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NanQiangHF

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BlocksWorldTestingOfuscatedXYZ3

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[ [ "put-down dns4" ], [ "unstack baf5 olm2" ], [ "stack baf5 dns4" ], [ "unstack olm2 ssj3" ], [ "put-down olm2" ], [ "unstack ssj3 vad1" ], [ "stack ssj3 baf5" ] ]

[ "(arm-empty) (on baf5 olm2) (clear dns4) (on ssj3 vad1) (clear baf5) (on-table vad1) (on-table dns4) (on olm2 ssj3)", "(clear olm2) (on-table vad1) (clear dns4) (holding baf5) (on-table dns4) (on ssj3 vad1) (on olm2 ssj3)", "(clear olm2) (arm-empty) (on baf5 dns4) (on-table vad1) (on-table dns4) (on ssj3 vad1) (on olm2 ssj3) (clear baf5)", "(on baf5 dns4) (on-table vad1) (on-table dns4) (holding olm2) (on ssj3 vad1) (clear ssj3) (clear baf5)", "(arm-empty) (on baf5 dns4) (on-table olm2) (on ssj3 vad1) (clear baf5) (clear olm2) (on-table vad1) (on-table dns4) (clear ssj3)", "(clear olm2) (on baf5 dns4) (on-table olm2) (on-table vad1) (on-table dns4) (holding ssj3) (clear vad1) (clear baf5)", "(clear olm2) (on ssj3 baf5) (on baf5 dns4) (on-table olm2) (arm-empty) (on-table vad1) (on-table dns4) (clear ssj3) (clear vad1)" ]

[ [ "unstack pzv2 uxb5" ], [ "stack pzv2 fjx3" ], [ "pick-up uxb5" ], [ "stack uxb5 spn4" ], [ "pick-up axe1" ], [ "stack axe1 pzv2" ], [ "unstack uxb5 spn4" ], [ "put-down uxb5" ], [ "unstack axe1 pzv2" ], [ "stack axe1 spn4" ], [ "unstack pzv2 fjx3" ] ]

[ "(on-table uxb5) (on-table axe1) (clear spn4) (on-table spn4) (holding pzv2) (clear fjx3) (clear axe1) (on-table fjx3) (clear uxb5)", "(clear pzv2) (arm-empty) (on-table uxb5) (on-table axe1) (clear spn4) (on-table spn4) (on pzv2 fjx3) (clear axe1) (on-table fjx3) (clear uxb5)", "(clear pzv2) (on-table axe1) (clear spn4) (holding uxb5) (on-table spn4) (on pzv2 fjx3) (clear axe1) (on-table fjx3)", "(clear pzv2) (arm-empty) (on uxb5 spn4) (on-table axe1) (on-table spn4) (on pzv2 fjx3) (clear axe1) (on-table fjx3) (clear uxb5)", "(holding axe1) (clear pzv2) (on uxb5 spn4) (on-table spn4) (on pzv2 fjx3) (on-table fjx3) (clear uxb5)", "(arm-empty) (on uxb5 spn4) (on axe1 pzv2) (on-table spn4) (on pzv2 fjx3) (clear axe1) (on-table fjx3) (clear uxb5)", "(clear spn4) (on axe1 pzv2) (holding uxb5) (on-table spn4) (on pzv2 fjx3) (clear axe1) (on-table fjx3)", "(arm-empty) (on-table uxb5) (clear spn4) (on axe1 pzv2) (clear uxb5) (on-table spn4) (on pzv2 fjx3) (clear axe1) (on-table fjx3)", "(holding axe1) (clear pzv2) (on-table uxb5) (clear spn4) (on-table spn4) (on pzv2 fjx3) (on-table fjx3) (clear uxb5)", "(clear pzv2) (arm-empty) (on-table uxb5) (on-table spn4) (on axe1 spn4) (on pzv2 fjx3) (clear axe1) (on-table fjx3) (clear uxb5)", "(on-table uxb5) (holding pzv2) (on-table spn4) (on axe1 spn4) (clear fjx3) (clear axe1) (on-table fjx3) (clear uxb5)" ]

[ [ "unstack xzc1 ymy5" ], [ "put-down xzc1" ], [ "unstack ymy5 nrx2" ], [ "put-down ymy5" ], [ "pick-up xzc1" ], [ "stack xzc1 ymy5" ], [ "unstack nrx2 hgu4" ], [ "stack nrx2 xzc1" ], [ "unstack hgu4 sry3" ] ]

[ "(on ymy5 nrx2) (on nrx2 hgu4) (clear ymy5) (holding xzc1) (on hgu4 sry3) (on-table sry3)", "(arm-empty) (on ymy5 nrx2) (on nrx2 hgu4) (clear ymy5) (on-table xzc1) (on hgu4 sry3) (clear xzc1) (on-table sry3)", "(clear nrx2) (on-table xzc1) (on hgu4 sry3) (holding ymy5) (on nrx2 hgu4) (clear xzc1) (on-table sry3)", "(arm-empty) (on-table ymy5) (on nrx2 hgu4) (clear ymy5) (clear nrx2) (on-table xzc1) (on hgu4 sry3) (clear xzc1) (on-table sry3)", "(holding xzc1) (clear nrx2) (on-table ymy5) (on hgu4 sry3) (on nrx2 hgu4) (on-table sry3) (clear ymy5)", "(on xzc1 ymy5) (clear nrx2) (arm-empty) (on-table ymy5) (on hgu4 sry3) (on nrx2 hgu4) (clear xzc1) (on-table sry3)", "(on xzc1 ymy5) (on-table ymy5) (clear hgu4) (on hgu4 sry3) (holding nrx2) (clear xzc1) (on-table sry3)", "(on xzc1 ymy5) (clear nrx2) (arm-empty) (on-table ymy5) (clear hgu4) (on hgu4 sry3) (on nrx2 xzc1) (on-table sry3)", "(on xzc1 ymy5) (clear nrx2) (on-table ymy5) (holding hgu4) (on nrx2 xzc1) (clear sry3) (on-table sry3)" ]

[ [ "pick-up pcq1" ], [ "stack pcq1 xxw2" ] ]

[ "(holding pcq1) (clear xxw2) (on-table xxw2) (on snb4 hbi5) (on-table hbi5) (clear snb4) (clear vpu3) (on-table vpu3)", "(arm-empty) (on-table xxw2) (on snb4 hbi5) (on-table hbi5) (clear snb4) (clear vpu3) (on pcq1 xxw2) (clear pcq1) (on-table vpu3)" ]

[ [ "put-down nyr2" ], [ "pick-up ael4" ], [ "stack ael4 nyr2" ], [ "unstack ttf1 eyl3" ], [ "stack ttf1 iox5" ], [ "unstack ael4 nyr2" ], [ "put-down ael4" ], [ "pick-up eyl3" ], [ "stack eyl3 ael4" ], [ "pick-up nyr2" ], [ "stack nyr2 eyl3" ], [ "unstack ttf1 iox5" ], [ "stack ttf1 nyr2" ] ]

[ "(clear nyr2) (on ttf1 eyl3) (arm-empty) (on-table nyr2) (on-table iox5) (clear ael4) (on-table ael4) (clear ttf1) (on-table eyl3) (clear iox5)", "(clear nyr2) (on ttf1 eyl3) (on-table nyr2) (on-table iox5) (holding ael4) (clear ttf1) (on-table eyl3) (clear iox5)", "(on ttf1 eyl3) (arm-empty) (on-table nyr2) (on-table iox5) (clear ael4) (on ael4 nyr2) (clear ttf1) (on-table eyl3) (clear iox5)", "(holding ttf1) (on-table nyr2) (on-table iox5) (clear ael4) (on ael4 nyr2) (clear eyl3) (on-table eyl3) (clear iox5)", "(on ttf1 iox5) (arm-empty) (on-table nyr2) (on-table iox5) (clear ael4) (on ael4 nyr2) (clear eyl3) (clear ttf1) (on-table eyl3)", "(on ttf1 iox5) (clear nyr2) (on-table nyr2) (on-table iox5) (holding ael4) (clear eyl3) (clear ttf1) (on-table eyl3)", "(on ttf1 iox5) (clear nyr2) (arm-empty) (on-table nyr2) (on-table iox5) (clear ael4) (on-table ael4) (clear eyl3) (clear ttf1) (on-table eyl3)", "(on ttf1 iox5) (clear nyr2) (on-table nyr2) (on-table iox5) (clear ael4) (on-table ael4) (holding eyl3) (clear ttf1)", "(on ttf1 iox5) (clear nyr2) (on eyl3 ael4) (arm-empty) (on-table nyr2) (on-table iox5) (on-table ael4) (clear eyl3) (clear ttf1)", "(on ttf1 iox5) (on eyl3 ael4) (on-table iox5) (on-table ael4) (holding nyr2) (clear eyl3) (clear ttf1)", "(on ttf1 iox5) (on eyl3 ael4) (clear nyr2) (arm-empty) (on-table iox5) (on-table ael4) (on nyr2 eyl3) (clear ttf1)", "(holding ttf1) (on eyl3 ael4) (clear nyr2) (on-table iox5) (on-table ael4) (on nyr2 eyl3) (clear iox5)", "(arm-empty) (on-table iox5) (on ttf1 nyr2) (clear iox5) (on eyl3 ael4) (on-table ael4) (on nyr2 eyl3) (clear ttf1)" ]

[ [ "stack tco5 jvm1" ], [ "pick-up gvp2" ], [ "stack gvp2 tco5" ], [ "pick-up wka3" ], [ "stack wka3 mpl4" ], [ "unstack gvp2 tco5" ], [ "stack gvp2 wka3" ], [ "unstack tco5 jvm1" ], [ "stack tco5 gvp2" ], [ "pick-up jvm1" ] ]

[ "(clear gvp2) (arm-empty) (on-table gvp2) (on-table jvm1) (clear mpl4) (on tco5 jvm1) (on-table mpl4) (clear wka3) (on-table wka3) (clear tco5)", "(on-table jvm1) (clear mpl4) (on tco5 jvm1) (on-table mpl4) (holding gvp2) (clear wka3) (on-table wka3) (clear tco5)", "(clear gvp2) (arm-empty) (on-table jvm1) (clear mpl4) (on tco5 jvm1) (on-table mpl4) (on gvp2 tco5) (clear wka3) (on-table wka3)", "(clear gvp2) (on-table jvm1) (clear mpl4) (on tco5 jvm1) (on-table mpl4) (on gvp2 tco5) (holding wka3)", "(on wka3 mpl4) (clear gvp2) (arm-empty) (on-table jvm1) (on tco5 jvm1) (on-table mpl4) (on gvp2 tco5) (clear wka3)", "(on wka3 mpl4) (on-table jvm1) (on tco5 jvm1) (on-table mpl4) (holding gvp2) (clear wka3) (clear tco5)", "(on wka3 mpl4) (clear gvp2) (arm-empty) (on-table jvm1) (on tco5 jvm1) (on-table mpl4) (on gvp2 wka3) (clear tco5)", "(on wka3 mpl4) (clear gvp2) (on-table jvm1) (holding tco5) (on-table mpl4) (on gvp2 wka3) (clear jvm1)", "(on wka3 mpl4) (arm-empty) (on-table jvm1) (on tco5 gvp2) (on-table mpl4) (on gvp2 wka3) (clear jvm1) (clear tco5)", "(holding jvm1) (on wka3 mpl4) (on tco5 gvp2) (on-table mpl4) (on gvp2 wka3) (clear tco5)" ]

[ [ "put-down gmf5" ], [ "unstack wrn4 adu2" ], [ "stack wrn4 gmf5" ], [ "unstack adu2 ltq3" ], [ "put-down adu2" ], [ "unstack wrn4 gmf5" ], [ "stack wrn4 ltq3" ] ]

[ "(arm-empty) (on-table gmf5) (clear wrn4) (on ltq3 vze1) (clear gmf5) (on-table vze1) (on wrn4 adu2) (on adu2 ltq3)", "(clear adu2) (on-table gmf5) (on-table vze1) (holding wrn4) (on ltq3 vze1) (on adu2 ltq3) (clear gmf5)", "(clear adu2) (arm-empty) (on-table gmf5) (on-table vze1) (on wrn4 gmf5) (clear wrn4) (on ltq3 vze1) (on adu2 ltq3)", "(on-table gmf5) (on-table vze1) (on wrn4 gmf5) (clear wrn4) (holding adu2) (on ltq3 vze1) (clear ltq3)", "(arm-empty) (on-table adu2) (on-table gmf5) (on wrn4 gmf5) (clear wrn4) (on ltq3 vze1) (clear adu2) (on-table vze1) (clear ltq3)", "(clear adu2) (on-table adu2) (on-table gmf5) (holding wrn4) (on-table vze1) (on ltq3 vze1) (clear ltq3) (clear gmf5)", "(clear adu2) (arm-empty) (on-table adu2) (on-table gmf5) (on-table vze1) (clear wrn4) (on wrn4 ltq3) (on ltq3 vze1) (clear gmf5)" ]

[ [ "put-down wpo3" ], [ "unstack buh1 bog5" ], [ "stack buh1 wpo3" ], [ "pick-up yur4" ], [ "stack yur4 bog5" ], [ "unstack buh1 wpo3" ] ]

[ "(on buh1 bog5) (arm-empty) (on-table chv2) (on bog5 chv2) (clear yur4) (on-table yur4) (clear wpo3) (clear buh1) (on-table wpo3)", "(holding buh1) (on-table chv2) (on bog5 chv2) (clear yur4) (on-table yur4) (clear wpo3) (on-table wpo3) (clear bog5)", "(on buh1 wpo3) (arm-empty) (on-table chv2) (on bog5 chv2) (clear yur4) (on-table yur4) (clear buh1) (on-table wpo3) (clear bog5)", "(on buh1 wpo3) (on-table chv2) (holding yur4) (on bog5 chv2) (clear buh1) (on-table wpo3) (clear bog5)", "(on buh1 wpo3) (arm-empty) (on-table chv2) (on yur4 bog5) (on bog5 chv2) (clear yur4) (clear buh1) (on-table wpo3)", "(holding buh1) (on-table chv2) (on yur4 bog5) (on bog5 chv2) (clear yur4) (clear wpo3) (on-table wpo3)" ]

[ [ "unstack kfr3 sfu5" ], [ "stack kfr3 wba1" ], [ "unstack sfu5 yaq2" ], [ "stack sfu5 kfr3" ], [ "unstack yaq2 bwl4" ], [ "put-down yaq2" ], [ "unstack sfu5 kfr3" ] ]

[ "(on-table wba1) (on sfu5 yaq2) (on-table bwl4) (on yaq2 bwl4) (holding kfr3) (clear wba1) (clear sfu5)", "(arm-empty) (on-table wba1) (on sfu5 yaq2) (on yaq2 bwl4) (on-table bwl4) (on kfr3 wba1) (clear kfr3) (clear sfu5)", "(clear yaq2) (on-table wba1) (on yaq2 bwl4) (holding sfu5) (on-table bwl4) (on kfr3 wba1) (clear kfr3)", "(clear yaq2) (arm-empty) (on-table wba1) (on yaq2 bwl4) (on sfu5 kfr3) (on-table bwl4) (on kfr3 wba1) (clear sfu5)", "(on-table wba1) (clear bwl4) (on sfu5 kfr3) (on-table bwl4) (holding yaq2) (on kfr3 wba1) (clear sfu5)", "(arm-empty) (on-table yaq2) (clear bwl4) (on sfu5 kfr3) (on kfr3 wba1) (clear sfu5) (clear yaq2) (on-table wba1) (on-table bwl4)", "(clear yaq2) (on-table yaq2) (on-table wba1) (clear bwl4) (holding sfu5) (on-table bwl4) (on kfr3 wba1) (clear kfr3)" ]

[ [ "unstack nrn5 cux3" ], [ "put-down nrn5" ], [ "unstack cux3 rza2" ], [ "put-down cux3" ], [ "unstack rza2 vas1" ], [ "stack rza2 nrn5" ], [ "unstack vas1 ics4" ], [ "stack vas1 rza2" ], [ "pick-up cux3" ], [ "stack cux3 vas1" ], [ "pick-up ics4" ] ]

[ "(holding nrn5) (on rza2 vas1) (on cux3 rza2) (on-table ics4) (on vas1 ics4) (clear cux3)", "(arm-empty) (on-table nrn5) (on rza2 vas1) (clear nrn5) (on cux3 rza2) (on-table ics4) (on vas1 ics4) (clear cux3)", "(clear rza2) (on-table nrn5) (on-table ics4) (on vas1 ics4) (on rza2 vas1) (holding cux3) (clear nrn5)", "(arm-empty) (on-table nrn5) (on rza2 vas1) (clear nrn5) (clear rza2) (on-table ics4) (on vas1 ics4) (clear cux3) (on-table cux3)", "(on-table nrn5) (holding rza2) (on-table ics4) (on vas1 ics4) (clear cux3) (clear vas1) (on-table cux3) (clear nrn5)", "(clear rza2) (arm-empty) (on-table nrn5) (on-table ics4) (on rza2 nrn5) (clear cux3) (on vas1 ics4) (on-table cux3) (clear vas1)", "(holding vas1) (clear rza2) (on-table nrn5) (clear ics4) (on-table ics4) (on rza2 nrn5) (clear cux3) (on-table cux3)", "(arm-empty) (on-table nrn5) (clear ics4) (on-table ics4) (on rza2 nrn5) (clear cux3) (on vas1 rza2) (clear vas1) (on-table cux3)", "(on-table nrn5) (clear ics4) (on-table ics4) (on rza2 nrn5) (on vas1 rza2) (clear vas1) (holding cux3)", "(arm-empty) (on-table nrn5) (clear ics4) (on-table ics4) (on cux3 vas1) (on rza2 nrn5) (clear cux3) (on vas1 rza2)", "(on-table nrn5) (holding ics4) (on cux3 vas1) (on rza2 nrn5) (clear cux3) (on vas1 rza2)" ]

[ [ "unstack dzk2 icj4" ], [ "put-down dzk2" ], [ "unstack icj4 odn1" ], [ "stack icj4 dzk2" ], [ "unstack odn1 szc3" ], [ "put-down odn1" ], [ "unstack icj4 dzk2" ], [ "stack icj4 szc3" ], [ "pick-up dzk2" ], [ "stack dzk2 icj4" ], [ "pick-up odn1" ], [ "stack odn1 dzk2" ] ]

[ "(on szc3 urf5) (on icj4 odn1) (on odn1 szc3) (on-table urf5) (clear icj4) (holding dzk2)", "(on szc3 urf5) (on icj4 odn1) (on odn1 szc3) (on-table dzk2) (on-table urf5) (arm-empty) (clear icj4) (clear dzk2)", "(on szc3 urf5) (on odn1 szc3) (on-table dzk2) (on-table urf5) (clear dzk2) (holding icj4) (clear odn1)", "(on szc3 urf5) (on odn1 szc3) (arm-empty) (on-table dzk2) (on-table urf5) (on icj4 dzk2) (clear icj4) (clear odn1)", "(holding odn1) (on szc3 urf5) (on-table dzk2) (on-table urf5) (clear icj4) (on icj4 dzk2) (clear szc3)", "(on szc3 urf5) (arm-empty) (on-table dzk2) (on-table urf5) (clear icj4) (on-table odn1) (on icj4 dzk2) (clear szc3) (clear odn1)", "(on szc3 urf5) (clear dzk2) (on-table dzk2) (on-table urf5) (on-table odn1) (holding icj4) (clear szc3) (clear odn1)", "(on szc3 urf5) (clear dzk2) (arm-empty) (on-table dzk2) (on-table urf5) (on-table odn1) (clear icj4) (on icj4 szc3) (clear odn1)", "(on szc3 urf5) (on-table urf5) (on-table odn1) (clear icj4) (on icj4 szc3) (holding dzk2) (clear odn1)", "(on szc3 urf5) (arm-empty) (on-table urf5) (on dzk2 icj4) (clear dzk2) (on-table odn1) (on icj4 szc3) (clear odn1)", "(holding odn1) (on szc3 urf5) (clear dzk2) (on-table urf5) (on icj4 szc3) (on dzk2 icj4)", "(on icj4 szc3) (on szc3 urf5) (arm-empty) (on-table urf5) (on dzk2 icj4) (on odn1 dzk2) (clear odn1)" ]

[ [ "put-down cyk4" ], [ "unstack jys2 oci1" ], [ "stack jys2 cyk4" ], [ "unstack oci1 vno5" ], [ "stack oci1 jys2" ], [ "unstack vno5 ciy3" ], [ "put-down vno5" ], [ "unstack oci1 jys2" ], [ "put-down oci1" ], [ "unstack jys2 cyk4" ] ]

[ "(on oci1 vno5) (arm-empty) (clear cyk4) (on vno5 ciy3) (on jys2 oci1) (clear jys2) (on-table cyk4) (on-table ciy3)", "(on oci1 vno5) (clear cyk4) (on vno5 ciy3) (on-table cyk4) (holding jys2) (clear oci1) (on-table ciy3)", "(on oci1 vno5) (clear jys2) (arm-empty) (on vno5 ciy3) (on-table cyk4) (on jys2 cyk4) (clear oci1) (on-table ciy3)", "(holding oci1) (clear jys2) (on vno5 ciy3) (on-table cyk4) (on jys2 cyk4) (on-table ciy3) (clear vno5)", "(arm-empty) (on vno5 ciy3) (on-table cyk4) (on jys2 cyk4) (on oci1 jys2) (clear oci1) (on-table ciy3) (clear vno5)", "(holding vno5) (on-table cyk4) (on jys2 cyk4) (clear ciy3) (on oci1 jys2) (clear oci1) (on-table ciy3)", "(arm-empty) (on-table vno5) (on jys2 cyk4) (on oci1 jys2) (clear vno5) (on-table cyk4) (clear ciy3) (clear oci1) (on-table ciy3)", "(holding oci1) (clear jys2) (on-table vno5) (on-table cyk4) (on jys2 cyk4) (clear ciy3) (on-table ciy3) (clear vno5)", "(clear jys2) (arm-empty) (on-table vno5) (on-table oci1) (on-table cyk4) (on jys2 cyk4) (clear ciy3) (clear oci1) (on-table ciy3) (clear vno5)", "(on-table vno5) (on-table oci1) (clear cyk4) (on-table cyk4) (holding jys2) (clear ciy3) (clear oci1) (on-table ciy3) (clear vno5)" ]

[ [ "unstack ftj3 epj4" ], [ "put-down ftj3" ], [ "unstack epj4 zgs2" ], [ "stack epj4 ftj3" ], [ "pick-up tts1" ], [ "stack tts1 zgs2" ] ]

[ "(on-table eit5) (on-table tts1) (clear epj4) (on epj4 zgs2) (on zgs2 eit5) (holding ftj3) (clear tts1)", "(arm-empty) (on-table eit5) (clear epj4) (on zgs2 eit5) (on-table tts1) (on epj4 zgs2) (clear ftj3) (clear tts1) (on-table ftj3)", "(clear zgs2) (on-table eit5) (on-table tts1) (holding epj4) (on zgs2 eit5) (clear ftj3) (clear tts1) (on-table ftj3)", "(clear zgs2) (arm-empty) (on-table eit5) (on-table tts1) (clear epj4) (on epj4 ftj3) (on zgs2 eit5) (clear tts1) (on-table ftj3)", "(holding tts1) (clear zgs2) (on-table eit5) (clear epj4) (on epj4 ftj3) (on zgs2 eit5) (on-table ftj3)", "(arm-empty) (on-table eit5) (clear epj4) (on epj4 ftj3) (on zgs2 eit5) (on tts1 zgs2) (clear tts1) (on-table ftj3)" ]

[ [ "unstack aez5 iji3" ], [ "stack aez5 mmp4" ], [ "pick-up pai2" ], [ "stack pai2 iji3" ], [ "unstack aez5 mmp4" ], [ "stack aez5 pai2" ], [ "pick-up mmp4" ], [ "stack mmp4 aez5" ] ]

[ "(clear pai2) (on-table pai2) (on-table zos1) (clear mmp4) (holding aez5) (on-table mmp4) (on iji3 zos1) (clear iji3)", "(clear pai2) (arm-empty) (on aez5 mmp4) (on-table pai2) (on-table zos1) (on-table mmp4) (on iji3 zos1) (clear iji3) (clear aez5)", "(on aez5 mmp4) (on-table zos1) (on-table mmp4) (holding pai2) (on iji3 zos1) (clear iji3) (clear aez5)", "(clear pai2) (arm-empty) (on aez5 mmp4) (on-table zos1) (on-table mmp4) (on iji3 zos1) (on pai2 iji3) (clear aez5)", "(clear pai2) (on-table zos1) (clear mmp4) (holding aez5) (on-table mmp4) (on iji3 zos1) (on pai2 iji3)", "(arm-empty) (on-table zos1) (on aez5 pai2) (clear mmp4) (on-table mmp4) (on iji3 zos1) (on pai2 iji3) (clear aez5)", "(on-table zos1) (holding mmp4) (on aez5 pai2) (on iji3 zos1) (on pai2 iji3) (clear aez5)", "(arm-empty) (on mmp4 aez5) (on-table zos1) (on aez5 pai2) (clear mmp4) (on iji3 zos1) (on pai2 iji3)" ]

[ [ "put-down wxp1" ], [ "unstack lbq4 yqb5" ], [ "stack lbq4 iav3" ], [ "pick-up yqb5" ], [ "stack yqb5 lbq4" ], [ "pick-up wxp1" ], [ "stack wxp1 yqb5" ], [ "pick-up dsp2" ], [ "stack dsp2 wxp1" ] ]

[ "(clear dsp2) (arm-empty) (on-table dsp2) (on-table yqb5) (on lbq4 yqb5) (on-table wxp1) (clear lbq4) (clear iav3) (clear wxp1) (on-table iav3)", "(clear dsp2) (on-table dsp2) (on-table yqb5) (holding lbq4) (on-table wxp1) (clear iav3) (clear wxp1) (on-table iav3) (clear yqb5)", "(clear dsp2) (arm-empty) (on-table dsp2) (on-table yqb5) (on-table wxp1) (clear lbq4) (on lbq4 iav3) (clear wxp1) (on-table iav3) (clear yqb5)", "(clear dsp2) (on-table dsp2) (on-table wxp1) (clear lbq4) (on lbq4 iav3) (holding yqb5) (clear wxp1) (on-table iav3)", "(clear dsp2) (arm-empty) (on yqb5 lbq4) (on-table dsp2) (on-table wxp1) (on lbq4 iav3) (clear wxp1) (on-table iav3) (clear yqb5)", "(holding wxp1) (clear dsp2) (on yqb5 lbq4) (on-table dsp2) (on lbq4 iav3) (on-table iav3) (clear yqb5)", "(on wxp1 yqb5) (clear dsp2) (arm-empty) (on yqb5 lbq4) (on-table dsp2) (on lbq4 iav3) (clear wxp1) (on-table iav3)", "(on wxp1 yqb5) (on yqb5 lbq4) (on lbq4 iav3) (holding dsp2) (clear wxp1) (on-table iav3)", "(on wxp1 yqb5) (clear dsp2) (arm-empty) (on yqb5 lbq4) (on lbq4 iav3) (on dsp2 wxp1) (on-table iav3)" ]

[ [ "unstack tbj1 gpg3" ], [ "put-down tbj1" ], [ "pick-up ewr4" ], [ "stack ewr4 gpg3" ], [ "pick-up tbj1" ], [ "stack tbj1 ewr4" ], [ "pick-up rjj2" ], [ "stack rjj2 wgl5" ], [ "unstack tbj1 ewr4" ], [ "put-down tbj1" ] ]

[ "(holding tbj1) (clear rjj2) (on-table rjj2) (on-table wgl5) (clear ewr4) (on-table ewr4) (clear gpg3) (on-table gpg3) (clear wgl5)", "(clear rjj2) (arm-empty) (on-table rjj2) (on-table wgl5) (on-table tbj1) (clear ewr4) (on-table ewr4) (clear gpg3) (clear tbj1) (on-table gpg3) (clear wgl5)", "(clear rjj2) (on-table rjj2) (on-table wgl5) (on-table tbj1) (holding ewr4) (clear gpg3) (clear tbj1) (on-table gpg3) (clear wgl5)", "(clear rjj2) (arm-empty) (on-table rjj2) (on-table wgl5) (on-table tbj1) (clear ewr4) (on ewr4 gpg3) (clear tbj1) (on-table gpg3) (clear wgl5)", "(holding tbj1) (clear rjj2) (on-table rjj2) (on-table wgl5) (clear ewr4) (on ewr4 gpg3) (on-table gpg3) (clear wgl5)", "(clear rjj2) (arm-empty) (on-table rjj2) (on-table wgl5) (on ewr4 gpg3) (on tbj1 ewr4) (clear tbj1) (on-table gpg3) (clear wgl5)", "(on-table wgl5) (holding rjj2) (on ewr4 gpg3) (on tbj1 ewr4) (clear tbj1) (on-table gpg3) (clear wgl5)", "(clear rjj2) (arm-empty) (on-table wgl5) (on ewr4 gpg3) (on tbj1 ewr4) (on rjj2 wgl5) (clear tbj1) (on-table gpg3)", "(holding tbj1) (clear rjj2) (on-table wgl5) (clear ewr4) (on ewr4 gpg3) (on rjj2 wgl5) (on-table gpg3)", "(arm-empty) (on-table wgl5) (clear ewr4) (on rjj2 wgl5) (clear rjj2) (on-table tbj1) (on ewr4 gpg3) (clear tbj1) (on-table gpg3)" ]

[ [ "put-down vup4" ], [ "unstack jnd2 apx5" ], [ "stack jnd2 vup4" ], [ "unstack apx5 ljt3" ], [ "put-down apx5" ], [ "unstack jnd2 vup4" ], [ "stack jnd2 apx5" ], [ "pick-up vup4" ], [ "stack vup4 jnd2" ], [ "unstack ljt3 dui1" ], [ "stack ljt3 vup4" ], [ "pick-up dui1" ], [ "stack dui1 ljt3" ] ]

[ "(arm-empty) (clear vup4) (on apx5 ljt3) (on ljt3 dui1) (on jnd2 apx5) (clear jnd2) (on-table dui1) (on-table vup4)", "(on-table dui1) (clear vup4) (on apx5 ljt3) (on-table vup4) (holding jnd2) (on ljt3 dui1) (clear apx5)", "(clear jnd2) (arm-empty) (on-table dui1) (on jnd2 vup4) (on apx5 ljt3) (on-table vup4) (on ljt3 dui1) (clear apx5)", "(clear jnd2) (on-table dui1) (on jnd2 vup4) (holding apx5) (on-table vup4) (on ljt3 dui1) (clear ljt3)", "(arm-empty) (on-table apx5) (on ljt3 dui1) (on jnd2 vup4) (clear apx5) (clear jnd2) (on-table dui1) (on-table vup4) (clear ljt3)", "(on-table apx5) (on-table dui1) (clear vup4) (on-table vup4) (holding jnd2) (on ljt3 dui1) (clear ljt3) (clear apx5)", "(clear jnd2) (arm-empty) (on-table apx5) (on-table dui1) (clear vup4) (on-table vup4) (on ljt3 dui1) (on jnd2 apx5) (clear ljt3)", "(clear jnd2) (on-table apx5) (on-table dui1) (holding vup4) (on ljt3 dui1) (on jnd2 apx5) (clear ljt3)", "(arm-empty) (on-table apx5) (on-table dui1) (clear vup4) (on ljt3 dui1) (on vup4 jnd2) (on jnd2 apx5) (clear ljt3)", "(on-table apx5) (on-table dui1) (clear vup4) (on vup4 jnd2) (on jnd2 apx5) (holding ljt3) (clear dui1)", "(on ljt3 vup4) (arm-empty) (on-table apx5) (on-table dui1) (on vup4 jnd2) (on jnd2 apx5) (clear ljt3) (clear dui1)", "(holding dui1) (on ljt3 vup4) (on-table apx5) (on vup4 jnd2) (on jnd2 apx5) (clear ljt3)", "(on ljt3 vup4) (on dui1 ljt3) (arm-empty) (on-table apx5) (on vup4 jnd2) (on jnd2 apx5) (clear dui1)" ]

[ [ "unstack wnh2 mae1" ], [ "put-down wnh2" ], [ "unstack mae1 ixs5" ], [ "stack mae1 wnh2" ], [ "unstack ixs5 zch4" ], [ "put-down ixs5" ], [ "unstack mae1 wnh2" ], [ "stack mae1 ixs5" ], [ "pick-up wnh2" ], [ "stack wnh2 zch4" ] ]

[ "(on mae1 ixs5) (on ixs5 zch4) (on zch4 xnr3) (holding wnh2) (clear mae1) (on-table xnr3)", "(on mae1 ixs5) (arm-empty) (on ixs5 zch4) (on-table wnh2) (clear wnh2) (on zch4 xnr3) (clear mae1) (on-table xnr3)", "(holding mae1) (clear wnh2) (on ixs5 zch4) (on-table wnh2) (on zch4 xnr3) (on-table xnr3) (clear ixs5)", "(arm-empty) (on ixs5 zch4) (on-table wnh2) (on zch4 xnr3) (on mae1 wnh2) (clear mae1) (on-table xnr3) (clear ixs5)", "(on-table wnh2) (clear zch4) (on zch4 xnr3) (holding ixs5) (on mae1 wnh2) (clear mae1) (on-table xnr3)", "(arm-empty) (on-table wnh2) (on-table ixs5) (clear zch4) (on mae1 wnh2) (clear ixs5) (on zch4 xnr3) (clear mae1) (on-table xnr3)", "(holding mae1) (clear wnh2) (on-table wnh2) (on-table ixs5) (clear zch4) (on zch4 xnr3) (on-table xnr3) (clear ixs5)", "(on mae1 ixs5) (clear wnh2) (arm-empty) (on-table wnh2) (on-table ixs5) (clear zch4) (on zch4 xnr3) (clear mae1) (on-table xnr3)", "(on mae1 ixs5) (on-table ixs5) (clear zch4) (on zch4 xnr3) (holding wnh2) (clear mae1) (on-table xnr3)", "(on mae1 ixs5) (clear wnh2) (arm-empty) (on-table ixs5) (on zch4 xnr3) (on wnh2 zch4) (clear mae1) (on-table xnr3)" ]

[ [ "pick-up nvw3" ], [ "stack nvw3 kaf1" ], [ "unstack plt5 fmt2" ], [ "put-down plt5" ], [ "unstack fmt2 ltj4" ], [ "put-down fmt2" ], [ "unstack nvw3 kaf1" ], [ "stack nvw3 fmt2" ] ]

[ "(on-table kaf1) (on plt5 fmt2) (on-table ltj4) (on fmt2 ltj4) (holding nvw3) (clear kaf1) (clear plt5)", "(arm-empty) (on-table kaf1) (on plt5 fmt2) (on fmt2 ltj4) (on-table ltj4) (on nvw3 kaf1) (clear nvw3) (clear plt5)", "(clear fmt2) (on-table kaf1) (on fmt2 ltj4) (holding plt5) (on-table ltj4) (on nvw3 kaf1) (clear nvw3)", "(arm-empty) (on-table plt5) (on nvw3 kaf1) (on fmt2 ltj4) (clear plt5) (clear fmt2) (on-table kaf1) (on-table ltj4) (clear nvw3)", "(on-table plt5) (on-table kaf1) (clear ltj4) (on-table ltj4) (holding fmt2) (on nvw3 kaf1) (clear nvw3) (clear plt5)", "(clear fmt2) (arm-empty) (on-table fmt2) (on-table plt5) (on-table kaf1) (clear ltj4) (on-table ltj4) (on nvw3 kaf1) (clear nvw3) (clear plt5)", "(clear fmt2) (on-table fmt2) (on-table plt5) (on-table kaf1) (clear ltj4) (on-table ltj4) (holding nvw3) (clear kaf1) (clear plt5)", "(arm-empty) (on-table fmt2) (on-table plt5) (on-table kaf1) (on nvw3 fmt2) (clear ltj4) (on-table ltj4) (clear nvw3) (clear kaf1) (clear plt5)" ]

[ [ "unstack oxw4 xgh3" ], [ "stack oxw4 spc1" ], [ "unstack xgh3 oaj5" ], [ "put-down xgh3" ], [ "unstack oaj5 rox2" ], [ "stack oaj5 xgh3" ], [ "unstack oxw4 spc1" ], [ "stack oxw4 oaj5" ], [ "pick-up rox2" ], [ "stack rox2 spc1" ], [ "unstack oxw4 oaj5" ], [ "stack oxw4 rox2" ], [ "unstack oaj5 xgh3" ], [ "put-down oaj5" ] ]

[ "(on xgh3 oaj5) (on-table rox2) (on-table spc1) (holding oxw4) (on oaj5 rox2) (clear xgh3) (clear spc1)", "(on xgh3 oaj5) (on oxw4 spc1) (arm-empty) (on-table rox2) (on-table spc1) (on oaj5 rox2) (clear oxw4) (clear xgh3)", "(on oxw4 spc1) (on-table rox2) (on-table spc1) (on oaj5 rox2) (clear oxw4) (holding xgh3) (clear oaj5)", "(on oxw4 spc1) (arm-empty) (on-table rox2) (on oaj5 rox2) (clear oxw4) (clear oaj5) (on-table spc1) (clear xgh3) (on-table xgh3)", "(clear rox2) (on oxw4 spc1) (on-table rox2) (on-table spc1) (clear oxw4) (holding oaj5) (clear xgh3) (on-table xgh3)", "(clear rox2) (on oxw4 spc1) (arm-empty) (on-table rox2) (on-table spc1) (clear oxw4) (on oaj5 xgh3) (on-table xgh3) (clear oaj5)", "(clear rox2) (on-table rox2) (on-table spc1) (holding oxw4) (on oaj5 xgh3) (clear spc1) (on-table xgh3) (clear oaj5)", "(clear rox2) (arm-empty) (on-table rox2) (on oxw4 oaj5) (on-table spc1) (clear oxw4) (on oaj5 xgh3) (clear spc1) (on-table xgh3)", "(on oxw4 oaj5) (on-table spc1) (clear oxw4) (on oaj5 xgh3) (holding rox2) (clear spc1) (on-table xgh3)", "(arm-empty) (on oxw4 oaj5) (clear oxw4) (on oaj5 xgh3) (on rox2 spc1) (clear rox2) (on-table spc1) (on-table xgh3)", "(clear rox2) (on-table spc1) (holding oxw4) (on oaj5 xgh3) (on rox2 spc1) (on-table xgh3) (clear oaj5)", "(arm-empty) (on-table spc1) (clear oxw4) (on oaj5 xgh3) (on oxw4 rox2) (on rox2 spc1) (on-table xgh3) (clear oaj5)", "(on-table spc1) (clear oxw4) (holding oaj5) (on oxw4 rox2) (on rox2 spc1) (clear xgh3) (on-table xgh3)", "(arm-empty) (on-table oaj5) (clear oxw4) (on rox2 spc1) (clear oaj5) (on-table spc1) (on oxw4 rox2) (clear xgh3) (on-table xgh3)" ]

[ [ "unstack wuw3 cvf5" ] ]

[ "(on sgv2 yug4) (on zql1 sgv2) (clear cvf5) (on cvf5 zql1) (on-table yug4) (holding wuw3)" ]

[ [ "unstack gnl2 tzu1" ], [ "put-down gnl2" ], [ "unstack tzu1 uij5" ], [ "put-down tzu1" ], [ "unstack uij5 wli4" ], [ "stack uij5 tzu1" ], [ "pick-up gnl2" ], [ "stack gnl2 wli4" ] ]

[ "(on tzu1 uij5) (on uij5 wli4) (on wli4 iji3) (holding gnl2) (clear tzu1) (on-table iji3)", "(on tzu1 uij5) (arm-empty) (on uij5 wli4) (on-table gnl2) (clear gnl2) (on wli4 iji3) (clear tzu1) (on-table iji3)", "(holding tzu1) (clear gnl2) (on uij5 wli4) (on-table gnl2) (on wli4 iji3) (on-table iji3) (clear uij5)", "(arm-empty) (on uij5 wli4) (on-table gnl2) (clear uij5) (clear gnl2) (on-table tzu1) (on wli4 iji3) (clear tzu1) (on-table iji3)", "(clear gnl2) (on-table gnl2) (on-table tzu1) (clear wli4) (on wli4 iji3) (holding uij5) (clear tzu1) (on-table iji3)", "(clear gnl2) (arm-empty) (on-table gnl2) (on-table tzu1) (clear wli4) (on wli4 iji3) (on uij5 tzu1) (on-table iji3) (clear uij5)", "(on-table tzu1) (clear wli4) (on wli4 iji3) (on uij5 tzu1) (holding gnl2) (on-table iji3) (clear uij5)", "(clear gnl2) (arm-empty) (on-table tzu1) (on wli4 iji3) (on uij5 tzu1) (on gnl2 wli4) (on-table iji3) (clear uij5)" ]

[ [ "stack lex2 woe1" ], [ "pick-up uko3" ], [ "stack uko3 lex2" ], [ "unstack yxu4 emr5" ], [ "put-down yxu4" ] ]

[ "(clear lex2) (arm-empty) (on-table emr5) (on-table woe1) (on yxu4 emr5) (clear yxu4) (on lex2 woe1) (clear uko3) (on-table uko3)", "(clear lex2) (on-table emr5) (on-table woe1) (on yxu4 emr5) (clear yxu4) (on lex2 woe1) (holding uko3)", "(arm-empty) (on-table emr5) (on-table woe1) (on yxu4 emr5) (on uko3 lex2) (clear yxu4) (on lex2 woe1) (clear uko3)", "(on-table emr5) (on-table woe1) (holding yxu4) (on uko3 lex2) (on lex2 woe1) (clear uko3) (clear emr5)", "(arm-empty) (on-table emr5) (clear yxu4) (on lex2 woe1) (clear emr5) (on-table woe1) (on uko3 lex2) (on-table yxu4) (clear uko3)" ]

[ [ "stack ixk4 tor1" ], [ "pick-up fqq5" ], [ "stack fqq5 nem3" ], [ "unstack ixk4 tor1" ], [ "stack ixk4 fqq5" ], [ "unstack tor1 ejl2" ], [ "put-down tor1" ] ]

[ "(on ixk4 tor1) (arm-empty) (on-table ejl2) (on-table fqq5) (clear ixk4) (clear nem3) (on tor1 ejl2) (on-table nem3) (clear fqq5)", "(on ixk4 tor1) (on-table ejl2) (clear ixk4) (holding fqq5) (clear nem3) (on tor1 ejl2) (on-table nem3)", "(on ixk4 tor1) (arm-empty) (on-table ejl2) (clear ixk4) (on fqq5 nem3) (on tor1 ejl2) (on-table nem3) (clear fqq5)", "(on-table ejl2) (holding ixk4) (on fqq5 nem3) (on tor1 ejl2) (clear tor1) (on-table nem3) (clear fqq5)", "(arm-empty) (on-table ejl2) (on ixk4 fqq5) (clear ixk4) (on fqq5 nem3) (on tor1 ejl2) (clear tor1) (on-table nem3)", "(holding tor1) (clear ejl2) (on-table ejl2) (on ixk4 fqq5) (clear ixk4) (on fqq5 nem3) (on-table nem3)", "(arm-empty) (on-table ejl2) (on ixk4 fqq5) (clear ixk4) (on fqq5 nem3) (clear ejl2) (on-table tor1) (clear tor1) (on-table nem3)" ]

[ [ "stack pdg3 tfn1" ], [ "pick-up tkt4" ] ]

[ "(arm-empty) (on-table mil2) (on-table tfn1) (on nbv5 mil2) (clear tkt4) (on-table tkt4) (on pdg3 tfn1) (clear pdg3) (clear nbv5)", "(on-table mil2) (on-table tfn1) (holding tkt4) (on nbv5 mil2) (on pdg3 tfn1) (clear pdg3) (clear nbv5)" ]

[ [ "stack grp2 bmn3" ], [ "pick-up ele5" ], [ "stack ele5 wtt4" ], [ "unstack grp2 bmn3" ], [ "put-down grp2" ], [ "unstack bmn3 nse1" ], [ "stack bmn3 grp2" ] ]

[ "(clear grp2) (arm-empty) (on-table ele5) (on-table nse1) (clear wtt4) (on-table wtt4) (on bmn3 nse1) (on grp2 bmn3) (clear ele5)", "(clear grp2) (on-table nse1) (clear wtt4) (holding ele5) (on-table wtt4) (on bmn3 nse1) (on grp2 bmn3)", "(clear grp2) (arm-empty) (on ele5 wtt4) (on-table nse1) (on-table wtt4) (on bmn3 nse1) (on grp2 bmn3) (clear ele5)", "(on ele5 wtt4) (on-table nse1) (on-table wtt4) (holding grp2) (on bmn3 nse1) (clear bmn3) (clear ele5)", "(arm-empty) (on ele5 wtt4) (on-table grp2) (on bmn3 nse1) (clear ele5) (clear grp2) (on-table nse1) (on-table wtt4) (clear bmn3)", "(clear grp2) (on ele5 wtt4) (on-table grp2) (on-table nse1) (on-table wtt4) (holding bmn3) (clear nse1) (clear ele5)", "(arm-empty) (on ele5 wtt4) (on-table grp2) (on-table nse1) (on bmn3 grp2) (on-table wtt4) (clear bmn3) (clear nse1) (clear ele5)" ]

[ [ "put-down spi1" ], [ "unstack ixj5 nyc2" ], [ "put-down ixj5" ], [ "pick-up ijk4" ], [ "stack ijk4 ixj5" ], [ "unstack nyc2 jxj3" ], [ "put-down nyc2" ], [ "pick-up spi1" ] ]

[ "(arm-empty) (on ixj5 nyc2) (clear ijk4) (clear ixj5) (on-table spi1) (on-table ijk4) (on nyc2 jxj3) (clear spi1) (on-table jxj3)", "(clear nyc2) (on-table spi1) (clear ijk4) (holding ixj5) (on-table ijk4) (on nyc2 jxj3) (clear spi1) (on-table jxj3)", "(clear nyc2) (arm-empty) (on-table ixj5) (on-table spi1) (clear ijk4) (on-table ijk4) (on nyc2 jxj3) (clear spi1) (on-table jxj3) (clear ixj5)", "(clear nyc2) (on-table ixj5) (on-table spi1) (holding ijk4) (on nyc2 jxj3) (clear spi1) (on-table jxj3) (clear ixj5)", "(clear nyc2) (arm-empty) (on-table ixj5) (on-table spi1) (on ijk4 ixj5) (clear ijk4) (on nyc2 jxj3) (clear spi1) (on-table jxj3)", "(on-table ixj5) (on-table spi1) (on ijk4 ixj5) (clear ijk4) (holding nyc2) (clear jxj3) (clear spi1) (on-table jxj3)", "(clear nyc2) (arm-empty) (on-table nyc2) (on-table ixj5) (on-table spi1) (on ijk4 ixj5) (clear ijk4) (clear jxj3) (clear spi1) (on-table jxj3)", "(holding spi1) (clear nyc2) (on-table nyc2) (on-table ixj5) (on ijk4 ixj5) (clear ijk4) (clear jxj3) (on-table jxj3)" ]

[ [ "unstack hyv4 dtq5" ], [ "put-down hyv4" ], [ "unstack dtq5 mfp3" ], [ "put-down dtq5" ], [ "pick-up hyv4" ], [ "stack hyv4 dtq5" ], [ "unstack mfp3 ytj1" ], [ "put-down mfp3" ], [ "unstack ytj1 mrr2" ], [ "put-down ytj1" ] ]

[ "(on-table mrr2) (holding hyv4) (on dtq5 mfp3) (on mfp3 ytj1) (on ytj1 mrr2) (clear dtq5)", "(arm-empty) (on-table mrr2) (clear hyv4) (on dtq5 mfp3) (on mfp3 ytj1) (on ytj1 mrr2) (clear dtq5) (on-table hyv4)", "(on-table mrr2) (clear hyv4) (holding dtq5) (on-table hyv4) (on mfp3 ytj1) (clear mfp3) (on ytj1 mrr2)", "(arm-empty) (on-table mrr2) (on-table dtq5) (clear hyv4) (on mfp3 ytj1) (on ytj1 mrr2) (clear dtq5) (on-table hyv4) (clear mfp3)", "(on-table mrr2) (on-table dtq5) (holding hyv4) (on mfp3 ytj1) (clear mfp3) (on ytj1 mrr2) (clear dtq5)", "(arm-empty) (on-table mrr2) (on-table dtq5) (on hyv4 dtq5) (clear hyv4) (on mfp3 ytj1) (clear mfp3) (on ytj1 mrr2)", "(on-table mrr2) (on-table dtq5) (on hyv4 dtq5) (clear hyv4) (on ytj1 mrr2) (clear ytj1) (holding mfp3)", "(arm-empty) (on-table mrr2) (on-table dtq5) (on hyv4 dtq5) (clear hyv4) (on ytj1 mrr2) (clear mfp3) (clear ytj1) (on-table mfp3)", "(holding ytj1) (clear mrr2) (on-table mrr2) (on-table dtq5) (on hyv4 dtq5) (clear hyv4) (clear mfp3) (on-table mfp3)", "(clear mrr2) (arm-empty) (on-table mrr2) (on-table dtq5) (on hyv4 dtq5) (on-table ytj1) (clear hyv4) (clear mfp3) (clear ytj1) (on-table mfp3)" ]

[ [ "unstack gnk4 dtd1" ], [ "stack gnk4 izl2" ], [ "unstack dtd1 pjl3" ], [ "put-down dtd1" ], [ "pick-up pjl3" ], [ "stack pjl3 gnk4" ] ]

[ "(on dtd1 pjl3) (on-table izl2) (holding gnk4) (clear izl2) (clear dtd1) (on-table pjl3)", "(on dtd1 pjl3) (arm-empty) (on-table izl2) (on gnk4 izl2) (clear gnk4) (clear dtd1) (on-table pjl3)", "(on-table izl2) (clear gnk4) (holding dtd1) (on gnk4 izl2) (clear pjl3) (on-table pjl3)", "(arm-empty) (on-table izl2) (clear gnk4) (on-table dtd1) (on gnk4 izl2) (clear pjl3) (clear dtd1) (on-table pjl3)", "(on-table izl2) (on-table dtd1) (clear gnk4) (on gnk4 izl2) (holding pjl3) (clear dtd1)", "(on pjl3 gnk4) (arm-empty) (on-table izl2) (on-table dtd1) (on gnk4 izl2) (clear pjl3) (clear dtd1)" ]

[ [ "stack obz2 euu1" ], [ "pick-up wmz4" ], [ "stack wmz4 xsy5" ], [ "unstack obz2 euu1" ], [ "put-down obz2" ], [ "unstack euu1 plz3" ], [ "put-down euu1" ] ]

[ "(clear obz2) (on euu1 plz3) (arm-empty) (on-table xsy5) (clear wmz4) (on-table wmz4) (on obz2 euu1) (on-table plz3) (clear xsy5)", "(clear obz2) (on euu1 plz3) (on-table xsy5) (holding wmz4) (on obz2 euu1) (on-table plz3) (clear xsy5)", "(clear obz2) (on euu1 plz3) (arm-empty) (on wmz4 xsy5) (on-table xsy5) (clear wmz4) (on obz2 euu1) (on-table plz3)", "(on euu1 plz3) (on wmz4 xsy5) (on-table xsy5) (clear wmz4) (holding obz2) (clear euu1) (on-table plz3)", "(on euu1 plz3) (arm-empty) (on-table obz2) (on-table xsy5) (on wmz4 xsy5) (clear wmz4) (clear obz2) (clear euu1) (on-table plz3)", "(holding euu1) (clear obz2) (on-table obz2) (on-table xsy5) (on wmz4 xsy5) (clear wmz4) (clear plz3) (on-table plz3)", "(clear obz2) (arm-empty) (on-table obz2) (on-table xsy5) (on wmz4 xsy5) (on-table euu1) (clear wmz4) (clear plz3) (clear euu1) (on-table plz3)" ]

[ [ "unstack vsl2 nxx1" ], [ "stack vsl2 ccz3" ], [ "unstack nxx1 olh4" ], [ "put-down nxx1" ], [ "unstack vsl2 ccz3" ], [ "stack vsl2 nxx1" ], [ "pick-up ccz3" ], [ "stack ccz3 olh4" ] ]

[ "(on nxx1 olh4) (on-table olh4) (holding vsl2) (clear ccz3) (clear nxx1) (on-table ccz3)", "(clear vsl2) (arm-empty) (on-table olh4) (on nxx1 olh4) (on vsl2 ccz3) (clear nxx1) (on-table ccz3)", "(clear olh4) (holding nxx1) (clear vsl2) (on-table olh4) (on vsl2 ccz3) (on-table ccz3)", "(arm-empty) (clear olh4) (clear vsl2) (on-table nxx1) (on-table olh4) (on vsl2 ccz3) (clear nxx1) (on-table ccz3)", "(on-table nxx1) (clear olh4) (on-table olh4) (holding vsl2) (clear ccz3) (clear nxx1) (on-table ccz3)", "(clear vsl2) (arm-empty) (on-table nxx1) (clear olh4) (on-table olh4) (on vsl2 nxx1) (clear ccz3) (on-table ccz3)", "(clear vsl2) (on-table nxx1) (clear olh4) (on-table olh4) (on vsl2 nxx1) (holding ccz3)", "(on ccz3 olh4) (clear vsl2) (arm-empty) (on-table nxx1) (on-table olh4) (on vsl2 nxx1) (clear ccz3)" ]

[ [ "pick-up ryc4" ], [ "stack ryc4 itw5" ], [ "unstack qsu2 ugz3" ], [ "stack qsu2 ryc4" ], [ "unstack ugz3 ksg1" ], [ "stack ugz3 qsu2" ] ]

[ "(clear qsu2) (on-table itw5) (on-table ksg1) (holding ryc4) (on ugz3 ksg1) (on qsu2 ugz3) (clear itw5)", "(clear qsu2) (arm-empty) (on-table itw5) (on-table ksg1) (on ryc4 itw5) (clear ryc4) (on ugz3 ksg1) (on qsu2 ugz3)", "(on-table itw5) (on-table ksg1) (on ryc4 itw5) (clear ryc4) (holding qsu2) (on ugz3 ksg1) (clear ugz3)", "(arm-empty) (on-table itw5) (on ryc4 itw5) (on ugz3 ksg1) (on qsu2 ryc4) (clear qsu2) (on-table ksg1) (clear ugz3)", "(clear qsu2) (on-table itw5) (on ryc4 itw5) (on-table ksg1) (on qsu2 ryc4) (holding ugz3) (clear ksg1)", "(arm-empty) (on-table itw5) (on-table ksg1) (on ryc4 itw5) (on ugz3 qsu2) (on qsu2 ryc4) (clear ugz3) (clear ksg1)" ]

[ [ "stack crv4 fpk1" ], [ "unstack tti3 lbd2" ], [ "put-down tti3" ], [ "unstack crv4 fpk1" ], [ "stack crv4 tti3" ], [ "pick-up fpk1" ] ]

[ "(on crv4 fpk1) (clear crv4) (on-table lbd2) (clear tti3) (arm-empty) (on tti3 lbd2) (on-table fpk1)", "(on crv4 fpk1) (on-table lbd2) (clear crv4) (clear lbd2) (on-table fpk1) (holding tti3)", "(clear lbd2) (on crv4 fpk1) (arm-empty) (on-table lbd2) (on-table fpk1) (clear tti3) (clear crv4) (on-table tti3)", "(clear lbd2) (on-table lbd2) (on-table fpk1) (holding crv4) (clear tti3) (clear fpk1) (on-table tti3)", "(arm-empty) (on-table lbd2) (clear crv4) (clear lbd2) (on-table fpk1) (on crv4 tti3) (clear fpk1) (on-table tti3)", "(holding fpk1) (clear lbd2) (on-table lbd2) (clear crv4) (on crv4 tti3) (on-table tti3)" ]

[ [ "unstack sqv2 kmz1" ], [ "stack sqv2 yvb3" ], [ "unstack kmz1 dxh4" ], [ "put-down kmz1" ], [ "pick-up dxh4" ], [ "stack dxh4 sqv2" ], [ "pick-up myf5" ], [ "stack myf5 kmz1" ], [ "unstack dxh4 sqv2" ], [ "stack dxh4 myf5" ], [ "unstack sqv2 yvb3" ] ]

[ "(on-table myf5) (holding sqv2) (on-table dxh4) (on kmz1 dxh4) (clear yvb3) (clear kmz1) (on-table yvb3) (clear myf5)", "(clear sqv2) (arm-empty) (on-table myf5) (clear myf5) (on-table dxh4) (on sqv2 yvb3) (on kmz1 dxh4) (on-table yvb3) (clear kmz1)", "(holding kmz1) (clear sqv2) (on-table myf5) (clear dxh4) (on-table dxh4) (on sqv2 yvb3) (on-table yvb3) (clear myf5)", "(clear sqv2) (arm-empty) (on-table myf5) (on-table kmz1) (clear dxh4) (on-table dxh4) (on sqv2 yvb3) (clear kmz1) (on-table yvb3) (clear myf5)", "(clear sqv2) (on-table myf5) (on-table kmz1) (holding dxh4) (on sqv2 yvb3) (clear kmz1) (on-table yvb3) (clear myf5)", "(arm-empty) (on-table myf5) (on-table kmz1) (clear dxh4) (on dxh4 sqv2) (on sqv2 yvb3) (clear kmz1) (on-table yvb3) (clear myf5)", "(on-table kmz1) (clear dxh4) (holding myf5) (on dxh4 sqv2) (on sqv2 yvb3) (clear kmz1) (on-table yvb3)", "(arm-empty) (on-table kmz1) (clear dxh4) (on myf5 kmz1) (on dxh4 sqv2) (on sqv2 yvb3) (on-table yvb3) (clear myf5)", "(clear sqv2) (on-table kmz1) (holding dxh4) (on myf5 kmz1) (on sqv2 yvb3) (on-table yvb3) (clear myf5)", "(clear sqv2) (arm-empty) (on dxh4 myf5) (on-table kmz1) (clear dxh4) (on myf5 kmz1) (on sqv2 yvb3) (on-table yvb3)", "(on dxh4 myf5) (on-table kmz1) (clear dxh4) (on myf5 kmz1) (holding sqv2) (clear yvb3) (on-table yvb3)" ]

[ [ "pick-up wgw5" ], [ "stack wgw5 wxd2" ] ]

[ "(clear wxd2) (on-table wxd2) (on-table izq1) (clear ffz4) (on ffz4 ckd3) (holding wgw5) (clear izq1) (on-table ckd3)", "(arm-empty) (on-table wxd2) (on-table izq1) (on wgw5 wxd2) (clear ffz4) (on ffz4 ckd3) (clear izq1) (on-table ckd3) (clear wgw5)" ]

[ [ "unstack bth5 fvp1" ], [ "put-down bth5" ], [ "unstack fvp1 jkm3" ], [ "put-down fvp1" ], [ "unstack jkm3 are4" ], [ "put-down jkm3" ], [ "pick-up bth5" ], [ "stack bth5 are4" ], [ "pick-up hdi2" ] ]

[ "(on jkm3 are4) (clear hdi2) (on fvp1 jkm3) (on-table hdi2) (holding bth5) (on-table are4) (clear fvp1)", "(on fvp1 jkm3) (arm-empty) (on-table hdi2) (on-table bth5) (clear bth5) (on jkm3 are4) (clear hdi2) (on-table are4) (clear fvp1)", "(holding fvp1) (on jkm3 are4) (clear hdi2) (on-table hdi2) (on-table bth5) (on-table are4) (clear jkm3) (clear bth5)", "(on jkm3 are4) (clear hdi2) (arm-empty) (on-table hdi2) (on-table bth5) (on-table fvp1) (on-table are4) (clear jkm3) (clear fvp1) (clear bth5)", "(clear hdi2) (on-table hdi2) (on-table bth5) (on-table fvp1) (clear are4) (on-table are4) (holding jkm3) (clear fvp1) (clear bth5)", "(clear hdi2) (arm-empty) (on-table hdi2) (on-table bth5) (on-table fvp1) (clear are4) (on-table are4) (clear jkm3) (clear fvp1) (on-table jkm3) (clear bth5)", "(clear hdi2) (on-table hdi2) (on-table fvp1) (clear are4) (holding bth5) (on-table are4) (clear jkm3) (clear fvp1) (on-table jkm3)", "(clear hdi2) (arm-empty) (on bth5 are4) (on-table hdi2) (on-table fvp1) (on-table are4) (clear jkm3) (clear fvp1) (on-table jkm3) (clear bth5)", "(on bth5 are4) (on-table fvp1) (on-table are4) (holding hdi2) (clear jkm3) (clear fvp1) (on-table jkm3) (clear bth5)" ]

[ [ "unstack zls4 jke3" ], [ "put-down zls4" ], [ "unstack jke3 wvg1" ], [ "put-down jke3" ], [ "pick-up zls4" ], [ "stack zls4 jke3" ], [ "unstack wvg1 ytx2" ], [ "put-down wvg1" ], [ "unstack ytx2 zly5" ], [ "stack ytx2 zls4" ] ]

[ "(holding zls4) (on-table zly5) (on jke3 wvg1) (on ytx2 zly5) (clear jke3) (on wvg1 ytx2)", "(arm-empty) (on-table zly5) (clear zls4) (on jke3 wvg1) (on ytx2 zly5) (on wvg1 ytx2) (on-table zls4) (clear jke3)", "(on-table zly5) (clear zls4) (on-table zls4) (on ytx2 zly5) (on wvg1 ytx2) (clear wvg1) (holding jke3)", "(arm-empty) (on-table zly5) (clear zls4) (on ytx2 zly5) (on wvg1 ytx2) (on-table zls4) (clear jke3) (clear wvg1) (on-table jke3)", "(on-table zly5) (holding zls4) (on ytx2 zly5) (clear jke3) (on wvg1 ytx2) (clear wvg1) (on-table jke3)", "(arm-empty) (on-table zly5) (clear zls4) (on zls4 jke3) (on ytx2 zly5) (on wvg1 ytx2) (clear wvg1) (on-table jke3)", "(holding wvg1) (clear ytx2) (on-table zly5) (clear zls4) (on zls4 jke3) (on ytx2 zly5) (on-table jke3)", "(arm-empty) (on-table zly5) (clear zls4) (on ytx2 zly5) (clear ytx2) (on-table wvg1) (on zls4 jke3) (clear wvg1) (on-table jke3)", "(on-table zly5) (on-table wvg1) (clear zls4) (on zls4 jke3) (holding ytx2) (clear wvg1) (on-table jke3) (clear zly5)", "(clear ytx2) (arm-empty) (on-table zly5) (on-table wvg1) (on zls4 jke3) (on ytx2 zls4) (clear wvg1) (on-table jke3) (clear zly5)" ]

[ [ "unstack hqv3 dme1" ], [ "put-down hqv3" ], [ "unstack dme1 bpb5" ], [ "stack dme1 nmt2" ], [ "pick-up hqv3" ], [ "stack hqv3 dme1" ], [ "unstack bpb5 yec4" ], [ "stack bpb5 hqv3" ] ]

[ "(on dme1 bpb5) (clear nmt2) (on bpb5 yec4) (on-table nmt2) (on-table yec4) (holding hqv3) (clear dme1)", "(on dme1 bpb5) (arm-empty) (on bpb5 yec4) (on-table nmt2) (clear nmt2) (on-table yec4) (clear hqv3) (clear dme1) (on-table hqv3)", "(holding dme1) (clear nmt2) (on bpb5 yec4) (on-table nmt2) (on-table yec4) (clear hqv3) (on-table hqv3) (clear bpb5)", "(arm-empty) (on bpb5 yec4) (on-table nmt2) (on-table yec4) (clear hqv3) (on dme1 nmt2) (clear dme1) (on-table hqv3) (clear bpb5)", "(on bpb5 yec4) (on-table nmt2) (on-table yec4) (on dme1 nmt2) (clear dme1) (holding hqv3) (clear bpb5)", "(arm-empty) (on bpb5 yec4) (on-table nmt2) (on-table yec4) (on hqv3 dme1) (clear hqv3) (on dme1 nmt2) (clear bpb5)", "(on-table nmt2) (clear yec4) (holding bpb5) (on-table yec4) (on hqv3 dme1) (clear hqv3) (on dme1 nmt2)", "(arm-empty) (on-table nmt2) (clear yec4) (on bpb5 hqv3) (on-table yec4) (on hqv3 dme1) (on dme1 nmt2) (clear bpb5)" ]

[ [ "unstack yct5 cjr3" ], [ "put-down yct5" ], [ "unstack cjr3 pmk4" ], [ "put-down cjr3" ], [ "unstack pmk4 qcg1" ] ]

[ "(on pmk4 qcg1) (on-table esx2) (holding yct5) (on qcg1 esx2) (on cjr3 pmk4) (clear cjr3)", "(on pmk4 qcg1) (arm-empty) (on-table esx2) (on-table yct5) (on qcg1 esx2) (clear yct5) (on cjr3 pmk4) (clear cjr3)", "(on pmk4 qcg1) (on-table esx2) (on-table yct5) (clear pmk4) (on qcg1 esx2) (holding cjr3) (clear yct5)", "(on pmk4 qcg1) (arm-empty) (on-table esx2) (on-table yct5) (clear pmk4) (on qcg1 esx2) (clear yct5) (clear cjr3) (on-table cjr3)", "(on-table esx2) (on-table yct5) (holding pmk4) (clear cjr3) (on qcg1 esx2) (clear qcg1) (on-table cjr3) (clear yct5)" ]

[ [ "stack vpx5 zuy3" ], [ "pick-up pvi4" ], [ "stack pvi4 kgl1" ], [ "pick-up ihm2" ], [ "stack ihm2 pvi4" ], [ "unstack vpx5 zuy3" ], [ "stack vpx5 ihm2" ], [ "pick-up zuy3" ], [ "stack zuy3 vpx5" ] ]

[ "(clear ihm2) (arm-empty) (on-table ihm2) (on-table kgl1) (clear pvi4) (on vpx5 zuy3) (on-table pvi4) (clear kgl1) (on-table zuy3) (clear vpx5)", "(clear ihm2) (on-table ihm2) (on-table kgl1) (holding pvi4) (on vpx5 zuy3) (clear kgl1) (on-table zuy3) (clear vpx5)", "(clear ihm2) (on pvi4 kgl1) (arm-empty) (on-table ihm2) (on-table kgl1) (clear pvi4) (on vpx5 zuy3) (on-table zuy3) (clear vpx5)", "(on pvi4 kgl1) (on-table kgl1) (clear pvi4) (on vpx5 zuy3) (holding ihm2) (on-table zuy3) (clear vpx5)", "(clear ihm2) (on pvi4 kgl1) (arm-empty) (on-table kgl1) (on vpx5 zuy3) (on ihm2 pvi4) (on-table zuy3) (clear vpx5)", "(clear ihm2) (on pvi4 kgl1) (on-table kgl1) (holding vpx5) (on ihm2 pvi4) (clear zuy3) (on-table zuy3)", "(on pvi4 kgl1) (arm-empty) (on-table kgl1) (on vpx5 ihm2) (on ihm2 pvi4) (clear zuy3) (on-table zuy3) (clear vpx5)", "(on pvi4 kgl1) (on-table kgl1) (on vpx5 ihm2) (on ihm2 pvi4) (holding zuy3) (clear vpx5)", "(on zuy3 vpx5) (on pvi4 kgl1) (arm-empty) (on-table kgl1) (on vpx5 ihm2) (on ihm2 pvi4) (clear zuy3)" ]

[ [ "pick-up qfk3" ], [ "stack qfk3 yst4" ], [ "pick-up bgq5" ], [ "stack bgq5 gls1" ], [ "unstack qfk3 yst4" ], [ "stack qfk3 bgq5" ], [ "pick-up yst4" ], [ "stack yst4 qfk3" ] ]

[ "(on-table txy2) (on-table bgq5) (clear yst4) (on-table yst4) (on gls1 txy2) (clear gls1) (holding qfk3) (clear bgq5)", "(on qfk3 yst4) (arm-empty) (on-table txy2) (on-table bgq5) (on-table yst4) (clear qfk3) (on gls1 txy2) (clear gls1) (clear bgq5)", "(on qfk3 yst4) (on-table txy2) (holding bgq5) (on-table yst4) (clear qfk3) (on gls1 txy2) (clear gls1)", "(on qfk3 yst4) (arm-empty) (on-table txy2) (on bgq5 gls1) (on-table yst4) (clear qfk3) (on gls1 txy2) (clear bgq5)", "(on-table txy2) (clear yst4) (on bgq5 gls1) (on-table yst4) (on gls1 txy2) (holding qfk3) (clear bgq5)", "(on qfk3 bgq5) (arm-empty) (on-table txy2) (clear yst4) (on bgq5 gls1) (on-table yst4) (clear qfk3) (on gls1 txy2)", "(on qfk3 bgq5) (on-table txy2) (holding yst4) (on bgq5 gls1) (clear qfk3) (on gls1 txy2)", "(on qfk3 bgq5) (arm-empty) (on-table txy2) (clear yst4) (on bgq5 gls1) (on yst4 qfk3) (on gls1 txy2)" ]

[ [ "unstack xbf1 vos5" ] ]

[ "(holding xbf1) (clear egu2) (on vos5 uwj4) (on-table egu2) (on-table uwj4) (clear xaq3) (on-table xaq3) (clear vos5)" ]

[ [ "put-down vin1" ], [ "unstack nhs3 wes2" ], [ "stack nhs3 lol4" ], [ "unstack wes2 dqr5" ], [ "stack wes2 vin1" ], [ "unstack nhs3 lol4" ], [ "stack nhs3 dqr5" ], [ "unstack wes2 vin1" ], [ "stack wes2 nhs3" ] ]

[ "(arm-empty) (on-table dqr5) (clear lol4) (on wes2 dqr5) (on-table vin1) (on nhs3 wes2) (on-table lol4) (clear nhs3) (clear vin1)", "(clear wes2) (on-table dqr5) (on-table vin1) (clear lol4) (on-table lol4) (on wes2 dqr5) (holding nhs3) (clear vin1)", "(on nhs3 lol4) (clear wes2) (arm-empty) (on-table dqr5) (on-table vin1) (on-table lol4) (on wes2 dqr5) (clear nhs3) (clear vin1)", "(on nhs3 lol4) (on-table dqr5) (on-table vin1) (on-table lol4) (holding wes2) (clear nhs3) (clear vin1) (clear dqr5)", "(on nhs3 lol4) (clear wes2) (arm-empty) (on-table dqr5) (on-table vin1) (on-table lol4) (on wes2 vin1) (clear nhs3) (clear dqr5)", "(clear wes2) (on-table dqr5) (on-table vin1) (clear lol4) (on-table lol4) (on wes2 vin1) (holding nhs3) (clear dqr5)", "(clear wes2) (on nhs3 dqr5) (arm-empty) (on-table dqr5) (on-table vin1) (clear lol4) (on-table lol4) (on wes2 vin1) (clear nhs3)", "(on nhs3 dqr5) (on-table dqr5) (on-table vin1) (clear lol4) (on-table lol4) (holding wes2) (clear nhs3) (clear vin1)", "(on nhs3 dqr5) (clear wes2) (arm-empty) (on-table dqr5) (on-table vin1) (clear lol4) (on-table lol4) (on wes2 nhs3) (clear vin1)" ]

[ [ "pick-up fwf1" ], [ "stack fwf1 hpt2" ], [ "pick-up htx5" ], [ "stack htx5 xyo4" ], [ "pick-up pxg3" ] ]

[ "(holding fwf1) (clear hpt2) (on-table hpt2) (on-table htx5) (clear xyo4) (on-table xyo4) (clear pxg3) (on-table pxg3) (clear htx5)", "(arm-empty) (on-table hpt2) (on-table htx5) (clear xyo4) (on-table xyo4) (clear pxg3) (on fwf1 hpt2) (clear fwf1) (on-table pxg3) (clear htx5)", "(on-table hpt2) (clear xyo4) (holding htx5) (on-table xyo4) (clear pxg3) (on fwf1 hpt2) (clear fwf1) (on-table pxg3)", "(arm-empty) (on htx5 xyo4) (on-table hpt2) (on-table xyo4) (clear pxg3) (on fwf1 hpt2) (clear fwf1) (on-table pxg3) (clear htx5)", "(on htx5 xyo4) (on-table hpt2) (on-table xyo4) (on fwf1 hpt2) (clear fwf1) (holding pxg3) (clear htx5)" ]

[ [ "pick-up szp3" ] ]

[ "(on tex1 oqu5) (on-table his2) (on oqu5 his2) (clear bjt4) (on-table bjt4) (holding szp3) (clear tex1)" ]

[ [ "stack lej2 gtb5" ], [ "unstack fxy3 vog4" ], [ "put-down fxy3" ], [ "unstack lej2 gtb5" ], [ "put-down lej2" ], [ "pick-up gtb5" ], [ "stack gtb5 lej2" ], [ "unstack vog4 vus1" ], [ "put-down vog4" ], [ "pick-up vus1" ], [ "stack vus1 gtb5" ] ]

[ "(on fxy3 vog4) (clear lej2) (on vog4 vus1) (arm-empty) (on-table gtb5) (on-table vus1) (on lej2 gtb5) (clear fxy3)", "(clear lej2) (on vog4 vus1) (on-table gtb5) (on-table vus1) (clear vog4) (on lej2 gtb5) (holding fxy3)", "(on vog4 vus1) (arm-empty) (on-table gtb5) (clear vog4) (on lej2 gtb5) (clear lej2) (on-table vus1) (clear fxy3) (on-table fxy3)", "(on vog4 vus1) (on-table gtb5) (on-table vus1) (clear vog4) (holding lej2) (clear fxy3) (on-table fxy3) (clear gtb5)", "(clear lej2) (on vog4 vus1) (arm-empty) (on-table lej2) (on-table gtb5) (on-table vus1) (clear vog4) (clear fxy3) (on-table fxy3) (clear gtb5)", "(clear lej2) (on vog4 vus1) (on-table lej2) (on-table vus1) (clear vog4) (holding gtb5) (clear fxy3) (on-table fxy3)", "(on vog4 vus1) (arm-empty) (on-table lej2) (on-table vus1) (on gtb5 lej2) (clear vog4) (clear fxy3) (on-table fxy3) (clear gtb5)", "(on-table lej2) (on-table vus1) (holding vog4) (on gtb5 lej2) (clear fxy3) (clear vus1) (on-table fxy3) (clear gtb5)", "(arm-empty) (on-table lej2) (on-table vus1) (on gtb5 lej2) (clear vog4) (on-table vog4) (clear fxy3) (clear vus1) (on-table fxy3) (clear gtb5)", "(holding vus1) (on-table lej2) (on gtb5 lej2) (clear vog4) (on-table vog4) (clear fxy3) (on-table fxy3) (clear gtb5)", "(on vus1 gtb5) (arm-empty) (on-table lej2) (on gtb5 lej2) (clear vog4) (on-table vog4) (clear fxy3) (clear vus1) (on-table fxy3)" ]

[ [ "pick-up mwj3" ], [ "stack mwj3 yir2" ], [ "unstack crd1 kmw4" ], [ "put-down crd1" ], [ "unstack kmw4 cta5" ], [ "stack kmw4 crd1" ], [ "unstack mwj3 yir2" ], [ "put-down mwj3" ], [ "unstack kmw4 crd1" ], [ "stack kmw4 mwj3" ], [ "pick-up yir2" ], [ "stack yir2 crd1" ], [ "pick-up cta5" ] ]

[ "(clear yir2) (on-table yir2) (on-table cta5) (on kmw4 cta5) (on crd1 kmw4) (holding mwj3) (clear crd1)", "(arm-empty) (on-table yir2) (on-table cta5) (on kmw4 cta5) (on mwj3 yir2) (on crd1 kmw4) (clear mwj3) (clear crd1)", "(holding crd1) (on-table yir2) (on-table cta5) (on kmw4 cta5) (on mwj3 yir2) (clear kmw4) (clear mwj3)", "(arm-empty) (on-table yir2) (on-table cta5) (on kmw4 cta5) (clear kmw4) (on-table crd1) (on mwj3 yir2) (clear mwj3) (clear crd1)", "(on-table yir2) (on-table cta5) (holding kmw4) (on-table crd1) (on mwj3 yir2) (clear mwj3) (clear crd1) (clear cta5)", "(on kmw4 crd1) (arm-empty) (on-table yir2) (on-table cta5) (on-table crd1) (on mwj3 yir2) (clear kmw4) (clear mwj3) (clear cta5)", "(clear yir2) (on kmw4 crd1) (on-table yir2) (on-table cta5) (on-table crd1) (clear kmw4) (holding mwj3) (clear cta5)", "(clear yir2) (on kmw4 crd1) (arm-empty) (on-table yir2) (on-table cta5) (on-table crd1) (clear kmw4) (clear mwj3) (on-table mwj3) (clear cta5)", "(clear yir2) (on-table yir2) (on-table cta5) (on-table crd1) (holding kmw4) (clear mwj3) (clear crd1) (on-table mwj3) (clear cta5)", "(clear yir2) (arm-empty) (on-table yir2) (on-table cta5) (on-table crd1) (clear kmw4) (on kmw4 mwj3) (clear crd1) (on-table mwj3) (clear cta5)", "(on-table cta5) (on-table crd1) (clear kmw4) (on kmw4 mwj3) (holding yir2) (clear crd1) (on-table mwj3) (clear cta5)", "(clear yir2) (arm-empty) (on-table cta5) (on-table crd1) (clear kmw4) (on kmw4 mwj3) (on yir2 crd1) (on-table mwj3) (clear cta5)", "(clear yir2) (on-table crd1) (clear kmw4) (on kmw4 mwj3) (holding cta5) (on yir2 crd1) (on-table mwj3)" ]

[ [ "put-down lxv4" ], [ "unstack efq1 uvl2" ], [ "stack efq1 lxv4" ], [ "pick-up mdp5" ], [ "stack mdp5 efq1" ], [ "unstack uvl2 ncx3" ], [ "put-down uvl2" ], [ "pick-up ncx3" ], [ "stack ncx3 mdp5" ], [ "pick-up uvl2" ], [ "stack uvl2 ncx3" ] ]

[ "(arm-empty) (on-table mdp5) (clear lxv4) (on efq1 uvl2) (clear mdp5) (on-table lxv4) (on uvl2 ncx3) (clear efq1) (on-table ncx3)", "(holding efq1) (clear uvl2) (on-table mdp5) (clear lxv4) (on-table lxv4) (on uvl2 ncx3) (on-table ncx3) (clear mdp5)", "(clear uvl2) (arm-empty) (on-table mdp5) (on-table lxv4) (on efq1 lxv4) (on uvl2 ncx3) (clear efq1) (on-table ncx3) (clear mdp5)", "(clear uvl2) (holding mdp5) (on-table lxv4) (on efq1 lxv4) (on uvl2 ncx3) (clear efq1) (on-table ncx3)", "(clear uvl2) (arm-empty) (on mdp5 efq1) (on-table lxv4) (on efq1 lxv4) (on uvl2 ncx3) (on-table ncx3) (clear mdp5)", "(holding uvl2) (on mdp5 efq1) (on-table lxv4) (on efq1 lxv4) (clear ncx3) (on-table ncx3) (clear mdp5)", "(arm-empty) (on-table uvl2) (clear mdp5) (clear uvl2) (on mdp5 efq1) (on-table lxv4) (on efq1 lxv4) (clear ncx3) (on-table ncx3)", "(clear uvl2) (on-table uvl2) (on mdp5 efq1) (on-table lxv4) (on efq1 lxv4) (holding ncx3) (clear mdp5)", "(clear uvl2) (on ncx3 mdp5) (arm-empty) (on-table uvl2) (on mdp5 efq1) (on-table lxv4) (on efq1 lxv4) (clear ncx3)", "(on ncx3 mdp5) (holding uvl2) (on mdp5 efq1) (on-table lxv4) (on efq1 lxv4) (clear ncx3)", "(on ncx3 mdp5) (clear uvl2) (arm-empty) (on mdp5 efq1) (on-table lxv4) (on efq1 lxv4) (on uvl2 ncx3)" ]

[ [ "stack wby2 gni4" ], [ "unstack eiq5 szl3" ], [ "stack eiq5 dqn1" ], [ "pick-up szl3" ], [ "stack szl3 wby2" ] ]

[ "(clear wby2) (arm-empty) (on-table dqn1) (on eiq5 szl3) (on-table gni4) (on wby2 gni4) (clear dqn1) (on-table szl3) (clear eiq5)", "(clear wby2) (on-table dqn1) (holding eiq5) (on-table gni4) (on wby2 gni4) (clear szl3) (clear dqn1) (on-table szl3)", "(clear wby2) (arm-empty) (on-table dqn1) (on eiq5 dqn1) (on-table gni4) (on wby2 gni4) (clear szl3) (on-table szl3) (clear eiq5)", "(clear wby2) (on-table dqn1) (on eiq5 dqn1) (on-table gni4) (on wby2 gni4) (holding szl3) (clear eiq5)", "(arm-empty) (on-table dqn1) (on szl3 wby2) (on eiq5 dqn1) (on-table gni4) (on wby2 gni4) (clear szl3) (clear eiq5)" ]

[ [ "unstack xmn2 jvh5" ], [ "stack xmn2 chk4" ], [ "unstack jvh5 gbz1" ], [ "stack jvh5 xmn2" ], [ "unstack gbz1 gvv3" ], [ "put-down gbz1" ], [ "unstack jvh5 xmn2" ], [ "stack jvh5 gvv3" ], [ "unstack xmn2 chk4" ], [ "put-down xmn2" ], [ "unstack jvh5 gvv3" ], [ "stack jvh5 xmn2" ], [ "pick-up chk4" ] ]

[ "(on gbz1 gvv3) (clear chk4) (on jvh5 gbz1) (on-table chk4) (holding xmn2) (on-table gvv3) (clear jvh5)", "(clear xmn2) (on gbz1 gvv3) (arm-empty) (on jvh5 gbz1) (on-table chk4) (on xmn2 chk4) (on-table gvv3) (clear jvh5)", "(clear xmn2) (on gbz1 gvv3) (holding jvh5) (on-table chk4) (on xmn2 chk4) (clear gbz1) (on-table gvv3)", "(on gbz1 gvv3) (arm-empty) (on jvh5 xmn2) (on-table chk4) (on xmn2 chk4) (clear gbz1) (on-table gvv3) (clear jvh5)", "(holding gbz1) (on jvh5 xmn2) (on-table chk4) (on xmn2 chk4) (clear gvv3) (on-table gvv3) (clear jvh5)", "(arm-empty) (on jvh5 xmn2) (on xmn2 chk4) (clear jvh5) (on-table gbz1) (on-table chk4) (clear gvv3) (clear gbz1) (on-table gvv3)", "(clear xmn2) (on-table gbz1) (holding jvh5) (on-table chk4) (on xmn2 chk4) (clear gvv3) (clear gbz1) (on-table gvv3)", "(clear xmn2) (arm-empty) (on-table gbz1) (on jvh5 gvv3) (on-table chk4) (on xmn2 chk4) (clear gbz1) (on-table gvv3) (clear jvh5)", "(on-table gbz1) (clear chk4) (on jvh5 gvv3) (on-table chk4) (holding xmn2) (clear gbz1) (on-table gvv3) (clear jvh5)", "(clear xmn2) (arm-empty) (on-table xmn2) (on-table gbz1) (clear chk4) (on jvh5 gvv3) (on-table chk4) (clear gbz1) (on-table gvv3) (clear jvh5)", "(clear xmn2) (on-table xmn2) (on-table gbz1) (clear chk4) (holding jvh5) (on-table chk4) (clear gvv3) (clear gbz1) (on-table gvv3)", "(arm-empty) (on-table xmn2) (on-table gbz1) (on jvh5 xmn2) (clear chk4) (on-table chk4) (clear gvv3) (clear gbz1) (on-table gvv3) (clear jvh5)", "(on-table xmn2) (on-table gbz1) (holding chk4) (on jvh5 xmn2) (clear gvv3) (clear gbz1) (on-table gvv3) (clear jvh5)" ]

[ [ "unstack yjt1 pyc4" ], [ "put-down yjt1" ], [ "unstack pyc4 prv2" ], [ "put-down pyc4" ], [ "unstack prv2 fre5" ], [ "stack prv2 pyc4" ], [ "unstack fre5 fin3" ], [ "stack fre5 yjt1" ], [ "unstack prv2 pyc4" ], [ "put-down prv2" ] ]

[ "(clear pyc4) (on fre5 fin3) (on prv2 fre5) (holding yjt1) (on pyc4 prv2) (on-table fin3)", "(arm-empty) (clear pyc4) (on fre5 fin3) (on prv2 fre5) (on-table yjt1) (on pyc4 prv2) (clear yjt1) (on-table fin3)", "(clear prv2) (on-table yjt1) (holding pyc4) (on fre5 fin3) (on prv2 fre5) (clear yjt1) (on-table fin3)", "(arm-empty) (clear pyc4) (on fre5 fin3) (on prv2 fre5) (clear prv2) (on-table yjt1) (on-table pyc4) (clear yjt1) (on-table fin3)", "(on-table yjt1) (clear pyc4) (on fre5 fin3) (on-table pyc4) (holding prv2) (clear yjt1) (on-table fin3) (clear fre5)", "(clear prv2) (arm-empty) (on-table yjt1) (on fre5 fin3) (on-table pyc4) (on prv2 pyc4) (clear yjt1) (on-table fin3) (clear fre5)", "(clear prv2) (on-table yjt1) (holding fre5) (on-table pyc4) (on prv2 pyc4) (clear fin3) (clear yjt1) (on-table fin3)", "(clear prv2) (arm-empty) (on-table yjt1) (on fre5 yjt1) (on-table pyc4) (on prv2 pyc4) (clear fin3) (on-table fin3) (clear fre5)", "(on-table yjt1) (clear pyc4) (on fre5 yjt1) (on-table pyc4) (holding prv2) (clear fin3) (on-table fin3) (clear fre5)", "(clear prv2) (arm-empty) (on-table prv2) (on-table yjt1) (clear pyc4) (on fre5 yjt1) (on-table pyc4) (clear fin3) (on-table fin3) (clear fre5)" ]

[ [ "unstack tsh3 pzm2" ], [ "put-down tsh3" ], [ "unstack pzm2 vzy1" ], [ "put-down pzm2" ], [ "pick-up vzy1" ], [ "stack vzy1 pzm2" ], [ "pick-up tsh3" ] ]

[ "(clear pzm2) (on-table vzy1) (on pzm2 vzy1) (holding tsh3)", "(clear pzm2) (arm-empty) (on-table vzy1) (on pzm2 vzy1) (clear tsh3) (on-table tsh3)", "(holding pzm2) (on-table vzy1) (clear tsh3) (clear vzy1) (on-table tsh3)", "(clear pzm2) (arm-empty) (on-table pzm2) (on-table vzy1) (clear tsh3) (clear vzy1) (on-table tsh3)", "(holding vzy1) (clear pzm2) (on-table pzm2) (clear tsh3) (on-table tsh3)", "(arm-empty) (on-table pzm2) (clear tsh3) (on vzy1 pzm2) (clear vzy1) (on-table tsh3)", "(on-table pzm2) (on vzy1 pzm2) (clear vzy1) (holding tsh3)" ]

[ [ "unstack gbq4 euc2" ], [ "stack gbq4 eny1" ], [ "pick-up vwi5" ], [ "stack vwi5 euc2" ], [ "unstack gbq4 eny1" ], [ "stack gbq4 vwi5" ], [ "pick-up vbj3" ], [ "stack vbj3 gbq4" ], [ "pick-up eny1" ], [ "stack eny1 vbj3" ] ]

[ "(clear euc2) (on-table euc2) (on-table vwi5) (on-table eny1) (holding gbq4) (clear vbj3) (clear eny1) (on-table vbj3) (clear vwi5)", "(clear euc2) (on gbq4 eny1) (arm-empty) (on-table euc2) (on-table vwi5) (on-table eny1) (clear gbq4) (clear vbj3) (on-table vbj3) (clear vwi5)", "(clear euc2) (on gbq4 eny1) (on-table euc2) (on-table eny1) (clear gbq4) (holding vwi5) (clear vbj3) (on-table vbj3)", "(on gbq4 eny1) (arm-empty) (on-table euc2) (on-table eny1) (on vwi5 euc2) (clear gbq4) (clear vbj3) (on-table vbj3) (clear vwi5)", "(on-table euc2) (on-table eny1) (holding gbq4) (on vwi5 euc2) (clear vbj3) (clear eny1) (on-table vbj3) (clear vwi5)", "(arm-empty) (on-table euc2) (on gbq4 vwi5) (on-table eny1) (on vwi5 euc2) (clear gbq4) (clear vbj3) (clear eny1) (on-table vbj3)", "(on-table euc2) (on gbq4 vwi5) (on-table eny1) (on vwi5 euc2) (clear gbq4) (holding vbj3) (clear eny1)", "(on vbj3 gbq4) (arm-empty) (on-table euc2) (on gbq4 vwi5) (on-table eny1) (on vwi5 euc2) (clear vbj3) (clear eny1)", "(holding eny1) (on vbj3 gbq4) (on-table euc2) (on gbq4 vwi5) (on vwi5 euc2) (clear vbj3)", "(on vbj3 gbq4) (on eny1 vbj3) (arm-empty) (on-table euc2) (on gbq4 vwi5) (on vwi5 euc2) (clear eny1)" ]

[ [ "stack zuk2 gmj5" ], [ "unstack dib4 zur3" ], [ "put-down dib4" ], [ "unstack zuk2 gmj5" ], [ "stack zuk2 zur3" ], [ "pick-up dib4" ] ]

[ "(clear zuk2) (arm-empty) (on-table gmj5) (on-table iiw1) (clear dib4) (on dib4 zur3) (on zur3 iiw1) (on zuk2 gmj5)", "(clear zuk2) (on-table gmj5) (on-table iiw1) (holding dib4) (on zur3 iiw1) (on zuk2 gmj5) (clear zur3)", "(arm-empty) (on-table gmj5) (clear dib4) (on zur3 iiw1) (on zuk2 gmj5) (clear zuk2) (on-table iiw1) (on-table dib4) (clear zur3)", "(on-table gmj5) (on-table iiw1) (clear dib4) (on-table dib4) (holding zuk2) (on zur3 iiw1) (clear zur3) (clear gmj5)", "(clear zuk2) (arm-empty) (on-table gmj5) (on-table iiw1) (clear dib4) (on-table dib4) (on zur3 iiw1) (on zuk2 zur3) (clear gmj5)", "(clear zuk2) (on-table gmj5) (on-table iiw1) (holding dib4) (on zur3 iiw1) (on zuk2 zur3) (clear gmj5)" ]

[ [ "pick-up rgu4" ], [ "stack rgu4 mey5" ], [ "unstack pvh2 sum1" ], [ "put-down pvh2" ], [ "unstack sum1 uqx3" ], [ "put-down sum1" ], [ "unstack rgu4 mey5" ], [ "stack rgu4 uqx3" ] ]

[ "(clear pvh2) (on sum1 uqx3) (on-table mey5) (holding rgu4) (on pvh2 sum1) (on-table uqx3) (clear mey5)", "(clear pvh2) (on sum1 uqx3) (arm-empty) (on rgu4 mey5) (on-table mey5) (clear rgu4) (on pvh2 sum1) (on-table uqx3)", "(on sum1 uqx3) (on rgu4 mey5) (on-table mey5) (clear rgu4) (holding pvh2) (clear sum1) (on-table uqx3)", "(on sum1 uqx3) (arm-empty) (on-table pvh2) (on-table mey5) (on rgu4 mey5) (clear rgu4) (clear pvh2) (clear sum1) (on-table uqx3)", "(holding sum1) (clear pvh2) (on-table pvh2) (on-table mey5) (on rgu4 mey5) (clear rgu4) (clear uqx3) (on-table uqx3)", "(clear pvh2) (arm-empty) (on-table pvh2) (on-table mey5) (on rgu4 mey5) (on-table sum1) (clear rgu4) (clear uqx3) (clear sum1) (on-table uqx3)", "(clear pvh2) (on-table pvh2) (on-table mey5) (holding rgu4) (on-table sum1) (clear uqx3) (clear sum1) (on-table uqx3) (clear mey5)", "(clear pvh2) (arm-empty) (on-table pvh2) (on-table mey5) (on-table sum1) (clear rgu4) (on rgu4 uqx3) (clear sum1) (on-table uqx3) (clear mey5)" ]

[ [ "put-down ajc2" ], [ "pick-up yqm1" ], [ "stack yqm1 qzh3" ], [ "pick-up ajc2" ], [ "stack ajc2 yqm1" ] ]

[ "(on qzh3 hby5) (arm-empty) (on hby5 hja4) (on-table ajc2) (clear ajc2) (on-table yqm1) (on-table hja4) (clear qzh3) (clear yqm1)", "(holding yqm1) (on qzh3 hby5) (on hby5 hja4) (on-table ajc2) (clear ajc2) (on-table hja4) (clear qzh3)", "(on qzh3 hby5) (clear ajc2) (on hby5 hja4) (on-table ajc2) (on yqm1 qzh3) (arm-empty) (on-table hja4) (clear yqm1)", "(on qzh3 hby5) (on hby5 hja4) (on yqm1 qzh3) (on-table hja4) (holding ajc2) (clear yqm1)", "(on qzh3 hby5) (on yqm1 qzh3) (on hby5 hja4) (on-table hja4) (clear ajc2) (arm-empty) (on ajc2 yqm1)" ]

[ [ "put-down ayk5" ], [ "unstack zvh2 ceb1" ], [ "stack zvh2 ayk5" ], [ "unstack ceb1 sbp4" ], [ "stack ceb1 syn3" ], [ "unstack zvh2 ayk5" ], [ "stack zvh2 ceb1" ], [ "pick-up ayk5" ], [ "stack ayk5 sbp4" ], [ "unstack zvh2 ceb1" ], [ "put-down zvh2" ], [ "unstack ayk5 sbp4" ], [ "stack ayk5 ceb1" ], [ "pick-up zvh2" ], [ "stack zvh2 sbp4" ] ]

[ "(arm-empty) (on-table ayk5) (on zvh2 ceb1) (clear ayk5) (clear zvh2) (on-table sbp4) (on ceb1 sbp4) (clear syn3) (on-table syn3)", "(on-table ayk5) (holding zvh2) (on-table sbp4) (on ceb1 sbp4) (clear syn3) (clear ceb1) (on-table syn3) (clear ayk5)", "(clear zvh2) (arm-empty) (on-table ayk5) (on-table sbp4) (on zvh2 ayk5) (clear syn3) (on ceb1 sbp4) (on-table syn3) (clear ceb1)", "(holding ceb1) (clear zvh2) (on-table ayk5) (clear sbp4) (on-table sbp4) (on zvh2 ayk5) (clear syn3) (on-table syn3)", "(clear zvh2) (on ceb1 syn3) (arm-empty) (on-table ayk5) (clear sbp4) (on-table sbp4) (on zvh2 ayk5) (clear ceb1) (on-table syn3)", "(on ceb1 syn3) (on-table ayk5) (clear sbp4) (on-table sbp4) (holding zvh2) (clear ceb1) (on-table syn3) (clear ayk5)", "(clear zvh2) (on ceb1 syn3) (arm-empty) (on-table ayk5) (clear sbp4) (on-table sbp4) (on zvh2 ceb1) (on-table syn3) (clear ayk5)", "(clear zvh2) (on ceb1 syn3) (clear sbp4) (holding ayk5) (on-table sbp4) (on zvh2 ceb1) (on-table syn3)", "(clear zvh2) (on ceb1 syn3) (on ayk5 sbp4) (arm-empty) (on-table sbp4) (on zvh2 ceb1) (on-table syn3) (clear ayk5)", "(on ceb1 syn3) (on ayk5 sbp4) (on-table sbp4) (holding zvh2) (clear ceb1) (on-table syn3) (clear ayk5)", "(on ceb1 syn3) (on ayk5 sbp4) (on-table zvh2) (arm-empty) (clear ayk5) (clear zvh2) (on-table sbp4) (clear ceb1) (on-table syn3)", "(clear zvh2) (on ceb1 syn3) (on-table zvh2) (clear sbp4) (holding ayk5) (on-table sbp4) (clear ceb1) (on-table syn3)", "(clear zvh2) (on ceb1 syn3) (arm-empty) (on-table zvh2) (clear sbp4) (on ayk5 ceb1) (on-table sbp4) (on-table syn3) (clear ayk5)", "(on ceb1 syn3) (clear sbp4) (on ayk5 ceb1) (on-table sbp4) (holding zvh2) (on-table syn3) (clear ayk5)", "(clear zvh2) (on ceb1 syn3) (arm-empty) (on ayk5 ceb1) (on-table sbp4) (on zvh2 sbp4) (on-table syn3) (clear ayk5)" ]

[ [ "unstack xge3 dhl4" ], [ "put-down xge3" ], [ "unstack dhl4 ehq1" ], [ "put-down dhl4" ], [ "unstack ehq1 nmc5" ], [ "put-down ehq1" ], [ "unstack nmc5 bea2" ], [ "put-down nmc5" ], [ "pick-up bea2" ] ]

[ "(on ehq1 nmc5) (on dhl4 ehq1) (on-table bea2) (on nmc5 bea2) (clear dhl4) (holding xge3)", "(on ehq1 nmc5) (on dhl4 ehq1) (arm-empty) (on-table bea2) (on nmc5 bea2) (clear xge3) (clear dhl4) (on-table xge3)", "(on ehq1 nmc5) (on-table bea2) (holding dhl4) (on nmc5 bea2) (clear xge3) (clear ehq1) (on-table xge3)", "(on ehq1 nmc5) (arm-empty) (on-table bea2) (on nmc5 bea2) (clear dhl4) (on-table dhl4) (clear xge3) (clear ehq1) (on-table xge3)", "(holding ehq1) (on-table bea2) (on nmc5 bea2) (clear dhl4) (on-table dhl4) (clear xge3) (on-table xge3) (clear nmc5)", "(arm-empty) (on-table bea2) (on-table ehq1) (on nmc5 bea2) (clear dhl4) (on-table dhl4) (clear xge3) (clear ehq1) (on-table xge3) (clear nmc5)", "(clear bea2) (on-table bea2) (on-table ehq1) (clear dhl4) (holding nmc5) (on-table dhl4) (clear xge3) (clear ehq1) (on-table xge3)", "(clear bea2) (arm-empty) (on-table bea2) (on-table nmc5) (on-table ehq1) (clear dhl4) (on-table dhl4) (clear xge3) (clear ehq1) (on-table xge3) (clear nmc5)", "(on-table nmc5) (on-table ehq1) (clear dhl4) (on-table dhl4) (holding bea2) (clear xge3) (clear ehq1) (on-table xge3) (clear nmc5)" ]

[ [ "pick-up qdx5" ], [ "stack qdx5 wqm2" ] ]

[ "(clear wqm2) (holding qdx5) (on-table buf4) (on tha1 buf4) (on wqm2 tha1) (clear cqj3) (on-table cqj3)", "(arm-empty) (on qdx5 wqm2) (on-table buf4) (on tha1 buf4) (on wqm2 tha1) (clear cqj3) (on-table cqj3) (clear qdx5)" ]

[ [ "unstack cnt5 jtg3" ], [ "put-down cnt5" ], [ "pick-up wwq2" ], [ "stack wwq2 cnt5" ], [ "pick-up idr4" ], [ "stack idr4 wwq2" ] ]

[ "(clear wwq2) (on-table wwq2) (on-table kvq1) (clear idr4) (holding cnt5) (on-table idr4) (on jtg3 kvq1) (clear jtg3)", "(clear wwq2) (arm-empty) (on-table wwq2) (on-table cnt5) (on-table kvq1) (clear idr4) (on-table idr4) (on jtg3 kvq1) (clear jtg3) (clear cnt5)", "(on-table cnt5) (on-table kvq1) (clear idr4) (on-table idr4) (holding wwq2) (on jtg3 kvq1) (clear jtg3) (clear cnt5)", "(clear wwq2) (arm-empty) (on-table cnt5) (on-table kvq1) (clear idr4) (on-table idr4) (on jtg3 kvq1) (on wwq2 cnt5) (clear jtg3)", "(clear wwq2) (on-table cnt5) (on-table kvq1) (holding idr4) (on jtg3 kvq1) (on wwq2 cnt5) (clear jtg3)", "(arm-empty) (on-table cnt5) (on-table kvq1) (clear idr4) (on jtg3 kvq1) (on idr4 wwq2) (on wwq2 cnt5) (clear jtg3)" ]

[ [ "unstack uls3 mvd4" ], [ "put-down uls3" ], [ "unstack mvd4 txu2" ], [ "stack mvd4 atw1" ] ]

[ "(on-table txu2) (clear mvd4) (on-table atw1) (on mvd4 txu2) (holding uls3) (clear atw1)", "(on mvd4 txu2) (arm-empty) (on-table txu2) (on-table atw1) (clear uls3) (clear mvd4) (clear atw1) (on-table uls3)", "(clear txu2) (on-table txu2) (on-table atw1) (holding mvd4) (clear uls3) (clear atw1) (on-table uls3)", "(clear txu2) (on mvd4 atw1) (arm-empty) (on-table txu2) (on-table atw1) (clear mvd4) (clear uls3) (on-table uls3)" ]

[ [ "unstack hgs5 vop3" ], [ "put-down hgs5" ], [ "unstack vop3 vfx4" ], [ "put-down vop3" ], [ "pick-up hgs5" ], [ "stack hgs5 vfx4" ], [ "pick-up vop3" ] ]

[ "(holding hgs5) (on wqr2 osj1) (on vop3 vfx4) (on-table osj1) (on vfx4 wqr2) (clear vop3)", "(arm-empty) (on-table hgs5) (on wqr2 osj1) (clear hgs5) (on vop3 vfx4) (on-table osj1) (on vfx4 wqr2) (clear vop3)", "(on-table hgs5) (on-table osj1) (clear vfx4) (on vfx4 wqr2) (on wqr2 osj1) (holding vop3) (clear hgs5)", "(arm-empty) (on-table hgs5) (clear vfx4) (on wqr2 osj1) (clear hgs5) (on-table osj1) (on vfx4 wqr2) (clear vop3) (on-table vop3)", "(on-table osj1) (clear vfx4) (holding hgs5) (on vfx4 wqr2) (on wqr2 osj1) (clear vop3) (on-table vop3)", "(arm-empty) (on hgs5 vfx4) (on-table osj1) (on vfx4 wqr2) (on wqr2 osj1) (clear vop3) (on-table vop3) (clear hgs5)", "(on hgs5 vfx4) (on-table osj1) (on vfx4 wqr2) (on wqr2 osj1) (holding vop3) (clear hgs5)" ]

[ [ "stack qxs1 xup2" ], [ "pick-up fqn3" ], [ "stack fqn3 hkb5" ], [ "unstack qxs1 xup2" ], [ "stack qxs1 fqn3" ], [ "unstack xup2 xxo4" ], [ "put-down xup2" ], [ "unstack qxs1 fqn3" ], [ "stack qxs1 xxo4" ], [ "unstack fqn3 hkb5" ], [ "put-down fqn3" ], [ "pick-up xup2" ], [ "stack xup2 hkb5" ] ]

[ "(arm-empty) (on-table hkb5) (on-table xxo4) (on xup2 xxo4) (clear fqn3) (on qxs1 xup2) (clear qxs1) (on-table fqn3) (clear hkb5)", "(on-table hkb5) (on-table xxo4) (on xup2 xxo4) (on qxs1 xup2) (clear qxs1) (holding fqn3) (clear hkb5)", "(on fqn3 hkb5) (arm-empty) (on-table hkb5) (on-table xxo4) (on xup2 xxo4) (clear fqn3) (on qxs1 xup2) (clear qxs1)", "(holding qxs1) (on fqn3 hkb5) (clear xup2) (on-table hkb5) (on-table xxo4) (on xup2 xxo4) (clear fqn3)", "(on fqn3 hkb5) (clear xup2) (on qxs1 fqn3) (arm-empty) (on-table hkb5) (on-table xxo4) (on xup2 xxo4) (clear qxs1)", "(on fqn3 hkb5) (on qxs1 fqn3) (on-table hkb5) (clear xxo4) (on-table xxo4) (holding xup2) (clear qxs1)", "(on fqn3 hkb5) (on qxs1 fqn3) (arm-empty) (on-table xup2) (on-table hkb5) (clear xxo4) (clear xup2) (on-table xxo4) (clear qxs1)", "(holding qxs1) (on fqn3 hkb5) (on-table xup2) (on-table hkb5) (clear xup2) (clear xxo4) (on-table xxo4) (clear fqn3)", "(on fqn3 hkb5) (clear xup2) (arm-empty) (on-table xup2) (on-table hkb5) (on-table xxo4) (on qxs1 xxo4) (clear fqn3) (clear qxs1)", "(clear xup2) (on-table xup2) (on-table hkb5) (on-table xxo4) (on qxs1 xxo4) (holding fqn3) (clear qxs1) (clear hkb5)", "(clear xup2) (arm-empty) (on-table xup2) (on-table hkb5) (on-table xxo4) (on qxs1 xxo4) (clear fqn3) (clear qxs1) (on-table fqn3) (clear hkb5)", "(on-table hkb5) (holding xup2) (on-table xxo4) (on qxs1 xxo4) (clear fqn3) (clear qxs1) (on-table fqn3) (clear hkb5)", "(clear xup2) (arm-empty) (on-table hkb5) (on-table xxo4) (on xup2 hkb5) (clear fqn3) (on qxs1 xxo4) (on-table fqn3) (clear qxs1)" ]

[ [ "pick-up hnt1" ], [ "stack hnt1 zzv3" ], [ "unstack qfg2 azd4" ] ]

[ "(holding hnt1) (clear qfg2) (on-table nbr5) (on-table azd4) (on qfg2 azd4) (clear zzv3) (on-table zzv3) (clear nbr5)", "(clear qfg2) (on hnt1 zzv3) (arm-empty) (on-table nbr5) (on-table azd4) (on qfg2 azd4) (clear hnt1) (on-table zzv3) (clear nbr5)", "(on hnt1 zzv3) (on-table nbr5) (clear azd4) (on-table azd4) (holding qfg2) (clear hnt1) (on-table zzv3) (clear nbr5)" ]

[ [ "put-down rbq2" ], [ "unstack ria5 kxz4" ], [ "stack ria5 rbq2" ], [ "pick-up kxz4" ] ]

[ "(clear rbq2) (arm-empty) (on ria5 kxz4) (on-table rbq2) (on-table ify1) (on-table kxz4) (clear xdz3) (clear ify1) (on-table xdz3) (clear ria5)", "(clear rbq2) (on-table rbq2) (on-table ify1) (clear kxz4) (holding ria5) (on-table kxz4) (clear xdz3) (clear ify1) (on-table xdz3)", "(arm-empty) (on-table rbq2) (on-table ify1) (on ria5 rbq2) (clear kxz4) (on-table kxz4) (clear xdz3) (clear ify1) (on-table xdz3) (clear ria5)", "(on-table rbq2) (on-table ify1) (holding kxz4) (on ria5 rbq2) (clear xdz3) (clear ify1) (on-table xdz3) (clear ria5)" ]

[ [ "put-down nvn3" ], [ "unstack cjo1 sbg5" ], [ "put-down cjo1" ], [ "unstack sbg5 pry4" ], [ "stack sbg5 cjo1" ] ]

[ "(on cjo1 sbg5) (arm-empty) (on sbg5 pry4) (on-table jfz2) (on pry4 jfz2) (clear nvn3) (clear cjo1) (on-table nvn3)", "(holding cjo1) (on sbg5 pry4) (on-table jfz2) (on pry4 jfz2) (clear nvn3) (on-table nvn3) (clear sbg5)", "(arm-empty) (on sbg5 pry4) (on-table jfz2) (clear sbg5) (on-table cjo1) (on pry4 jfz2) (clear nvn3) (clear cjo1) (on-table nvn3)", "(on-table jfz2) (on-table cjo1) (clear pry4) (holding sbg5) (on pry4 jfz2) (clear nvn3) (clear cjo1) (on-table nvn3)", "(arm-empty) (on-table jfz2) (on-table cjo1) (clear pry4) (on sbg5 cjo1) (on pry4 jfz2) (clear nvn3) (on-table nvn3) (clear sbg5)" ]

[ [ "unstack xih3 kfp4" ], [ "put-down xih3" ], [ "unstack kfp4 qfv1" ], [ "put-down kfp4" ], [ "pick-up xih3" ], [ "stack xih3 kfp4" ], [ "unstack qfv1 pud2" ], [ "stack qfv1 xih3" ], [ "unstack pud2 lzs5" ], [ "put-down pud2" ] ]

[ "(on kfp4 qfv1) (on-table lzs5) (clear kfp4) (on pud2 lzs5) (on qfv1 pud2) (holding xih3)", "(on kfp4 qfv1) (arm-empty) (on-table lzs5) (on pud2 lzs5) (clear xih3) (clear kfp4) (on qfv1 pud2) (on-table xih3)", "(on-table lzs5) (holding kfp4) (on pud2 lzs5) (clear xih3) (on qfv1 pud2) (clear qfv1) (on-table xih3)", "(arm-empty) (on-table lzs5) (clear kfp4) (on pud2 lzs5) (on qfv1 pud2) (on-table kfp4) (clear xih3) (clear qfv1) (on-table xih3)", "(on-table lzs5) (clear kfp4) (on-table kfp4) (on pud2 lzs5) (on qfv1 pud2) (clear qfv1) (holding xih3)", "(on xih3 kfp4) (arm-empty) (on-table lzs5) (on-table kfp4) (on pud2 lzs5) (clear xih3) (on qfv1 pud2) (clear qfv1)", "(holding qfv1) (on xih3 kfp4) (clear pud2) (on-table lzs5) (on-table kfp4) (on pud2 lzs5) (clear xih3)", "(on xih3 kfp4) (clear pud2) (on qfv1 xih3) (arm-empty) (on-table lzs5) (on-table kfp4) (on pud2 lzs5) (clear qfv1)", "(on xih3 kfp4) (on qfv1 xih3) (on-table lzs5) (on-table kfp4) (holding pud2) (clear qfv1) (clear lzs5)", "(on qfv1 xih3) (arm-empty) (on-table pud2) (on-table lzs5) (clear lzs5) (on xih3 kfp4) (clear pud2) (on-table kfp4) (clear qfv1)" ]

[ [ "unstack ynu3 rgu1" ], [ "put-down ynu3" ], [ "unstack rgu1 rwc4" ], [ "put-down rgu1" ], [ "pick-up rwc4" ], [ "stack rwc4 ynu3" ], [ "pick-up rgu1" ], [ "stack rgu1 rwc4" ] ]

[ "(on-table gmb2) (clear gmb2) (on-table rwc4) (on rgu1 rwc4) (holding ynu3) (clear rgu1)", "(arm-empty) (on-table gmb2) (clear gmb2) (on-table rwc4) (on rgu1 rwc4) (clear ynu3) (clear rgu1) (on-table ynu3)", "(holding rgu1) (clear gmb2) (on-table gmb2) (clear rwc4) (on-table rwc4) (clear ynu3) (on-table ynu3)", "(arm-empty) (on-table gmb2) (clear rwc4) (clear gmb2) (on-table rgu1) (on-table rwc4) (clear ynu3) (clear rgu1) (on-table ynu3)", "(clear gmb2) (on-table gmb2) (on-table rgu1) (holding rwc4) (clear ynu3) (clear rgu1) (on-table ynu3)", "(arm-empty) (on-table gmb2) (clear rwc4) (clear gmb2) (on-table rgu1) (on rwc4 ynu3) (clear rgu1) (on-table ynu3)", "(holding rgu1) (clear gmb2) (on-table gmb2) (clear rwc4) (on rwc4 ynu3) (on-table ynu3)", "(clear gmb2) (arm-empty) (on-table gmb2) (on rwc4 ynu3) (on rgu1 rwc4) (clear rgu1) (on-table ynu3)" ]

[ [ "pick-up tpx1" ], [ "stack tpx1 hpu2" ], [ "unstack tzp5 lcp4" ], [ "put-down tzp5" ], [ "unstack tpx1 hpu2" ] ]

[ "(holding tpx1) (clear hpu2) (on tzp5 lcp4) (on-table hpu2) (on lcp4 lyc3) (on-table lyc3) (clear tzp5)", "(arm-empty) (on tzp5 lcp4) (on-table hpu2) (on lcp4 lyc3) (on tpx1 hpu2) (clear tpx1) (on-table lyc3) (clear tzp5)", "(on-table hpu2) (clear lcp4) (on lcp4 lyc3) (holding tzp5) (on tpx1 hpu2) (clear tpx1) (on-table lyc3)", "(arm-empty) (on-table hpu2) (on-table tzp5) (clear lcp4) (on tpx1 hpu2) (clear tzp5) (on lcp4 lyc3) (clear tpx1) (on-table lyc3)", "(holding tpx1) (clear hpu2) (on-table hpu2) (on-table tzp5) (clear lcp4) (on lcp4 lyc3) (on-table lyc3) (clear tzp5)" ]

[ [ "pick-up ktz5" ], [ "stack ktz5 xch3" ], [ "unstack wks1 bge4" ] ]

[ "(on-table kdz2) (holding ktz5) (on wks1 bge4) (on bge4 kdz2) (clear xch3) (clear wks1) (on-table xch3)", "(arm-empty) (on-table kdz2) (on ktz5 xch3) (on wks1 bge4) (on bge4 kdz2) (clear wks1) (on-table xch3) (clear ktz5)", "(holding wks1) (on-table kdz2) (clear bge4) (on ktz5 xch3) (on bge4 kdz2) (on-table xch3) (clear ktz5)" ]

[ [ "stack vfh2 ibf5" ], [ "unstack yzh1 aab3" ], [ "stack yzh1 vfh2" ], [ "pick-up aab3" ], [ "stack aab3 yzh1" ], [ "pick-up hgl4" ], [ "stack hgl4 aab3" ] ]

[ "(clear vfh2) (on yzh1 aab3) (arm-empty) (on-table ibf5) (clear hgl4) (on-table hgl4) (on vfh2 ibf5) (clear yzh1) (on-table aab3)", "(holding yzh1) (clear vfh2) (on-table ibf5) (clear hgl4) (on-table hgl4) (on vfh2 ibf5) (clear aab3) (on-table aab3)", "(arm-empty) (on-table ibf5) (clear hgl4) (on-table hgl4) (on vfh2 ibf5) (clear aab3) (on yzh1 vfh2) (clear yzh1) (on-table aab3)", "(on-table ibf5) (clear hgl4) (on-table hgl4) (on vfh2 ibf5) (on yzh1 vfh2) (clear yzh1) (holding aab3)", "(arm-empty) (on-table ibf5) (clear hgl4) (on-table hgl4) (on aab3 yzh1) (on vfh2 ibf5) (clear aab3) (on yzh1 vfh2)", "(on-table ibf5) (holding hgl4) (on aab3 yzh1) (on vfh2 ibf5) (clear aab3) (on yzh1 vfh2)", "(arm-empty) (on-table ibf5) (clear hgl4) (on hgl4 aab3) (on aab3 yzh1) (on vfh2 ibf5) (on yzh1 vfh2)" ]

[ [ "stack bfv2 nsi1" ], [ "pick-up ovb3" ], [ "stack ovb3 bfv2" ], [ "unstack xgc5 wvy4" ], [ "put-down xgc5" ], [ "unstack ovb3 bfv2" ], [ "stack ovb3 wvy4" ], [ "pick-up xgc5" ], [ "stack xgc5 bfv2" ], [ "unstack ovb3 wvy4" ], [ "put-down ovb3" ] ]

[ "(clear bfv2) (arm-empty) (on xgc5 wvy4) (on-table nsi1) (on-table wvy4) (on bfv2 nsi1) (clear ovb3) (on-table ovb3) (clear xgc5)", "(clear bfv2) (on xgc5 wvy4) (on-table nsi1) (on-table wvy4) (on bfv2 nsi1) (holding ovb3) (clear xgc5)", "(arm-empty) (on xgc5 wvy4) (on-table nsi1) (on ovb3 bfv2) (on-table wvy4) (on bfv2 nsi1) (clear ovb3) (clear xgc5)", "(on-table nsi1) (on ovb3 bfv2) (clear wvy4) (holding xgc5) (on-table wvy4) (on bfv2 nsi1) (clear ovb3)", "(arm-empty) (on-table xgc5) (clear wvy4) (on bfv2 nsi1) (clear xgc5) (on-table nsi1) (on ovb3 bfv2) (on-table wvy4) (clear ovb3)", "(clear bfv2) (on-table xgc5) (on-table nsi1) (clear wvy4) (on-table wvy4) (on bfv2 nsi1) (holding ovb3) (clear xgc5)", "(on ovb3 wvy4) (clear bfv2) (arm-empty) (on-table xgc5) (on-table nsi1) (on-table wvy4) (on bfv2 nsi1) (clear ovb3) (clear xgc5)", "(on ovb3 wvy4) (clear bfv2) (on-table nsi1) (holding xgc5) (on-table wvy4) (on bfv2 nsi1) (clear ovb3)", "(on ovb3 wvy4) (arm-empty) (on-table nsi1) (on xgc5 bfv2) (on-table wvy4) (on bfv2 nsi1) (clear ovb3) (clear xgc5)", "(on-table nsi1) (on xgc5 bfv2) (clear wvy4) (on-table wvy4) (on bfv2 nsi1) (holding ovb3) (clear xgc5)", "(arm-empty) (on xgc5 bfv2) (clear wvy4) (on bfv2 nsi1) (clear xgc5) (on-table nsi1) (on-table wvy4) (clear ovb3) (on-table ovb3)" ]

[ [ "stack pms4 auv3" ], [ "unstack fiz5 jay1" ], [ "put-down fiz5" ], [ "unstack pms4 auv3" ], [ "put-down pms4" ], [ "unstack jay1 tqi2" ], [ "stack jay1 pms4" ], [ "pick-up fiz5" ], [ "stack fiz5 tqi2" ], [ "pick-up auv3" ], [ "stack auv3 fiz5" ] ]

[ "(arm-empty) (on-table tqi2) (clear pms4) (on fiz5 jay1) (on pms4 auv3) (on jay1 tqi2) (on-table auv3) (clear fiz5)", "(on-table tqi2) (clear pms4) (on pms4 auv3) (holding fiz5) (on jay1 tqi2) (clear jay1) (on-table auv3)", "(arm-empty) (on-table tqi2) (on-table fiz5) (clear pms4) (on jay1 tqi2) (clear fiz5) (on pms4 auv3) (clear jay1) (on-table auv3)", "(on-table tqi2) (on-table fiz5) (holding pms4) (clear auv3) (on jay1 tqi2) (clear jay1) (on-table auv3) (clear fiz5)", "(arm-empty) (on-table tqi2) (on-table fiz5) (clear pms4) (on-table pms4) (clear auv3) (on jay1 tqi2) (clear jay1) (on-table auv3) (clear fiz5)", "(holding jay1) (clear tqi2) (on-table tqi2) (on-table fiz5) (clear pms4) (on-table pms4) (clear auv3) (on-table auv3) (clear fiz5)", "(clear tqi2) (arm-empty) (on-table tqi2) (on-table fiz5) (on-table pms4) (on jay1 pms4) (clear auv3) (clear jay1) (on-table auv3) (clear fiz5)", "(clear tqi2) (on-table tqi2) (holding fiz5) (on-table pms4) (on jay1 pms4) (clear auv3) (clear jay1) (on-table auv3)", "(arm-empty) (on-table tqi2) (on fiz5 tqi2) (on-table pms4) (on jay1 pms4) (clear auv3) (clear jay1) (on-table auv3) (clear fiz5)", "(on-table tqi2) (on fiz5 tqi2) (on-table pms4) (on jay1 pms4) (holding auv3) (clear jay1) (clear fiz5)", "(on auv3 fiz5) (arm-empty) (on-table tqi2) (on fiz5 tqi2) (on-table pms4) (on jay1 pms4) (clear auv3) (clear jay1)" ]

[ [ "stack uju1 dba3" ], [ "pick-up rsc4" ], [ "stack rsc4 uju1" ] ]

[ "(on dba3 edc5) (on uju1 dba3) (arm-empty) (on-table zds2) (on edc5 zds2) (clear rsc4) (on-table rsc4) (clear uju1)", "(on dba3 edc5) (on uju1 dba3) (on-table zds2) (holding rsc4) (on edc5 zds2) (clear uju1)", "(on dba3 edc5) (on uju1 dba3) (on rsc4 uju1) (on-table zds2) (arm-empty) (on edc5 zds2) (clear rsc4)" ]

[ [ "unstack ecb5 jvs1" ], [ "stack ecb5 qwt4" ], [ "unstack jvs1 qnv3" ], [ "put-down jvs1" ], [ "unstack ecb5 qwt4" ], [ "put-down ecb5" ], [ "pick-up qwt4" ] ]

[ "(on jvs1 qnv3) (on-table lyv2) (on qnv3 lyv2) (clear qwt4) (holding ecb5) (on-table qwt4) (clear jvs1)", "(on jvs1 qnv3) (on ecb5 qwt4) (on-table lyv2) (arm-empty) (on qnv3 lyv2) (on-table qwt4) (clear jvs1) (clear ecb5)", "(holding jvs1) (on ecb5 qwt4) (on-table lyv2) (on qnv3 lyv2) (on-table qwt4) (clear qnv3) (clear ecb5)", "(arm-empty) (on ecb5 qwt4) (on-table lyv2) (clear ecb5) (on-table jvs1) (on qnv3 lyv2) (on-table qwt4) (clear qnv3) (clear jvs1)", "(on-table lyv2) (on-table jvs1) (on qnv3 lyv2) (clear qwt4) (holding ecb5) (on-table qwt4) (clear qnv3) (clear jvs1)", "(arm-empty) (on-table lyv2) (on-table ecb5) (on-table jvs1) (on qnv3 lyv2) (clear qwt4) (on-table qwt4) (clear qnv3) (clear jvs1) (clear ecb5)", "(on-table lyv2) (on-table ecb5) (on-table jvs1) (holding qwt4) (on qnv3 lyv2) (clear qnv3) (clear jvs1) (clear ecb5)" ]

[ [ "unstack oul3 smb1" ], [ "stack oul3 ust5" ], [ "unstack smb1 cnu4" ], [ "stack smb1 oul3" ], [ "pick-up fuf2" ], [ "stack fuf2 cnu4" ], [ "unstack smb1 oul3" ], [ "stack smb1 fuf2" ] ]

[ "(clear fuf2) (on-table fuf2) (on-table ust5) (on-table cnu4) (on smb1 cnu4) (holding oul3) (clear smb1) (clear ust5)", "(clear fuf2) (on oul3 ust5) (arm-empty) (on-table fuf2) (on-table ust5) (on-table cnu4) (on smb1 cnu4) (clear oul3) (clear smb1)", "(holding smb1) (clear fuf2) (on oul3 ust5) (on-table fuf2) (on-table ust5) (clear cnu4) (on-table cnu4) (clear oul3)", "(clear fuf2) (on oul3 ust5) (on smb1 oul3) (on-table fuf2) (on-table ust5) (arm-empty) (clear cnu4) (on-table cnu4) (clear smb1)", "(on oul3 ust5) (on smb1 oul3) (on-table ust5) (clear cnu4) (on-table cnu4) (holding fuf2) (clear smb1)", "(on oul3 ust5) (on smb1 oul3) (clear fuf2) (arm-empty) (on-table ust5) (on-table cnu4) (on fuf2 cnu4) (clear smb1)", "(holding smb1) (on oul3 ust5) (clear fuf2) (on-table ust5) (on-table cnu4) (on fuf2 cnu4) (clear oul3)", "(on oul3 ust5) (arm-empty) (on-table ust5) (on-table cnu4) (on fuf2 cnu4) (clear oul3) (on smb1 fuf2) (clear smb1)" ]

[ [ "put-down cst2" ], [ "unstack snb4 uns5" ], [ "stack snb4 cpd1" ], [ "pick-up uns5" ], [ "stack uns5 yui3" ], [ "pick-up cst2" ], [ "stack cst2 uns5" ], [ "unstack snb4 cpd1" ], [ "put-down snb4" ], [ "unstack cst2 uns5" ], [ "stack cst2 cpd1" ], [ "unstack uns5 yui3" ] ]

[ "(clear cst2) (arm-empty) (on-table cst2) (on-table uns5) (on-table cpd1) (on snb4 uns5) (clear snb4) (clear yui3) (clear cpd1) (on-table yui3)", "(clear cst2) (on-table cst2) (on-table uns5) (on-table cpd1) (holding snb4) (clear yui3) (clear cpd1) (on-table yui3) (clear uns5)", "(clear cst2) (on snb4 cpd1) (arm-empty) (on-table cst2) (on-table uns5) (on-table cpd1) (clear snb4) (clear yui3) (on-table yui3) (clear uns5)", "(clear cst2) (on snb4 cpd1) (on-table cst2) (on-table cpd1) (clear snb4) (holding uns5) (clear yui3) (on-table yui3)", "(clear cst2) (on snb4 cpd1) (arm-empty) (on-table cst2) (on-table cpd1) (clear snb4) (on uns5 yui3) (on-table yui3) (clear uns5)", "(on snb4 cpd1) (on-table cpd1) (clear snb4) (on uns5 yui3) (holding cst2) (on-table yui3) (clear uns5)", "(clear cst2) (on snb4 cpd1) (arm-empty) (on-table cpd1) (clear snb4) (on uns5 yui3) (on cst2 uns5) (on-table yui3)", "(clear cst2) (on-table cpd1) (holding snb4) (on uns5 yui3) (on cst2 uns5) (clear cpd1) (on-table yui3)", "(arm-empty) (clear snb4) (on uns5 yui3) (on cst2 uns5) (clear cst2) (on-table cpd1) (on-table snb4) (clear cpd1) (on-table yui3)", "(on-table cpd1) (clear snb4) (on uns5 yui3) (on-table snb4) (holding cst2) (clear cpd1) (on-table yui3) (clear uns5)", "(clear cst2) (arm-empty) (on-table cpd1) (clear snb4) (on uns5 yui3) (on-table snb4) (on cst2 cpd1) (on-table yui3) (clear uns5)", "(clear cst2) (on-table cpd1) (clear snb4) (holding uns5) (on-table snb4) (on cst2 cpd1) (clear yui3) (on-table yui3)" ]

[ [ "put-down wrk5" ], [ "unstack vcg2 qwg1" ], [ "put-down vcg2" ], [ "pick-up wrk5" ], [ "stack wrk5 vcg2" ], [ "unstack qwg1 oon3" ], [ "stack qwg1 wrk5" ], [ "unstack oon3 tzg4" ], [ "stack oon3 qwg1" ] ]

[ "(on oon3 tzg4) (clear vcg2) (on qwg1 oon3) (arm-empty) (on-table tzg4) (on-table wrk5) (on vcg2 qwg1) (clear wrk5)", "(on oon3 tzg4) (on qwg1 oon3) (on-table wrk5) (on-table tzg4) (holding vcg2) (clear qwg1) (clear wrk5)", "(on qwg1 oon3) (arm-empty) (on-table vcg2) (on-table wrk5) (clear wrk5) (on oon3 tzg4) (clear vcg2) (on-table tzg4) (clear qwg1)", "(on oon3 tzg4) (clear vcg2) (on qwg1 oon3) (on-table vcg2) (holding wrk5) (on-table tzg4) (clear qwg1)", "(on oon3 tzg4) (on qwg1 oon3) (arm-empty) (on-table vcg2) (on wrk5 vcg2) (on-table tzg4) (clear qwg1) (clear wrk5)", "(holding qwg1) (on oon3 tzg4) (on-table vcg2) (on wrk5 vcg2) (on-table tzg4) (clear oon3) (clear wrk5)", "(on oon3 tzg4) (on qwg1 wrk5) (arm-empty) (on-table vcg2) (on wrk5 vcg2) (on-table tzg4) (clear oon3) (clear qwg1)", "(on qwg1 wrk5) (on-table vcg2) (on wrk5 vcg2) (clear tzg4) (on-table tzg4) (holding oon3) (clear qwg1)", "(on qwg1 wrk5) (arm-empty) (on-table vcg2) (on wrk5 vcg2) (clear tzg4) (on-table tzg4) (on oon3 qwg1) (clear oon3)" ]

[ [ "unstack rzu1 vow2" ], [ "stack rzu1 fta3" ], [ "unstack vow2 hut5" ], [ "stack vow2 rzu1" ] ]

[ "(holding rzu1) (clear vow2) (on-table hut5) (clear eqi4) (on-table eqi4) (on vow2 hut5) (clear fta3) (on-table fta3)", "(clear vow2) (on rzu1 fta3) (arm-empty) (on-table hut5) (clear eqi4) (on-table eqi4) (on vow2 hut5) (clear rzu1) (on-table fta3)", "(on rzu1 fta3) (on-table hut5) (clear eqi4) (on-table eqi4) (holding vow2) (clear rzu1) (on-table fta3) (clear hut5)", "(clear vow2) (on rzu1 fta3) (arm-empty) (on-table hut5) (clear eqi4) (on-table eqi4) (on vow2 rzu1) (on-table fta3) (clear hut5)" ]

[ [ "pick-up fze5" ], [ "stack fze5 nvv1" ], [ "pick-up rst4" ], [ "stack rst4 moq2" ], [ "pick-up qcg3" ], [ "stack qcg3 fze5" ], [ "unstack rst4 moq2" ], [ "stack rst4 qcg3" ] ]

[ "(clear moq2) (on-table moq2) (on-table nvv1) (clear rst4) (holding fze5) (on-table rst4) (clear qcg3) (clear nvv1) (on-table qcg3)", "(clear moq2) (arm-empty) (on-table moq2) (on-table nvv1) (clear rst4) (on fze5 nvv1) (on-table rst4) (clear qcg3) (on-table qcg3) (clear fze5)", "(clear moq2) (on-table moq2) (on-table nvv1) (holding rst4) (on fze5 nvv1) (clear qcg3) (on-table qcg3) (clear fze5)", "(arm-empty) (on-table moq2) (on-table nvv1) (clear rst4) (on fze5 nvv1) (on rst4 moq2) (clear qcg3) (on-table qcg3) (clear fze5)", "(on-table moq2) (on-table nvv1) (clear rst4) (on fze5 nvv1) (on rst4 moq2) (holding qcg3) (clear fze5)", "(on qcg3 fze5) (arm-empty) (on-table moq2) (on-table nvv1) (clear rst4) (on fze5 nvv1) (on rst4 moq2) (clear qcg3)", "(on qcg3 fze5) (clear moq2) (on-table moq2) (on-table nvv1) (holding rst4) (on fze5 nvv1) (clear qcg3)", "(on qcg3 fze5) (arm-empty) (on-table moq2) (clear rst4) (clear moq2) (on-table nvv1) (on rst4 qcg3) (on fze5 nvv1)" ]

[ [ "put-down afe1" ], [ "unstack njm5 hak4" ], [ "put-down njm5" ], [ "unstack hak4 eag3" ], [ "stack hak4 njm5" ], [ "unstack eag3 dut2" ], [ "put-down eag3" ], [ "unstack hak4 njm5" ], [ "stack hak4 dut2" ], [ "pick-up afe1" ], [ "stack afe1 eag3" ], [ "unstack hak4 dut2" ], [ "stack hak4 njm5" ] ]

[ "(arm-empty) (on njm5 hak4) (on-table dut2) (clear njm5) (on-table afe1) (on eag3 dut2) (on hak4 eag3) (clear afe1)", "(on-table dut2) (on-table afe1) (on eag3 dut2) (clear hak4) (on hak4 eag3) (holding njm5) (clear afe1)", "(arm-empty) (on-table dut2) (on-table njm5) (clear hak4) (clear njm5) (on-table afe1) (on eag3 dut2) (on hak4 eag3) (clear afe1)", "(on-table dut2) (on-table njm5) (on-table afe1) (holding hak4) (on eag3 dut2) (clear eag3) (clear afe1) (clear njm5)", "(arm-empty) (on-table dut2) (on-table njm5) (on-table afe1) (on hak4 njm5) (on eag3 dut2) (clear hak4) (clear eag3) (clear afe1)", "(clear dut2) (on-table dut2) (on-table njm5) (on-table afe1) (on hak4 njm5) (clear hak4) (holding eag3) (clear afe1)", "(clear dut2) (arm-empty) (on-table dut2) (on-table njm5) (on-table afe1) (on hak4 njm5) (clear hak4) (clear eag3) (clear afe1) (on-table eag3)", "(clear dut2) (on-table dut2) (on-table njm5) (on-table afe1) (holding hak4) (clear eag3) (clear afe1) (on-table eag3) (clear njm5)", "(arm-empty) (on-table dut2) (on-table njm5) (on-table afe1) (clear hak4) (on hak4 dut2) (clear eag3) (clear afe1) (on-table eag3) (clear njm5)", "(holding afe1) (on-table dut2) (on-table njm5) (clear hak4) (on hak4 dut2) (clear eag3) (on-table eag3) (clear njm5)", "(on afe1 eag3) (arm-empty) (on-table dut2) (on-table njm5) (clear hak4) (on hak4 dut2) (clear afe1) (on-table eag3) (clear njm5)", "(clear dut2) (on afe1 eag3) (on-table dut2) (on-table njm5) (holding hak4) (clear afe1) (on-table eag3) (clear njm5)", "(clear dut2) (on afe1 eag3) (arm-empty) (on-table dut2) (on-table njm5) (on hak4 njm5) (clear hak4) (clear afe1) (on-table eag3)" ]

[ [ "put-down biz2" ], [ "unstack cgq3 nus5" ], [ "stack cgq3 biz2" ], [ "unstack nus5 una4" ], [ "stack nus5 cgq3" ], [ "unstack una4 cvg1" ], [ "stack una4 nus5" ], [ "pick-up cvg1" ] ]

[ "(on cgq3 nus5) (on una4 cvg1) (on nus5 una4) (on-table biz2) (clear biz2) (on-table cvg1) (arm-empty) (clear cgq3)", "(on una4 cvg1) (on nus5 una4) (on-table biz2) (clear biz2) (on-table cvg1) (holding cgq3) (clear nus5)", "(on una4 cvg1) (on nus5 una4) (on-table biz2) (arm-empty) (on-table cvg1) (on cgq3 biz2) (clear cgq3) (clear nus5)", "(on una4 cvg1) (on-table biz2) (on-table cvg1) (on cgq3 biz2) (clear una4) (holding nus5) (clear cgq3)", "(on una4 cvg1) (arm-empty) (on-table biz2) (on-table cvg1) (on cgq3 biz2) (clear una4) (on nus5 cgq3) (clear nus5)", "(on-table biz2) (on-table cvg1) (holding una4) (on cgq3 biz2) (on nus5 cgq3) (clear cvg1) (clear nus5)", "(arm-empty) (on-table biz2) (on una4 nus5) (on-table cvg1) (on cgq3 biz2) (clear una4) (on nus5 cgq3) (clear cvg1)", "(holding cvg1) (on-table biz2) (on una4 nus5) (on cgq3 biz2) (clear una4) (on nus5 cgq3)" ]

[ [ "stack wqh1 ufk5" ], [ "pick-up wti2" ], [ "stack wti2 wqh1" ], [ "unstack zhu3 mwv4" ], [ "put-down zhu3" ], [ "pick-up mwv4" ] ]

[ "(on zhu3 mwv4) (clear wti2) (on wqh1 ufk5) (arm-empty) (on-table wti2) (on-table ufk5) (on-table mwv4) (clear zhu3) (clear wqh1)", "(on zhu3 mwv4) (on wqh1 ufk5) (on-table ufk5) (on-table mwv4) (holding wti2) (clear zhu3) (clear wqh1)", "(on zhu3 mwv4) (on wqh1 ufk5) (clear wti2) (arm-empty) (on-table ufk5) (on-table mwv4) (on wti2 wqh1) (clear zhu3)", "(on wqh1 ufk5) (clear wti2) (on-table ufk5) (clear mwv4) (on-table mwv4) (on wti2 wqh1) (holding zhu3)", "(on wqh1 ufk5) (arm-empty) (on-table ufk5) (clear mwv4) (on wti2 wqh1) (clear wti2) (on-table mwv4) (clear zhu3) (on-table zhu3)", "(on wqh1 ufk5) (clear wti2) (on-table ufk5) (holding mwv4) (on wti2 wqh1) (clear zhu3) (on-table zhu3)" ]

[ [ "unstack qkc5 vrj3" ], [ "put-down qkc5" ], [ "unstack vrj3 eph1" ], [ "stack vrj3 gxy2" ], [ "pick-up qkc5" ], [ "stack qkc5 eph1" ], [ "unstack vrj3 gxy2" ], [ "stack vrj3 qkc5" ], [ "pick-up gxy2" ] ]

[ "(clear gxy2) (on-table gxy2) (holding qkc5) (on-table saa4) (on eph1 saa4) (on vrj3 eph1) (clear vrj3)", "(arm-empty) (on-table gxy2) (on-table qkc5) (on vrj3 eph1) (clear qkc5) (clear gxy2) (on-table saa4) (on eph1 saa4) (clear vrj3)", "(clear gxy2) (on-table gxy2) (on-table qkc5) (on-table saa4) (on eph1 saa4) (holding vrj3) (clear eph1) (clear qkc5)", "(arm-empty) (on-table gxy2) (on-table qkc5) (on vrj3 gxy2) (on-table saa4) (on eph1 saa4) (clear vrj3) (clear eph1) (clear qkc5)", "(on-table gxy2) (on vrj3 gxy2) (holding qkc5) (on-table saa4) (on eph1 saa4) (clear vrj3) (clear eph1)", "(arm-empty) (on-table gxy2) (on vrj3 gxy2) (on qkc5 eph1) (on-table saa4) (on eph1 saa4) (clear vrj3) (clear qkc5)", "(clear gxy2) (on-table gxy2) (on qkc5 eph1) (on-table saa4) (on eph1 saa4) (holding vrj3) (clear qkc5)", "(clear gxy2) (on vrj3 qkc5) (arm-empty) (on-table gxy2) (on qkc5 eph1) (on-table saa4) (on eph1 saa4) (clear vrj3)", "(on vrj3 qkc5) (holding gxy2) (on qkc5 eph1) (on-table saa4) (on eph1 saa4) (clear vrj3)" ]

[ [ "put-down ven3" ], [ "unstack hya2 zvm1" ], [ "stack hya2 ven3" ], [ "unstack zvm1 gru4" ], [ "put-down zvm1" ], [ "unstack hya2 ven3" ], [ "put-down hya2" ], [ "pick-up zvm1" ] ]

[ "(arm-empty) (on-table bcn5) (on gru4 bcn5) (on hya2 zvm1) (clear hya2) (on zvm1 gru4) (clear ven3) (on-table ven3)", "(on-table bcn5) (on gru4 bcn5) (holding hya2) (on zvm1 gru4) (clear ven3) (clear zvm1) (on-table ven3)", "(clear hya2) (arm-empty) (on-table bcn5) (on gru4 bcn5) (on zvm1 gru4) (on hya2 ven3) (clear zvm1) (on-table ven3)", "(holding zvm1) (clear hya2) (on-table bcn5) (on gru4 bcn5) (clear gru4) (on hya2 ven3) (on-table ven3)", "(arm-empty) (on-table bcn5) (on gru4 bcn5) (clear gru4) (clear hya2) (on-table zvm1) (on hya2 ven3) (clear zvm1) (on-table ven3)", "(on-table bcn5) (on gru4 bcn5) (on-table zvm1) (clear gru4) (holding hya2) (clear ven3) (clear zvm1) (on-table ven3)", "(clear hya2) (arm-empty) (on-table hya2) (on-table bcn5) (on gru4 bcn5) (on-table zvm1) (clear gru4) (clear ven3) (clear zvm1) (on-table ven3)", "(holding zvm1) (clear hya2) (on-table hya2) (on-table bcn5) (on gru4 bcn5) (clear gru4) (clear ven3) (on-table ven3)" ]

[ [ "put-down iko5" ], [ "unstack ppa1 sbv4" ], [ "stack ppa1 iko5" ], [ "pick-up sbv4" ], [ "stack sbv4 nlu3" ], [ "unstack ppa1 iko5" ], [ "stack ppa1 sbv4" ], [ "pick-up iko5" ], [ "stack iko5 sru2" ], [ "unstack ppa1 sbv4" ], [ "put-down ppa1" ], [ "unstack iko5 sru2" ], [ "stack iko5 sbv4" ], [ "pick-up ppa1" ] ]

[ "(clear sru2) (arm-empty) (on-table sru2) (on-table iko5) (on-table sbv4) (on ppa1 sbv4) (clear nlu3) (clear ppa1) (on-table nlu3) (clear iko5)", "(holding ppa1) (clear sru2) (on-table sru2) (on-table iko5) (clear sbv4) (on-table sbv4) (clear nlu3) (on-table nlu3) (clear iko5)", "(on ppa1 iko5) (clear sru2) (arm-empty) (on-table sru2) (on-table iko5) (clear sbv4) (on-table sbv4) (clear nlu3) (clear ppa1) (on-table nlu3)", "(on ppa1 iko5) (clear sru2) (on-table sru2) (on-table iko5) (holding sbv4) (clear nlu3) (clear ppa1) (on-table nlu3)", "(on ppa1 iko5) (clear sru2) (arm-empty) (on-table sru2) (on-table iko5) (clear sbv4) (on sbv4 nlu3) (clear ppa1) (on-table nlu3)", "(holding ppa1) (clear sru2) (on-table sru2) (on-table iko5) (clear sbv4) (on sbv4 nlu3) (on-table nlu3) (clear iko5)", "(clear sru2) (arm-empty) (on-table sru2) (on-table iko5) (on sbv4 nlu3) (on ppa1 sbv4) (clear ppa1) (on-table nlu3) (clear iko5)", "(clear sru2) (on-table sru2) (on sbv4 nlu3) (holding iko5) (on ppa1 sbv4) (clear ppa1) (on-table nlu3)", "(arm-empty) (on-table sru2) (on iko5 sru2) (on sbv4 nlu3) (on ppa1 sbv4) (clear ppa1) (on-table nlu3) (clear iko5)", "(holding ppa1) (on-table sru2) (on iko5 sru2) (clear sbv4) (on sbv4 nlu3) (on-table nlu3) (clear iko5)", "(arm-empty) (on-table sru2) (on iko5 sru2) (clear sbv4) (clear iko5) (on-table ppa1) (on sbv4 nlu3) (clear ppa1) (on-table nlu3)", "(clear sru2) (on-table sru2) (on-table ppa1) (clear sbv4) (on sbv4 nlu3) (holding iko5) (clear ppa1) (on-table nlu3)", "(clear sru2) (arm-empty) (on iko5 sbv4) (on-table sru2) (on-table ppa1) (on sbv4 nlu3) (clear ppa1) (on-table nlu3) (clear iko5)", "(holding ppa1) (clear sru2) (on iko5 sbv4) (on-table sru2) (on sbv4 nlu3) (on-table nlu3) (clear iko5)" ]

[ [ "unstack wdd3 rmv4" ], [ "put-down wdd3" ], [ "unstack rmv4 lqa2" ], [ "put-down rmv4" ], [ "unstack lqa2 bsj5" ], [ "stack lqa2 rmv4" ], [ "unstack bsj5 fyp1" ], [ "put-down bsj5" ] ]

[ "(clear rmv4) (on lqa2 bsj5) (on-table fyp1) (on bsj5 fyp1) (on rmv4 lqa2) (holding wdd3)", "(on rmv4 lqa2) (on bsj5 fyp1) (arm-empty) (on-table fyp1) (on lqa2 bsj5) (clear wdd3) (clear rmv4) (on-table wdd3)", "(clear lqa2) (on-table fyp1) (holding rmv4) (on bsj5 fyp1) (on lqa2 bsj5) (clear wdd3) (on-table wdd3)", "(arm-empty) (clear rmv4) (on lqa2 bsj5) (clear lqa2) (on-table fyp1) (on bsj5 fyp1) (on-table rmv4) (clear wdd3) (on-table wdd3)", "(on-table fyp1) (clear rmv4) (on bsj5 fyp1) (on-table rmv4) (holding lqa2) (clear wdd3) (on-table wdd3) (clear bsj5)", "(clear lqa2) (arm-empty) (on-table fyp1) (on bsj5 fyp1) (on-table rmv4) (on lqa2 rmv4) (clear wdd3) (on-table wdd3) (clear bsj5)", "(clear lqa2) (on-table fyp1) (holding bsj5) (on-table rmv4) (on lqa2 rmv4) (clear wdd3) (clear fyp1) (on-table wdd3)", "(clear lqa2) (arm-empty) (on-table bsj5) (on-table fyp1) (on-table rmv4) (on lqa2 rmv4) (clear wdd3) (clear fyp1) (on-table wdd3) (clear bsj5)" ]

[ [ "pick-up yic4" ], [ "stack yic4 ywb3" ], [ "unstack jtm2 drd5" ], [ "put-down jtm2" ], [ "unstack yic4 ywb3" ], [ "stack yic4 drd5" ], [ "pick-up jtm2" ], [ "stack jtm2 ywb3" ], [ "unstack yic4 drd5" ], [ "stack yic4 jtm2" ], [ "unstack drd5 xyu1" ], [ "put-down drd5" ], [ "unstack yic4 jtm2" ], [ "put-down yic4" ] ]

[ "(clear jtm2) (on-table xyu1) (holding yic4) (on drd5 xyu1) (on jtm2 drd5) (clear ywb3) (on-table ywb3)", "(arm-empty) (clear yic4) (on jtm2 drd5) (clear jtm2) (on-table xyu1) (on yic4 ywb3) (on drd5 xyu1) (on-table ywb3)", "(on-table xyu1) (clear yic4) (on yic4 ywb3) (on drd5 xyu1) (holding jtm2) (on-table ywb3) (clear drd5)", "(arm-empty) (on-table jtm2) (clear yic4) (clear drd5) (clear jtm2) (on-table xyu1) (on yic4 ywb3) (on drd5 xyu1) (on-table ywb3)", "(clear jtm2) (on-table jtm2) (on-table xyu1) (holding yic4) (on drd5 xyu1) (clear ywb3) (on-table ywb3) (clear drd5)", "(clear jtm2) (arm-empty) (on-table jtm2) (on yic4 drd5) (on-table xyu1) (clear yic4) (on drd5 xyu1) (clear ywb3) (on-table ywb3)", "(on yic4 drd5) (on-table xyu1) (clear yic4) (on drd5 xyu1) (holding jtm2) (clear ywb3) (on-table ywb3)", "(clear jtm2) (arm-empty) (on yic4 drd5) (on-table xyu1) (clear yic4) (on drd5 xyu1) (on jtm2 ywb3) (on-table ywb3)", "(clear jtm2) (on-table xyu1) (holding yic4) (on drd5 xyu1) (on jtm2 ywb3) (on-table ywb3) (clear drd5)", "(arm-empty) (on-table xyu1) (clear yic4) (on drd5 xyu1) (on yic4 jtm2) (on jtm2 ywb3) (on-table ywb3) (clear drd5)", "(on-table xyu1) (clear yic4) (holding drd5) (on yic4 jtm2) (on jtm2 ywb3) (clear xyu1) (on-table ywb3)", "(arm-empty) (on-table drd5) (clear yic4) (clear drd5) (on-table xyu1) (on yic4 jtm2) (on jtm2 ywb3) (clear xyu1) (on-table ywb3)", "(clear jtm2) (on-table drd5) (on-table xyu1) (holding yic4) (on jtm2 ywb3) (clear xyu1) (on-table ywb3) (clear drd5)", "(clear jtm2) (arm-empty) (on-table drd5) (on-table xyu1) (clear yic4) (on-table yic4) (on jtm2 ywb3) (clear xyu1) (on-table ywb3) (clear drd5)" ]

[ [ "put-down hmw2" ], [ "pick-up amk1" ], [ "stack amk1 ygb3" ], [ "pick-up vay5" ], [ "stack vay5 hmw2" ], [ "unstack amk1 ygb3" ], [ "put-down amk1" ], [ "unstack ygb3 mcn4" ] ]

[ "(on ygb3 mcn4) (clear hmw2) (arm-empty) (on-table hmw2) (on-table vay5) (on-table amk1) (on-table mcn4) (clear ygb3) (clear amk1) (clear vay5)", "(holding amk1) (on ygb3 mcn4) (clear hmw2) (on-table hmw2) (on-table vay5) (on-table mcn4) (clear ygb3) (clear vay5)", "(on ygb3 mcn4) (clear hmw2) (on amk1 ygb3) (arm-empty) (on-table hmw2) (on-table vay5) (on-table mcn4) (clear amk1) (clear vay5)", "(on ygb3 mcn4) (clear hmw2) (on amk1 ygb3) (on-table hmw2) (holding vay5) (on-table mcn4) (clear amk1)", "(on ygb3 mcn4) (on amk1 ygb3) (arm-empty) (on-table hmw2) (on vay5 hmw2) (on-table mcn4) (clear amk1) (clear vay5)", "(holding amk1) (on ygb3 mcn4) (on-table hmw2) (on vay5 hmw2) (on-table mcn4) (clear ygb3) (clear vay5)", "(arm-empty) (on-table hmw2) (on vay5 hmw2) (clear vay5) (on ygb3 mcn4) (on-table amk1) (on-table mcn4) (clear ygb3) (clear amk1)", "(on-table hmw2) (on-table amk1) (on vay5 hmw2) (clear mcn4) (on-table mcn4) (holding ygb3) (clear amk1) (clear vay5)" ]

[ [ "unstack lha2 xyo3" ], [ "put-down lha2" ], [ "unstack xyo3 zjk5" ], [ "stack xyo3 lha2" ], [ "pick-up acp1" ], [ "stack acp1 xyo3" ], [ "unstack zjk5 jdw4" ], [ "stack zjk5 acp1" ], [ "pick-up jdw4" ], [ "stack jdw4 zjk5" ] ]

[ "(on xyo3 zjk5) (on zjk5 jdw4) (on-table acp1) (on-table jdw4) (holding lha2) (clear xyo3) (clear acp1)", "(on xyo3 zjk5) (arm-empty) (on zjk5 jdw4) (on-table lha2) (clear lha2) (on-table acp1) (on-table jdw4) (clear xyo3) (clear acp1)", "(on zjk5 jdw4) (on-table lha2) (clear lha2) (on-table acp1) (on-table jdw4) (holding xyo3) (clear acp1) (clear zjk5)", "(arm-empty) (on zjk5 jdw4) (on-table lha2) (on-table acp1) (on xyo3 lha2) (on-table jdw4) (clear xyo3) (clear acp1) (clear zjk5)", "(holding acp1) (on zjk5 jdw4) (on-table lha2) (on xyo3 lha2) (on-table jdw4) (clear xyo3) (clear zjk5)", "(on acp1 xyo3) (on zjk5 jdw4) (on-table lha2) (arm-empty) (on xyo3 lha2) (on-table jdw4) (clear acp1) (clear zjk5)", "(on acp1 xyo3) (on-table lha2) (on xyo3 lha2) (clear jdw4) (holding zjk5) (on-table jdw4) (clear acp1)", "(on acp1 xyo3) (arm-empty) (on-table lha2) (on xyo3 lha2) (clear jdw4) (on zjk5 acp1) (on-table jdw4) (clear zjk5)", "(on acp1 xyo3) (on-table lha2) (holding jdw4) (on xyo3 lha2) (on zjk5 acp1) (clear zjk5)", "(on acp1 xyo3) (arm-empty) (on-table lha2) (on jdw4 zjk5) (on xyo3 lha2) (clear jdw4) (on zjk5 acp1)" ]

[ [ "unstack fow4 erj2" ], [ "stack fow4 thg1" ], [ "unstack erj2 dbf3" ], [ "put-down erj2" ], [ "pick-up dbf3" ], [ "stack dbf3 erj2" ], [ "unstack fow4 thg1" ], [ "stack fow4 dbf3" ], [ "pick-up thg1" ], [ "stack thg1 fow4" ] ]

[ "(holding fow4) (clear erj2) (on-table thg1) (on erj2 dbf3) (clear thg1) (on-table dbf3)", "(clear erj2) (on fow4 thg1) (arm-empty) (on-table thg1) (clear fow4) (on erj2 dbf3) (on-table dbf3)", "(on fow4 thg1) (clear fow4) (on-table thg1) (holding erj2) (clear dbf3) (on-table dbf3)", "(on fow4 thg1) (arm-empty) (on-table erj2) (clear fow4) (clear erj2) (on-table thg1) (clear dbf3) (on-table dbf3)", "(clear erj2) (on fow4 thg1) (on-table erj2) (on-table thg1) (clear fow4) (holding dbf3)", "(on fow4 thg1) (arm-empty) (on-table erj2) (on-table thg1) (on dbf3 erj2) (clear fow4) (clear dbf3)", "(on-table erj2) (holding fow4) (on-table thg1) (on dbf3 erj2) (clear dbf3) (clear thg1)", "(arm-empty) (on-table erj2) (on-table thg1) (on dbf3 erj2) (clear fow4) (on fow4 dbf3) (clear thg1)", "(holding thg1) (on fow4 dbf3) (on-table erj2) (on dbf3 erj2) (clear fow4)", "(on fow4 dbf3) (arm-empty) (on-table erj2) (on thg1 fow4) (on dbf3 erj2) (clear thg1)" ]

[ [ "unstack uqu1 wiw2" ], [ "put-down uqu1" ], [ "unstack wiw2 czj3" ], [ "put-down wiw2" ], [ "unstack czj3 nwl4" ], [ "stack czj3 wiw2" ], [ "pick-up uqu1" ], [ "stack uqu1 czj3" ], [ "pick-up nwl4" ], [ "stack nwl4 uqu1" ] ]

[ "(holding uqu1) (on czj3 nwl4) (on-table nwl4) (clear wiw2) (on wiw2 czj3)", "(on czj3 nwl4) (on-table nwl4) (clear wiw2) (arm-empty) (on-table uqu1) (on wiw2 czj3) (clear uqu1)", "(on czj3 nwl4) (on-table uqu1) (on-table nwl4) (holding wiw2) (clear czj3) (clear uqu1)", "(arm-empty) (on-table wiw2) (on czj3 nwl4) (clear wiw2) (on-table uqu1) (on-table nwl4) (clear czj3) (clear uqu1)", "(clear wiw2) (on-table wiw2) (on-table uqu1) (clear nwl4) (on-table nwl4) (holding czj3) (clear uqu1)", "(arm-empty) (on-table wiw2) (on-table uqu1) (on czj3 wiw2) (clear nwl4) (on-table nwl4) (clear czj3) (clear uqu1)", "(holding uqu1) (on-table wiw2) (on czj3 wiw2) (clear nwl4) (on-table nwl4) (clear czj3)", "(on uqu1 czj3) (arm-empty) (on-table wiw2) (on czj3 wiw2) (clear nwl4) (on-table nwl4) (clear uqu1)", "(on uqu1 czj3) (on-table wiw2) (holding nwl4) (on czj3 wiw2) (clear uqu1)", "(on uqu1 czj3) (on nwl4 uqu1) (on-table wiw2) (arm-empty) (on czj3 wiw2) (clear nwl4)" ]

[ [ "put-down tyk3" ], [ "unstack nco4 xgg2" ], [ "put-down nco4" ], [ "unstack xgg2 min5" ], [ "stack xgg2 tyk3" ], [ "pick-up nco4" ], [ "stack nco4 xgg2" ], [ "unstack min5 lxe1" ], [ "put-down min5" ], [ "pick-up lxe1" ], [ "stack lxe1 nco4" ], [ "pick-up min5" ], [ "stack min5 lxe1" ] ]

[ "(on nco4 xgg2) (on min5 lxe1) (arm-empty) (on-table lxe1) (on xgg2 min5) (clear tyk3) (clear nco4) (on-table tyk3)", "(clear xgg2) (on-table lxe1) (holding nco4) (on min5 lxe1) (on xgg2 min5) (clear tyk3) (on-table tyk3)", "(arm-empty) (clear nco4) (on xgg2 min5) (clear xgg2) (on-table lxe1) (on min5 lxe1) (on-table nco4) (clear tyk3) (on-table tyk3)", "(on-table lxe1) (clear nco4) (on min5 lxe1) (on-table nco4) (holding xgg2) (clear tyk3) (on-table tyk3) (clear min5)", "(clear xgg2) (arm-empty) (on-table lxe1) (clear nco4) (on min5 lxe1) (on-table nco4) (on xgg2 tyk3) (on-table tyk3) (clear min5)", "(clear xgg2) (on-table lxe1) (holding nco4) (on min5 lxe1) (on xgg2 tyk3) (on-table tyk3) (clear min5)", "(arm-empty) (on-table lxe1) (clear nco4) (on min5 lxe1) (on nco4 xgg2) (on xgg2 tyk3) (on-table tyk3) (clear min5)", "(on-table lxe1) (clear nco4) (holding min5) (on nco4 xgg2) (on xgg2 tyk3) (clear lxe1) (on-table tyk3)", "(arm-empty) (on-table min5) (clear nco4) (clear min5) (on-table lxe1) (on nco4 xgg2) (on xgg2 tyk3) (clear lxe1) (on-table tyk3)", "(holding lxe1) (on-table min5) (clear nco4) (on nco4 xgg2) (on xgg2 tyk3) (on-table tyk3) (clear min5)", "(arm-empty) (on-table min5) (on lxe1 nco4) (on nco4 xgg2) (on xgg2 tyk3) (clear lxe1) (on-table tyk3) (clear min5)", "(holding min5) (on lxe1 nco4) (on nco4 xgg2) (on xgg2 tyk3) (clear lxe1) (on-table tyk3)", "(arm-empty) (on min5 lxe1) (on lxe1 nco4) (on nco4 xgg2) (on xgg2 tyk3) (on-table tyk3) (clear min5)" ]

[ [ "put-down xmn4" ], [ "unstack kzu2 qub5" ], [ "put-down kzu2" ], [ "pick-up xmn4" ], [ "stack xmn4 kzu2" ], [ "unstack qub5 gic1" ], [ "stack qub5 xmn4" ], [ "unstack gic1 pvm3" ], [ "put-down gic1" ], [ "unstack qub5 xmn4" ], [ "stack qub5 gic1" ], [ "pick-up pvm3" ], [ "stack pvm3 xmn4" ], [ "unstack qub5 gic1" ] ]

[ "(on gic1 pvm3) (arm-empty) (clear xmn4) (on kzu2 qub5) (clear kzu2) (on qub5 gic1) (on-table xmn4) (on-table pvm3)", "(on gic1 pvm3) (clear xmn4) (on qub5 gic1) (on-table xmn4) (holding kzu2) (on-table pvm3) (clear qub5)", "(on gic1 pvm3) (arm-empty) (on-table kzu2) (clear xmn4) (clear qub5) (clear kzu2) (on qub5 gic1) (on-table xmn4) (on-table pvm3)", "(clear kzu2) (on gic1 pvm3) (on-table kzu2) (holding xmn4) (on qub5 gic1) (on-table pvm3) (clear qub5)", "(on gic1 pvm3) (arm-empty) (on-table kzu2) (clear xmn4) (clear qub5) (on qub5 gic1) (on xmn4 kzu2) (on-table pvm3)", "(on gic1 pvm3) (on-table kzu2) (clear xmn4) (holding qub5) (on xmn4 kzu2) (clear gic1) (on-table pvm3)", "(on gic1 pvm3) (on qub5 xmn4) (on-table kzu2) (arm-empty) (on xmn4 kzu2) (clear gic1) (on-table pvm3) (clear qub5)", "(holding gic1) (on qub5 xmn4) (on-table kzu2) (on xmn4 kzu2) (clear pvm3) (on-table pvm3) (clear qub5)", "(arm-empty) (on qub5 xmn4) (on-table kzu2) (clear qub5) (on-table gic1) (on xmn4 kzu2) (clear pvm3) (clear gic1) (on-table pvm3)", "(on-table kzu2) (on-table gic1) (clear xmn4) (holding qub5) (on xmn4 kzu2) (clear pvm3) (clear gic1) (on-table pvm3)", "(arm-empty) (on-table kzu2) (on-table gic1) (clear xmn4) (on qub5 gic1) (on xmn4 kzu2) (clear pvm3) (on-table pvm3) (clear qub5)", "(on-table kzu2) (on-table gic1) (clear xmn4) (on qub5 gic1) (on xmn4 kzu2) (holding pvm3) (clear qub5)", "(on pvm3 xmn4) (arm-empty) (on-table kzu2) (on-table gic1) (on qub5 gic1) (on xmn4 kzu2) (clear pvm3) (clear qub5)", "(on pvm3 xmn4) (on-table kzu2) (on-table gic1) (holding qub5) (on xmn4 kzu2) (clear pvm3) (clear gic1)" ]

[ [ "unstack nwd3 svt4" ], [ "stack nwd3 rvp5" ], [ "pick-up qoc2" ] ]

[ "(clear qoc2) (on svt4 cha1) (on-table qoc2) (on-table rvp5) (on-table cha1) (clear svt4) (holding nwd3) (clear rvp5)", "(clear qoc2) (on svt4 cha1) (on nwd3 rvp5) (on-table qoc2) (on-table rvp5) (on-table cha1) (arm-empty) (clear svt4) (clear nwd3)", "(on svt4 cha1) (on nwd3 rvp5) (on-table rvp5) (on-table cha1) (clear svt4) (holding qoc2) (clear nwd3)" ]

[ [ "unstack hkn2 eoq5" ], [ "put-down hkn2" ], [ "unstack eoq5 toj4" ], [ "stack eoq5 hkn2" ], [ "unstack toj4 rbj3" ], [ "put-down toj4" ], [ "unstack rbj3 idi1" ], [ "put-down rbj3" ], [ "pick-up idi1" ], [ "stack idi1 eoq5" ], [ "pick-up rbj3" ], [ "stack rbj3 idi1" ], [ "pick-up toj4" ] ]

[ "(on eoq5 toj4) (on rbj3 idi1) (clear eoq5) (on-table idi1) (on toj4 rbj3) (holding hkn2)", "(arm-empty) (on eoq5 toj4) (on-table hkn2) (on rbj3 idi1) (clear eoq5) (clear hkn2) (on-table idi1) (on toj4 rbj3)", "(clear hkn2) (on-table hkn2) (on-table idi1) (clear toj4) (on toj4 rbj3) (holding eoq5) (on rbj3 idi1)", "(arm-empty) (on-table hkn2) (on-table idi1) (on eoq5 hkn2) (clear toj4) (on toj4 rbj3) (on rbj3 idi1) (clear eoq5)", "(on-table hkn2) (on-table idi1) (holding toj4) (on eoq5 hkn2) (on rbj3 idi1) (clear rbj3) (clear eoq5)", "(arm-empty) (on-table hkn2) (on eoq5 hkn2) (clear toj4) (on rbj3 idi1) (clear eoq5) (on-table idi1) (on-table toj4) (clear rbj3)", "(on-table hkn2) (on-table idi1) (on eoq5 hkn2) (clear toj4) (on-table toj4) (holding rbj3) (clear idi1) (clear eoq5)", "(arm-empty) (on-table hkn2) (on-table idi1) (on eoq5 hkn2) (clear toj4) (on-table toj4) (clear rbj3) (clear idi1) (on-table rbj3) (clear eoq5)", "(holding idi1) (on-table hkn2) (on eoq5 hkn2) (clear toj4) (on-table toj4) (clear rbj3) (on-table rbj3) (clear eoq5)", "(on idi1 eoq5) (arm-empty) (on-table hkn2) (on eoq5 hkn2) (clear toj4) (on-table toj4) (clear rbj3) (clear idi1) (on-table rbj3)", "(on idi1 eoq5) (on-table hkn2) (on eoq5 hkn2) (clear toj4) (on-table toj4) (holding rbj3) (clear idi1)", "(on idi1 eoq5) (arm-empty) (on-table hkn2) (on eoq5 hkn2) (clear toj4) (on-table toj4) (on rbj3 idi1) (clear rbj3)", "(on idi1 eoq5) (on-table hkn2) (holding toj4) (on eoq5 hkn2) (on rbj3 idi1) (clear rbj3)" ]

[ [ "pick-up nna4" ], [ "stack nna4 sug3" ], [ "unstack vrf2 ngj5" ], [ "put-down vrf2" ], [ "unstack ngj5 yzc1" ], [ "stack ngj5 nna4" ] ]

[ "(clear vrf2) (on-table yzc1) (holding nna4) (on ngj5 yzc1) (on vrf2 ngj5) (clear sug3) (on-table sug3)", "(arm-empty) (clear nna4) (on vrf2 ngj5) (clear vrf2) (on-table yzc1) (on nna4 sug3) (on ngj5 yzc1) (on-table sug3)", "(on-table yzc1) (clear nna4) (on nna4 sug3) (on ngj5 yzc1) (holding vrf2) (on-table sug3) (clear ngj5)", "(arm-empty) (on-table vrf2) (clear nna4) (clear ngj5) (clear vrf2) (on-table yzc1) (on nna4 sug3) (on ngj5 yzc1) (on-table sug3)", "(clear vrf2) (on-table vrf2) (on-table yzc1) (clear nna4) (on nna4 sug3) (holding ngj5) (clear yzc1) (on-table sug3)", "(clear vrf2) (arm-empty) (on ngj5 nna4) (on-table vrf2) (on-table yzc1) (on nna4 sug3) (clear yzc1) (on-table sug3) (clear ngj5)" ]

[ [ "unstack dil4 pke2" ], [ "stack dil4 itn1" ], [ "unstack pke2 eot5" ], [ "put-down pke2" ] ]

[ "(clear pke2) (on-table itn1) (holding dil4) (on eot5 qxg3) (on pke2 eot5) (clear itn1) (on-table qxg3)", "(clear pke2) (on dil4 itn1) (arm-empty) (on-table itn1) (clear dil4) (on eot5 qxg3) (on pke2 eot5) (on-table qxg3)", "(on dil4 itn1) (on-table itn1) (clear dil4) (on eot5 qxg3) (holding pke2) (on-table qxg3) (clear eot5)", "(on dil4 itn1) (arm-empty) (on-table pke2) (clear dil4) (on eot5 qxg3) (clear eot5) (clear pke2) (on-table itn1) (on-table qxg3)" ]

[ [ "unstack yco3 oks2" ], [ "stack yco3 vul1" ], [ "unstack oks2 beh4" ], [ "put-down oks2" ], [ "unstack yco3 vul1" ], [ "put-down yco3" ], [ "pick-up vul1" ], [ "stack vul1 beh4" ], [ "pick-up oks2" ], [ "stack oks2 vul1" ], [ "pick-up yco3" ], [ "stack yco3 oks2" ] ]

[ "(on oks2 beh4) (clear oks2) (on-table vul1) (on-table beh4) (holding yco3) (clear vul1)", "(clear oks2) (arm-empty) (on-table vul1) (on oks2 beh4) (on-table beh4) (on yco3 vul1) (clear yco3)", "(clear beh4) (on yco3 vul1) (on-table vul1) (on-table beh4) (holding oks2) (clear yco3)", "(arm-empty) (on-table oks2) (clear beh4) (on yco3 vul1) (clear oks2) (on-table vul1) (on-table beh4) (clear yco3)", "(clear oks2) (on-table oks2) (on-table vul1) (clear beh4) (on-table beh4) (holding yco3) (clear vul1)", "(arm-empty) (on-table oks2) (clear beh4) (clear oks2) (on-table vul1) (on-table beh4) (clear yco3) (clear vul1) (on-table yco3)", "(holding vul1) (clear oks2) (on-table oks2) (clear beh4) (on-table beh4) (clear yco3) (on-table yco3)", "(clear oks2) (arm-empty) (on-table oks2) (on-table beh4) (on vul1 beh4) (clear yco3) (clear vul1) (on-table yco3)", "(holding oks2) (on-table beh4) (on vul1 beh4) (clear yco3) (clear vul1) (on-table yco3)", "(clear oks2) (arm-empty) (on-table beh4) (on vul1 beh4) (on oks2 vul1) (clear yco3) (on-table yco3)", "(clear oks2) (on-table beh4) (on vul1 beh4) (on oks2 vul1) (holding yco3)", "(on-table beh4) (clear yco3) (arm-empty) (on vul1 beh4) (on oks2 vul1) (on yco3 oks2)" ]

[ [ "unstack edj1 orm2" ], [ "put-down edj1" ], [ "pick-up xix3" ], [ "stack xix3 orm2" ], [ "pick-up edj1" ], [ "stack edj1 xix3" ] ]

[ "(on orm2 mji4) (holding edj1) (clear orm2) (on-table mji4) (clear xix3) (on-table xix3)", "(arm-empty) (on orm2 mji4) (clear orm2) (on-table edj1) (on-table mji4) (clear xix3) (clear edj1) (on-table xix3)", "(clear orm2) (on-table edj1) (on-table mji4) (on orm2 mji4) (holding xix3) (clear edj1)", "(arm-empty) (on-table edj1) (on xix3 orm2) (on-table mji4) (on orm2 mji4) (clear xix3) (clear edj1)", "(holding edj1) (on-table mji4) (clear xix3) (on xix3 orm2) (on orm2 mji4)", "(on xix3 orm2) (on-table mji4) (on edj1 xix3) (arm-empty) (on orm2 mji4) (clear edj1)" ]