Datasets:

NanQiangHF
/

BlocksWorldDatasetAN

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Split (3)

train · 61k rows

goal stringlengths 54 142	input stringlengths 110 272	actions sequencelengths 1 20	next_states sequencelengths 1 20	source_file stringlengths 6 11	combined_output stringlengths 81 2.73k
GOAL: (clear b2) (on b1 b3) (arm-empty) (on-table b2) (clear b4) (on-table b4) (clear b1) (on-table b3)	GOAL: (clear b2) (on b1 b3) (arm-empty) (on-table b2) (clear b4) (on-table b4) (clear b1) (on-table b3) STATE: (arm-empty) (on b3 b2) (on-table b4) (on b1 b4) (on b2 b1) (clear b3)	[ [ "unstack b3 b2" ], [ "put-down b3" ], [ "unstack b2 b1" ], [ "put-down b2" ], [ "unstack b1 b4" ], [ "stack b1 b3" ] ]	[ "(on-table b4) (clear b2) (on b1 b4) (on b2 b1) (holding b3)", "(on-table b4) (clear b2) (arm-empty) (on b1 b4) (on b2 b1) (clear b3) (on-table b3)", "(on b1 b4) (on-table b4) (holding b2) (clear b3) (clear b1) (on-table b3)", "(arm-empty) (on-table b2) (clear b2) (on-table b4) (on b1 b4) (clear b3) (clear b1) (on-table b3)", "(holding b1) (clear b2) (on-table b2) (clear b4) (on-table b4) (clear b3) (on-table b3)", "(clear b2) (on b1 b3) (arm-empty) (on-table b2) (clear b4) (on-table b4) (clear b1) (on-table b3)" ]	file_162026	ACTION: (unstack b3 b2) NEXT STATE: (on-table b4) (clear b2) (on b1 b4) (on b2 b1) (holding b3) ACTION: (put-down b3) NEXT STATE: (on-table b4) (clear b2) (arm-empty) (on b1 b4) (on b2 b1) (clear b3) (on-table b3) ACTION: (unstack b2 b1) NEXT STATE: (on b1 b4) (on-table b4) (holding b2) (clear b3) (clear b1) (on-table b3) ACTION: (put-down b2) NEXT STATE: (arm-empty) (on-table b2) (clear b2) (on-table b4) (on b1 b4) (clear b3) (clear b1) (on-table b3) ACTION: (unstack b1 b4) NEXT STATE: (holding b1) (clear b2) (on-table b2) (clear b4) (on-table b4) (clear b3) (on-table b3) ACTION: (stack b1 b3) NEXT STATE: (clear b2) (on b1 b3) (arm-empty) (on-table b2) (clear b4) (on-table b4) (clear b1) (on-table b3)
GOAL: (on b4 b1) (arm-empty) (on-table b5) (on-table b1) (on b3 b2) (on b2 b4) (clear b3) (clear b5)	GOAL: (on b4 b1) (arm-empty) (on-table b5) (on-table b1) (on b3 b2) (on b2 b4) (clear b3) (clear b5) STATE: (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b4 b3) (on b3 b1) (on b1 b2) (clear b5)	[ [ "unstack b4 b3" ], [ "stack b4 b5" ], [ "unstack b3 b1" ], [ "stack b3 b4" ], [ "unstack b1 b2" ], [ "put-down b1" ], [ "unstack b3 b4" ], [ "put-down b3" ], [ "unstack b4 b5" ], [ "stack b4 b1" ], [ "pick-up b3" ], [ "stack b3 b5" ], [ "pick-up b2" ], [ "stack b2 b4" ], [ "unstack b3 b5" ], [ "stack b3 b2" ] ]	[ "(on-table b2) (on-table b5) (holding b4) (on b3 b1) (clear b3) (on b1 b2) (clear b5)", "(arm-empty) (on-table b2) (on-table b5) (on b4 b5) (clear b4) (on b3 b1) (clear b3) (on b1 b2)", "(on-table b2) (on-table b5) (on b4 b5) (clear b4) (on b1 b2) (clear b1) (holding b3)", "(on b3 b4) (arm-empty) (on-table b2) (on-table b5) (on b4 b5) (clear b3) (on b1 b2) (clear b1)", "(holding b1) (on b3 b4) (clear b2) (on-table b2) (on-table b5) (on b4 b5) (clear b3)", "(arm-empty) (on-table b2) (on-table b5) (on b4 b5) (on b3 b4) (clear b2) (on-table b1) (clear b3) (clear b1)", "(clear b2) (on-table b2) (on-table b5) (on b4 b5) (on-table b1) (clear b4) (holding b3) (clear b1)", "(clear b2) (arm-empty) (on-table b2) (on-table b5) (on b4 b5) (on-table b1) (clear b4) (clear b3) (clear b1) (on-table b3)", "(clear b2) (on-table b2) (on-table b5) (holding b4) (on-table b1) (clear b3) (clear b1) (on-table b3) (clear b5)", "(clear b2) (on b4 b1) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (clear b3) (on-table b3) (clear b5)", "(clear b2) (on b4 b1) (on-table b2) (on-table b5) (on-table b1) (clear b4) (holding b3) (clear b5)", "(clear b2) (on b4 b1) (on b3 b5) (on-table b2) (on-table b5) (on-table b1) (arm-empty) (clear b4) (clear b3)", "(on b4 b1) (on b3 b5) (on-table b5) (on-table b1) (clear b4) (holding b2) (clear b3)", "(on b3 b5) (on b4 b1) (arm-empty) (on-table b5) (on b2 b4) (clear b2) (on-table b1) (clear b3)", "(on b4 b1) (clear b2) (on-table b5) (on-table b1) (on b2 b4) (holding b3) (clear b5)", "(on b4 b1) (arm-empty) (on-table b5) (on-table b1) (on b3 b2) (on b2 b4) (clear b3) (clear b5)" ]	file_169248	ACTION: (unstack b4 b3) NEXT STATE: (on-table b2) (on-table b5) (holding b4) (on b3 b1) (clear b3) (on b1 b2) (clear b5) ACTION: (stack b4 b5) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (on b4 b5) (clear b4) (on b3 b1) (clear b3) (on b1 b2) ACTION: (unstack b3 b1) NEXT STATE: (on-table b2) (on-table b5) (on b4 b5) (clear b4) (on b1 b2) (clear b1) (holding b3) ACTION: (stack b3 b4) NEXT STATE: (on b3 b4) (arm-empty) (on-table b2) (on-table b5) (on b4 b5) (clear b3) (on b1 b2) (clear b1) ACTION: (unstack b1 b2) NEXT STATE: (holding b1) (on b3 b4) (clear b2) (on-table b2) (on-table b5) (on b4 b5) (clear b3) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (on b4 b5) (on b3 b4) (clear b2) (on-table b1) (clear b3) (clear b1) ACTION: (unstack b3 b4) NEXT STATE: (clear b2) (on-table b2) (on-table b5) (on b4 b5) (on-table b1) (clear b4) (holding b3) (clear b1) ACTION: (put-down b3) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b5) (on b4 b5) (on-table b1) (clear b4) (clear b3) (clear b1) (on-table b3) ACTION: (unstack b4 b5) NEXT STATE: (clear b2) (on-table b2) (on-table b5) (holding b4) (on-table b1) (clear b3) (clear b1) (on-table b3) (clear b5) ACTION: (stack b4 b1) NEXT STATE: (clear b2) (on b4 b1) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (clear b3) (on-table b3) (clear b5) ACTION: (pick-up b3) NEXT STATE: (clear b2) (on b4 b1) (on-table b2) (on-table b5) (on-table b1) (clear b4) (holding b3) (clear b5) ACTION: (stack b3 b5) NEXT STATE: (clear b2) (on b4 b1) (on b3 b5) (on-table b2) (on-table b5) (on-table b1) (arm-empty) (clear b4) (clear b3) ACTION: (pick-up b2) NEXT STATE: (on b4 b1) (on b3 b5) (on-table b5) (on-table b1) (clear b4) (holding b2) (clear b3) ACTION: (stack b2 b4) NEXT STATE: (on b3 b5) (on b4 b1) (arm-empty) (on-table b5) (on b2 b4) (clear b2) (on-table b1) (clear b3) ACTION: (unstack b3 b5) NEXT STATE: (on b4 b1) (clear b2) (on-table b5) (on-table b1) (on b2 b4) (holding b3) (clear b5) ACTION: (stack b3 b2) NEXT STATE: (on b4 b1) (arm-empty) (on-table b5) (on-table b1) (on b3 b2) (on b2 b4) (clear b3) (clear b5)
GOAL: (arm-empty) (on-table b2) (on-table b1) (on b5 b2) (clear b4) (on-table b4) (on b3 b1) (clear b3) (clear b5)	GOAL: (arm-empty) (on-table b2) (on-table b1) (on b5 b2) (clear b4) (on-table b4) (on b3 b1) (clear b3) (clear b5) STATE: (clear b2) (on-table b2) (on-table b1) (clear b4) (holding b5) (on-table b4) (clear b3) (clear b1) (on-table b3)	[ [ "stack b5 b1" ], [ "pick-up b3" ], [ "stack b3 b4" ], [ "unstack b5 b1" ], [ "stack b5 b2" ], [ "unstack b3 b4" ], [ "stack b3 b1" ] ]	[ "(clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (clear b3) (on-table b3) (clear b5)", "(clear b2) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (holding b3) (clear b5)", "(on b3 b4) (clear b2) (arm-empty) (on-table b2) (on-table b1) (on b5 b1) (on-table b4) (clear b3) (clear b5)", "(on b3 b4) (clear b2) (on-table b2) (on-table b1) (holding b5) (on-table b4) (clear b3) (clear b1)", "(on b3 b4) (arm-empty) (on-table b2) (on-table b1) (on b5 b2) (on-table b4) (clear b3) (clear b1) (clear b5)", "(on-table b2) (on-table b1) (on b5 b2) (clear b4) (on-table b4) (holding b3) (clear b1) (clear b5)", "(arm-empty) (on-table b2) (on-table b1) (on b5 b2) (clear b4) (on-table b4) (on b3 b1) (clear b3) (clear b5)" ]	file_21845	ACTION: (stack b5 b1) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (clear b3) (on-table b3) (clear b5) ACTION: (pick-up b3) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (holding b3) (clear b5) ACTION: (stack b3 b4) NEXT STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b2) (on-table b1) (on b5 b1) (on-table b4) (clear b3) (clear b5) ACTION: (unstack b5 b1) NEXT STATE: (on b3 b4) (clear b2) (on-table b2) (on-table b1) (holding b5) (on-table b4) (clear b3) (clear b1) ACTION: (stack b5 b2) NEXT STATE: (on b3 b4) (arm-empty) (on-table b2) (on-table b1) (on b5 b2) (on-table b4) (clear b3) (clear b1) (clear b5) ACTION: (unstack b3 b4) NEXT STATE: (on-table b2) (on-table b1) (on b5 b2) (clear b4) (on-table b4) (holding b3) (clear b1) (clear b5) ACTION: (stack b3 b1) NEXT STATE: (arm-empty) (on-table b2) (on-table b1) (on b5 b2) (clear b4) (on-table b4) (on b3 b1) (clear b3) (clear b5)
GOAL: (on-table b5) (on b4 b5) (holding b2) (on b1 b4) (clear b3) (clear b1) (on-table b3)	GOAL: (on-table b5) (on b4 b5) (holding b2) (on b1 b4) (clear b3) (clear b1) (on-table b3) STATE: (on b1 b5) (clear b2) (on b4 b1) (arm-empty) (on-table b2) (on-table b5) (clear b4) (clear b3) (on-table b3)	[ [ "pick-up b2" ], [ "stack b2 b3" ], [ "unstack b4 b1" ], [ "put-down b4" ], [ "unstack b1 b5" ], [ "stack b1 b2" ], [ "pick-up b4" ], [ "stack b4 b5" ], [ "unstack b1 b2" ], [ "stack b1 b4" ], [ "unstack b2 b3" ] ]	[ "(on b1 b5) (on b4 b1) (on-table b5) (clear b4) (holding b2) (clear b3) (on-table b3)", "(on b1 b5) (clear b2) (on b4 b1) (arm-empty) (on-table b5) (clear b4) (on b2 b3) (on-table b3)", "(on b1 b5) (clear b2) (on-table b5) (holding b4) (on b2 b3) (clear b1) (on-table b3)", "(on b1 b5) (arm-empty) (on-table b5) (clear b4) (clear b2) (on-table b4) (on b2 b3) (clear b1) (on-table b3)", "(holding b1) (clear b2) (on-table b5) (clear b4) (on-table b4) (on b2 b3) (on-table b3) (clear b5)", "(clear b1) (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b2 b3) (on b1 b2) (on-table b3) (clear b5)", "(on-table b5) (holding b4) (on b1 b2) (on b2 b3) (clear b1) (on-table b3) (clear b5)", "(arm-empty) (on-table b5) (on b4 b5) (clear b4) (on b2 b3) (on b1 b2) (on-table b3) (clear b1)", "(holding b1) (clear b2) (on-table b5) (on b4 b5) (clear b4) (on b2 b3) (on-table b3)", "(clear b2) (arm-empty) (on-table b5) (on b4 b5) (on b1 b4) (on b2 b3) (clear b1) (on-table b3)", "(on-table b5) (on b4 b5) (holding b2) (on b1 b4) (clear b3) (clear b1) (on-table b3)" ]	file_151906	ACTION: (pick-up b2) NEXT STATE: (on b1 b5) (on b4 b1) (on-table b5) (clear b4) (holding b2) (clear b3) (on-table b3) ACTION: (stack b2 b3) NEXT STATE: (on b1 b5) (clear b2) (on b4 b1) (arm-empty) (on-table b5) (clear b4) (on b2 b3) (on-table b3) ACTION: (unstack b4 b1) NEXT STATE: (on b1 b5) (clear b2) (on-table b5) (holding b4) (on b2 b3) (clear b1) (on-table b3) ACTION: (put-down b4) NEXT STATE: (on b1 b5) (arm-empty) (on-table b5) (clear b4) (clear b2) (on-table b4) (on b2 b3) (clear b1) (on-table b3) ACTION: (unstack b1 b5) NEXT STATE: (holding b1) (clear b2) (on-table b5) (clear b4) (on-table b4) (on b2 b3) (on-table b3) (clear b5) ACTION: (stack b1 b2) NEXT STATE: (clear b1) (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b2 b3) (on b1 b2) (on-table b3) (clear b5) ACTION: (pick-up b4) NEXT STATE: (on-table b5) (holding b4) (on b1 b2) (on b2 b3) (clear b1) (on-table b3) (clear b5) ACTION: (stack b4 b5) NEXT STATE: (arm-empty) (on-table b5) (on b4 b5) (clear b4) (on b2 b3) (on b1 b2) (on-table b3) (clear b1) ACTION: (unstack b1 b2) NEXT STATE: (holding b1) (clear b2) (on-table b5) (on b4 b5) (clear b4) (on b2 b3) (on-table b3) ACTION: (stack b1 b4) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on b4 b5) (on b1 b4) (on b2 b3) (clear b1) (on-table b3) ACTION: (unstack b2 b3) NEXT STATE: (on-table b5) (on b4 b5) (holding b2) (on b1 b4) (clear b3) (clear b1) (on-table b3)
GOAL: (holding b1) (clear b2) (on b5 b3) (on-table b4) (on b2 b4) (on-table b3) (clear b5)	GOAL: (holding b1) (clear b2) (on b5 b3) (on-table b4) (on b2 b4) (on-table b3) (clear b5) STATE: (clear b2) (on b1 b3) (on-table b2) (clear b4) (holding b5) (on-table b4) (clear b1) (on-table b3)	[ [ "put-down b5" ], [ "pick-up b2" ], [ "stack b2 b4" ], [ "unstack b1 b3" ], [ "stack b1 b2" ], [ "pick-up b5" ], [ "stack b5 b3" ], [ "unstack b1 b2" ] ]	[ "(clear b2) (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b1) (on-table b3) (clear b5)", "(on b1 b3) (on-table b5) (clear b4) (on-table b4) (holding b2) (clear b1) (on-table b3) (clear b5)", "(clear b2) (on b1 b3) (arm-empty) (on-table b5) (on-table b4) (on b2 b4) (clear b1) (on-table b3) (clear b5)", "(holding b1) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (clear b3) (on-table b3) (clear b5)", "(arm-empty) (on-table b5) (on-table b4) (on b2 b4) (clear b3) (on b1 b2) (clear b1) (on-table b3) (clear b5)", "(holding b5) (on-table b4) (on b2 b4) (clear b3) (on b1 b2) (clear b1) (on-table b3)", "(arm-empty) (on b5 b3) (on-table b4) (on b2 b4) (on b1 b2) (clear b1) (on-table b3) (clear b5)", "(holding b1) (clear b2) (on b5 b3) (on-table b4) (on b2 b4) (on-table b3) (clear b5)" ]	file_218315	ACTION: (put-down b5) NEXT STATE: (clear b2) (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b2) NEXT STATE: (on b1 b3) (on-table b5) (clear b4) (on-table b4) (holding b2) (clear b1) (on-table b3) (clear b5) ACTION: (stack b2 b4) NEXT STATE: (clear b2) (on b1 b3) (arm-empty) (on-table b5) (on-table b4) (on b2 b4) (clear b1) (on-table b3) (clear b5) ACTION: (unstack b1 b3) NEXT STATE: (holding b1) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (clear b3) (on-table b3) (clear b5) ACTION: (stack b1 b2) NEXT STATE: (arm-empty) (on-table b5) (on-table b4) (on b2 b4) (clear b3) (on b1 b2) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b5) NEXT STATE: (holding b5) (on-table b4) (on b2 b4) (clear b3) (on b1 b2) (clear b1) (on-table b3) ACTION: (stack b5 b3) NEXT STATE: (arm-empty) (on b5 b3) (on-table b4) (on b2 b4) (on b1 b2) (clear b1) (on-table b3) (clear b5) ACTION: (unstack b1 b2) NEXT STATE: (holding b1) (clear b2) (on b5 b3) (on-table b4) (on b2 b4) (on-table b3) (clear b5)
GOAL: (on b4 b5) (on-table b1) (clear b4) (on b5 b3) (holding b2) (on b3 b1)	GOAL: (on b4 b5) (on-table b1) (clear b4) (on b5 b3) (holding b2) (on b3 b1) STATE: (holding b1) (on b3 b5) (on b5 b4) (on-table b2) (on b4 b2) (clear b3)	[ [ "put-down b1" ], [ "unstack b3 b5" ], [ "stack b3 b1" ], [ "unstack b5 b4" ], [ "stack b5 b3" ], [ "unstack b4 b2" ], [ "stack b4 b5" ], [ "pick-up b2" ] ]	[ "(on b3 b5) (arm-empty) (on b5 b4) (on-table b2) (on-table b1) (on b4 b2) (clear b3) (clear b1)", "(on b5 b4) (on-table b2) (on-table b1) (on b4 b2) (holding b3) (clear b1) (clear b5)", "(arm-empty) (on b5 b4) (on-table b2) (on-table b1) (on b3 b1) (on b4 b2) (clear b3) (clear b5)", "(on-table b2) (on-table b1) (clear b4) (on b3 b1) (holding b5) (on b4 b2) (clear b3)", "(arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b3) (on b3 b1) (on b4 b2) (clear b5)", "(clear b2) (on-table b2) (on-table b1) (holding b4) (on b5 b3) (on b3 b1) (clear b5)", "(clear b2) (arm-empty) (on-table b2) (on b4 b5) (on-table b1) (clear b4) (on b5 b3) (on b3 b1)", "(on b4 b5) (on-table b1) (clear b4) (on b5 b3) (holding b2) (on b3 b1)" ]	file_102003	ACTION: (put-down b1) NEXT STATE: (on b3 b5) (arm-empty) (on b5 b4) (on-table b2) (on-table b1) (on b4 b2) (clear b3) (clear b1) ACTION: (unstack b3 b5) NEXT STATE: (on b5 b4) (on-table b2) (on-table b1) (on b4 b2) (holding b3) (clear b1) (clear b5) ACTION: (stack b3 b1) NEXT STATE: (arm-empty) (on b5 b4) (on-table b2) (on-table b1) (on b3 b1) (on b4 b2) (clear b3) (clear b5) ACTION: (unstack b5 b4) NEXT STATE: (on-table b2) (on-table b1) (clear b4) (on b3 b1) (holding b5) (on b4 b2) (clear b3) ACTION: (stack b5 b3) NEXT STATE: (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b3) (on b3 b1) (on b4 b2) (clear b5) ACTION: (unstack b4 b2) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (holding b4) (on b5 b3) (on b3 b1) (clear b5) ACTION: (stack b4 b5) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on b4 b5) (on-table b1) (clear b4) (on b5 b3) (on b3 b1) ACTION: (pick-up b2) NEXT STATE: (on b4 b5) (on-table b1) (clear b4) (on b5 b3) (holding b2) (on b3 b1)
GOAL: (clear b2) (on b1 b3) (on b4 b1) (on-table b2) (on b5 b4) (arm-empty) (on-table b3) (clear b5)	GOAL: (clear b2) (on b1 b3) (on b4 b1) (on-table b2) (on b5 b4) (arm-empty) (on-table b3) (clear b5) STATE: (holding b1) (on-table b5) (clear b4) (on b4 b2) (on b2 b5) (clear b3) (on-table b3)	[ [ "stack b1 b3" ], [ "unstack b4 b2" ], [ "stack b4 b1" ], [ "unstack b2 b5" ], [ "put-down b2" ], [ "pick-up b5" ], [ "stack b5 b4" ] ]	[ "(on b1 b3) (arm-empty) (on-table b5) (clear b4) (on b4 b2) (on b2 b5) (clear b1) (on-table b3)", "(clear b2) (on b1 b3) (on-table b5) (holding b4) (on b2 b5) (clear b1) (on-table b3)", "(clear b2) (on b1 b3) (on b4 b1) (arm-empty) (on-table b5) (clear b4) (on b2 b5) (on-table b3)", "(on b1 b3) (on b4 b1) (on-table b5) (clear b4) (holding b2) (on-table b3) (clear b5)", "(on b1 b3) (on b4 b1) (on-table b2) (on-table b5) (arm-empty) (clear b4) (clear b5) (clear b2) (on-table b3)", "(clear b2) (on b1 b3) (on b4 b1) (on-table b2) (clear b4) (holding b5) (on-table b3)", "(clear b2) (on b1 b3) (on b4 b1) (on-table b2) (on b5 b4) (arm-empty) (on-table b3) (clear b5)" ]	file_75087	ACTION: (stack b1 b3) NEXT STATE: (on b1 b3) (arm-empty) (on-table b5) (clear b4) (on b4 b2) (on b2 b5) (clear b1) (on-table b3) ACTION: (unstack b4 b2) NEXT STATE: (clear b2) (on b1 b3) (on-table b5) (holding b4) (on b2 b5) (clear b1) (on-table b3) ACTION: (stack b4 b1) NEXT STATE: (clear b2) (on b1 b3) (on b4 b1) (arm-empty) (on-table b5) (clear b4) (on b2 b5) (on-table b3) ACTION: (unstack b2 b5) NEXT STATE: (on b1 b3) (on b4 b1) (on-table b5) (clear b4) (holding b2) (on-table b3) (clear b5) ACTION: (put-down b2) NEXT STATE: (on b1 b3) (on b4 b1) (on-table b2) (on-table b5) (arm-empty) (clear b4) (clear b5) (clear b2) (on-table b3) ACTION: (pick-up b5) NEXT STATE: (clear b2) (on b1 b3) (on b4 b1) (on-table b2) (clear b4) (holding b5) (on-table b3) ACTION: (stack b5 b4) NEXT STATE: (clear b2) (on b1 b3) (on b4 b1) (on-table b2) (on b5 b4) (arm-empty) (on-table b3) (clear b5)
GOAL: (on-table b1) (clear b4) (on b5 b3) (on-table b4) (holding b2) (clear b1) (on-table b3) (clear b5)	GOAL: (on-table b1) (clear b4) (on b5 b3) (on-table b4) (holding b2) (clear b1) (on-table b3) (clear b5) STATE: (holding b1) (clear b4) (on b5 b3) (on b4 b2) (on b2 b5) (on-table b3)	[ [ "put-down b1" ], [ "unstack b4 b2" ], [ "put-down b4" ], [ "unstack b2 b5" ] ]	[ "(arm-empty) (clear b4) (on b5 b3) (on b2 b5) (on-table b1) (on b4 b2) (clear b1) (on-table b3)", "(clear b2) (on-table b1) (holding b4) (on b5 b3) (on b2 b5) (clear b1) (on-table b3)", "(arm-empty) (clear b4) (on b5 b3) (on b2 b5) (clear b2) (on-table b1) (on-table b4) (clear b1) (on-table b3)", "(on-table b1) (clear b4) (on b5 b3) (on-table b4) (holding b2) (clear b1) (on-table b3) (clear b5)" ]	file_189649	ACTION: (put-down b1) NEXT STATE: (arm-empty) (clear b4) (on b5 b3) (on b2 b5) (on-table b1) (on b4 b2) (clear b1) (on-table b3) ACTION: (unstack b4 b2) NEXT STATE: (clear b2) (on-table b1) (holding b4) (on b5 b3) (on b2 b5) (clear b1) (on-table b3) ACTION: (put-down b4) NEXT STATE: (arm-empty) (clear b4) (on b5 b3) (on b2 b5) (clear b2) (on-table b1) (on-table b4) (clear b1) (on-table b3) ACTION: (unstack b2 b5) NEXT STATE: (on-table b1) (clear b4) (on b5 b3) (on-table b4) (holding b2) (clear b1) (on-table b3) (clear b5)
GOAL: (on-table b1) (holding b4) (on b5 b2) (on b3 b1) (on b2 b3) (clear b5)	GOAL: (on-table b1) (holding b4) (on b5 b2) (on b3 b1) (on b2 b3) (clear b5) STATE: (clear b2) (on-table b1) (clear b4) (holding b5) (on-table b4) (on b2 b1) (clear b3) (on-table b3)	[ [ "stack b5 b4" ], [ "unstack b2 b1" ], [ "stack b2 b5" ], [ "pick-up b3" ], [ "stack b3 b1" ], [ "unstack b2 b5" ], [ "stack b2 b3" ], [ "unstack b5 b4" ], [ "stack b5 b2" ], [ "pick-up b4" ] ]	[ "(clear b2) (arm-empty) (on b5 b4) (on-table b1) (on-table b4) (on b2 b1) (clear b3) (on-table b3) (clear b5)", "(on b5 b4) (on-table b1) (on-table b4) (holding b2) (clear b3) (clear b1) (on-table b3) (clear b5)", "(clear b2) (arm-empty) (on b5 b4) (on-table b1) (on-table b4) (on b2 b5) (clear b3) (clear b1) (on-table b3)", "(clear b2) (on b5 b4) (on-table b1) (on-table b4) (on b2 b5) (holding b3) (clear b1)", "(clear b2) (arm-empty) (on b5 b4) (on-table b1) (on-table b4) (on b3 b1) (on b2 b5) (clear b3)", "(on b5 b4) (on-table b1) (on-table b4) (holding b2) (on b3 b1) (clear b3) (clear b5)", "(clear b2) (arm-empty) (on b5 b4) (on-table b1) (on-table b4) (on b3 b1) (on b2 b3) (clear b5)", "(clear b2) (on-table b1) (clear b4) (holding b5) (on-table b4) (on b3 b1) (on b2 b3)", "(arm-empty) (on-table b1) (on b5 b2) (clear b4) (on-table b4) (on b3 b1) (on b2 b3) (clear b5)", "(on-table b1) (holding b4) (on b5 b2) (on b3 b1) (on b2 b3) (clear b5)" ]	file_134202	ACTION: (stack b5 b4) NEXT STATE: (clear b2) (arm-empty) (on b5 b4) (on-table b1) (on-table b4) (on b2 b1) (clear b3) (on-table b3) (clear b5) ACTION: (unstack b2 b1) NEXT STATE: (on b5 b4) (on-table b1) (on-table b4) (holding b2) (clear b3) (clear b1) (on-table b3) (clear b5) ACTION: (stack b2 b5) NEXT STATE: (clear b2) (arm-empty) (on b5 b4) (on-table b1) (on-table b4) (on b2 b5) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b3) NEXT STATE: (clear b2) (on b5 b4) (on-table b1) (on-table b4) (on b2 b5) (holding b3) (clear b1) ACTION: (stack b3 b1) NEXT STATE: (clear b2) (arm-empty) (on b5 b4) (on-table b1) (on-table b4) (on b3 b1) (on b2 b5) (clear b3) ACTION: (unstack b2 b5) NEXT STATE: (on b5 b4) (on-table b1) (on-table b4) (holding b2) (on b3 b1) (clear b3) (clear b5) ACTION: (stack b2 b3) NEXT STATE: (clear b2) (arm-empty) (on b5 b4) (on-table b1) (on-table b4) (on b3 b1) (on b2 b3) (clear b5) ACTION: (unstack b5 b4) NEXT STATE: (clear b2) (on-table b1) (clear b4) (holding b5) (on-table b4) (on b3 b1) (on b2 b3) ACTION: (stack b5 b2) NEXT STATE: (arm-empty) (on-table b1) (on b5 b2) (clear b4) (on-table b4) (on b3 b1) (on b2 b3) (clear b5) ACTION: (pick-up b4) NEXT STATE: (on-table b1) (holding b4) (on b5 b2) (on b3 b1) (on b2 b3) (clear b5)
GOAL: (clear b2) (arm-empty) (on b5 b4) (on-table b1) (on b4 b3) (on b2 b5) (clear b1) (on-table b3)	GOAL: (clear b2) (arm-empty) (on b5 b4) (on-table b1) (on b4 b3) (on b2 b5) (clear b1) (on-table b3) STATE: (on b1 b5) (on b5 b4) (on b4 b3) (holding b2) (clear b1) (on-table b3)	[ [ "put-down b2" ], [ "unstack b1 b5" ], [ "put-down b1" ], [ "pick-up b2" ], [ "stack b2 b5" ] ]	[ "(on b1 b5) (arm-empty) (on b5 b4) (on-table b2) (clear b2) (on b4 b3) (clear b1) (on-table b3)", "(holding b1) (clear b2) (on b5 b4) (on-table b2) (on b4 b3) (on-table b3) (clear b5)", "(arm-empty) (on b5 b4) (on-table b2) (clear b5) (clear b2) (on-table b1) (on b4 b3) (clear b1) (on-table b3)", "(on b5 b4) (on-table b1) (on b4 b3) (holding b2) (clear b1) (on-table b3) (clear b5)", "(clear b2) (arm-empty) (on b5 b4) (on-table b1) (on b4 b3) (on b2 b5) (clear b1) (on-table b3)" ]	file_51908	ACTION: (put-down b2) NEXT STATE: (on b1 b5) (arm-empty) (on b5 b4) (on-table b2) (clear b2) (on b4 b3) (clear b1) (on-table b3) ACTION: (unstack b1 b5) NEXT STATE: (holding b1) (clear b2) (on b5 b4) (on-table b2) (on b4 b3) (on-table b3) (clear b5) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on b5 b4) (on-table b2) (clear b5) (clear b2) (on-table b1) (on b4 b3) (clear b1) (on-table b3) ACTION: (pick-up b2) NEXT STATE: (on b5 b4) (on-table b1) (on b4 b3) (holding b2) (clear b1) (on-table b3) (clear b5) ACTION: (stack b2 b5) NEXT STATE: (clear b2) (arm-empty) (on b5 b4) (on-table b1) (on b4 b3) (on b2 b5) (clear b1) (on-table b3)
GOAL: (holding b2) (on b3 b1) (clear b3) (on-table b1)	GOAL: (holding b2) (on b3 b1) (clear b3) (on-table b1) STATE: (holding b1) (on b3 b2) (on-table b2) (clear b3)	[ [ "put-down b1" ], [ "unstack b3 b2" ], [ "stack b3 b1" ], [ "pick-up b2" ] ]	[ "(arm-empty) (on-table b2) (on-table b1) (on b3 b2) (clear b3) (clear b1)", "(clear b2) (on-table b2) (on-table b1) (holding b3) (clear b1)", "(on b3 b1) (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b3)", "(holding b2) (on b3 b1) (clear b3) (on-table b1)" ]	file_71492	ACTION: (put-down b1) NEXT STATE: (arm-empty) (on-table b2) (on-table b1) (on b3 b2) (clear b3) (clear b1) ACTION: (unstack b3 b2) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (holding b3) (clear b1) ACTION: (stack b3 b1) NEXT STATE: (on b3 b1) (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b3) ACTION: (pick-up b2) NEXT STATE: (holding b2) (on b3 b1) (clear b3) (on-table b1)
GOAL: (arm-empty) (on b5 b4) (on-table b1) (on b3 b2) (on b4 b3) (on b2 b1) (clear b5)	GOAL: (arm-empty) (on b5 b4) (on-table b1) (on b3 b2) (on b4 b3) (on b2 b1) (clear b5) STATE: (holding b1) (clear b2) (on b3 b5) (on-table b5) (clear b4) (on-table b4) (on b2 b3)	[ [ "put-down b1" ], [ "unstack b2 b3" ], [ "stack b2 b1" ], [ "unstack b3 b5" ], [ "stack b3 b2" ], [ "pick-up b4" ], [ "stack b4 b3" ], [ "pick-up b5" ], [ "stack b5 b4" ] ]	[ "(on b3 b5) (arm-empty) (on-table b5) (clear b4) (clear b2) (on-table b1) (on-table b4) (on b2 b3) (clear b1)", "(on b3 b5) (on-table b5) (on-table b1) (clear b4) (on-table b4) (holding b2) (clear b3) (clear b1)", "(on b3 b5) (clear b2) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b2 b1) (clear b3)", "(clear b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b2 b1) (holding b3) (clear b5)", "(arm-empty) (on-table b5) (on-table b1) (on b3 b2) (clear b4) (on-table b4) (on b2 b1) (clear b3) (clear b5)", "(on-table b5) (on-table b1) (holding b4) (on b3 b2) (on b2 b1) (clear b3) (clear b5)", "(arm-empty) (on-table b5) (clear b4) (on b2 b1) (clear b5) (on-table b1) (on b3 b2) (on b4 b3)", "(on-table b1) (on b3 b2) (clear b4) (on b4 b3) (holding b5) (on b2 b1)", "(arm-empty) (on b5 b4) (on-table b1) (on b3 b2) (on b4 b3) (on b2 b1) (clear b5)" ]	file_73022	ACTION: (put-down b1) NEXT STATE: (on b3 b5) (arm-empty) (on-table b5) (clear b4) (clear b2) (on-table b1) (on-table b4) (on b2 b3) (clear b1) ACTION: (unstack b2 b3) NEXT STATE: (on b3 b5) (on-table b5) (on-table b1) (clear b4) (on-table b4) (holding b2) (clear b3) (clear b1) ACTION: (stack b2 b1) NEXT STATE: (on b3 b5) (clear b2) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b2 b1) (clear b3) ACTION: (unstack b3 b5) NEXT STATE: (clear b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b2 b1) (holding b3) (clear b5) ACTION: (stack b3 b2) NEXT STATE: (arm-empty) (on-table b5) (on-table b1) (on b3 b2) (clear b4) (on-table b4) (on b2 b1) (clear b3) (clear b5) ACTION: (pick-up b4) NEXT STATE: (on-table b5) (on-table b1) (holding b4) (on b3 b2) (on b2 b1) (clear b3) (clear b5) ACTION: (stack b4 b3) NEXT STATE: (arm-empty) (on-table b5) (clear b4) (on b2 b1) (clear b5) (on-table b1) (on b3 b2) (on b4 b3) ACTION: (pick-up b5) NEXT STATE: (on-table b1) (on b3 b2) (clear b4) (on b4 b3) (holding b5) (on b2 b1) ACTION: (stack b5 b4) NEXT STATE: (arm-empty) (on b5 b4) (on-table b1) (on b3 b2) (on b4 b3) (on b2 b1) (clear b5)
GOAL: (arm-empty) (on-table b2) (on b4 b5) (on-table b5) (on b3 b4) (clear b2) (on-table b1) (clear b3) (clear b1)	GOAL: (arm-empty) (on-table b2) (on b4 b5) (on-table b5) (on b3 b4) (clear b2) (on-table b1) (clear b3) (clear b1) STATE: (on b3 b4) (clear b2) (on b1 b3) (arm-empty) (on-table b2) (on b4 b5) (on-table b5) (clear b1)	[ [ "unstack b1 b3" ], [ "put-down b1" ] ]	[ "(holding b1) (on b3 b4) (clear b2) (on-table b2) (on b4 b5) (on-table b5) (clear b3)", "(arm-empty) (on-table b2) (on b4 b5) (on-table b5) (on b3 b4) (clear b2) (on-table b1) (clear b3) (clear b1)" ]	file_177006	ACTION: (unstack b1 b3) NEXT STATE: (holding b1) (on b3 b4) (clear b2) (on-table b2) (on b4 b5) (on-table b5) (clear b3) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on-table b2) (on b4 b5) (on-table b5) (on b3 b4) (clear b2) (on-table b1) (clear b3) (clear b1)
GOAL: (on-table b5) (on-table b1) (on b4 b5) (clear b4) (holding b2) (clear b3) (clear b1) (on-table b3)	GOAL: (on-table b5) (on-table b1) (on b4 b5) (clear b4) (holding b2) (clear b3) (clear b1) (on-table b3) STATE: (clear b2) (on-table b2) (on-table b1) (clear b4) (on b4 b3) (holding b5) (clear b1) (on-table b3)	[ [ "put-down b5" ], [ "pick-up b2" ], [ "stack b2 b1" ], [ "unstack b4 b3" ], [ "stack b4 b5" ], [ "unstack b2 b1" ] ]	[ "(clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on b4 b3) (clear b1) (on-table b3) (clear b5)", "(on-table b5) (on-table b1) (clear b4) (on b4 b3) (holding b2) (clear b1) (on-table b3) (clear b5)", "(clear b2) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on b4 b3) (on b2 b1) (on-table b3) (clear b5)", "(clear b2) (on-table b5) (on-table b1) (holding b4) (on b2 b1) (clear b3) (on-table b3) (clear b5)", "(clear b2) (arm-empty) (on-table b5) (on-table b1) (on b4 b5) (clear b4) (on b2 b1) (clear b3) (on-table b3)", "(on-table b5) (on-table b1) (on b4 b5) (clear b4) (holding b2) (clear b3) (clear b1) (on-table b3)" ]	file_142684	ACTION: (put-down b5) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on b4 b3) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b2) NEXT STATE: (on-table b5) (on-table b1) (clear b4) (on b4 b3) (holding b2) (clear b1) (on-table b3) (clear b5) ACTION: (stack b2 b1) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on b4 b3) (on b2 b1) (on-table b3) (clear b5) ACTION: (unstack b4 b3) NEXT STATE: (clear b2) (on-table b5) (on-table b1) (holding b4) (on b2 b1) (clear b3) (on-table b3) (clear b5) ACTION: (stack b4 b5) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on-table b1) (on b4 b5) (clear b4) (on b2 b1) (clear b3) (on-table b3) ACTION: (unstack b2 b1) NEXT STATE: (on-table b5) (on-table b1) (on b4 b5) (clear b4) (holding b2) (clear b3) (clear b1) (on-table b3)
GOAL: (on b3 b4) (clear b2) (arm-empty) (on-table b1) (on-table b4) (on b2 b1) (clear b3)	GOAL: (on b3 b4) (clear b2) (arm-empty) (on-table b1) (on-table b4) (on b2 b1) (clear b3) STATE: (on b3 b4) (clear b2) (on b1 b3) (arm-empty) (on-table b2) (on-table b4) (clear b1)	[ [ "unstack b1 b3" ], [ "put-down b1" ], [ "pick-up b2" ], [ "stack b2 b1" ] ]	[ "(on-table b2) (holding b1) (on b3 b4) (clear b2) (on-table b4) (clear b3)", "(arm-empty) (on-table b2) (on b3 b4) (clear b2) (on-table b1) (on-table b4) (clear b3) (clear b1)", "(on b3 b4) (on-table b1) (on-table b4) (holding b2) (clear b3) (clear b1)", "(on b3 b4) (clear b2) (arm-empty) (on-table b1) (on-table b4) (on b2 b1) (clear b3)" ]	file_152791	ACTION: (unstack b1 b3) NEXT STATE: (on-table b2) (holding b1) (on b3 b4) (clear b2) (on-table b4) (clear b3) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on-table b2) (on b3 b4) (clear b2) (on-table b1) (on-table b4) (clear b3) (clear b1) ACTION: (pick-up b2) NEXT STATE: (on b3 b4) (on-table b1) (on-table b4) (holding b2) (clear b3) (clear b1) ACTION: (stack b2 b1) NEXT STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b1) (on-table b4) (on b2 b1) (clear b3)
GOAL: (on-table b1) (on b3 b2) (holding b5) (on-table b4) (on b2 b4) (clear b3) (clear b1)	GOAL: (on-table b1) (on b3 b2) (holding b5) (on-table b4) (on b2 b4) (clear b3) (clear b1) STATE: (clear b2) (on-table b1) (holding b5) (on-table b4) (on b2 b4) (clear b3) (clear b1) (on-table b3)	[ [ "put-down b5" ], [ "pick-up b1" ], [ "stack b1 b5" ], [ "pick-up b3" ], [ "stack b3 b2" ], [ "unstack b1 b5" ], [ "put-down b1" ], [ "pick-up b5" ] ]	[ "(clear b2) (arm-empty) (on-table b5) (on-table b1) (on-table b4) (on b2 b4) (clear b3) (clear b1) (on-table b3) (clear b5)", "(holding b1) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (clear b3) (on-table b3) (clear b5)", "(on b1 b5) (clear b2) (arm-empty) (on-table b5) (on-table b4) (on b2 b4) (clear b3) (clear b1) (on-table b3)", "(on b1 b5) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (holding b3) (clear b1)", "(on b1 b5) (arm-empty) (on-table b5) (on b3 b2) (on-table b4) (on b2 b4) (clear b3) (clear b1)", "(holding b1) (on-table b5) (on b3 b2) (on-table b4) (on b2 b4) (clear b3) (clear b5)", "(arm-empty) (on-table b5) (on b2 b4) (clear b5) (on-table b1) (on b3 b2) (on-table b4) (clear b3) (clear b1)", "(on-table b1) (on b3 b2) (holding b5) (on-table b4) (on b2 b4) (clear b3) (clear b1)" ]	file_80405	ACTION: (put-down b5) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on-table b1) (on-table b4) (on b2 b4) (clear b3) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b1) NEXT STATE: (holding b1) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (clear b3) (on-table b3) (clear b5) ACTION: (stack b1 b5) NEXT STATE: (on b1 b5) (clear b2) (arm-empty) (on-table b5) (on-table b4) (on b2 b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b3) NEXT STATE: (on b1 b5) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (holding b3) (clear b1) ACTION: (stack b3 b2) NEXT STATE: (on b1 b5) (arm-empty) (on-table b5) (on b3 b2) (on-table b4) (on b2 b4) (clear b3) (clear b1) ACTION: (unstack b1 b5) NEXT STATE: (holding b1) (on-table b5) (on b3 b2) (on-table b4) (on b2 b4) (clear b3) (clear b5) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on-table b5) (on b2 b4) (clear b5) (on-table b1) (on b3 b2) (on-table b4) (clear b3) (clear b1) ACTION: (pick-up b5) NEXT STATE: (on-table b1) (on b3 b2) (holding b5) (on-table b4) (on b2 b4) (clear b3) (clear b1)
GOAL: (clear b2) (on b1 b3) (on-table b2) (clear b4) (holding b5) (on-table b4) (clear b1) (on-table b3)	GOAL: (clear b2) (on b1 b3) (on-table b2) (clear b4) (holding b5) (on-table b4) (clear b1) (on-table b3) STATE: (on b1 b3) (clear b4) (on b5 b1) (on-table b4) (holding b2) (on-table b3) (clear b5)	[ [ "put-down b2" ], [ "unstack b5 b1" ] ]	[ "(on b1 b3) (arm-empty) (on-table b2) (clear b4) (clear b5) (clear b2) (on b5 b1) (on-table b4) (on-table b3)", "(clear b2) (on b1 b3) (on-table b2) (clear b4) (holding b5) (on-table b4) (clear b1) (on-table b3)" ]	file_213034	ACTION: (put-down b2) NEXT STATE: (on b1 b3) (arm-empty) (on-table b2) (clear b4) (clear b5) (clear b2) (on b5 b1) (on-table b4) (on-table b3) ACTION: (unstack b5 b1) NEXT STATE: (clear b2) (on b1 b3) (on-table b2) (clear b4) (holding b5) (on-table b4) (clear b1) (on-table b3)
GOAL: (clear b2) (on-table b1) (holding b4) (on b5 b1) (on b2 b3) (on-table b3) (clear b5)	GOAL: (clear b2) (on-table b1) (holding b4) (on b5 b1) (on b2 b3) (on-table b3) (clear b5) STATE: (on-table b2) (on-table b1) (on b3 b2) (clear b4) (on b4 b3) (holding b5) (clear b1)	[ [ "stack b5 b1" ], [ "unstack b4 b3" ], [ "stack b4 b5" ], [ "unstack b3 b2" ], [ "put-down b3" ], [ "pick-up b2" ], [ "stack b2 b3" ], [ "unstack b4 b5" ] ]	[ "(arm-empty) (on-table b2) (clear b4) (clear b5) (on-table b1) (on b3 b2) (on b4 b3) (on b5 b1)", "(on-table b2) (on-table b1) (holding b4) (on b3 b2) (on b5 b1) (clear b3) (clear b5)", "(arm-empty) (on-table b2) (on b4 b5) (on-table b1) (on b3 b2) (clear b4) (on b5 b1) (clear b3)", "(clear b2) (on-table b2) (on b4 b5) (on-table b1) (clear b4) (on b5 b1) (holding b3)", "(arm-empty) (on-table b2) (on b4 b5) (clear b4) (clear b2) (on-table b1) (on b5 b1) (clear b3) (on-table b3)", "(on b4 b5) (on-table b1) (clear b4) (on b5 b1) (holding b2) (clear b3) (on-table b3)", "(clear b2) (arm-empty) (on b4 b5) (on-table b1) (clear b4) (on b5 b1) (on b2 b3) (on-table b3)", "(clear b2) (on-table b1) (holding b4) (on b5 b1) (on b2 b3) (on-table b3) (clear b5)" ]	file_119679	ACTION: (stack b5 b1) NEXT STATE: (arm-empty) (on-table b2) (clear b4) (clear b5) (on-table b1) (on b3 b2) (on b4 b3) (on b5 b1) ACTION: (unstack b4 b3) NEXT STATE: (on-table b2) (on-table b1) (holding b4) (on b3 b2) (on b5 b1) (clear b3) (clear b5) ACTION: (stack b4 b5) NEXT STATE: (arm-empty) (on-table b2) (on b4 b5) (on-table b1) (on b3 b2) (clear b4) (on b5 b1) (clear b3) ACTION: (unstack b3 b2) NEXT STATE: (clear b2) (on-table b2) (on b4 b5) (on-table b1) (clear b4) (on b5 b1) (holding b3) ACTION: (put-down b3) NEXT STATE: (arm-empty) (on-table b2) (on b4 b5) (clear b4) (clear b2) (on-table b1) (on b5 b1) (clear b3) (on-table b3) ACTION: (pick-up b2) NEXT STATE: (on b4 b5) (on-table b1) (clear b4) (on b5 b1) (holding b2) (clear b3) (on-table b3) ACTION: (stack b2 b3) NEXT STATE: (clear b2) (arm-empty) (on b4 b5) (on-table b1) (clear b4) (on b5 b1) (on b2 b3) (on-table b3) ACTION: (unstack b4 b5) NEXT STATE: (clear b2) (on-table b1) (holding b4) (on b5 b1) (on b2 b3) (on-table b3) (clear b5)
GOAL: (clear b1) (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b2 b3) (on b1 b2) (on-table b3) (clear b5)	GOAL: (clear b1) (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b2 b3) (on b1 b2) (on-table b3) (clear b5) STATE: (clear b2) (on-table b5) (on b4 b5) (on b1 b4) (on b2 b1) (holding b3)	[ [ "put-down b3" ], [ "unstack b2 b1" ], [ "stack b2 b3" ], [ "unstack b1 b4" ], [ "put-down b1" ], [ "unstack b4 b5" ], [ "put-down b4" ], [ "pick-up b1" ], [ "stack b1 b2" ] ]	[ "(arm-empty) (on-table b5) (on b4 b5) (on b2 b1) (clear b2) (on b1 b4) (clear b3) (on-table b3)", "(on-table b5) (on b4 b5) (holding b2) (on b1 b4) (clear b3) (clear b1) (on-table b3)", "(clear b2) (arm-empty) (on-table b5) (on b4 b5) (on b1 b4) (on b2 b3) (clear b1) (on-table b3)", "(holding b1) (clear b2) (on-table b5) (on b4 b5) (clear b4) (on b2 b3) (on-table b3)", "(arm-empty) (on-table b5) (on b4 b5) (clear b4) (clear b2) (on-table b1) (on b2 b3) (clear b1) (on-table b3)", "(clear b2) (on-table b5) (holding b4) (on-table b1) (on b2 b3) (clear b1) (on-table b3) (clear b5)", "(clear b2) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b2 b3) (clear b1) (on-table b3) (clear b5)", "(holding b1) (clear b2) (on-table b5) (clear b4) (on-table b4) (on b2 b3) (on-table b3) (clear b5)", "(clear b1) (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b2 b3) (on b1 b2) (on-table b3) (clear b5)" ]	file_50513	ACTION: (put-down b3) NEXT STATE: (arm-empty) (on-table b5) (on b4 b5) (on b2 b1) (clear b2) (on b1 b4) (clear b3) (on-table b3) ACTION: (unstack b2 b1) NEXT STATE: (on-table b5) (on b4 b5) (holding b2) (on b1 b4) (clear b3) (clear b1) (on-table b3) ACTION: (stack b2 b3) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on b4 b5) (on b1 b4) (on b2 b3) (clear b1) (on-table b3) ACTION: (unstack b1 b4) NEXT STATE: (holding b1) (clear b2) (on-table b5) (on b4 b5) (clear b4) (on b2 b3) (on-table b3) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on-table b5) (on b4 b5) (clear b4) (clear b2) (on-table b1) (on b2 b3) (clear b1) (on-table b3) ACTION: (unstack b4 b5) NEXT STATE: (clear b2) (on-table b5) (holding b4) (on-table b1) (on b2 b3) (clear b1) (on-table b3) (clear b5) ACTION: (put-down b4) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b2 b3) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b1) NEXT STATE: (holding b1) (clear b2) (on-table b5) (clear b4) (on-table b4) (on b2 b3) (on-table b3) (clear b5) ACTION: (stack b1 b2) NEXT STATE: (clear b1) (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b2 b3) (on b1 b2) (on-table b3) (clear b5)
GOAL: (on b3 b5) (on b1 b3) (on b5 b4) (on-table b2) (arm-empty) (on b4 b2) (clear b1)	GOAL: (on b3 b5) (on b1 b3) (on b5 b4) (on-table b2) (arm-empty) (on b4 b2) (clear b1) STATE: (holding b1) (on b3 b5) (on b5 b4) (on-table b2) (on b4 b2) (clear b3)	[ [ "stack b1 b3" ] ]	[ "(on b3 b5) (on b1 b3) (on b5 b4) (on-table b2) (arm-empty) (on b4 b2) (clear b1)" ]	file_102000	ACTION: (stack b1 b3) NEXT STATE: (on b3 b5) (on b1 b3) (on b5 b4) (on-table b2) (arm-empty) (on b4 b2) (clear b1)
GOAL: (clear b2) (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b1) (on-table b3) (clear b5)	GOAL: (clear b2) (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b1) (on-table b3) (clear b5) STATE: (arm-empty) (on b5 b2) (on-table b4) (on b1 b4) (on b3 b1) (on b2 b3) (clear b5)	[ [ "unstack b5 b2" ], [ "put-down b5" ], [ "unstack b2 b3" ], [ "stack b2 b5" ], [ "unstack b3 b1" ], [ "put-down b3" ], [ "unstack b1 b4" ], [ "stack b1 b3" ], [ "unstack b2 b5" ], [ "put-down b2" ] ]	[ "(holding b5) (on b3 b1) (clear b2) (on-table b4) (on b1 b4) (on b2 b3)", "(arm-empty) (on-table b5) (on b3 b1) (clear b5) (clear b2) (on-table b4) (on b1 b4) (on b2 b3)", "(on-table b5) (holding b2) (on-table b4) (on b1 b4) (on b3 b1) (clear b3) (clear b5)", "(clear b2) (arm-empty) (on-table b5) (on-table b4) (on b1 b4) (on b3 b1) (on b2 b5) (clear b3)", "(clear b2) (on-table b5) (on-table b4) (on b1 b4) (on b2 b5) (holding b3) (clear b1)", "(arm-empty) (on-table b5) (on b2 b5) (clear b2) (on-table b4) (on b1 b4) (clear b3) (clear b1) (on-table b3)", "(holding b1) (clear b2) (on-table b5) (clear b4) (on-table b4) (on b2 b5) (clear b3) (on-table b3)", "(clear b2) (on b1 b3) (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b2 b5) (clear b1) (on-table b3)", "(on b1 b3) (on-table b5) (clear b4) (on-table b4) (holding b2) (clear b1) (on-table b3) (clear b5)", "(clear b2) (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b1) (on-table b3) (clear b5)" ]	file_207764	ACTION: (unstack b5 b2) NEXT STATE: (holding b5) (on b3 b1) (clear b2) (on-table b4) (on b1 b4) (on b2 b3) ACTION: (put-down b5) NEXT STATE: (arm-empty) (on-table b5) (on b3 b1) (clear b5) (clear b2) (on-table b4) (on b1 b4) (on b2 b3) ACTION: (unstack b2 b3) NEXT STATE: (on-table b5) (holding b2) (on-table b4) (on b1 b4) (on b3 b1) (clear b3) (clear b5) ACTION: (stack b2 b5) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on-table b4) (on b1 b4) (on b3 b1) (on b2 b5) (clear b3) ACTION: (unstack b3 b1) NEXT STATE: (clear b2) (on-table b5) (on-table b4) (on b1 b4) (on b2 b5) (holding b3) (clear b1) ACTION: (put-down b3) NEXT STATE: (arm-empty) (on-table b5) (on b2 b5) (clear b2) (on-table b4) (on b1 b4) (clear b3) (clear b1) (on-table b3) ACTION: (unstack b1 b4) NEXT STATE: (holding b1) (clear b2) (on-table b5) (clear b4) (on-table b4) (on b2 b5) (clear b3) (on-table b3) ACTION: (stack b1 b3) NEXT STATE: (clear b2) (on b1 b3) (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b2 b5) (clear b1) (on-table b3) ACTION: (unstack b2 b5) NEXT STATE: (on b1 b3) (on-table b5) (clear b4) (on-table b4) (holding b2) (clear b1) (on-table b3) (clear b5) ACTION: (put-down b2) NEXT STATE: (clear b2) (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b1) (on-table b3) (clear b5)
GOAL: (on b3 b5) (clear b2) (arm-empty) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (on b2 b3)	GOAL: (on b3 b5) (clear b2) (arm-empty) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (on b2 b3) STATE: (on b1 b5) (clear b2) (on-table b2) (on-table b5) (holding b4) (clear b3) (clear b1) (on-table b3)	[ [ "put-down b4" ], [ "pick-up b2" ], [ "stack b2 b4" ], [ "pick-up b3" ], [ "stack b3 b2" ], [ "unstack b1 b5" ], [ "put-down b1" ], [ "pick-up b5" ], [ "stack b5 b1" ], [ "unstack b3 b2" ], [ "stack b3 b5" ], [ "unstack b2 b4" ], [ "stack b2 b3" ] ]	[ "(on b1 b5) (clear b2) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b3) (clear b1) (on-table b3)", "(on b1 b5) (on-table b5) (clear b4) (on-table b4) (holding b2) (clear b3) (clear b1) (on-table b3)", "(on b1 b5) (clear b2) (arm-empty) (on-table b5) (on-table b4) (on b2 b4) (clear b3) (clear b1) (on-table b3)", "(on b1 b5) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (holding b3) (clear b1)", "(on b1 b5) (arm-empty) (on-table b5) (on b3 b2) (on-table b4) (on b2 b4) (clear b3) (clear b1)", "(holding b1) (on-table b5) (on b3 b2) (on-table b4) (on b2 b4) (clear b3) (clear b5)", "(arm-empty) (on-table b5) (on b2 b4) (clear b5) (on-table b1) (on b3 b2) (on-table b4) (clear b3) (clear b1)", "(on-table b1) (on b3 b2) (holding b5) (on-table b4) (on b2 b4) (clear b3) (clear b1)", "(arm-empty) (on b2 b4) (clear b5) (on-table b1) (on b3 b2) (on b5 b1) (on-table b4) (clear b3)", "(clear b2) (on-table b1) (on b5 b1) (on-table b4) (on b2 b4) (holding b3) (clear b5)", "(clear b2) (on b3 b5) (arm-empty) (on-table b1) (on b5 b1) (on-table b4) (on b2 b4) (clear b3)", "(on b3 b5) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (holding b2) (clear b3)", "(on b3 b5) (clear b2) (arm-empty) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (on b2 b3)" ]	file_37375	ACTION: (put-down b4) NEXT STATE: (on b1 b5) (clear b2) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b2) NEXT STATE: (on b1 b5) (on-table b5) (clear b4) (on-table b4) (holding b2) (clear b3) (clear b1) (on-table b3) ACTION: (stack b2 b4) NEXT STATE: (on b1 b5) (clear b2) (arm-empty) (on-table b5) (on-table b4) (on b2 b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b3) NEXT STATE: (on b1 b5) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (holding b3) (clear b1) ACTION: (stack b3 b2) NEXT STATE: (on b1 b5) (arm-empty) (on-table b5) (on b3 b2) (on-table b4) (on b2 b4) (clear b3) (clear b1) ACTION: (unstack b1 b5) NEXT STATE: (holding b1) (on-table b5) (on b3 b2) (on-table b4) (on b2 b4) (clear b3) (clear b5) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on-table b5) (on b2 b4) (clear b5) (on-table b1) (on b3 b2) (on-table b4) (clear b3) (clear b1) ACTION: (pick-up b5) NEXT STATE: (on-table b1) (on b3 b2) (holding b5) (on-table b4) (on b2 b4) (clear b3) (clear b1) ACTION: (stack b5 b1) NEXT STATE: (arm-empty) (on b2 b4) (clear b5) (on-table b1) (on b3 b2) (on b5 b1) (on-table b4) (clear b3) ACTION: (unstack b3 b2) NEXT STATE: (clear b2) (on-table b1) (on b5 b1) (on-table b4) (on b2 b4) (holding b3) (clear b5) ACTION: (stack b3 b5) NEXT STATE: (clear b2) (on b3 b5) (arm-empty) (on-table b1) (on b5 b1) (on-table b4) (on b2 b4) (clear b3) ACTION: (unstack b2 b4) NEXT STATE: (on b3 b5) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (holding b2) (clear b3) ACTION: (stack b2 b3) NEXT STATE: (on b3 b5) (clear b2) (arm-empty) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (on b2 b3)
GOAL: (clear b2) (on b1 b3) (arm-empty) (on b4 b5) (on-table b5) (clear b4) (on b2 b1) (on-table b3)	GOAL: (clear b2) (on b1 b3) (arm-empty) (on b4 b5) (on-table b5) (clear b4) (on b2 b1) (on-table b3) STATE: (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b4) (on b1 b4) (clear b3) (clear b1) (on-table b3) (clear b5)	[ [ "unstack b1 b4" ], [ "stack b1 b3" ], [ "pick-up b2" ], [ "stack b2 b1" ], [ "pick-up b4" ], [ "stack b4 b5" ] ]	[ "(holding b1) (clear b2) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b3) (on-table b3) (clear b5)", "(clear b2) (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b1) (on-table b3) (clear b5)", "(on b1 b3) (on-table b5) (clear b4) (on-table b4) (holding b2) (clear b1) (on-table b3) (clear b5)", "(clear b2) (on b1 b3) (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b2 b1) (on-table b3) (clear b5)", "(clear b2) (on b1 b3) (on-table b5) (holding b4) (on b2 b1) (on-table b3) (clear b5)", "(clear b2) (on b1 b3) (arm-empty) (on b4 b5) (on-table b5) (clear b4) (on b2 b1) (on-table b3)" ]	file_132593	ACTION: (unstack b1 b4) NEXT STATE: (holding b1) (clear b2) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b3) (on-table b3) (clear b5) ACTION: (stack b1 b3) NEXT STATE: (clear b2) (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b2) NEXT STATE: (on b1 b3) (on-table b5) (clear b4) (on-table b4) (holding b2) (clear b1) (on-table b3) (clear b5) ACTION: (stack b2 b1) NEXT STATE: (clear b2) (on b1 b3) (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b2 b1) (on-table b3) (clear b5) ACTION: (pick-up b4) NEXT STATE: (clear b2) (on b1 b3) (on-table b5) (holding b4) (on b2 b1) (on-table b3) (clear b5) ACTION: (stack b4 b5) NEXT STATE: (clear b2) (on b1 b3) (arm-empty) (on b4 b5) (on-table b5) (clear b4) (on b2 b1) (on-table b3)
GOAL: (clear b2) (on b4 b1) (on-table b2) (on-table b1) (clear b4) (holding b5) (clear b3) (on-table b3)	GOAL: (clear b2) (on b4 b1) (on-table b2) (on-table b1) (clear b4) (holding b5) (clear b3) (on-table b3) STATE: (on b5 b1) (on-table b4) (on b2 b4) (holding b3) (on b1 b2) (clear b5)	[ [ "put-down b3" ], [ "unstack b5 b1" ], [ "stack b5 b3" ], [ "unstack b1 b2" ], [ "put-down b1" ], [ "unstack b2 b4" ], [ "put-down b2" ], [ "pick-up b4" ], [ "stack b4 b1" ], [ "unstack b5 b3" ] ]	[ "(arm-empty) (on b2 b4) (on b1 b2) (clear b5) (on b5 b1) (on-table b4) (clear b3) (on-table b3)", "(holding b5) (on-table b4) (on b2 b4) (clear b3) (on b1 b2) (clear b1) (on-table b3)", "(arm-empty) (on b5 b3) (on-table b4) (on b2 b4) (on b1 b2) (clear b1) (on-table b3) (clear b5)", "(holding b1) (clear b2) (on b5 b3) (on-table b4) (on b2 b4) (on-table b3) (clear b5)", "(arm-empty) (on b5 b3) (on b2 b4) (clear b5) (clear b2) (on-table b1) (on-table b4) (clear b1) (on-table b3)", "(on-table b1) (clear b4) (on b5 b3) (on-table b4) (holding b2) (clear b1) (on-table b3) (clear b5)", "(clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b3) (on-table b4) (clear b1) (on-table b3) (clear b5)", "(clear b2) (on-table b2) (on-table b1) (holding b4) (on b5 b3) (clear b1) (on-table b3) (clear b5)", "(clear b2) (on b4 b1) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b3) (on-table b3) (clear b5)", "(clear b2) (on b4 b1) (on-table b2) (on-table b1) (clear b4) (holding b5) (clear b3) (on-table b3)" ]	file_52488	ACTION: (put-down b3) NEXT STATE: (arm-empty) (on b2 b4) (on b1 b2) (clear b5) (on b5 b1) (on-table b4) (clear b3) (on-table b3) ACTION: (unstack b5 b1) NEXT STATE: (holding b5) (on-table b4) (on b2 b4) (clear b3) (on b1 b2) (clear b1) (on-table b3) ACTION: (stack b5 b3) NEXT STATE: (arm-empty) (on b5 b3) (on-table b4) (on b2 b4) (on b1 b2) (clear b1) (on-table b3) (clear b5) ACTION: (unstack b1 b2) NEXT STATE: (holding b1) (clear b2) (on b5 b3) (on-table b4) (on b2 b4) (on-table b3) (clear b5) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on b5 b3) (on b2 b4) (clear b5) (clear b2) (on-table b1) (on-table b4) (clear b1) (on-table b3) ACTION: (unstack b2 b4) NEXT STATE: (on-table b1) (clear b4) (on b5 b3) (on-table b4) (holding b2) (clear b1) (on-table b3) (clear b5) ACTION: (put-down b2) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b3) (on-table b4) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b4) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (holding b4) (on b5 b3) (clear b1) (on-table b3) (clear b5) ACTION: (stack b4 b1) NEXT STATE: (clear b2) (on b4 b1) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b3) (on-table b3) (clear b5) ACTION: (unstack b5 b3) NEXT STATE: (clear b2) (on b4 b1) (on-table b2) (on-table b1) (clear b4) (holding b5) (clear b3) (on-table b3)
GOAL: (on b1 b5) (on-table b5) (clear b4) (on-table b4) (holding b2) (on b3 b1) (clear b3)	GOAL: (on b1 b5) (on-table b5) (clear b4) (on-table b4) (holding b2) (on b3 b1) (clear b3) STATE: (clear b2) (on-table b1) (clear b4) (holding b5) (on-table b4) (on b2 b3) (clear b1) (on-table b3)	[ [ "stack b5 b4" ], [ "unstack b2 b3" ], [ "stack b2 b1" ], [ "unstack b5 b4" ], [ "put-down b5" ], [ "unstack b2 b1" ], [ "stack b2 b4" ], [ "pick-up b1" ], [ "stack b1 b5" ], [ "pick-up b3" ], [ "stack b3 b1" ], [ "unstack b2 b4" ] ]	[ "(clear b2) (arm-empty) (on b5 b4) (on-table b1) (on-table b4) (on b2 b3) (clear b1) (on-table b3) (clear b5)", "(on b5 b4) (on-table b1) (on-table b4) (holding b2) (clear b3) (clear b1) (on-table b3) (clear b5)", "(clear b2) (arm-empty) (on b5 b4) (on-table b1) (on-table b4) (on b2 b1) (clear b3) (on-table b3) (clear b5)", "(clear b2) (on-table b1) (clear b4) (holding b5) (on-table b4) (on b2 b1) (clear b3) (on-table b3)", "(clear b2) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b2 b1) (clear b3) (on-table b3) (clear b5)", "(on-table b5) (on-table b1) (clear b4) (on-table b4) (holding b2) (clear b3) (clear b1) (on-table b3) (clear b5)", "(clear b2) (arm-empty) (on-table b5) (on-table b1) (on-table b4) (on b2 b4) (clear b3) (clear b1) (on-table b3) (clear b5)", "(holding b1) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (clear b3) (on-table b3) (clear b5)", "(on b1 b5) (clear b2) (arm-empty) (on-table b5) (on-table b4) (on b2 b4) (clear b3) (clear b1) (on-table b3)", "(on b1 b5) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (holding b3) (clear b1)", "(on b1 b5) (clear b2) (arm-empty) (on-table b5) (on b2 b4) (on-table b4) (on b3 b1) (clear b3)", "(on b1 b5) (on-table b5) (clear b4) (on-table b4) (holding b2) (on b3 b1) (clear b3)" ]	file_52700	ACTION: (stack b5 b4) NEXT STATE: (clear b2) (arm-empty) (on b5 b4) (on-table b1) (on-table b4) (on b2 b3) (clear b1) (on-table b3) (clear b5) ACTION: (unstack b2 b3) NEXT STATE: (on b5 b4) (on-table b1) (on-table b4) (holding b2) (clear b3) (clear b1) (on-table b3) (clear b5) ACTION: (stack b2 b1) NEXT STATE: (clear b2) (arm-empty) (on b5 b4) (on-table b1) (on-table b4) (on b2 b1) (clear b3) (on-table b3) (clear b5) ACTION: (unstack b5 b4) NEXT STATE: (clear b2) (on-table b1) (clear b4) (holding b5) (on-table b4) (on b2 b1) (clear b3) (on-table b3) ACTION: (put-down b5) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b2 b1) (clear b3) (on-table b3) (clear b5) ACTION: (unstack b2 b1) NEXT STATE: (on-table b5) (on-table b1) (clear b4) (on-table b4) (holding b2) (clear b3) (clear b1) (on-table b3) (clear b5) ACTION: (stack b2 b4) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on-table b1) (on-table b4) (on b2 b4) (clear b3) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b1) NEXT STATE: (holding b1) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (clear b3) (on-table b3) (clear b5) ACTION: (stack b1 b5) NEXT STATE: (on b1 b5) (clear b2) (arm-empty) (on-table b5) (on-table b4) (on b2 b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b3) NEXT STATE: (on b1 b5) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (holding b3) (clear b1) ACTION: (stack b3 b1) NEXT STATE: (on b1 b5) (clear b2) (arm-empty) (on-table b5) (on b2 b4) (on-table b4) (on b3 b1) (clear b3) ACTION: (unstack b2 b4) NEXT STATE: (on b1 b5) (on-table b5) (clear b4) (on-table b4) (holding b2) (on b3 b1) (clear b3)
GOAL: (arm-empty) (on-table b2) (clear b4) (on b5 b3) (clear b5) (on-table b1) (on b3 b2) (on-table b4) (clear b1)	GOAL: (arm-empty) (on-table b2) (clear b4) (on b5 b3) (clear b5) (on-table b1) (on b3 b2) (on-table b4) (clear b1) STATE: (clear b2) (arm-empty) (on b5 b1) (on-table b4) (on b1 b4) (on b2 b5) (clear b3) (on-table b3)	[ [ "unstack b2 b5" ], [ "put-down b2" ], [ "pick-up b3" ], [ "stack b3 b2" ], [ "unstack b5 b1" ], [ "stack b5 b3" ], [ "unstack b1 b4" ], [ "put-down b1" ] ]	[ "(holding b2) (on b5 b1) (on-table b4) (on b1 b4) (clear b3) (on-table b3) (clear b5)", "(arm-empty) (on-table b2) (clear b5) (clear b2) (on b5 b1) (on-table b4) (on b1 b4) (clear b3) (on-table b3)", "(clear b2) (on-table b2) (on b5 b1) (on-table b4) (on b1 b4) (holding b3) (clear b5)", "(arm-empty) (on-table b2) (on b3 b2) (on b5 b1) (on-table b4) (on b1 b4) (clear b3) (clear b5)", "(on-table b2) (on b3 b2) (holding b5) (on-table b4) (on b1 b4) (clear b3) (clear b1)", "(arm-empty) (on-table b2) (on b3 b2) (on b5 b3) (on-table b4) (on b1 b4) (clear b1) (clear b5)", "(holding b1) (on-table b2) (on b3 b2) (clear b4) (on b5 b3) (on-table b4) (clear b5)", "(arm-empty) (on-table b2) (clear b4) (on b5 b3) (clear b5) (on-table b1) (on b3 b2) (on-table b4) (clear b1)" ]	file_113284	ACTION: (unstack b2 b5) NEXT STATE: (holding b2) (on b5 b1) (on-table b4) (on b1 b4) (clear b3) (on-table b3) (clear b5) ACTION: (put-down b2) NEXT STATE: (arm-empty) (on-table b2) (clear b5) (clear b2) (on b5 b1) (on-table b4) (on b1 b4) (clear b3) (on-table b3) ACTION: (pick-up b3) NEXT STATE: (clear b2) (on-table b2) (on b5 b1) (on-table b4) (on b1 b4) (holding b3) (clear b5) ACTION: (stack b3 b2) NEXT STATE: (arm-empty) (on-table b2) (on b3 b2) (on b5 b1) (on-table b4) (on b1 b4) (clear b3) (clear b5) ACTION: (unstack b5 b1) NEXT STATE: (on-table b2) (on b3 b2) (holding b5) (on-table b4) (on b1 b4) (clear b3) (clear b1) ACTION: (stack b5 b3) NEXT STATE: (arm-empty) (on-table b2) (on b3 b2) (on b5 b3) (on-table b4) (on b1 b4) (clear b1) (clear b5) ACTION: (unstack b1 b4) NEXT STATE: (holding b1) (on-table b2) (on b3 b2) (clear b4) (on b5 b3) (on-table b4) (clear b5) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on-table b2) (clear b4) (on b5 b3) (clear b5) (on-table b1) (on b3 b2) (on-table b4) (clear b1)
GOAL: (arm-empty) (on b5 b2) (clear b4) (on b2 b1) (clear b5) (on-table b1) (on-table b4) (clear b3) (on-table b3)	GOAL: (arm-empty) (on b5 b2) (clear b4) (on b2 b1) (clear b5) (on-table b1) (on-table b4) (clear b3) (on-table b3) STATE: (on b3 b5) (holding b4) (on-table b1) (on b5 b2) (on b2 b1) (clear b3)	[ [ "put-down b4" ], [ "unstack b3 b5" ], [ "put-down b3" ] ]	[ "(on b3 b5) (arm-empty) (on b5 b2) (clear b4) (on b2 b1) (on-table b1) (on-table b4) (clear b3)", "(on-table b1) (on b5 b2) (clear b4) (on-table b4) (on b2 b1) (holding b3) (clear b5)", "(arm-empty) (on b5 b2) (clear b4) (on b2 b1) (clear b5) (on-table b1) (on-table b4) (clear b3) (on-table b3)" ]	file_47116	ACTION: (put-down b4) NEXT STATE: (on b3 b5) (arm-empty) (on b5 b2) (clear b4) (on b2 b1) (on-table b1) (on-table b4) (clear b3) ACTION: (unstack b3 b5) NEXT STATE: (on-table b1) (on b5 b2) (clear b4) (on-table b4) (on b2 b1) (holding b3) (clear b5) ACTION: (put-down b3) NEXT STATE: (arm-empty) (on b5 b2) (clear b4) (on b2 b1) (clear b5) (on-table b1) (on-table b4) (clear b3) (on-table b3)
GOAL: (holding b1) (on b3 b5) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (clear b3)	GOAL: (holding b1) (on b3 b5) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (clear b3) STATE: (on b3 b5) (on b4 b1) (on b1 b3) (arm-empty) (on-table b5) (on-table b2) (clear b2) (clear b4)	[ [ "unstack b4 b1" ], [ "put-down b4" ], [ "pick-up b2" ], [ "stack b2 b4" ], [ "unstack b1 b3" ] ]	[ "(on b3 b5) (on b1 b3) (on-table b5) (on-table b2) (clear b2) (holding b4) (clear b1)", "(on b3 b5) (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (clear b4) (clear b2) (on-table b4) (clear b1)", "(on b3 b5) (on b1 b3) (on-table b5) (clear b4) (on-table b4) (holding b2) (clear b1)", "(on b3 b5) (on b1 b3) (clear b2) (arm-empty) (on-table b5) (on-table b4) (on b2 b4) (clear b1)", "(holding b1) (on b3 b5) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (clear b3)" ]	file_115333	ACTION: (unstack b4 b1) NEXT STATE: (on b3 b5) (on b1 b3) (on-table b5) (on-table b2) (clear b2) (holding b4) (clear b1) ACTION: (put-down b4) NEXT STATE: (on b3 b5) (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (clear b4) (clear b2) (on-table b4) (clear b1) ACTION: (pick-up b2) NEXT STATE: (on b3 b5) (on b1 b3) (on-table b5) (clear b4) (on-table b4) (holding b2) (clear b1) ACTION: (stack b2 b4) NEXT STATE: (on b3 b5) (on b1 b3) (clear b2) (arm-empty) (on-table b5) (on-table b4) (on b2 b4) (clear b1) ACTION: (unstack b1 b3) NEXT STATE: (holding b1) (on b3 b5) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (clear b3)
GOAL: (clear b2) (holding b5) (on-table b4) (on b1 b4) (on b2 b1) (clear b3) (on-table b3)	GOAL: (clear b2) (holding b5) (on-table b4) (on b1 b4) (on b2 b1) (clear b3) (on-table b3) STATE: (arm-empty) (clear b4) (on b5 b3) (on-table b4) (on b2 b5) (on b1 b2) (clear b1) (on-table b3)	[ [ "unstack b1 b2" ], [ "stack b1 b4" ], [ "unstack b2 b5" ], [ "stack b2 b1" ], [ "unstack b5 b3" ] ]	[ "(holding b1) (clear b2) (clear b4) (on b5 b3) (on-table b4) (on b2 b5) (on-table b3)", "(clear b2) (arm-empty) (on b5 b3) (on-table b4) (on b1 b4) (on b2 b5) (clear b1) (on-table b3)", "(holding b2) (on b5 b3) (on-table b4) (on b1 b4) (clear b1) (on-table b3) (clear b5)", "(clear b2) (arm-empty) (on b5 b3) (on-table b4) (on b1 b4) (on b2 b1) (on-table b3) (clear b5)", "(clear b2) (holding b5) (on-table b4) (on b1 b4) (on b2 b1) (clear b3) (on-table b3)" ]	file_130383	ACTION: (unstack b1 b2) NEXT STATE: (holding b1) (clear b2) (clear b4) (on b5 b3) (on-table b4) (on b2 b5) (on-table b3) ACTION: (stack b1 b4) NEXT STATE: (clear b2) (arm-empty) (on b5 b3) (on-table b4) (on b1 b4) (on b2 b5) (clear b1) (on-table b3) ACTION: (unstack b2 b5) NEXT STATE: (holding b2) (on b5 b3) (on-table b4) (on b1 b4) (clear b1) (on-table b3) (clear b5) ACTION: (stack b2 b1) NEXT STATE: (clear b2) (arm-empty) (on b5 b3) (on-table b4) (on b1 b4) (on b2 b1) (on-table b3) (clear b5) ACTION: (unstack b5 b3) NEXT STATE: (clear b2) (holding b5) (on-table b4) (on b1 b4) (on b2 b1) (clear b3) (on-table b3)
GOAL: (on-table b2) (on b3 b2) (holding b5) (on-table b4) (on b1 b4) (clear b3) (clear b1)	GOAL: (on-table b2) (on b3 b2) (holding b5) (on-table b4) (on b1 b4) (clear b3) (clear b1) STATE: (on b3 b5) (holding b2) (on b5 b1) (on-table b4) (on b1 b4) (clear b3)	[ [ "put-down b2" ], [ "unstack b3 b5" ], [ "stack b3 b2" ], [ "unstack b5 b1" ] ]	[ "(on b5 b1) (on b3 b5) (on-table b4) (clear b2) (on-table b2) (arm-empty) (clear b3) (on b1 b4)", "(clear b2) (on-table b2) (on b5 b1) (on-table b4) (on b1 b4) (holding b3) (clear b5)", "(arm-empty) (on-table b2) (on b3 b2) (on b5 b1) (on-table b4) (on b1 b4) (clear b3) (clear b5)", "(on-table b2) (on b3 b2) (holding b5) (on-table b4) (on b1 b4) (clear b3) (clear b1)" ]	file_176709	ACTION: (put-down b2) NEXT STATE: (on b5 b1) (on b3 b5) (on-table b4) (clear b2) (on-table b2) (arm-empty) (clear b3) (on b1 b4) ACTION: (unstack b3 b5) NEXT STATE: (clear b2) (on-table b2) (on b5 b1) (on-table b4) (on b1 b4) (holding b3) (clear b5) ACTION: (stack b3 b2) NEXT STATE: (arm-empty) (on-table b2) (on b3 b2) (on b5 b1) (on-table b4) (on b1 b4) (clear b3) (clear b5) ACTION: (unstack b5 b1) NEXT STATE: (on-table b2) (on b3 b2) (holding b5) (on-table b4) (on b1 b4) (clear b3) (clear b1)
GOAL: (holding b1) (clear b2) (on b5 b4) (on b4 b3) (on b2 b5) (on-table b3)	GOAL: (holding b1) (clear b2) (on b5 b4) (on b4 b3) (on b2 b5) (on-table b3) STATE: (on b1 b5) (clear b2) (arm-empty) (on b5 b4) (on b4 b3) (on b2 b1) (on-table b3)	[ [ "unstack b2 b1" ], [ "put-down b2" ], [ "unstack b1 b5" ], [ "put-down b1" ], [ "pick-up b2" ], [ "stack b2 b5" ], [ "pick-up b1" ] ]	[ "(on b1 b5) (on b5 b4) (on b4 b3) (holding b2) (clear b1) (on-table b3)", "(on b1 b5) (arm-empty) (on b5 b4) (on-table b2) (clear b2) (on b4 b3) (clear b1) (on-table b3)", "(holding b1) (clear b2) (on b5 b4) (on-table b2) (on b4 b3) (on-table b3) (clear b5)", "(arm-empty) (on b5 b4) (on-table b2) (clear b5) (clear b2) (on-table b1) (on b4 b3) (clear b1) (on-table b3)", "(on b5 b4) (on-table b1) (on b4 b3) (holding b2) (clear b1) (on-table b3) (clear b5)", "(clear b2) (arm-empty) (on b5 b4) (on-table b1) (on b4 b3) (on b2 b5) (clear b1) (on-table b3)", "(holding b1) (clear b2) (on b5 b4) (on b4 b3) (on b2 b5) (on-table b3)" ]	file_162699	ACTION: (unstack b2 b1) NEXT STATE: (on b1 b5) (on b5 b4) (on b4 b3) (holding b2) (clear b1) (on-table b3) ACTION: (put-down b2) NEXT STATE: (on b1 b5) (arm-empty) (on b5 b4) (on-table b2) (clear b2) (on b4 b3) (clear b1) (on-table b3) ACTION: (unstack b1 b5) NEXT STATE: (holding b1) (clear b2) (on b5 b4) (on-table b2) (on b4 b3) (on-table b3) (clear b5) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on b5 b4) (on-table b2) (clear b5) (clear b2) (on-table b1) (on b4 b3) (clear b1) (on-table b3) ACTION: (pick-up b2) NEXT STATE: (on b5 b4) (on-table b1) (on b4 b3) (holding b2) (clear b1) (on-table b3) (clear b5) ACTION: (stack b2 b5) NEXT STATE: (clear b2) (arm-empty) (on b5 b4) (on-table b1) (on b4 b3) (on b2 b5) (clear b1) (on-table b3) ACTION: (pick-up b1) NEXT STATE: (holding b1) (clear b2) (on b5 b4) (on b4 b3) (on b2 b5) (on-table b3)
GOAL: (arm-empty) (on-table b2) (on b5 b2) (on b4 b3) (on b1 b4) (clear b1) (on-table b3) (clear b5)	GOAL: (arm-empty) (on-table b2) (on b5 b2) (on b4 b3) (on b1 b4) (clear b1) (on-table b3) (clear b5) STATE: (holding b1) (clear b2) (on-table b5) (clear b4) (on-table b4) (on b2 b5) (clear b3) (on-table b3)	[ [ "stack b1 b3" ], [ "unstack b2 b5" ], [ "put-down b2" ], [ "unstack b1 b3" ], [ "stack b1 b2" ], [ "pick-up b4" ], [ "stack b4 b3" ], [ "unstack b1 b2" ], [ "stack b1 b4" ], [ "pick-up b5" ], [ "stack b5 b2" ] ]	[ "(clear b2) (on b1 b3) (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b2 b5) (clear b1) (on-table b3)", "(on b1 b3) (on-table b5) (clear b4) (on-table b4) (holding b2) (clear b1) (on-table b3) (clear b5)", "(clear b2) (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b1) (on-table b3) (clear b5)", "(holding b1) (clear b2) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b3) (on-table b3) (clear b5)", "(arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b3) (on b1 b2) (clear b1) (on-table b3) (clear b5)", "(on-table b2) (on-table b5) (holding b4) (clear b3) (on b1 b2) (clear b1) (on-table b3) (clear b5)", "(arm-empty) (on-table b2) (on-table b5) (clear b4) (on b4 b3) (on b1 b2) (clear b1) (on-table b3) (clear b5)", "(holding b1) (clear b2) (on-table b2) (on-table b5) (clear b4) (on b4 b3) (on-table b3) (clear b5)", "(clear b2) (arm-empty) (on-table b2) (on-table b5) (on b4 b3) (on b1 b4) (clear b1) (on-table b3) (clear b5)", "(clear b2) (on-table b2) (on b4 b3) (holding b5) (on b1 b4) (clear b1) (on-table b3)", "(arm-empty) (on-table b2) (on b5 b2) (on b4 b3) (on b1 b4) (clear b1) (on-table b3) (clear b5)" ]	file_109051	ACTION: (stack b1 b3) NEXT STATE: (clear b2) (on b1 b3) (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b2 b5) (clear b1) (on-table b3) ACTION: (unstack b2 b5) NEXT STATE: (on b1 b3) (on-table b5) (clear b4) (on-table b4) (holding b2) (clear b1) (on-table b3) (clear b5) ACTION: (put-down b2) NEXT STATE: (clear b2) (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b1) (on-table b3) (clear b5) ACTION: (unstack b1 b3) NEXT STATE: (holding b1) (clear b2) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b3) (on-table b3) (clear b5) ACTION: (stack b1 b2) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b3) (on b1 b2) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b4) NEXT STATE: (on-table b2) (on-table b5) (holding b4) (clear b3) (on b1 b2) (clear b1) (on-table b3) (clear b5) ACTION: (stack b4 b3) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b4 b3) (on b1 b2) (clear b1) (on-table b3) (clear b5) ACTION: (unstack b1 b2) NEXT STATE: (holding b1) (clear b2) (on-table b2) (on-table b5) (clear b4) (on b4 b3) (on-table b3) (clear b5) ACTION: (stack b1 b4) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b5) (on b4 b3) (on b1 b4) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b5) NEXT STATE: (clear b2) (on-table b2) (on b4 b3) (holding b5) (on b1 b4) (clear b1) (on-table b3) ACTION: (stack b5 b2) NEXT STATE: (arm-empty) (on-table b2) (on b5 b2) (on b4 b3) (on b1 b4) (clear b1) (on-table b3) (clear b5)
GOAL: (on b3 b4) (arm-empty) (on-table b5) (on b4 b5) (on b2 b3) (on b1 b2) (clear b1)	GOAL: (on b3 b4) (arm-empty) (on-table b5) (on b4 b5) (on b2 b3) (on b1 b2) (clear b1) STATE: (clear b2) (on b1 b3) (on-table b5) (holding b4) (on b2 b1) (on-table b3) (clear b5)	[ [ "stack b4 b5" ], [ "unstack b2 b1" ], [ "stack b2 b4" ], [ "unstack b1 b3" ], [ "put-down b1" ], [ "unstack b2 b4" ], [ "stack b2 b1" ], [ "pick-up b3" ], [ "stack b3 b4" ], [ "unstack b2 b1" ], [ "stack b2 b3" ], [ "pick-up b1" ], [ "stack b1 b2" ] ]	[ "(clear b2) (on b1 b3) (arm-empty) (on b4 b5) (on-table b5) (clear b4) (on b2 b1) (on-table b3)", "(on b1 b3) (on b4 b5) (on-table b5) (clear b4) (holding b2) (clear b1) (on-table b3)", "(clear b2) (on b1 b3) (arm-empty) (on-table b5) (on b4 b5) (on b2 b4) (clear b1) (on-table b3)", "(holding b1) (clear b2) (on-table b5) (on b4 b5) (on b2 b4) (clear b3) (on-table b3)", "(arm-empty) (on-table b5) (on b4 b5) (on b2 b4) (clear b2) (on-table b1) (clear b3) (clear b1) (on-table b3)", "(on-table b5) (on b4 b5) (on-table b1) (clear b4) (holding b2) (clear b3) (clear b1) (on-table b3)", "(clear b2) (arm-empty) (on-table b5) (on b4 b5) (on-table b1) (clear b4) (on b2 b1) (clear b3) (on-table b3)", "(clear b2) (on-table b5) (on b4 b5) (on-table b1) (clear b4) (on b2 b1) (holding b3)", "(on b3 b4) (clear b2) (arm-empty) (on-table b5) (on-table b1) (on b4 b5) (on b2 b1) (clear b3)", "(on b3 b4) (on-table b5) (on-table b1) (on b4 b5) (holding b2) (clear b3) (clear b1)", "(on b3 b4) (clear b2) (arm-empty) (on-table b5) (on-table b1) (on b4 b5) (on b2 b3) (clear b1)", "(holding b1) (on b3 b4) (clear b2) (on-table b5) (on b4 b5) (on b2 b3)", "(on b3 b4) (arm-empty) (on-table b5) (on b4 b5) (on b2 b3) (on b1 b2) (clear b1)" ]	file_183175	ACTION: (stack b4 b5) NEXT STATE: (clear b2) (on b1 b3) (arm-empty) (on b4 b5) (on-table b5) (clear b4) (on b2 b1) (on-table b3) ACTION: (unstack b2 b1) NEXT STATE: (on b1 b3) (on b4 b5) (on-table b5) (clear b4) (holding b2) (clear b1) (on-table b3) ACTION: (stack b2 b4) NEXT STATE: (clear b2) (on b1 b3) (arm-empty) (on-table b5) (on b4 b5) (on b2 b4) (clear b1) (on-table b3) ACTION: (unstack b1 b3) NEXT STATE: (holding b1) (clear b2) (on-table b5) (on b4 b5) (on b2 b4) (clear b3) (on-table b3) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on-table b5) (on b4 b5) (on b2 b4) (clear b2) (on-table b1) (clear b3) (clear b1) (on-table b3) ACTION: (unstack b2 b4) NEXT STATE: (on-table b5) (on b4 b5) (on-table b1) (clear b4) (holding b2) (clear b3) (clear b1) (on-table b3) ACTION: (stack b2 b1) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on b4 b5) (on-table b1) (clear b4) (on b2 b1) (clear b3) (on-table b3) ACTION: (pick-up b3) NEXT STATE: (clear b2) (on-table b5) (on b4 b5) (on-table b1) (clear b4) (on b2 b1) (holding b3) ACTION: (stack b3 b4) NEXT STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b5) (on-table b1) (on b4 b5) (on b2 b1) (clear b3) ACTION: (unstack b2 b1) NEXT STATE: (on b3 b4) (on-table b5) (on-table b1) (on b4 b5) (holding b2) (clear b3) (clear b1) ACTION: (stack b2 b3) NEXT STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b5) (on-table b1) (on b4 b5) (on b2 b3) (clear b1) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on b3 b4) (clear b2) (on-table b5) (on b4 b5) (on b2 b3) ACTION: (stack b1 b2) NEXT STATE: (on b3 b4) (arm-empty) (on-table b5) (on b4 b5) (on b2 b3) (on b1 b2) (clear b1)
GOAL: (holding b1) (on-table b2) (on b3 b2) (clear b4) (on b5 b3) (on-table b4) (clear b5)	GOAL: (holding b1) (on-table b2) (on b3 b2) (clear b4) (on b5 b3) (on-table b4) (clear b5) STATE: (clear b2) (on-table b2) (on-table b5) (on-table b4) (on b1 b4) (holding b3) (clear b1) (clear b5)	[ [ "stack b3 b2" ], [ "pick-up b5" ], [ "stack b5 b3" ], [ "unstack b1 b4" ] ]	[ "(arm-empty) (on-table b2) (on-table b5) (on b3 b2) (on-table b4) (on b1 b4) (clear b3) (clear b1) (clear b5)", "(on-table b2) (on b3 b2) (holding b5) (on-table b4) (on b1 b4) (clear b3) (clear b1)", "(arm-empty) (on-table b2) (on b3 b2) (on b5 b3) (on-table b4) (on b1 b4) (clear b1) (clear b5)", "(holding b1) (on-table b2) (on b3 b2) (clear b4) (on b5 b3) (on-table b4) (clear b5)" ]	file_195626	ACTION: (stack b3 b2) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (on b3 b2) (on-table b4) (on b1 b4) (clear b3) (clear b1) (clear b5) ACTION: (pick-up b5) NEXT STATE: (on-table b2) (on b3 b2) (holding b5) (on-table b4) (on b1 b4) (clear b3) (clear b1) ACTION: (stack b5 b3) NEXT STATE: (arm-empty) (on-table b2) (on b3 b2) (on b5 b3) (on-table b4) (on b1 b4) (clear b1) (clear b5) ACTION: (unstack b1 b4) NEXT STATE: (holding b1) (on-table b2) (on b3 b2) (clear b4) (on b5 b3) (on-table b4) (clear b5)
GOAL: (holding b1) (on b3 b5) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (clear b3)	GOAL: (holding b1) (on b3 b5) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (clear b3) STATE: (clear b2) (on b3 b5) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (clear b3) (clear b1)	[ [ "pick-up b2" ], [ "stack b2 b4" ], [ "pick-up b1" ] ]	[ "(on b3 b5) (on-table b5) (on-table b1) (clear b4) (on-table b4) (holding b2) (clear b3) (clear b1)", "(on b3 b5) (clear b2) (arm-empty) (on-table b5) (on-table b1) (on-table b4) (on b2 b4) (clear b3) (clear b1)", "(holding b1) (on b3 b5) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (clear b3)" ]	file_8672	ACTION: (pick-up b2) NEXT STATE: (on b3 b5) (on-table b5) (on-table b1) (clear b4) (on-table b4) (holding b2) (clear b3) (clear b1) ACTION: (stack b2 b4) NEXT STATE: (on b3 b5) (clear b2) (arm-empty) (on-table b5) (on-table b1) (on-table b4) (on b2 b4) (clear b3) (clear b1) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on b3 b5) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (clear b3)
GOAL: (on b5 b1) (on b3 b4) (on-table b4) (arm-empty) (on b2 b3) (on b1 b2) (clear b5)	GOAL: (on b5 b1) (on b3 b4) (on-table b4) (arm-empty) (on b2 b3) (on b1 b2) (clear b5) STATE: (clear b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b2 b5) (holding b3) (clear b1)	[ [ "stack b3 b4" ], [ "unstack b2 b5" ], [ "stack b2 b3" ], [ "pick-up b1" ], [ "stack b1 b2" ], [ "pick-up b5" ], [ "stack b5 b1" ] ]	[ "(on b3 b4) (clear b2) (arm-empty) (on-table b5) (on-table b1) (on-table b4) (on b2 b5) (clear b3) (clear b1)", "(on b3 b4) (on-table b5) (on-table b1) (on-table b4) (holding b2) (clear b3) (clear b1) (clear b5)", "(on b3 b4) (clear b2) (arm-empty) (on-table b5) (on-table b1) (on-table b4) (on b2 b3) (clear b1) (clear b5)", "(holding b1) (on b3 b4) (clear b2) (on-table b5) (on-table b4) (on b2 b3) (clear b5)", "(arm-empty) (on-table b5) (on b1 b2) (clear b5) (on b3 b4) (on-table b4) (on b2 b3) (clear b1)", "(on b3 b4) (holding b5) (on-table b4) (on b2 b3) (on b1 b2) (clear b1)", "(on b5 b1) (on b3 b4) (on-table b4) (arm-empty) (on b2 b3) (on b1 b2) (clear b5)" ]	file_121586	ACTION: (stack b3 b4) NEXT STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b5) (on-table b1) (on-table b4) (on b2 b5) (clear b3) (clear b1) ACTION: (unstack b2 b5) NEXT STATE: (on b3 b4) (on-table b5) (on-table b1) (on-table b4) (holding b2) (clear b3) (clear b1) (clear b5) ACTION: (stack b2 b3) NEXT STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b5) (on-table b1) (on-table b4) (on b2 b3) (clear b1) (clear b5) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on b3 b4) (clear b2) (on-table b5) (on-table b4) (on b2 b3) (clear b5) ACTION: (stack b1 b2) NEXT STATE: (arm-empty) (on-table b5) (on b1 b2) (clear b5) (on b3 b4) (on-table b4) (on b2 b3) (clear b1) ACTION: (pick-up b5) NEXT STATE: (on b3 b4) (holding b5) (on-table b4) (on b2 b3) (on b1 b2) (clear b1) ACTION: (stack b5 b1) NEXT STATE: (on b5 b1) (on b3 b4) (on-table b4) (arm-empty) (on b2 b3) (on b1 b2) (clear b5)
GOAL: (clear b2) (on-table b1) (holding b4) (on b5 b1) (on b2 b3) (on-table b3) (clear b5)	GOAL: (clear b2) (on-table b1) (holding b4) (on b5 b1) (on b2 b3) (on-table b3) (clear b5) STATE: (clear b2) (on b5 b4) (on-table b2) (on-table b1) (on-table b4) (holding b3) (clear b1) (clear b5)	[ [ "stack b3 b5" ], [ "pick-up b2" ], [ "stack b2 b1" ], [ "unstack b3 b5" ], [ "put-down b3" ], [ "unstack b2 b1" ], [ "stack b2 b3" ], [ "unstack b5 b4" ], [ "stack b5 b1" ], [ "pick-up b4" ] ]	[ "(clear b2) (on b3 b5) (on b5 b4) (on-table b2) (arm-empty) (on-table b1) (on-table b4) (clear b3) (clear b1)", "(on b3 b5) (on b5 b4) (on-table b1) (on-table b4) (holding b2) (clear b3) (clear b1)", "(on b3 b5) (clear b2) (on b5 b4) (arm-empty) (on-table b1) (on-table b4) (on b2 b1) (clear b3)", "(clear b2) (on b5 b4) (on-table b1) (on-table b4) (on b2 b1) (holding b3) (clear b5)", "(arm-empty) (on b5 b4) (on b2 b1) (clear b5) (clear b2) (on-table b1) (on-table b4) (clear b3) (on-table b3)", "(on b5 b4) (on-table b1) (on-table b4) (holding b2) (clear b3) (clear b1) (on-table b3) (clear b5)", "(clear b2) (arm-empty) (on b5 b4) (on-table b1) (on-table b4) (on b2 b3) (clear b1) (on-table b3) (clear b5)", "(clear b2) (on-table b1) (clear b4) (holding b5) (on-table b4) (on b2 b3) (clear b1) (on-table b3)", "(clear b2) (arm-empty) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (on b2 b3) (on-table b3) (clear b5)", "(clear b2) (on-table b1) (holding b4) (on b5 b1) (on b2 b3) (on-table b3) (clear b5)" ]	file_196339	ACTION: (stack b3 b5) NEXT STATE: (clear b2) (on b3 b5) (on b5 b4) (on-table b2) (arm-empty) (on-table b1) (on-table b4) (clear b3) (clear b1) ACTION: (pick-up b2) NEXT STATE: (on b3 b5) (on b5 b4) (on-table b1) (on-table b4) (holding b2) (clear b3) (clear b1) ACTION: (stack b2 b1) NEXT STATE: (on b3 b5) (clear b2) (on b5 b4) (arm-empty) (on-table b1) (on-table b4) (on b2 b1) (clear b3) ACTION: (unstack b3 b5) NEXT STATE: (clear b2) (on b5 b4) (on-table b1) (on-table b4) (on b2 b1) (holding b3) (clear b5) ACTION: (put-down b3) NEXT STATE: (arm-empty) (on b5 b4) (on b2 b1) (clear b5) (clear b2) (on-table b1) (on-table b4) (clear b3) (on-table b3) ACTION: (unstack b2 b1) NEXT STATE: (on b5 b4) (on-table b1) (on-table b4) (holding b2) (clear b3) (clear b1) (on-table b3) (clear b5) ACTION: (stack b2 b3) NEXT STATE: (clear b2) (arm-empty) (on b5 b4) (on-table b1) (on-table b4) (on b2 b3) (clear b1) (on-table b3) (clear b5) ACTION: (unstack b5 b4) NEXT STATE: (clear b2) (on-table b1) (clear b4) (holding b5) (on-table b4) (on b2 b3) (clear b1) (on-table b3) ACTION: (stack b5 b1) NEXT STATE: (clear b2) (arm-empty) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (on b2 b3) (on-table b3) (clear b5) ACTION: (pick-up b4) NEXT STATE: (clear b2) (on-table b1) (holding b4) (on b5 b1) (on b2 b3) (on-table b3) (clear b5)
GOAL: (on b5 b3) (on b2 b4) (clear b5) (holding b1) (on b3 b2) (on-table b4)	GOAL: (on b5 b3) (on b2 b4) (clear b5) (holding b1) (on b3 b2) (on-table b4) STATE: (on b1 b5) (arm-empty) (on b3 b2) (on b5 b3) (on-table b4) (on b2 b4) (clear b1)	[ [ "unstack b1 b5" ] ]	[ "(on b5 b3) (on b2 b4) (clear b5) (holding b1) (on b3 b2) (on-table b4)" ]	file_226503	ACTION: (unstack b1 b5) NEXT STATE: (on b5 b3) (on b2 b4) (clear b5) (holding b1) (on b3 b2) (on-table b4)
GOAL: (on-table b5) (on-table b4) (on b2 b4) (on b1 b2) (clear b1) (holding b3) (clear b5)	GOAL: (on-table b5) (on-table b4) (on b2 b4) (on b1 b2) (clear b1) (holding b3) (clear b5) STATE: (on-table b1) (clear b4) (on b5 b3) (on-table b4) (holding b2) (clear b1) (on-table b3) (clear b5)	[ [ "stack b2 b4" ], [ "pick-up b1" ], [ "stack b1 b2" ], [ "unstack b5 b3" ], [ "put-down b5" ], [ "pick-up b3" ] ]	[ "(clear b2) (arm-empty) (on-table b1) (on b5 b3) (on-table b4) (on b2 b4) (clear b1) (on-table b3) (clear b5)", "(holding b1) (clear b2) (on b5 b3) (on-table b4) (on b2 b4) (on-table b3) (clear b5)", "(arm-empty) (on b5 b3) (on-table b4) (on b2 b4) (on b1 b2) (clear b1) (on-table b3) (clear b5)", "(holding b5) (on-table b4) (on b2 b4) (clear b3) (on b1 b2) (clear b1) (on-table b3)", "(arm-empty) (on-table b5) (on b2 b4) (on b1 b2) (clear b5) (on-table b4) (clear b3) (clear b1) (on-table b3)", "(on-table b5) (on-table b4) (on b2 b4) (on b1 b2) (clear b1) (holding b3) (clear b5)" ]	file_178949	ACTION: (stack b2 b4) NEXT STATE: (clear b2) (arm-empty) (on-table b1) (on b5 b3) (on-table b4) (on b2 b4) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b1) NEXT STATE: (holding b1) (clear b2) (on b5 b3) (on-table b4) (on b2 b4) (on-table b3) (clear b5) ACTION: (stack b1 b2) NEXT STATE: (arm-empty) (on b5 b3) (on-table b4) (on b2 b4) (on b1 b2) (clear b1) (on-table b3) (clear b5) ACTION: (unstack b5 b3) NEXT STATE: (holding b5) (on-table b4) (on b2 b4) (clear b3) (on b1 b2) (clear b1) (on-table b3) ACTION: (put-down b5) NEXT STATE: (arm-empty) (on-table b5) (on b2 b4) (on b1 b2) (clear b5) (on-table b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b3) NEXT STATE: (on-table b5) (on-table b4) (on b2 b4) (on b1 b2) (clear b1) (holding b3) (clear b5)
GOAL: (on b1 b5) (on b3 b4) (arm-empty) (on-table b5) (on b4 b2) (on b2 b1) (clear b3)	GOAL: (on b1 b5) (on b3 b4) (arm-empty) (on-table b5) (on b4 b2) (on b2 b1) (clear b3) STATE: (on b1 b5) (clear b2) (on b4 b1) (arm-empty) (on-table b2) (on-table b5) (clear b4) (clear b3) (on-table b3)	[ [ "unstack b4 b1" ], [ "put-down b4" ], [ "pick-up b2" ], [ "stack b2 b1" ], [ "pick-up b4" ], [ "stack b4 b2" ], [ "pick-up b3" ], [ "stack b3 b4" ] ]	[ "(on b1 b5) (clear b2) (on-table b2) (on-table b5) (holding b4) (clear b3) (clear b1) (on-table b3)", "(on b1 b5) (clear b2) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b3) (clear b1) (on-table b3)", "(on b1 b5) (on-table b5) (clear b4) (on-table b4) (holding b2) (clear b3) (clear b1) (on-table b3)", "(on b1 b5) (clear b2) (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b2 b1) (clear b3) (on-table b3)", "(on b1 b5) (clear b2) (on-table b5) (holding b4) (on b2 b1) (clear b3) (on-table b3)", "(on b1 b5) (arm-empty) (on-table b5) (clear b4) (on b2 b1) (on b4 b2) (clear b3) (on-table b3)", "(on b1 b5) (on-table b5) (clear b4) (on b4 b2) (on b2 b1) (holding b3)", "(on b1 b5) (on b3 b4) (arm-empty) (on-table b5) (on b4 b2) (on b2 b1) (clear b3)" ]	file_151857	ACTION: (unstack b4 b1) NEXT STATE: (on b1 b5) (clear b2) (on-table b2) (on-table b5) (holding b4) (clear b3) (clear b1) (on-table b3) ACTION: (put-down b4) NEXT STATE: (on b1 b5) (clear b2) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b2) NEXT STATE: (on b1 b5) (on-table b5) (clear b4) (on-table b4) (holding b2) (clear b3) (clear b1) (on-table b3) ACTION: (stack b2 b1) NEXT STATE: (on b1 b5) (clear b2) (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b2 b1) (clear b3) (on-table b3) ACTION: (pick-up b4) NEXT STATE: (on b1 b5) (clear b2) (on-table b5) (holding b4) (on b2 b1) (clear b3) (on-table b3) ACTION: (stack b4 b2) NEXT STATE: (on b1 b5) (arm-empty) (on-table b5) (clear b4) (on b2 b1) (on b4 b2) (clear b3) (on-table b3) ACTION: (pick-up b3) NEXT STATE: (on b1 b5) (on-table b5) (clear b4) (on b4 b2) (on b2 b1) (holding b3) ACTION: (stack b3 b4) NEXT STATE: (on b1 b5) (on b3 b4) (arm-empty) (on-table b5) (on b4 b2) (on b2 b1) (clear b3)
GOAL: (arm-empty) (on-table b2) (on-table b5) (on b4 b5) (on-table b1) (on b3 b2) (clear b4) (clear b3) (clear b1)	GOAL: (arm-empty) (on-table b2) (on-table b5) (on b4 b5) (on-table b1) (on b3 b2) (clear b4) (clear b3) (clear b1) STATE: (arm-empty) (on-table b1) (on b3 b2) (clear b4) (on b5 b3) (on-table b4) (on b2 b1) (clear b5)	[ [ "unstack b5 b3" ], [ "put-down b5" ], [ "pick-up b4" ], [ "stack b4 b5" ], [ "unstack b3 b2" ], [ "stack b3 b4" ], [ "unstack b2 b1" ], [ "put-down b2" ], [ "unstack b3 b4" ], [ "stack b3 b2" ] ]	[ "(on-table b1) (on b3 b2) (clear b4) (holding b5) (on-table b4) (on b2 b1) (clear b3)", "(arm-empty) (on-table b5) (clear b4) (on b2 b1) (clear b5) (on-table b1) (on b3 b2) (on-table b4) (clear b3)", "(on-table b5) (on-table b1) (holding b4) (on b3 b2) (on b2 b1) (clear b3) (clear b5)", "(arm-empty) (on b4 b5) (on-table b5) (on-table b1) (on b3 b2) (clear b4) (on b2 b1) (clear b3)", "(clear b2) (on b4 b5) (on-table b5) (on-table b1) (clear b4) (on b2 b1) (holding b3)", "(on b3 b4) (clear b2) (arm-empty) (on-table b5) (on b4 b5) (on-table b1) (on b2 b1) (clear b3)", "(on b3 b4) (on-table b5) (on b4 b5) (on-table b1) (holding b2) (clear b3) (clear b1)", "(arm-empty) (on-table b2) (on-table b5) (on b4 b5) (on b3 b4) (clear b2) (on-table b1) (clear b3) (clear b1)", "(clear b2) (on-table b2) (on-table b5) (on b4 b5) (on-table b1) (clear b4) (holding b3) (clear b1)", "(arm-empty) (on-table b2) (on-table b5) (on b4 b5) (on-table b1) (on b3 b2) (clear b4) (clear b3) (clear b1)" ]	file_153173	ACTION: (unstack b5 b3) NEXT STATE: (on-table b1) (on b3 b2) (clear b4) (holding b5) (on-table b4) (on b2 b1) (clear b3) ACTION: (put-down b5) NEXT STATE: (arm-empty) (on-table b5) (clear b4) (on b2 b1) (clear b5) (on-table b1) (on b3 b2) (on-table b4) (clear b3) ACTION: (pick-up b4) NEXT STATE: (on-table b5) (on-table b1) (holding b4) (on b3 b2) (on b2 b1) (clear b3) (clear b5) ACTION: (stack b4 b5) NEXT STATE: (arm-empty) (on b4 b5) (on-table b5) (on-table b1) (on b3 b2) (clear b4) (on b2 b1) (clear b3) ACTION: (unstack b3 b2) NEXT STATE: (clear b2) (on b4 b5) (on-table b5) (on-table b1) (clear b4) (on b2 b1) (holding b3) ACTION: (stack b3 b4) NEXT STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b5) (on b4 b5) (on-table b1) (on b2 b1) (clear b3) ACTION: (unstack b2 b1) NEXT STATE: (on b3 b4) (on-table b5) (on b4 b5) (on-table b1) (holding b2) (clear b3) (clear b1) ACTION: (put-down b2) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (on b4 b5) (on b3 b4) (clear b2) (on-table b1) (clear b3) (clear b1) ACTION: (unstack b3 b4) NEXT STATE: (clear b2) (on-table b2) (on-table b5) (on b4 b5) (on-table b1) (clear b4) (holding b3) (clear b1) ACTION: (stack b3 b2) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (on b4 b5) (on-table b1) (on b3 b2) (clear b4) (clear b3) (clear b1)
GOAL: (clear b1) (arm-empty) (on b5 b4) (on-table b4) (on b2 b3) (on b1 b2) (on-table b3) (clear b5)	GOAL: (clear b1) (arm-empty) (on b5 b4) (on-table b4) (on b2 b3) (on b1 b2) (on-table b3) (clear b5) STATE: (on-table b5) (on b4 b5) (holding b2) (on b1 b4) (clear b3) (clear b1) (on-table b3)	[ [ "stack b2 b3" ], [ "unstack b1 b4" ], [ "stack b1 b2" ], [ "unstack b4 b5" ], [ "put-down b4" ], [ "pick-up b5" ], [ "stack b5 b4" ] ]	[ "(clear b2) (arm-empty) (on-table b5) (on b4 b5) (on b1 b4) (on b2 b3) (clear b1) (on-table b3)", "(holding b1) (clear b2) (on-table b5) (on b4 b5) (clear b4) (on b2 b3) (on-table b3)", "(arm-empty) (on-table b5) (on b4 b5) (clear b4) (on b2 b3) (on b1 b2) (on-table b3) (clear b1)", "(on-table b5) (holding b4) (clear b5) (on b2 b3) (on b1 b2) (on-table b3) (clear b1)", "(arm-empty) (on-table b5) (clear b4) (on b1 b2) (clear b5) (on-table b4) (on b2 b3) (clear b1) (on-table b3)", "(clear b4) (holding b5) (on-table b4) (on b2 b3) (on b1 b2) (clear b1) (on-table b3)", "(clear b1) (arm-empty) (on b5 b4) (on-table b4) (on b2 b3) (on b1 b2) (on-table b3) (clear b5)" ]	file_123423	ACTION: (stack b2 b3) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on b4 b5) (on b1 b4) (on b2 b3) (clear b1) (on-table b3) ACTION: (unstack b1 b4) NEXT STATE: (holding b1) (clear b2) (on-table b5) (on b4 b5) (clear b4) (on b2 b3) (on-table b3) ACTION: (stack b1 b2) NEXT STATE: (arm-empty) (on-table b5) (on b4 b5) (clear b4) (on b2 b3) (on b1 b2) (on-table b3) (clear b1) ACTION: (unstack b4 b5) NEXT STATE: (on-table b5) (holding b4) (clear b5) (on b2 b3) (on b1 b2) (on-table b3) (clear b1) ACTION: (put-down b4) NEXT STATE: (arm-empty) (on-table b5) (clear b4) (on b1 b2) (clear b5) (on-table b4) (on b2 b3) (clear b1) (on-table b3) ACTION: (pick-up b5) NEXT STATE: (clear b4) (holding b5) (on-table b4) (on b2 b3) (on b1 b2) (clear b1) (on-table b3) ACTION: (stack b5 b4) NEXT STATE: (clear b1) (arm-empty) (on b5 b4) (on-table b4) (on b2 b3) (on b1 b2) (on-table b3) (clear b5)
GOAL: (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (on b4 b5) (clear b4) (clear b3) (clear b1) (on-table b3)	GOAL: (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (on b4 b5) (clear b4) (clear b3) (clear b1) (on-table b3) STATE: (holding b4) (on-table b1) (on b3 b2) (on b5 b1) (on b2 b5) (clear b3)	[ [ "put-down b4" ], [ "unstack b3 b2" ], [ "put-down b3" ], [ "unstack b2 b5" ], [ "stack b2 b3" ], [ "pick-up b4" ], [ "stack b4 b2" ], [ "unstack b5 b1" ], [ "put-down b5" ], [ "unstack b4 b2" ], [ "stack b4 b5" ], [ "unstack b2 b3" ], [ "put-down b2" ] ]	[ "(arm-empty) (clear b4) (on b2 b5) (on-table b1) (on b3 b2) (on b5 b1) (on-table b4) (clear b3)", "(clear b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (on b2 b5) (holding b3)", "(arm-empty) (clear b4) (on b2 b5) (clear b2) (on-table b1) (on b5 b1) (on-table b4) (clear b3) (on-table b3)", "(on-table b1) (clear b4) (on b5 b1) (on-table b4) (holding b2) (clear b3) (on-table b3) (clear b5)", "(clear b2) (arm-empty) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (on b2 b3) (on-table b3) (clear b5)", "(clear b2) (on-table b1) (holding b4) (on b5 b1) (on b2 b3) (on-table b3) (clear b5)", "(arm-empty) (on-table b1) (clear b4) (on b5 b1) (on b4 b2) (on b2 b3) (on-table b3) (clear b5)", "(on-table b1) (clear b4) (holding b5) (on b4 b2) (on b2 b3) (clear b1) (on-table b3)", "(arm-empty) (on-table b5) (clear b4) (clear b5) (on-table b1) (on b4 b2) (on b2 b3) (clear b1) (on-table b3)", "(clear b2) (on-table b5) (on-table b1) (holding b4) (on b2 b3) (clear b1) (on-table b3) (clear b5)", "(clear b2) (arm-empty) (on-table b5) (on-table b1) (on b4 b5) (clear b4) (on b2 b3) (clear b1) (on-table b3)", "(on-table b5) (on-table b1) (on b4 b5) (clear b4) (holding b2) (clear b3) (clear b1) (on-table b3)", "(clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (on b4 b5) (clear b4) (clear b3) (clear b1) (on-table b3)" ]	file_26722	ACTION: (put-down b4) NEXT STATE: (arm-empty) (clear b4) (on b2 b5) (on-table b1) (on b3 b2) (on b5 b1) (on-table b4) (clear b3) ACTION: (unstack b3 b2) NEXT STATE: (clear b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (on b2 b5) (holding b3) ACTION: (put-down b3) NEXT STATE: (arm-empty) (clear b4) (on b2 b5) (clear b2) (on-table b1) (on b5 b1) (on-table b4) (clear b3) (on-table b3) ACTION: (unstack b2 b5) NEXT STATE: (on-table b1) (clear b4) (on b5 b1) (on-table b4) (holding b2) (clear b3) (on-table b3) (clear b5) ACTION: (stack b2 b3) NEXT STATE: (clear b2) (arm-empty) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (on b2 b3) (on-table b3) (clear b5) ACTION: (pick-up b4) NEXT STATE: (clear b2) (on-table b1) (holding b4) (on b5 b1) (on b2 b3) (on-table b3) (clear b5) ACTION: (stack b4 b2) NEXT STATE: (arm-empty) (on-table b1) (clear b4) (on b5 b1) (on b4 b2) (on b2 b3) (on-table b3) (clear b5) ACTION: (unstack b5 b1) NEXT STATE: (on-table b1) (clear b4) (holding b5) (on b4 b2) (on b2 b3) (clear b1) (on-table b3) ACTION: (put-down b5) NEXT STATE: (arm-empty) (on-table b5) (clear b4) (clear b5) (on-table b1) (on b4 b2) (on b2 b3) (clear b1) (on-table b3) ACTION: (unstack b4 b2) NEXT STATE: (clear b2) (on-table b5) (on-table b1) (holding b4) (on b2 b3) (clear b1) (on-table b3) (clear b5) ACTION: (stack b4 b5) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on-table b1) (on b4 b5) (clear b4) (on b2 b3) (clear b1) (on-table b3) ACTION: (unstack b2 b3) NEXT STATE: (on-table b5) (on-table b1) (on b4 b5) (clear b4) (holding b2) (clear b3) (clear b1) (on-table b3) ACTION: (put-down b2) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (on b4 b5) (clear b4) (clear b3) (clear b1) (on-table b3)
GOAL: (on b3 b5) (on b4 b1) (arm-empty) (on-table b5) (on b2 b4) (clear b2) (on-table b1) (clear b3)	GOAL: (on b3 b5) (on b4 b1) (arm-empty) (on-table b5) (on b2 b4) (clear b2) (on-table b1) (clear b3) STATE: (on b3 b5) (on-table b5) (holding b4) (on b2 b3) (on b1 b2) (clear b1)	[ [ "put-down b4" ], [ "unstack b1 b2" ], [ "put-down b1" ], [ "pick-up b4" ], [ "stack b4 b1" ], [ "unstack b2 b3" ], [ "stack b2 b4" ] ]	[ "(on b3 b5) (arm-empty) (on-table b5) (clear b4) (on b1 b2) (on-table b4) (on b2 b3) (clear b1)", "(holding b1) (on b3 b5) (clear b2) (on-table b5) (clear b4) (on-table b4) (on b2 b3)", "(on b3 b5) (arm-empty) (on-table b5) (clear b4) (clear b2) (on-table b1) (on-table b4) (on b2 b3) (clear b1)", "(on b3 b5) (clear b2) (on-table b5) (on-table b1) (holding b4) (on b2 b3) (clear b1)", "(on b3 b5) (clear b2) (on b4 b1) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on b2 b3)", "(on b3 b5) (on b4 b1) (on-table b5) (on-table b1) (clear b4) (holding b2) (clear b3)", "(on b3 b5) (on b4 b1) (arm-empty) (on-table b5) (on b2 b4) (clear b2) (on-table b1) (clear b3)" ]	file_137741	ACTION: (put-down b4) NEXT STATE: (on b3 b5) (arm-empty) (on-table b5) (clear b4) (on b1 b2) (on-table b4) (on b2 b3) (clear b1) ACTION: (unstack b1 b2) NEXT STATE: (holding b1) (on b3 b5) (clear b2) (on-table b5) (clear b4) (on-table b4) (on b2 b3) ACTION: (put-down b1) NEXT STATE: (on b3 b5) (arm-empty) (on-table b5) (clear b4) (clear b2) (on-table b1) (on-table b4) (on b2 b3) (clear b1) ACTION: (pick-up b4) NEXT STATE: (on b3 b5) (clear b2) (on-table b5) (on-table b1) (holding b4) (on b2 b3) (clear b1) ACTION: (stack b4 b1) NEXT STATE: (on b3 b5) (clear b2) (on b4 b1) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on b2 b3) ACTION: (unstack b2 b3) NEXT STATE: (on b3 b5) (on b4 b1) (on-table b5) (on-table b1) (clear b4) (holding b2) (clear b3) ACTION: (stack b2 b4) NEXT STATE: (on b3 b5) (on b4 b1) (arm-empty) (on-table b5) (on b2 b4) (clear b2) (on-table b1) (clear b3)
GOAL: (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b4) (on b1 b4) (on b3 b1) (clear b3) (clear b5)	GOAL: (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b4) (on b1 b4) (on b3 b1) (clear b3) (clear b5) STATE: (on b3 b5) (on-table b5) (holding b4) (on b2 b3) (on b1 b2) (clear b1)	[ [ "put-down b4" ], [ "unstack b1 b2" ], [ "stack b1 b4" ], [ "unstack b2 b3" ], [ "put-down b2" ], [ "unstack b3 b5" ], [ "stack b3 b1" ] ]	[ "(on b3 b5) (arm-empty) (on-table b5) (clear b4) (on b1 b2) (on-table b4) (on b2 b3) (clear b1)", "(holding b1) (on b3 b5) (clear b2) (on-table b5) (clear b4) (on-table b4) (on b2 b3)", "(on b3 b5) (clear b2) (arm-empty) (on-table b5) (on-table b4) (on b1 b4) (on b2 b3) (clear b1)", "(on b3 b5) (on-table b5) (holding b2) (on-table b4) (on b1 b4) (clear b3) (clear b1)", "(on b3 b5) (arm-empty) (on-table b2) (on-table b5) (clear b2) (on-table b4) (on b1 b4) (clear b3) (clear b1)", "(clear b2) (on-table b2) (on-table b5) (on-table b4) (on b1 b4) (holding b3) (clear b1) (clear b5)", "(clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b4) (on b1 b4) (on b3 b1) (clear b3) (clear b5)" ]	file_137868	ACTION: (put-down b4) NEXT STATE: (on b3 b5) (arm-empty) (on-table b5) (clear b4) (on b1 b2) (on-table b4) (on b2 b3) (clear b1) ACTION: (unstack b1 b2) NEXT STATE: (holding b1) (on b3 b5) (clear b2) (on-table b5) (clear b4) (on-table b4) (on b2 b3) ACTION: (stack b1 b4) NEXT STATE: (on b3 b5) (clear b2) (arm-empty) (on-table b5) (on-table b4) (on b1 b4) (on b2 b3) (clear b1) ACTION: (unstack b2 b3) NEXT STATE: (on b3 b5) (on-table b5) (holding b2) (on-table b4) (on b1 b4) (clear b3) (clear b1) ACTION: (put-down b2) NEXT STATE: (on b3 b5) (arm-empty) (on-table b2) (on-table b5) (clear b2) (on-table b4) (on b1 b4) (clear b3) (clear b1) ACTION: (unstack b3 b5) NEXT STATE: (clear b2) (on-table b2) (on-table b5) (on-table b4) (on b1 b4) (holding b3) (clear b1) (clear b5) ACTION: (stack b3 b1) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b4) (on b1 b4) (on b3 b1) (clear b3) (clear b5)
GOAL: (clear b2) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (holding b3) (clear b1) (clear b5)	GOAL: (clear b2) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (holding b3) (clear b1) (clear b5) STATE: (clear b2) (on-table b2) (on-table b5) (on-table b1) (on b4 b5) (clear b4) (holding b3) (clear b1)	[ [ "stack b3 b1" ], [ "unstack b4 b5" ], [ "put-down b4" ], [ "unstack b3 b1" ] ]	[ "(clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (on b4 b5) (clear b4) (on b3 b1) (clear b3)", "(clear b2) (on-table b2) (on-table b5) (on-table b1) (holding b4) (on b3 b1) (clear b3) (clear b5)", "(clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b3 b1) (clear b3) (clear b5)", "(clear b2) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (holding b3) (clear b1) (clear b5)" ]	file_149585	ACTION: (stack b3 b1) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (on b4 b5) (clear b4) (on b3 b1) (clear b3) ACTION: (unstack b4 b5) NEXT STATE: (clear b2) (on-table b2) (on-table b5) (on-table b1) (holding b4) (on b3 b1) (clear b3) (clear b5) ACTION: (put-down b4) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b3 b1) (clear b3) (clear b5) ACTION: (unstack b3 b1) NEXT STATE: (clear b2) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (holding b3) (clear b1) (clear b5)
GOAL: (on-table b2) (clear b4) (holding b5) (on-table b4) (clear b3) (on b1 b2) (clear b1) (on-table b3)	GOAL: (on-table b2) (clear b4) (holding b5) (on-table b4) (clear b3) (on b1 b2) (clear b1) (on-table b3) STATE: (holding b1) (on-table b2) (on-table b5) (clear b4) (on b4 b2) (clear b3) (on-table b3) (clear b5)	[ [ "stack b1 b3" ], [ "unstack b4 b2" ], [ "put-down b4" ], [ "unstack b1 b3" ], [ "stack b1 b2" ], [ "pick-up b5" ] ]	[ "(on b1 b3) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b4 b2) (clear b1) (on-table b3) (clear b5)", "(clear b2) (on b1 b3) (on-table b2) (on-table b5) (holding b4) (clear b1) (on-table b3) (clear b5)", "(clear b2) (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b1) (on-table b3) (clear b5)", "(holding b1) (clear b2) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b3) (on-table b3) (clear b5)", "(arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b3) (on b1 b2) (clear b1) (on-table b3) (clear b5)", "(on-table b2) (clear b4) (holding b5) (on-table b4) (clear b3) (on b1 b2) (clear b1) (on-table b3)" ]	file_217465	ACTION: (stack b1 b3) NEXT STATE: (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b4 b2) (clear b1) (on-table b3) (clear b5) ACTION: (unstack b4 b2) NEXT STATE: (clear b2) (on b1 b3) (on-table b2) (on-table b5) (holding b4) (clear b1) (on-table b3) (clear b5) ACTION: (put-down b4) NEXT STATE: (clear b2) (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b1) (on-table b3) (clear b5) ACTION: (unstack b1 b3) NEXT STATE: (holding b1) (clear b2) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b3) (on-table b3) (clear b5) ACTION: (stack b1 b2) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b3) (on b1 b2) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b5) NEXT STATE: (on-table b2) (clear b4) (holding b5) (on-table b4) (clear b3) (on b1 b2) (clear b1) (on-table b3)
GOAL: (arm-empty) (on b4 b5) (on-table b1) (on b5 b2) (clear b4) (on b2 b3) (clear b1) (on-table b3)	GOAL: (arm-empty) (on b4 b5) (on-table b1) (on b5 b2) (clear b4) (on b2 b3) (clear b1) (on-table b3) STATE: (holding b1) (on b5 b2) (clear b4) (on-table b4) (on b2 b3) (on-table b3) (clear b5)	[ [ "put-down b1" ], [ "pick-up b4" ], [ "stack b4 b5" ] ]	[ "(arm-empty) (on b5 b2) (clear b4) (clear b5) (on-table b1) (on-table b4) (on b2 b3) (clear b1) (on-table b3)", "(on-table b1) (holding b4) (on b5 b2) (on b2 b3) (clear b1) (on-table b3) (clear b5)", "(arm-empty) (on b4 b5) (on-table b1) (on b5 b2) (clear b4) (on b2 b3) (clear b1) (on-table b3)" ]	file_182103	ACTION: (put-down b1) NEXT STATE: (arm-empty) (on b5 b2) (clear b4) (clear b5) (on-table b1) (on-table b4) (on b2 b3) (clear b1) (on-table b3) ACTION: (pick-up b4) NEXT STATE: (on-table b1) (holding b4) (on b5 b2) (on b2 b3) (clear b1) (on-table b3) (clear b5) ACTION: (stack b4 b5) NEXT STATE: (arm-empty) (on b4 b5) (on-table b1) (on b5 b2) (clear b4) (on b2 b3) (clear b1) (on-table b3)
GOAL: (arm-empty) (on b5 b4) (on-table b2) (on b1 b2) (clear b5) (on-table b4) (clear b3) (clear b1) (on-table b3)	GOAL: (arm-empty) (on b5 b4) (on-table b2) (on b1 b2) (clear b5) (on-table b4) (clear b3) (clear b1) (on-table b3) STATE: (on b3 b5) (arm-empty) (on b5 b4) (on-table b4) (on b2 b3) (on b1 b2) (clear b1)	[ [ "unstack b1 b2" ], [ "put-down b1" ], [ "unstack b2 b3" ], [ "put-down b2" ], [ "pick-up b1" ], [ "stack b1 b2" ], [ "unstack b3 b5" ], [ "put-down b3" ] ]	[ "(on b3 b5) (on b5 b4) (holding b1) (clear b2) (on-table b4) (on b2 b3)", "(on b3 b5) (arm-empty) (on b5 b4) (clear b2) (on-table b1) (on-table b4) (on b2 b3) (clear b1)", "(on b3 b5) (on b5 b4) (on-table b1) (on-table b4) (holding b2) (clear b3) (clear b1)", "(on b3 b5) (arm-empty) (on b5 b4) (on-table b2) (clear b2) (on-table b1) (on-table b4) (clear b3) (clear b1)", "(holding b1) (on b3 b5) (on b5 b4) (on-table b2) (clear b2) (on-table b4) (clear b3)", "(on b3 b5) (arm-empty) (on b5 b4) (on-table b2) (on-table b4) (clear b3) (on b1 b2) (clear b1)", "(on b5 b4) (on-table b2) (on-table b4) (on b1 b2) (clear b1) (holding b3) (clear b5)", "(arm-empty) (on b5 b4) (on-table b2) (on b1 b2) (clear b5) (on-table b4) (clear b3) (clear b1) (on-table b3)" ]	file_122333	ACTION: (unstack b1 b2) NEXT STATE: (on b3 b5) (on b5 b4) (holding b1) (clear b2) (on-table b4) (on b2 b3) ACTION: (put-down b1) NEXT STATE: (on b3 b5) (arm-empty) (on b5 b4) (clear b2) (on-table b1) (on-table b4) (on b2 b3) (clear b1) ACTION: (unstack b2 b3) NEXT STATE: (on b3 b5) (on b5 b4) (on-table b1) (on-table b4) (holding b2) (clear b3) (clear b1) ACTION: (put-down b2) NEXT STATE: (on b3 b5) (arm-empty) (on b5 b4) (on-table b2) (clear b2) (on-table b1) (on-table b4) (clear b3) (clear b1) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on b3 b5) (on b5 b4) (on-table b2) (clear b2) (on-table b4) (clear b3) ACTION: (stack b1 b2) NEXT STATE: (on b3 b5) (arm-empty) (on b5 b4) (on-table b2) (on-table b4) (clear b3) (on b1 b2) (clear b1) ACTION: (unstack b3 b5) NEXT STATE: (on b5 b4) (on-table b2) (on-table b4) (on b1 b2) (clear b1) (holding b3) (clear b5) ACTION: (put-down b3) NEXT STATE: (arm-empty) (on b5 b4) (on-table b2) (on b1 b2) (clear b5) (on-table b4) (clear b3) (clear b1) (on-table b3)
GOAL: (arm-empty) (on-table b1) (on b5 b2) (clear b4) (on-table b4) (on b2 b3) (clear b1) (on-table b3) (clear b5)	GOAL: (arm-empty) (on-table b1) (on b5 b2) (clear b4) (on-table b4) (on b2 b3) (clear b1) (on-table b3) (clear b5) STATE: (on b4 b1) (on b5 b4) (arm-empty) (on b2 b3) (on b1 b2) (on-table b3) (clear b5)	[ [ "unstack b5 b4" ], [ "put-down b5" ], [ "unstack b4 b1" ], [ "put-down b4" ], [ "unstack b1 b2" ], [ "put-down b1" ], [ "pick-up b5" ], [ "stack b5 b2" ] ]	[ "(holding b5) (on b4 b1) (clear b4) (on b2 b3) (on b1 b2) (on-table b3)", "(on b4 b1) (arm-empty) (on-table b5) (clear b4) (on b1 b2) (clear b5) (on b2 b3) (on-table b3)", "(on-table b5) (holding b4) (on b2 b3) (on b1 b2) (clear b1) (on-table b3) (clear b5)", "(arm-empty) (on-table b5) (clear b4) (on b1 b2) (clear b5) (on-table b4) (on b2 b3) (clear b1) (on-table b3)", "(holding b1) (clear b2) (on-table b5) (clear b4) (on-table b4) (on b2 b3) (on-table b3) (clear b5)", "(clear b2) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b2 b3) (clear b1) (on-table b3) (clear b5)", "(clear b2) (on-table b1) (clear b4) (holding b5) (on-table b4) (on b2 b3) (clear b1) (on-table b3)", "(arm-empty) (on-table b1) (on b5 b2) (clear b4) (on-table b4) (on b2 b3) (clear b1) (on-table b3) (clear b5)" ]	file_64420	ACTION: (unstack b5 b4) NEXT STATE: (holding b5) (on b4 b1) (clear b4) (on b2 b3) (on b1 b2) (on-table b3) ACTION: (put-down b5) NEXT STATE: (on b4 b1) (arm-empty) (on-table b5) (clear b4) (on b1 b2) (clear b5) (on b2 b3) (on-table b3) ACTION: (unstack b4 b1) NEXT STATE: (on-table b5) (holding b4) (on b2 b3) (on b1 b2) (clear b1) (on-table b3) (clear b5) ACTION: (put-down b4) NEXT STATE: (arm-empty) (on-table b5) (clear b4) (on b1 b2) (clear b5) (on-table b4) (on b2 b3) (clear b1) (on-table b3) ACTION: (unstack b1 b2) NEXT STATE: (holding b1) (clear b2) (on-table b5) (clear b4) (on-table b4) (on b2 b3) (on-table b3) (clear b5) ACTION: (put-down b1) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b2 b3) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b5) NEXT STATE: (clear b2) (on-table b1) (clear b4) (holding b5) (on-table b4) (on b2 b3) (clear b1) (on-table b3) ACTION: (stack b5 b2) NEXT STATE: (arm-empty) (on-table b1) (on b5 b2) (clear b4) (on-table b4) (on b2 b3) (clear b1) (on-table b3) (clear b5)
GOAL: (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b3) (on-table b4) (clear b1) (on-table b3) (clear b5)	GOAL: (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b3) (on-table b4) (clear b1) (on-table b3) (clear b5) STATE: (on b1 b5) (clear b2) (arm-empty) (on b5 b4) (on-table b2) (on-table b4) (on b3 b1) (clear b3)	[ [ "unstack b3 b1" ], [ "put-down b3" ], [ "unstack b1 b5" ], [ "put-down b1" ], [ "pick-up b3" ], [ "stack b3 b1" ], [ "unstack b5 b4" ], [ "stack b5 b2" ], [ "unstack b3 b1" ], [ "put-down b3" ], [ "unstack b5 b2" ], [ "stack b5 b3" ] ]	[ "(on b1 b5) (clear b2) (on b5 b4) (on-table b2) (on-table b4) (holding b3) (clear b1)", "(on b1 b5) (arm-empty) (on b5 b4) (on-table b2) (clear b2) (on-table b4) (clear b3) (clear b1) (on-table b3)", "(holding b1) (clear b2) (on b5 b4) (on-table b2) (on-table b4) (clear b3) (on-table b3) (clear b5)", "(clear b2) (arm-empty) (on b5 b4) (on-table b2) (on-table b1) (on-table b4) (clear b3) (clear b1) (on-table b3) (clear b5)", "(clear b2) (on b5 b4) (on-table b2) (on-table b1) (on-table b4) (holding b3) (clear b1) (clear b5)", "(clear b2) (arm-empty) (on b5 b4) (on-table b2) (on-table b1) (on-table b4) (on b3 b1) (clear b3) (clear b5)", "(clear b2) (on-table b2) (on-table b1) (clear b4) (holding b5) (on-table b4) (on b3 b1) (clear b3)", "(arm-empty) (on-table b2) (on-table b1) (on b5 b2) (clear b4) (on-table b4) (on b3 b1) (clear b3) (clear b5)", "(on-table b2) (on-table b1) (on b5 b2) (clear b4) (on-table b4) (holding b3) (clear b1) (clear b5)", "(arm-empty) (on-table b2) (on-table b1) (on b5 b2) (clear b4) (on-table b4) (clear b3) (clear b1) (on-table b3) (clear b5)", "(clear b2) (on-table b2) (on-table b1) (clear b4) (holding b5) (on-table b4) (clear b3) (clear b1) (on-table b3)", "(clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b3) (on-table b4) (clear b1) (on-table b3) (clear b5)" ]	file_19322	ACTION: (unstack b3 b1) NEXT STATE: (on b1 b5) (clear b2) (on b5 b4) (on-table b2) (on-table b4) (holding b3) (clear b1) ACTION: (put-down b3) NEXT STATE: (on b1 b5) (arm-empty) (on b5 b4) (on-table b2) (clear b2) (on-table b4) (clear b3) (clear b1) (on-table b3) ACTION: (unstack b1 b5) NEXT STATE: (holding b1) (clear b2) (on b5 b4) (on-table b2) (on-table b4) (clear b3) (on-table b3) (clear b5) ACTION: (put-down b1) NEXT STATE: (clear b2) (arm-empty) (on b5 b4) (on-table b2) (on-table b1) (on-table b4) (clear b3) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b3) NEXT STATE: (clear b2) (on b5 b4) (on-table b2) (on-table b1) (on-table b4) (holding b3) (clear b1) (clear b5) ACTION: (stack b3 b1) NEXT STATE: (clear b2) (arm-empty) (on b5 b4) (on-table b2) (on-table b1) (on-table b4) (on b3 b1) (clear b3) (clear b5) ACTION: (unstack b5 b4) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (clear b4) (holding b5) (on-table b4) (on b3 b1) (clear b3) ACTION: (stack b5 b2) NEXT STATE: (arm-empty) (on-table b2) (on-table b1) (on b5 b2) (clear b4) (on-table b4) (on b3 b1) (clear b3) (clear b5) ACTION: (unstack b3 b1) NEXT STATE: (on-table b2) (on-table b1) (on b5 b2) (clear b4) (on-table b4) (holding b3) (clear b1) (clear b5) ACTION: (put-down b3) NEXT STATE: (arm-empty) (on-table b2) (on-table b1) (on b5 b2) (clear b4) (on-table b4) (clear b3) (clear b1) (on-table b3) (clear b5) ACTION: (unstack b5 b2) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (clear b4) (holding b5) (on-table b4) (clear b3) (clear b1) (on-table b3) ACTION: (stack b5 b3) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b3) (on-table b4) (clear b1) (on-table b3) (clear b5)
GOAL: (holding b1) (on b3 b4) (clear b2) (on-table b2) (on-table b4) (clear b3)	GOAL: (holding b1) (on b3 b4) (clear b2) (on-table b2) (on-table b4) (clear b3) STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b2) (on-table b1) (on-table b4) (clear b3) (clear b1)	[ [ "pick-up b1" ] ]	[ "(holding b1) (on b3 b4) (clear b2) (on-table b2) (on-table b4) (clear b3)" ]	file_172514	ACTION: (pick-up b1) NEXT STATE: (holding b1) (on b3 b4) (clear b2) (on-table b2) (on-table b4) (clear b3)
GOAL: (on b4 b3) (clear b2) (arm-empty) (on b2 b1) (on b1 b4) (on-table b3)	GOAL: (on b4 b3) (clear b2) (arm-empty) (on b2 b1) (on b1 b4) (on-table b3) STATE: (holding b1) (on b3 b4) (clear b2) (on-table b2) (on-table b4) (clear b3)	[ [ "stack b1 b2" ], [ "unstack b3 b4" ], [ "put-down b3" ], [ "pick-up b4" ], [ "stack b4 b3" ], [ "unstack b1 b2" ], [ "stack b1 b4" ], [ "pick-up b2" ], [ "stack b2 b1" ] ]	[ "(on b3 b4) (arm-empty) (on-table b2) (on-table b4) (clear b3) (on b1 b2) (clear b1)", "(on-table b2) (clear b4) (on b1 b2) (on-table b4) (holding b3) (clear b1)", "(on-table b4) (arm-empty) (on-table b2) (clear b3) (clear b4) (on b1 b2) (on-table b3) (clear b1)", "(on-table b2) (holding b4) (clear b3) (on b1 b2) (clear b1) (on-table b3)", "(arm-empty) (on-table b2) (clear b4) (on b4 b3) (on b1 b2) (clear b1) (on-table b3)", "(on-table b2) (clear b4) (holding b1) (clear b2) (on b4 b3) (on-table b3)", "(clear b2) (arm-empty) (on-table b2) (on b4 b3) (on b1 b4) (clear b1) (on-table b3)", "(on b4 b3) (holding b2) (on b1 b4) (clear b1) (on-table b3)", "(on b4 b3) (clear b2) (arm-empty) (on b2 b1) (on b1 b4) (on-table b3)" ]	file_133528	ACTION: (stack b1 b2) NEXT STATE: (on b3 b4) (arm-empty) (on-table b2) (on-table b4) (clear b3) (on b1 b2) (clear b1) ACTION: (unstack b3 b4) NEXT STATE: (on-table b2) (clear b4) (on b1 b2) (on-table b4) (holding b3) (clear b1) ACTION: (put-down b3) NEXT STATE: (on-table b4) (arm-empty) (on-table b2) (clear b3) (clear b4) (on b1 b2) (on-table b3) (clear b1) ACTION: (pick-up b4) NEXT STATE: (on-table b2) (holding b4) (clear b3) (on b1 b2) (clear b1) (on-table b3) ACTION: (stack b4 b3) NEXT STATE: (arm-empty) (on-table b2) (clear b4) (on b4 b3) (on b1 b2) (clear b1) (on-table b3) ACTION: (unstack b1 b2) NEXT STATE: (on-table b2) (clear b4) (holding b1) (clear b2) (on b4 b3) (on-table b3) ACTION: (stack b1 b4) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on b4 b3) (on b1 b4) (clear b1) (on-table b3) ACTION: (pick-up b2) NEXT STATE: (on b4 b3) (holding b2) (on b1 b4) (clear b1) (on-table b3) ACTION: (stack b2 b1) NEXT STATE: (on b4 b3) (clear b2) (arm-empty) (on b2 b1) (on b1 b4) (on-table b3)
GOAL: (on b1 b5) (on b4 b1) (clear b4) (on b5 b3) (holding b2) (on-table b3)	GOAL: (on b1 b5) (on b4 b1) (clear b4) (on b5 b3) (holding b2) (on-table b3) STATE: (holding b1) (clear b4) (on b5 b3) (on b4 b2) (on b2 b5) (on-table b3)	[ [ "put-down b1" ], [ "unstack b4 b2" ], [ "put-down b4" ], [ "unstack b2 b5" ], [ "put-down b2" ], [ "pick-up b4" ], [ "stack b4 b2" ], [ "pick-up b1" ], [ "stack b1 b5" ], [ "unstack b4 b2" ], [ "stack b4 b1" ], [ "pick-up b2" ] ]	[ "(arm-empty) (clear b4) (on b5 b3) (on b2 b5) (on-table b1) (on b4 b2) (clear b1) (on-table b3)", "(clear b2) (on-table b1) (holding b4) (on b5 b3) (on b2 b5) (clear b1) (on-table b3)", "(arm-empty) (clear b4) (on b5 b3) (on b2 b5) (clear b2) (on-table b1) (on-table b4) (clear b1) (on-table b3)", "(on-table b1) (clear b4) (on b5 b3) (on-table b4) (holding b2) (clear b1) (on-table b3) (clear b5)", "(clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b3) (on-table b4) (clear b1) (on-table b3) (clear b5)", "(clear b2) (on-table b2) (on-table b1) (holding b4) (on b5 b3) (clear b1) (on-table b3) (clear b5)", "(arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b3) (on b4 b2) (clear b1) (on-table b3) (clear b5)", "(holding b1) (on-table b2) (clear b4) (on b5 b3) (on b4 b2) (on-table b3) (clear b5)", "(on b1 b5) (arm-empty) (on-table b2) (clear b4) (on b5 b3) (on b4 b2) (clear b1) (on-table b3)", "(on b1 b5) (clear b2) (on-table b2) (holding b4) (on b5 b3) (clear b1) (on-table b3)", "(on b1 b5) (clear b2) (on b4 b1) (arm-empty) (on-table b2) (clear b4) (on b5 b3) (on-table b3)", "(on b1 b5) (on b4 b1) (clear b4) (on b5 b3) (holding b2) (on-table b3)" ]	file_189690	ACTION: (put-down b1) NEXT STATE: (arm-empty) (clear b4) (on b5 b3) (on b2 b5) (on-table b1) (on b4 b2) (clear b1) (on-table b3) ACTION: (unstack b4 b2) NEXT STATE: (clear b2) (on-table b1) (holding b4) (on b5 b3) (on b2 b5) (clear b1) (on-table b3) ACTION: (put-down b4) NEXT STATE: (arm-empty) (clear b4) (on b5 b3) (on b2 b5) (clear b2) (on-table b1) (on-table b4) (clear b1) (on-table b3) ACTION: (unstack b2 b5) NEXT STATE: (on-table b1) (clear b4) (on b5 b3) (on-table b4) (holding b2) (clear b1) (on-table b3) (clear b5) ACTION: (put-down b2) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b3) (on-table b4) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b4) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (holding b4) (on b5 b3) (clear b1) (on-table b3) (clear b5) ACTION: (stack b4 b2) NEXT STATE: (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b3) (on b4 b2) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on-table b2) (clear b4) (on b5 b3) (on b4 b2) (on-table b3) (clear b5) ACTION: (stack b1 b5) NEXT STATE: (on b1 b5) (arm-empty) (on-table b2) (clear b4) (on b5 b3) (on b4 b2) (clear b1) (on-table b3) ACTION: (unstack b4 b2) NEXT STATE: (on b1 b5) (clear b2) (on-table b2) (holding b4) (on b5 b3) (clear b1) (on-table b3) ACTION: (stack b4 b1) NEXT STATE: (on b1 b5) (clear b2) (on b4 b1) (arm-empty) (on-table b2) (clear b4) (on b5 b3) (on-table b3) ACTION: (pick-up b2) NEXT STATE: (on b1 b5) (on b4 b1) (clear b4) (on b5 b3) (holding b2) (on-table b3)
GOAL: (clear b2) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (holding b3) (clear b5)	GOAL: (clear b2) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (holding b3) (clear b5) STATE: (holding b1) (on b3 b4) (on b5 b2) (on-table b4) (on b2 b3) (clear b5)	[ [ "put-down b1" ], [ "unstack b5 b2" ], [ "stack b5 b1" ], [ "unstack b2 b3" ], [ "stack b2 b5" ], [ "unstack b3 b4" ], [ "put-down b3" ], [ "unstack b2 b5" ], [ "put-down b2" ], [ "pick-up b3" ] ]	[ "(arm-empty) (on b5 b2) (clear b5) (on b3 b4) (on-table b1) (on-table b4) (on b2 b3) (clear b1)", "(on b3 b4) (clear b2) (on-table b1) (holding b5) (on-table b4) (on b2 b3) (clear b1)", "(on b3 b4) (clear b2) (arm-empty) (on-table b1) (on b5 b1) (on-table b4) (on b2 b3) (clear b5)", "(on b3 b4) (on-table b1) (on b5 b1) (on-table b4) (holding b2) (clear b3) (clear b5)", "(on b3 b4) (clear b2) (arm-empty) (on-table b1) (on b5 b1) (on-table b4) (on b2 b5) (clear b3)", "(clear b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (on b2 b5) (holding b3)", "(arm-empty) (clear b4) (on b2 b5) (clear b2) (on-table b1) (on b5 b1) (on-table b4) (clear b3) (on-table b3)", "(on-table b1) (clear b4) (on b5 b1) (on-table b4) (holding b2) (clear b3) (on-table b3) (clear b5)", "(clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (clear b3) (on-table b3) (clear b5)", "(clear b2) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (holding b3) (clear b5)" ]	file_207383	ACTION: (put-down b1) NEXT STATE: (arm-empty) (on b5 b2) (clear b5) (on b3 b4) (on-table b1) (on-table b4) (on b2 b3) (clear b1) ACTION: (unstack b5 b2) NEXT STATE: (on b3 b4) (clear b2) (on-table b1) (holding b5) (on-table b4) (on b2 b3) (clear b1) ACTION: (stack b5 b1) NEXT STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b1) (on b5 b1) (on-table b4) (on b2 b3) (clear b5) ACTION: (unstack b2 b3) NEXT STATE: (on b3 b4) (on-table b1) (on b5 b1) (on-table b4) (holding b2) (clear b3) (clear b5) ACTION: (stack b2 b5) NEXT STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b1) (on b5 b1) (on-table b4) (on b2 b5) (clear b3) ACTION: (unstack b3 b4) NEXT STATE: (clear b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (on b2 b5) (holding b3) ACTION: (put-down b3) NEXT STATE: (arm-empty) (clear b4) (on b2 b5) (clear b2) (on-table b1) (on b5 b1) (on-table b4) (clear b3) (on-table b3) ACTION: (unstack b2 b5) NEXT STATE: (on-table b1) (clear b4) (on b5 b1) (on-table b4) (holding b2) (clear b3) (on-table b3) (clear b5) ACTION: (put-down b2) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (clear b3) (on-table b3) (clear b5) ACTION: (pick-up b3) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (holding b3) (clear b5)
GOAL: (on b4 b2) (on b5 b1) (arm-empty) (on-table b1) (on b2 b5) (clear b3) (clear b4) (on-table b3)	GOAL: (on b4 b2) (on b5 b1) (arm-empty) (on-table b1) (on b2 b5) (clear b3) (clear b4) (on-table b3) STATE: (on-table b1) (clear b4) (on b5 b1) (on b4 b2) (on b2 b5) (holding b3)	[ [ "put-down b3" ] ]	[ "(on b4 b2) (on b5 b1) (arm-empty) (on-table b1) (on b2 b5) (clear b3) (clear b4) (on-table b3)" ]	file_170434	ACTION: (put-down b3) NEXT STATE: (on b4 b2) (on b5 b1) (arm-empty) (on-table b1) (on b2 b5) (clear b3) (clear b4) (on-table b3)
GOAL: (arm-empty) (on-table b2) (on-table b1) (on b3 b2) (clear b4) (on b5 b1) (on-table b4) (clear b3) (clear b5)	GOAL: (arm-empty) (on-table b2) (on-table b1) (on b3 b2) (clear b4) (on b5 b1) (on-table b4) (clear b3) (clear b5) STATE: (on b3 b4) (on-table b2) (on-table b1) (holding b5) (on b4 b2) (clear b3) (clear b1)	[ [ "stack b5 b1" ], [ "unstack b3 b4" ], [ "put-down b3" ], [ "unstack b4 b2" ], [ "put-down b4" ], [ "pick-up b3" ], [ "stack b3 b2" ] ]	[ "(on b3 b4) (arm-empty) (on-table b2) (on-table b1) (on b5 b1) (on b4 b2) (clear b3) (clear b5)", "(on-table b2) (on-table b1) (clear b4) (on b5 b1) (on b4 b2) (holding b3) (clear b5)", "(arm-empty) (on-table b2) (clear b4) (clear b5) (on-table b1) (on b5 b1) (on b4 b2) (clear b3) (on-table b3)", "(clear b2) (on-table b2) (on-table b1) (holding b4) (on b5 b1) (clear b3) (on-table b3) (clear b5)", "(clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (clear b3) (on-table b3) (clear b5)", "(clear b2) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (holding b3) (clear b5)", "(arm-empty) (on-table b2) (on-table b1) (on b3 b2) (clear b4) (on b5 b1) (on-table b4) (clear b3) (clear b5)" ]	file_94434	ACTION: (stack b5 b1) NEXT STATE: (on b3 b4) (arm-empty) (on-table b2) (on-table b1) (on b5 b1) (on b4 b2) (clear b3) (clear b5) ACTION: (unstack b3 b4) NEXT STATE: (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on b4 b2) (holding b3) (clear b5) ACTION: (put-down b3) NEXT STATE: (arm-empty) (on-table b2) (clear b4) (clear b5) (on-table b1) (on b5 b1) (on b4 b2) (clear b3) (on-table b3) ACTION: (unstack b4 b2) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (holding b4) (on b5 b1) (clear b3) (on-table b3) (clear b5) ACTION: (put-down b4) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (clear b3) (on-table b3) (clear b5) ACTION: (pick-up b3) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (holding b3) (clear b5) ACTION: (stack b3 b2) NEXT STATE: (arm-empty) (on-table b2) (on-table b1) (on b3 b2) (clear b4) (on b5 b1) (on-table b4) (clear b3) (clear b5)
GOAL: (on b1 b5) (on-table b2) (on-table b5) (holding b4) (on b3 b2) (clear b3) (clear b1)	GOAL: (on b1 b5) (on-table b2) (on-table b5) (holding b4) (on b3 b2) (clear b3) (clear b1) STATE: (on b1 b5) (clear b2) (on-table b5) (holding b4) (on b3 b1) (on b2 b3)	[ [ "put-down b4" ], [ "unstack b2 b3" ], [ "put-down b2" ], [ "unstack b3 b1" ], [ "stack b3 b2" ], [ "pick-up b4" ] ]	[ "(on b1 b5) (arm-empty) (on-table b5) (clear b4) (on b3 b1) (clear b2) (on-table b4) (on b2 b3)", "(on b1 b5) (on-table b5) (clear b4) (on-table b4) (holding b2) (on b3 b1) (clear b3)", "(on b1 b5) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b3 b1) (clear b2) (on-table b4) (clear b3)", "(on b1 b5) (clear b2) (on-table b2) (on-table b5) (clear b4) (on-table b4) (holding b3) (clear b1)", "(on b1 b5) (arm-empty) (on-table b2) (on-table b5) (on b3 b2) (clear b4) (on-table b4) (clear b3) (clear b1)", "(on b1 b5) (on-table b2) (on-table b5) (holding b4) (on b3 b2) (clear b3) (clear b1)" ]	file_157676	ACTION: (put-down b4) NEXT STATE: (on b1 b5) (arm-empty) (on-table b5) (clear b4) (on b3 b1) (clear b2) (on-table b4) (on b2 b3) ACTION: (unstack b2 b3) NEXT STATE: (on b1 b5) (on-table b5) (clear b4) (on-table b4) (holding b2) (on b3 b1) (clear b3) ACTION: (put-down b2) NEXT STATE: (on b1 b5) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b3 b1) (clear b2) (on-table b4) (clear b3) ACTION: (unstack b3 b1) NEXT STATE: (on b1 b5) (clear b2) (on-table b2) (on-table b5) (clear b4) (on-table b4) (holding b3) (clear b1) ACTION: (stack b3 b2) NEXT STATE: (on b1 b5) (arm-empty) (on-table b2) (on-table b5) (on b3 b2) (clear b4) (on-table b4) (clear b3) (clear b1) ACTION: (pick-up b4) NEXT STATE: (on b1 b5) (on-table b2) (on-table b5) (holding b4) (on b3 b2) (clear b3) (clear b1)
GOAL: (clear b2) (on-table b2) (on-table b1) (holding b4) (on b3 b1) (clear b3)	GOAL: (clear b2) (on-table b2) (on-table b1) (holding b4) (on b3 b1) (clear b3) STATE: (arm-empty) (on-table b2) (on b1 b4) (on b4 b2) (clear b3) (clear b1) (on-table b3)	[ [ "unstack b1 b4" ], [ "put-down b1" ], [ "unstack b4 b2" ], [ "put-down b4" ], [ "pick-up b3" ], [ "stack b3 b1" ], [ "pick-up b4" ] ]	[ "(on-table b2) (clear b4) (holding b1) (on b4 b2) (clear b3) (on-table b3)", "(arm-empty) (on-table b2) (clear b4) (on-table b1) (on b4 b2) (clear b3) (clear b1) (on-table b3)", "(clear b2) (on-table b2) (on-table b1) (holding b4) (clear b3) (clear b1) (on-table b3)", "(arm-empty) (on-table b2) (clear b4) (clear b2) (on-table b1) (on-table b4) (clear b3) (clear b1) (on-table b3)", "(clear b2) (on-table b2) (on-table b1) (clear b4) (on-table b4) (holding b3) (clear b1)", "(clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on-table b4) (on b3 b1) (clear b3)", "(clear b2) (on-table b2) (on-table b1) (holding b4) (on b3 b1) (clear b3)" ]	file_163903	ACTION: (unstack b1 b4) NEXT STATE: (on-table b2) (clear b4) (holding b1) (on b4 b2) (clear b3) (on-table b3) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on-table b2) (clear b4) (on-table b1) (on b4 b2) (clear b3) (clear b1) (on-table b3) ACTION: (unstack b4 b2) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (holding b4) (clear b3) (clear b1) (on-table b3) ACTION: (put-down b4) NEXT STATE: (arm-empty) (on-table b2) (clear b4) (clear b2) (on-table b1) (on-table b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b3) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (clear b4) (on-table b4) (holding b3) (clear b1) ACTION: (stack b3 b1) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on-table b4) (on b3 b1) (clear b3) ACTION: (pick-up b4) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (holding b4) (on b3 b1) (clear b3)
GOAL: (on-table b4) (arm-empty) (on-table b2) (clear b3) (clear b4) (on b1 b2) (on-table b3) (clear b1)	GOAL: (on-table b4) (arm-empty) (on-table b2) (clear b3) (clear b4) (on b1 b2) (on-table b3) (clear b1) STATE: (on-table b2) (holding b4) (on b3 b1) (clear b3) (on b1 b2)	[ [ "put-down b4" ], [ "unstack b3 b1" ], [ "put-down b3" ] ]	[ "(on b3 b1) (on-table b4) (arm-empty) (clear b4) (on-table b2) (clear b3) (on b1 b2)", "(on-table b2) (clear b4) (on b1 b2) (on-table b4) (holding b3) (clear b1)", "(on-table b4) (arm-empty) (on-table b2) (clear b3) (clear b4) (on b1 b2) (on-table b3) (clear b1)" ]	file_146116	ACTION: (put-down b4) NEXT STATE: (on b3 b1) (on-table b4) (arm-empty) (clear b4) (on-table b2) (clear b3) (on b1 b2) ACTION: (unstack b3 b1) NEXT STATE: (on-table b2) (clear b4) (on b1 b2) (on-table b4) (holding b3) (clear b1) ACTION: (put-down b3) NEXT STATE: (on-table b4) (arm-empty) (on-table b2) (clear b3) (clear b4) (on b1 b2) (on-table b3) (clear b1)
GOAL: (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b2 b5) (clear b3) (on b1 b2) (clear b1) (on-table b3)	GOAL: (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b2 b5) (clear b3) (on b1 b2) (clear b1) (on-table b3) STATE: (holding b1) (on-table b5) (clear b4) (on b4 b2) (on b2 b3) (on-table b3) (clear b5)	[ [ "put-down b1" ], [ "unstack b4 b2" ], [ "stack b4 b1" ], [ "unstack b2 b3" ], [ "stack b2 b5" ], [ "unstack b4 b1" ], [ "put-down b4" ], [ "pick-up b1" ], [ "stack b1 b2" ] ]	[ "(arm-empty) (on-table b5) (clear b4) (clear b5) (on-table b1) (on b4 b2) (on b2 b3) (clear b1) (on-table b3)", "(clear b2) (on-table b5) (on-table b1) (holding b4) (on b2 b3) (clear b1) (on-table b3) (clear b5)", "(clear b2) (on b4 b1) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on b2 b3) (on-table b3) (clear b5)", "(on b4 b1) (on-table b5) (on-table b1) (clear b4) (holding b2) (clear b3) (on-table b3) (clear b5)", "(clear b2) (on b4 b1) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on b2 b5) (clear b3) (on-table b3)", "(clear b2) (on-table b5) (on-table b1) (holding b4) (on b2 b5) (clear b3) (clear b1) (on-table b3)", "(clear b2) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b2 b5) (clear b3) (clear b1) (on-table b3)", "(holding b1) (clear b2) (on-table b5) (clear b4) (on-table b4) (on b2 b5) (clear b3) (on-table b3)", "(arm-empty) (on-table b5) (clear b4) (on-table b4) (on b2 b5) (clear b3) (on b1 b2) (clear b1) (on-table b3)" ]	file_37932	ACTION: (put-down b1) NEXT STATE: (arm-empty) (on-table b5) (clear b4) (clear b5) (on-table b1) (on b4 b2) (on b2 b3) (clear b1) (on-table b3) ACTION: (unstack b4 b2) NEXT STATE: (clear b2) (on-table b5) (on-table b1) (holding b4) (on b2 b3) (clear b1) (on-table b3) (clear b5) ACTION: (stack b4 b1) NEXT STATE: (clear b2) (on b4 b1) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on b2 b3) (on-table b3) (clear b5) ACTION: (unstack b2 b3) NEXT STATE: (on b4 b1) (on-table b5) (on-table b1) (clear b4) (holding b2) (clear b3) (on-table b3) (clear b5) ACTION: (stack b2 b5) NEXT STATE: (clear b2) (on b4 b1) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on b2 b5) (clear b3) (on-table b3) ACTION: (unstack b4 b1) NEXT STATE: (clear b2) (on-table b5) (on-table b1) (holding b4) (on b2 b5) (clear b3) (clear b1) (on-table b3) ACTION: (put-down b4) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b2 b5) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b1) NEXT STATE: (holding b1) (clear b2) (on-table b5) (clear b4) (on-table b4) (on b2 b5) (clear b3) (on-table b3) ACTION: (stack b1 b2) NEXT STATE: (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b2 b5) (clear b3) (on b1 b2) (clear b1) (on-table b3)
GOAL: (arm-empty) (on-table b2) (on b4 b5) (on b3 b2) (on b5 b3) (on b1 b4) (clear b1)	GOAL: (arm-empty) (on-table b2) (on b4 b5) (on b3 b2) (on b5 b3) (on b1 b4) (clear b1) STATE: (clear b2) (on b3 b5) (on-table b2) (holding b4) (on-table b1) (on b5 b1) (clear b3)	[ [ "put-down b4" ], [ "unstack b3 b5" ], [ "stack b3 b2" ], [ "unstack b5 b1" ], [ "stack b5 b3" ], [ "pick-up b4" ], [ "stack b4 b5" ], [ "pick-up b1" ], [ "stack b1 b4" ] ]	[ "(on b3 b5) (arm-empty) (on-table b2) (clear b4) (clear b2) (on-table b1) (on b5 b1) (on-table b4) (clear b3)", "(clear b2) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (holding b3) (clear b5)", "(arm-empty) (on-table b2) (on-table b1) (on b3 b2) (clear b4) (on b5 b1) (on-table b4) (clear b3) (clear b5)", "(on-table b2) (on-table b1) (on b3 b2) (clear b4) (holding b5) (on-table b4) (clear b3) (clear b1)", "(arm-empty) (on-table b2) (on-table b1) (on b3 b2) (clear b4) (on b5 b3) (on-table b4) (clear b1) (clear b5)", "(on-table b2) (on-table b1) (holding b4) (on b3 b2) (on b5 b3) (clear b1) (clear b5)", "(arm-empty) (on-table b2) (on b4 b5) (on-table b1) (on b3 b2) (clear b4) (on b5 b3) (clear b1)", "(holding b1) (on-table b2) (on b4 b5) (on b3 b2) (clear b4) (on b5 b3)", "(arm-empty) (on-table b2) (on b4 b5) (on b3 b2) (on b5 b3) (on b1 b4) (clear b1)" ]	file_184649	ACTION: (put-down b4) NEXT STATE: (on b3 b5) (arm-empty) (on-table b2) (clear b4) (clear b2) (on-table b1) (on b5 b1) (on-table b4) (clear b3) ACTION: (unstack b3 b5) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (holding b3) (clear b5) ACTION: (stack b3 b2) NEXT STATE: (arm-empty) (on-table b2) (on-table b1) (on b3 b2) (clear b4) (on b5 b1) (on-table b4) (clear b3) (clear b5) ACTION: (unstack b5 b1) NEXT STATE: (on-table b2) (on-table b1) (on b3 b2) (clear b4) (holding b5) (on-table b4) (clear b3) (clear b1) ACTION: (stack b5 b3) NEXT STATE: (arm-empty) (on-table b2) (on-table b1) (on b3 b2) (clear b4) (on b5 b3) (on-table b4) (clear b1) (clear b5) ACTION: (pick-up b4) NEXT STATE: (on-table b2) (on-table b1) (holding b4) (on b3 b2) (on b5 b3) (clear b1) (clear b5) ACTION: (stack b4 b5) NEXT STATE: (arm-empty) (on-table b2) (on b4 b5) (on-table b1) (on b3 b2) (clear b4) (on b5 b3) (clear b1) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on-table b2) (on b4 b5) (on b3 b2) (clear b4) (on b5 b3) ACTION: (stack b1 b4) NEXT STATE: (arm-empty) (on-table b2) (on b4 b5) (on b3 b2) (on b5 b3) (on b1 b4) (clear b1)
GOAL: (on b3 b5) (clear b2) (arm-empty) (on-table b1) (on b4 b3) (on b5 b1) (on b2 b4)	GOAL: (on b3 b5) (clear b2) (arm-empty) (on-table b1) (on b4 b3) (on b5 b1) (on b2 b4) STATE: (on-table b2) (on b5 b1) (on b1 b4) (on b4 b2) (holding b3) (clear b5)	[ [ "put-down b3" ], [ "unstack b5 b1" ], [ "put-down b5" ], [ "unstack b1 b4" ], [ "put-down b1" ], [ "pick-up b5" ], [ "stack b5 b1" ], [ "pick-up b3" ], [ "stack b3 b5" ], [ "unstack b4 b2" ], [ "stack b4 b3" ], [ "pick-up b2" ], [ "stack b2 b4" ] ]	[ "(arm-empty) (on-table b2) (clear b5) (on b5 b1) (on b1 b4) (on b4 b2) (clear b3) (on-table b3)", "(on-table b2) (holding b5) (on b1 b4) (on b4 b2) (clear b3) (clear b1) (on-table b3)", "(arm-empty) (on-table b2) (on-table b5) (clear b5) (on b1 b4) (on b4 b2) (clear b3) (clear b1) (on-table b3)", "(holding b1) (on-table b2) (on-table b5) (clear b4) (on b4 b2) (clear b3) (on-table b3) (clear b5)", "(arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on b4 b2) (clear b3) (clear b1) (on-table b3) (clear b5)", "(on-table b2) (on-table b1) (clear b4) (holding b5) (on b4 b2) (clear b3) (clear b1) (on-table b3)", "(arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on b4 b2) (clear b3) (on-table b3) (clear b5)", "(on-table b2) (on-table b1) (clear b4) (on b5 b1) (on b4 b2) (holding b3) (clear b5)", "(on b3 b5) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on b4 b2) (clear b3)", "(on b3 b5) (clear b2) (on-table b2) (on-table b1) (holding b4) (on b5 b1) (clear b3)", "(on b3 b5) (arm-empty) (on-table b2) (clear b4) (clear b2) (on-table b1) (on b4 b3) (on b5 b1)", "(on b3 b5) (on-table b1) (clear b4) (on b4 b3) (on b5 b1) (holding b2)", "(on b3 b5) (clear b2) (arm-empty) (on-table b1) (on b4 b3) (on b5 b1) (on b2 b4)" ]	file_145629	ACTION: (put-down b3) NEXT STATE: (arm-empty) (on-table b2) (clear b5) (on b5 b1) (on b1 b4) (on b4 b2) (clear b3) (on-table b3) ACTION: (unstack b5 b1) NEXT STATE: (on-table b2) (holding b5) (on b1 b4) (on b4 b2) (clear b3) (clear b1) (on-table b3) ACTION: (put-down b5) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (clear b5) (on b1 b4) (on b4 b2) (clear b3) (clear b1) (on-table b3) ACTION: (unstack b1 b4) NEXT STATE: (holding b1) (on-table b2) (on-table b5) (clear b4) (on b4 b2) (clear b3) (on-table b3) (clear b5) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on b4 b2) (clear b3) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b5) NEXT STATE: (on-table b2) (on-table b1) (clear b4) (holding b5) (on b4 b2) (clear b3) (clear b1) (on-table b3) ACTION: (stack b5 b1) NEXT STATE: (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on b4 b2) (clear b3) (on-table b3) (clear b5) ACTION: (pick-up b3) NEXT STATE: (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on b4 b2) (holding b3) (clear b5) ACTION: (stack b3 b5) NEXT STATE: (on b3 b5) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on b4 b2) (clear b3) ACTION: (unstack b4 b2) NEXT STATE: (on b3 b5) (clear b2) (on-table b2) (on-table b1) (holding b4) (on b5 b1) (clear b3) ACTION: (stack b4 b3) NEXT STATE: (on b3 b5) (arm-empty) (on-table b2) (clear b4) (clear b2) (on-table b1) (on b4 b3) (on b5 b1) ACTION: (pick-up b2) NEXT STATE: (on b3 b5) (on-table b1) (clear b4) (on b4 b3) (on b5 b1) (holding b2) ACTION: (stack b2 b4) NEXT STATE: (on b3 b5) (clear b2) (arm-empty) (on-table b1) (on b4 b3) (on b5 b1) (on b2 b4)
GOAL: (on b3 b4) (on b1 b5) (arm-empty) (on-table b2) (on-table b5) (on b4 b2) (clear b3) (clear b1)	GOAL: (on b3 b4) (on b1 b5) (arm-empty) (on-table b2) (on-table b5) (on b4 b2) (clear b3) (clear b1) STATE: (on b3 b4) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (on b4 b2) (clear b3) (clear b1) (clear b5)	[ [ "pick-up b1" ], [ "stack b1 b5" ] ]	[ "(holding b1) (on b3 b4) (on-table b2) (on-table b5) (on b4 b2) (clear b3) (clear b5)", "(on b3 b4) (on b1 b5) (arm-empty) (on-table b2) (on-table b5) (on b4 b2) (clear b3) (clear b1)" ]	file_221184	ACTION: (pick-up b1) NEXT STATE: (holding b1) (on b3 b4) (on-table b2) (on-table b5) (on b4 b2) (clear b3) (clear b5) ACTION: (stack b1 b5) NEXT STATE: (on b3 b4) (on b1 b5) (arm-empty) (on-table b2) (on-table b5) (on b4 b2) (clear b3) (clear b1)
GOAL: (on b4 b3) (on b3 b1) (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4)	GOAL: (on b4 b3) (on b3 b1) (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) STATE: (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on-table b4) (clear b3) (clear b1) (on-table b3)	[ [ "pick-up b2" ], [ "stack b2 b4" ], [ "pick-up b3" ], [ "stack b3 b1" ], [ "unstack b2 b4" ], [ "put-down b2" ], [ "pick-up b4" ], [ "stack b4 b3" ] ]	[ "(on-table b1) (clear b4) (on-table b4) (holding b2) (clear b3) (clear b1) (on-table b3)", "(clear b2) (arm-empty) (on-table b1) (on-table b4) (on b2 b4) (clear b3) (clear b1) (on-table b3)", "(clear b2) (on-table b1) (on-table b4) (on b2 b4) (holding b3) (clear b1)", "(clear b2) (arm-empty) (on-table b1) (on b2 b4) (on-table b4) (on b3 b1) (clear b3)", "(clear b4) (on b3 b1) (on-table b1) (on-table b4) (holding b2) (clear b3)", "(arm-empty) (on-table b2) (clear b4) (on b3 b1) (clear b2) (on-table b1) (on-table b4) (clear b3)", "(clear b2) (on-table b2) (on-table b1) (holding b4) (on b3 b1) (clear b3)", "(on b4 b3) (on b3 b1) (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4)" ]	file_65827	ACTION: (pick-up b2) NEXT STATE: (on-table b1) (clear b4) (on-table b4) (holding b2) (clear b3) (clear b1) (on-table b3) ACTION: (stack b2 b4) NEXT STATE: (clear b2) (arm-empty) (on-table b1) (on-table b4) (on b2 b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b3) NEXT STATE: (clear b2) (on-table b1) (on-table b4) (on b2 b4) (holding b3) (clear b1) ACTION: (stack b3 b1) NEXT STATE: (clear b2) (arm-empty) (on-table b1) (on b2 b4) (on-table b4) (on b3 b1) (clear b3) ACTION: (unstack b2 b4) NEXT STATE: (clear b4) (on b3 b1) (on-table b1) (on-table b4) (holding b2) (clear b3) ACTION: (put-down b2) NEXT STATE: (arm-empty) (on-table b2) (clear b4) (on b3 b1) (clear b2) (on-table b1) (on-table b4) (clear b3) ACTION: (pick-up b4) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (holding b4) (on b3 b1) (clear b3) ACTION: (stack b4 b3) NEXT STATE: (on b4 b3) (on b3 b1) (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4)
GOAL: (holding b1) (on b3 b5) (on b5 b4) (on-table b2) (on b4 b2) (clear b3)	GOAL: (holding b1) (on b3 b5) (on b5 b4) (on-table b2) (on b4 b2) (clear b3) STATE: (on b1 b5) (on-table b5) (clear b4) (on-table b4) (holding b2) (on b3 b1) (clear b3)	[ [ "put-down b2" ], [ "pick-up b4" ], [ "stack b4 b2" ], [ "unstack b3 b1" ], [ "stack b3 b4" ], [ "unstack b1 b5" ], [ "put-down b1" ], [ "unstack b3 b4" ], [ "stack b3 b1" ], [ "pick-up b5" ], [ "stack b5 b4" ], [ "unstack b3 b1" ], [ "stack b3 b5" ], [ "pick-up b1" ] ]	[ "(on b1 b5) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b3 b1) (clear b2) (on-table b4) (clear b3)", "(on b1 b5) (clear b2) (on-table b2) (on-table b5) (holding b4) (on b3 b1) (clear b3)", "(on b1 b5) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b3 b1) (on b4 b2) (clear b3)", "(on b1 b5) (on-table b2) (on-table b5) (on b4 b2) (clear b4) (holding b3) (clear b1)", "(on b1 b5) (on b3 b4) (arm-empty) (on-table b2) (on-table b5) (on b4 b2) (clear b3) (clear b1)", "(holding b1) (on b3 b4) (on-table b2) (on-table b5) (on b4 b2) (clear b3) (clear b5)", "(arm-empty) (on-table b2) (on-table b5) (clear b5) (on b3 b4) (on-table b1) (on b4 b2) (clear b3) (clear b1)", "(on-table b2) (on-table b5) (on-table b1) (clear b4) (on b4 b2) (holding b3) (clear b1) (clear b5)", "(arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on b3 b1) (on b4 b2) (clear b3) (clear b5)", "(on-table b2) (on-table b1) (on b4 b2) (clear b4) (holding b5) (on b3 b1) (clear b3)", "(arm-empty) (on b5 b4) (on-table b2) (on-table b1) (on b3 b1) (on b4 b2) (clear b3) (clear b5)", "(on b5 b4) (on-table b2) (on-table b1) (on b4 b2) (holding b3) (clear b1) (clear b5)", "(on b3 b5) (arm-empty) (on b5 b4) (on-table b2) (on-table b1) (on b4 b2) (clear b3) (clear b1)", "(holding b1) (on b3 b5) (on b5 b4) (on-table b2) (on b4 b2) (clear b3)" ]	file_210227	ACTION: (put-down b2) NEXT STATE: (on b1 b5) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b3 b1) (clear b2) (on-table b4) (clear b3) ACTION: (pick-up b4) NEXT STATE: (on b1 b5) (clear b2) (on-table b2) (on-table b5) (holding b4) (on b3 b1) (clear b3) ACTION: (stack b4 b2) NEXT STATE: (on b1 b5) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b3 b1) (on b4 b2) (clear b3) ACTION: (unstack b3 b1) NEXT STATE: (on b1 b5) (on-table b2) (on-table b5) (on b4 b2) (clear b4) (holding b3) (clear b1) ACTION: (stack b3 b4) NEXT STATE: (on b1 b5) (on b3 b4) (arm-empty) (on-table b2) (on-table b5) (on b4 b2) (clear b3) (clear b1) ACTION: (unstack b1 b5) NEXT STATE: (holding b1) (on b3 b4) (on-table b2) (on-table b5) (on b4 b2) (clear b3) (clear b5) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (clear b5) (on b3 b4) (on-table b1) (on b4 b2) (clear b3) (clear b1) ACTION: (unstack b3 b4) NEXT STATE: (on-table b2) (on-table b5) (on-table b1) (clear b4) (on b4 b2) (holding b3) (clear b1) (clear b5) ACTION: (stack b3 b1) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on b3 b1) (on b4 b2) (clear b3) (clear b5) ACTION: (pick-up b5) NEXT STATE: (on-table b2) (on-table b1) (on b4 b2) (clear b4) (holding b5) (on b3 b1) (clear b3) ACTION: (stack b5 b4) NEXT STATE: (arm-empty) (on b5 b4) (on-table b2) (on-table b1) (on b3 b1) (on b4 b2) (clear b3) (clear b5) ACTION: (unstack b3 b1) NEXT STATE: (on b5 b4) (on-table b2) (on-table b1) (on b4 b2) (holding b3) (clear b1) (clear b5) ACTION: (stack b3 b5) NEXT STATE: (on b3 b5) (arm-empty) (on b5 b4) (on-table b2) (on-table b1) (on b4 b2) (clear b3) (clear b1) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on b3 b5) (on b5 b4) (on-table b2) (on b4 b2) (clear b3)
GOAL: (on b3 b5) (arm-empty) (on b5 b4) (on-table b1) (on b4 b2) (on b2 b1) (clear b3)	GOAL: (on b3 b5) (arm-empty) (on b5 b4) (on-table b1) (on b4 b2) (on b2 b1) (clear b3) STATE: (on b3 b5) (on b5 b4) (on-table b1) (on-table b4) (holding b2) (clear b3) (clear b1)	[ [ "stack b2 b1" ], [ "unstack b3 b5" ], [ "stack b3 b2" ], [ "unstack b5 b4" ], [ "put-down b5" ], [ "unstack b3 b2" ], [ "put-down b3" ], [ "pick-up b4" ], [ "stack b4 b2" ], [ "pick-up b5" ], [ "stack b5 b4" ], [ "pick-up b3" ], [ "stack b3 b5" ] ]	[ "(on b3 b5) (clear b2) (on b5 b4) (arm-empty) (on-table b1) (on-table b4) (on b2 b1) (clear b3)", "(clear b2) (on b5 b4) (on-table b1) (on-table b4) (on b2 b1) (holding b3) (clear b5)", "(arm-empty) (on b5 b4) (on-table b1) (on b3 b2) (on-table b4) (on b2 b1) (clear b3) (clear b5)", "(on-table b1) (on b3 b2) (clear b4) (holding b5) (on-table b4) (on b2 b1) (clear b3)", "(arm-empty) (on-table b5) (clear b4) (on b2 b1) (clear b5) (on-table b1) (on b3 b2) (on-table b4) (clear b3)", "(clear b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b2 b1) (holding b3) (clear b5)", "(clear b2) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b2 b1) (clear b3) (on-table b3) (clear b5)", "(clear b2) (on-table b5) (on-table b1) (holding b4) (on b2 b1) (clear b3) (on-table b3) (clear b5)", "(arm-empty) (on-table b5) (on-table b1) (clear b4) (on b4 b2) (on b2 b1) (clear b3) (on-table b3) (clear b5)", "(on-table b1) (clear b4) (holding b5) (on b4 b2) (on b2 b1) (clear b3) (on-table b3)", "(arm-empty) (on b5 b4) (on-table b1) (on b4 b2) (on b2 b1) (clear b3) (on-table b3) (clear b5)", "(on b5 b4) (on-table b1) (on b4 b2) (on b2 b1) (holding b3) (clear b5)", "(on b3 b5) (arm-empty) (on b5 b4) (on-table b1) (on b4 b2) (on b2 b1) (clear b3)" ]	file_155458	ACTION: (stack b2 b1) NEXT STATE: (on b3 b5) (clear b2) (on b5 b4) (arm-empty) (on-table b1) (on-table b4) (on b2 b1) (clear b3) ACTION: (unstack b3 b5) NEXT STATE: (clear b2) (on b5 b4) (on-table b1) (on-table b4) (on b2 b1) (holding b3) (clear b5) ACTION: (stack b3 b2) NEXT STATE: (arm-empty) (on b5 b4) (on-table b1) (on b3 b2) (on-table b4) (on b2 b1) (clear b3) (clear b5) ACTION: (unstack b5 b4) NEXT STATE: (on-table b1) (on b3 b2) (clear b4) (holding b5) (on-table b4) (on b2 b1) (clear b3) ACTION: (put-down b5) NEXT STATE: (arm-empty) (on-table b5) (clear b4) (on b2 b1) (clear b5) (on-table b1) (on b3 b2) (on-table b4) (clear b3) ACTION: (unstack b3 b2) NEXT STATE: (clear b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b2 b1) (holding b3) (clear b5) ACTION: (put-down b3) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b2 b1) (clear b3) (on-table b3) (clear b5) ACTION: (pick-up b4) NEXT STATE: (clear b2) (on-table b5) (on-table b1) (holding b4) (on b2 b1) (clear b3) (on-table b3) (clear b5) ACTION: (stack b4 b2) NEXT STATE: (arm-empty) (on-table b5) (on-table b1) (clear b4) (on b4 b2) (on b2 b1) (clear b3) (on-table b3) (clear b5) ACTION: (pick-up b5) NEXT STATE: (on-table b1) (clear b4) (holding b5) (on b4 b2) (on b2 b1) (clear b3) (on-table b3) ACTION: (stack b5 b4) NEXT STATE: (arm-empty) (on b5 b4) (on-table b1) (on b4 b2) (on b2 b1) (clear b3) (on-table b3) (clear b5) ACTION: (pick-up b3) NEXT STATE: (on b5 b4) (on-table b1) (on b4 b2) (on b2 b1) (holding b3) (clear b5) ACTION: (stack b3 b5) NEXT STATE: (on b3 b5) (arm-empty) (on b5 b4) (on-table b1) (on b4 b2) (on b2 b1) (clear b3)
GOAL: (arm-empty) (on-table b5) (clear b4) (on b1 b2) (clear b5) (on-table b4) (on b2 b3) (clear b1) (on-table b3)	GOAL: (arm-empty) (on-table b5) (clear b4) (on b1 b2) (clear b5) (on-table b4) (on b2 b3) (clear b1) (on-table b3) STATE: (clear b2) (on-table b2) (on-table b5) (on-table b1) (on b4 b5) (clear b4) (holding b3) (clear b1)	[ [ "put-down b3" ], [ "pick-up b2" ], [ "stack b2 b3" ], [ "pick-up b1" ], [ "stack b1 b2" ], [ "unstack b4 b5" ], [ "put-down b4" ] ]	[ "(clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (on b4 b5) (clear b4) (clear b3) (clear b1) (on-table b3)", "(on-table b5) (on-table b1) (on b4 b5) (clear b4) (holding b2) (clear b3) (clear b1) (on-table b3)", "(clear b2) (arm-empty) (on-table b5) (on-table b1) (on b4 b5) (clear b4) (on b2 b3) (clear b1) (on-table b3)", "(holding b1) (clear b2) (on-table b5) (on b4 b5) (clear b4) (on b2 b3) (on-table b3)", "(arm-empty) (on-table b5) (on b4 b5) (clear b4) (on b2 b3) (on b1 b2) (on-table b3) (clear b1)", "(on-table b5) (holding b4) (clear b5) (on b2 b3) (on b1 b2) (on-table b3) (clear b1)", "(arm-empty) (on-table b5) (clear b4) (on b1 b2) (clear b5) (on-table b4) (on b2 b3) (clear b1) (on-table b3)" ]	file_149552	ACTION: (put-down b3) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (on b4 b5) (clear b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b2) NEXT STATE: (on-table b5) (on-table b1) (on b4 b5) (clear b4) (holding b2) (clear b3) (clear b1) (on-table b3) ACTION: (stack b2 b3) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on-table b1) (on b4 b5) (clear b4) (on b2 b3) (clear b1) (on-table b3) ACTION: (pick-up b1) NEXT STATE: (holding b1) (clear b2) (on-table b5) (on b4 b5) (clear b4) (on b2 b3) (on-table b3) ACTION: (stack b1 b2) NEXT STATE: (arm-empty) (on-table b5) (on b4 b5) (clear b4) (on b2 b3) (on b1 b2) (on-table b3) (clear b1) ACTION: (unstack b4 b5) NEXT STATE: (on-table b5) (holding b4) (clear b5) (on b2 b3) (on b1 b2) (on-table b3) (clear b1) ACTION: (put-down b4) NEXT STATE: (arm-empty) (on-table b5) (clear b4) (on b1 b2) (clear b5) (on-table b4) (on b2 b3) (clear b1) (on-table b3)
GOAL: (arm-empty) (on-table b2) (on-table b1) (on b5 b2) (clear b4) (on b4 b3) (clear b1) (on-table b3) (clear b5)	GOAL: (arm-empty) (on-table b2) (on-table b1) (on b5 b2) (clear b4) (on b4 b3) (clear b1) (on-table b3) (clear b5) STATE: (on b3 b5) (on b1 b3) (on-table b2) (holding b4) (on b5 b2) (clear b1)	[ [ "put-down b4" ], [ "unstack b1 b3" ], [ "put-down b1" ], [ "pick-up b4" ], [ "stack b4 b1" ], [ "unstack b3 b5" ], [ "put-down b3" ], [ "unstack b4 b1" ], [ "stack b4 b3" ] ]	[ "(on b3 b5) (on b1 b3) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b1)", "(holding b1) (on b3 b5) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b3)", "(on b3 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on-table b1) (on-table b4) (clear b3) (clear b1)", "(on b3 b5) (on-table b2) (on-table b1) (holding b4) (on b5 b2) (clear b3) (clear b1)", "(on b3 b5) (on b4 b1) (arm-empty) (on-table b2) (on-table b1) (on b5 b2) (clear b4) (clear b3)", "(on b4 b1) (on-table b2) (on-table b1) (on b5 b2) (clear b4) (holding b3) (clear b5)", "(on b4 b1) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (clear b5) (on-table b1) (clear b3) (on-table b3)", "(on-table b2) (on-table b1) (holding b4) (on b5 b2) (clear b3) (clear b1) (on-table b3) (clear b5)", "(arm-empty) (on-table b2) (on-table b1) (on b5 b2) (clear b4) (on b4 b3) (clear b1) (on-table b3) (clear b5)" ]	file_174214	ACTION: (put-down b4) NEXT STATE: (on b3 b5) (on b1 b3) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b1) ACTION: (unstack b1 b3) NEXT STATE: (holding b1) (on b3 b5) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b3) ACTION: (put-down b1) NEXT STATE: (on b3 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on-table b1) (on-table b4) (clear b3) (clear b1) ACTION: (pick-up b4) NEXT STATE: (on b3 b5) (on-table b2) (on-table b1) (holding b4) (on b5 b2) (clear b3) (clear b1) ACTION: (stack b4 b1) NEXT STATE: (on b3 b5) (on b4 b1) (arm-empty) (on-table b2) (on-table b1) (on b5 b2) (clear b4) (clear b3) ACTION: (unstack b3 b5) NEXT STATE: (on b4 b1) (on-table b2) (on-table b1) (on b5 b2) (clear b4) (holding b3) (clear b5) ACTION: (put-down b3) NEXT STATE: (on b4 b1) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (clear b5) (on-table b1) (clear b3) (on-table b3) ACTION: (unstack b4 b1) NEXT STATE: (on-table b2) (on-table b1) (holding b4) (on b5 b2) (clear b3) (clear b1) (on-table b3) (clear b5) ACTION: (stack b4 b3) NEXT STATE: (arm-empty) (on-table b2) (on-table b1) (on b5 b2) (clear b4) (on b4 b3) (clear b1) (on-table b3) (clear b5)
GOAL: (on b3 b4) (clear b2) (arm-empty) (on-table b5) (on-table b1) (on-table b4) (on b2 b3) (clear b1) (clear b5)	GOAL: (on b3 b4) (clear b2) (arm-empty) (on-table b5) (on-table b1) (on-table b4) (on b2 b3) (clear b1) (clear b5) STATE: (on b3 b4) (on b1 b3) (on-table b5) (on-table b4) (holding b2) (clear b1) (clear b5)	[ [ "stack b2 b5" ], [ "unstack b1 b3" ], [ "put-down b1" ], [ "unstack b2 b5" ], [ "stack b2 b3" ] ]	[ "(on b3 b4) (clear b2) (on b1 b3) (arm-empty) (on-table b5) (on-table b4) (on b2 b5) (clear b1)", "(holding b1) (on b3 b4) (clear b2) (on-table b5) (on-table b4) (on b2 b5) (clear b3)", "(arm-empty) (on-table b5) (on b2 b5) (on b3 b4) (clear b2) (on-table b1) (on-table b4) (clear b3) (clear b1)", "(on b3 b4) (on-table b5) (on-table b1) (on-table b4) (holding b2) (clear b3) (clear b1) (clear b5)", "(on b3 b4) (clear b2) (arm-empty) (on-table b5) (on-table b1) (on-table b4) (on b2 b3) (clear b1) (clear b5)" ]	file_39875	ACTION: (stack b2 b5) NEXT STATE: (on b3 b4) (clear b2) (on b1 b3) (arm-empty) (on-table b5) (on-table b4) (on b2 b5) (clear b1) ACTION: (unstack b1 b3) NEXT STATE: (holding b1) (on b3 b4) (clear b2) (on-table b5) (on-table b4) (on b2 b5) (clear b3) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on-table b5) (on b2 b5) (on b3 b4) (clear b2) (on-table b1) (on-table b4) (clear b3) (clear b1) ACTION: (unstack b2 b5) NEXT STATE: (on b3 b4) (on-table b5) (on-table b1) (on-table b4) (holding b2) (clear b3) (clear b1) (clear b5) ACTION: (stack b2 b3) NEXT STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b5) (on-table b1) (on-table b4) (on b2 b3) (clear b1) (clear b5)
GOAL: (on-table b5) (on b4 b5) (holding b2) (on b1 b4) (clear b3) (clear b1) (on-table b3)	GOAL: (on-table b5) (on b4 b5) (holding b2) (on b1 b4) (clear b3) (clear b1) (on-table b3) STATE: (clear b2) (on-table b2) (on-table b5) (on b4 b5) (on b1 b4) (holding b3) (clear b1)	[ [ "put-down b3" ], [ "pick-up b2" ] ]	[ "(arm-empty) (on-table b2) (on-table b5) (on b4 b5) (clear b2) (on b1 b4) (clear b3) (clear b1) (on-table b3)", "(on-table b5) (on b4 b5) (holding b2) (on b1 b4) (clear b3) (clear b1) (on-table b3)" ]	file_152419	ACTION: (put-down b3) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (on b4 b5) (clear b2) (on b1 b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b2) NEXT STATE: (on-table b5) (on b4 b5) (holding b2) (on b1 b4) (clear b3) (clear b1) (on-table b3)
GOAL: (holding b1) (on b3 b4) (on-table b2) (on b5 b3) (on b4 b2) (clear b5)	GOAL: (holding b1) (on b3 b4) (on-table b2) (on b5 b3) (on b4 b2) (clear b5) STATE: (on-table b1) (clear b4) (on b5 b1) (on-table b4) (holding b2) (clear b3) (on-table b3) (clear b5)	[ [ "put-down b2" ], [ "pick-up b3" ], [ "stack b3 b5" ], [ "pick-up b4" ], [ "stack b4 b2" ], [ "unstack b3 b5" ], [ "stack b3 b4" ], [ "unstack b5 b1" ], [ "stack b5 b3" ], [ "pick-up b1" ] ]	[ "(clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (clear b3) (on-table b3) (clear b5)", "(clear b2) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (holding b3) (clear b5)", "(clear b2) (on b3 b5) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (clear b3)", "(clear b2) (on b3 b5) (on-table b2) (on-table b1) (holding b4) (on b5 b1) (clear b3)", "(on b3 b5) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on b4 b2) (clear b3)", "(on-table b2) (on-table b1) (clear b4) (on b5 b1) (on b4 b2) (holding b3) (clear b5)", "(on b3 b4) (arm-empty) (on-table b2) (on-table b1) (on b5 b1) (on b4 b2) (clear b3) (clear b5)", "(on b3 b4) (on-table b2) (on-table b1) (holding b5) (on b4 b2) (clear b3) (clear b1)", "(on b3 b4) (arm-empty) (on-table b2) (on-table b1) (on b5 b3) (on b4 b2) (clear b1) (clear b5)", "(holding b1) (on b3 b4) (on-table b2) (on b5 b3) (on b4 b2) (clear b5)" ]	file_210416	ACTION: (put-down b2) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (clear b3) (on-table b3) (clear b5) ACTION: (pick-up b3) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (holding b3) (clear b5) ACTION: (stack b3 b5) NEXT STATE: (clear b2) (on b3 b5) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (clear b3) ACTION: (pick-up b4) NEXT STATE: (clear b2) (on b3 b5) (on-table b2) (on-table b1) (holding b4) (on b5 b1) (clear b3) ACTION: (stack b4 b2) NEXT STATE: (on b3 b5) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on b4 b2) (clear b3) ACTION: (unstack b3 b5) NEXT STATE: (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on b4 b2) (holding b3) (clear b5) ACTION: (stack b3 b4) NEXT STATE: (on b3 b4) (arm-empty) (on-table b2) (on-table b1) (on b5 b1) (on b4 b2) (clear b3) (clear b5) ACTION: (unstack b5 b1) NEXT STATE: (on b3 b4) (on-table b2) (on-table b1) (holding b5) (on b4 b2) (clear b3) (clear b1) ACTION: (stack b5 b3) NEXT STATE: (on b3 b4) (arm-empty) (on-table b2) (on-table b1) (on b5 b3) (on b4 b2) (clear b1) (clear b5) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on b3 b4) (on-table b2) (on b5 b3) (on b4 b2) (clear b5)
GOAL: (on b1 b5) (clear b2) (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b2 b3) (clear b1) (on-table b3)	GOAL: (on b1 b5) (clear b2) (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b2 b3) (clear b1) (on-table b3) STATE: (on b1 b5) (clear b2) (on b4 b1) (on-table b2) (on-table b5) (clear b4) (holding b3)	[ [ "put-down b3" ], [ "unstack b4 b1" ], [ "put-down b4" ], [ "pick-up b2" ], [ "stack b2 b3" ] ]	[ "(on b1 b5) (on b4 b1) (arm-empty) (on-table b2) (on-table b5) (clear b4) (clear b2) (clear b3) (on-table b3)", "(on b1 b5) (clear b2) (on-table b2) (on-table b5) (holding b4) (clear b3) (clear b1) (on-table b3)", "(on b1 b5) (clear b2) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b3) (clear b1) (on-table b3)", "(on b1 b5) (on-table b5) (clear b4) (on-table b4) (holding b2) (clear b3) (clear b1) (on-table b3)", "(on b1 b5) (clear b2) (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b2 b3) (clear b1) (on-table b3)" ]	file_206128	ACTION: (put-down b3) NEXT STATE: (on b1 b5) (on b4 b1) (arm-empty) (on-table b2) (on-table b5) (clear b4) (clear b2) (clear b3) (on-table b3) ACTION: (unstack b4 b1) NEXT STATE: (on b1 b5) (clear b2) (on-table b2) (on-table b5) (holding b4) (clear b3) (clear b1) (on-table b3) ACTION: (put-down b4) NEXT STATE: (on b1 b5) (clear b2) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b2) NEXT STATE: (on b1 b5) (on-table b5) (clear b4) (on-table b4) (holding b2) (clear b3) (clear b1) (on-table b3) ACTION: (stack b2 b3) NEXT STATE: (on b1 b5) (clear b2) (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b2 b3) (clear b1) (on-table b3)
GOAL: (clear b2) (on-table b1) (holding b4) (on b5 b1) (on b2 b5) (clear b3) (on-table b3)	GOAL: (clear b2) (on-table b1) (holding b4) (on b5 b1) (on b2 b5) (clear b3) (on-table b3) STATE: (clear b2) (on-table b1) (on b4 b3) (holding b5) (on b2 b4) (clear b1) (on-table b3)	[ [ "stack b5 b1" ], [ "unstack b2 b4" ], [ "stack b2 b5" ], [ "unstack b4 b3" ] ]	[ "(on b4 b3) (on b5 b1) (clear b2) (arm-empty) (on-table b1) (on b2 b4) (on-table b3) (clear b5)", "(on-table b1) (clear b4) (on b4 b3) (on b5 b1) (holding b2) (on-table b3) (clear b5)", "(clear b2) (arm-empty) (on-table b1) (clear b4) (on b4 b3) (on b5 b1) (on b2 b5) (on-table b3)", "(clear b2) (on-table b1) (holding b4) (on b5 b1) (on b2 b5) (clear b3) (on-table b3)" ]	file_48339	ACTION: (stack b5 b1) NEXT STATE: (on b4 b3) (on b5 b1) (clear b2) (arm-empty) (on-table b1) (on b2 b4) (on-table b3) (clear b5) ACTION: (unstack b2 b4) NEXT STATE: (on-table b1) (clear b4) (on b4 b3) (on b5 b1) (holding b2) (on-table b3) (clear b5) ACTION: (stack b2 b5) NEXT STATE: (clear b2) (arm-empty) (on-table b1) (clear b4) (on b4 b3) (on b5 b1) (on b2 b5) (on-table b3) ACTION: (unstack b4 b3) NEXT STATE: (clear b2) (on-table b1) (holding b4) (on b5 b1) (on b2 b5) (clear b3) (on-table b3)
GOAL: (clear b2) (arm-empty) (on-table b5) (on b4 b5) (on-table b1) (clear b4) (on b2 b3) (clear b1) (on-table b3)	GOAL: (clear b2) (arm-empty) (on-table b5) (on b4 b5) (on-table b1) (clear b4) (on b2 b3) (clear b1) (on-table b3) STATE: (clear b2) (on b4 b1) (on b1 b3) (arm-empty) (on-table b5) (on b2 b4) (on-table b3) (clear b5)	[ [ "unstack b2 b4" ], [ "put-down b2" ], [ "unstack b4 b1" ], [ "stack b4 b5" ], [ "unstack b1 b3" ], [ "put-down b1" ], [ "pick-up b2" ], [ "stack b2 b3" ] ]	[ "(on b4 b1) (on b1 b3) (on-table b5) (clear b4) (holding b2) (on-table b3) (clear b5)", "(on b4 b1) (on b1 b3) (on-table b2) (on-table b5) (arm-empty) (clear b4) (clear b5) (clear b2) (on-table b3)", "(clear b2) (on b1 b3) (on-table b2) (on-table b5) (holding b4) (clear b1) (on-table b3) (clear b5)", "(clear b2) (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (on b4 b5) (clear b4) (clear b1) (on-table b3)", "(holding b1) (clear b2) (on-table b2) (on-table b5) (on b4 b5) (clear b4) (clear b3) (on-table b3)", "(clear b2) (arm-empty) (on-table b2) (on-table b5) (on b4 b5) (on-table b1) (clear b4) (clear b3) (clear b1) (on-table b3)", "(on-table b5) (on b4 b5) (on-table b1) (clear b4) (holding b2) (clear b3) (clear b1) (on-table b3)", "(clear b2) (arm-empty) (on-table b5) (on b4 b5) (on-table b1) (clear b4) (on b2 b3) (clear b1) (on-table b3)" ]	file_38124	ACTION: (unstack b2 b4) NEXT STATE: (on b4 b1) (on b1 b3) (on-table b5) (clear b4) (holding b2) (on-table b3) (clear b5) ACTION: (put-down b2) NEXT STATE: (on b4 b1) (on b1 b3) (on-table b2) (on-table b5) (arm-empty) (clear b4) (clear b5) (clear b2) (on-table b3) ACTION: (unstack b4 b1) NEXT STATE: (clear b2) (on b1 b3) (on-table b2) (on-table b5) (holding b4) (clear b1) (on-table b3) (clear b5) ACTION: (stack b4 b5) NEXT STATE: (clear b2) (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (on b4 b5) (clear b4) (clear b1) (on-table b3) ACTION: (unstack b1 b3) NEXT STATE: (holding b1) (clear b2) (on-table b2) (on-table b5) (on b4 b5) (clear b4) (clear b3) (on-table b3) ACTION: (put-down b1) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b5) (on b4 b5) (on-table b1) (clear b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b2) NEXT STATE: (on-table b5) (on b4 b5) (on-table b1) (clear b4) (holding b2) (clear b3) (clear b1) (on-table b3) ACTION: (stack b2 b3) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on b4 b5) (on-table b1) (clear b4) (on b2 b3) (clear b1) (on-table b3)
GOAL: (on b3 b4) (on b1 b3) (arm-empty) (on-table b2) (on b4 b2) (clear b1)	GOAL: (on b3 b4) (on b1 b3) (arm-empty) (on-table b2) (on b4 b2) (clear b1) STATE: (on-table b2) (on b1 b4) (on b4 b2) (holding b3) (clear b1)	[ [ "put-down b3" ], [ "unstack b1 b4" ], [ "put-down b1" ], [ "pick-up b3" ], [ "stack b3 b4" ], [ "pick-up b1" ], [ "stack b1 b3" ] ]	[ "(arm-empty) (on-table b2) (on b1 b4) (on b4 b2) (clear b3) (clear b1) (on-table b3)", "(on-table b2) (clear b4) (holding b1) (on b4 b2) (clear b3) (on-table b3)", "(arm-empty) (on-table b2) (clear b4) (on-table b1) (on b4 b2) (clear b3) (clear b1) (on-table b3)", "(on-table b2) (on-table b1) (clear b4) (on b4 b2) (holding b3) (clear b1)", "(on b3 b4) (arm-empty) (on-table b2) (on-table b1) (on b4 b2) (clear b3) (clear b1)", "(on b4 b2) (holding b1) (on b3 b4) (on-table b2) (clear b3)", "(on b3 b4) (on b1 b3) (arm-empty) (on-table b2) (on b4 b2) (clear b1)" ]	file_45932	ACTION: (put-down b3) NEXT STATE: (arm-empty) (on-table b2) (on b1 b4) (on b4 b2) (clear b3) (clear b1) (on-table b3) ACTION: (unstack b1 b4) NEXT STATE: (on-table b2) (clear b4) (holding b1) (on b4 b2) (clear b3) (on-table b3) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on-table b2) (clear b4) (on-table b1) (on b4 b2) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b3) NEXT STATE: (on-table b2) (on-table b1) (clear b4) (on b4 b2) (holding b3) (clear b1) ACTION: (stack b3 b4) NEXT STATE: (on b3 b4) (arm-empty) (on-table b2) (on-table b1) (on b4 b2) (clear b3) (clear b1) ACTION: (pick-up b1) NEXT STATE: (on b4 b2) (holding b1) (on b3 b4) (on-table b2) (clear b3) ACTION: (stack b1 b3) NEXT STATE: (on b3 b4) (on b1 b3) (arm-empty) (on-table b2) (on b4 b2) (clear b1)
GOAL: (on-table b2) (on b5 b2) (on-table b4) (on b1 b4) (holding b3) (clear b1) (clear b5)	GOAL: (on-table b2) (on b5 b2) (on-table b4) (on b1 b4) (holding b3) (clear b1) (clear b5) STATE: (on b1 b5) (clear b2) (on-table b2) (holding b4) (on b5 b3) (clear b1) (on-table b3)	[ [ "put-down b4" ], [ "unstack b1 b5" ], [ "stack b1 b4" ], [ "unstack b5 b3" ], [ "stack b5 b2" ], [ "pick-up b3" ] ]	[ "(on b1 b5) (arm-empty) (on-table b2) (clear b4) (on b5 b3) (clear b2) (on-table b4) (clear b1) (on-table b3)", "(holding b1) (clear b2) (on-table b2) (clear b4) (on b5 b3) (on-table b4) (on-table b3) (clear b5)", "(clear b2) (arm-empty) (on-table b2) (on b5 b3) (on-table b4) (on b1 b4) (clear b1) (on-table b3) (clear b5)", "(clear b2) (on-table b2) (holding b5) (on-table b4) (on b1 b4) (clear b3) (clear b1) (on-table b3)", "(arm-empty) (on-table b2) (on b5 b2) (on-table b4) (on b1 b4) (clear b3) (clear b1) (on-table b3) (clear b5)", "(on-table b2) (on b5 b2) (on-table b4) (on b1 b4) (holding b3) (clear b1) (clear b5)" ]	file_161279	ACTION: (put-down b4) NEXT STATE: (on b1 b5) (arm-empty) (on-table b2) (clear b4) (on b5 b3) (clear b2) (on-table b4) (clear b1) (on-table b3) ACTION: (unstack b1 b5) NEXT STATE: (holding b1) (clear b2) (on-table b2) (clear b4) (on b5 b3) (on-table b4) (on-table b3) (clear b5) ACTION: (stack b1 b4) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on b5 b3) (on-table b4) (on b1 b4) (clear b1) (on-table b3) (clear b5) ACTION: (unstack b5 b3) NEXT STATE: (clear b2) (on-table b2) (holding b5) (on-table b4) (on b1 b4) (clear b3) (clear b1) (on-table b3) ACTION: (stack b5 b2) NEXT STATE: (arm-empty) (on-table b2) (on b5 b2) (on-table b4) (on b1 b4) (clear b3) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b3) NEXT STATE: (on-table b2) (on b5 b2) (on-table b4) (on b1 b4) (holding b3) (clear b1) (clear b5)
GOAL: (on b3 b4) (clear b2) (on b1 b3) (arm-empty) (on b5 b1) (on-table b4) (on b2 b5)	GOAL: (on b3 b4) (clear b2) (on b1 b3) (arm-empty) (on b5 b1) (on-table b4) (on b2 b5) STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b1) (on b5 b3) (on-table b4) (on b2 b5) (clear b1)	[ [ "unstack b2 b5" ], [ "put-down b2" ], [ "unstack b5 b3" ], [ "put-down b5" ], [ "pick-up b1" ], [ "stack b1 b3" ], [ "pick-up b5" ], [ "stack b5 b1" ], [ "pick-up b2" ], [ "stack b2 b5" ] ]	[ "(on b3 b4) (on-table b1) (on b5 b3) (on-table b4) (holding b2) (clear b1) (clear b5)", "(arm-empty) (on-table b2) (on b5 b3) (clear b5) (on b3 b4) (clear b2) (on-table b1) (on-table b4) (clear b1)", "(on b3 b4) (clear b2) (on-table b2) (on-table b1) (holding b5) (on-table b4) (clear b3) (clear b1)", "(on b3 b4) (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (on-table b4) (clear b3) (clear b1) (clear b5)", "(holding b1) (on b3 b4) (clear b2) (on-table b2) (on-table b5) (on-table b4) (clear b3) (clear b5)", "(on b3 b4) (clear b2) (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (on-table b4) (clear b1) (clear b5)", "(on b3 b4) (clear b2) (on b1 b3) (on-table b2) (holding b5) (on-table b4) (clear b1)", "(on b3 b4) (clear b2) (on b1 b3) (arm-empty) (on-table b2) (on b5 b1) (on-table b4) (clear b5)", "(on b3 b4) (on b1 b3) (on b5 b1) (on-table b4) (holding b2) (clear b5)", "(on b3 b4) (clear b2) (on b1 b3) (arm-empty) (on b5 b1) (on-table b4) (on b2 b5)" ]	file_66290	ACTION: (unstack b2 b5) NEXT STATE: (on b3 b4) (on-table b1) (on b5 b3) (on-table b4) (holding b2) (clear b1) (clear b5) ACTION: (put-down b2) NEXT STATE: (arm-empty) (on-table b2) (on b5 b3) (clear b5) (on b3 b4) (clear b2) (on-table b1) (on-table b4) (clear b1) ACTION: (unstack b5 b3) NEXT STATE: (on b3 b4) (clear b2) (on-table b2) (on-table b1) (holding b5) (on-table b4) (clear b3) (clear b1) ACTION: (put-down b5) NEXT STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (on-table b4) (clear b3) (clear b1) (clear b5) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on b3 b4) (clear b2) (on-table b2) (on-table b5) (on-table b4) (clear b3) (clear b5) ACTION: (stack b1 b3) NEXT STATE: (on b3 b4) (clear b2) (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (on-table b4) (clear b1) (clear b5) ACTION: (pick-up b5) NEXT STATE: (on b3 b4) (clear b2) (on b1 b3) (on-table b2) (holding b5) (on-table b4) (clear b1) ACTION: (stack b5 b1) NEXT STATE: (on b3 b4) (clear b2) (on b1 b3) (arm-empty) (on-table b2) (on b5 b1) (on-table b4) (clear b5) ACTION: (pick-up b2) NEXT STATE: (on b3 b4) (on b1 b3) (on b5 b1) (on-table b4) (holding b2) (clear b5) ACTION: (stack b2 b5) NEXT STATE: (on b3 b4) (clear b2) (on b1 b3) (arm-empty) (on b5 b1) (on-table b4) (on b2 b5)
GOAL: (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b3 b1) (on b2 b5) (clear b3) (on b1 b2)	GOAL: (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b3 b1) (on b2 b5) (clear b3) (on b1 b2) STATE: (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b2 b5) (clear b3) (on b1 b2) (clear b1) (on-table b3)	[ [ "pick-up b3" ], [ "stack b3 b1" ] ]	[ "(on-table b5) (clear b4) (on-table b4) (on b2 b5) (on b1 b2) (clear b1) (holding b3)", "(arm-empty) (on-table b5) (clear b4) (on-table b4) (on b3 b1) (on b2 b5) (clear b3) (on b1 b2)" ]	file_171322	ACTION: (pick-up b3) NEXT STATE: (on-table b5) (clear b4) (on-table b4) (on b2 b5) (on b1 b2) (clear b1) (holding b3) ACTION: (stack b3 b1) NEXT STATE: (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b3 b1) (on b2 b5) (clear b3) (on b1 b2)
GOAL: (on b1 b3) (on b4 b5) (on-table b5) (clear b4) (holding b2) (clear b1) (on-table b3)	GOAL: (on b1 b3) (on b4 b5) (on-table b5) (clear b4) (holding b2) (clear b1) (on-table b3) STATE: (clear b2) (on b1 b3) (on-table b5) (holding b4) (on b2 b1) (on-table b3) (clear b5)	[ [ "stack b4 b5" ], [ "unstack b2 b1" ] ]	[ "(clear b2) (on b1 b3) (arm-empty) (on b4 b5) (on-table b5) (clear b4) (on b2 b1) (on-table b3)", "(on b1 b3) (on b4 b5) (on-table b5) (clear b4) (holding b2) (clear b1) (on-table b3)" ]	file_183013	ACTION: (stack b4 b5) NEXT STATE: (clear b2) (on b1 b3) (arm-empty) (on b4 b5) (on-table b5) (clear b4) (on b2 b1) (on-table b3) ACTION: (unstack b2 b1) NEXT STATE: (on b1 b3) (on b4 b5) (on-table b5) (clear b4) (holding b2) (clear b1) (on-table b3)
GOAL: (arm-empty) (on-table b5) (on b3 b1) (on b2 b4) (clear b5) (clear b2) (on-table b1) (on-table b4) (clear b3)	GOAL: (arm-empty) (on-table b5) (on b3 b1) (on b2 b4) (clear b5) (clear b2) (on-table b1) (on-table b4) (clear b3) STATE: (on b3 b5) (arm-empty) (on-table b1) (clear b4) (on b5 b1) (on b4 b2) (on b2 b3)	[ [ "unstack b4 b2" ], [ "put-down b4" ], [ "unstack b2 b3" ], [ "stack b2 b4" ], [ "unstack b3 b5" ], [ "put-down b3" ], [ "unstack b5 b1" ], [ "stack b5 b2" ], [ "pick-up b3" ], [ "stack b3 b1" ], [ "unstack b5 b2" ], [ "put-down b5" ] ]	[ "(on b3 b5) (holding b4) (clear b2) (on-table b1) (on b5 b1) (on b2 b3)", "(on b5 b1) (on b3 b5) (clear b2) (on-table b4) (on b2 b3) (clear b4) (arm-empty) (on-table b1)", "(on b3 b5) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (holding b2) (clear b3)", "(on b3 b5) (clear b2) (arm-empty) (on-table b1) (on b5 b1) (on-table b4) (on b2 b4) (clear b3)", "(clear b2) (on-table b1) (on b5 b1) (on-table b4) (on b2 b4) (holding b3) (clear b5)", "(arm-empty) (on b2 b4) (clear b5) (clear b2) (on-table b1) (on b5 b1) (on-table b4) (clear b3) (on-table b3)", "(clear b2) (on-table b1) (holding b5) (on-table b4) (on b2 b4) (clear b3) (clear b1) (on-table b3)", "(arm-empty) (on-table b1) (on b5 b2) (on-table b4) (on b2 b4) (clear b3) (clear b1) (on-table b3) (clear b5)", "(on-table b1) (on b5 b2) (on-table b4) (on b2 b4) (holding b3) (clear b1) (clear b5)", "(arm-empty) (on-table b1) (on b5 b2) (on b2 b4) (on-table b4) (on b3 b1) (clear b3) (clear b5)", "(clear b2) (on-table b1) (on b2 b4) (holding b5) (on-table b4) (on b3 b1) (clear b3)", "(arm-empty) (on-table b5) (on b3 b1) (on b2 b4) (clear b5) (clear b2) (on-table b1) (on-table b4) (clear b3)" ]	file_77904	ACTION: (unstack b4 b2) NEXT STATE: (on b3 b5) (holding b4) (clear b2) (on-table b1) (on b5 b1) (on b2 b3) ACTION: (put-down b4) NEXT STATE: (on b5 b1) (on b3 b5) (clear b2) (on-table b4) (on b2 b3) (clear b4) (arm-empty) (on-table b1) ACTION: (unstack b2 b3) NEXT STATE: (on b3 b5) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (holding b2) (clear b3) ACTION: (stack b2 b4) NEXT STATE: (on b3 b5) (clear b2) (arm-empty) (on-table b1) (on b5 b1) (on-table b4) (on b2 b4) (clear b3) ACTION: (unstack b3 b5) NEXT STATE: (clear b2) (on-table b1) (on b5 b1) (on-table b4) (on b2 b4) (holding b3) (clear b5) ACTION: (put-down b3) NEXT STATE: (arm-empty) (on b2 b4) (clear b5) (clear b2) (on-table b1) (on b5 b1) (on-table b4) (clear b3) (on-table b3) ACTION: (unstack b5 b1) NEXT STATE: (clear b2) (on-table b1) (holding b5) (on-table b4) (on b2 b4) (clear b3) (clear b1) (on-table b3) ACTION: (stack b5 b2) NEXT STATE: (arm-empty) (on-table b1) (on b5 b2) (on-table b4) (on b2 b4) (clear b3) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b3) NEXT STATE: (on-table b1) (on b5 b2) (on-table b4) (on b2 b4) (holding b3) (clear b1) (clear b5) ACTION: (stack b3 b1) NEXT STATE: (arm-empty) (on-table b1) (on b5 b2) (on b2 b4) (on-table b4) (on b3 b1) (clear b3) (clear b5) ACTION: (unstack b5 b2) NEXT STATE: (clear b2) (on-table b1) (on b2 b4) (holding b5) (on-table b4) (on b3 b1) (clear b3) ACTION: (put-down b5) NEXT STATE: (arm-empty) (on-table b5) (on b3 b1) (on b2 b4) (clear b5) (clear b2) (on-table b1) (on-table b4) (clear b3)
GOAL: (on b3 b4) (arm-empty) (on b4 b2) (on b2 b1) (clear b3) (on-table b1)	GOAL: (on b3 b4) (arm-empty) (on b4 b2) (on b2 b1) (clear b3) (on-table b1) STATE: (on b1 b3) (clear b4) (on-table b4) (holding b2) (clear b1) (on-table b3)	[ [ "stack b2 b4" ], [ "unstack b1 b3" ], [ "put-down b1" ], [ "unstack b2 b4" ], [ "stack b2 b1" ], [ "pick-up b4" ], [ "stack b4 b2" ], [ "pick-up b3" ], [ "stack b3 b4" ] ]	[ "(clear b2) (on b1 b3) (arm-empty) (on-table b4) (on b2 b4) (clear b1) (on-table b3)", "(on b2 b4) (holding b1) (clear b2) (on-table b4) (clear b3) (on-table b3)", "(arm-empty) (on b2 b4) (clear b2) (on-table b1) (on-table b4) (clear b3) (clear b1) (on-table b3)", "(on-table b1) (clear b4) (on-table b4) (holding b2) (clear b3) (clear b1) (on-table b3)", "(clear b2) (arm-empty) (on-table b1) (clear b4) (on-table b4) (on b2 b1) (clear b3) (on-table b3)", "(clear b2) (on-table b1) (holding b4) (on b2 b1) (clear b3) (on-table b3)", "(arm-empty) (on-table b1) (clear b4) (on b4 b2) (on b2 b1) (clear b3) (on-table b3)", "(on b4 b2) (on-table b1) (on b2 b1) (clear b4) (holding b3)", "(on b3 b4) (arm-empty) (on b4 b2) (on b2 b1) (clear b3) (on-table b1)" ]	file_33343	ACTION: (stack b2 b4) NEXT STATE: (clear b2) (on b1 b3) (arm-empty) (on-table b4) (on b2 b4) (clear b1) (on-table b3) ACTION: (unstack b1 b3) NEXT STATE: (on b2 b4) (holding b1) (clear b2) (on-table b4) (clear b3) (on-table b3) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on b2 b4) (clear b2) (on-table b1) (on-table b4) (clear b3) (clear b1) (on-table b3) ACTION: (unstack b2 b4) NEXT STATE: (on-table b1) (clear b4) (on-table b4) (holding b2) (clear b3) (clear b1) (on-table b3) ACTION: (stack b2 b1) NEXT STATE: (clear b2) (arm-empty) (on-table b1) (clear b4) (on-table b4) (on b2 b1) (clear b3) (on-table b3) ACTION: (pick-up b4) NEXT STATE: (clear b2) (on-table b1) (holding b4) (on b2 b1) (clear b3) (on-table b3) ACTION: (stack b4 b2) NEXT STATE: (arm-empty) (on-table b1) (clear b4) (on b4 b2) (on b2 b1) (clear b3) (on-table b3) ACTION: (pick-up b3) NEXT STATE: (on b4 b2) (on-table b1) (on b2 b1) (clear b4) (holding b3) ACTION: (stack b3 b4) NEXT STATE: (on b3 b4) (arm-empty) (on b4 b2) (on b2 b1) (clear b3) (on-table b1)
GOAL: (clear b2) (arm-empty) (on-table b5) (on b4 b5) (on-table b1) (on b2 b4) (clear b3) (clear b1) (on-table b3)	GOAL: (clear b2) (arm-empty) (on-table b5) (on b4 b5) (on-table b1) (on b2 b4) (clear b3) (clear b1) (on-table b3) STATE: (holding b1) (clear b2) (on-table b2) (on-table b5) (on b4 b5) (clear b4) (clear b3) (on-table b3)	[ [ "put-down b1" ], [ "pick-up b2" ], [ "stack b2 b4" ] ]	[ "(clear b2) (arm-empty) (on-table b2) (on-table b5) (on b4 b5) (on-table b1) (clear b4) (clear b3) (clear b1) (on-table b3)", "(on-table b5) (on b4 b5) (on-table b1) (clear b4) (holding b2) (clear b3) (clear b1) (on-table b3)", "(clear b2) (arm-empty) (on-table b5) (on b4 b5) (on-table b1) (on b2 b4) (clear b3) (clear b1) (on-table b3)" ]	file_87324	ACTION: (put-down b1) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b5) (on b4 b5) (on-table b1) (clear b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b2) NEXT STATE: (on-table b5) (on b4 b5) (on-table b1) (clear b4) (holding b2) (clear b3) (clear b1) (on-table b3) ACTION: (stack b2 b4) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on b4 b5) (on-table b1) (on b2 b4) (clear b3) (clear b1) (on-table b3)
GOAL: (on b1 b5) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (holding b3) (clear b1)	GOAL: (on b1 b5) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (holding b3) (clear b1) STATE: (clear b2) (arm-empty) (on-table b5) (on-table b1) (on-table b4) (on b2 b4) (clear b3) (clear b1) (on-table b3) (clear b5)	[ [ "pick-up b1" ], [ "stack b1 b5" ], [ "pick-up b3" ] ]	[ "(holding b1) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (clear b3) (on-table b3) (clear b5)", "(on b1 b5) (clear b2) (arm-empty) (on-table b5) (on-table b4) (on b2 b4) (clear b3) (clear b1) (on-table b3)", "(on b1 b5) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (holding b3) (clear b1)" ]	file_113413	ACTION: (pick-up b1) NEXT STATE: (holding b1) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (clear b3) (on-table b3) (clear b5) ACTION: (stack b1 b5) NEXT STATE: (on b1 b5) (clear b2) (arm-empty) (on-table b5) (on-table b4) (on b2 b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b3) NEXT STATE: (on b1 b5) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (holding b3) (clear b1)
GOAL: (on b3 b4) (clear b2) (on b1 b3) (arm-empty) (on-table b5) (on-table b4) (on b2 b5) (clear b1)	GOAL: (on b3 b4) (clear b2) (on b1 b3) (arm-empty) (on-table b5) (on-table b4) (on b2 b5) (clear b1) STATE: (on b3 b4) (on-table b5) (on-table b1) (on-table b4) (holding b2) (clear b3) (clear b1) (clear b5)	[ [ "stack b2 b5" ], [ "pick-up b1" ], [ "stack b1 b3" ] ]	[ "(on b3 b4) (clear b2) (arm-empty) (on-table b5) (on-table b1) (on-table b4) (on b2 b5) (clear b3) (clear b1)", "(holding b1) (on b3 b4) (clear b2) (on-table b5) (on-table b4) (on b2 b5) (clear b3)", "(on b3 b4) (clear b2) (on b1 b3) (arm-empty) (on-table b5) (on-table b4) (on b2 b5) (clear b1)" ]	file_156971	ACTION: (stack b2 b5) NEXT STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b5) (on-table b1) (on-table b4) (on b2 b5) (clear b3) (clear b1) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on b3 b4) (clear b2) (on-table b5) (on-table b4) (on b2 b5) (clear b3) ACTION: (stack b1 b3) NEXT STATE: (on b3 b4) (clear b2) (on b1 b3) (arm-empty) (on-table b5) (on-table b4) (on b2 b5) (clear b1)
GOAL: (holding b1) (on b5 b2) (on b4 b3) (on b2 b4) (on-table b3) (clear b5)	GOAL: (holding b1) (on b5 b2) (on b4 b3) (on b2 b4) (on-table b3) (clear b5) STATE: (clear b2) (on-table b1) (on b4 b3) (holding b5) (on b2 b4) (clear b1) (on-table b3)	[ [ "stack b5 b2" ], [ "pick-up b1" ] ]	[ "(arm-empty) (on-table b1) (on b5 b2) (on b4 b3) (on b2 b4) (clear b1) (on-table b3) (clear b5)", "(holding b1) (on b5 b2) (on b4 b3) (on b2 b4) (on-table b3) (clear b5)" ]	file_48330	ACTION: (stack b5 b2) NEXT STATE: (arm-empty) (on-table b1) (on b5 b2) (on b4 b3) (on b2 b4) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on b5 b2) (on b4 b3) (on b2 b4) (on-table b3) (clear b5)
GOAL: (on b1 b5) (arm-empty) (on-table b2) (on-table b5) (on b4 b2) (clear b4) (on b3 b1) (clear b3)	GOAL: (on b1 b5) (arm-empty) (on-table b2) (on-table b5) (on b4 b2) (clear b4) (on b3 b1) (clear b3) STATE: (on b4 b1) (on b5 b4) (arm-empty) (on-table b1) (on b3 b2) (on b2 b5) (clear b3)	[ [ "unstack b3 b2" ], [ "put-down b3" ], [ "unstack b2 b5" ], [ "put-down b2" ], [ "unstack b5 b4" ], [ "put-down b5" ], [ "unstack b4 b1" ], [ "put-down b4" ], [ "pick-up b1" ], [ "stack b1 b5" ], [ "pick-up b4" ], [ "stack b4 b2" ], [ "pick-up b3" ], [ "stack b3 b1" ] ]	[ "(on b4 b1) (on b5 b4) (on b2 b5) (clear b2) (on-table b1) (holding b3)", "(on b4 b1) (on b5 b4) (arm-empty) (on b2 b5) (clear b2) (on-table b1) (clear b3) (on-table b3)", "(on b4 b1) (on b5 b4) (on-table b1) (holding b2) (clear b3) (on-table b3) (clear b5)", "(on b4 b1) (on b5 b4) (on-table b2) (arm-empty) (clear b5) (clear b2) (on-table b1) (clear b3) (on-table b3)", "(clear b2) (on b4 b1) (on-table b2) (on-table b1) (clear b4) (holding b5) (clear b3) (on-table b3)", "(clear b2) (on b4 b1) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (clear b3) (on-table b3) (clear b5)", "(clear b2) (on-table b2) (on-table b5) (on-table b1) (holding b4) (clear b3) (clear b1) (on-table b3) (clear b5)", "(clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (clear b3) (clear b1) (on-table b3) (clear b5)", "(holding b1) (clear b2) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b3) (on-table b3) (clear b5)", "(on b1 b5) (clear b2) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b3) (clear b1) (on-table b3)", "(on b1 b5) (clear b2) (on-table b2) (on-table b5) (holding b4) (clear b3) (clear b1) (on-table b3)", "(on b1 b5) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b4 b2) (clear b3) (clear b1) (on-table b3)", "(on b1 b5) (on-table b2) (on-table b5) (clear b4) (on b4 b2) (holding b3) (clear b1)", "(on b1 b5) (arm-empty) (on-table b2) (on-table b5) (on b4 b2) (clear b4) (on b3 b1) (clear b3)" ]	file_72215	ACTION: (unstack b3 b2) NEXT STATE: (on b4 b1) (on b5 b4) (on b2 b5) (clear b2) (on-table b1) (holding b3) ACTION: (put-down b3) NEXT STATE: (on b4 b1) (on b5 b4) (arm-empty) (on b2 b5) (clear b2) (on-table b1) (clear b3) (on-table b3) ACTION: (unstack b2 b5) NEXT STATE: (on b4 b1) (on b5 b4) (on-table b1) (holding b2) (clear b3) (on-table b3) (clear b5) ACTION: (put-down b2) NEXT STATE: (on b4 b1) (on b5 b4) (on-table b2) (arm-empty) (clear b5) (clear b2) (on-table b1) (clear b3) (on-table b3) ACTION: (unstack b5 b4) NEXT STATE: (clear b2) (on b4 b1) (on-table b2) (on-table b1) (clear b4) (holding b5) (clear b3) (on-table b3) ACTION: (put-down b5) NEXT STATE: (clear b2) (on b4 b1) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (clear b3) (on-table b3) (clear b5) ACTION: (unstack b4 b1) NEXT STATE: (clear b2) (on-table b2) (on-table b5) (on-table b1) (holding b4) (clear b3) (clear b1) (on-table b3) (clear b5) ACTION: (put-down b4) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (clear b3) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b1) NEXT STATE: (holding b1) (clear b2) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b3) (on-table b3) (clear b5) ACTION: (stack b1 b5) NEXT STATE: (on b1 b5) (clear b2) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b4) NEXT STATE: (on b1 b5) (clear b2) (on-table b2) (on-table b5) (holding b4) (clear b3) (clear b1) (on-table b3) ACTION: (stack b4 b2) NEXT STATE: (on b1 b5) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b4 b2) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b3) NEXT STATE: (on b1 b5) (on-table b2) (on-table b5) (clear b4) (on b4 b2) (holding b3) (clear b1) ACTION: (stack b3 b1) NEXT STATE: (on b1 b5) (arm-empty) (on-table b2) (on-table b5) (on b4 b2) (clear b4) (on b3 b1) (clear b3)
GOAL: (holding b1) (on b5 b4) (on-table b2) (on b4 b2) (clear b3) (on-table b3) (clear b5)	GOAL: (holding b1) (on b5 b4) (on-table b2) (on b4 b2) (clear b3) (on-table b3) (clear b5) STATE: (on-table b2) (on-table b5) (on-table b1) (clear b4) (on b4 b2) (holding b3) (clear b1) (clear b5)	[ [ "stack b3 b1" ], [ "pick-up b5" ], [ "stack b5 b4" ], [ "unstack b3 b1" ], [ "put-down b3" ], [ "pick-up b1" ] ]	[ "(arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on b3 b1) (on b4 b2) (clear b3) (clear b5)", "(on-table b2) (on-table b1) (on b4 b2) (clear b4) (holding b5) (on b3 b1) (clear b3)", "(arm-empty) (on b5 b4) (on-table b2) (on-table b1) (on b3 b1) (on b4 b2) (clear b3) (clear b5)", "(on b5 b4) (on-table b2) (on-table b1) (on b4 b2) (holding b3) (clear b1) (clear b5)", "(arm-empty) (on b5 b4) (on-table b2) (clear b5) (on-table b1) (on b4 b2) (clear b3) (clear b1) (on-table b3)", "(holding b1) (on b5 b4) (on-table b2) (on b4 b2) (clear b3) (on-table b3) (clear b5)" ]	file_122507	ACTION: (stack b3 b1) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on b3 b1) (on b4 b2) (clear b3) (clear b5) ACTION: (pick-up b5) NEXT STATE: (on-table b2) (on-table b1) (on b4 b2) (clear b4) (holding b5) (on b3 b1) (clear b3) ACTION: (stack b5 b4) NEXT STATE: (arm-empty) (on b5 b4) (on-table b2) (on-table b1) (on b3 b1) (on b4 b2) (clear b3) (clear b5) ACTION: (unstack b3 b1) NEXT STATE: (on b5 b4) (on-table b2) (on-table b1) (on b4 b2) (holding b3) (clear b1) (clear b5) ACTION: (put-down b3) NEXT STATE: (arm-empty) (on b5 b4) (on-table b2) (clear b5) (on-table b1) (on b4 b2) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on b5 b4) (on-table b2) (on b4 b2) (clear b3) (on-table b3) (clear b5)
GOAL: (clear b2) (on b1 b3) (on b4 b1) (on-table b2) (clear b4) (holding b5) (on-table b3)	GOAL: (clear b2) (on b1 b3) (on b4 b1) (on-table b2) (clear b4) (holding b5) (on-table b3) STATE: (on-table b2) (on-table b5) (on b1 b4) (on b4 b2) (holding b3) (clear b1) (clear b5)	[ [ "put-down b3" ], [ "unstack b1 b4" ], [ "stack b1 b3" ], [ "unstack b4 b2" ], [ "stack b4 b1" ], [ "pick-up b5" ] ]	[ "(arm-empty) (on-table b2) (on-table b5) (clear b5) (on b1 b4) (on b4 b2) (clear b3) (clear b1) (on-table b3)", "(holding b1) (on-table b2) (on-table b5) (clear b4) (on b4 b2) (clear b3) (on-table b3) (clear b5)", "(on b1 b3) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b4 b2) (clear b1) (on-table b3) (clear b5)", "(clear b2) (on b1 b3) (on-table b2) (on-table b5) (holding b4) (clear b1) (on-table b3) (clear b5)", "(clear b2) (on b1 b3) (on b4 b1) (on-table b2) (on-table b5) (arm-empty) (clear b4) (on-table b3) (clear b5)", "(clear b2) (on b1 b3) (on b4 b1) (on-table b2) (clear b4) (holding b5) (on-table b3)" ]	file_106283	ACTION: (put-down b3) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (clear b5) (on b1 b4) (on b4 b2) (clear b3) (clear b1) (on-table b3) ACTION: (unstack b1 b4) NEXT STATE: (holding b1) (on-table b2) (on-table b5) (clear b4) (on b4 b2) (clear b3) (on-table b3) (clear b5) ACTION: (stack b1 b3) NEXT STATE: (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b4 b2) (clear b1) (on-table b3) (clear b5) ACTION: (unstack b4 b2) NEXT STATE: (clear b2) (on b1 b3) (on-table b2) (on-table b5) (holding b4) (clear b1) (on-table b3) (clear b5) ACTION: (stack b4 b1) NEXT STATE: (clear b2) (on b1 b3) (on b4 b1) (on-table b2) (on-table b5) (arm-empty) (clear b4) (on-table b3) (clear b5) ACTION: (pick-up b5) NEXT STATE: (clear b2) (on b1 b3) (on b4 b1) (on-table b2) (clear b4) (holding b5) (on-table b3)
GOAL: (arm-empty) (on-table b1) (clear b4) (on b5 b1) (on b4 b2) (on b2 b5) (clear b3) (on-table b3)	GOAL: (arm-empty) (on-table b1) (clear b4) (on b5 b1) (on b4 b2) (on b2 b5) (clear b3) (on-table b3) STATE: (holding b1) (on b5 b4) (on-table b2) (on b4 b2) (clear b3) (on-table b3) (clear b5)	[ [ "put-down b1" ], [ "unstack b5 b4" ], [ "stack b5 b1" ], [ "unstack b4 b2" ], [ "put-down b4" ], [ "pick-up b2" ], [ "stack b2 b5" ], [ "pick-up b4" ], [ "stack b4 b2" ] ]	[ "(arm-empty) (on b5 b4) (on-table b2) (clear b5) (on-table b1) (on b4 b2) (clear b3) (clear b1) (on-table b3)", "(on-table b2) (on-table b1) (clear b4) (holding b5) (on b4 b2) (clear b3) (clear b1) (on-table b3)", "(arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on b4 b2) (clear b3) (on-table b3) (clear b5)", "(clear b2) (on-table b2) (on-table b1) (holding b4) (on b5 b1) (clear b3) (on-table b3) (clear b5)", "(clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (clear b3) (on-table b3) (clear b5)", "(on-table b1) (clear b4) (on b5 b1) (on-table b4) (holding b2) (clear b3) (on-table b3) (clear b5)", "(clear b2) (arm-empty) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (on b2 b5) (clear b3) (on-table b3)", "(clear b2) (on-table b1) (holding b4) (on b5 b1) (on b2 b5) (clear b3) (on-table b3)", "(arm-empty) (on-table b1) (clear b4) (on b5 b1) (on b4 b2) (on b2 b5) (clear b3) (on-table b3)" ]	file_62424	ACTION: (put-down b1) NEXT STATE: (arm-empty) (on b5 b4) (on-table b2) (clear b5) (on-table b1) (on b4 b2) (clear b3) (clear b1) (on-table b3) ACTION: (unstack b5 b4) NEXT STATE: (on-table b2) (on-table b1) (clear b4) (holding b5) (on b4 b2) (clear b3) (clear b1) (on-table b3) ACTION: (stack b5 b1) NEXT STATE: (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on b4 b2) (clear b3) (on-table b3) (clear b5) ACTION: (unstack b4 b2) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (holding b4) (on b5 b1) (clear b3) (on-table b3) (clear b5) ACTION: (put-down b4) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (clear b3) (on-table b3) (clear b5) ACTION: (pick-up b2) NEXT STATE: (on-table b1) (clear b4) (on b5 b1) (on-table b4) (holding b2) (clear b3) (on-table b3) (clear b5) ACTION: (stack b2 b5) NEXT STATE: (clear b2) (arm-empty) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (on b2 b5) (clear b3) (on-table b3) ACTION: (pick-up b4) NEXT STATE: (clear b2) (on-table b1) (holding b4) (on b5 b1) (on b2 b5) (clear b3) (on-table b3) ACTION: (stack b4 b2) NEXT STATE: (arm-empty) (on-table b1) (clear b4) (on b5 b1) (on b4 b2) (on b2 b5) (clear b3) (on-table b3)
GOAL: (on b4 b3) (on b1 b5) (clear b2) (arm-empty) (on-table b5) (on b3 b1) (on b2 b4)	GOAL: (on b4 b3) (on b1 b5) (clear b2) (arm-empty) (on-table b5) (on b3 b1) (on b2 b4) STATE: (on b1 b5) (clear b2) (on b4 b1) (on-table b2) (on-table b5) (clear b4) (holding b3)	[ [ "stack b3 b2" ], [ "unstack b4 b1" ], [ "put-down b4" ], [ "unstack b3 b2" ], [ "stack b3 b1" ], [ "pick-up b4" ], [ "stack b4 b3" ], [ "pick-up b2" ], [ "stack b2 b4" ] ]	[ "(on b1 b5) (on b4 b1) (arm-empty) (on-table b2) (on-table b5) (on b3 b2) (clear b4) (clear b3)", "(on b1 b5) (on-table b2) (on-table b5) (holding b4) (on b3 b2) (clear b3) (clear b1)", "(on b1 b5) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b3 b2) (on-table b4) (clear b3) (clear b1)", "(on b1 b5) (clear b2) (on-table b2) (on-table b5) (clear b4) (on-table b4) (holding b3) (clear b1)", "(on b1 b5) (clear b2) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (on b3 b1) (clear b3)", "(on b1 b5) (clear b2) (on-table b2) (on-table b5) (holding b4) (on b3 b1) (clear b3)", "(on b1 b5) (clear b2) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b4 b3) (on b3 b1)", "(on b1 b5) (on-table b5) (clear b4) (on b4 b3) (holding b2) (on b3 b1)", "(on b4 b3) (on b1 b5) (clear b2) (arm-empty) (on-table b5) (on b3 b1) (on b2 b4)" ]	file_206137	ACTION: (stack b3 b2) NEXT STATE: (on b1 b5) (on b4 b1) (arm-empty) (on-table b2) (on-table b5) (on b3 b2) (clear b4) (clear b3) ACTION: (unstack b4 b1) NEXT STATE: (on b1 b5) (on-table b2) (on-table b5) (holding b4) (on b3 b2) (clear b3) (clear b1) ACTION: (put-down b4) NEXT STATE: (on b1 b5) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b3 b2) (on-table b4) (clear b3) (clear b1) ACTION: (unstack b3 b2) NEXT STATE: (on b1 b5) (clear b2) (on-table b2) (on-table b5) (clear b4) (on-table b4) (holding b3) (clear b1) ACTION: (stack b3 b1) NEXT STATE: (on b1 b5) (clear b2) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (on b3 b1) (clear b3) ACTION: (pick-up b4) NEXT STATE: (on b1 b5) (clear b2) (on-table b2) (on-table b5) (holding b4) (on b3 b1) (clear b3) ACTION: (stack b4 b3) NEXT STATE: (on b1 b5) (clear b2) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b4 b3) (on b3 b1) ACTION: (pick-up b2) NEXT STATE: (on b1 b5) (on-table b5) (clear b4) (on b4 b3) (holding b2) (on b3 b1) ACTION: (stack b2 b4) NEXT STATE: (on b4 b3) (on b1 b5) (clear b2) (arm-empty) (on-table b5) (on b3 b1) (on b2 b4)
GOAL: (holding b1) (on-table b2) (on-table b5) (clear b4) (on b4 b2) (clear b3) (on-table b3) (clear b5)	GOAL: (holding b1) (on-table b2) (on-table b5) (clear b4) (on b4 b2) (clear b3) (on-table b3) (clear b5) STATE: (arm-empty) (on-table b2) (on b4 b2) (on b5 b3) (on b1 b4) (on b3 b1) (clear b5)	[ [ "unstack b5 b3" ], [ "put-down b5" ], [ "unstack b3 b1" ], [ "put-down b3" ], [ "unstack b1 b4" ] ]	[ "(on-table b2) (holding b5) (on b3 b1) (on b1 b4) (on b4 b2) (clear b3)", "(arm-empty) (on-table b2) (on-table b5) (on b3 b1) (clear b5) (on b1 b4) (on b4 b2) (clear b3)", "(on-table b2) (on-table b5) (on b4 b2) (on b1 b4) (holding b3) (clear b1) (clear b5)", "(arm-empty) (on-table b2) (on-table b5) (clear b5) (on b1 b4) (on b4 b2) (clear b3) (clear b1) (on-table b3)", "(holding b1) (on-table b2) (on-table b5) (clear b4) (on b4 b2) (clear b3) (on-table b3) (clear b5)" ]	file_143726	ACTION: (unstack b5 b3) NEXT STATE: (on-table b2) (holding b5) (on b3 b1) (on b1 b4) (on b4 b2) (clear b3) ACTION: (put-down b5) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (on b3 b1) (clear b5) (on b1 b4) (on b4 b2) (clear b3) ACTION: (unstack b3 b1) NEXT STATE: (on-table b2) (on-table b5) (on b4 b2) (on b1 b4) (holding b3) (clear b1) (clear b5) ACTION: (put-down b3) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (clear b5) (on b1 b4) (on b4 b2) (clear b3) (clear b1) (on-table b3) ACTION: (unstack b1 b4) NEXT STATE: (holding b1) (on-table b2) (on-table b5) (clear b4) (on b4 b2) (clear b3) (on-table b3) (clear b5)
GOAL: (on-table b5) (clear b4) (on-table b4) (on b2 b5) (on b1 b2) (clear b1) (holding b3)	GOAL: (on-table b5) (clear b4) (on-table b4) (on b2 b5) (on b1 b2) (clear b1) (holding b3) STATE: (on-table b5) (holding b4) (on b3 b1) (on b2 b5) (clear b3) (on b1 b2)	[ [ "put-down b4" ], [ "unstack b3 b1" ] ]	[ "(arm-empty) (on-table b5) (clear b4) (on b3 b1) (on b2 b5) (on b1 b2) (on-table b4) (clear b3)", "(on-table b5) (clear b4) (on-table b4) (on b2 b5) (on b1 b2) (clear b1) (holding b3)" ]	file_171902	ACTION: (put-down b4) NEXT STATE: (arm-empty) (on-table b5) (clear b4) (on b3 b1) (on b2 b5) (on b1 b2) (on-table b4) (clear b3) ACTION: (unstack b3 b1) NEXT STATE: (on-table b5) (clear b4) (on-table b4) (on b2 b5) (on b1 b2) (clear b1) (holding b3)
GOAL: (on b3 b4) (on b1 b5) (arm-empty) (on-table b2) (on-table b5) (on b4 b2) (clear b3) (clear b1)	GOAL: (on b3 b4) (on b1 b5) (arm-empty) (on-table b2) (on-table b5) (on b4 b2) (clear b3) (clear b1) STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b5) (on-table b1) (on-table b4) (on b2 b3) (clear b1) (clear b5)	[ [ "unstack b2 b3" ], [ "put-down b2" ], [ "unstack b3 b4" ], [ "stack b3 b1" ], [ "pick-up b5" ], [ "stack b5 b3" ], [ "pick-up b4" ], [ "stack b4 b2" ], [ "unstack b5 b3" ], [ "put-down b5" ], [ "unstack b3 b1" ], [ "stack b3 b4" ], [ "pick-up b1" ], [ "stack b1 b5" ] ]	[ "(on b3 b4) (on-table b5) (on-table b1) (on-table b4) (holding b2) (clear b3) (clear b1) (clear b5)", "(on b3 b4) (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (on-table b4) (clear b3) (clear b1) (clear b5)", "(clear b2) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (holding b3) (clear b1) (clear b5)", "(clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b3 b1) (clear b3) (clear b5)", "(clear b2) (on-table b2) (on-table b1) (clear b4) (holding b5) (on-table b4) (on b3 b1) (clear b3)", "(clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b3) (on-table b4) (on b3 b1) (clear b5)", "(clear b2) (on-table b2) (on-table b1) (holding b4) (on b5 b3) (on b3 b1) (clear b5)", "(arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b3) (on b3 b1) (on b4 b2) (clear b5)", "(on-table b2) (on-table b1) (clear b4) (on b3 b1) (holding b5) (on b4 b2) (clear b3)", "(arm-empty) (on-table b2) (on-table b5) (clear b4) (on b3 b1) (clear b5) (on-table b1) (on b4 b2) (clear b3)", "(on-table b2) (on-table b5) (on-table b1) (on b4 b2) (clear b4) (holding b3) (clear b1) (clear b5)", "(on b3 b4) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (on b4 b2) (clear b3) (clear b1) (clear b5)", "(holding b1) (on b3 b4) (on-table b2) (on-table b5) (on b4 b2) (clear b3) (clear b5)", "(on b3 b4) (on b1 b5) (arm-empty) (on-table b2) (on-table b5) (on b4 b2) (clear b3) (clear b1)" ]	file_3312	ACTION: (unstack b2 b3) NEXT STATE: (on b3 b4) (on-table b5) (on-table b1) (on-table b4) (holding b2) (clear b3) (clear b1) (clear b5) ACTION: (put-down b2) NEXT STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (on-table b4) (clear b3) (clear b1) (clear b5) ACTION: (unstack b3 b4) NEXT STATE: (clear b2) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (holding b3) (clear b1) (clear b5) ACTION: (stack b3 b1) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b3 b1) (clear b3) (clear b5) ACTION: (pick-up b5) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (clear b4) (holding b5) (on-table b4) (on b3 b1) (clear b3) ACTION: (stack b5 b3) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b3) (on-table b4) (on b3 b1) (clear b5) ACTION: (pick-up b4) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (holding b4) (on b5 b3) (on b3 b1) (clear b5) ACTION: (stack b4 b2) NEXT STATE: (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b3) (on b3 b1) (on b4 b2) (clear b5) ACTION: (unstack b5 b3) NEXT STATE: (on-table b2) (on-table b1) (clear b4) (on b3 b1) (holding b5) (on b4 b2) (clear b3) ACTION: (put-down b5) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b3 b1) (clear b5) (on-table b1) (on b4 b2) (clear b3) ACTION: (unstack b3 b1) NEXT STATE: (on-table b2) (on-table b5) (on-table b1) (on b4 b2) (clear b4) (holding b3) (clear b1) (clear b5) ACTION: (stack b3 b4) NEXT STATE: (on b3 b4) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (on b4 b2) (clear b3) (clear b1) (clear b5) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on b3 b4) (on-table b2) (on-table b5) (on b4 b2) (clear b3) (clear b5) ACTION: (stack b1 b5) NEXT STATE: (on b3 b4) (on b1 b5) (arm-empty) (on-table b2) (on-table b5) (on b4 b2) (clear b3) (clear b1)
GOAL: (clear b2) (on-table b1) (on-table b4) (on b2 b4) (holding b3) (clear b1)	GOAL: (clear b2) (on-table b1) (on-table b4) (on b2 b4) (holding b3) (clear b1) STATE: (on b1 b3) (on b4 b1) (clear b4) (holding b2) (on-table b3)	[ [ "put-down b2" ], [ "unstack b4 b1" ], [ "put-down b4" ], [ "pick-up b2" ], [ "stack b2 b4" ], [ "unstack b1 b3" ], [ "put-down b1" ], [ "pick-up b3" ] ]	[ "(clear b2) (on b1 b3) (on b4 b1) (on-table b2) (arm-empty) (clear b4) (on-table b3)", "(on b1 b3) (on-table b2) (holding b4) (clear b2) (clear b1) (on-table b3)", "(on b1 b3) (arm-empty) (on-table b2) (clear b4) (clear b2) (on-table b4) (clear b1) (on-table b3)", "(on b1 b3) (clear b4) (on-table b4) (holding b2) (clear b1) (on-table b3)", "(clear b2) (on b1 b3) (arm-empty) (on-table b4) (on b2 b4) (clear b1) (on-table b3)", "(on b2 b4) (holding b1) (clear b2) (on-table b4) (clear b3) (on-table b3)", "(arm-empty) (on b2 b4) (clear b2) (on-table b1) (on-table b4) (clear b3) (clear b1) (on-table b3)", "(clear b2) (on-table b1) (on-table b4) (on b2 b4) (holding b3) (clear b1)" ]	file_2838	ACTION: (put-down b2) NEXT STATE: (clear b2) (on b1 b3) (on b4 b1) (on-table b2) (arm-empty) (clear b4) (on-table b3) ACTION: (unstack b4 b1) NEXT STATE: (on b1 b3) (on-table b2) (holding b4) (clear b2) (clear b1) (on-table b3) ACTION: (put-down b4) NEXT STATE: (on b1 b3) (arm-empty) (on-table b2) (clear b4) (clear b2) (on-table b4) (clear b1) (on-table b3) ACTION: (pick-up b2) NEXT STATE: (on b1 b3) (clear b4) (on-table b4) (holding b2) (clear b1) (on-table b3) ACTION: (stack b2 b4) NEXT STATE: (clear b2) (on b1 b3) (arm-empty) (on-table b4) (on b2 b4) (clear b1) (on-table b3) ACTION: (unstack b1 b3) NEXT STATE: (on b2 b4) (holding b1) (clear b2) (on-table b4) (clear b3) (on-table b3) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on b2 b4) (clear b2) (on-table b1) (on-table b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b3) NEXT STATE: (clear b2) (on-table b1) (on-table b4) (on b2 b4) (holding b3) (clear b1)
GOAL: (holding b1) (on-table b2) (on-table b5) (on b3 b2) (clear b4) (on-table b4) (clear b3) (clear b5)	GOAL: (holding b1) (on-table b2) (on-table b5) (on b3 b2) (clear b4) (on-table b4) (clear b3) (clear b5) STATE: (clear b2) (arm-empty) (on-table b2) (on b5 b3) (on-table b4) (on b1 b4) (on b3 b1) (clear b5)	[ [ "unstack b5 b3" ], [ "put-down b5" ], [ "unstack b3 b1" ], [ "stack b3 b2" ], [ "unstack b1 b4" ] ]	[ "(clear b2) (on-table b2) (holding b5) (on-table b4) (on b1 b4) (on b3 b1) (clear b3)", "(arm-empty) (on-table b2) (on-table b5) (on b3 b1) (clear b5) (clear b2) (on-table b4) (on b1 b4) (clear b3)", "(clear b2) (on-table b2) (on-table b5) (on-table b4) (on b1 b4) (holding b3) (clear b1) (clear b5)", "(arm-empty) (on-table b2) (on-table b5) (on b3 b2) (on-table b4) (on b1 b4) (clear b3) (clear b1) (clear b5)", "(holding b1) (on-table b2) (on-table b5) (on b3 b2) (clear b4) (on-table b4) (clear b3) (clear b5)" ]	file_13203	ACTION: (unstack b5 b3) NEXT STATE: (clear b2) (on-table b2) (holding b5) (on-table b4) (on b1 b4) (on b3 b1) (clear b3) ACTION: (put-down b5) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (on b3 b1) (clear b5) (clear b2) (on-table b4) (on b1 b4) (clear b3) ACTION: (unstack b3 b1) NEXT STATE: (clear b2) (on-table b2) (on-table b5) (on-table b4) (on b1 b4) (holding b3) (clear b1) (clear b5) ACTION: (stack b3 b2) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (on b3 b2) (on-table b4) (on b1 b4) (clear b3) (clear b1) (clear b5) ACTION: (unstack b1 b4) NEXT STATE: (holding b1) (on-table b2) (on-table b5) (on b3 b2) (clear b4) (on-table b4) (clear b3) (clear b5)
GOAL: (arm-empty) (on-table b1) (on b3 b2) (on b2 b1) (clear b3)	GOAL: (arm-empty) (on-table b1) (on b3 b2) (on b2 b1) (clear b3) STATE: (clear b2) (arm-empty) (on-table b1) (on b2 b1) (clear b3) (on-table b3)	[ [ "pick-up b3" ], [ "stack b3 b2" ] ]	[ "(clear b2) (on-table b1) (on b2 b1) (holding b3)", "(arm-empty) (on-table b1) (on b3 b2) (on b2 b1) (clear b3)" ]	file_4801	ACTION: (pick-up b3) NEXT STATE: (clear b2) (on-table b1) (on b2 b1) (holding b3) ACTION: (stack b3 b2) NEXT STATE: (arm-empty) (on-table b1) (on b3 b2) (on b2 b1) (clear b3)
GOAL: (on b3 b5) (clear b2) (on b5 b4) (arm-empty) (on-table b1) (on-table b4) (on b2 b1) (clear b3)	GOAL: (on b3 b5) (clear b2) (on b5 b4) (arm-empty) (on-table b1) (on-table b4) (on b2 b1) (clear b3) STATE: (on b1 b5) (clear b2) (on b5 b4) (on-table b2) (on-table b4) (holding b3) (clear b1)	[ [ "put-down b3" ], [ "unstack b1 b5" ], [ "stack b1 b2" ], [ "pick-up b3" ], [ "stack b3 b5" ], [ "unstack b1 b2" ], [ "put-down b1" ], [ "pick-up b2" ], [ "stack b2 b1" ] ]	[ "(on b1 b5) (arm-empty) (on b5 b4) (on-table b2) (clear b2) (on-table b4) (clear b3) (clear b1) (on-table b3)", "(holding b1) (clear b2) (on b5 b4) (on-table b2) (on-table b4) (clear b3) (on-table b3) (clear b5)", "(arm-empty) (on b5 b4) (on-table b2) (on-table b4) (clear b3) (on b1 b2) (clear b1) (on-table b3) (clear b5)", "(on b5 b4) (on-table b2) (on-table b4) (on b1 b2) (clear b1) (holding b3) (clear b5)", "(on b3 b5) (arm-empty) (on b5 b4) (on-table b2) (on-table b4) (clear b3) (on b1 b2) (clear b1)", "(holding b1) (on b3 b5) (on b5 b4) (on-table b2) (clear b2) (on-table b4) (clear b3)", "(on b3 b5) (arm-empty) (on b5 b4) (on-table b2) (clear b2) (on-table b1) (on-table b4) (clear b3) (clear b1)", "(on b3 b5) (on b5 b4) (on-table b1) (on-table b4) (holding b2) (clear b3) (clear b1)", "(on b3 b5) (clear b2) (on b5 b4) (arm-empty) (on-table b1) (on-table b4) (on b2 b1) (clear b3)" ]	file_74368	ACTION: (put-down b3) NEXT STATE: (on b1 b5) (arm-empty) (on b5 b4) (on-table b2) (clear b2) (on-table b4) (clear b3) (clear b1) (on-table b3) ACTION: (unstack b1 b5) NEXT STATE: (holding b1) (clear b2) (on b5 b4) (on-table b2) (on-table b4) (clear b3) (on-table b3) (clear b5) ACTION: (stack b1 b2) NEXT STATE: (arm-empty) (on b5 b4) (on-table b2) (on-table b4) (clear b3) (on b1 b2) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b3) NEXT STATE: (on b5 b4) (on-table b2) (on-table b4) (on b1 b2) (clear b1) (holding b3) (clear b5) ACTION: (stack b3 b5) NEXT STATE: (on b3 b5) (arm-empty) (on b5 b4) (on-table b2) (on-table b4) (clear b3) (on b1 b2) (clear b1) ACTION: (unstack b1 b2) NEXT STATE: (holding b1) (on b3 b5) (on b5 b4) (on-table b2) (clear b2) (on-table b4) (clear b3) ACTION: (put-down b1) NEXT STATE: (on b3 b5) (arm-empty) (on b5 b4) (on-table b2) (clear b2) (on-table b1) (on-table b4) (clear b3) (clear b1) ACTION: (pick-up b2) NEXT STATE: (on b3 b5) (on b5 b4) (on-table b1) (on-table b4) (holding b2) (clear b3) (clear b1) ACTION: (stack b2 b1) NEXT STATE: (on b3 b5) (clear b2) (on b5 b4) (arm-empty) (on-table b1) (on-table b4) (on b2 b1) (clear b3)
GOAL: (clear b2) (arm-empty) (on-table b4) (on b1 b4) (on b2 b3) (clear b1) (on-table b3)	GOAL: (clear b2) (arm-empty) (on-table b4) (on b1 b4) (on b2 b3) (clear b1) (on-table b3) STATE: (clear b2) (holding b4) (on-table b1) (on b2 b3) (clear b1) (on-table b3)	[ [ "put-down b4" ], [ "pick-up b1" ], [ "stack b1 b4" ] ]	[ "(arm-empty) (clear b4) (clear b2) (on-table b1) (on-table b4) (on b2 b3) (clear b1) (on-table b3)", "(holding b1) (clear b2) (clear b4) (on-table b4) (on b2 b3) (on-table b3)", "(clear b2) (arm-empty) (on-table b4) (on b1 b4) (on b2 b3) (clear b1) (on-table b3)" ]	file_108289	ACTION: (put-down b4) NEXT STATE: (arm-empty) (clear b4) (clear b2) (on-table b1) (on-table b4) (on b2 b3) (clear b1) (on-table b3) ACTION: (pick-up b1) NEXT STATE: (holding b1) (clear b2) (clear b4) (on-table b4) (on b2 b3) (on-table b3) ACTION: (stack b1 b4) NEXT STATE: (clear b2) (arm-empty) (on-table b4) (on b1 b4) (on b2 b3) (clear b1) (on-table b3)
GOAL: (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (clear b3) (on-table b3) (clear b5)	GOAL: (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (clear b3) (on-table b3) (clear b5) STATE: (holding b4) (on b5 b1) (on b2 b3) (on b1 b2) (on-table b3) (clear b5)	[ [ "put-down b4" ], [ "unstack b5 b1" ], [ "stack b5 b4" ], [ "unstack b1 b2" ], [ "put-down b1" ], [ "unstack b5 b4" ], [ "stack b5 b1" ], [ "unstack b2 b3" ], [ "put-down b2" ] ]	[ "(arm-empty) (clear b4) (on b1 b2) (clear b5) (on b5 b1) (on-table b4) (on b2 b3) (on-table b3)", "(clear b4) (holding b5) (on-table b4) (on b2 b3) (on b1 b2) (clear b1) (on-table b3)", "(clear b1) (arm-empty) (on b5 b4) (on-table b4) (on b2 b3) (on b1 b2) (on-table b3) (clear b5)", "(holding b1) (clear b2) (on b5 b4) (on-table b4) (on b2 b3) (on-table b3) (clear b5)", "(arm-empty) (on b5 b4) (clear b5) (clear b2) (on-table b1) (on-table b4) (on b2 b3) (clear b1) (on-table b3)", "(clear b2) (on-table b1) (clear b4) (holding b5) (on-table b4) (on b2 b3) (clear b1) (on-table b3)", "(clear b2) (arm-empty) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (on b2 b3) (on-table b3) (clear b5)", "(on-table b1) (clear b4) (on b5 b1) (on-table b4) (holding b2) (clear b3) (on-table b3) (clear b5)", "(clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (clear b3) (on-table b3) (clear b5)" ]	file_13519	ACTION: (put-down b4) NEXT STATE: (arm-empty) (clear b4) (on b1 b2) (clear b5) (on b5 b1) (on-table b4) (on b2 b3) (on-table b3) ACTION: (unstack b5 b1) NEXT STATE: (clear b4) (holding b5) (on-table b4) (on b2 b3) (on b1 b2) (clear b1) (on-table b3) ACTION: (stack b5 b4) NEXT STATE: (clear b1) (arm-empty) (on b5 b4) (on-table b4) (on b2 b3) (on b1 b2) (on-table b3) (clear b5) ACTION: (unstack b1 b2) NEXT STATE: (holding b1) (clear b2) (on b5 b4) (on-table b4) (on b2 b3) (on-table b3) (clear b5) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on b5 b4) (clear b5) (clear b2) (on-table b1) (on-table b4) (on b2 b3) (clear b1) (on-table b3) ACTION: (unstack b5 b4) NEXT STATE: (clear b2) (on-table b1) (clear b4) (holding b5) (on-table b4) (on b2 b3) (clear b1) (on-table b3) ACTION: (stack b5 b1) NEXT STATE: (clear b2) (arm-empty) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (on b2 b3) (on-table b3) (clear b5) ACTION: (unstack b2 b3) NEXT STATE: (on-table b1) (clear b4) (on b5 b1) (on-table b4) (holding b2) (clear b3) (on-table b3) (clear b5) ACTION: (put-down b2) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b5 b1) (on-table b4) (clear b3) (on-table b3) (clear b5)