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NanQiangHF

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BlocksWorldTrainingDataModified

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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