms) (holding otptb) (clear btntu) (on-table uwgms)", "(arm-empty) (on-table mqbkk) (on-table btntu) (on otptb mqbkk) (clear ndkqw) (on ndkqw uwgms) (clear btntu) (on-table uwgms) (clear otptb)", "(holding btntu) (on-table mqbkk) (on otptb mqbkk) (clear ndkqw) (on ndkqw uwgms) (on-table uwgms) (clear otptb)", "(arm-empty) (on-table mqbkk) (on otptb mqbkk) (on ndkqw uwgms) (on btntu ndkqw) (clear btntu) (on-table uwgms) (clear otptb)" ]

[ [ "put-down vjdcq" ], [ "pick-up lbkod" ], [ "stack lbkod vjdcq" ], [ "pick-up sozej" ], [ "stack sozej lbkod" ] ]

[ "(clear sozej) (arm-empty) (on-table sozej) (on-table lbkod) (clear vjdcq) (clear lbkod) (on-table vjdcq)", "(holding lbkod) (clear sozej) (on-table sozej) (clear vjdcq) (on-table vjdcq)", "(clear sozej) (on lbkod vjdcq) (arm-empty) (on-table sozej) (clear lbkod) (on-table vjdcq)", "(on lbkod vjdcq) (holding sozej) (clear lbkod) (on-table vjdcq)", "(clear sozej) (on lbkod vjdcq) (arm-empty) (on sozej lbkod) (on-table vjdcq)" ]

[ [ "stack mxxch drfjf" ], [ "unstack wpdvp ztmat" ], [ "put-down wpdvp" ], [ "unstack ztmat njfhm" ], [ "put-down ztmat" ], [ "unstack mxxch drfjf" ], [ "stack mxxch njfhm" ], [ "pick-up wpdvp" ], [ "stack wpdvp ztmat" ], [ "pick-up drfjf" ], [ "stack drfjf wpdvp" ], [ "unstack mxxch njfhm" ], [ "stack mxxch drfjf" ] ]

[ "(on wpdvp ztmat) (arm-empty) (on-table drfjf) (clear mxxch) (on ztmat njfhm) (on mxxch drfjf) (clear wpdvp) (on-table njfhm)", "(holding wpdvp) (on-table drfjf) (clear mxxch) (on ztmat njfhm) (on mxxch drfjf) (on-table njfhm) (clear ztmat)", "(arm-empty) (on-table drfjf) (clear mxxch) (on ztmat njfhm) (clear ztmat) (on-table wpdvp) (on mxxch drfjf) (clear wpdvp) (on-table njfhm)", "(on-table drfjf) (on-table wpdvp) (clear mxxch) (holding ztmat) (on mxxch drfjf) (clear njfhm) (clear wpdvp) (on-table njfhm)", "(arm-empty) (on-table drfjf) (on-table ztmat) (on-table wpdvp) (clear mxxch) (on mxxch drfjf) (clear njfhm) (clear wpdvp) (on-table njfhm) (clear ztmat)", "(clear drfjf) (on-table drfjf) (on-table ztmat) (on-table wpdvp) (holding mxxch) (clear njfhm) (clear wpdvp) (on-table njfhm) (clear ztmat)", "(clear drfjf) (arm-empty) (on-table drfjf) (on-table ztmat) (on-table wpdvp) (clear mxxch) (on mxxch njfhm) (clear wpdvp) (on-table njfhm) (clear ztmat)", "(holding wpdvp) (clear drfjf) (on-table drfjf) (on-table ztmat) (clear mxxch) (on mxxch njfhm) (on-table njfhm) (clear ztmat)", "(on wpdvp ztmat) (clear drfjf) (arm-empty) (on-table drfjf) (on-table ztmat) (clear mxxch) (on mxxch njfhm) (clear wpdvp) (on-table njfhm)", "(on wpdvp ztmat) (on-table ztmat) (clear mxxch) (on mxxch njfhm) (holding drfjf) (clear wpdvp) (on-table njfhm)", "(on wpdvp ztmat) (clear drfjf) (arm-empty) (on-table ztmat) (clear mxxch) (on mxxch njfhm) (on drfjf wpdvp) (on-table njfhm)", "(on wpdvp ztmat) (clear drfjf) (on-table ztmat) (holding mxxch) (on drfjf wpdvp) (clear njfhm) (on-table njfhm)", "(on wpdvp ztmat) (arm-empty) (on-table ztmat) (clear mxxch) (on drfjf wpdvp) (on mxxch drfjf) (clear njfhm) (on-table njfhm)" ]

[ [ "stack irtra qkbvm" ], [ "unstack cmiig dzncv" ], [ "put-down cmiig" ], [ "pick-up dzncv" ], [ "stack dzncv cmiig" ], [ "unstack irtra qkbvm" ], [ "put-down irtra" ], [ "pick-up xjzvd" ], [ "stack xjzvd irtra" ], [ "pick-up qkbvm" ] ]

[ "(on irtra qkbvm) (clear cmiig) (arm-empty) (on-table qkbvm) (clear xjzvd) (on-table xjzvd) (on cmiig dzncv) (clear irtra) (on-table dzncv)", "(on irtra qkbvm) (on-table qkbvm) (clear xjzvd) (on-table xjzvd) (holding cmiig) (clear dzncv) (clear irtra) (on-table dzncv)", "(on irtra qkbvm) (clear cmiig) (arm-empty) (on-table cmiig) (on-table qkbvm) (clear xjzvd) (on-table xjzvd) (clear dzncv) (clear irtra) (on-table dzncv)", "(on irtra qkbvm) (clear cmiig) (on-table cmiig) (on-table qkbvm) (clear xjzvd) (on-table xjzvd) (holding dzncv) (clear irtra)", "(on irtra qkbvm) (arm-empty) (on-table cmiig) (on-table qkbvm) (on dzncv cmiig) (clear xjzvd) (on-table xjzvd) (clear dzncv) (clear irtra)", "(holding irtra) (on-table cmiig) (on-table qkbvm) (on dzncv cmiig) (clear xjzvd) (on-table xjzvd) (clear dzncv) (clear qkbvm)", "(arm-empty) (on-table cmiig) (on-table qkbvm) (on-table irtra) (on dzncv cmiig) (clear xjzvd) (on-table xjzvd) (clear dzncv) (clear irtra) (clear qkbvm)", "(on-table cmiig) (on-table qkbvm) (on-table irtra) (holding xjzvd) (on dzncv cmiig) (clear dzncv) (clear irtra) (clear qkbvm)", "(on xjzvd irtra) (arm-empty) (on-table cmiig) (on-table qkbvm) (on-table irtra) (on dzncv cmiig) (clear xjzvd) (clear dzncv) (clear qkbvm)", "(on xjzvd irtra) (on-table cmiig) (on-table irtra) (on dzncv cmiig) (clear xjzvd) (holding qkbvm) (clear dzncv)" ]

[ [ "put-down tqpqe" ], [ "pick-up psota" ], [ "stack psota tqpqe" ], [ "pick-up wbmmm" ], [ "stack wbmmm xubgs" ], [ "unstack psota tqpqe" ], [ "stack psota wbmmm" ] ]

[ "(arm-empty) (on-table vgues) (on-table tqpqe) (on-table wbmmm) (on xubgs vgues) (clear psota) (on-table psota) (clear xubgs) (clear wbmmm) (clear tqpqe)", "(on-table vgues) (on-table tqpqe) (on-table wbmmm) (holding psota) (on xubgs vgues) (clear xubgs) (clear wbmmm) (clear tqpqe)", "(arm-empty) (on-table vgues) (on-table tqpqe) (on-table wbmmm) (on psota tqpqe) (on xubgs vgues) (clear psota) (clear xubgs) (clear wbmmm)", "(holding wbmmm) (on-table vgues) (on-table tqpqe) (on psota tqpqe) (on xubgs vgues) (clear psota) (clear xubgs)", "(on wbmmm xubgs) (arm-empty) (on-table vgues) (on-table tqpqe) (on psota tqpqe) (on xubgs vgues) (clear psota) (clear wbmmm)", "(on wbmmm xubgs) (on-table vgues) (on-table tqpqe) (holding psota) (on xubgs vgues) (clear wbmmm) (clear tqpqe)", "(on wbmmm xubgs) (on psota wbmmm) (on-table vgues) (on-table tqpqe) (arm-empty) (on xubgs vgues) (clear psota) (clear tqpqe)" ]

[ [ "unstack fkkco ytmbn" ], [ "put-down fkkco" ], [ "unstack ytmbn efhmx" ], [ "stack ytmbn unhgs" ], [ "pick-up fkkco" ], [ "stack fkkco ytmbn" ] ]

[ "(on ytmbn efhmx) (clear ytmbn) (on-table unhgs) (on-table efhmx) (holding fkkco) (clear unhgs)", "(clear ytmbn) (on-table efhmx) (arm-empty) (on ytmbn efhmx) (clear fkkco) (on-table unhgs) (clear unhgs) (on-table fkkco)", "(on-table unhgs) (clear efhmx) (on-table efhmx) (holding ytmbn) (clear fkkco) (clear unhgs) (on-table fkkco)", "(clear ytmbn) (arm-empty) (on-table unhgs) (clear efhmx) (on-table efhmx) (on ytmbn unhgs) (clear fkkco) (on-table fkkco)", "(clear ytmbn) (on-table unhgs) (clear efhmx) (on-table efhmx) (on ytmbn unhgs) (holding fkkco)", "(arm-empty) (on-table unhgs) (on fkkco ytmbn) (clear efhmx) (on-table efhmx) (on ytmbn unhgs) (clear fkkco)" ]

[ [ "stack ktcue caeam" ], [ "unstack wxwnw tbhkw" ], [ "put-down wxwnw" ], [ "pick-up cdtdv" ], [ "stack cdtdv tbhkw" ], [ "pick-up wxwnw" ], [ "stack wxwnw cdtdv" ], [ "unstack ktcue caeam" ], [ "put-down ktcue" ], [ "unstack wxwnw cdtdv" ], [ "stack wxwnw caeam" ], [ "pick-up ktcue" ] ]

[ "(on wxwnw tbhkw) (arm-empty) (on-table caeam) (on-table cdtdv) (on-table tbhkw) (clear wxwnw) (on ktcue caeam) (clear ktcue) (clear cdtdv)", "(on-table caeam) (on-table cdtdv) (clear tbhkw) (on-table tbhkw) (on ktcue caeam) (clear ktcue) (holding wxwnw) (clear cdtdv)", "(arm-empty) (on-table caeam) (on-table cdtdv) (clear tbhkw) (on-table tbhkw) (clear wxwnw) (on ktcue caeam) (clear ktcue) (on-table wxwnw) (clear cdtdv)", "(on-table caeam) (clear tbhkw) (holding cdtdv) (on-table tbhkw) (clear wxwnw) (on ktcue caeam) (clear ktcue) (on-table wxwnw)", "(arm-empty) (on cdtdv tbhkw) (on-table caeam) (on-table tbhkw) (clear wxwnw) (on ktcue caeam) (clear ktcue) (on-table wxwnw) (clear cdtdv)", "(on cdtdv tbhkw) (on-table caeam) (on-table tbhkw) (on ktcue caeam) (clear ktcue) (holding wxwnw) (clear cdtdv)", "(on wxwnw cdtdv) (arm-empty) (on cdtdv tbhkw) (on-table caeam) (on-table tbhkw) (clear wxwnw) (on ktcue caeam) (clear ktcue)", "(holding ktcue) (on wxwnw cdtdv) (on cdtdv tbhkw) (on-table caeam) (clear caeam) (on-table tbhkw) (clear wxwnw)", "(on wxwnw cdtdv) (arm-empty) (on cdtdv tbhkw) (on-table caeam) (clear caeam) (on-table ktcue) (on-table tbhkw) (clear wxwnw) (clear ktcue)", "(on cdtdv tbhkw) (on-table caeam) (clear caeam) (on-table ktcue) (on-table tbhkw) (holding wxwnw) (clear ktcue) (clear cdtdv)", "(arm-empty) (on cdtdv tbhkw) (on-table caeam) (on-table ktcue) (on wxwnw caeam) (on-table tbhkw) (clear wxwnw) (clear ktcue) (clear cdtdv)", "(holding ktcue) (on cdtdv tbhkw) (on-table caeam) (on wxwnw caeam) (on-table tbhkw) (clear wxwnw) (clear cdtdv)" ]

[ [ "unstack zczqp kjrwj" ], [ "put-down zczqp" ], [ "pick-up kjrwj" ], [ "stack kjrwj hcaes" ], [ "pick-up aaavs" ], [ "stack aaavs zczqp" ] ]

[ "(clear nggcf) (on-table nggcf) (on-table aaavs) (clear hcaes) (holding zczqp) (on-table hcaes) (clear kjrwj) (clear aaavs) (on-table kjrwj)", "(clear nggcf) (arm-empty) (on-table nggcf) (on-table zczqp) (on-table aaavs) (clear hcaes) (on-table hcaes) (clear kjrwj) (clear aaavs) (on-table kjrwj) (clear zczqp)", "(clear nggcf) (on-table nggcf) (on-table zczqp) (on-table aaavs) (clear hcaes) (on-table hcaes) (holding kjrwj) (clear aaavs) (clear zczqp)", "(on kjrwj hcaes) (clear nggcf) (arm-empty) (on-table nggcf) (on-table zczqp) (on-table aaavs) (on-table hcaes) (clear kjrwj) (clear aaavs) (clear zczqp)", "(holding aaavs) (on kjrwj hcaes) (clear nggcf) (on-table nggcf) (on-table zczqp) (on-table hcaes) (clear kjrwj) (clear zczqp)", "(on kjrwj hcaes) (clear nggcf) (on aaavs zczqp) (arm-empty) (on-table nggcf) (on-table zczqp) (on-table hcaes) (clear kjrwj) (clear aaavs)" ]

[ [ "unstack gxrgn qocpu" ], [ "put-down gxrgn" ], [ "unstack qocpu ilawf" ], [ "stack qocpu gxrgn" ], [ "unstack ilawf imctr" ], [ "put-down ilawf" ], [ "unstack qocpu gxrgn" ], [ "stack qocpu ilawf" ], [ "pick-up gxrgn" ], [ "stack gxrgn imctr" ], [ "unstack qocpu ilawf" ] ]

[ "(on ilawf imctr) (on qocpu ilawf) (on-table wlpgw) (holding gxrgn) (on imctr wlpgw) (clear qocpu)", "(on ilawf imctr) (on qocpu ilawf) (arm-empty) (on-table wlpgw) (on imctr wlpgw) (clear gxrgn) (on-table gxrgn) (clear qocpu)", "(holding qocpu) (on ilawf imctr) (on-table wlpgw) (on imctr wlpgw) (clear gxrgn) (on-table gxrgn) (clear ilawf)", "(on ilawf imctr) (arm-empty) (on-table wlpgw) (on imctr wlpgw) (on-table gxrgn) (on qocpu gxrgn) (clear ilawf) (clear qocpu)", "(on-table wlpgw) (on imctr wlpgw) (on-table gxrgn) (on qocpu gxrgn) (holding ilawf) (clear qocpu) (clear imctr)", "(arm-empty) (on-table wlpgw) (on imctr wlpgw) (clear imctr) (on-table gxrgn) (on qocpu gxrgn) (clear ilawf) (clear qocpu) (on-table ilawf)", "(holding qocpu) (on-table wlpgw) (on imctr wlpgw) (clear gxrgn) (on-table gxrgn) (clear ilawf) (on-table ilawf) (clear imctr)", "(on qocpu ilawf) (arm-empty) (on-table wlpgw) (on imctr wlpgw) (clear gxrgn) (on-table gxrgn) (clear qocpu) (on-table ilawf) (clear imctr)", "(on qocpu ilawf) (on-table wlpgw) (holding gxrgn) (on imctr wlpgw) (clear qocpu) (on-table ilawf) (clear imctr)", "(on qocpu ilawf) (arm-empty) (on-table wlpgw) (on gxrgn imctr) (on imctr wlpgw) (clear gxrgn) (clear qocpu) (on-table ilawf)", "(holding qocpu) (on-table wlpgw) (on gxrgn imctr) (on imctr wlpgw) (clear gxrgn) (clear ilawf) (on-table ilawf)" ]

[ [ "stack tiuqh dyqxb" ], [ "unstack mrnuf qbhqt" ], [ "stack mrnuf jowvu" ], [ "pick-up qbhqt" ], [ "stack qbhqt mrnuf" ], [ "unstack tiuqh dyqxb" ], [ "stack tiuqh qbhqt" ], [ "pick-up dyqxb" ], [ "stack dyqxb tiuqh" ] ]

[ "(clear jowvu) (arm-empty) (on-table jowvu) (on tiuqh dyqxb) (on-table qbhqt) (on mrnuf qbhqt) (clear mrnuf) (on-table dyqxb) (clear tiuqh)", "(holding mrnuf) (clear jowvu) (on-table jowvu) (clear qbhqt) (on tiuqh dyqxb) (on-table qbhqt) (on-table dyqxb) (clear tiuqh)", "(arm-empty) (on-table jowvu) (clear qbhqt) (on tiuqh dyqxb) (on-table qbhqt) (on mrnuf jowvu) (clear mrnuf) (on-table dyqxb) (clear tiuqh)", "(on-table jowvu) (holding qbhqt) (on tiuqh dyqxb) (on mrnuf jowvu) (clear mrnuf) (on-table dyqxb) (clear tiuqh)", "(on qbhqt mrnuf) (arm-empty) (on-table jowvu) (clear qbhqt) (on tiuqh dyqxb) (on mrnuf jowvu) (on-table dyqxb) (clear tiuqh)", "(on qbhqt mrnuf) (on-table jowvu) (clear qbhqt) (holding tiuqh) (clear dyqxb) (on mrnuf jowvu) (on-table dyqxb)", "(on qbhqt mrnuf) (on tiuqh qbhqt) (on-table jowvu) (arm-empty) (clear dyqxb) (on mrnuf jowvu) (on-table dyqxb) (clear tiuqh)", "(on qbhqt mrnuf) (on tiuqh qbhqt) (on-table jowvu) (on mrnuf jowvu) (holding dyqxb) (clear tiuqh)", "(on dyqxb tiuqh) (on qbhqt mrnuf) (on tiuqh qbhqt) (on-table jowvu) (arm-empty) (clear dyqxb) (on mrnuf jowvu)" ]

[ [ "stack vzrbr nujxx" ], [ "pick-up fjdtr" ], [ "stack fjdtr etvjp" ], [ "unstack vzrbr nujxx" ], [ "stack vzrbr fjdtr" ], [ "unstack nujxx lqvop" ], [ "put-down nujxx" ], [ "unstack vzrbr fjdtr" ] ]

[ "(arm-empty) (on-table lqvop) (on-table fjdtr) (on-table etvjp) (on nujxx lqvop) (clear vzrbr) (on vzrbr nujxx) (clear etvjp) (clear fjdtr)", "(on-table lqvop) (on-table etvjp) (on nujxx lqvop) (clear vzrbr) (on vzrbr nujxx) (holding fjdtr) (clear etvjp)", "(arm-empty) (on-table lqvop) (clear vzrbr) (clear fjdtr) (on-table etvjp) (on nujxx lqvop) (on vzrbr nujxx) (on fjdtr etvjp)", "(on-table lqvop) (on-table etvjp) (holding vzrbr) (on nujxx lqvop) (on fjdtr etvjp) (clear nujxx) (clear fjdtr)", "(arm-empty) (on-table lqvop) (on vzrbr fjdtr) (on-table etvjp) (on nujxx lqvop) (clear vzrbr) (on fjdtr etvjp) (clear nujxx)", "(clear lqvop) (on-table lqvop) (on vzrbr fjdtr) (on-table etvjp) (clear vzrbr) (on fjdtr etvjp) (holding nujxx)", "(arm-empty) (on-table lqvop) (on vzrbr fjdtr) (clear vzrbr) (clear lqvop) (on-table etvjp) (on fjdtr etvjp) (clear nujxx) (on-table nujxx)", "(clear lqvop) (on-table lqvop) (on-table etvjp) (holding vzrbr) (on fjdtr etvjp) (clear nujxx) (on-table nujxx) (clear fjdtr)" ]

[ [ "stack yenmo pwgvq" ], [ "unstack khnbb oemoh" ], [ "stack khnbb yenmo" ], [ "unstack oemoh iufzm" ], [ "put-down oemoh" ] ]

[ "(arm-empty) (on-table iufzm) (on khnbb oemoh) (on-table pwgvq) (on oemoh iufzm) (clear khnbb) (on yenmo pwgvq) (clear yenmo)", "(on-table iufzm) (on-table pwgvq) (holding khnbb) (on oemoh iufzm) (on yenmo pwgvq) (clear yenmo) (clear oemoh)", "(arm-empty) (on-table iufzm) (on oemoh iufzm) (clear khnbb) (on yenmo pwgvq) (clear oemoh) (on-table pwgvq) (on khnbb yenmo)", "(clear iufzm) (on-table iufzm) (on-table pwgvq) (clear khnbb) (on khnbb yenmo) (holding oemoh) (on yenmo pwgvq)", "(arm-empty) (on-table iufzm) (on-table oemoh) (clear khnbb) (on yenmo pwgvq) (clear oemoh) (clear iufzm) (on-table pwgvq) (on khnbb yenmo)" ]

[ [ "unstack cqqjv mcafr" ], [ "put-down cqqjv" ], [ "unstack mcafr ebool" ], [ "stack mcafr cqqjv" ], [ "unstack ebool nadgm" ], [ "stack ebool mcafr" ], [ "unstack nadgm pjjul" ], [ "put-down nadgm" ], [ "unstack ebool mcafr" ], [ "stack ebool nadgm" ], [ "unstack mcafr cqqjv" ] ]

[ "(on ebool nadgm) (on nadgm pjjul) (on mcafr ebool) (holding cqqjv) (clear mcafr) (on-table pjjul)", "(clear cqqjv) (arm-empty) (on-table cqqjv) (on ebool nadgm) (on-table pjjul) (on mcafr ebool) (on nadgm pjjul) (clear mcafr)", "(holding mcafr) (clear cqqjv) (on-table cqqjv) (on ebool nadgm) (clear ebool) (on nadgm pjjul) (on-table pjjul)", "(arm-empty) (on-table cqqjv) (on ebool nadgm) (clear ebool) (on nadgm pjjul) (on mcafr cqqjv) (clear mcafr) (on-table pjjul)", "(on-table cqqjv) (holding ebool) (on nadgm pjjul) (on mcafr cqqjv) (clear mcafr) (on-table pjjul) (clear nadgm)", "(on ebool mcafr) (arm-empty) (on-table cqqjv) (clear ebool) (on nadgm pjjul) (on mcafr cqqjv) (on-table pjjul) (clear nadgm)", "(on ebool mcafr) (on-table cqqjv) (clear ebool) (holding nadgm) (clear pjjul) (on mcafr cqqjv) (on-table pjjul)", "(on ebool mcafr) (arm-empty) (on-table cqqjv) (on-table nadgm) (clear ebool) (on mcafr cqqjv) (clear nadgm) (clear pjjul) (on-table pjjul)", "(on-table cqqjv) (on-table nadgm) (holding ebool) (clear pjjul) (on mcafr cqqjv) (clear mcafr) (on-table pjjul) (clear nadgm)", "(arm-empty) (on-table cqqjv) (on-table nadgm) (on ebool nadgm) (clear ebool) (clear pjjul) (on mcafr cqqjv) (clear mcafr) (on-table pjjul)", "(holding mcafr) (clear cqqjv) (on-table cqqjv) (on-table nadgm) (on ebool nadgm) (clear ebool) (clear pjjul) (on-table pjjul)" ]

[ [ "unstack ptcnb oxnmk" ], [ "put-down ptcnb" ], [ "unstack oxnmk fraxo" ], [ "stack oxnmk ptcnb" ], [ "unstack fraxo yxnft" ], [ "stack fraxo oxnmk" ], [ "unstack yxnft rdnrb" ], [ "stack yxnft fraxo" ], [ "pick-up rdnrb" ] ]

[ "(on oxnmk fraxo) (holding ptcnb) (clear oxnmk) (on-table rdnrb) (on fraxo yxnft) (on yxnft rdnrb)", "(arm-empty) (on-table rdnrb) (on-table ptcnb) (clear oxnmk) (on fraxo yxnft) (on yxnft rdnrb) (clear ptcnb) (on oxnmk fraxo)", "(on-table rdnrb) (on-table ptcnb) (holding oxnmk) (on fraxo yxnft) (clear fraxo) (on yxnft rdnrb) (clear ptcnb)", "(arm-empty) (on-table rdnrb) (on-table ptcnb) (on oxnmk ptcnb) (clear oxnmk) (on fraxo yxnft) (clear fraxo) (on yxnft rdnrb)", "(on-table rdnrb) (on-table ptcnb) (on oxnmk ptcnb) (clear oxnmk) (on yxnft rdnrb) (clear yxnft) (holding fraxo)", "(on fraxo oxnmk) (arm-empty) (on-table rdnrb) (on-table ptcnb) (on oxnmk ptcnb) (clear fraxo) (on yxnft rdnrb) (clear yxnft)", "(holding yxnft) (on fraxo oxnmk) (clear rdnrb) (on-table rdnrb) (on-table ptcnb) (on oxnmk ptcnb) (clear fraxo)", "(on fraxo oxnmk) (clear rdnrb) (on yxnft fraxo) (arm-empty) (on-table rdnrb) (on-table ptcnb) (on oxnmk ptcnb) (clear yxnft)", "(on fraxo oxnmk) (on yxnft fraxo) (on-table ptcnb) (on oxnmk ptcnb) (holding rdnrb) (clear yxnft)" ]