Datasets:

NanQiangHF

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BlocksWorldTestingOfuscatedXYZ3

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[ [ "put-down esv3" ], [ "pick-up net4" ], [ "stack net4 esv3" ], [ "unstack exd5 kgx1" ], [ "put-down exd5" ], [ "pick-up kgx1" ], [ "stack kgx1 net4" ] ]

[ "(clear jim2) (arm-empty) (on-table jim2) (on-table kgx1) (clear net4) (on exd5 kgx1) (on-table net4) (clear esv3) (on-table esv3) (clear exd5)", "(clear jim2) (on-table jim2) (on-table kgx1) (holding net4) (on exd5 kgx1) (clear esv3) (on-table esv3) (clear exd5)", "(clear jim2) (arm-empty) (on-table jim2) (on-table kgx1) (clear net4) (on exd5 kgx1) (on net4 esv3) (on-table esv3) (clear exd5)", "(clear jim2) (on-table jim2) (on-table kgx1) (clear net4) (on net4 esv3) (holding exd5) (clear kgx1) (on-table esv3)", "(clear jim2) (arm-empty) (on-table jim2) (on-table exd5) (on-table kgx1) (clear net4) (on net4 esv3) (clear kgx1) (on-table esv3) (clear exd5)", "(holding kgx1) (clear jim2) (on-table jim2) (on-table exd5) (clear net4) (on net4 esv3) (on-table esv3) (clear exd5)", "(clear jim2) (arm-empty) (on-table jim2) (on-table exd5) (on net4 esv3) (on kgx1 net4) (clear kgx1) (on-table esv3) (clear exd5)" ]

[ [ "put-down ngt1" ], [ "pick-up lkp3" ], [ "stack lkp3 slr2" ], [ "pick-up ngt1" ] ]

[ "(arm-empty) (on slr2 diz4) (clear slr2) (on-table ngt1) (on-table diz4) (clear lkp3) (clear ngt1) (on-table lkp3)", "(clear slr2) (on-table ngt1) (on-table diz4) (on slr2 diz4) (holding lkp3) (clear ngt1)", "(arm-empty) (on-table ngt1) (on lkp3 slr2) (on-table diz4) (on slr2 diz4) (clear lkp3) (clear ngt1)", "(holding ngt1) (on-table diz4) (clear lkp3) (on lkp3 slr2) (on slr2 diz4)" ]

[ [ "put-down xdp1" ], [ "unstack xbi2 ycj3" ] ]

[ "(on ycj3 nkq4) (clear xbi2) (on-table nkq4) (arm-empty) (on-table xdp1) (on xbi2 ycj3) (clear xdp1)", "(on ycj3 nkq4) (on-table xdp1) (on-table nkq4) (holding xbi2) (clear ycj3) (clear xdp1)" ]

[ [ "unstack oxa5 uwo1" ], [ "put-down oxa5" ], [ "unstack uwo1 bcy3" ], [ "put-down uwo1" ], [ "pick-up oxa5" ], [ "stack oxa5 uwo1" ] ]

[ "(on uwo1 bcy3) (holding oxa5) (on nss2 muu4) (on bcy3 nss2) (on-table muu4) (clear uwo1)", "(on uwo1 bcy3) (arm-empty) (on-table oxa5) (on nss2 muu4) (clear oxa5) (on bcy3 nss2) (on-table muu4) (clear uwo1)", "(holding uwo1) (on-table oxa5) (on bcy3 nss2) (on-table muu4) (on nss2 muu4) (clear bcy3) (clear oxa5)", "(arm-empty) (on-table oxa5) (on nss2 muu4) (clear oxa5) (on-table uwo1) (on bcy3 nss2) (on-table muu4) (clear bcy3) (clear uwo1)", "(on-table uwo1) (on bcy3 nss2) (holding oxa5) (on-table muu4) (on nss2 muu4) (clear bcy3) (clear uwo1)", "(arm-empty) (on nss2 muu4) (clear oxa5) (on-table uwo1) (on bcy3 nss2) (on oxa5 uwo1) (on-table muu4) (clear bcy3)" ]

[ [ "pick-up rpq1" ], [ "stack rpq1 fcm3" ], [ "unstack psv5 qud4" ], [ "stack psv5 rpq1" ], [ "pick-up you2" ], [ "stack you2 psv5" ] ]

[ "(holding rpq1) (clear you2) (on psv5 qud4) (on-table you2) (on-table qud4) (clear fcm3) (on-table fcm3) (clear psv5)", "(clear you2) (on rpq1 fcm3) (on psv5 qud4) (on-table you2) (arm-empty) (on-table qud4) (clear rpq1) (on-table fcm3) (clear psv5)", "(clear you2) (on rpq1 fcm3) (on-table you2) (clear qud4) (holding psv5) (on-table qud4) (clear rpq1) (on-table fcm3)", "(clear you2) (on rpq1 fcm3) (arm-empty) (on-table you2) (clear qud4) (on psv5 rpq1) (on-table qud4) (on-table fcm3) (clear psv5)", "(on rpq1 fcm3) (clear qud4) (on psv5 rpq1) (on-table qud4) (holding you2) (on-table fcm3) (clear psv5)", "(clear you2) (on rpq1 fcm3) (arm-empty) (clear qud4) (on psv5 rpq1) (on-table qud4) (on you2 psv5) (on-table fcm3)" ]

[ [ "unstack gnh2 xyb4" ], [ "put-down gnh2" ], [ "unstack xyb4 zqx1" ], [ "put-down xyb4" ], [ "unstack zqx1 ail3" ], [ "stack zqx1 gnh2" ], [ "pick-up ail3" ], [ "stack ail3 xyb4" ], [ "unstack zqx1 gnh2" ], [ "put-down zqx1" ], [ "pick-up gnh2" ] ]

[ "(on xyb4 zqx1) (on zqx1 ail3) (holding gnh2) (clear xyb4) (on-table ail3)", "(clear gnh2) (on xyb4 zqx1) (on zqx1 ail3) (on-table gnh2) (arm-empty) (clear xyb4) (on-table ail3)", "(on zqx1 ail3) (on-table gnh2) (holding xyb4) (clear gnh2) (clear zqx1) (on-table ail3)", "(on zqx1 ail3) (arm-empty) (on-table gnh2) (clear xyb4) (clear gnh2) (on-table xyb4) (clear zqx1) (on-table ail3)", "(holding zqx1) (clear gnh2) (on-table gnh2) (clear xyb4) (on-table xyb4) (clear ail3) (on-table ail3)", "(arm-empty) (on-table gnh2) (clear xyb4) (on-table xyb4) (clear ail3) (on zqx1 gnh2) (clear zqx1) (on-table ail3)", "(on-table gnh2) (clear xyb4) (on-table xyb4) (on zqx1 gnh2) (clear zqx1) (holding ail3)", "(on ail3 xyb4) (arm-empty) (on-table gnh2) (on-table xyb4) (clear ail3) (on zqx1 gnh2) (clear zqx1)", "(on-table gnh2) (holding zqx1) (on ail3 xyb4) (clear gnh2) (on-table xyb4) (clear ail3)", "(arm-empty) (on-table gnh2) (on ail3 xyb4) (clear gnh2) (on-table zqx1) (on-table xyb4) (clear ail3) (clear zqx1)", "(on ail3 xyb4) (on-table zqx1) (on-table xyb4) (holding gnh2) (clear ail3) (clear zqx1)" ]

[ [ "put-down wto2" ], [ "unstack mjv4 wrg1" ], [ "put-down mjv4" ], [ "pick-up wto2" ], [ "stack wto2 mjv4" ], [ "unstack wrg1 gmo5" ], [ "stack wrg1 wto2" ] ]

[ "(on wrg1 gmo5) (on mjv4 wrg1) (arm-empty) (on-table wto2) (on-table gmo5) (clear mjv4) (clear wto2) (clear xbz3) (on-table xbz3)", "(on wrg1 gmo5) (clear wto2) (on-table wto2) (on-table gmo5) (holding mjv4) (clear xbz3) (clear wrg1) (on-table xbz3)", "(on wrg1 gmo5) (clear wto2) (arm-empty) (on-table wto2) (on-table gmo5) (clear mjv4) (on-table mjv4) (clear xbz3) (clear wrg1) (on-table xbz3)", "(on wrg1 gmo5) (on-table gmo5) (clear mjv4) (on-table mjv4) (holding wto2) (clear xbz3) (clear wrg1) (on-table xbz3)", "(on wrg1 gmo5) (clear wto2) (arm-empty) (on-table gmo5) (on-table mjv4) (on wto2 mjv4) (clear xbz3) (clear wrg1) (on-table xbz3)", "(holding wrg1) (clear wto2) (on-table gmo5) (on-table mjv4) (on wto2 mjv4) (clear xbz3) (on-table xbz3) (clear gmo5)", "(arm-empty) (on-table gmo5) (on-table mjv4) (on wto2 mjv4) (clear xbz3) (on wrg1 wto2) (clear wrg1) (on-table xbz3) (clear gmo5)" ]

[ [ "unstack cdp3 ayi4" ], [ "stack cdp3 nzw2" ], [ "unstack ayi4 fed5" ], [ "stack ayi4 cdp3" ], [ "unstack fed5 ehn1" ] ]

[ "(clear nzw2) (on-table nzw2) (on ayi4 fed5) (on-table ehn1) (clear ayi4) (on fed5 ehn1) (holding cdp3)", "(arm-empty) (on-table nzw2) (on ayi4 fed5) (on-table ehn1) (on cdp3 nzw2) (clear ayi4) (on fed5 ehn1) (clear cdp3)", "(on-table nzw2) (on-table ehn1) (holding ayi4) (on cdp3 nzw2) (on fed5 ehn1) (clear cdp3) (clear fed5)", "(arm-empty) (on-table nzw2) (clear ayi4) (clear fed5) (on-table ehn1) (on cdp3 nzw2) (on ayi4 cdp3) (on fed5 ehn1)", "(on-table nzw2) (on-table ehn1) (on cdp3 nzw2) (clear ayi4) (on ayi4 cdp3) (holding fed5) (clear ehn1)" ]

[ [ "put-down dip4" ], [ "unstack hdh2 vwe3" ], [ "stack hdh2 dip4" ] ]

[ "(arm-empty) (on-table eqv5) (clear dip4) (on vwe3 qdm1) (clear eqv5) (clear hdh2) (on-table qdm1) (on-table dip4) (on hdh2 vwe3)", "(on-table eqv5) (on-table qdm1) (clear dip4) (on-table dip4) (holding hdh2) (on vwe3 qdm1) (clear vwe3) (clear eqv5)", "(clear hdh2) (arm-empty) (on-table eqv5) (on-table qdm1) (on hdh2 dip4) (on-table dip4) (on vwe3 qdm1) (clear vwe3) (clear eqv5)" ]

[ [ "pick-up kpx3" ], [ "stack kpx3 uqs4" ], [ "pick-up sdv2" ] ]

[ "(clear sdv2) (on-table sdv2) (on-table hyp1) (clear uqs4) (on-table uqs4) (holding kpx3) (clear hyp1)", "(on kpx3 uqs4) (clear sdv2) (arm-empty) (on-table sdv2) (on-table hyp1) (on-table uqs4) (clear kpx3) (clear hyp1)", "(on kpx3 uqs4) (on-table hyp1) (on-table uqs4) (holding sdv2) (clear kpx3) (clear hyp1)" ]

[ [ "unstack ivx1 sro2" ], [ "put-down ivx1" ], [ "pick-up tmb3" ], [ "stack tmb3 ivx1" ], [ "unstack sro2 uaa4" ], [ "put-down sro2" ], [ "unstack uaa4 mnf5" ] ]

[ "(holding ivx1) (clear sro2) (on-table mnf5) (on uaa4 mnf5) (on sro2 uaa4) (clear tmb3) (on-table tmb3)", "(arm-empty) (on-table mnf5) (on uaa4 mnf5) (on sro2 uaa4) (clear sro2) (on-table ivx1) (clear tmb3) (clear ivx1) (on-table tmb3)", "(clear sro2) (on-table mnf5) (on uaa4 mnf5) (on-table ivx1) (on sro2 uaa4) (holding tmb3) (clear ivx1)", "(clear sro2) (arm-empty) (on-table mnf5) (on-table ivx1) (on uaa4 mnf5) (on sro2 uaa4) (on tmb3 ivx1) (clear tmb3)", "(on-table mnf5) (on-table ivx1) (on uaa4 mnf5) (clear uaa4) (holding sro2) (on tmb3 ivx1) (clear tmb3)", "(arm-empty) (on-table sro2) (on-table mnf5) (on uaa4 mnf5) (clear uaa4) (on tmb3 ivx1) (clear sro2) (on-table ivx1) (clear tmb3)", "(clear sro2) (on-table sro2) (on-table mnf5) (holding uaa4) (on-table ivx1) (on tmb3 ivx1) (clear tmb3) (clear mnf5)" ]

[ [ "put-down hdc1" ], [ "unstack iqd2 xcd4" ], [ "put-down iqd2" ], [ "unstack xcd4 mtr3" ], [ "stack xcd4 hdc1" ], [ "pick-up iqd2" ] ]

[ "(on xcd4 mtr3) (clear iqd2) (arm-empty) (on iqd2 xcd4) (on-table hdc1) (clear hdc1) (on-table mtr3)", "(clear xcd4) (on-table hdc1) (on xcd4 mtr3) (holding iqd2) (clear hdc1) (on-table mtr3)", "(arm-empty) (on-table iqd2) (clear xcd4) (clear iqd2) (on-table hdc1) (on xcd4 mtr3) (clear hdc1) (on-table mtr3)", "(clear iqd2) (on-table iqd2) (on-table hdc1) (holding xcd4) (clear mtr3) (clear hdc1) (on-table mtr3)", "(clear iqd2) (on xcd4 hdc1) (arm-empty) (on-table iqd2) (on-table hdc1) (clear xcd4) (clear mtr3) (on-table mtr3)", "(on xcd4 hdc1) (on-table hdc1) (clear xcd4) (holding iqd2) (clear mtr3) (on-table mtr3)" ]

[ [ "stack hot1 oip2" ], [ "unstack hxf3 gcz5" ], [ "put-down hxf3" ], [ "unstack gcz5 jzz4" ], [ "put-down gcz5" ], [ "pick-up jzz4" ], [ "stack jzz4 hxf3" ], [ "unstack hot1 oip2" ], [ "stack hot1 gcz5" ] ]

[ "(on hxf3 gcz5) (arm-empty) (on gcz5 jzz4) (on-table oip2) (on-table jzz4) (clear hxf3) (on hot1 oip2) (clear hot1)", "(on gcz5 jzz4) (on-table oip2) (on-table jzz4) (on hot1 oip2) (clear hot1) (holding hxf3) (clear gcz5)", "(arm-empty) (on gcz5 jzz4) (on-table oip2) (on hot1 oip2) (clear gcz5) (on-table jzz4) (clear hxf3) (clear hot1) (on-table hxf3)", "(on-table oip2) (clear jzz4) (holding gcz5) (on-table jzz4) (clear hxf3) (on hot1 oip2) (clear hot1) (on-table hxf3)", "(arm-empty) (on-table oip2) (on-table gcz5) (clear jzz4) (on-table jzz4) (clear hxf3) (on hot1 oip2) (clear hot1) (on-table hxf3) (clear gcz5)", "(on-table oip2) (on-table gcz5) (holding jzz4) (clear hxf3) (on hot1 oip2) (clear hot1) (on-table hxf3) (clear gcz5)", "(arm-empty) (on-table oip2) (on-table gcz5) (clear jzz4) (on jzz4 hxf3) (on hot1 oip2) (clear hot1) (on-table hxf3) (clear gcz5)", "(holding hot1) (clear oip2) (on-table oip2) (on-table gcz5) (clear jzz4) (on jzz4 hxf3) (on-table hxf3) (clear gcz5)", "(on hot1 gcz5) (clear oip2) (arm-empty) (on-table oip2) (on-table gcz5) (clear jzz4) (on jzz4 hxf3) (clear hot1) (on-table hxf3)" ]

[ [ "unstack phm4 rse1" ], [ "stack phm4 jrs2" ], [ "pick-up gkq5" ], [ "stack gkq5 rse1" ], [ "unstack phm4 jrs2" ], [ "put-down phm4" ], [ "pick-up jrs2" ], [ "stack jrs2 phm4" ], [ "unstack gkq5 rse1" ], [ "stack gkq5 jrs2" ], [ "unstack rse1 rat3" ] ]

[ "(clear jrs2) (on rse1 rat3) (on-table jrs2) (on-table gkq5) (holding phm4) (clear rse1) (on-table rat3) (clear gkq5)", "(on rse1 rat3) (arm-empty) (on-table jrs2) (on-table gkq5) (clear phm4) (on phm4 jrs2) (clear rse1) (on-table rat3) (clear gkq5)", "(on rse1 rat3) (on-table jrs2) (clear phm4) (holding gkq5) (on phm4 jrs2) (clear rse1) (on-table rat3)", "(on rse1 rat3) (arm-empty) (on-table jrs2) (clear phm4) (on gkq5 rse1) (on phm4 jrs2) (on-table rat3) (clear gkq5)", "(clear jrs2) (on rse1 rat3) (on-table jrs2) (holding phm4) (on gkq5 rse1) (on-table rat3) (clear gkq5)", "(on rse1 rat3) (arm-empty) (on-table jrs2) (clear phm4) (clear gkq5) (clear jrs2) (on gkq5 rse1) (on-table phm4) (on-table rat3)", "(on rse1 rat3) (clear phm4) (on gkq5 rse1) (on-table phm4) (holding jrs2) (on-table rat3) (clear gkq5)", "(clear jrs2) (on rse1 rat3) (arm-empty) (on gkq5 rse1) (on-table phm4) (on jrs2 phm4) (on-table rat3) (clear gkq5)", "(clear jrs2) (on rse1 rat3) (holding gkq5) (on-table phm4) (on jrs2 phm4) (clear rse1) (on-table rat3)", "(on rse1 rat3) (arm-empty) (on gkq5 jrs2) (on-table phm4) (on jrs2 phm4) (clear rse1) (on-table rat3) (clear gkq5)", "(holding rse1) (on gkq5 jrs2) (on-table phm4) (on jrs2 phm4) (clear rat3) (on-table rat3) (clear gkq5)" ]

[ [ "stack uav2 gbf4" ], [ "unstack xng5 bru1" ], [ "stack xng5 uav2" ], [ "pick-up kki3" ], [ "stack kki3 bru1" ] ]

[ "(clear uav2) (arm-empty) (on-table bru1) (on xng5 bru1) (on-table gbf4) (on uav2 gbf4) (clear kki3) (on-table kki3) (clear xng5)", "(clear uav2) (on-table bru1) (holding xng5) (on-table gbf4) (on uav2 gbf4) (clear kki3) (clear bru1) (on-table kki3)", "(arm-empty) (on-table bru1) (on xng5 uav2) (on-table gbf4) (on uav2 gbf4) (clear kki3) (clear bru1) (on-table kki3) (clear xng5)", "(on-table bru1) (on xng5 uav2) (on-table gbf4) (on uav2 gbf4) (holding kki3) (clear bru1) (clear xng5)", "(arm-empty) (on-table bru1) (on xng5 uav2) (on uav2 gbf4) (on-table gbf4) (on kki3 bru1) (clear kki3) (clear xng5)" ]

[ [ "put-down nvc3" ], [ "unstack ylg5 fom2" ], [ "stack ylg5 nvc3" ], [ "unstack fom2 tdl1" ], [ "stack fom2 ylg5" ], [ "unstack tdl1 sjx4" ], [ "put-down tdl1" ], [ "unstack fom2 ylg5" ], [ "stack fom2 tdl1" ], [ "pick-up sjx4" ], [ "stack sjx4 fom2" ], [ "unstack ylg5 nvc3" ] ]

[ "(arm-empty) (on ylg5 fom2) (on fom2 tdl1) (clear ylg5) (on-table sjx4) (on tdl1 sjx4) (clear nvc3) (on-table nvc3)", "(clear fom2) (holding ylg5) (on-table sjx4) (on tdl1 sjx4) (on fom2 tdl1) (clear nvc3) (on-table nvc3)", "(clear fom2) (arm-empty) (on ylg5 nvc3) (on-table sjx4) (on tdl1 sjx4) (on fom2 tdl1) (on-table nvc3) (clear ylg5)", "(holding fom2) (on ylg5 nvc3) (on-table sjx4) (on tdl1 sjx4) (clear tdl1) (on-table nvc3) (clear ylg5)", "(clear fom2) (arm-empty) (on ylg5 nvc3) (on-table sjx4) (on tdl1 sjx4) (on fom2 ylg5) (clear tdl1) (on-table nvc3)", "(holding tdl1) (clear fom2) (clear sjx4) (on ylg5 nvc3) (on-table sjx4) (on fom2 ylg5) (on-table nvc3)", "(arm-empty) (clear sjx4) (on ylg5 nvc3) (on fom2 ylg5) (clear fom2) (on-table tdl1) (on-table sjx4) (clear tdl1) (on-table nvc3)", "(on-table tdl1) (clear sjx4) (on ylg5 nvc3) (on-table sjx4) (holding fom2) (clear tdl1) (on-table nvc3) (clear ylg5)", "(clear fom2) (arm-empty) (on-table tdl1) (clear sjx4) (on ylg5 nvc3) (on-table sjx4) (on fom2 tdl1) (on-table nvc3) (clear ylg5)", "(clear fom2) (on-table tdl1) (holding sjx4) (on ylg5 nvc3) (on fom2 tdl1) (on-table nvc3) (clear ylg5)", "(arm-empty) (on-table tdl1) (clear sjx4) (on ylg5 nvc3) (on sjx4 fom2) (on fom2 tdl1) (on-table nvc3) (clear ylg5)", "(on-table tdl1) (clear sjx4) (holding ylg5) (on sjx4 fom2) (on fom2 tdl1) (clear nvc3) (on-table nvc3)" ]

[ [ "stack ook1 dns5" ], [ "unstack zrb3 ntl2" ], [ "put-down zrb3" ], [ "pick-up mlq4" ], [ "stack mlq4 ook1" ], [ "pick-up ntl2" ], [ "stack ntl2 zrb3" ], [ "unstack mlq4 ook1" ], [ "stack mlq4 ntl2" ], [ "unstack ook1 dns5" ], [ "stack ook1 mlq4" ] ]

[ "(on ook1 dns5) (arm-empty) (on-table ntl2) (on-table dns5) (on zrb3 ntl2) (clear mlq4) (on-table mlq4) (clear zrb3) (clear ook1)", "(on ook1 dns5) (clear ntl2) (on-table ntl2) (on-table dns5) (clear mlq4) (on-table mlq4) (holding zrb3) (clear ook1)", "(on ook1 dns5) (clear ntl2) (arm-empty) (on-table ntl2) (on-table dns5) (clear mlq4) (on-table mlq4) (clear zrb3) (clear ook1) (on-table zrb3)", "(on ook1 dns5) (clear ntl2) (on-table ntl2) (on-table dns5) (holding mlq4) (clear zrb3) (clear ook1) (on-table zrb3)", "(on ook1 dns5) (clear ntl2) (on mlq4 ook1) (arm-empty) (on-table ntl2) (on-table dns5) (clear mlq4) (clear zrb3) (on-table zrb3)", "(on ook1 dns5) (on mlq4 ook1) (on-table dns5) (clear mlq4) (holding ntl2) (clear zrb3) (on-table zrb3)", "(on ook1 dns5) (clear ntl2) (on mlq4 ook1) (arm-empty) (on-table dns5) (clear mlq4) (on ntl2 zrb3) (on-table zrb3)", "(on ook1 dns5) (clear ntl2) (on-table dns5) (holding mlq4) (on ntl2 zrb3) (clear ook1) (on-table zrb3)", "(on ook1 dns5) (arm-empty) (on-table dns5) (clear mlq4) (on mlq4 ntl2) (on ntl2 zrb3) (clear ook1) (on-table zrb3)", "(holding ook1) (on-table dns5) (clear mlq4) (on mlq4 ntl2) (on ntl2 zrb3) (on-table zrb3) (clear dns5)", "(arm-empty) (on-table dns5) (on ook1 mlq4) (on mlq4 ntl2) (on ntl2 zrb3) (clear ook1) (on-table zrb3) (clear dns5)" ]

[ [ "put-down lxg3" ], [ "unstack tgd1 ymi2" ], [ "stack tgd1 lxg3" ], [ "unstack ymi2 zji5" ], [ "stack ymi2 tgd1" ], [ "unstack zji5 ott4" ], [ "put-down zji5" ], [ "pick-up ott4" ], [ "stack ott4 ymi2" ], [ "pick-up zji5" ], [ "stack zji5 ott4" ] ]

[ "(on-table ott4) (arm-empty) (on zji5 ott4) (on ymi2 zji5) (clear lxg3) (on tgd1 ymi2) (clear tgd1) (on-table lxg3)", "(holding tgd1) (clear ymi2) (on zji5 ott4) (on-table ott4) (on ymi2 zji5) (clear lxg3) (on-table lxg3)", "(clear ymi2) (on tgd1 lxg3) (on zji5 ott4) (arm-empty) (on-table ott4) (on ymi2 zji5) (clear tgd1) (on-table lxg3)", "(on tgd1 lxg3) (on zji5 ott4) (on-table ott4) (holding ymi2) (clear tgd1) (on-table lxg3) (clear zji5)", "(clear ymi2) (on tgd1 lxg3) (on zji5 ott4) (arm-empty) (on-table ott4) (on ymi2 tgd1) (on-table lxg3) (clear zji5)", "(clear ymi2) (on tgd1 lxg3) (clear ott4) (holding zji5) (on-table ott4) (on ymi2 tgd1) (on-table lxg3)", "(on tgd1 lxg3) (arm-empty) (on-table zji5) (clear ott4) (on ymi2 tgd1) (clear zji5) (clear ymi2) (on-table ott4) (on-table lxg3)", "(clear ymi2) (on tgd1 lxg3) (on-table zji5) (holding ott4) (on ymi2 tgd1) (on-table lxg3) (clear zji5)", "(on tgd1 lxg3) (arm-empty) (on-table zji5) (clear ott4) (on ymi2 tgd1) (clear zji5) (on ott4 ymi2) (on-table lxg3)", "(on tgd1 lxg3) (clear ott4) (holding zji5) (on ott4 ymi2) (on ymi2 tgd1) (on-table lxg3)", "(on tgd1 lxg3) (on zji5 ott4) (arm-empty) (on ott4 ymi2) (on ymi2 tgd1) (on-table lxg3) (clear zji5)" ]

[ [ "put-down kja5" ], [ "unstack cea3 akq4" ], [ "stack cea3 vir1" ], [ "unstack akq4 qrj2" ], [ "stack akq4 kja5" ], [ "pick-up qrj2" ] ]

[ "(arm-empty) (on-table qrj2) (on-table kja5) (clear kja5) (on cea3 akq4) (on-table vir1) (on akq4 qrj2) (clear cea3) (clear vir1)", "(on-table qrj2) (on-table kja5) (on-table vir1) (clear akq4) (on akq4 qrj2) (holding cea3) (clear vir1) (clear kja5)", "(arm-empty) (on-table qrj2) (on-table kja5) (on-table vir1) (clear akq4) (on cea3 vir1) (on akq4 qrj2) (clear cea3) (clear kja5)", "(clear qrj2) (on-table qrj2) (on-table kja5) (on-table vir1) (holding akq4) (on cea3 vir1) (clear cea3) (clear kja5)", "(clear qrj2) (arm-empty) (on-table qrj2) (on-table kja5) (on-table vir1) (on akq4 kja5) (clear akq4) (on cea3 vir1) (clear cea3)", "(on-table kja5) (on-table vir1) (on akq4 kja5) (clear akq4) (holding qrj2) (on cea3 vir1) (clear cea3)" ]

[ [ "unstack sbn2 skq3" ], [ "put-down sbn2" ], [ "unstack skq3 yxy5" ], [ "stack skq3 sbn2" ], [ "unstack yxy5 ctd4" ], [ "put-down yxy5" ], [ "unstack ctd4 trl1" ] ]

[ "(on skq3 yxy5) (on ctd4 trl1) (on yxy5 ctd4) (on-table trl1) (holding sbn2) (clear skq3)", "(on skq3 yxy5) (on ctd4 trl1) (on yxy5 ctd4) (on-table sbn2) (clear sbn2) (on-table trl1) (arm-empty) (clear skq3)", "(on ctd4 trl1) (on yxy5 ctd4) (on-table sbn2) (clear sbn2) (on-table trl1) (holding skq3) (clear yxy5)", "(on ctd4 trl1) (on yxy5 ctd4) (on-table sbn2) (arm-empty) (on-table trl1) (on skq3 sbn2) (clear skq3) (clear yxy5)", "(on ctd4 trl1) (on-table sbn2) (on-table trl1) (on skq3 sbn2) (clear ctd4) (holding yxy5) (clear skq3)", "(on ctd4 trl1) (arm-empty) (on-table sbn2) (on-table yxy5) (clear ctd4) (clear yxy5) (on-table trl1) (on skq3 sbn2) (clear skq3)", "(on-table sbn2) (on-table yxy5) (on-table trl1) (holding ctd4) (on skq3 sbn2) (clear skq3) (clear trl1) (clear yxy5)" ]

[ [ "pick-up tyb4" ], [ "stack tyb4 naw2" ], [ "pick-up ftd3" ], [ "stack ftd3 zil1" ], [ "unstack tyb4 naw2" ], [ "stack tyb4 ftd3" ], [ "pick-up naw2" ] ]

[ "(on zil1 pkb5) (clear naw2) (on-table naw2) (on-table pkb5) (holding tyb4) (clear ftd3) (clear zil1) (on-table ftd3)", "(on zil1 pkb5) (arm-empty) (on-table naw2) (on-table pkb5) (clear tyb4) (on tyb4 naw2) (clear ftd3) (clear zil1) (on-table ftd3)", "(on zil1 pkb5) (on-table naw2) (on-table pkb5) (clear tyb4) (on tyb4 naw2) (holding ftd3) (clear zil1)", "(on zil1 pkb5) (arm-empty) (on-table naw2) (on-table pkb5) (on tyb4 naw2) (clear tyb4) (on ftd3 zil1) (clear ftd3)", "(on zil1 pkb5) (clear naw2) (on-table naw2) (on-table pkb5) (holding tyb4) (on ftd3 zil1) (clear ftd3)", "(on zil1 pkb5) (clear naw2) (arm-empty) (on-table naw2) (on-table pkb5) (clear tyb4) (on tyb4 ftd3) (on ftd3 zil1)", "(on zil1 pkb5) (on-table pkb5) (clear tyb4) (on tyb4 ftd3) (holding naw2) (on ftd3 zil1)" ]

[ [ "put-down cja3" ], [ "unstack nnw2 rqn4" ], [ "stack nnw2 sux1" ], [ "pick-up rqn4" ] ]

[ "(arm-empty) (on nnw2 rqn4) (clear nnw2) (on-table sux1) (on-table rqn4) (clear cja3) (clear sux1) (on-table cja3)", "(on-table sux1) (clear rqn4) (on-table rqn4) (holding nnw2) (clear cja3) (clear sux1) (on-table cja3)", "(clear nnw2) (arm-empty) (on-table sux1) (clear rqn4) (on-table rqn4) (on nnw2 sux1) (clear cja3) (on-table cja3)", "(clear nnw2) (on-table sux1) (holding rqn4) (on nnw2 sux1) (clear cja3) (on-table cja3)" ]

[ [ "pick-up wpo3" ], [ "stack wpo3 lpz1" ], [ "unstack xjr4 cgv2" ], [ "put-down xjr4" ], [ "unstack wpo3 lpz1" ], [ "stack wpo3 xjr4" ], [ "pick-up lpz1" ], [ "stack lpz1 wpo3" ], [ "pick-up cgv2" ], [ "stack cgv2 lpz1" ] ]

[ "(on-table cgv2) (on-table lpz1) (clear xjr4) (on xjr4 cgv2) (holding wpo3) (clear lpz1)", "(arm-empty) (on-table cgv2) (on-table lpz1) (clear xjr4) (on wpo3 lpz1) (on xjr4 cgv2) (clear wpo3)", "(on-table cgv2) (holding xjr4) (on wpo3 lpz1) (clear cgv2) (on-table lpz1) (clear wpo3)", "(arm-empty) (on-table cgv2) (clear xjr4) (on wpo3 lpz1) (clear cgv2) (on-table lpz1) (on-table xjr4) (clear wpo3)", "(clear cgv2) (on-table cgv2) (on-table lpz1) (clear xjr4) (on-table xjr4) (holding wpo3) (clear lpz1)", "(on wpo3 xjr4) (clear cgv2) (arm-empty) (on-table cgv2) (on-table lpz1) (on-table xjr4) (clear wpo3) (clear lpz1)", "(holding lpz1) (on wpo3 xjr4) (clear cgv2) (on-table cgv2) (on-table xjr4) (clear wpo3)", "(on wpo3 xjr4) (clear cgv2) (on lpz1 wpo3) (arm-empty) (on-table cgv2) (on-table xjr4) (clear lpz1)", "(on wpo3 xjr4) (on lpz1 wpo3) (holding cgv2) (on-table xjr4) (clear lpz1)", "(on wpo3 xjr4) (on-table xjr4) (on lpz1 wpo3) (clear cgv2) (arm-empty) (on cgv2 lpz1)" ]

[ [ "stack eqs1 snx3" ], [ "unstack rvh2 zna5" ], [ "put-down rvh2" ], [ "unstack zna5 grg4" ], [ "put-down zna5" ], [ "pick-up grg4" ], [ "stack grg4 zna5" ], [ "unstack eqs1 snx3" ], [ "stack eqs1 rvh2" ], [ "unstack grg4 zna5" ], [ "put-down grg4" ], [ "pick-up snx3" ] ]

[ "(clear rvh2) (on eqs1 snx3) (on zna5 grg4) (arm-empty) (on-table grg4) (on rvh2 zna5) (clear eqs1) (on-table snx3)", "(on eqs1 snx3) (on zna5 grg4) (on-table grg4) (holding rvh2) (clear eqs1) (on-table snx3) (clear zna5)", "(on eqs1 snx3) (on zna5 grg4) (on-table rvh2) (arm-empty) (clear zna5) (clear rvh2) (on-table grg4) (clear eqs1) (on-table snx3)", "(clear rvh2) (on eqs1 snx3) (on-table rvh2) (clear grg4) (holding zna5) (on-table grg4) (clear eqs1) (on-table snx3)", "(clear rvh2) (on eqs1 snx3) (arm-empty) (on-table rvh2) (on-table zna5) (clear grg4) (on-table grg4) (clear eqs1) (on-table snx3) (clear zna5)", "(clear rvh2) (on eqs1 snx3) (on-table rvh2) (on-table zna5) (holding grg4) (clear eqs1) (on-table snx3) (clear zna5)", "(clear rvh2) (on eqs1 snx3) (arm-empty) (on-table rvh2) (on-table zna5) (on grg4 zna5) (clear grg4) (clear eqs1) (on-table snx3)", "(holding eqs1) (clear rvh2) (on-table rvh2) (on-table zna5) (on grg4 zna5) (clear grg4) (clear snx3) (on-table snx3)", "(arm-empty) (on-table rvh2) (on-table zna5) (on grg4 zna5) (clear grg4) (clear snx3) (on eqs1 rvh2) (clear eqs1) (on-table snx3)", "(on-table rvh2) (on-table zna5) (holding grg4) (clear snx3) (on eqs1 rvh2) (clear eqs1) (on-table snx3) (clear zna5)", "(arm-empty) (on-table rvh2) (on-table zna5) (clear grg4) (on-table grg4) (clear snx3) (on eqs1 rvh2) (clear eqs1) (on-table snx3) (clear zna5)", "(on-table rvh2) (on-table zna5) (clear grg4) (on-table grg4) (on eqs1 rvh2) (clear eqs1) (holding snx3) (clear zna5)" ]

[ [ "unstack mby3 axo4" ], [ "stack mby3 ozi1" ], [ "unstack axo4 xxb2" ], [ "put-down axo4" ], [ "unstack xxb2 jzv5" ], [ "stack xxb2 axo4" ], [ "pick-up jzv5" ], [ "stack jzv5 xxb2" ] ]

[ "(on-table jzv5) (on-table ozi1) (clear axo4) (on axo4 xxb2) (on xxb2 jzv5) (holding mby3) (clear ozi1)", "(arm-empty) (on-table jzv5) (on-table ozi1) (clear axo4) (on mby3 ozi1) (on axo4 xxb2) (on xxb2 jzv5) (clear mby3)", "(clear xxb2) (on-table jzv5) (on-table ozi1) (holding axo4) (on mby3 ozi1) (on xxb2 jzv5) (clear mby3)", "(arm-empty) (on-table jzv5) (clear axo4) (on mby3 ozi1) (on xxb2 jzv5) (clear xxb2) (on-table ozi1) (on-table axo4) (clear mby3)", "(on-table jzv5) (on-table ozi1) (clear axo4) (on-table axo4) (holding xxb2) (on mby3 ozi1) (clear mby3) (clear jzv5)", "(clear xxb2) (arm-empty) (on-table jzv5) (on-table ozi1) (on xxb2 axo4) (on-table axo4) (on mby3 ozi1) (clear mby3) (clear jzv5)", "(clear xxb2) (on-table ozi1) (on mby3 ozi1) (holding jzv5) (on-table axo4) (on xxb2 axo4) (clear mby3)", "(arm-empty) (on-table ozi1) (on jzv5 xxb2) (on xxb2 axo4) (on-table axo4) (on mby3 ozi1) (clear mby3) (clear jzv5)" ]

[ [ "stack lyz3 ejw2" ], [ "pick-up mui4" ], [ "stack mui4 lyz3" ], [ "unstack zei5 ywn1" ], [ "put-down zei5" ], [ "pick-up ywn1" ], [ "stack ywn1 zei5" ], [ "unstack mui4 lyz3" ], [ "stack mui4 ywn1" ], [ "unstack lyz3 ejw2" ], [ "stack lyz3 mui4" ], [ "pick-up ejw2" ] ]

[ "(arm-empty) (on-table ejw2) (on-table ywn1) (on lyz3 ejw2) (clear mui4) (on zei5 ywn1) (on-table mui4) (clear lyz3) (clear zei5)", "(on-table ejw2) (on-table ywn1) (holding mui4) (on lyz3 ejw2) (on zei5 ywn1) (clear lyz3) (clear zei5)", "(arm-empty) (on-table ejw2) (clear mui4) (clear zei5) (on-table ywn1) (on lyz3 ejw2) (on mui4 lyz3) (on zei5 ywn1)", "(on-table ejw2) (on-table ywn1) (on lyz3 ejw2) (clear mui4) (on mui4 lyz3) (holding zei5) (clear ywn1)", "(arm-empty) (on-table ejw2) (on-table zei5) (clear mui4) (clear zei5) (on-table ywn1) (on lyz3 ejw2) (on mui4 lyz3) (clear ywn1)", "(holding ywn1) (on-table ejw2) (on-table zei5) (on lyz3 ejw2) (clear mui4) (on mui4 lyz3) (clear zei5)", "(on ywn1 zei5) (arm-empty) (on-table ejw2) (on-table zei5) (on lyz3 ejw2) (clear mui4) (on mui4 lyz3) (clear ywn1)", "(on ywn1 zei5) (on-table ejw2) (on-table zei5) (holding mui4) (on lyz3 ejw2) (clear lyz3) (clear ywn1)", "(on ywn1 zei5) (on mui4 ywn1) (arm-empty) (on-table ejw2) (on-table zei5) (on lyz3 ejw2) (clear mui4) (clear lyz3)", "(on ywn1 zei5) (clear ejw2) (on mui4 ywn1) (on-table ejw2) (on-table zei5) (clear mui4) (holding lyz3)", "(on ywn1 zei5) (clear ejw2) (on mui4 ywn1) (on lyz3 mui4) (on-table ejw2) (on-table zei5) (arm-empty) (clear lyz3)", "(on ywn1 zei5) (on mui4 ywn1) (on lyz3 mui4) (on-table zei5) (holding ejw2) (clear lyz3)" ]

[ [ "unstack xhv5 yjo4" ], [ "put-down xhv5" ], [ "unstack yjo4 jwn3" ], [ "put-down yjo4" ], [ "unstack jwn3 wqh2" ], [ "put-down jwn3" ], [ "pick-up yjo4" ], [ "stack yjo4 xhv5" ], [ "pick-up jwn3" ], [ "stack jwn3 wqh2" ] ]

[ "(clear yjo4) (holding xhv5) (on wqh2 toc1) (on-table toc1) (on jwn3 wqh2) (on yjo4 jwn3)", "(arm-empty) (on-table xhv5) (clear yjo4) (on wqh2 toc1) (clear xhv5) (on-table toc1) (on jwn3 wqh2) (on yjo4 jwn3)", "(on-table xhv5) (on-table toc1) (holding yjo4) (on jwn3 wqh2) (on wqh2 toc1) (clear jwn3) (clear xhv5)", "(arm-empty) (on-table xhv5) (clear yjo4) (on wqh2 toc1) (clear xhv5) (on-table toc1) (on jwn3 wqh2) (on-table yjo4) (clear jwn3)", "(clear wqh2) (on-table xhv5) (on-table toc1) (clear yjo4) (on-table yjo4) (on wqh2 toc1) (holding jwn3) (clear xhv5)", "(clear wqh2) (arm-empty) (on-table xhv5) (on-table toc1) (clear yjo4) (on-table yjo4) (on wqh2 toc1) (clear jwn3) (on-table jwn3) (clear xhv5)", "(clear wqh2) (on-table xhv5) (on-table toc1) (holding yjo4) (on wqh2 toc1) (clear jwn3) (on-table jwn3) (clear xhv5)", "(clear wqh2) (arm-empty) (on-table xhv5) (on-table toc1) (on yjo4 xhv5) (clear yjo4) (on wqh2 toc1) (clear jwn3) (on-table jwn3)", "(clear wqh2) (on-table xhv5) (on-table toc1) (on yjo4 xhv5) (clear yjo4) (on wqh2 toc1) (holding jwn3)", "(arm-empty) (on-table xhv5) (on-table toc1) (on yjo4 xhv5) (on jwn3 wqh2) (clear yjo4) (on wqh2 toc1) (clear jwn3)" ]

[ [ "unstack hxv1 ily2" ], [ "put-down hxv1" ], [ "pick-up yep4" ] ]

[ "(holding hxv1) (clear ily2) (clear yep4) (on oee5 pqg3) (on-table yep4) (on ily2 oee5) (on-table pqg3)", "(arm-empty) (clear yep4) (on oee5 pqg3) (on ily2 oee5) (clear ily2) (on-table hxv1) (on-table yep4) (clear hxv1) (on-table pqg3)", "(clear ily2) (on-table hxv1) (holding yep4) (on oee5 pqg3) (on ily2 oee5) (clear hxv1) (on-table pqg3)" ]

[ [ "stack jiu3 jcy5" ], [ "unstack kwd2 xkd4" ], [ "put-down kwd2" ], [ "unstack xkd4 gnc1" ], [ "stack xkd4 kwd2" ], [ "unstack jiu3 jcy5" ], [ "put-down jiu3" ], [ "unstack xkd4 kwd2" ], [ "put-down xkd4" ], [ "pick-up gnc1" ], [ "stack gnc1 kwd2" ], [ "pick-up jcy5" ], [ "stack jcy5 gnc1" ] ]

[ "(clear kwd2) (on xkd4 gnc1) (on jiu3 jcy5) (arm-empty) (on-table jcy5) (on-table gnc1) (on kwd2 xkd4) (clear jiu3)", "(on xkd4 gnc1) (on jiu3 jcy5) (on-table jcy5) (on-table gnc1) (clear xkd4) (holding kwd2) (clear jiu3)", "(on jiu3 jcy5) (on xkd4 gnc1) (arm-empty) (on-table kwd2) (on-table jcy5) (clear xkd4) (clear kwd2) (on-table gnc1) (clear jiu3)", "(on jiu3 jcy5) (on-table kwd2) (on-table jcy5) (clear kwd2) (on-table gnc1) (holding xkd4) (clear jiu3) (clear gnc1)", "(on jiu3 jcy5) (arm-empty) (on-table kwd2) (on-table jcy5) (on-table gnc1) (clear xkd4) (on xkd4 kwd2) (clear jiu3) (clear gnc1)", "(on-table kwd2) (on-table jcy5) (on-table gnc1) (clear xkd4) (on xkd4 kwd2) (holding jiu3) (clear gnc1) (clear jcy5)", "(arm-empty) (on-table kwd2) (on-table jcy5) (on-table gnc1) (clear xkd4) (on xkd4 kwd2) (clear jiu3) (clear gnc1) (on-table jiu3) (clear jcy5)", "(clear kwd2) (on-table kwd2) (on-table jcy5) (on-table gnc1) (holding xkd4) (clear jiu3) (clear gnc1) (on-table jiu3) (clear jcy5)", "(clear kwd2) (arm-empty) (on-table kwd2) (on-table jcy5) (on-table gnc1) (clear xkd4) (on-table xkd4) (clear jiu3) (clear gnc1) (on-table jiu3) (clear jcy5)", "(holding gnc1) (clear kwd2) (on-table kwd2) (on-table jcy5) (clear xkd4) (on-table xkd4) (clear jiu3) (on-table jiu3) (clear jcy5)", "(arm-empty) (on-table kwd2) (on-table jcy5) (clear xkd4) (on-table xkd4) (clear jiu3) (on gnc1 kwd2) (clear gnc1) (on-table jiu3) (clear jcy5)", "(on-table kwd2) (clear xkd4) (holding jcy5) (on-table xkd4) (clear jiu3) (on gnc1 kwd2) (clear gnc1) (on-table jiu3)", "(arm-empty) (on-table kwd2) (clear xkd4) (on jcy5 gnc1) (on-table xkd4) (clear jiu3) (on gnc1 kwd2) (on-table jiu3) (clear jcy5)" ]

[ [ "unstack mud3 ort2" ], [ "put-down mud3" ], [ "pick-up odn5" ], [ "stack odn5 mud3" ], [ "unstack ort2 ynu4" ], [ "stack ort2 odn5" ], [ "unstack ynu4 lvb1" ], [ "put-down ynu4" ] ]

[ "(clear ort2) (on ynu4 lvb1) (on-table odn5) (on-table lvb1) (on ort2 ynu4) (holding mud3) (clear odn5)", "(on ynu4 lvb1) (arm-empty) (on-table odn5) (on ort2 ynu4) (clear odn5) (clear ort2) (on-table lvb1) (clear mud3) (on-table mud3)", "(clear ort2) (on ynu4 lvb1) (on-table lvb1) (holding odn5) (on ort2 ynu4) (clear mud3) (on-table mud3)", "(clear ort2) (on ynu4 lvb1) (arm-empty) (on-table lvb1) (on odn5 mud3) (on ort2 ynu4) (on-table mud3) (clear odn5)", "(on ynu4 lvb1) (on-table lvb1) (clear ynu4) (on odn5 mud3) (holding ort2) (on-table mud3) (clear odn5)", "(clear ort2) (on ynu4 lvb1) (arm-empty) (on-table lvb1) (clear ynu4) (on odn5 mud3) (on ort2 odn5) (on-table mud3)", "(clear ort2) (on-table lvb1) (holding ynu4) (on odn5 mud3) (on ort2 odn5) (clear lvb1) (on-table mud3)", "(arm-empty) (clear ynu4) (on odn5 mud3) (on ort2 odn5) (clear ort2) (on-table lvb1) (on-table ynu4) (clear lvb1) (on-table mud3)" ]

[ [ "stack mhy1 mzm2" ], [ "unstack tgu3 lcs5" ], [ "put-down tgu3" ], [ "unstack lcs5 lpm4" ], [ "put-down lcs5" ], [ "pick-up tgu3" ], [ "stack tgu3 lcs5" ], [ "pick-up lpm4" ], [ "stack lpm4 mhy1" ] ]

[ "(on tgu3 lcs5) (arm-empty) (on lcs5 lpm4) (on-table mzm2) (on-table lpm4) (clear tgu3) (on mhy1 mzm2) (clear mhy1)", "(on lcs5 lpm4) (on-table mzm2) (on-table lpm4) (on mhy1 mzm2) (clear mhy1) (holding tgu3) (clear lcs5)", "(arm-empty) (on lcs5 lpm4) (on-table mzm2) (on mhy1 mzm2) (clear lcs5) (on-table lpm4) (clear tgu3) (clear mhy1) (on-table tgu3)", "(on-table mzm2) (clear lpm4) (holding lcs5) (on-table lpm4) (clear tgu3) (on mhy1 mzm2) (clear mhy1) (on-table tgu3)", "(arm-empty) (on-table mzm2) (on-table lcs5) (clear lpm4) (on-table lpm4) (clear tgu3) (on mhy1 mzm2) (clear mhy1) (on-table tgu3) (clear lcs5)", "(on-table mzm2) (on-table lcs5) (clear lpm4) (on-table lpm4) (on mhy1 mzm2) (clear mhy1) (holding tgu3) (clear lcs5)", "(on tgu3 lcs5) (arm-empty) (on-table mzm2) (on-table lcs5) (clear lpm4) (on-table lpm4) (clear tgu3) (on mhy1 mzm2) (clear mhy1)", "(on tgu3 lcs5) (on-table mzm2) (on-table lcs5) (holding lpm4) (clear tgu3) (on mhy1 mzm2) (clear mhy1)", "(on tgu3 lcs5) (on lpm4 mhy1) (arm-empty) (on-table mzm2) (on-table lcs5) (clear lpm4) (clear tgu3) (on mhy1 mzm2)" ]

[ [ "put-down bsf3" ], [ "unstack zpt1 pgw2" ], [ "stack zpt1 bsf3" ], [ "unstack pgw2 fgl4" ], [ "put-down pgw2" ], [ "pick-up fgl4" ], [ "stack fgl4 zpt1" ], [ "pick-up pgw2" ], [ "stack pgw2 fgl4" ] ]

[ "(on-table fgl4) (arm-empty) (on pgw2 fgl4) (clear bsf3) (on zpt1 pgw2) (on-table bsf3) (clear zpt1)", "(on pgw2 fgl4) (holding zpt1) (clear pgw2) (on-table fgl4) (clear bsf3) (on-table bsf3)", "(clear pgw2) (on zpt1 bsf3) (arm-empty) (on-table fgl4) (on pgw2 fgl4) (clear zpt1) (on-table bsf3)", "(on zpt1 bsf3) (clear fgl4) (on-table fgl4) (holding pgw2) (clear zpt1) (on-table bsf3)", "(on-table fgl4) (on zpt1 bsf3) (clear pgw2) (on-table pgw2) (arm-empty) (clear fgl4) (clear zpt1) (on-table bsf3)", "(clear pgw2) (on zpt1 bsf3) (on-table pgw2) (holding fgl4) (clear zpt1) (on-table bsf3)", "(clear pgw2) (on zpt1 bsf3) (on fgl4 zpt1) (on-table pgw2) (arm-empty) (clear fgl4) (on-table bsf3)", "(on zpt1 bsf3) (on fgl4 zpt1) (clear fgl4) (holding pgw2) (on-table bsf3)", "(clear pgw2) (on zpt1 bsf3) (on fgl4 zpt1) (arm-empty) (on pgw2 fgl4) (on-table bsf3)" ]

[ [ "unstack mqc4 bnt3" ], [ "stack mqc4 zbf5" ], [ "unstack bnt3 dlj1" ], [ "put-down bnt3" ], [ "unstack dlj1 isw2" ], [ "stack dlj1 bnt3" ], [ "pick-up isw2" ], [ "stack isw2 mqc4" ], [ "unstack dlj1 bnt3" ], [ "stack dlj1 isw2" ] ]

[ "(on-table isw2) (on-table zbf5) (holding mqc4) (on bnt3 dlj1) (clear bnt3) (on dlj1 isw2) (clear zbf5)", "(arm-empty) (on-table isw2) (on-table zbf5) (on mqc4 zbf5) (clear mqc4) (on bnt3 dlj1) (clear bnt3) (on dlj1 isw2)", "(on-table isw2) (on-table zbf5) (on mqc4 zbf5) (clear mqc4) (on dlj1 isw2) (clear dlj1) (holding bnt3)", "(arm-empty) (on-table isw2) (on-table zbf5) (on mqc4 zbf5) (clear mqc4) (on dlj1 isw2) (clear bnt3) (clear dlj1) (on-table bnt3)", "(holding dlj1) (clear isw2) (on-table isw2) (on-table zbf5) (on mqc4 zbf5) (clear mqc4) (clear bnt3) (on-table bnt3)", "(clear isw2) (on dlj1 bnt3) (arm-empty) (on-table isw2) (on-table zbf5) (on mqc4 zbf5) (clear mqc4) (clear dlj1) (on-table bnt3)", "(on dlj1 bnt3) (on-table zbf5) (on mqc4 zbf5) (clear mqc4) (holding isw2) (clear dlj1) (on-table bnt3)", "(clear isw2) (on dlj1 bnt3) (arm-empty) (on-table zbf5) (on mqc4 zbf5) (on isw2 mqc4) (clear dlj1) (on-table bnt3)", "(holding dlj1) (clear isw2) (on-table zbf5) (on mqc4 zbf5) (on isw2 mqc4) (clear bnt3) (on-table bnt3)", "(arm-empty) (on-table zbf5) (on mqc4 zbf5) (on isw2 mqc4) (clear bnt3) (on dlj1 isw2) (clear dlj1) (on-table bnt3)" ]

[ [ "unstack dln4 fyh1" ], [ "put-down dln4" ], [ "unstack fyh1 kkl5" ], [ "put-down fyh1" ], [ "unstack kkl5 fcz3" ], [ "stack kkl5 dln4" ], [ "unstack fcz3 unx2" ], [ "stack fcz3 kkl5" ], [ "pick-up fyh1" ] ]

[ "(on fyh1 kkl5) (on-table unx2) (holding dln4) (on kkl5 fcz3) (on fcz3 unx2) (clear fyh1)", "(on fyh1 kkl5) (arm-empty) (on-table unx2) (clear dln4) (on kkl5 fcz3) (on fcz3 unx2) (on-table dln4) (clear fyh1)", "(holding fyh1) (on-table unx2) (on fcz3 unx2) (clear dln4) (on kkl5 fcz3) (on-table dln4) (clear kkl5)", "(arm-empty) (on-table unx2) (clear dln4) (on kkl5 fcz3) (clear kkl5) (on-table fyh1) (on fcz3 unx2) (on-table dln4) (clear fyh1)", "(on-table unx2) (on-table fyh1) (on fcz3 unx2) (clear dln4) (holding kkl5) (on-table dln4) (clear fcz3) (clear fyh1)", "(arm-empty) (on kkl5 dln4) (on-table unx2) (on-table fyh1) (on fcz3 unx2) (on-table dln4) (clear fcz3) (clear fyh1) (clear kkl5)", "(clear unx2) (on kkl5 dln4) (on-table unx2) (on-table fyh1) (on-table dln4) (holding fcz3) (clear fyh1) (clear kkl5)", "(clear unx2) (on fcz3 kkl5) (on kkl5 dln4) (on-table unx2) (arm-empty) (on-table fyh1) (on-table dln4) (clear fcz3) (clear fyh1)", "(holding fyh1) (clear unx2) (on fcz3 kkl5) (on kkl5 dln4) (on-table unx2) (on-table dln4) (clear fcz3)" ]

[ [ "unstack bdr5 ntz4" ], [ "put-down bdr5" ], [ "pick-up kqb3" ], [ "stack kqb3 bdr5" ] ]

[ "(clear vvp2) (on ntz4 mpw1) (on-table vvp2) (on-table mpw1) (clear ntz4) (holding bdr5) (clear kqb3) (on-table kqb3)", "(clear vvp2) (on ntz4 mpw1) (arm-empty) (on-table vvp2) (on-table bdr5) (on-table mpw1) (clear ntz4) (clear kqb3) (on-table kqb3) (clear bdr5)", "(clear vvp2) (on ntz4 mpw1) (on-table vvp2) (on-table bdr5) (on-table mpw1) (clear ntz4) (holding kqb3) (clear bdr5)", "(clear vvp2) (on ntz4 mpw1) (on kqb3 bdr5) (on-table vvp2) (on-table bdr5) (on-table mpw1) (arm-empty) (clear ntz4) (clear kqb3)" ]

[ [ "unstack squ4 qqm5" ], [ "put-down squ4" ], [ "unstack qqm5 gvy1" ], [ "stack qqm5 squ4" ], [ "unstack gvy1 dhf3" ], [ "put-down gvy1" ], [ "unstack qqm5 squ4" ], [ "stack qqm5 gvy1" ] ]

[ "(on gvy1 dhf3) (on-table dbu2) (holding squ4) (clear qqm5) (on dhf3 dbu2) (on qqm5 gvy1)", "(on gvy1 dhf3) (arm-empty) (on-table dbu2) (clear squ4) (clear qqm5) (on dhf3 dbu2) (on qqm5 gvy1) (on-table squ4)", "(on gvy1 dhf3) (on-table dbu2) (on dhf3 dbu2) (clear squ4) (holding qqm5) (on-table squ4) (clear gvy1)", "(on gvy1 dhf3) (on qqm5 squ4) (on-table dbu2) (arm-empty) (on dhf3 dbu2) (on-table squ4) (clear gvy1) (clear qqm5)", "(holding gvy1) (on qqm5 squ4) (on-table dbu2) (on dhf3 dbu2) (on-table squ4) (clear dhf3) (clear qqm5)", "(arm-empty) (on qqm5 squ4) (on-table dbu2) (clear qqm5) (on-table gvy1) (on dhf3 dbu2) (on-table squ4) (clear dhf3) (clear gvy1)", "(on-table dbu2) (on-table gvy1) (on dhf3 dbu2) (clear squ4) (holding qqm5) (on-table squ4) (clear dhf3) (clear gvy1)", "(arm-empty) (on-table dbu2) (on-table gvy1) (on dhf3 dbu2) (clear squ4) (on qqm5 gvy1) (on-table squ4) (clear dhf3) (clear qqm5)" ]

[ [ "stack djp3 ebm5" ], [ "unstack fbn1 xtp2" ], [ "stack fbn1 djp3" ], [ "pick-up xtp2" ], [ "stack xtp2 jhb4" ], [ "unstack fbn1 djp3" ] ]

[ "(clear fbn1) (on djp3 ebm5) (arm-empty) (on-table xtp2) (on-table ebm5) (clear jhb4) (on-table jhb4) (clear djp3) (on fbn1 xtp2)", "(holding fbn1) (on djp3 ebm5) (clear xtp2) (on-table xtp2) (on-table ebm5) (clear jhb4) (on-table jhb4) (clear djp3)", "(on djp3 ebm5) (clear xtp2) (on fbn1 djp3) (on-table xtp2) (on-table ebm5) (arm-empty) (clear jhb4) (on-table jhb4) (clear fbn1)", "(on djp3 ebm5) (on fbn1 djp3) (on-table ebm5) (clear jhb4) (on-table jhb4) (holding xtp2) (clear fbn1)", "(on djp3 ebm5) (on fbn1 djp3) (clear xtp2) (arm-empty) (on-table ebm5) (on-table jhb4) (on xtp2 jhb4) (clear fbn1)", "(holding fbn1) (on djp3 ebm5) (clear xtp2) (on-table ebm5) (on-table jhb4) (on xtp2 jhb4) (clear djp3)" ]

[ [ "unstack lrm1 yff4" ], [ "put-down lrm1" ], [ "unstack yff4 vkq2" ], [ "put-down yff4" ], [ "unstack vkq2 ibj3" ], [ "stack vkq2 lrm1" ], [ "pick-up ibj3" ], [ "stack ibj3 vkq2" ], [ "pick-up yff4" ], [ "stack yff4 ibj3" ] ]

[ "(holding lrm1) (clear yff4) (on yff4 vkq2) (on vkq2 ibj3) (on-table ibj3)", "(on-table lrm1) (arm-empty) (on vkq2 ibj3) (on yff4 vkq2) (clear yff4) (clear lrm1) (on-table ibj3)", "(holding yff4) (clear vkq2) (on-table lrm1) (on vkq2 ibj3) (clear lrm1) (on-table ibj3)", "(arm-empty) (clear yff4) (clear vkq2) (on-table lrm1) (on-table yff4) (on vkq2 ibj3) (clear lrm1) (on-table ibj3)", "(on-table lrm1) (clear yff4) (on-table yff4) (holding vkq2) (clear ibj3) (clear lrm1) (on-table ibj3)", "(clear vkq2) (arm-empty) (on-table lrm1) (clear yff4) (on-table yff4) (on vkq2 lrm1) (clear ibj3) (on-table ibj3)", "(clear vkq2) (on-table lrm1) (clear yff4) (on-table yff4) (on vkq2 lrm1) (holding ibj3)", "(arm-empty) (on-table lrm1) (on ibj3 vkq2) (clear yff4) (on-table yff4) (on vkq2 lrm1) (clear ibj3)", "(holding yff4) (clear ibj3) (on-table lrm1) (on vkq2 lrm1) (on ibj3 vkq2)", "(on ibj3 vkq2) (on yff4 ibj3) (arm-empty) (clear yff4) (on vkq2 lrm1) (on-table lrm1)" ]

[ [ "unstack jwa3 iud1" ], [ "put-down jwa3" ], [ "unstack iud1 kuj2" ], [ "put-down iud1" ], [ "unstack kuj2 lcx4" ], [ "put-down kuj2" ], [ "pick-up iud1" ], [ "stack iud1 kuj2" ], [ "pick-up lcx4" ], [ "stack lcx4 jwa3" ], [ "unstack iud1 kuj2" ], [ "put-down iud1" ] ]

[ "(on-table lcx4) (on kuj2 lcx4) (on iud1 kuj2) (clear iud1) (holding jwa3)", "(on-table lcx4) (arm-empty) (on kuj2 lcx4) (clear jwa3) (on iud1 kuj2) (clear iud1) (on-table jwa3)", "(on kuj2 lcx4) (holding iud1) (clear kuj2) (on-table lcx4) (clear jwa3) (on-table jwa3)", "(arm-empty) (on kuj2 lcx4) (clear kuj2) (on-table iud1) (on-table lcx4) (clear jwa3) (clear iud1) (on-table jwa3)", "(on-table iud1) (clear lcx4) (on-table lcx4) (holding kuj2) (clear jwa3) (clear iud1) (on-table jwa3)", "(arm-empty) (on-table kuj2) (clear lcx4) (clear kuj2) (on-table iud1) (on-table lcx4) (clear jwa3) (clear iud1) (on-table jwa3)", "(holding iud1) (clear kuj2) (on-table kuj2) (clear lcx4) (on-table lcx4) (clear jwa3) (on-table jwa3)", "(arm-empty) (on-table kuj2) (clear lcx4) (on-table lcx4) (clear jwa3) (on iud1 kuj2) (clear iud1) (on-table jwa3)", "(on-table kuj2) (holding lcx4) (clear jwa3) (on iud1 kuj2) (clear iud1) (on-table jwa3)", "(arm-empty) (on-table kuj2) (clear lcx4) (on lcx4 jwa3) (on iud1 kuj2) (clear iud1) (on-table jwa3)", "(on-table kuj2) (clear lcx4) (holding iud1) (clear kuj2) (on lcx4 jwa3) (on-table jwa3)", "(arm-empty) (on-table kuj2) (clear lcx4) (clear kuj2) (on-table iud1) (on lcx4 jwa3) (clear iud1) (on-table jwa3)" ]

[ [ "unstack kvf2 sai3" ], [ "stack kvf2 iro5" ], [ "pick-up fpg4" ], [ "stack fpg4 sai3" ], [ "pick-up tda1" ], [ "stack tda1 fpg4" ], [ "unstack kvf2 iro5" ], [ "stack kvf2 tda1" ], [ "pick-up iro5" ], [ "stack iro5 kvf2" ] ]

[ "(on-table iro5) (on-table tda1) (clear fpg4) (on-table fpg4) (holding kvf2) (clear sai3) (clear tda1) (on-table sai3) (clear iro5)", "(clear kvf2) (arm-empty) (on-table iro5) (on-table tda1) (clear fpg4) (on-table fpg4) (on kvf2 iro5) (clear sai3) (clear tda1) (on-table sai3)", "(clear kvf2) (on-table iro5) (on-table tda1) (holding fpg4) (on kvf2 iro5) (clear sai3) (clear tda1) (on-table sai3)", "(clear kvf2) (arm-empty) (on-table iro5) (on-table tda1) (clear fpg4) (on fpg4 sai3) (on kvf2 iro5) (clear tda1) (on-table sai3)", "(holding tda1) (clear kvf2) (on-table iro5) (clear fpg4) (on fpg4 sai3) (on kvf2 iro5) (on-table sai3)", "(clear kvf2) (arm-empty) (on-table iro5) (on fpg4 sai3) (on tda1 fpg4) (on kvf2 iro5) (clear tda1) (on-table sai3)", "(on-table iro5) (holding kvf2) (on fpg4 sai3) (on tda1 fpg4) (clear tda1) (on-table sai3) (clear iro5)", "(arm-empty) (on-table iro5) (on kvf2 tda1) (clear iro5) (clear kvf2) (on fpg4 sai3) (on tda1 fpg4) (on-table sai3)", "(clear kvf2) (on fpg4 sai3) (holding iro5) (on tda1 fpg4) (on kvf2 tda1) (on-table sai3)", "(arm-empty) (on iro5 kvf2) (on fpg4 sai3) (on tda1 fpg4) (on kvf2 tda1) (on-table sai3) (clear iro5)" ]

[ [ "unstack flu4 ryf3" ], [ "stack flu4 pky5" ], [ "pick-up weh2" ], [ "stack weh2 vgn1" ], [ "pick-up ryf3" ] ]

[ "(clear weh2) (on-table weh2) (on-table pky5) (on-table vgn1) (holding flu4) (clear ryf3) (clear vgn1) (on-table ryf3) (clear pky5)", "(clear weh2) (arm-empty) (on-table weh2) (on-table pky5) (on-table vgn1) (on flu4 pky5) (clear flu4) (clear ryf3) (clear vgn1) (on-table ryf3)", "(on-table pky5) (on-table vgn1) (on flu4 pky5) (clear flu4) (holding weh2) (clear ryf3) (clear vgn1) (on-table ryf3)", "(clear weh2) (arm-empty) (on-table pky5) (on-table vgn1) (on flu4 pky5) (clear flu4) (on weh2 vgn1) (clear ryf3) (on-table ryf3)", "(clear weh2) (on-table pky5) (on-table vgn1) (on flu4 pky5) (clear flu4) (on weh2 vgn1) (holding ryf3)" ]

[ [ "unstack rdv2 xrl4" ], [ "stack rdv2 dvn5" ] ]

[ "(on xrl4 uft1) (on-table dvn5) (on-table uft1) (clear xrl4) (holding rdv2) (clear tuq3) (on-table tuq3) (clear dvn5)", "(clear rdv2) (on xrl4 uft1) (arm-empty) (on-table dvn5) (on-table uft1) (clear xrl4) (on rdv2 dvn5) (clear tuq3) (on-table tuq3)" ]

[ [ "put-down doh5" ], [ "pick-up qpc2" ], [ "stack qpc2 doh5" ], [ "unstack cue4 bsk1" ], [ "put-down cue4" ], [ "unstack qpc2 doh5" ], [ "stack qpc2 bsk1" ], [ "pick-up cue4" ], [ "stack cue4 qpc2" ] ]

[ "(on bsk1 dbl3) (on cue4 bsk1) (on-table qpc2) (on-table doh5) (arm-empty) (clear cue4) (clear doh5) (clear qpc2) (on-table dbl3)", "(on bsk1 dbl3) (on cue4 bsk1) (on-table doh5) (clear cue4) (holding qpc2) (on-table dbl3) (clear doh5)", "(clear qpc2) (on bsk1 dbl3) (on cue4 bsk1) (arm-empty) (on-table doh5) (clear cue4) (on qpc2 doh5) (on-table dbl3)", "(clear qpc2) (on bsk1 dbl3) (on-table doh5) (holding cue4) (on qpc2 doh5) (clear bsk1) (on-table dbl3)", "(on bsk1 dbl3) (arm-empty) (on-table doh5) (clear cue4) (on qpc2 doh5) (clear qpc2) (on-table cue4) (clear bsk1) (on-table dbl3)", "(on bsk1 dbl3) (on-table doh5) (clear cue4) (on-table cue4) (holding qpc2) (clear bsk1) (on-table dbl3) (clear doh5)", "(clear qpc2) (on bsk1 dbl3) (arm-empty) (on-table doh5) (clear cue4) (on-table cue4) (on qpc2 bsk1) (on-table dbl3) (clear doh5)", "(clear qpc2) (on bsk1 dbl3) (on-table doh5) (holding cue4) (on qpc2 bsk1) (on-table dbl3) (clear doh5)", "(on bsk1 dbl3) (arm-empty) (on-table doh5) (clear cue4) (on qpc2 bsk1) (clear doh5) (on cue4 qpc2) (on-table dbl3)" ]

[ [ "stack wom5 jbh1" ], [ "pick-up dge3" ] ]

[ "(arm-empty) (on-table czu2) (on wom5 jbh1) (on jbh1 zvn4) (on zvn4 czu2) (clear dge3) (on-table dge3) (clear wom5)", "(on-table czu2) (on wom5 jbh1) (on jbh1 zvn4) (on zvn4 czu2) (holding dge3) (clear wom5)" ]

[ [ "pick-up gcx1" ], [ "stack gcx1 mcb3" ], [ "unstack yew5 wtd4" ], [ "put-down yew5" ], [ "unstack wtd4 yha2" ], [ "put-down wtd4" ], [ "unstack gcx1 mcb3" ], [ "stack gcx1 yew5" ], [ "pick-up mcb3" ], [ "stack mcb3 wtd4" ], [ "pick-up yha2" ], [ "stack yha2 gcx1" ] ]

[ "(holding gcx1) (on yew5 wtd4) (on-table yha2) (on wtd4 yha2) (clear mcb3) (on-table mcb3) (clear yew5)", "(on gcx1 mcb3) (on yew5 wtd4) (on-table yha2) (arm-empty) (on wtd4 yha2) (clear gcx1) (on-table mcb3) (clear yew5)", "(on gcx1 mcb3) (on-table yha2) (clear wtd4) (holding yew5) (on wtd4 yha2) (clear gcx1) (on-table mcb3)", "(on gcx1 mcb3) (arm-empty) (on-table yha2) (on-table yew5) (clear wtd4) (clear yew5) (on wtd4 yha2) (clear gcx1) (on-table mcb3)", "(clear yha2) (on gcx1 mcb3) (on-table yha2) (on-table yew5) (holding wtd4) (clear gcx1) (on-table mcb3) (clear yew5)", "(clear yha2) (on gcx1 mcb3) (arm-empty) (on-table yha2) (on-table yew5) (clear wtd4) (on-table wtd4) (clear gcx1) (on-table mcb3) (clear yew5)", "(holding gcx1) (clear yha2) (on-table yha2) (on-table yew5) (clear wtd4) (on-table wtd4) (clear mcb3) (on-table mcb3) (clear yew5)", "(on gcx1 yew5) (clear yha2) (arm-empty) (on-table yha2) (on-table yew5) (clear wtd4) (on-table wtd4) (clear mcb3) (clear gcx1) (on-table mcb3)", "(on gcx1 yew5) (clear yha2) (on-table yha2) (on-table yew5) (clear wtd4) (on-table wtd4) (holding mcb3) (clear gcx1)", "(on gcx1 yew5) (clear yha2) (on mcb3 wtd4) (arm-empty) (on-table yha2) (on-table yew5) (on-table wtd4) (clear mcb3) (clear gcx1)", "(on gcx1 yew5) (on mcb3 wtd4) (on-table yew5) (on-table wtd4) (holding yha2) (clear mcb3) (clear gcx1)", "(on gcx1 yew5) (on mcb3 wtd4) (clear yha2) (arm-empty) (on-table yew5) (on-table wtd4) (on yha2 gcx1) (clear mcb3)" ]

[ [ "pick-up mxa1" ] ]

[ "(holding mxa1) (on-table nho5) (clear sfw4) (on sfw4 mwx2) (on mwx2 mkr3) (on-table mkr3) (clear nho5)" ]

[ [ "put-down fhk5" ], [ "unstack njs1 pnw3" ], [ "stack njs1 nnn4" ], [ "pick-up fhk5" ], [ "stack fhk5 njs1" ], [ "unstack pnw3 wxm2" ], [ "put-down pnw3" ], [ "unstack fhk5 njs1" ], [ "put-down fhk5" ], [ "unstack njs1 nnn4" ], [ "stack njs1 pnw3" ], [ "pick-up fhk5" ], [ "stack fhk5 nnn4" ], [ "pick-up wxm2" ] ]

[ "(on njs1 pnw3) (arm-empty) (on-table wxm2) (on-table fhk5) (clear nnn4) (clear fhk5) (on pnw3 wxm2) (on-table nnn4) (clear njs1)", "(holding njs1) (on-table wxm2) (on-table fhk5) (on pnw3 wxm2) (clear nnn4) (on-table nnn4) (clear pnw3) (clear fhk5)", "(arm-empty) (on-table wxm2) (on-table fhk5) (on pnw3 wxm2) (on-table nnn4) (on njs1 nnn4) (clear pnw3) (clear njs1) (clear fhk5)", "(on-table wxm2) (on pnw3 wxm2) (holding fhk5) (on-table nnn4) (on njs1 nnn4) (clear pnw3) (clear njs1)", "(arm-empty) (on-table wxm2) (on pnw3 wxm2) (on fhk5 njs1) (on-table nnn4) (on njs1 nnn4) (clear pnw3) (clear fhk5)", "(clear wxm2) (on-table wxm2) (on fhk5 njs1) (on-table nnn4) (on njs1 nnn4) (holding pnw3) (clear fhk5)", "(arm-empty) (on-table wxm2) (clear fhk5) (clear wxm2) (on fhk5 njs1) (on-table nnn4) (on njs1 nnn4) (clear pnw3) (on-table pnw3)", "(clear wxm2) (on-table wxm2) (holding fhk5) (on-table nnn4) (on njs1 nnn4) (clear pnw3) (clear njs1) (on-table pnw3)", "(clear wxm2) (arm-empty) (on-table wxm2) (on-table fhk5) (on-table nnn4) (on njs1 nnn4) (clear pnw3) (clear njs1) (on-table pnw3) (clear fhk5)", "(holding njs1) (clear wxm2) (on-table wxm2) (on-table fhk5) (clear nnn4) (on-table nnn4) (clear pnw3) (on-table pnw3) (clear fhk5)", "(clear wxm2) (on njs1 pnw3) (arm-empty) (on-table wxm2) (on-table fhk5) (clear nnn4) (on-table nnn4) (clear njs1) (on-table pnw3) (clear fhk5)", "(clear wxm2) (on njs1 pnw3) (on-table wxm2) (clear nnn4) (holding fhk5) (on-table nnn4) (clear njs1) (on-table pnw3)", "(clear wxm2) (on njs1 pnw3) (on fhk5 nnn4) (on-table wxm2) (arm-empty) (on-table nnn4) (clear njs1) (on-table pnw3) (clear fhk5)", "(on njs1 pnw3) (on fhk5 nnn4) (on-table nnn4) (holding wxm2) (clear njs1) (on-table pnw3) (clear fhk5)" ]

[ [ "unstack qyc3 ipy5" ], [ "stack qyc3 hkj1" ], [ "unstack ipy5 hmy2" ], [ "stack ipy5 wrh4" ], [ "unstack qyc3 hkj1" ], [ "put-down qyc3" ], [ "pick-up hkj1" ], [ "stack hkj1 ipy5" ], [ "pick-up qyc3" ], [ "stack qyc3 hmy2" ], [ "unstack hkj1 ipy5" ], [ "stack hkj1 qyc3" ] ]

[ "(on-table hmy2) (on-table hkj1) (on ipy5 hmy2) (clear wrh4) (on-table wrh4) (holding qyc3) (clear hkj1) (clear ipy5)", "(arm-empty) (on-table hmy2) (on-table hkj1) (on ipy5 hmy2) (clear wrh4) (on-table wrh4) (on qyc3 hkj1) (clear qyc3) (clear ipy5)", "(clear hmy2) (on-table hmy2) (on-table hkj1) (clear wrh4) (holding ipy5) (on-table wrh4) (on qyc3 hkj1) (clear qyc3)", "(clear hmy2) (arm-empty) (on ipy5 wrh4) (on-table hmy2) (on-table hkj1) (on-table wrh4) (on qyc3 hkj1) (clear qyc3) (clear ipy5)", "(clear hmy2) (on ipy5 wrh4) (on-table hmy2) (on-table hkj1) (on-table wrh4) (holding qyc3) (clear hkj1) (clear ipy5)", "(clear hmy2) (arm-empty) (on ipy5 wrh4) (on-table hmy2) (on-table hkj1) (on-table wrh4) (clear qyc3) (clear hkj1) (on-table qyc3) (clear ipy5)", "(holding hkj1) (clear hmy2) (on ipy5 wrh4) (on-table hmy2) (on-table wrh4) (clear qyc3) (on-table qyc3) (clear ipy5)", "(on hkj1 ipy5) (clear hmy2) (arm-empty) (on ipy5 wrh4) (on-table hmy2) (on-table wrh4) (clear qyc3) (clear hkj1) (on-table qyc3)", "(on hkj1 ipy5) (clear hmy2) (on ipy5 wrh4) (on-table hmy2) (on-table wrh4) (holding qyc3) (clear hkj1)", "(on hkj1 ipy5) (arm-empty) (on ipy5 wrh4) (on-table hmy2) (on qyc3 hmy2) (on-table wrh4) (clear qyc3) (clear hkj1)", "(holding hkj1) (on ipy5 wrh4) (on-table hmy2) (on qyc3 hmy2) (on-table wrh4) (clear qyc3) (clear ipy5)", "(on hkj1 qyc3) (on ipy5 wrh4) (on-table hmy2) (arm-empty) (on qyc3 hmy2) (on-table wrh4) (clear hkj1) (clear ipy5)" ]

[ [ "put-down imp5" ], [ "unstack ewm1 ddi2" ], [ "put-down ewm1" ], [ "unstack ddi2 neg3" ], [ "stack ddi2 imp5" ], [ "pick-up ewm1" ] ]

[ "(arm-empty) (on-table imp5) (on ewm1 ddi2) (clear imp5) (on neg3 yfe4) (on-table yfe4) (on ddi2 neg3) (clear ewm1)", "(holding ewm1) (on neg3 yfe4) (clear ddi2) (on-table imp5) (on-table yfe4) (on ddi2 neg3) (clear imp5)", "(arm-empty) (on-table imp5) (clear imp5) (on neg3 yfe4) (clear ddi2) (on-table ewm1) (on-table yfe4) (on ddi2 neg3) (clear ewm1)", "(on neg3 yfe4) (on-table imp5) (on-table ewm1) (on-table yfe4) (holding ddi2) (clear neg3) (clear ewm1) (clear imp5)", "(on neg3 yfe4) (clear ddi2) (arm-empty) (on-table imp5) (on-table ewm1) (on-table yfe4) (on ddi2 imp5) (clear neg3) (clear ewm1)", "(holding ewm1) (on neg3 yfe4) (clear ddi2) (on-table imp5) (on-table yfe4) (on ddi2 imp5) (clear neg3)" ]

[ [ "stack dal2 hwd5" ], [ "unstack xat1 mqe4" ], [ "stack xat1 jdb3" ], [ "pick-up mqe4" ], [ "stack mqe4 xat1" ], [ "unstack dal2 hwd5" ], [ "put-down dal2" ] ]

[ "(clear dal2) (arm-empty) (on-table hwd5) (on-table mqe4) (on dal2 hwd5) (clear jdb3) (on xat1 mqe4) (on-table jdb3) (clear xat1)", "(holding xat1) (clear dal2) (on-table hwd5) (clear mqe4) (on-table mqe4) (on dal2 hwd5) (clear jdb3) (on-table jdb3)", "(clear dal2) (on xat1 jdb3) (arm-empty) (on-table hwd5) (clear mqe4) (on-table mqe4) (on dal2 hwd5) (clear xat1) (on-table jdb3)", "(clear dal2) (on xat1 jdb3) (on-table hwd5) (holding mqe4) (on dal2 hwd5) (clear xat1) (on-table jdb3)", "(clear dal2) (on xat1 jdb3) (on mqe4 xat1) (arm-empty) (on-table hwd5) (clear mqe4) (on dal2 hwd5) (on-table jdb3)", "(on xat1 jdb3) (on mqe4 xat1) (on-table hwd5) (clear mqe4) (holding dal2) (on-table jdb3) (clear hwd5)", "(on xat1 jdb3) (on mqe4 xat1) (on-table dal2) (on-table hwd5) (arm-empty) (clear mqe4) (clear hwd5) (clear dal2) (on-table jdb3)" ]

[ [ "put-down gfp1" ], [ "unstack eyq2 upj5" ], [ "put-down eyq2" ], [ "unstack upj5 vgm4" ], [ "stack upj5 gfp1" ], [ "unstack vgm4 equ3" ], [ "stack vgm4 upj5" ], [ "pick-up eyq2" ] ]

[ "(arm-empty) (on upj5 vgm4) (on eyq2 upj5) (clear eyq2) (on-table gfp1) (on vgm4 equ3) (clear gfp1) (on-table equ3)", "(on upj5 vgm4) (on-table gfp1) (on vgm4 equ3) (holding eyq2) (clear gfp1) (on-table equ3) (clear upj5)", "(arm-empty) (on upj5 vgm4) (on-table eyq2) (clear upj5) (clear eyq2) (on-table gfp1) (on vgm4 equ3) (clear gfp1) (on-table equ3)", "(clear eyq2) (on-table eyq2) (on-table gfp1) (clear vgm4) (on vgm4 equ3) (holding upj5) (clear gfp1) (on-table equ3)", "(clear eyq2) (arm-empty) (on-table eyq2) (on-table gfp1) (clear vgm4) (on vgm4 equ3) (on upj5 gfp1) (on-table equ3) (clear upj5)", "(clear eyq2) (on-table eyq2) (on-table gfp1) (holding vgm4) (on upj5 gfp1) (clear equ3) (on-table equ3) (clear upj5)", "(clear eyq2) (arm-empty) (on-table eyq2) (on vgm4 upj5) (on-table gfp1) (clear vgm4) (on upj5 gfp1) (clear equ3) (on-table equ3)", "(on vgm4 upj5) (on-table gfp1) (clear vgm4) (on upj5 gfp1) (holding eyq2) (clear equ3) (on-table equ3)" ]

[ [ "stack yqi3 gvb2" ], [ "unstack lud4 ufc5" ], [ "stack lud4 yqi3" ], [ "pick-up ufc5" ] ]

[ "(arm-empty) (on-table gvb2) (on-table ufc5) (on-table tcr1) (on lud4 ufc5) (on yqi3 gvb2) (clear lud4) (clear yqi3) (clear tcr1)", "(on-table gvb2) (on-table ufc5) (on-table tcr1) (holding lud4) (on yqi3 gvb2) (clear yqi3) (clear tcr1) (clear ufc5)", "(arm-empty) (on-table gvb2) (on-table ufc5) (on-table tcr1) (on yqi3 gvb2) (clear lud4) (on lud4 yqi3) (clear tcr1) (clear ufc5)", "(on-table gvb2) (on-table tcr1) (on yqi3 gvb2) (clear lud4) (on lud4 yqi3) (holding ufc5) (clear tcr1)" ]

[ [ "put-down sxd3" ], [ "unstack dzr4 uef1" ], [ "put-down dzr4" ], [ "pick-up wdj2" ], [ "stack wdj2 dzr4" ], [ "pick-up sxd3" ] ]

[ "(on uef1 rqj5) (on dzr4 uef1) (arm-empty) (on-table wdj2) (on-table rqj5) (clear dzr4) (clear wdj2) (clear sxd3) (on-table sxd3)", "(on uef1 rqj5) (clear wdj2) (on-table wdj2) (on-table rqj5) (holding dzr4) (clear sxd3) (clear uef1) (on-table sxd3)", "(on uef1 rqj5) (clear wdj2) (arm-empty) (on-table wdj2) (on-table rqj5) (clear dzr4) (on-table dzr4) (clear sxd3) (clear uef1) (on-table sxd3)", "(on uef1 rqj5) (on-table rqj5) (clear dzr4) (on-table dzr4) (holding wdj2) (clear sxd3) (clear uef1) (on-table sxd3)", "(on uef1 rqj5) (clear wdj2) (arm-empty) (on-table rqj5) (on-table dzr4) (on wdj2 dzr4) (clear sxd3) (clear uef1) (on-table sxd3)", "(on uef1 rqj5) (clear wdj2) (on-table rqj5) (on-table dzr4) (on wdj2 dzr4) (holding sxd3) (clear uef1)" ]

[ [ "stack crm2 fuo5" ], [ "pick-up gbr4" ], [ "stack gbr4 agi1" ], [ "unstack crm2 fuo5" ], [ "put-down crm2" ], [ "pick-up fuo5" ], [ "stack fuo5 crm2" ], [ "unstack gbr4 agi1" ], [ "stack gbr4 fuo5" ], [ "unstack agi1 qch3" ], [ "put-down agi1" ], [ "pick-up qch3" ], [ "stack qch3 agi1" ] ]

[ "(clear crm2) (on agi1 qch3) (arm-empty) (on-table fuo5) (clear gbr4) (on-table gbr4) (on crm2 fuo5) (clear agi1) (on-table qch3)", "(clear crm2) (on agi1 qch3) (on-table fuo5) (holding gbr4) (on crm2 fuo5) (clear agi1) (on-table qch3)", "(clear crm2) (on agi1 qch3) (on gbr4 agi1) (arm-empty) (on-table fuo5) (clear gbr4) (on crm2 fuo5) (on-table qch3)", "(on agi1 qch3) (on gbr4 agi1) (on-table fuo5) (clear gbr4) (holding crm2) (on-table qch3) (clear fuo5)", "(on agi1 qch3) (on gbr4 agi1) (on-table crm2) (on-table fuo5) (arm-empty) (clear gbr4) (clear fuo5) (clear crm2) (on-table qch3)", "(clear crm2) (on agi1 qch3) (on gbr4 agi1) (on-table crm2) (clear gbr4) (holding fuo5) (on-table qch3)", "(on agi1 qch3) (on gbr4 agi1) (on-table crm2) (arm-empty) (on fuo5 crm2) (clear gbr4) (on-table qch3) (clear fuo5)", "(on agi1 qch3) (on-table crm2) (holding gbr4) (on fuo5 crm2) (clear agi1) (on-table qch3) (clear fuo5)", "(on agi1 qch3) (arm-empty) (on-table crm2) (on gbr4 fuo5) (on fuo5 crm2) (clear gbr4) (clear agi1) (on-table qch3)", "(holding agi1) (on-table crm2) (on gbr4 fuo5) (on fuo5 crm2) (clear gbr4) (clear qch3) (on-table qch3)", "(arm-empty) (on-table crm2) (on gbr4 fuo5) (on fuo5 crm2) (clear gbr4) (on-table agi1) (clear qch3) (clear agi1) (on-table qch3)", "(on-table crm2) (on gbr4 fuo5) (on-table agi1) (on fuo5 crm2) (clear gbr4) (holding qch3) (clear agi1)", "(arm-empty) (on-table crm2) (on gbr4 fuo5) (on-table agi1) (on fuo5 crm2) (clear gbr4) (on qch3 agi1) (clear qch3)" ]

[ [ "put-down dfs2" ], [ "unstack epr5 vxa3" ], [ "stack epr5 dfs2" ] ]

[ "(arm-empty) (on-table dfs2) (on epr5 vxa3) (on vxa3 uof1) (clear epr5) (clear dfs2) (on-table ein4) (on uof1 ein4)", "(clear dfs2) (on-table dfs2) (holding epr5) (on-table ein4) (on uof1 ein4) (on vxa3 uof1) (clear vxa3)", "(arm-empty) (on-table dfs2) (on epr5 dfs2) (on-table ein4) (on uof1 ein4) (on vxa3 uof1) (clear vxa3) (clear epr5)" ]

[ [ "unstack ftn1 aaf2" ], [ "put-down ftn1" ], [ "unstack aaf2 sol3" ], [ "put-down aaf2" ], [ "unstack sol3 apn4" ], [ "put-down sol3" ], [ "pick-up ftn1" ], [ "stack ftn1 apn4" ], [ "pick-up aaf2" ], [ "stack aaf2 sol3" ], [ "unstack ftn1 apn4" ], [ "stack ftn1 aaf2" ], [ "pick-up apn4" ], [ "stack apn4 ftn1" ] ]

[ "(holding ftn1) (on sol3 apn4) (on-table apn4) (clear aaf2) (on aaf2 sol3)", "(on sol3 apn4) (on-table apn4) (clear aaf2) (arm-empty) (on-table ftn1) (on aaf2 sol3) (clear ftn1)", "(on sol3 apn4) (on-table ftn1) (on-table apn4) (holding aaf2) (clear sol3) (clear ftn1)", "(arm-empty) (on-table aaf2) (on sol3 apn4) (clear aaf2) (on-table ftn1) (on-table apn4) (clear sol3) (clear ftn1)", "(clear aaf2) (on-table aaf2) (on-table ftn1) (clear apn4) (on-table apn4) (holding sol3) (clear ftn1)", "(arm-empty) (on-table aaf2) (clear apn4) (clear aaf2) (on-table ftn1) (on-table apn4) (clear sol3) (clear ftn1) (on-table sol3)", "(holding ftn1) (clear aaf2) (on-table aaf2) (clear apn4) (on-table apn4) (clear sol3) (on-table sol3)", "(clear aaf2) (arm-empty) (on-table aaf2) (on-table apn4) (on ftn1 apn4) (clear sol3) (clear ftn1) (on-table sol3)", "(holding aaf2) (on-table apn4) (on ftn1 apn4) (clear sol3) (clear ftn1) (on-table sol3)", "(clear aaf2) (arm-empty) (on-table apn4) (on ftn1 apn4) (on aaf2 sol3) (clear ftn1) (on-table sol3)", "(clear apn4) (holding ftn1) (clear aaf2) (on-table apn4) (on aaf2 sol3) (on-table sol3)", "(arm-empty) (clear apn4) (on-table apn4) (on aaf2 sol3) (on ftn1 aaf2) (on-table sol3) (clear ftn1)", "(on aaf2 sol3) (holding apn4) (on ftn1 aaf2) (on-table sol3) (clear ftn1)", "(on apn4 ftn1) (clear apn4) (arm-empty) (on aaf2 sol3) (on ftn1 aaf2) (on-table sol3)" ]

[ [ "stack rrx5 cdw2" ], [ "unstack jle3 xau1" ], [ "put-down jle3" ], [ "unstack xau1 jst4" ], [ "stack xau1 jle3" ] ]

[ "(arm-empty) (on-table cdw2) (on rrx5 cdw2) (on-table jst4) (on xau1 jst4) (on jle3 xau1) (clear jle3) (clear rrx5)", "(on-table cdw2) (on rrx5 cdw2) (on-table jst4) (on xau1 jst4) (holding jle3) (clear xau1) (clear rrx5)", "(arm-empty) (on-table cdw2) (on rrx5 cdw2) (clear rrx5) (on-table jst4) (on xau1 jst4) (clear jle3) (clear xau1) (on-table jle3)", "(holding xau1) (on-table cdw2) (on rrx5 cdw2) (clear jst4) (on-table jst4) (clear jle3) (on-table jle3) (clear rrx5)", "(on xau1 jle3) (arm-empty) (on-table cdw2) (on rrx5 cdw2) (clear jst4) (on-table jst4) (clear xau1) (on-table jle3) (clear rrx5)" ]

[ [ "put-down ifv4" ], [ "unstack nmq5 hnh3" ], [ "stack nmq5 ifv4" ], [ "unstack hnh3 vbo1" ], [ "put-down hnh3" ], [ "unstack vbo1 kci2" ], [ "put-down vbo1" ], [ "unstack nmq5 ifv4" ], [ "stack nmq5 vbo1" ], [ "pick-up ifv4" ], [ "stack ifv4 kci2" ], [ "unstack nmq5 vbo1" ], [ "put-down nmq5" ], [ "pick-up vbo1" ], [ "stack vbo1 ifv4" ], [ "pick-up hnh3" ], [ "stack hnh3 vbo1" ], [ "pick-up nmq5" ] ]

[ "(arm-empty) (on-table kci2) (clear ifv4) (on nmq5 hnh3) (on hnh3 vbo1) (on vbo1 kci2) (clear nmq5) (on-table ifv4)", "(on-table kci2) (clear ifv4) (holding nmq5) (on-table ifv4) (on hnh3 vbo1) (clear hnh3) (on vbo1 kci2)", "(arm-empty) (on nmq5 ifv4) (on-table kci2) (on-table ifv4) (on hnh3 vbo1) (clear hnh3) (on vbo1 kci2) (clear nmq5)", "(on nmq5 ifv4) (on-table kci2) (on-table ifv4) (on vbo1 kci2) (clear vbo1) (holding hnh3) (clear nmq5)", "(arm-empty) (on nmq5 ifv4) (on-table kci2) (on vbo1 kci2) (clear nmq5) (on-table ifv4) (clear hnh3) (clear vbo1) (on-table hnh3)", "(holding vbo1) (clear kci2) (on nmq5 ifv4) (on-table kci2) (on-table ifv4) (clear hnh3) (on-table hnh3) (clear nmq5)", "(clear kci2) (arm-empty) (on nmq5 ifv4) (on-table kci2) (on-table vbo1) (on-table ifv4) (clear hnh3) (clear vbo1) (on-table hnh3) (clear nmq5)", "(clear kci2) (on-table kci2) (on-table vbo1) (clear ifv4) (holding nmq5) (on-table ifv4) (clear hnh3) (clear vbo1) (on-table hnh3)", "(clear kci2) (arm-empty) (on-table kci2) (on-table vbo1) (clear ifv4) (on nmq5 vbo1) (on-table ifv4) (clear hnh3) (on-table hnh3) (clear nmq5)", "(clear kci2) (on-table kci2) (on-table vbo1) (holding ifv4) (on nmq5 vbo1) (clear hnh3) (on-table hnh3) (clear nmq5)", "(arm-empty) (on-table kci2) (on-table vbo1) (clear ifv4) (on nmq5 vbo1) (on ifv4 kci2) (clear hnh3) (on-table hnh3) (clear nmq5)", "(on-table kci2) (on-table vbo1) (clear ifv4) (holding nmq5) (on ifv4 kci2) (clear hnh3) (clear vbo1) (on-table hnh3)", "(arm-empty) (on-table kci2) (on-table nmq5) (on-table vbo1) (clear ifv4) (on ifv4 kci2) (clear hnh3) (clear vbo1) (on-table hnh3) (clear nmq5)", "(holding vbo1) (on-table kci2) (on-table nmq5) (clear ifv4) (on ifv4 kci2) (clear hnh3) (on-table hnh3) (clear nmq5)", "(arm-empty) (on-table kci2) (on-table nmq5) (on vbo1 ifv4) (on ifv4 kci2) (clear hnh3) (clear vbo1) (on-table hnh3) (clear nmq5)", "(on-table kci2) (on-table nmq5) (on vbo1 ifv4) (on ifv4 kci2) (holding hnh3) (clear vbo1) (clear nmq5)", "(arm-empty) (on-table kci2) (on-table nmq5) (on ifv4 kci2) (on vbo1 ifv4) (on hnh3 vbo1) (clear hnh3) (clear nmq5)", "(on-table kci2) (on ifv4 kci2) (holding nmq5) (on vbo1 ifv4) (on hnh3 vbo1) (clear hnh3)" ]

[ [ "stack xoh1 pak5" ], [ "pick-up hjx2" ], [ "stack hjx2 rte3" ] ]

[ "(on rte3 kwh4) (clear hjx2) (on xoh1 pak5) (arm-empty) (on-table hjx2) (on-table pak5) (on-table kwh4) (clear rte3) (clear xoh1)", "(on rte3 kwh4) (on xoh1 pak5) (on-table pak5) (on-table kwh4) (holding hjx2) (clear rte3) (clear xoh1)", "(on rte3 kwh4) (on xoh1 pak5) (clear hjx2) (arm-empty) (on-table pak5) (on-table kwh4) (on hjx2 rte3) (clear xoh1)" ]

[ [ "pick-up zup3" ] ]

[ "(on-table wrb2) (clear arn4) (on-table arn4) (on mrk1 wrb2) (clear mrk1) (holding zup3)" ]

[ [ "unstack wlp2 zhc4" ], [ "put-down wlp2" ], [ "unstack zhc4 goo5" ], [ "put-down zhc4" ], [ "pick-up wlp2" ], [ "stack wlp2 zhc4" ], [ "unstack goo5 min1" ], [ "put-down goo5" ] ]

[ "(on min1 jke3) (on zhc4 goo5) (clear zhc4) (on goo5 min1) (holding wlp2) (on-table jke3)", "(on min1 jke3) (arm-empty) (on-table wlp2) (on zhc4 goo5) (clear zhc4) (clear wlp2) (on goo5 min1) (on-table jke3)", "(clear wlp2) (on min1 jke3) (on-table wlp2) (holding zhc4) (on goo5 min1) (on-table jke3) (clear goo5)", "(on min1 jke3) (arm-empty) (on-table wlp2) (clear zhc4) (clear goo5) (clear wlp2) (on goo5 min1) (on-table zhc4) (on-table jke3)", "(on min1 jke3) (clear zhc4) (on goo5 min1) (on-table zhc4) (holding wlp2) (on-table jke3) (clear goo5)", "(clear wlp2) (on min1 jke3) (arm-empty) (on goo5 min1) (on-table zhc4) (on wlp2 zhc4) (on-table jke3) (clear goo5)", "(clear wlp2) (on min1 jke3) (holding goo5) (on-table zhc4) (on wlp2 zhc4) (clear min1) (on-table jke3)", "(on min1 jke3) (arm-empty) (on-table goo5) (on wlp2 zhc4) (clear goo5) (clear wlp2) (on-table zhc4) (clear min1) (on-table jke3)" ]

[ [ "put-down lyz3" ], [ "pick-up lfc2" ], [ "stack lfc2 dhi5" ], [ "pick-up lyz3" ], [ "stack lyz3 lfc2" ] ]

[ "(arm-empty) (on-table lfc2) (clear dhi5) (clear lfc2) (on dhi5 aao1) (on-table jzb4) (on aao1 jzb4) (clear lyz3) (on-table lyz3)", "(holding lfc2) (on dhi5 aao1) (on-table jzb4) (on aao1 jzb4) (clear lyz3) (on-table lyz3) (clear dhi5)", "(clear lfc2) (arm-empty) (on dhi5 aao1) (on-table jzb4) (on aao1 jzb4) (on lfc2 dhi5) (clear lyz3) (on-table lyz3)", "(clear lfc2) (on dhi5 aao1) (on-table jzb4) (on aao1 jzb4) (on lfc2 dhi5) (holding lyz3)", "(arm-empty) (on lyz3 lfc2) (on dhi5 aao1) (on-table jzb4) (on aao1 jzb4) (on lfc2 dhi5) (clear lyz3)" ]

[ [ "stack dci1 pse5" ], [ "unstack rlo2 hkn3" ], [ "put-down rlo2" ], [ "unstack hkn3 ged4" ], [ "stack hkn3 rlo2" ] ]

[ "(on hkn3 ged4) (clear rlo2) (on dci1 pse5) (arm-empty) (on-table pse5) (on-table ged4) (on rlo2 hkn3) (clear dci1)", "(on hkn3 ged4) (on dci1 pse5) (on-table pse5) (on-table ged4) (holding rlo2) (clear hkn3) (clear dci1)", "(on dci1 pse5) (arm-empty) (on-table rlo2) (on-table pse5) (on hkn3 ged4) (clear rlo2) (on-table ged4) (clear hkn3) (clear dci1)", "(on dci1 pse5) (clear rlo2) (on-table rlo2) (on-table pse5) (clear ged4) (on-table ged4) (holding hkn3) (clear dci1)", "(on dci1 pse5) (arm-empty) (on-table rlo2) (on-table pse5) (on hkn3 rlo2) (clear ged4) (on-table ged4) (clear hkn3) (clear dci1)" ]

[ [ "unstack byl1 uez5" ], [ "put-down byl1" ], [ "unstack uez5 vmi2" ], [ "stack uez5 byl1" ], [ "unstack vmi2 amh3" ], [ "put-down vmi2" ], [ "unstack uez5 byl1" ], [ "stack uez5 vmi2" ], [ "pick-up byl1" ], [ "stack byl1 uez5" ], [ "unstack amh3 kqo4" ], [ "stack amh3 byl1" ], [ "pick-up kqo4" ], [ "stack kqo4 amh3" ] ]

[ "(on uez5 vmi2) (clear uez5) (holding byl1) (on amh3 kqo4) (on-table kqo4) (on vmi2 amh3)", "(arm-empty) (on uez5 vmi2) (clear uez5) (on amh3 kqo4) (on-table byl1) (on-table kqo4) (on vmi2 amh3) (clear byl1)", "(on amh3 kqo4) (clear vmi2) (on-table byl1) (holding uez5) (on-table kqo4) (on vmi2 amh3) (clear byl1)", "(on amh3 kqo4) (clear vmi2) (arm-empty) (on-table byl1) (on uez5 byl1) (on-table kqo4) (on vmi2 amh3) (clear uez5)", "(on amh3 kqo4) (on-table byl1) (on uez5 byl1) (on-table kqo4) (holding vmi2) (clear amh3) (clear uez5)", "(arm-empty) (on-table vmi2) (clear uez5) (on amh3 kqo4) (clear vmi2) (on-table byl1) (on uez5 byl1) (on-table kqo4) (clear amh3)", "(on amh3 kqo4) (clear vmi2) (on-table vmi2) (on-table byl1) (holding uez5) (on-table kqo4) (clear amh3) (clear byl1)", "(on amh3 kqo4) (arm-empty) (on-table vmi2) (on-table byl1) (on uez5 vmi2) (on-table kqo4) (clear amh3) (clear byl1) (clear uez5)", "(holding byl1) (on amh3 kqo4) (on-table vmi2) (on uez5 vmi2) (on-table kqo4) (clear amh3) (clear uez5)", "(on amh3 kqo4) (on byl1 uez5) (arm-empty) (on-table vmi2) (on uez5 vmi2) (on-table kqo4) (clear amh3) (clear byl1)", "(on byl1 uez5) (on-table vmi2) (on uez5 vmi2) (clear kqo4) (on-table kqo4) (holding amh3) (clear byl1)", "(on byl1 uez5) (arm-empty) (on-table vmi2) (on uez5 vmi2) (clear kqo4) (on-table kqo4) (on amh3 byl1) (clear amh3)", "(on byl1 uez5) (on-table vmi2) (holding kqo4) (on uez5 vmi2) (on amh3 byl1) (clear amh3)", "(on byl1 uez5) (arm-empty) (on-table vmi2) (on uez5 vmi2) (clear kqo4) (on kqo4 amh3) (on amh3 byl1)" ]

[ [ "put-down wtg3" ], [ "unstack mqu4 piz1" ], [ "stack mqu4 wtg3" ], [ "pick-up hwj2" ] ]

[ "(on piz1 elh5) (on mqu4 piz1) (arm-empty) (on-table hwj2) (on-table elh5) (clear mqu4) (clear hwj2) (clear wtg3) (on-table wtg3)", "(on piz1 elh5) (clear hwj2) (on-table hwj2) (on-table elh5) (holding mqu4) (clear wtg3) (clear piz1) (on-table wtg3)", "(on piz1 elh5) (clear hwj2) (arm-empty) (on-table hwj2) (on-table elh5) (clear mqu4) (on mqu4 wtg3) (clear piz1) (on-table wtg3)", "(on piz1 elh5) (on-table elh5) (clear mqu4) (on mqu4 wtg3) (holding hwj2) (clear piz1) (on-table wtg3)" ]

[ [ "unstack rew2 gbv4" ], [ "put-down rew2" ], [ "unstack gbv4 vxq3" ], [ "stack gbv4 rew2" ], [ "unstack vxq3 lmn5" ], [ "stack vxq3 brc1" ], [ "unstack gbv4 rew2" ], [ "put-down gbv4" ], [ "unstack vxq3 brc1" ], [ "put-down vxq3" ], [ "pick-up brc1" ], [ "stack brc1 gbv4" ], [ "pick-up lmn5" ] ]

[ "(on vxq3 lmn5) (on-table lmn5) (on-table brc1) (clear gbv4) (on gbv4 vxq3) (holding rew2) (clear brc1)", "(on vxq3 lmn5) (arm-empty) (on-table rew2) (on-table lmn5) (clear gbv4) (clear rew2) (on-table brc1) (on gbv4 vxq3) (clear brc1)", "(on vxq3 lmn5) (clear rew2) (on-table rew2) (on-table lmn5) (on-table brc1) (holding gbv4) (clear vxq3) (clear brc1)", "(on vxq3 lmn5) (arm-empty) (on-table rew2) (on-table lmn5) (on-table brc1) (clear gbv4) (on gbv4 rew2) (clear vxq3) (clear brc1)", "(on-table rew2) (on-table lmn5) (on-table brc1) (clear gbv4) (on gbv4 rew2) (holding vxq3) (clear brc1) (clear lmn5)", "(arm-empty) (on-table rew2) (on-table lmn5) (on-table brc1) (clear gbv4) (on vxq3 brc1) (on gbv4 rew2) (clear vxq3) (clear lmn5)", "(clear rew2) (on-table rew2) (on-table lmn5) (on-table brc1) (holding gbv4) (on vxq3 brc1) (clear vxq3) (clear lmn5)", "(clear rew2) (arm-empty) (on-table rew2) (on-table lmn5) (on-table brc1) (clear gbv4) (on-table gbv4) (on vxq3 brc1) (clear vxq3) (clear lmn5)", "(clear rew2) (on-table rew2) (on-table lmn5) (on-table brc1) (clear gbv4) (on-table gbv4) (holding vxq3) (clear brc1) (clear lmn5)", "(clear rew2) (arm-empty) (on-table rew2) (on-table lmn5) (on-table brc1) (clear gbv4) (on-table gbv4) (clear vxq3) (clear brc1) (on-table vxq3) (clear lmn5)", "(holding brc1) (clear rew2) (on-table rew2) (on-table lmn5) (clear gbv4) (on-table gbv4) (clear vxq3) (on-table vxq3) (clear lmn5)", "(clear rew2) (arm-empty) (on-table rew2) (on-table lmn5) (on-table gbv4) (on brc1 gbv4) (clear vxq3) (clear brc1) (on-table vxq3) (clear lmn5)", "(clear rew2) (on-table rew2) (holding lmn5) (on-table gbv4) (on brc1 gbv4) (clear vxq3) (clear brc1) (on-table vxq3)" ]

[ [ "unstack rxa1 whz2" ], [ "put-down rxa1" ], [ "unstack whz2 rqq3" ], [ "stack whz2 rxa1" ], [ "pick-up vsq5" ], [ "stack vsq5 whz2" ], [ "unstack rqq3 foe4" ], [ "stack rqq3 vsq5" ], [ "pick-up foe4" ] ]

[ "(holding rxa1) (on rqq3 foe4) (clear whz2) (on-table vsq5) (clear vsq5) (on-table foe4) (on whz2 rqq3)", "(arm-empty) (on-table vsq5) (clear vsq5) (on rqq3 foe4) (clear whz2) (on-table rxa1) (on-table foe4) (on whz2 rqq3) (clear rxa1)", "(on rqq3 foe4) (on-table vsq5) (on-table rxa1) (on-table foe4) (holding whz2) (clear rqq3) (clear rxa1) (clear vsq5)", "(on rqq3 foe4) (clear whz2) (arm-empty) (on-table vsq5) (on-table rxa1) (on-table foe4) (on whz2 rxa1) (clear rqq3) (clear vsq5)", "(on rqq3 foe4) (clear whz2) (on-table rxa1) (holding vsq5) (on-table foe4) (on whz2 rxa1) (clear rqq3)", "(on rqq3 foe4) (arm-empty) (on-table rxa1) (on vsq5 whz2) (on-table foe4) (on whz2 rxa1) (clear rqq3) (clear vsq5)", "(on-table rxa1) (on vsq5 whz2) (clear foe4) (on-table foe4) (on whz2 rxa1) (holding rqq3) (clear vsq5)", "(on rqq3 vsq5) (arm-empty) (on-table rxa1) (on vsq5 whz2) (clear foe4) (on-table foe4) (on whz2 rxa1) (clear rqq3)", "(on rqq3 vsq5) (on-table rxa1) (holding foe4) (on vsq5 whz2) (on whz2 rxa1) (clear rqq3)" ]

[ [ "unstack mpo5 rvm2" ], [ "put-down mpo5" ], [ "unstack rvm2 qyo1" ], [ "put-down rvm2" ], [ "pick-up mpo5" ], [ "stack mpo5 qyo1" ] ]

[ "(holding mpo5) (on rvm2 qyo1) (clear rvm2) (on ldr4 poq3) (on qyo1 ldr4) (on-table poq3)", "(arm-empty) (on-table mpo5) (on rvm2 qyo1) (clear mpo5) (clear rvm2) (on ldr4 poq3) (on qyo1 ldr4) (on-table poq3)", "(on-table mpo5) (holding rvm2) (on ldr4 poq3) (on qyo1 ldr4) (clear qyo1) (on-table poq3) (clear mpo5)", "(arm-empty) (on-table rvm2) (on-table mpo5) (clear mpo5) (clear rvm2) (on ldr4 poq3) (on qyo1 ldr4) (clear qyo1) (on-table poq3)", "(clear rvm2) (on-table rvm2) (on ldr4 poq3) (holding mpo5) (on qyo1 ldr4) (clear qyo1) (on-table poq3)", "(arm-empty) (on-table rvm2) (clear mpo5) (clear rvm2) (on ldr4 poq3) (on mpo5 qyo1) (on qyo1 ldr4) (on-table poq3)" ]

[ [ "stack mkg2 sgs3" ], [ "unstack mgo4 yag1" ], [ "put-down mgo4" ], [ "unstack mkg2 sgs3" ], [ "put-down mkg2" ], [ "pick-up sgs3" ], [ "stack sgs3 yag1" ] ]

[ "(on yag1 slf5) (clear mkg2) (on mgo4 yag1) (arm-empty) (on-table slf5) (clear mgo4) (on mkg2 sgs3) (on-table sgs3)", "(on yag1 slf5) (clear mkg2) (on-table slf5) (holding mgo4) (on mkg2 sgs3) (clear yag1) (on-table sgs3)", "(on yag1 slf5) (arm-empty) (on-table slf5) (clear mgo4) (clear mkg2) (on-table mgo4) (on mkg2 sgs3) (clear yag1) (on-table sgs3)", "(on yag1 slf5) (on-table slf5) (clear mgo4) (on-table mgo4) (holding mkg2) (clear sgs3) (clear yag1) (on-table sgs3)", "(on yag1 slf5) (clear mkg2) (arm-empty) (on-table mkg2) (on-table slf5) (clear mgo4) (on-table mgo4) (clear sgs3) (clear yag1) (on-table sgs3)", "(on yag1 slf5) (clear mkg2) (on-table mkg2) (on-table slf5) (clear mgo4) (on-table mgo4) (holding sgs3) (clear yag1)", "(on yag1 slf5) (clear mkg2) (arm-empty) (on-table mkg2) (on-table slf5) (clear mgo4) (on-table mgo4) (on sgs3 yag1) (clear sgs3)" ]

[ [ "put-down yya3" ], [ "pick-up qnx2" ], [ "stack qnx2 yya3" ], [ "unstack yko4 udi5" ], [ "stack yko4 qnx2" ], [ "unstack udi5 txm1" ] ]

[ "(arm-empty) (on-table qnx2) (on yko4 udi5) (clear yko4) (clear qnx2) (on-table txm1) (on udi5 txm1) (clear yya3) (on-table yya3)", "(on yko4 udi5) (on-table txm1) (clear yko4) (on udi5 txm1) (holding qnx2) (clear yya3) (on-table yya3)", "(clear qnx2) (arm-empty) (on yko4 udi5) (on-table txm1) (clear yko4) (on udi5 txm1) (on qnx2 yya3) (on-table yya3)", "(clear qnx2) (on-table txm1) (holding yko4) (on udi5 txm1) (on qnx2 yya3) (on-table yya3) (clear udi5)", "(arm-empty) (on-table txm1) (clear yko4) (on udi5 txm1) (on yko4 qnx2) (on qnx2 yya3) (on-table yya3) (clear udi5)", "(on-table txm1) (clear yko4) (holding udi5) (on yko4 qnx2) (on qnx2 yya3) (clear txm1) (on-table yya3)" ]

[ [ "unstack wpz4 iwm5" ], [ "stack wpz4 wnk2" ], [ "unstack iwm5 xrz3" ] ]

[ "(clear wnk2) (on-table wnk2) (on-table hlb1) (holding wpz4) (on iwm5 xrz3) (on xrz3 hlb1) (clear iwm5)", "(arm-empty) (on-table wnk2) (on-table hlb1) (clear wpz4) (on iwm5 xrz3) (on xrz3 hlb1) (on wpz4 wnk2) (clear iwm5)", "(on-table wnk2) (on-table hlb1) (clear wpz4) (on xrz3 hlb1) (holding iwm5) (on wpz4 wnk2) (clear xrz3)" ]

[ [ "pick-up wvv1" ], [ "stack wvv1 ggq5" ], [ "unstack qmh4 rvh2" ], [ "stack qmh4 wvv1" ], [ "pick-up vxc3" ], [ "stack vxc3 rvh2" ], [ "unstack qmh4 wvv1" ], [ "put-down qmh4" ], [ "unstack wvv1 ggq5" ], [ "put-down wvv1" ], [ "pick-up ggq5" ] ]

[ "(holding wvv1) (on-table rvh2) (on-table ggq5) (clear qmh4) (on qmh4 rvh2) (clear vxc3) (on-table vxc3) (clear ggq5)", "(on wvv1 ggq5) (arm-empty) (on-table rvh2) (on-table ggq5) (clear qmh4) (on qmh4 rvh2) (clear vxc3) (clear wvv1) (on-table vxc3)", "(on wvv1 ggq5) (clear rvh2) (on-table rvh2) (on-table ggq5) (holding qmh4) (clear vxc3) (clear wvv1) (on-table vxc3)", "(on wvv1 ggq5) (clear rvh2) (on qmh4 wvv1) (arm-empty) (on-table rvh2) (on-table ggq5) (clear qmh4) (clear vxc3) (on-table vxc3)", "(on wvv1 ggq5) (clear rvh2) (on qmh4 wvv1) (on-table rvh2) (on-table ggq5) (clear qmh4) (holding vxc3)", "(on wvv1 ggq5) (on qmh4 wvv1) (arm-empty) (on-table rvh2) (on-table ggq5) (on vxc3 rvh2) (clear qmh4) (clear vxc3)", "(on wvv1 ggq5) (on-table rvh2) (on-table ggq5) (holding qmh4) (on vxc3 rvh2) (clear vxc3) (clear wvv1)", "(on wvv1 ggq5) (arm-empty) (on-table rvh2) (on-table ggq5) (clear qmh4) (on vxc3 rvh2) (on-table qmh4) (clear vxc3) (clear wvv1)", "(holding wvv1) (on-table rvh2) (on-table ggq5) (on vxc3 rvh2) (clear qmh4) (on-table qmh4) (clear vxc3) (clear ggq5)", "(arm-empty) (on-table rvh2) (on-table ggq5) (on-table wvv1) (on vxc3 rvh2) (clear qmh4) (on-table qmh4) (clear vxc3) (clear wvv1) (clear ggq5)", "(on-table rvh2) (on-table wvv1) (on vxc3 rvh2) (clear qmh4) (holding ggq5) (on-table qmh4) (clear vxc3) (clear wvv1)" ]

[ [ "put-down lwz3" ], [ "pick-up utv1" ], [ "stack utv1 lwz3" ], [ "unstack slp4 mqz2" ], [ "put-down slp4" ], [ "unstack utv1 lwz3" ], [ "put-down utv1" ], [ "pick-up slp4" ], [ "stack slp4 lwz3" ] ]

[ "(arm-empty) (on-table pjs5) (clear slp4) (on mqz2 pjs5) (on-table utv1) (on slp4 mqz2) (clear lwz3) (clear utv1) (on-table lwz3)", "(holding utv1) (on-table pjs5) (clear slp4) (on slp4 mqz2) (on mqz2 pjs5) (clear lwz3) (on-table lwz3)", "(on utv1 lwz3) (arm-empty) (on-table pjs5) (clear slp4) (on slp4 mqz2) (on mqz2 pjs5) (clear utv1) (on-table lwz3)", "(clear mqz2) (on utv1 lwz3) (on-table pjs5) (holding slp4) (on mqz2 pjs5) (clear utv1) (on-table lwz3)", "(on utv1 lwz3) (arm-empty) (on-table pjs5) (clear slp4) (on mqz2 pjs5) (clear mqz2) (on-table slp4) (clear utv1) (on-table lwz3)", "(holding utv1) (clear mqz2) (on-table pjs5) (clear slp4) (on-table slp4) (on mqz2 pjs5) (clear lwz3) (on-table lwz3)", "(clear mqz2) (arm-empty) (on-table pjs5) (on-table utv1) (clear slp4) (on-table slp4) (on mqz2 pjs5) (clear lwz3) (clear utv1) (on-table lwz3)", "(clear mqz2) (on-table pjs5) (on-table utv1) (holding slp4) (on mqz2 pjs5) (clear lwz3) (clear utv1) (on-table lwz3)", "(clear mqz2) (arm-empty) (on-table pjs5) (on-table utv1) (clear slp4) (on slp4 lwz3) (on mqz2 pjs5) (clear utv1) (on-table lwz3)" ]

[ [ "unstack sit4 nju1" ], [ "put-down sit4" ], [ "unstack nju1 dzn5" ], [ "put-down nju1" ], [ "pick-up sit4" ] ]

[ "(on nju1 dzn5) (on-table vju2) (holding sit4) (on dzn5 tdi3) (on tdi3 vju2) (clear nju1)", "(on nju1 dzn5) (arm-empty) (on-table vju2) (clear sit4) (on dzn5 tdi3) (on tdi3 vju2) (on-table sit4) (clear nju1)", "(holding nju1) (on-table vju2) (on tdi3 vju2) (clear sit4) (on dzn5 tdi3) (on-table sit4) (clear dzn5)", "(arm-empty) (on-table vju2) (clear sit4) (on dzn5 tdi3) (clear dzn5) (on-table nju1) (on tdi3 vju2) (on-table sit4) (clear nju1)", "(on-table vju2) (on-table nju1) (holding sit4) (on tdi3 vju2) (on dzn5 tdi3) (clear nju1) (clear dzn5)" ]

[ [ "stack uok4 wsz3" ], [ "unstack nid5 qwg1" ], [ "put-down nid5" ], [ "unstack qwg1 ign2" ], [ "stack qwg1 uok4" ], [ "pick-up ign2" ], [ "stack ign2 nid5" ], [ "unstack qwg1 uok4" ], [ "stack qwg1 ign2" ] ]

[ "(arm-empty) (on-table ign2) (clear uok4) (on nid5 qwg1) (on uok4 wsz3) (on qwg1 ign2) (on-table wsz3) (clear nid5)", "(on-table ign2) (clear uok4) (on uok4 wsz3) (holding nid5) (on qwg1 ign2) (clear qwg1) (on-table wsz3)", "(arm-empty) (on-table ign2) (on-table nid5) (clear uok4) (on qwg1 ign2) (clear nid5) (on uok4 wsz3) (clear qwg1) (on-table wsz3)", "(holding qwg1) (clear ign2) (on-table ign2) (on-table nid5) (clear uok4) (on uok4 wsz3) (on-table wsz3) (clear nid5)", "(clear ign2) (arm-empty) (on-table ign2) (on-table nid5) (on uok4 wsz3) (on qwg1 uok4) (clear qwg1) (on-table wsz3) (clear nid5)", "(on-table nid5) (holding ign2) (on uok4 wsz3) (on qwg1 uok4) (clear qwg1) (on-table wsz3) (clear nid5)", "(clear ign2) (arm-empty) (on-table nid5) (on uok4 wsz3) (on qwg1 uok4) (on ign2 nid5) (clear qwg1) (on-table wsz3)", "(holding qwg1) (clear ign2) (on-table nid5) (clear uok4) (on uok4 wsz3) (on ign2 nid5) (on-table wsz3)", "(arm-empty) (on-table nid5) (clear uok4) (on uok4 wsz3) (on ign2 nid5) (on qwg1 ign2) (clear qwg1) (on-table wsz3)" ]

[ [ "put-down avf1" ], [ "unstack iri3 wki5" ], [ "put-down iri3" ], [ "pick-up avf1" ], [ "stack avf1 iri3" ], [ "unstack wki5 yfj2" ], [ "stack wki5 avf1" ], [ "unstack yfj2 vmb4" ], [ "stack yfj2 wki5" ], [ "pick-up vmb4" ] ]

[ "(on iri3 wki5) (arm-empty) (on wki5 yfj2) (on yfj2 vmb4) (on-table avf1) (on-table vmb4) (clear iri3) (clear avf1)", "(on-table avf1) (on wki5 yfj2) (on-table vmb4) (on yfj2 vmb4) (holding iri3) (clear avf1) (clear wki5)", "(arm-empty) (on wki5 yfj2) (on yfj2 vmb4) (clear wki5) (on-table avf1) (on-table vmb4) (clear iri3) (clear avf1) (on-table iri3)", "(holding avf1) (on wki5 yfj2) (on-table vmb4) (on yfj2 vmb4) (clear iri3) (on-table iri3) (clear wki5)", "(on avf1 iri3) (arm-empty) (on wki5 yfj2) (on-table vmb4) (on yfj2 vmb4) (clear avf1) (on-table iri3) (clear wki5)", "(clear yfj2) (on avf1 iri3) (holding wki5) (on-table vmb4) (on yfj2 vmb4) (clear avf1) (on-table iri3)", "(clear yfj2) (on avf1 iri3) (arm-empty) (on wki5 avf1) (on-table vmb4) (on yfj2 vmb4) (on-table iri3) (clear wki5)", "(on avf1 iri3) (clear vmb4) (on wki5 avf1) (on-table vmb4) (holding yfj2) (on-table iri3) (clear wki5)", "(clear yfj2) (on avf1 iri3) (arm-empty) (clear vmb4) (on wki5 avf1) (on-table vmb4) (on yfj2 wki5) (on-table iri3)", "(clear yfj2) (on avf1 iri3) (holding vmb4) (on wki5 avf1) (on yfj2 wki5) (on-table iri3)" ]

[ [ "unstack lek4 nji2" ], [ "put-down lek4" ], [ "unstack nji2 qdc3" ], [ "put-down nji2" ], [ "unstack qdc3 muq5" ], [ "stack qdc3 lek4" ] ]

[ "(on qdc3 muq5) (holding lek4) (clear nji2) (on-table ies1) (on muq5 ies1) (on nji2 qdc3)", "(on muq5 ies1) (on qdc3 muq5) (clear nji2) (on-table lek4) (on nji2 qdc3) (clear lek4) (arm-empty) (on-table ies1)", "(on qdc3 muq5) (on-table ies1) (clear lek4) (on muq5 ies1) (on-table lek4) (holding nji2) (clear qdc3)", "(on qdc3 muq5) (arm-empty) (on-table nji2) (clear lek4) (clear nji2) (on-table ies1) (on muq5 ies1) (on-table lek4) (clear qdc3)", "(clear nji2) (on-table nji2) (on-table ies1) (clear lek4) (on muq5 ies1) (on-table lek4) (holding qdc3) (clear muq5)", "(on qdc3 lek4) (clear nji2) (arm-empty) (on-table nji2) (on-table ies1) (on muq5 ies1) (on-table lek4) (clear qdc3) (clear muq5)" ]

[ [ "unstack aic1 zgf4" ], [ "stack aic1 ezl2" ], [ "unstack zgf4 pmn3" ], [ "stack zgf4 aic1" ], [ "unstack pmn3 mjq5" ], [ "put-down pmn3" ], [ "unstack zgf4 aic1" ], [ "stack zgf4 mjq5" ], [ "pick-up pmn3" ], [ "stack pmn3 aic1" ], [ "unstack zgf4 mjq5" ], [ "stack zgf4 pmn3" ] ]

[ "(holding aic1) (clear ezl2) (on pmn3 mjq5) (on-table ezl2) (on-table mjq5) (clear zgf4) (on zgf4 pmn3)", "(on pmn3 mjq5) (arm-empty) (on-table ezl2) (on-table mjq5) (clear zgf4) (on zgf4 pmn3) (on aic1 ezl2) (clear aic1)", "(on pmn3 mjq5) (on-table ezl2) (on-table mjq5) (holding zgf4) (clear pmn3) (on aic1 ezl2) (clear aic1)", "(on pmn3 mjq5) (on zgf4 aic1) (arm-empty) (on-table ezl2) (on-table mjq5) (clear zgf4) (clear pmn3) (on aic1 ezl2)", "(on zgf4 aic1) (on-table ezl2) (on-table mjq5) (clear zgf4) (on aic1 ezl2) (holding pmn3) (clear mjq5)", "(on zgf4 aic1) (arm-empty) (on-table ezl2) (on-table mjq5) (clear zgf4) (on aic1 ezl2) (clear mjq5) (clear pmn3) (on-table pmn3)", "(on-table ezl2) (on-table mjq5) (holding zgf4) (clear pmn3) (on aic1 ezl2) (clear aic1) (on-table pmn3) (clear mjq5)", "(arm-empty) (on-table ezl2) (on-table mjq5) (on zgf4 mjq5) (clear zgf4) (clear pmn3) (on aic1 ezl2) (clear aic1) (on-table pmn3)", "(on-table ezl2) (on-table mjq5) (on zgf4 mjq5) (clear zgf4) (on aic1 ezl2) (clear aic1) (holding pmn3)", "(arm-empty) (on-table ezl2) (on-table mjq5) (on zgf4 mjq5) (clear zgf4) (on pmn3 aic1) (clear pmn3) (on aic1 ezl2)", "(on-table ezl2) (on-table mjq5) (holding zgf4) (on pmn3 aic1) (clear pmn3) (on aic1 ezl2) (clear mjq5)", "(arm-empty) (on-table ezl2) (on-table mjq5) (clear zgf4) (on zgf4 pmn3) (on pmn3 aic1) (on aic1 ezl2) (clear mjq5)" ]

[ [ "put-down zsl2" ], [ "pick-up hhu4" ], [ "stack hhu4 zsl2" ], [ "unstack ldw5 nlx3" ], [ "stack ldw5 jos1" ], [ "unstack hhu4 zsl2" ] ]

[ "(clear zsl2) (arm-empty) (on-table zsl2) (on-table jos1) (clear hhu4) (on ldw5 nlx3) (on-table hhu4) (clear jos1) (on-table nlx3) (clear ldw5)", "(clear zsl2) (on-table zsl2) (on-table jos1) (holding hhu4) (on ldw5 nlx3) (clear jos1) (on-table nlx3) (clear ldw5)", "(arm-empty) (on-table zsl2) (on-table jos1) (clear hhu4) (on ldw5 nlx3) (on hhu4 zsl2) (clear jos1) (on-table nlx3) (clear ldw5)", "(on-table zsl2) (on-table jos1) (clear hhu4) (holding ldw5) (on hhu4 zsl2) (clear nlx3) (clear jos1) (on-table nlx3)", "(arm-empty) (on-table zsl2) (on-table jos1) (clear hhu4) (on ldw5 jos1) (on hhu4 zsl2) (clear nlx3) (on-table nlx3) (clear ldw5)", "(clear zsl2) (on-table zsl2) (on-table jos1) (holding hhu4) (on ldw5 jos1) (clear nlx3) (on-table nlx3) (clear ldw5)" ]

[ [ "put-down qfs4" ], [ "unstack swj2 jvt1" ], [ "stack swj2 kbo3" ], [ "pick-up qfs4" ], [ "stack qfs4 jvt1" ], [ "unstack swj2 kbo3" ], [ "put-down swj2" ], [ "pick-up kbo3" ], [ "stack kbo3 qfs4" ], [ "pick-up swj2" ], [ "stack swj2 kbo3" ] ]

[ "(on jvt1 ucl5) (arm-empty) (on-table ucl5) (clear qfs4) (on swj2 jvt1) (clear swj2) (on-table qfs4) (clear kbo3) (on-table kbo3)", "(on jvt1 ucl5) (on-table ucl5) (clear qfs4) (on-table qfs4) (holding swj2) (clear kbo3) (clear jvt1) (on-table kbo3)", "(on jvt1 ucl5) (clear swj2) (arm-empty) (on-table ucl5) (clear qfs4) (on-table qfs4) (on swj2 kbo3) (clear jvt1) (on-table kbo3)", "(on jvt1 ucl5) (clear swj2) (on-table ucl5) (holding qfs4) (on swj2 kbo3) (clear jvt1) (on-table kbo3)", "(on jvt1 ucl5) (clear swj2) (on qfs4 jvt1) (arm-empty) (on-table ucl5) (clear qfs4) (on swj2 kbo3) (on-table kbo3)", "(on jvt1 ucl5) (on qfs4 jvt1) (on-table ucl5) (clear qfs4) (holding swj2) (clear kbo3) (on-table kbo3)", "(on jvt1 ucl5) (on qfs4 jvt1) (arm-empty) (on-table swj2) (on-table ucl5) (clear qfs4) (clear swj2) (clear kbo3) (on-table kbo3)", "(on jvt1 ucl5) (clear swj2) (on qfs4 jvt1) (on-table swj2) (on-table ucl5) (clear qfs4) (holding kbo3)", "(on jvt1 ucl5) (clear swj2) (on qfs4 jvt1) (on kbo3 qfs4) (on-table swj2) (on-table ucl5) (arm-empty) (clear kbo3)", "(on jvt1 ucl5) (on qfs4 jvt1) (on kbo3 qfs4) (on-table ucl5) (holding swj2) (clear kbo3)", "(on jvt1 ucl5) (on kbo3 qfs4) (on qfs4 jvt1) (clear swj2) (arm-empty) (on-table ucl5) (on swj2 kbo3)" ]

[ [ "stack xyx4 zoj2" ], [ "pick-up jxm1" ], [ "stack jxm1 hhg3" ] ]

[ "(arm-empty) (on-table zoj2) (clear xyx4) (on-table jxm1) (on xyx4 zoj2) (clear hhg3) (clear jxm1) (on-table hhg3)", "(holding jxm1) (on-table zoj2) (clear xyx4) (on xyx4 zoj2) (clear hhg3) (on-table hhg3)", "(on jxm1 hhg3) (arm-empty) (on-table zoj2) (clear xyx4) (on xyx4 zoj2) (clear jxm1) (on-table hhg3)" ]

[ [ "stack wlg3 ygq2" ], [ "unstack lpq1 kjk5" ], [ "put-down lpq1" ], [ "pick-up rbo4" ], [ "stack rbo4 wlg3" ], [ "pick-up lpq1" ] ]

[ "(on lpq1 kjk5) (arm-empty) (on-table ygq2) (on-table kjk5) (on wlg3 ygq2) (clear rbo4) (on-table rbo4) (clear wlg3) (clear lpq1)", "(holding lpq1) (on-table ygq2) (on-table kjk5) (on wlg3 ygq2) (clear rbo4) (on-table rbo4) (clear wlg3) (clear kjk5)", "(arm-empty) (on-table ygq2) (on-table kjk5) (on-table lpq1) (on wlg3 ygq2) (clear rbo4) (on-table rbo4) (clear wlg3) (clear lpq1) (clear kjk5)", "(on-table ygq2) (on-table kjk5) (on-table lpq1) (holding rbo4) (on wlg3 ygq2) (clear wlg3) (clear lpq1) (clear kjk5)", "(arm-empty) (on-table ygq2) (on-table kjk5) (on-table lpq1) (on wlg3 ygq2) (clear rbo4) (on rbo4 wlg3) (clear lpq1) (clear kjk5)", "(holding lpq1) (on-table ygq2) (on-table kjk5) (on wlg3 ygq2) (clear rbo4) (on rbo4 wlg3) (clear kjk5)" ]

[ [ "unstack eun2 bxv5" ], [ "put-down eun2" ], [ "unstack bxv5 tgo4" ], [ "stack bxv5 eun2" ], [ "unstack tgo4 bpb3" ], [ "put-down tgo4" ], [ "unstack bxv5 eun2" ], [ "stack bxv5 bpb3" ], [ "pick-up eun2" ], [ "stack eun2 bxv5" ] ]

[ "(on bxv5 tgo4) (on bpb3 dox1) (clear bxv5) (on-table dox1) (on tgo4 bpb3) (holding eun2)", "(arm-empty) (on bxv5 tgo4) (on-table eun2) (on bpb3 dox1) (clear bxv5) (clear eun2) (on-table dox1) (on tgo4 bpb3)", "(clear eun2) (on-table eun2) (on-table dox1) (clear tgo4) (on tgo4 bpb3) (holding bxv5) (on bpb3 dox1)", "(arm-empty) (on-table eun2) (on-table dox1) (on bxv5 eun2) (clear tgo4) (on tgo4 bpb3) (on bpb3 dox1) (clear bxv5)", "(on-table eun2) (on-table dox1) (holding tgo4) (on bxv5 eun2) (on bpb3 dox1) (clear bpb3) (clear bxv5)", "(arm-empty) (on-table eun2) (on bxv5 eun2) (clear tgo4) (on bpb3 dox1) (clear bxv5) (on-table dox1) (on-table tgo4) (clear bpb3)", "(clear eun2) (on-table eun2) (on-table dox1) (clear tgo4) (holding bxv5) (on-table tgo4) (on bpb3 dox1) (clear bpb3)", "(clear eun2) (arm-empty) (on-table eun2) (on-table dox1) (clear tgo4) (on bxv5 bpb3) (on-table tgo4) (on bpb3 dox1) (clear bxv5)", "(on-table dox1) (clear tgo4) (on bxv5 bpb3) (on-table tgo4) (holding eun2) (on bpb3 dox1) (clear bxv5)", "(clear eun2) (arm-empty) (on-table dox1) (clear tgo4) (on bxv5 bpb3) (on-table tgo4) (on bpb3 dox1) (on eun2 bxv5)" ]

[ [ "unstack qsm1 tkd4" ], [ "put-down qsm1" ], [ "unstack tkd4 uwm3" ], [ "put-down tkd4" ], [ "unstack uwm3 xbc2" ], [ "stack uwm3 qsm1" ], [ "pick-up tkd4" ], [ "stack tkd4 uwm3" ] ]

[ "(on-table bwt5) (clear tkd4) (on xbc2 bwt5) (holding qsm1) (on uwm3 xbc2) (on tkd4 uwm3)", "(arm-empty) (on-table bwt5) (clear tkd4) (on xbc2 bwt5) (on-table qsm1) (on uwm3 xbc2) (on tkd4 uwm3) (clear qsm1)", "(on-table bwt5) (on-table qsm1) (holding tkd4) (on uwm3 xbc2) (on xbc2 bwt5) (clear uwm3) (clear qsm1)", "(arm-empty) (on-table bwt5) (clear tkd4) (on xbc2 bwt5) (on-table qsm1) (on uwm3 xbc2) (on-table tkd4) (clear uwm3) (clear qsm1)", "(clear xbc2) (on-table bwt5) (on-table qsm1) (clear tkd4) (on-table tkd4) (on xbc2 bwt5) (holding uwm3) (clear qsm1)", "(clear xbc2) (arm-empty) (on-table bwt5) (on-table qsm1) (clear tkd4) (on-table tkd4) (on uwm3 qsm1) (on xbc2 bwt5) (clear uwm3)", "(clear xbc2) (on-table bwt5) (on-table qsm1) (holding tkd4) (on uwm3 qsm1) (on xbc2 bwt5) (clear uwm3)", "(arm-empty) (on-table bwt5) (clear tkd4) (on uwm3 qsm1) (on xbc2 bwt5) (clear xbc2) (on-table qsm1) (on tkd4 uwm3)" ]

[ [ "unstack mel5 usa2" ], [ "stack mel5 nej1" ], [ "pick-up vzx4" ], [ "stack vzx4 usa2" ], [ "pick-up bps3" ], [ "stack bps3 mel5" ], [ "unstack vzx4 usa2" ], [ "stack vzx4 bps3" ] ]

[ "(clear usa2) (on-table usa2) (on-table nej1) (clear vzx4) (holding mel5) (on-table vzx4) (clear bps3) (clear nej1) (on-table bps3)", "(clear usa2) (arm-empty) (on-table usa2) (on-table nej1) (clear vzx4) (on mel5 nej1) (on-table vzx4) (clear bps3) (on-table bps3) (clear mel5)", "(clear usa2) (on-table usa2) (on-table nej1) (holding vzx4) (on mel5 nej1) (clear bps3) (on-table bps3) (clear mel5)", "(arm-empty) (on-table usa2) (on-table nej1) (clear vzx4) (on mel5 nej1) (on vzx4 usa2) (clear bps3) (on-table bps3) (clear mel5)", "(on-table usa2) (on-table nej1) (clear vzx4) (on mel5 nej1) (on vzx4 usa2) (holding bps3) (clear mel5)", "(on bps3 mel5) (arm-empty) (on-table usa2) (on-table nej1) (clear vzx4) (on mel5 nej1) (on vzx4 usa2) (clear bps3)", "(on bps3 mel5) (clear usa2) (on-table usa2) (on-table nej1) (holding vzx4) (on mel5 nej1) (clear bps3)", "(on bps3 mel5) (arm-empty) (on-table usa2) (clear vzx4) (clear usa2) (on-table nej1) (on vzx4 bps3) (on mel5 nej1)" ]

[ [ "stack wfs1 ocy2" ], [ "unstack obm5 qzv4" ], [ "put-down obm5" ], [ "unstack wfs1 ocy2" ], [ "stack wfs1 obm5" ], [ "pick-up ocy2" ], [ "stack ocy2 wfs1" ], [ "unstack qzv4 qsq3" ], [ "stack qzv4 ocy2" ], [ "pick-up qsq3" ], [ "stack qsq3 qzv4" ] ]

[ "(arm-empty) (on obm5 qzv4) (on-table ocy2) (on qzv4 qsq3) (on wfs1 ocy2) (clear wfs1) (on-table qsq3) (clear obm5)", "(on-table ocy2) (clear qzv4) (on qzv4 qsq3) (holding obm5) (on wfs1 ocy2) (clear wfs1) (on-table qsq3)", "(arm-empty) (on-table ocy2) (on-table obm5) (clear qzv4) (on wfs1 ocy2) (clear obm5) (on qzv4 qsq3) (clear wfs1) (on-table qsq3)", "(holding wfs1) (clear ocy2) (on-table ocy2) (on-table obm5) (clear qzv4) (on qzv4 qsq3) (on-table qsq3) (clear obm5)", "(on wfs1 obm5) (clear ocy2) (arm-empty) (on-table ocy2) (on-table obm5) (clear qzv4) (on qzv4 qsq3) (clear wfs1) (on-table qsq3)", "(on wfs1 obm5) (on-table obm5) (clear qzv4) (on qzv4 qsq3) (holding ocy2) (clear wfs1) (on-table qsq3)", "(on wfs1 obm5) (clear ocy2) (arm-empty) (on-table obm5) (clear qzv4) (on qzv4 qsq3) (on ocy2 wfs1) (on-table qsq3)", "(on wfs1 obm5) (clear ocy2) (on-table obm5) (holding qzv4) (on ocy2 wfs1) (clear qsq3) (on-table qsq3)", "(on wfs1 obm5) (arm-empty) (on-table obm5) (clear qzv4) (on ocy2 wfs1) (on qzv4 ocy2) (clear qsq3) (on-table qsq3)", "(on wfs1 obm5) (on-table obm5) (clear qzv4) (on qzv4 ocy2) (on ocy2 wfs1) (holding qsq3)", "(on wfs1 obm5) (on qsq3 qzv4) (arm-empty) (on-table obm5) (on qzv4 ocy2) (on ocy2 wfs1) (clear qsq3)" ]

[ [ "put-down zbo4" ], [ "pick-up gub2" ], [ "stack gub2 rst1" ] ]

[ "(clear gub2) (arm-empty) (on-table gub2) (on-table rst1) (clear zbo4) (on zpu5 asg3) (on-table zbo4) (clear rst1) (on-table asg3) (clear zpu5)", "(on-table rst1) (clear zbo4) (on zpu5 asg3) (on-table zbo4) (holding gub2) (clear rst1) (on-table asg3) (clear zpu5)", "(clear gub2) (arm-empty) (on-table rst1) (clear zbo4) (on zpu5 asg3) (on-table zbo4) (on gub2 rst1) (on-table asg3) (clear zpu5)" ]

[ [ "put-down xmd1" ], [ "pick-up pgj4" ], [ "stack pgj4 bsr3" ], [ "pick-up jdv5" ], [ "stack jdv5 pgj4" ], [ "pick-up xmd1" ], [ "stack xmd1 jdv5" ] ]

[ "(arm-empty) (on-table tlo2) (on-table jdv5) (on-table xmd1) (on bsr3 tlo2) (clear pgj4) (on-table pgj4) (clear bsr3) (clear xmd1) (clear jdv5)", "(on-table tlo2) (on-table jdv5) (on-table xmd1) (holding pgj4) (on bsr3 tlo2) (clear bsr3) (clear xmd1) (clear jdv5)", "(arm-empty) (on-table tlo2) (on-table jdv5) (on-table xmd1) (on bsr3 tlo2) (clear pgj4) (on pgj4 bsr3) (clear xmd1) (clear jdv5)", "(on-table tlo2) (on-table xmd1) (on bsr3 tlo2) (clear pgj4) (on pgj4 bsr3) (holding jdv5) (clear xmd1)", "(arm-empty) (on jdv5 pgj4) (on-table tlo2) (on-table xmd1) (on bsr3 tlo2) (on pgj4 bsr3) (clear xmd1) (clear jdv5)", "(holding xmd1) (on jdv5 pgj4) (on-table tlo2) (on bsr3 tlo2) (on pgj4 bsr3) (clear jdv5)", "(on xmd1 jdv5) (arm-empty) (on jdv5 pgj4) (on-table tlo2) (on bsr3 tlo2) (on pgj4 bsr3) (clear xmd1)" ]

[ [ "unstack jgi1 dni2" ] ]

[ "(on ehx3 umu5) (on umu5 ahz4) (holding jgi1) (clear dni2) (on-table ahz4) (on dni2 ehx3)" ]

[ [ "pick-up jfp3" ], [ "stack jfp3 yqe5" ], [ "unstack efx2 tig4" ], [ "stack efx2 jfp3" ], [ "unstack tig4 edd1" ], [ "stack tig4 efx2" ], [ "pick-up edd1" ] ]

[ "(clear efx2) (on tig4 edd1) (on-table yqe5) (on-table edd1) (on efx2 tig4) (holding jfp3) (clear yqe5)", "(clear efx2) (on tig4 edd1) (on jfp3 yqe5) (arm-empty) (on-table yqe5) (on-table edd1) (on efx2 tig4) (clear jfp3)", "(on tig4 edd1) (on jfp3 yqe5) (on-table yqe5) (on-table edd1) (clear tig4) (holding efx2) (clear jfp3)", "(on jfp3 yqe5) (on tig4 edd1) (clear efx2) (arm-empty) (on-table yqe5) (on-table edd1) (clear tig4) (on efx2 jfp3)", "(on jfp3 yqe5) (clear efx2) (on-table yqe5) (on-table edd1) (holding tig4) (on efx2 jfp3) (clear edd1)", "(on jfp3 yqe5) (arm-empty) (on-table yqe5) (on-table edd1) (clear tig4) (on tig4 efx2) (on efx2 jfp3) (clear edd1)", "(holding edd1) (on jfp3 yqe5) (on-table yqe5) (clear tig4) (on tig4 efx2) (on efx2 jfp3)" ]

[ [ "unstack wwj3 rxb1" ], [ "put-down wwj3" ], [ "unstack rxb1 irs5" ], [ "stack rxb1 wwj3" ], [ "unstack irs5 wun4" ], [ "stack irs5 rxb1" ], [ "unstack wun4 txz2" ], [ "put-down wun4" ], [ "pick-up txz2" ], [ "stack txz2 wun4" ], [ "unstack irs5 rxb1" ], [ "stack irs5 txz2" ], [ "unstack rxb1 wwj3" ] ]

[ "(on rxb1 irs5) (on irs5 wun4) (on-table txz2) (on wun4 txz2) (holding wwj3) (clear rxb1)", "(on rxb1 irs5) (arm-empty) (on irs5 wun4) (on-table txz2) (on wun4 txz2) (clear wwj3) (clear rxb1) (on-table wwj3)", "(holding rxb1) (on irs5 wun4) (on-table txz2) (on wun4 txz2) (clear wwj3) (on-table wwj3) (clear irs5)", "(on rxb1 wwj3) (on irs5 wun4) (on-table txz2) (arm-empty) (on wun4 txz2) (clear rxb1) (on-table wwj3) (clear irs5)", "(on rxb1 wwj3) (on-table txz2) (clear wun4) (holding irs5) (on wun4 txz2) (clear rxb1) (on-table wwj3)", "(on rxb1 wwj3) (arm-empty) (on-table txz2) (clear wun4) (on irs5 rxb1) (on wun4 txz2) (on-table wwj3) (clear irs5)", "(clear txz2) (on rxb1 wwj3) (on-table txz2) (holding wun4) (on irs5 rxb1) (on-table wwj3) (clear irs5)", "(on rxb1 wwj3) (arm-empty) (on-table txz2) (clear wun4) (clear irs5) (clear txz2) (on irs5 rxb1) (on-table wun4) (on-table wwj3)", "(on rxb1 wwj3) (clear wun4) (on irs5 rxb1) (on-table wun4) (holding txz2) (on-table wwj3) (clear irs5)", "(clear txz2) (on rxb1 wwj3) (arm-empty) (on irs5 rxb1) (on-table wun4) (on txz2 wun4) (on-table wwj3) (clear irs5)", "(clear txz2) (on rxb1 wwj3) (holding irs5) (on-table wun4) (on txz2 wun4) (clear rxb1) (on-table wwj3)", "(on rxb1 wwj3) (arm-empty) (on irs5 txz2) (on-table wun4) (on txz2 wun4) (clear rxb1) (on-table wwj3) (clear irs5)", "(holding rxb1) (on irs5 txz2) (on-table wun4) (on txz2 wun4) (clear wwj3) (on-table wwj3) (clear irs5)" ]

[ [ "put-down twq3" ], [ "unstack hjc5 oun2" ], [ "stack hjc5 dmd1" ], [ "pick-up twq3" ], [ "stack twq3 hjc5" ], [ "unstack oun2 ror4" ], [ "put-down oun2" ], [ "unstack twq3 hjc5" ], [ "stack twq3 ror4" ], [ "pick-up oun2" ], [ "stack oun2 twq3" ], [ "unstack hjc5 dmd1" ], [ "put-down hjc5" ], [ "unstack oun2 twq3" ], [ "stack oun2 dmd1" ] ]

[ "(arm-empty) (on hjc5 oun2) (on oun2 ror4) (clear hjc5) (on-table dmd1) (on-table ror4) (clear twq3) (clear dmd1) (on-table twq3)", "(clear oun2) (on-table dmd1) (holding hjc5) (on-table ror4) (on oun2 ror4) (clear twq3) (clear dmd1) (on-table twq3)", "(clear oun2) (arm-empty) (on-table dmd1) (on hjc5 dmd1) (on-table ror4) (on oun2 ror4) (clear twq3) (on-table twq3) (clear hjc5)", "(clear oun2) (on-table dmd1) (on hjc5 dmd1) (on-table ror4) (on oun2 ror4) (holding twq3) (clear hjc5)", "(clear oun2) (on twq3 hjc5) (arm-empty) (on-table dmd1) (on hjc5 dmd1) (on-table ror4) (on oun2 ror4) (clear twq3)", "(on twq3 hjc5) (on-table dmd1) (clear ror4) (on hjc5 dmd1) (on-table ror4) (holding oun2) (clear twq3)", "(on twq3 hjc5) (arm-empty) (on-table oun2) (clear ror4) (clear oun2) (on-table dmd1) (on hjc5 dmd1) (on-table ror4) (clear twq3)", "(clear oun2) (on-table oun2) (on-table dmd1) (clear ror4) (on hjc5 dmd1) (on-table ror4) (holding twq3) (clear hjc5)", "(on twq3 ror4) (clear oun2) (arm-empty) (on-table oun2) (on-table dmd1) (on hjc5 dmd1) (on-table ror4) (clear twq3) (clear hjc5)", "(on twq3 ror4) (on-table dmd1) (on hjc5 dmd1) (on-table ror4) (holding oun2) (clear twq3) (clear hjc5)", "(on twq3 ror4) (clear oun2) (arm-empty) (on-table dmd1) (on hjc5 dmd1) (on-table ror4) (on oun2 twq3) (clear hjc5)", "(on twq3 ror4) (clear oun2) (on-table dmd1) (holding hjc5) (on-table ror4) (on oun2 twq3) (clear dmd1)", "(arm-empty) (on-table hjc5) (clear hjc5) (on twq3 ror4) (clear oun2) (on-table dmd1) (on-table ror4) (on oun2 twq3) (clear dmd1)", "(on twq3 ror4) (on-table hjc5) (on-table dmd1) (on-table ror4) (holding oun2) (clear twq3) (clear dmd1) (clear hjc5)", "(on twq3 ror4) (clear oun2) (arm-empty) (on-table hjc5) (on-table dmd1) (on-table ror4) (on oun2 dmd1) (clear twq3) (clear hjc5)" ]

[ [ "unstack nlh4 ejf2" ], [ "stack nlh4 bba5" ], [ "unstack ejf2 gkt1" ], [ "put-down ejf2" ], [ "unstack nlh4 bba5" ], [ "put-down nlh4" ], [ "pick-up bba5" ], [ "stack bba5 gkt1" ], [ "pick-up nlh4" ], [ "stack nlh4 bba5" ], [ "pick-up ejf2" ], [ "stack ejf2 nlh4" ] ]

[ "(clear ejf2) (on gkt1 cqe3) (on-table bba5) (holding nlh4) (on ejf2 gkt1) (on-table cqe3) (clear bba5)", "(clear ejf2) (on gkt1 cqe3) (arm-empty) (on nlh4 bba5) (on-table bba5) (clear nlh4) (on ejf2 gkt1) (on-table cqe3)", "(on gkt1 cqe3) (on nlh4 bba5) (on-table bba5) (clear nlh4) (holding ejf2) (clear gkt1) (on-table cqe3)", "(on gkt1 cqe3) (arm-empty) (on-table ejf2) (on-table bba5) (on nlh4 bba5) (clear nlh4) (clear ejf2) (clear gkt1) (on-table cqe3)", "(clear ejf2) (on gkt1 cqe3) (on-table ejf2) (on-table bba5) (holding nlh4) (clear gkt1) (on-table cqe3) (clear bba5)", "(clear ejf2) (on gkt1 cqe3) (arm-empty) (on-table ejf2) (on-table bba5) (clear nlh4) (on-table nlh4) (clear gkt1) (on-table cqe3) (clear bba5)", "(clear ejf2) (on gkt1 cqe3) (on-table ejf2) (clear nlh4) (holding bba5) (on-table nlh4) (clear gkt1) (on-table cqe3)", "(clear ejf2) (on gkt1 cqe3) (arm-empty) (on-table ejf2) (clear nlh4) (on bba5 gkt1) (on-table nlh4) (on-table cqe3) (clear bba5)", "(clear ejf2) (on gkt1 cqe3) (on-table ejf2) (holding nlh4) (on bba5 gkt1) (on-table cqe3) (clear bba5)", "(clear ejf2) (on gkt1 cqe3) (arm-empty) (on-table ejf2) (on nlh4 bba5) (clear nlh4) (on bba5 gkt1) (on-table cqe3)", "(on gkt1 cqe3) (on nlh4 bba5) (clear nlh4) (on bba5 gkt1) (holding ejf2) (on-table cqe3)", "(clear ejf2) (on gkt1 cqe3) (arm-empty) (on nlh4 bba5) (on bba5 gkt1) (on ejf2 nlh4) (on-table cqe3)" ]

[ [ "pick-up nkg1" ], [ "stack nkg1 jom2" ] ]

[ "(holding nkg1) (clear jom2) (on aid3 vov5) (on-table jom2) (on-table vov5) (clear yet4) (on-table yet4) (clear aid3)", "(on aid3 vov5) (arm-empty) (on-table jom2) (on-table vov5) (clear yet4) (on-table yet4) (clear aid3) (on nkg1 jom2) (clear nkg1)" ]

[ [ "stack seb4 wxf1" ], [ "unstack xkd2 our5" ], [ "put-down xkd2" ], [ "unstack seb4 wxf1" ], [ "stack seb4 our5" ] ]

[ "(clear xkd2) (on seb4 wxf1) (arm-empty) (on-table wxf1) (clear seb4) (on our5 qpk3) (on xkd2 our5) (on-table qpk3)", "(on seb4 wxf1) (on-table wxf1) (clear seb4) (on our5 qpk3) (holding xkd2) (on-table qpk3) (clear our5)", "(on seb4 wxf1) (arm-empty) (on-table xkd2) (clear seb4) (on our5 qpk3) (clear our5) (clear xkd2) (on-table wxf1) (on-table qpk3)", "(clear xkd2) (on-table xkd2) (on-table wxf1) (holding seb4) (on our5 qpk3) (clear wxf1) (on-table qpk3) (clear our5)", "(clear xkd2) (arm-empty) (on-table xkd2) (on seb4 our5) (on-table wxf1) (clear seb4) (on our5 qpk3) (clear wxf1) (on-table qpk3)" ]

[ [ "pick-up rwe1" ], [ "stack rwe1 wgc4" ], [ "unstack spt5 jgi2" ], [ "stack spt5 wuc3" ], [ "unstack rwe1 wgc4" ], [ "stack rwe1 spt5" ], [ "pick-up wgc4" ] ]

[ "(holding rwe1) (on-table jgi2) (on spt5 jgi2) (clear wgc4) (on-table wgc4) (clear wuc3) (on-table wuc3) (clear spt5)", "(arm-empty) (on-table jgi2) (on spt5 jgi2) (on-table wgc4) (on rwe1 wgc4) (clear wuc3) (clear rwe1) (on-table wuc3) (clear spt5)", "(clear jgi2) (on-table jgi2) (holding spt5) (on-table wgc4) (on rwe1 wgc4) (clear wuc3) (clear rwe1) (on-table wuc3)", "(clear jgi2) (arm-empty) (on-table jgi2) (on spt5 wuc3) (on-table wgc4) (on rwe1 wgc4) (clear rwe1) (on-table wuc3) (clear spt5)", "(holding rwe1) (clear jgi2) (on-table jgi2) (clear wgc4) (on spt5 wuc3) (on-table wgc4) (on-table wuc3) (clear spt5)", "(on rwe1 spt5) (clear jgi2) (arm-empty) (on-table jgi2) (clear wgc4) (on spt5 wuc3) (on-table wgc4) (clear rwe1) (on-table wuc3)", "(on rwe1 spt5) (clear jgi2) (on-table jgi2) (holding wgc4) (on spt5 wuc3) (clear rwe1) (on-table wuc3)" ]

[ [ "unstack gcr4 mqv5" ], [ "put-down gcr4" ], [ "unstack mqv5 tec1" ] ]

[ "(on-table ygn2) (holding gcr4) (on mqv5 tec1) (clear kdf3) (on tec1 ygn2) (on-table kdf3) (clear mqv5)", "(arm-empty) (on-table ygn2) (clear gcr4) (on tec1 ygn2) (clear mqv5) (on mqv5 tec1) (on-table gcr4) (clear kdf3) (on-table kdf3)", "(on-table ygn2) (clear gcr4) (holding mqv5) (on-table gcr4) (clear kdf3) (on tec1 ygn2) (clear tec1) (on-table kdf3)" ]

[ [ "put-down zed5" ] ]

[ "(arm-empty) (on-table zed5) (on zdv2 cgv4) (on iib1 zdv2) (clear zed5) (on-table cgv4) (clear och3) (clear iib1) (on-table och3)" ]

[ [ "put-down dqn2" ], [ "pick-up vfi4" ] ]

[ "(on fws1 lzv5) (arm-empty) (on-table dqn2) (on-table lzv5) (clear vfi4) (on qzt3 fws1) (clear dqn2) (on-table vfi4) (clear qzt3)", "(on fws1 lzv5) (clear dqn2) (on-table dqn2) (on-table lzv5) (holding vfi4) (on qzt3 fws1) (clear qzt3)" ]

[ [ "unstack cch5 vln2" ], [ "put-down cch5" ], [ "pick-up cvb3" ], [ "stack cvb3 vln2" ], [ "pick-up ips4" ], [ "stack ips4 cch5" ], [ "unstack cvb3 vln2" ], [ "stack cvb3 ips4" ], [ "unstack vln2 anw1" ], [ "put-down vln2" ], [ "unstack cvb3 ips4" ], [ "put-down cvb3" ], [ "pick-up anw1" ], [ "stack anw1 vln2" ], [ "pick-up cvb3" ], [ "stack cvb3 ips4" ] ]

[ "(clear vln2) (on-table anw1) (clear ips4) (holding cch5) (on-table ips4) (on vln2 anw1) (clear cvb3) (on-table cvb3)", "(clear vln2) (arm-empty) (on-table cch5) (on-table anw1) (clear ips4) (on-table ips4) (on vln2 anw1) (clear cvb3) (on-table cvb3) (clear cch5)", "(clear vln2) (on-table cch5) (on-table anw1) (clear ips4) (on-table ips4) (on vln2 anw1) (holding cvb3) (clear cch5)", "(arm-empty) (on-table cch5) (on-table anw1) (on cvb3 vln2) (clear ips4) (on-table ips4) (on vln2 anw1) (clear cvb3) (clear cch5)", "(on-table cch5) (on-table anw1) (holding ips4) (on cvb3 vln2) (on vln2 anw1) (clear cvb3) (clear cch5)", "(arm-empty) (on ips4 cch5) (on-table cch5) (on-table anw1) (on cvb3 vln2) (clear ips4) (on vln2 anw1) (clear cvb3)", "(clear vln2) (on ips4 cch5) (on-table cch5) (on-table anw1) (clear ips4) (on vln2 anw1) (holding cvb3)", "(on cvb3 ips4) (clear vln2) (arm-empty) (on-table cch5) (on ips4 cch5) (on-table anw1) (on vln2 anw1) (clear cvb3)", "(on cvb3 ips4) (on-table cch5) (on ips4 cch5) (on-table anw1) (holding vln2) (clear cvb3) (clear anw1)", "(arm-empty) (on-table vln2) (on-table cch5) (on ips4 cch5) (on cvb3 ips4) (clear vln2) (on-table anw1) (clear cvb3) (clear anw1)", "(clear vln2) (on-table vln2) (on-table cch5) (on ips4 cch5) (on-table anw1) (clear ips4) (holding cvb3) (clear anw1)", "(clear vln2) (arm-empty) (on-table vln2) (on-table cch5) (on ips4 cch5) (on-table anw1) (clear ips4) (clear cvb3) (clear anw1) (on-table cvb3)", "(holding anw1) (clear vln2) (on-table vln2) (on-table cch5) (on ips4 cch5) (clear ips4) (clear cvb3) (on-table cvb3)", "(arm-empty) (on-table vln2) (on-table cch5) (on ips4 cch5) (clear ips4) (clear cvb3) (on anw1 vln2) (clear anw1) (on-table cvb3)", "(on-table vln2) (on-table cch5) (on ips4 cch5) (clear ips4) (on anw1 vln2) (clear anw1) (holding cvb3)", "(on cvb3 ips4) (arm-empty) (on-table vln2) (on-table cch5) (on ips4 cch5) (clear cvb3) (on anw1 vln2) (clear anw1)" ]