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-table b2) (holding b5) (on-table b4) (on b1 b4) (clear b3) (clear b1) (on-table b3)	GOAL: (clear b2) (on-table b2) (holding b5) (on-table b4) (on b1 b4) (clear b3) (clear b1) (on-table b3) STATE: (clear b2) (holding b4) (on-table b1) (on b5 b3) (on b2 b5) (clear b1) (on-table b3)	[ [ "put-down b4" ], [ "pick-up b1" ], [ "stack b1 b4" ], [ "unstack b2 b5" ], [ "put-down b2" ], [ "unstack b5 b3" ] ]	[ "(arm-empty) (clear b4) (on b5 b3) (on b2 b5) (clear b2) (on-table b1) (on-table b4) (clear b1) (on-table 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)", "(arm-empty) (on-table b2) (on b5 b3) (clear b5) (clear b2) (on-table b4) (on b1 b4) (clear b1) (on-table b3)", "(clear b2) (on-table b2) (holding b5) (on-table b4) (on b1 b4) (clear b3) (clear b1) (on-table b3)" ]	file_111771	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: (pick-up b1) 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: (put-down b2) NEXT STATE: (arm-empty) (on-table b2) (on b5 b3) (clear b5) (clear b2) (on-table b4) (on b1 b4) (clear b1) (on-table b3) 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)
GOAL: (on b1 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b3) (clear b1) (on-table b3)	GOAL: (on b1 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b3) (clear b1) (on-table b3) STATE: (on b4 b3) (holding b5) (on b2 b4) (on b1 b2) (clear b1) (on-table b3)	[ [ "put-down b5" ], [ "unstack b1 b2" ], [ "stack b1 b5" ], [ "unstack b2 b4" ], [ "put-down b2" ], [ "unstack b1 b5" ], [ "stack b1 b4" ], [ "pick-up b5" ], [ "stack b5 b2" ], [ "unstack b1 b4" ], [ "stack b1 b5" ], [ "unstack b4 b3" ], [ "put-down b4" ] ]	[ "(arm-empty) (on-table b5) (on b2 b4) (on b1 b2) (clear b5) (on b4 b3) (clear b1) (on-table b3)", "(holding b1) (clear b2) (on-table b5) (on b4 b3) (on b2 b4) (on-table b3) (clear b5)", "(on b1 b5) (clear b2) (arm-empty) (on-table b5) (on b4 b3) (on b2 b4) (clear b1) (on-table b3)", "(on b1 b5) (on-table b5) (clear b4) (on b4 b3) (holding b2) (clear b1) (on-table b3)", "(on b1 b5) (arm-empty) (on-table b2) (on-table b5) (clear b4) (clear b2) (on b4 b3) (clear b1) (on-table b3)", "(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)", "(holding b1) (on-table b2) (on b5 b2) (clear b4) (on b4 b3) (on-table b3) (clear b5)", "(on b1 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on b4 b3) (clear b1) (on-table b3)", "(on b1 b5) (on-table b2) (holding b4) (on b5 b2) (clear b3) (clear b1) (on-table b3)", "(on b1 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b3) (clear b1) (on-table b3)" ]	file_194854	ACTION: (put-down b5) NEXT STATE: (arm-empty) (on-table b5) (on b2 b4) (on b1 b2) (clear b5) (on b4 b3) (clear b1) (on-table b3) ACTION: (unstack b1 b2) NEXT STATE: (holding b1) (clear b2) (on-table b5) (on b4 b3) (on b2 b4) (on-table b3) (clear b5) ACTION: (stack b1 b5) NEXT STATE: (on b1 b5) (clear b2) (arm-empty) (on-table b5) (on b4 b3) (on b2 b4) (clear b1) (on-table b3) ACTION: (unstack b2 b4) NEXT STATE: (on b1 b5) (on-table b5) (clear b4) (on b4 b3) (holding b2) (clear b1) (on-table b3) ACTION: (put-down b2) NEXT STATE: (on b1 b5) (arm-empty) (on-table b2) (on-table b5) (clear b4) (clear b2) (on b4 b3) (clear b1) (on-table b3) ACTION: (unstack b1 b5) 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) ACTION: (unstack b1 b4) NEXT STATE: (holding b1) (on-table b2) (on b5 b2) (clear b4) (on b4 b3) (on-table b3) (clear b5) ACTION: (stack b1 b5) NEXT STATE: (on b1 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on b4 b3) (clear b1) (on-table b3) ACTION: (unstack b4 b3) NEXT STATE: (on b1 b5) (on-table b2) (holding b4) (on b5 b2) (clear b3) (clear b1) (on-table b3) ACTION: (put-down b4) NEXT STATE: (on b1 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b3) (clear b1) (on-table b3)
GOAL: (on b3 b4) (on b4 b1) (arm-empty) (on-table b2) (on-table b5) (clear b3) (on b1 b2) (clear b5)	GOAL: (on b3 b4) (on b4 b1) (arm-empty) (on-table b2) (on-table b5) (clear b3) (on b1 b2) (clear b5) STATE: (clear b2) (on b3 b5) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on b4 b3) (clear b1)	[ [ "pick-up b1" ], [ "stack b1 b2" ], [ "unstack b4 b3" ], [ "stack b4 b1" ], [ "unstack b3 b5" ], [ "stack b3 b4" ] ]	[ "(holding b1) (clear b2) (on b3 b5) (on-table b2) (on-table b5) (clear b4) (on b4 b3)", "(on b3 b5) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b4 b3) (on b1 b2) (clear b1)", "(on b3 b5) (on-table b2) (on-table b5) (holding b4) (clear b3) (on b1 b2) (clear b1)", "(on b3 b5) (on b4 b1) (arm-empty) (on-table b2) (on-table b5) (clear b4) (clear b3) (on b1 b2)", "(on b4 b1) (on-table b2) (on-table b5) (clear b4) (on b1 b2) (holding b3) (clear b5)", "(on b3 b4) (on b4 b1) (arm-empty) (on-table b2) (on-table b5) (clear b3) (on b1 b2) (clear b5)" ]	file_91886	ACTION: (pick-up b1) NEXT STATE: (holding b1) (clear b2) (on b3 b5) (on-table b2) (on-table b5) (clear b4) (on b4 b3) ACTION: (stack b1 b2) NEXT STATE: (on b3 b5) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b4 b3) (on b1 b2) (clear b1) ACTION: (unstack b4 b3) NEXT STATE: (on b3 b5) (on-table b2) (on-table b5) (holding b4) (clear b3) (on b1 b2) (clear b1) ACTION: (stack b4 b1) NEXT STATE: (on b3 b5) (on b4 b1) (arm-empty) (on-table b2) (on-table b5) (clear b4) (clear b3) (on b1 b2) ACTION: (unstack b3 b5) NEXT STATE: (on b4 b1) (on-table b2) (on-table b5) (clear b4) (on b1 b2) (holding b3) (clear b5) ACTION: (stack b3 b4) NEXT STATE: (on b3 b4) (on b4 b1) (arm-empty) (on-table b2) (on-table b5) (clear b3) (on b1 b2) (clear b5)
GOAL: (on b3 b5) (clear b2) (arm-empty) (on-table b1) (on b5 b1) (on-table b4) (on b2 b4) (clear b3)	GOAL: (on b3 b5) (clear b2) (arm-empty) (on-table b1) (on b5 b1) (on-table b4) (on b2 b4) (clear b3) STATE: (on b3 b4) (on b1 b3) (arm-empty) (on-table b2) (on b5 b1) (on b4 b2) (clear b5)	[ [ "unstack b5 b1" ], [ "put-down b5" ], [ "unstack b1 b3" ], [ "put-down b1" ], [ "pick-up b5" ], [ "stack b5 b1" ], [ "unstack b3 b4" ], [ "stack b3 b5" ], [ "unstack b4 b2" ], [ "put-down b4" ], [ "pick-up b2" ], [ "stack b2 b4" ] ]	[ "(on b1 b3) (on-table b2) (holding b5) (on b3 b4) (on b4 b2) (clear b1)", "(on b1 b3) (arm-empty) (on-table b2) (on-table b5) (clear b5) (on b3 b4) (on b4 b2) (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 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 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)", "(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 b5 b1) (on-table 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) (on b5 b1) (on-table b4) (on b2 b4) (clear b3)" ]	file_191938	ACTION: (unstack b5 b1) NEXT STATE: (on b1 b3) (on-table b2) (holding b5) (on b3 b4) (on b4 b2) (clear b1) ACTION: (put-down b5) NEXT STATE: (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (clear b5) (on b3 b4) (on b4 b2) (clear b1) ACTION: (unstack b1 b3) 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: (pick-up b5) NEXT STATE: (on b3 b4) (on-table b2) (on-table b1) (holding b5) (on b4 b2) (clear b3) (clear b1) 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: (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: (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: (pick-up b2) 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)
GOAL: (on b1 b5) (arm-empty) (on b5 b2) (on b2 b4) (on-table b4) (on b3 b1) (clear b3)	GOAL: (on b1 b5) (arm-empty) (on b5 b2) (on b2 b4) (on-table b4) (on b3 b1) (clear b3) STATE: (holding b1) (on b5 b2) (on-table b4) (on b2 b4) (clear b3) (on-table b3) (clear b5)	[ [ "stack b1 b5" ], [ "pick-up b3" ], [ "stack b3 b1" ] ]	[ "(on b1 b5) (arm-empty) (on b5 b2) (on-table b4) (on b2 b4) (clear b3) (clear b1) (on-table b3)", "(on b1 b5) (on b5 b2) (on-table b4) (on b2 b4) (holding b3) (clear b1)", "(on b1 b5) (arm-empty) (on b5 b2) (on b2 b4) (on-table b4) (on b3 b1) (clear b3)" ]	file_126900	ACTION: (stack b1 b5) NEXT STATE: (on b1 b5) (arm-empty) (on b5 b2) (on-table b4) (on b2 b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b3) NEXT STATE: (on b1 b5) (on b5 b2) (on-table b4) (on b2 b4) (holding b3) (clear b1) ACTION: (stack b3 b1) NEXT STATE: (on b1 b5) (arm-empty) (on b5 b2) (on b2 b4) (on-table b4) (on b3 b1) (clear b3)
GOAL: (on b4 b1) (arm-empty) (on-table b1) (on b3 b2) (on b5 b3) (on b2 b4) (clear b5)	GOAL: (on b4 b1) (arm-empty) (on-table b1) (on b3 b2) (on b5 b3) (on b2 b4) (clear b5) STATE: (clear b2) (arm-empty) (on-table b2) (on b4 b5) (on-table b1) (on-table b5) (clear b4) (clear b3) (clear b1) (on-table 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" ], [ "pick-up b5" ], [ "stack b5 b3" ] ]	[ "(clear b2) (on-table b2) (on-table b1) (on-table b5) (holding b4) (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)", "(on b4 b1) (on-table b1) (on b3 b2) (holding b5) (on b2 b4) (clear b3)", "(on b4 b1) (arm-empty) (on-table b1) (on b3 b2) (on b5 b3) (on b2 b4) (clear b5)" ]	file_21397	ACTION: (unstack b4 b5) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (on-table b5) (holding b4) (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) ACTION: (pick-up b5) NEXT STATE: (on b4 b1) (on-table b1) (on b3 b2) (holding b5) (on b2 b4) (clear b3) ACTION: (stack b5 b3) NEXT STATE: (on b4 b1) (arm-empty) (on-table b1) (on b3 b2) (on b5 b3) (on b2 b4) (clear b5)
GOAL: (on b3 b5) (on b1 b3) (clear b2) (arm-empty) (on-table b5) (on-table b4) (on b2 b4) (clear b1)	GOAL: (on b3 b5) (on b1 b3) (clear b2) (arm-empty) (on-table b5) (on-table b4) (on b2 b4) (clear b1) STATE: (arm-empty) (on-table b5) (on-table b4) (on b2 b4) (clear b3) (on b1 b2) (clear b1) (on-table b3) (clear b5)	[ [ "pick-up b3" ], [ "stack b3 b5" ], [ "unstack b1 b2" ], [ "put-down b1" ], [ "unstack b2 b4" ], [ "stack b2 b3" ], [ "pick-up b1" ], [ "stack b1 b4" ], [ "unstack b2 b3" ], [ "put-down b2" ], [ "unstack b1 b4" ], [ "stack b1 b3" ], [ "pick-up b2" ], [ "stack b2 b4" ] ]	[ "(on-table b5) (on-table b4) (on b2 b4) (on b1 b2) (clear b1) (holding b3) (clear b5)", "(on b3 b5) (arm-empty) (on-table b5) (on-table b4) (on b2 b4) (clear b3) (on b1 b2) (clear b1)", "(holding b1) (on b3 b5) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (clear b3)", "(on b3 b5) (arm-empty) (on-table b5) (on b2 b4) (clear b2) (on-table b1) (on-table b4) (clear 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 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)", "(holding b1) (on b3 b5) (clear b2) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b3)", "(on b3 b5) (clear b2) (on b1 b3) (on-table b2) (on-table b5) (arm-empty) (clear b4) (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)" ]	file_166296	ACTION: (pick-up b3) NEXT STATE: (on-table b5) (on-table b4) (on b2 b4) (on b1 b2) (clear b1) (holding b3) (clear b5) ACTION: (stack b3 b5) NEXT STATE: (on b3 b5) (arm-empty) (on-table b5) (on-table b4) (on b2 b4) (clear b3) (on b1 b2) (clear b1) ACTION: (unstack b1 b2) NEXT STATE: (holding b1) (on b3 b5) (clear b2) (on-table b5) (on-table b4) (on b2 b4) (clear b3) ACTION: (put-down b1) NEXT STATE: (on b3 b5) (arm-empty) (on-table b5) (on b2 b4) (clear b2) (on-table b1) (on-table b4) (clear b3) (clear b1) ACTION: (unstack b2 b4) 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 b3) NEXT STATE: (on b3 b5) (clear b2) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b2 b3) (clear b1) ACTION: (pick-up b1) 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 b1 b4) NEXT STATE: (holding b1) (on b3 b5) (clear b2) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b3) ACTION: (stack b1 b3) NEXT STATE: (on b3 b5) (clear b2) (on b1 b3) (on-table b2) (on-table b5) (arm-empty) (clear b4) (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)
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 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on b4 b3) (on b3 b1)	[ [ "unstack b4 b3" ], [ "put-down b4" ], [ "unstack b3 b1" ], [ "put-down b3" ], [ "unstack b1 b5" ], [ "stack b1 b3" ], [ "unstack b5 b2" ] ]	[ "(holding b4) (on b1 b5) (on-table b2) (on b3 b1) (on b5 b2) (clear b3)", "(on b1 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on b3 b1) (on-table b4) (clear b3)", "(on b1 b5) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (holding b3) (clear b1)", "(on b1 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b3) (clear b1) (on-table b3)", "(holding b1) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b3) (on-table b3) (clear b5)", "(on b1 b3) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b1) (on-table b3) (clear b5)", "(clear b2) (on b1 b3) (on-table b2) (clear b4) (holding b5) (on-table b4) (clear b1) (on-table b3)" ]	file_7833	ACTION: (unstack b4 b3) NEXT STATE: (holding b4) (on b1 b5) (on-table b2) (on b3 b1) (on b5 b2) (clear b3) ACTION: (put-down b4) NEXT STATE: (on b1 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on b3 b1) (on-table b4) (clear b3) ACTION: (unstack b3 b1) NEXT STATE: (on b1 b5) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (holding b3) (clear b1) ACTION: (put-down b3) NEXT STATE: (on b1 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b3) (clear b1) (on-table b3) ACTION: (unstack b1 b5) NEXT STATE: (holding b1) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b3) (on-table b3) (clear b5) ACTION: (stack b1 b3) NEXT STATE: (on b1 b3) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b1) (on-table b3) (clear b5) ACTION: (unstack b5 b2) 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 b3 b5) (arm-empty) (on-table b1) (on b5 b1) (on-table b4) (on b2 b4) (clear b3)	GOAL: (clear b2) (on b3 b5) (arm-empty) (on-table b1) (on b5 b1) (on-table b4) (on b2 b4) (clear b3) STATE: (holding b1) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b3) (on-table b3) (clear b5)	[ [ "stack b1 b3" ], [ "unstack b5 b2" ], [ "stack b5 b1" ], [ "pick-up b2" ], [ "stack b2 b4" ], [ "unstack b5 b1" ], [ "stack b5 b2" ], [ "unstack b1 b3" ], [ "put-down b1" ], [ "unstack b5 b2" ], [ "put-down b5" ], [ "pick-up b3" ], [ "stack b3 b2" ], [ "pick-up b5" ], [ "stack b5 b1" ], [ "unstack b3 b2" ], [ "stack b3 b5" ] ]	[ "(on b1 b3) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b1) (on-table b3) (clear b5)", "(clear b2) (on b1 b3) (on-table b2) (clear b4) (holding b5) (on-table b4) (clear b1) (on-table b3)", "(clear b2) (on b1 b3) (arm-empty) (on-table b2) (clear b4) (on b5 b1) (on-table b4) (on-table b3) (clear b5)", "(on b1 b3) (clear b4) (on b5 b1) (on-table b4) (holding b2) (on-table b3) (clear b5)", "(clear b2) (on b1 b3) (arm-empty) (on b5 b1) (on-table b4) (on b2 b4) (on-table b3) (clear b5)", "(clear b2) (on b1 b3) (holding b5) (on-table b4) (on b2 b4) (clear b1) (on-table b3)", "(on b1 b3) (arm-empty) (on b5 b2) (on-table b4) (on b2 b4) (clear b1) (on-table b3) (clear b5)", "(holding b1) (on b5 b2) (on-table b4) (on b2 b4) (clear b3) (on-table b3) (clear b5)", "(arm-empty) (on b5 b2) (on b2 b4) (clear b5) (on-table b1) (on-table b4) (clear b3) (clear b1) (on-table b3)", "(clear b2) (on-table b1) (holding b5) (on-table b4) (on b2 b4) (clear b3) (clear b1) (on-table b3)", "(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)", "(clear b2) (on-table b5) (on-table b1) (on-table b4) (on b2 b4) (holding b3) (clear b1) (clear b5)", "(arm-empty) (on-table b5) (on-table b1) (on b3 b2) (on-table b4) (on b2 b4) (clear b3) (clear b1) (clear b5)", "(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)" ]	file_223365	ACTION: (stack b1 b3) NEXT STATE: (on b1 b3) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b1) (on-table b3) (clear b5) ACTION: (unstack b5 b2) NEXT STATE: (clear b2) (on b1 b3) (on-table b2) (clear b4) (holding b5) (on-table b4) (clear b1) (on-table b3) ACTION: (stack b5 b1) NEXT STATE: (clear b2) (on b1 b3) (arm-empty) (on-table b2) (clear b4) (on b5 b1) (on-table b4) (on-table b3) (clear b5) ACTION: (pick-up b2) NEXT STATE: (on b1 b3) (clear b4) (on b5 b1) (on-table b4) (holding b2) (on-table b3) (clear b5) ACTION: (stack b2 b4) NEXT STATE: (clear b2) (on b1 b3) (arm-empty) (on b5 b1) (on-table b4) (on b2 b4) (on-table b3) (clear b5) ACTION: (unstack b5 b1) NEXT STATE: (clear b2) (on b1 b3) (holding b5) (on-table b4) (on b2 b4) (clear b1) (on-table b3) ACTION: (stack b5 b2) NEXT STATE: (on b1 b3) (arm-empty) (on b5 b2) (on-table b4) (on b2 b4) (clear b1) (on-table b3) (clear b5) ACTION: (unstack b1 b3) NEXT STATE: (holding b1) (on b5 b2) (on-table b4) (on b2 b4) (clear b3) (on-table b3) (clear b5) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on b5 b2) (on b2 b4) (clear b5) (on-table b1) (on-table b4) (clear b3) (clear b1) (on-table b3) ACTION: (unstack b5 b2) NEXT STATE: (clear b2) (on-table b1) (holding b5) (on-table b4) (on b2 b4) (clear b3) (clear b1) (on-table b3) 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 b3) NEXT STATE: (clear b2) (on-table b5) (on-table b1) (on-table b4) (on b2 b4) (holding b3) (clear b1) (clear b5) ACTION: (stack b3 b2) NEXT STATE: (arm-empty) (on-table b5) (on-table b1) (on b3 b2) (on-table b4) (on b2 b4) (clear b3) (clear b1) (clear b5) 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)
GOAL: (on b4 b1) (on b5 b4) (on-table b2) (arm-empty) (on-table b1) (on b3 b2) (clear b3) (clear b5)	GOAL: (on b4 b1) (on b5 b4) (on-table b2) (arm-empty) (on-table b1) (on b3 b2) (clear b3) (clear b5) STATE: (clear b2) (on b4 b1) (on b5 b4) (on-table b2) (on-table b1) (holding b3) (clear b5)	[ [ "stack b3 b2" ] ]	[ "(on b4 b1) (on b5 b4) (on-table b2) (arm-empty) (on-table b1) (on b3 b2) (clear b3) (clear b5)" ]	file_168016	ACTION: (stack b3 b2) NEXT STATE: (on b4 b1) (on b5 b4) (on-table b2) (arm-empty) (on-table b1) (on b3 b2) (clear b3) (clear b5)
GOAL: (arm-empty) (on-table b5) (clear b4) (on b2 b1) (clear b5) (on-table b1) (on b3 b2) (on-table b4) (clear b3)	GOAL: (arm-empty) (on-table b5) (clear b4) (on b2 b1) (clear b5) (on-table b1) (on b3 b2) (on-table b4) (clear b3) STATE: (clear b2) (arm-empty) (on-table b2) (on-table b5) (on b4 b5) (on b1 b4) (clear b3) (clear b1) (on-table b3)	[ [ "unstack b1 b4" ], [ "put-down b1" ], [ "pick-up b3" ], [ "stack b3 b4" ], [ "pick-up b2" ], [ "stack b2 b1" ], [ "unstack b3 b4" ], [ "stack b3 b2" ], [ "unstack b4 b5" ], [ "put-down b4" ] ]	[ "(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)", "(clear b2) (on-table b2) (on-table b5) (on b4 b5) (on-table b1) (clear b4) (holding b3) (clear b1)", "(on b3 b4) (clear b2) (arm-empty) (on-table b2) (on-table b5) (on b4 b5) (on-table b1) (clear b3) (clear b1)", "(on b3 b4) (on-table b5) (on b4 b5) (on-table b1) (holding b2) (clear b3) (clear b1)", "(arm-empty) (on-table b5) (on b4 b5) (on b2 b1) (on b3 b4) (clear b2) (on-table b1) (clear b3)", "(clear b2) (on-table b5) (on b4 b5) (on-table b1) (clear b4) (on b2 b1) (holding b3)", "(arm-empty) (on-table b5) (on-table b1) (on b4 b5) (on b3 b2) (clear b4) (on b2 b1) (clear b3)", "(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-table b4) (clear b3)" ]	file_228181	ACTION: (unstack b1 b4) 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 b3) 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 b4) NEXT STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b2) (on-table b5) (on b4 b5) (on-table b1) (clear b3) (clear b1) ACTION: (pick-up b2) NEXT STATE: (on b3 b4) (on-table b5) (on b4 b5) (on-table b1) (holding b2) (clear b3) (clear b1) ACTION: (stack b2 b1) NEXT STATE: (arm-empty) (on-table b5) (on b4 b5) (on b2 b1) (on b3 b4) (clear b2) (on-table b1) (clear b3) ACTION: (unstack b3 b4) NEXT STATE: (clear b2) (on-table b5) (on b4 b5) (on-table b1) (clear b4) (on b2 b1) (holding b3) ACTION: (stack b3 b2) NEXT STATE: (arm-empty) (on-table b5) (on-table b1) (on b4 b5) (on b3 b2) (clear b4) (on b2 b1) (clear b3) ACTION: (unstack b4 b5) NEXT STATE: (on-table b5) (on-table b1) (holding b4) (on b3 b2) (on b2 b1) (clear b3) (clear b5) ACTION: (put-down b4) 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)
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: (on b4 b1) (on b1 b3) (on-table b2) (on-table b5) (arm-empty) (on b3 b2) (clear b4) (clear b5)	[ [ "unstack b4 b1" ], [ "stack b4 b5" ], [ "unstack b1 b3" ], [ "stack b1 b4" ], [ "unstack b3 b2" ], [ "put-down b3" ], [ "pick-up b2" ], [ "stack b2 b3" ], [ "unstack b1 b4" ], [ "stack b1 b2" ], [ "unstack b4 b5" ], [ "put-down b4" ] ]	[ "(on b1 b3) (on-table b2) (on-table b5) (holding b4) (on b3 b2) (clear b1) (clear b5)", "(on b1 b3) (arm-empty) (on-table b2) (on-table b5) (on b4 b5) (on b3 b2) (clear b4) (clear b1)", "(holding b1) (on-table b2) (on-table b5) (on b4 b5) (on b3 b2) (clear b4) (clear b3)", "(arm-empty) (on-table b2) (on-table b5) (on b4 b5) (on b3 b2) (on b1 b4) (clear b3) (clear b1)", "(clear b2) (on-table b2) (on-table b5) (on b4 b5) (on b1 b4) (holding b3) (clear b1)", "(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)", "(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)" ]	file_15778	ACTION: (unstack b4 b1) NEXT STATE: (on b1 b3) (on-table b2) (on-table b5) (holding b4) (on b3 b2) (clear b1) (clear b5) ACTION: (stack b4 b5) NEXT STATE: (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (on b4 b5) (on b3 b2) (clear b4) (clear b1) ACTION: (unstack b1 b3) NEXT STATE: (holding b1) (on-table b2) (on-table b5) (on b4 b5) (on b3 b2) (clear b4) (clear b3) ACTION: (stack b1 b4) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (on b4 b5) (on b3 b2) (on b1 b4) (clear b3) (clear b1) ACTION: (unstack b3 b2) NEXT STATE: (clear b2) (on-table b2) (on-table b5) (on b4 b5) (on b1 b4) (holding b3) (clear b1) 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) 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)
GOAL: (clear b2) (on-table b2) (on-table b1) (holding b4) (clear b3) (clear b1) (on-table b3)	GOAL: (clear b2) (on-table b2) (on-table b1) (holding b4) (clear b3) (clear b1) (on-table b3) STATE: (holding b1) (clear b2) (clear b4) (on-table b4) (on b2 b3) (on-table b3)	[ [ "put-down b1" ], [ "unstack b2 b3" ], [ "put-down b2" ], [ "pick-up b4" ] ]	[ "(arm-empty) (clear b4) (clear b2) (on-table b1) (on-table b4) (on b2 b3) (clear b1) (on-table b3)", "(on-table b1) (clear b4) (on-table b4) (holding b2) (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) (holding b4) (clear b3) (clear b1) (on-table b3)" ]	file_136608	ACTION: (put-down b1) NEXT STATE: (arm-empty) (clear b4) (clear b2) (on-table b1) (on-table b4) (on b2 b3) (clear b1) (on-table b3) ACTION: (unstack b2 b3) NEXT STATE: (on-table b1) (clear 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 b4) (clear b2) (on-table b1) (on-table b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b4) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (holding b4) (clear b3) (clear b1) (on-table b3)
GOAL: (on b4 b1) (arm-empty) (on-table b1) (on b3 b2) (on b5 b3) (on b2 b4) (clear b5)	GOAL: (on b4 b1) (arm-empty) (on-table b1) (on b3 b2) (on b5 b3) (on b2 b4) (clear b5) STATE: (clear b2) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (holding b3) (clear b1) (clear b5)	[ [ "stack b3 b5" ], [ "pick-up b4" ], [ "stack b4 b1" ], [ "pick-up b2" ], [ "stack b2 b4" ], [ "unstack b3 b5" ], [ "stack b3 b2" ], [ "pick-up b5" ], [ "stack b5 b3" ] ]	[ "(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)", "(clear b2) (on b3 b5) (on-table b2) (on-table b5) (on-table b1) (holding b4) (clear b3) (clear b1)", "(clear b2) (on b3 b5) (on b4 b1) (on-table b2) (on-table b5) (on-table b1) (arm-empty) (clear b4) (clear 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)", "(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)", "(on b4 b1) (on-table b1) (on b3 b2) (holding b5) (on b2 b4) (clear b3)", "(on b4 b1) (arm-empty) (on-table b1) (on b3 b2) (on b5 b3) (on b2 b4) (clear b5)" ]	file_116009	ACTION: (stack b3 b5) NEXT 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) ACTION: (pick-up b4) NEXT STATE: (clear b2) (on b3 b5) (on-table b2) (on-table b5) (on-table b1) (holding b4) (clear b3) (clear b1) ACTION: (stack b4 b1) NEXT STATE: (clear b2) (on b3 b5) (on b4 b1) (on-table b2) (on-table b5) (on-table b1) (arm-empty) (clear b4) (clear b3) ACTION: (pick-up b2) 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) 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) ACTION: (pick-up b5) NEXT STATE: (on b4 b1) (on-table b1) (on b3 b2) (holding b5) (on b2 b4) (clear b3) ACTION: (stack b5 b3) NEXT STATE: (on b4 b1) (arm-empty) (on-table b1) (on b3 b2) (on b5 b3) (on b2 b4) (clear b5)
GOAL: (arm-empty) (on b5 b2) (on b2 b4) (clear b5) (on-table b1) (on-table b4) (clear b3) (clear b1) (on-table b3)	GOAL: (arm-empty) (on b5 b2) (on b2 b4) (clear b5) (on-table b1) (on-table b4) (clear b3) (clear b1) (on-table b3) STATE: (on b3 b5) (arm-empty) (on b5 b4) (on-table b2) (on-table b1) (on b4 b2) (clear b3) (clear b1)	[ [ "unstack b3 b5" ], [ "stack b3 b1" ], [ "unstack b5 b4" ], [ "put-down b5" ], [ "unstack b4 b2" ], [ "put-down b4" ], [ "pick-up b2" ], [ "stack b2 b4" ], [ "pick-up b5" ], [ "stack b5 b2" ], [ "unstack b3 b1" ], [ "put-down b3" ] ]	[ "(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 b5) (clear b4) (on b3 b1) (clear b5) (on-table b1) (on b4 b2) (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)", "(on-table b5) (on-table b1) (clear b4) (on-table b4) (holding b2) (on b3 b1) (clear b3) (clear b5)", "(clear b2) (arm-empty) (on-table b5) (on-table b1) (on b2 b4) (on-table b4) (on b3 b1) (clear b3) (clear b5)", "(clear b2) (on-table b1) (on b3 b1) (holding b5) (on-table b4) (on b2 b4) (clear b3)", "(arm-empty) (on-table b1) (on b5 b2) (on b2 b4) (on-table b4) (on b3 b1) (clear b3) (clear b5)", "(on-table b1) (on b5 b2) (on b2 b4) (on-table b4) (holding b3) (clear b1) (clear b5)", "(arm-empty) (on b5 b2) (on b2 b4) (clear b5) (on-table b1) (on-table b4) (clear b3) (clear b1) (on-table b3)" ]	file_163177	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: (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 b4 b2) 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: (pick-up b2) NEXT STATE: (on-table b5) (on-table b1) (clear b4) (on-table b4) (holding b2) (on b3 b1) (clear b3) (clear b5) ACTION: (stack b2 b4) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on-table b1) (on b2 b4) (on-table b4) (on b3 b1) (clear b3) (clear b5) ACTION: (pick-up b5) NEXT STATE: (clear b2) (on-table b1) (on b3 b1) (holding b5) (on-table b4) (on b2 b4) (clear b3) ACTION: (stack b5 b2) 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 b3 b1) NEXT STATE: (on-table b1) (on b5 b2) (on b2 b4) (on-table b4) (holding b3) (clear b1) (clear b5) ACTION: (put-down b3) NEXT STATE: (arm-empty) (on b5 b2) (on b2 b4) (clear b5) (on-table b1) (on-table b4) (clear b3) (clear b1) (on-table b3)
GOAL: (clear b2) (arm-empty) (on-table b1) (clear b4) (on-table b4) (on b2 b1) (clear b3) (on-table b3)	GOAL: (clear b2) (arm-empty) (on-table b1) (clear b4) (on-table b4) (on b2 b1) (clear b3) (on-table b3) STATE: (on b3 b4) (arm-empty) (on-table b2) (on-table b1) (on b4 b2) (clear b3) (clear b1)	[ [ "unstack b3 b4" ], [ "put-down b3" ], [ "unstack b4 b2" ], [ "put-down b4" ], [ "pick-up b2" ], [ "stack b2 b1" ] ]	[ "(on-table b2) (clear b4) (on-table b1) (on b4 b2) (holding b3) (clear b1)", "(on b4 b2) (arm-empty) (on-table b2) (on-table b1) (clear b3) (clear b4) (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)", "(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)" ]	file_120966	ACTION: (unstack b3 b4) NEXT STATE: (on-table b2) (clear b4) (on-table b1) (on b4 b2) (holding b3) (clear b1) ACTION: (put-down b3) NEXT STATE: (on b4 b2) (arm-empty) (on-table b2) (on-table b1) (clear b3) (clear b4) (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 b2) 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)
GOAL: (on b1 b5) (clear b2) (on b5 b4) (on-table b2) (on-table b4) (holding b3) (clear b1)	GOAL: (on b1 b5) (clear b2) (on b5 b4) (on-table b2) (on-table b4) (holding b3) (clear b1) STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b2) (on b4 b5) (on-table b1) (on b5 b1) (clear b3)	[ [ "unstack b3 b4" ], [ "stack b3 b2" ], [ "unstack b4 b5" ], [ "put-down b4" ], [ "unstack b5 b1" ], [ "stack b5 b4" ], [ "pick-up b1" ], [ "stack b1 b5" ], [ "unstack b3 b2" ] ]	[ "(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) (on-table b1) (on b3 b2) (clear b4) (on b5 b1) (clear b3)", "(on-table b2) (on-table b1) (holding b4) (on b3 b2) (on b5 b1) (clear b3) (clear b5)", "(arm-empty) (on-table b2) (clear b4) (clear b5) (on-table b1) (on b3 b2) (on b5 b1) (on-table b4) (clear b3)", "(on-table b2) (on-table b1) (on b3 b2) (clear b4) (holding b5) (on-table b4) (clear b3) (clear b1)", "(arm-empty) (on b5 b4) (on-table b2) (on-table b1) (on b3 b2) (on-table b4) (clear b3) (clear b1) (clear b5)", "(holding b1) (on b5 b4) (on-table b2) (on b3 b2) (on-table b4) (clear b3) (clear b5)", "(on b1 b5) (arm-empty) (on b5 b4) (on-table b2) (on b3 b2) (on-table b4) (clear b3) (clear b1)", "(on b1 b5) (clear b2) (on b5 b4) (on-table b2) (on-table b4) (holding b3) (clear b1)" ]	file_159361	ACTION: (unstack b3 b4) NEXT STATE: (clear b2) (on-table b2) (on b4 b5) (on-table b1) (clear b4) (on b5 b1) (holding b3) ACTION: (stack b3 b2) 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 b4 b5) NEXT STATE: (on-table b2) (on-table b1) (holding b4) (on b3 b2) (on b5 b1) (clear b3) (clear b5) ACTION: (put-down b4) NEXT STATE: (arm-empty) (on-table b2) (clear b4) (clear b5) (on-table b1) (on b3 b2) (on b5 b1) (on-table b4) (clear b3) 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 b4) NEXT STATE: (arm-empty) (on b5 b4) (on-table b2) (on-table b1) (on b3 b2) (on-table b4) (clear b3) (clear b1) (clear b5) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on b5 b4) (on-table b2) (on b3 b2) (on-table b4) (clear b3) (clear b5) ACTION: (stack b1 b5) NEXT STATE: (on b1 b5) (arm-empty) (on b5 b4) (on-table b2) (on b3 b2) (on-table b4) (clear b3) (clear b1) ACTION: (unstack b3 b2) NEXT STATE: (on b1 b5) (clear b2) (on b5 b4) (on-table b2) (on-table b4) (holding b3) (clear b1)
GOAL: (on b1 b5) (clear b4) (on b5 b3) (on-table b4) (holding b2) (clear b1) (on-table b3)	GOAL: (on b1 b5) (clear b4) (on b5 b3) (on-table b4) (holding b2) (clear b1) (on-table b3) STATE: (holding b4) (on b5 b3) (on b2 b5) (on b1 b2) (clear b1) (on-table b3)	[ [ "put-down b4" ], [ "unstack b1 b2" ], [ "put-down b1" ], [ "unstack b2 b5" ], [ "stack b2 b4" ], [ "pick-up b1" ], [ "stack b1 b5" ], [ "unstack b2 b4" ] ]	[ "(arm-empty) (clear b4) (on b5 b3) (on b2 b5) (on b1 b2) (on-table b4) (clear b1) (on-table b3)", "(holding b1) (clear b2) (clear b4) (on b5 b3) (on-table b4) (on b2 b5) (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 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)", "(on b1 b5) (clear b2) (arm-empty) (on b5 b3) (on-table b4) (on b2 b4) (clear b1) (on-table b3)", "(on b1 b5) (clear b4) (on b5 b3) (on-table b4) (holding b2) (clear b1) (on-table b3)" ]	file_102993	ACTION: (put-down b4) NEXT STATE: (arm-empty) (clear b4) (on b5 b3) (on b2 b5) (on b1 b2) (on-table b4) (clear b1) (on-table b3) 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: (put-down b1) 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: (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 b5) NEXT STATE: (on b1 b5) (clear b2) (arm-empty) (on b5 b3) (on-table b4) (on b2 b4) (clear b1) (on-table b3) ACTION: (unstack b2 b4) NEXT STATE: (on b1 b5) (clear b4) (on b5 b3) (on-table b4) (holding b2) (clear b1) (on-table b3)
GOAL: (on b1 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on b4 b3) (on b3 b1)	GOAL: (on b1 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on b4 b3) (on b3 b1) STATE: (holding b1) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b3) (on-table b3) (clear b5)	[ [ "stack b1 b5" ], [ "pick-up b3" ], [ "stack b3 b1" ], [ "pick-up b4" ], [ "stack b4 b3" ] ]	[ "(on b1 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b3) (clear b1) (on-table b3)", "(on b1 b5) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (holding b3) (clear b1)", "(on b1 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (on b3 b1) (clear b3)", "(on b1 b5) (on-table b2) (holding b4) (on b5 b2) (on b3 b1) (clear b3)", "(on b1 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on b4 b3) (on b3 b1)" ]	file_223245	ACTION: (stack b1 b5) NEXT STATE: (on b1 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b3) NEXT STATE: (on b1 b5) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (holding b3) (clear b1) ACTION: (stack b3 b1) NEXT STATE: (on b1 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (on b3 b1) (clear b3) ACTION: (pick-up b4) NEXT STATE: (on b1 b5) (on-table b2) (holding b4) (on b5 b2) (on b3 b1) (clear b3) ACTION: (stack b4 b3) NEXT STATE: (on b1 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on b4 b3) (on b3 b1)
GOAL: (on b1 b5) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b3 b1) (clear b2) (on-table b4) (clear b3)	GOAL: (on b1 b5) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b3 b1) (clear b2) (on-table b4) (clear b3) STATE: (on b3 b5) (arm-empty) (on-table b2) (on b5 b1) (on b1 b4) (on b4 b2) (clear b3)	[ [ "unstack b3 b5" ], [ "put-down b3" ], [ "unstack b5 b1" ], [ "put-down b5" ], [ "unstack b1 b4" ], [ "stack b1 b5" ], [ "pick-up b3" ], [ "stack b3 b1" ], [ "unstack b4 b2" ], [ "put-down b4" ] ]	[ "(on-table b2) (clear b5) (on b5 b1) (on b1 b4) (on b4 b2) (holding b3)", "(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)", "(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)", "(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) (clear b2) (on-table b4) (clear b3)" ]	file_205298	ACTION: (unstack b3 b5) NEXT STATE: (on-table b2) (clear b5) (on b5 b1) (on b1 b4) (on b4 b2) (holding b3) 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: (stack b1 b5) 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) ACTION: (unstack b4 b2) NEXT STATE: (on b1 b5) (clear b2) (on-table b2) (on-table b5) (holding b4) (on b3 b1) (clear b3) ACTION: (put-down b4) 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)
GOAL: (on b1 b5) (arm-empty) (on b5 b4) (on-table b2) (on b3 b2) (on-table b4) (clear b3) (clear b1)	GOAL: (on b1 b5) (arm-empty) (on b5 b4) (on-table b2) (on b3 b2) (on-table b4) (clear b3) (clear b1) STATE: (clear b2) (on b1 b3) (on-table b2) (clear b4) (holding b5) (on-table b4) (clear b1) (on-table b3)	[ [ "stack b5 b4" ], [ "unstack b1 b3" ], [ "stack b1 b5" ], [ "pick-up b3" ], [ "stack b3 b2" ] ]	[ "(clear b2) (on b1 b3) (on b5 b4) (on-table b2) (arm-empty) (on-table b4) (clear b1) (on-table b3) (clear b5)", "(holding b1) (clear b2) (on b5 b4) (on-table b2) (on-table b4) (clear b3) (on-table b3) (clear b5)", "(on b1 b5) (clear b2) (arm-empty) (on b5 b4) (on-table b2) (on-table b4) (clear b3) (clear b1) (on-table 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) (on b3 b2) (on-table b4) (clear b3) (clear b1)" ]	file_218295	ACTION: (stack b5 b4) NEXT STATE: (clear b2) (on b1 b3) (on b5 b4) (on-table b2) (arm-empty) (on-table b4) (clear b1) (on-table b3) (clear b5) ACTION: (unstack b1 b3) 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 b5) NEXT STATE: (on b1 b5) (clear b2) (arm-empty) (on b5 b4) (on-table b2) (on-table b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b3) NEXT STATE: (on b1 b5) (clear b2) (on b5 b4) (on-table b2) (on-table b4) (holding b3) (clear b1) ACTION: (stack b3 b2) NEXT STATE: (on b1 b5) (arm-empty) (on b5 b4) (on-table b2) (on b3 b2) (on-table b4) (clear b3) (clear b1)
GOAL: (on b3 b5) (on b1 b3) (clear b2) (on-table b5) (holding b4) (on b2 b1)	GOAL: (on b3 b5) (on b1 b3) (clear b2) (on-table b5) (holding b4) (on b2 b1) STATE: (clear b2) (on b3 b5) (arm-empty) (on-table b5) (on-table b1) (on b4 b3) (on b2 b4) (clear b1)	[ [ "unstack b2 b4" ], [ "stack b2 b1" ], [ "unstack b4 b3" ], [ "put-down b4" ], [ "unstack b2 b1" ], [ "put-down b2" ], [ "pick-up b1" ], [ "stack b1 b3" ], [ "pick-up b2" ], [ "stack b2 b1" ], [ "pick-up b4" ] ]	[ "(on b3 b5) (on-table b5) (on-table b1) (clear b4) (on b4 b3) (holding b2) (clear b1)", "(on b3 b5) (clear b2) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on b4 b3) (on b2 b1)", "(on b3 b5) (clear b2) (on-table b5) (on-table b1) (holding b4) (on b2 b1) (clear b3)", "(on b3 b5) (arm-empty) (on-table b5) (clear b4) (on b2 b1) (clear b2) (on-table b1) (on-table b4) (clear b3)", "(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 b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (clear b3) (clear b1)", "(holding b1) (on b3 b5) (clear b2) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b3)", "(on b3 b5) (clear b2) (on b1 b3) (on-table b2) (on-table b5) (arm-empty) (clear b4) (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) (clear b4) (on-table b4) (on b2 b1)", "(on b3 b5) (on b1 b3) (clear b2) (on-table b5) (holding b4) (on b2 b1)" ]	file_149366	ACTION: (unstack b2 b4) NEXT STATE: (on b3 b5) (on-table b5) (on-table b1) (clear b4) (on b4 b3) (holding b2) (clear b1) ACTION: (stack b2 b1) NEXT STATE: (on b3 b5) (clear b2) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on b4 b3) (on b2 b1) ACTION: (unstack b4 b3) NEXT STATE: (on b3 b5) (clear b2) (on-table b5) (on-table b1) (holding b4) (on b2 b1) (clear b3) ACTION: (put-down b4) NEXT STATE: (on b3 b5) (arm-empty) (on-table b5) (clear b4) (on b2 b1) (clear b2) (on-table b1) (on-table b4) (clear b3) ACTION: (unstack b2 b1) NEXT STATE: (on b3 b5) (on-table b5) (on-table b1) (clear b4) (on-table b4) (holding b2) (clear b3) (clear b1) ACTION: (put-down b2) NEXT STATE: (on b3 b5) (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (clear b3) (clear b1) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on b3 b5) (clear b2) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b3) ACTION: (stack b1 b3) NEXT STATE: (on b3 b5) (clear b2) (on b1 b3) (on-table b2) (on-table b5) (arm-empty) (clear b4) (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 b1) NEXT STATE: (on b3 b5) (on b1 b3) (clear b2) (arm-empty) (on-table b5) (clear b4) (on-table b4) (on b2 b1) ACTION: (pick-up b4) NEXT STATE: (on b3 b5) (on b1 b3) (clear b2) (on-table b5) (holding b4) (on b2 b1)
GOAL: (holding b1) (on b3 b4) (on-table b5) (on b4 b2) (on b2 b5) (clear b3)	GOAL: (holding b1) (on b3 b4) (on-table b5) (on b4 b2) (on b2 b5) (clear b3) STATE: (clear b2) (on-table b2) (on-table b1) (clear b4) (on b4 b3) (holding b5) (on b3 b1)	[ [ "put-down b5" ], [ "pick-up b2" ], [ "stack b2 b5" ], [ "unstack b4 b3" ], [ "stack b4 b2" ], [ "unstack b3 b1" ], [ "stack b3 b4" ], [ "pick-up b1" ] ]	[ "(arm-empty) (on-table b2) (on-table b5) (clear b4) (on b3 b1) (clear b5) (clear b2) (on-table b1) (on b4 b3)", "(on-table b5) (on-table b1) (clear b4) (on b4 b3) (holding b2) (on b3 b1) (clear b5)", "(clear b2) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on b4 b3) (on b3 b1) (on b2 b5)", "(clear b2) (on-table b5) (on-table b1) (holding b4) (on b3 b1) (on b2 b5) (clear b3)", "(arm-empty) (on-table b5) (on-table b1) (clear b4) (on b3 b1) (on b4 b2) (on b2 b5) (clear b3)", "(on-table b5) (on-table b1) (clear b4) (on b4 b2) (on b2 b5) (holding b3) (clear b1)", "(on b3 b4) (arm-empty) (on-table b5) (on-table b1) (on b4 b2) (on b2 b5) (clear b3) (clear b1)", "(holding b1) (on b3 b4) (on-table b5) (on b4 b2) (on b2 b5) (clear b3)" ]	file_208708	ACTION: (put-down b5) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b3 b1) (clear b5) (clear b2) (on-table b1) (on b4 b3) ACTION: (pick-up b2) NEXT STATE: (on-table b5) (on-table b1) (clear b4) (on b4 b3) (holding b2) (on b3 b1) (clear b5) ACTION: (stack b2 b5) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on b4 b3) (on b3 b1) (on b2 b5) ACTION: (unstack b4 b3) NEXT STATE: (clear b2) (on-table b5) (on-table b1) (holding b4) (on b3 b1) (on b2 b5) (clear b3) ACTION: (stack b4 b2) NEXT STATE: (arm-empty) (on-table b5) (on-table b1) (clear b4) (on b3 b1) (on b4 b2) (on b2 b5) (clear b3) ACTION: (unstack b3 b1) NEXT STATE: (on-table b5) (on-table b1) (clear b4) (on b4 b2) (on b2 b5) (holding b3) (clear b1) ACTION: (stack b3 b4) NEXT STATE: (on b3 b4) (arm-empty) (on-table b5) (on-table b1) (on b4 b2) (on b2 b5) (clear b3) (clear b1) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on b3 b4) (on-table b5) (on b4 b2) (on b2 b5) (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: (on b1 b5) (clear b2) (on b4 b1) (arm-empty) (on-table b5) (on b2 b4) (clear b3) (on-table b3)	[ [ "unstack b2 b4" ], [ "put-down b2" ], [ "unstack b4 b1" ], [ "put-down b4" ], [ "pick-up b3" ], [ "stack b3 b4" ], [ "pick-up b2" ], [ "stack b2 b3" ], [ "unstack b1 b5" ], [ "stack b1 b2" ], [ "pick-up b5" ], [ "stack b5 b1" ] ]	[ "(on b1 b5) (on b4 b1) (on-table b5) (clear b4) (holding b2) (clear b3) (on-table 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) (clear b2) (on-table b2) (on-table b5) (clear b4) (on-table b4) (holding b3) (clear b1)", "(on b1 b5) (clear b2) (on b3 b4) (arm-empty) (on-table b2) (on-table b5) (on-table b4) (clear b3) (clear b1)", "(on b1 b5) (on b3 b4) (on-table b5) (on-table b4) (holding b2) (clear b3) (clear b1)", "(on b1 b5) (on b3 b4) (clear b2) (arm-empty) (on-table b5) (on-table b4) (on b2 b3) (clear b1)", "(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_137006	ACTION: (unstack b2 b4) NEXT STATE: (on b1 b5) (on b4 b1) (on-table b5) (clear b4) (holding b2) (clear b3) (on-table b3) ACTION: (put-down b2) 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 b3) 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 b4) NEXT STATE: (on b1 b5) (clear b2) (on b3 b4) (arm-empty) (on-table b2) (on-table b5) (on-table b4) (clear b3) (clear b1) ACTION: (pick-up b2) NEXT STATE: (on b1 b5) (on b3 b4) (on-table b5) (on-table b4) (holding b2) (clear b3) (clear b1) ACTION: (stack b2 b3) NEXT STATE: (on b1 b5) (on b3 b4) (clear b2) (arm-empty) (on-table b5) (on-table b4) (on b2 b3) (clear b1) ACTION: (unstack b1 b5) 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: (on b3 b2) (on-table b4) (on b1 b3) (arm-empty) (on b2 b4) (clear b1)	GOAL: (on b3 b2) (on-table b4) (on b1 b3) (arm-empty) (on b2 b4) (clear b1) STATE: (clear b2) (on-table b1) (clear b4) (on-table b4) (on b2 b1) (holding b3)	[ [ "put-down b3" ], [ "unstack b2 b1" ], [ "stack b2 b4" ], [ "pick-up b3" ], [ "stack b3 b2" ], [ "pick-up b1" ], [ "stack b1 b3" ] ]	[ "(clear b2) (on-table b4) (arm-empty) (on-table b1) (on b2 b1) (clear b3) (clear b4) (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) (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)", "(arm-empty) (on-table b1) (on b3 b2) (on-table b4) (on b2 b4) (clear b3) (clear b1)", "(holding b1) (on-table b4) (clear b3) (on b3 b2) (on b2 b4)", "(on b3 b2) (on-table b4) (on b1 b3) (arm-empty) (on b2 b4) (clear b1)" ]	file_44757	ACTION: (put-down b3) NEXT STATE: (clear b2) (on-table b4) (arm-empty) (on-table b1) (on b2 b1) (clear b3) (clear b4) (on-table b3) ACTION: (unstack b2 b1) 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 b2) NEXT STATE: (arm-empty) (on-table b1) (on b3 b2) (on-table b4) (on b2 b4) (clear b3) (clear b1) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on-table b4) (clear b3) (on b3 b2) (on b2 b4) ACTION: (stack b1 b3) NEXT STATE: (on b3 b2) (on-table b4) (on b1 b3) (arm-empty) (on b2 b4) (clear b1)
GOAL: (clear b2) (on-table b2) (on b4 b3) (holding b5) (on b1 b4) (clear b1) (on-table b3)	GOAL: (clear b2) (on-table b2) (on b4 b3) (holding b5) (on b1 b4) (clear b1) (on-table b3) STATE: (on b3 b4) (clear b2) (on b1 b3) (arm-empty) (on b5 b1) (on-table b4) (on b2 b5)	[ [ "unstack b2 b5" ], [ "put-down b2" ], [ "unstack b5 b1" ], [ "stack b5 b2" ], [ "unstack b1 b3" ], [ "stack b1 b5" ], [ "unstack b3 b4" ], [ "put-down b3" ], [ "pick-up b4" ], [ "stack b4 b3" ], [ "unstack b1 b5" ], [ "stack b1 b4" ], [ "unstack b5 b2" ] ]	[ "(on b1 b3) (clear b5) (on b3 b4) (on b5 b1) (on-table b4) (holding b2)", "(on b5 b1) (on b3 b4) (on-table b4) (on b1 b3) (clear b2) (on-table b2) (arm-empty) (clear b5)", "(on b3 b4) (clear b2) (on b1 b3) (on-table b2) (holding b5) (on-table b4) (clear b1)", "(on b3 b4) (on b1 b3) (arm-empty) (on-table b2) (on b5 b2) (on-table b4) (clear b1) (clear b5)", "(holding b1) (on b3 b4) (on-table b2) (on b5 b2) (on-table b4) (clear b3) (clear b5)", "(on b3 b4) (on b1 b5) (arm-empty) (on-table b2) (on b5 b2) (on-table b4) (clear b3) (clear b1)", "(on b1 b5) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (holding b3) (clear b1)", "(on b1 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b3) (clear b1) (on-table b3)", "(on b1 b5) (on-table b2) (holding b4) (on b5 b2) (clear b3) (clear b1) (on-table b3)", "(on b1 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on b4 b3) (clear b1) (on-table b3)", "(holding b1) (on-table b2) (on b5 b2) (clear b4) (on b4 b3) (on-table b3) (clear b5)", "(arm-empty) (on-table b2) (on b5 b2) (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)" ]	file_99785	ACTION: (unstack b2 b5) NEXT STATE: (on b1 b3) (clear b5) (on b3 b4) (on b5 b1) (on-table b4) (holding b2) ACTION: (put-down b2) NEXT STATE: (on b5 b1) (on b3 b4) (on-table b4) (on b1 b3) (clear b2) (on-table b2) (arm-empty) (clear b5) ACTION: (unstack b5 b1) NEXT STATE: (on b3 b4) (clear b2) (on b1 b3) (on-table b2) (holding b5) (on-table b4) (clear b1) ACTION: (stack b5 b2) NEXT STATE: (on b3 b4) (on b1 b3) (arm-empty) (on-table b2) (on b5 b2) (on-table b4) (clear b1) (clear b5) ACTION: (unstack b1 b3) NEXT STATE: (holding b1) (on b3 b4) (on-table b2) (on b5 b2) (on-table b4) (clear b3) (clear b5) ACTION: (stack b1 b5) NEXT STATE: (on b3 b4) (on b1 b5) (arm-empty) (on-table b2) (on b5 b2) (on-table b4) (clear b3) (clear b1) ACTION: (unstack b3 b4) NEXT STATE: (on b1 b5) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (holding b3) (clear b1) ACTION: (put-down b3) NEXT STATE: (on b1 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b4) NEXT STATE: (on b1 b5) (on-table b2) (holding b4) (on b5 b2) (clear b3) (clear b1) (on-table b3) ACTION: (stack b4 b3) NEXT STATE: (on b1 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on b4 b3) (clear b1) (on-table b3) ACTION: (unstack b1 b5) NEXT STATE: (holding b1) (on-table b2) (on b5 b2) (clear b4) (on b4 b3) (on-table b3) (clear b5) ACTION: (stack b1 b4) NEXT STATE: (arm-empty) (on-table b2) (on b5 b2) (on b4 b3) (on b1 b4) (clear b1) (on-table b3) (clear b5) ACTION: (unstack b5 b2) NEXT STATE: (clear b2) (on-table b2) (on b4 b3) (holding b5) (on b1 b4) (clear b1) (on-table b3)
GOAL: (holding b1) (on b3 b5) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b3)	GOAL: (holding b1) (on b3 b5) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b3) STATE: (on b3 b5) (on-table b2) (holding b4) (on-table b1) (on b5 b2) (clear b3) (clear b1)	[ [ "put-down b4" ], [ "pick-up b1" ] ]	[ "(on b3 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on-table b1) (on-table b4) (clear b3) (clear b1)", "(holding b1) (on b3 b5) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b3)" ]	file_222021	ACTION: (put-down b4) 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 b1) NEXT STATE: (holding b1) (on b3 b5) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b3)
GOAL: (holding b1) (on b3 b4) (clear b2) (on-table b4) (on b2 b3)	GOAL: (holding b1) (on b3 b4) (clear b2) (on-table b4) (on b2 b3) STATE: (clear b2) (arm-empty) (on-table b1) (clear b4) (on-table b4) (on b2 b1) (clear b3) (on-table b3)	[ [ "pick-up b3" ], [ "stack b3 b4" ], [ "unstack b2 b1" ], [ "stack b2 b3" ], [ "pick-up b1" ] ]	[ "(clear b2) (on-table b1) (clear b4) (on-table b4) (on b2 b1) (holding b3)", "(on b3 b4) (clear b2) (arm-empty) (on-table b1) (on-table b4) (on b2 b1) (clear b3)", "(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 b3) (clear b1)", "(holding b1) (on b3 b4) (clear b2) (on-table b4) (on b2 b3)" ]	file_49818	ACTION: (pick-up b3) NEXT STATE: (clear b2) (on-table b1) (clear b4) (on-table b4) (on b2 b1) (holding b3) ACTION: (stack b3 b4) NEXT STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b1) (on-table b4) (on b2 b1) (clear b3) ACTION: (unstack b2 b1) NEXT STATE: (on b3 b4) (on-table b1) (on-table b4) (holding b2) (clear b3) (clear b1) ACTION: (stack b2 b3) NEXT STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b1) (on-table b4) (on b2 b3) (clear b1) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on b3 b4) (clear b2) (on-table b4) (on b2 b3)
GOAL: (holding b4) (clear b2) (on-table b1) (on b2 b3) (clear b1) (on-table b3)	GOAL: (holding b4) (clear b2) (on-table b1) (on b2 b3) (clear b1) (on-table b3) 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 b4" ], [ "stack b4 b1" ], [ "pick-up b2" ], [ "stack b2 b3" ], [ "unstack b4 b1" ] ]	[ "(clear b2) (on-table b2) (on-table b1) (holding b4) (clear b3) (clear b1) (on-table b3)", "(clear b2) (on b4 b1) (arm-empty) (on-table b2) (on-table b1) (clear b4) (clear b3) (on-table b3)", "(on b4 b1) (on-table b1) (clear b4) (holding b2) (clear b3) (on-table b3)", "(clear b2) (on b4 b1) (arm-empty) (on-table b1) (clear b4) (on b2 b3) (on-table b3)", "(holding b4) (clear b2) (on-table b1) (on b2 b3) (clear b1) (on-table b3)" ]	file_65702	ACTION: (pick-up b4) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (holding b4) (clear b3) (clear b1) (on-table b3) ACTION: (stack b4 b1) NEXT STATE: (clear b2) (on b4 b1) (arm-empty) (on-table b2) (on-table b1) (clear b4) (clear b3) (on-table b3) ACTION: (pick-up b2) NEXT STATE: (on b4 b1) (on-table b1) (clear b4) (holding b2) (clear b3) (on-table b3) ACTION: (stack b2 b3) NEXT STATE: (clear b2) (on b4 b1) (arm-empty) (on-table b1) (clear b4) (on b2 b3) (on-table b3) ACTION: (unstack b4 b1) NEXT STATE: (holding b4) (clear b2) (on-table b1) (on b2 b3) (clear b1) (on-table b3)
GOAL: (clear b2) (on b4 b1) (arm-empty) (on-table b1) (clear b4) (on b5 b3) (on b2 b5) (on-table b3)	GOAL: (clear b2) (on b4 b1) (arm-empty) (on-table b1) (clear b4) (on b5 b3) (on b2 b5) (on-table b3) STATE: (clear b2) (holding b5) (on-table b4) (on b1 b4) (on b2 b1) (clear b3) (on-table b3)	[ [ "stack b5 b3" ], [ "unstack b2 b1" ], [ "stack b2 b5" ], [ "unstack b1 b4" ], [ "put-down b1" ], [ "pick-up b4" ], [ "stack b4 b1" ] ]	[ "(clear b2) (arm-empty) (on b5 b3) (on-table b4) (on b1 b4) (on b2 b1) (on-table b3) (clear b5)", "(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 b5) (clear b1) (on-table b3)", "(holding b1) (clear b2) (clear b4) (on b5 b3) (on-table b4) (on b2 b5) (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)", "(clear b2) (on-table b1) (holding b4) (on b5 b3) (on b2 b5) (clear b1) (on-table b3)", "(clear b2) (on b4 b1) (arm-empty) (on-table b1) (clear b4) (on b5 b3) (on b2 b5) (on-table b3)" ]	file_2005	ACTION: (stack b5 b3) 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 b2 b1) NEXT STATE: (holding b2) (on b5 b3) (on-table b4) (on b1 b4) (clear b1) (on-table b3) (clear b5) ACTION: (stack b2 b5) 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 b1 b4) NEXT STATE: (holding b1) (clear b2) (clear b4) (on b5 b3) (on-table b4) (on b2 b5) (on-table b3) ACTION: (put-down b1) 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: (pick-up b4) NEXT STATE: (clear b2) (on-table b1) (holding b4) (on b5 b3) (on b2 b5) (clear b1) (on-table b3) ACTION: (stack b4 b1) NEXT STATE: (clear b2) (on b4 b1) (arm-empty) (on-table b1) (clear b4) (on b5 b3) (on b2 b5) (on-table b3)
GOAL: (arm-empty) (on b4 b5) (on b2 b4) (clear b2) (on-table b1) (on b5 b1) (clear b3) (on-table b3)	GOAL: (arm-empty) (on b4 b5) (on b2 b4) (clear b2) (on-table b1) (on b5 b1) (clear b3) (on-table b3) STATE: (on b1 b5) (arm-empty) (on b5 b2) (on b2 b4) (on-table b4) (on b3 b1) (clear b3)	[ [ "unstack b3 b1" ], [ "put-down b3" ], [ "unstack b1 b5" ], [ "put-down b1" ], [ "unstack b5 b2" ], [ "stack b5 b1" ], [ "unstack b2 b4" ], [ "stack b2 b3" ], [ "pick-up b4" ], [ "stack b4 b5" ], [ "unstack b2 b3" ], [ "stack b2 b4" ] ]	[ "(on b1 b5) (on b5 b2) (on b2 b4) (on-table b4) (holding b3) (clear b1)", "(on b1 b5) (arm-empty) (on b5 b2) (on b2 b4) (on-table b4) (clear b3) (clear b1) (on-table b3)", "(holding b1) (on b5 b2) (on-table b4) (on b2 b4) (clear b3) (on-table b3) (clear b5)", "(arm-empty) (on b5 b2) (on b2 b4) (clear b5) (on-table b1) (on-table b4) (clear b3) (clear b1) (on-table b3)", "(clear b2) (on-table b1) (holding b5) (on-table b4) (on b2 b4) (clear b3) (clear b1) (on-table b3)", "(clear b2) (arm-empty) (on-table b1) (on b5 b1) (on-table b4) (on b2 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 b3) (on-table b3) (clear b5)", "(clear b2) (on-table b1) (holding b4) (on b5 b1) (on b2 b3) (on-table b3) (clear b5)", "(clear b2) (arm-empty) (on b4 b5) (on-table b1) (clear b4) (on b5 b1) (on b2 b3) (on-table b3)", "(on b4 b5) (on-table b1) (clear b4) (on b5 b1) (holding b2) (clear b3) (on-table b3)", "(arm-empty) (on b4 b5) (on b2 b4) (clear b2) (on-table b1) (on b5 b1) (clear b3) (on-table b3)" ]	file_111103	ACTION: (unstack b3 b1) NEXT STATE: (on b1 b5) (on b5 b2) (on b2 b4) (on-table b4) (holding b3) (clear b1) ACTION: (put-down b3) NEXT STATE: (on b1 b5) (arm-empty) (on b5 b2) (on b2 b4) (on-table b4) (clear b3) (clear b1) (on-table b3) ACTION: (unstack b1 b5) NEXT STATE: (holding b1) (on b5 b2) (on-table b4) (on b2 b4) (clear b3) (on-table b3) (clear b5) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on b5 b2) (on b2 b4) (clear b5) (on-table b1) (on-table b4) (clear b3) (clear b1) (on-table b3) ACTION: (unstack b5 b2) 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 b1) NEXT STATE: (clear b2) (arm-empty) (on-table b1) (on b5 b1) (on-table b4) (on b2 b4) (clear b3) (on-table b3) (clear b5) ACTION: (unstack b2 b4) 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 b5) 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 b2 b3) NEXT STATE: (on b4 b5) (on-table b1) (clear b4) (on b5 b1) (holding b2) (clear b3) (on-table b3) ACTION: (stack b2 b4) NEXT STATE: (arm-empty) (on b4 b5) (on b2 b4) (clear b2) (on-table b1) (on b5 b1) (clear b3) (on-table b3)
GOAL: (holding b1) (on-table b2) (on-table b5) (on b4 b5) (on b3 b2) (clear b4) (clear b3)	GOAL: (holding b1) (on-table b2) (on-table b5) (on b4 b5) (on b3 b2) (clear b4) (clear b3) STATE: (clear b2) (on-table b2) (on-table b1) (clear b4) (on b4 b3) (holding b5) (on b3 b1)	[ [ "put-down b5" ], [ "unstack b4 b3" ], [ "stack b4 b5" ], [ "unstack b3 b1" ], [ "stack b3 b2" ], [ "pick-up b1" ] ]	[ "(arm-empty) (on-table b2) (on-table b5) (clear b4) (on b3 b1) (clear b5) (clear b2) (on-table b1) (on b4 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) (on b4 b5) (clear b4) (on b3 b1) (clear b3)", "(clear b2) (on-table b2) (on-table b5) (on-table b1) (on b4 b5) (clear b4) (holding b3) (clear b1)", "(arm-empty) (on-table b2) (on-table b5) (on-table b1) (on b4 b5) (on b3 b2) (clear b4) (clear b3) (clear b1)", "(holding b1) (on-table b2) (on-table b5) (on b4 b5) (on b3 b2) (clear b4) (clear b3)" ]	file_208574	ACTION: (put-down b5) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b3 b1) (clear b5) (clear b2) (on-table b1) (on b4 b3) ACTION: (unstack b4 b3) NEXT STATE: (clear b2) (on-table b2) (on-table b5) (on-table b1) (holding b4) (on b3 b1) (clear b3) (clear b5) ACTION: (stack b4 b5) 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 b3 b1) NEXT STATE: (clear b2) (on-table b2) (on-table b5) (on-table b1) (on b4 b5) (clear b4) (holding b3) (clear b1) ACTION: (stack b3 b2) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (on-table b1) (on b4 b5) (on b3 b2) (clear b4) (clear b3) (clear b1) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on-table b2) (on-table b5) (on b4 b5) (on b3 b2) (clear b4) (clear b3)
GOAL: (on b5 b1) (on b3 b5) (clear b2) (on-table b4) (on b2 b3) (clear b4) (arm-empty) (on-table b1)	GOAL: (on b5 b1) (on b3 b5) (clear b2) (on-table b4) (on b2 b3) (clear b4) (arm-empty) (on-table b1) 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" ] ]	[ "(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)" ]	file_77700	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)
GOAL: (holding b1) (on b3 b4) (clear b2) (on-table b2) (on-table b5) (on b4 b5) (clear b3)	GOAL: (holding b1) (on b3 b4) (clear b2) (on-table b2) (on-table b5) (on b4 b5) (clear b3) STATE: (on b1 b5) (arm-empty) (on b5 b4) (on-table b2) (on b4 b2) (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" ], [ "put-down b5" ], [ "unstack b4 b2" ], [ "stack b4 b5" ], [ "unstack b3 b1" ], [ "stack b3 b4" ], [ "pick-up b1" ] ]	[ "(on b1 b5) (on b5 b4) (on-table b2) (on b4 b2) (holding b3) (clear b1)", "(on b1 b5) (arm-empty) (on b5 b4) (on-table b2) (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)", "(arm-empty) (on b5 b4) (on-table b2) (clear b5) (on-table b1) (on b4 b2) (clear b3) (clear b1) (on-table b3)", "(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 b5) (clear b4) (on b3 b1) (clear b5) (on-table b1) (on b4 b2) (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) (on b4 b5) (clear b4) (on b3 b1) (clear b3)", "(clear b2) (on-table b2) (on-table b5) (on-table b1) (on b4 b5) (clear b4) (holding b3) (clear b1)", "(on b3 b4) (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (on b4 b5) (clear b3) (clear b1)", "(holding b1) (on b3 b4) (clear b2) (on-table b2) (on-table b5) (on b4 b5) (clear b3)" ]	file_166905	ACTION: (unstack b3 b1) NEXT STATE: (on b1 b5) (on b5 b4) (on-table b2) (on b4 b2) (holding b3) (clear b1) ACTION: (put-down b3) NEXT STATE: (on b1 b5) (arm-empty) (on b5 b4) (on-table b2) (on b4 b2) (clear b3) (clear b1) (on-table b3) ACTION: (unstack b1 b5) NEXT STATE: (holding b1) (on b5 b4) (on-table b2) (on b4 b2) (clear b3) (on-table b3) (clear b5) 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: (pick-up b3) 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: (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 b4 b2) NEXT STATE: (clear b2) (on-table b2) (on-table b5) (on-table b1) (holding b4) (on b3 b1) (clear b3) (clear b5) ACTION: (stack b4 b5) 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 b3 b1) NEXT STATE: (clear b2) (on-table b2) (on-table b5) (on-table b1) (on b4 b5) (clear b4) (holding b3) (clear b1) ACTION: (stack b3 b4) NEXT STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (on b4 b5) (clear b3) (clear b1) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on b3 b4) (clear b2) (on-table b2) (on-table b5) (on b4 b5) (clear b3)
GOAL: (holding b4) (on b5 b3) (on b2 b5) (on b1 b2) (clear b1) (on-table b3)	GOAL: (holding b4) (on b5 b3) (on b2 b5) (on b1 b2) (clear b1) (on-table b3) STATE: (holding b1) (clear b2) (on-table b2) (clear b4) (on b5 b3) (on-table b4) (on-table b3) (clear b5)	[ [ "stack b1 b4" ], [ "pick-up b2" ], [ "stack b2 b5" ], [ "unstack b1 b4" ], [ "stack b1 b2" ], [ "pick-up b4" ] ]	[ "(clear b2) (arm-empty) (on-table b2) (on b5 b3) (on-table b4) (on b1 b4) (clear b1) (on-table b3) (clear b5)", "(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 b5) (clear b1) (on-table b3)", "(holding b1) (clear b2) (clear b4) (on b5 b3) (on-table b4) (on b2 b5) (on-table b3)", "(arm-empty) (clear b4) (on b5 b3) (on-table b4) (on b2 b5) (on b1 b2) (clear b1) (on-table b3)", "(holding b4) (on b5 b3) (on b2 b5) (on b1 b2) (clear b1) (on-table b3)" ]	file_219683	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: (pick-up b2) NEXT STATE: (holding b2) (on b5 b3) (on-table b4) (on b1 b4) (clear b1) (on-table b3) (clear b5) ACTION: (stack b2 b5) 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 b1 b4) NEXT STATE: (holding b1) (clear b2) (clear b4) (on b5 b3) (on-table b4) (on b2 b5) (on-table b3) ACTION: (stack b1 b2) NEXT STATE: (arm-empty) (clear b4) (on b5 b3) (on-table b4) (on b2 b5) (on b1 b2) (clear b1) (on-table b3) ACTION: (pick-up b4) NEXT STATE: (holding b4) (on b5 b3) (on b2 b5) (on b1 b2) (clear b1) (on-table b3)
GOAL: (on b3 b4) (clear b2) (arm-empty) (on-table b5) (on-table b1) (on-table b4) (on b2 b1) (clear b3) (clear b5)	GOAL: (on b3 b4) (clear b2) (arm-empty) (on-table b5) (on-table b1) (on-table b4) (on b2 b1) (clear b3) (clear b5) STATE: (on b3 b4) (clear b2) (on-table b2) (on-table b1) (holding b5) (on-table b4) (clear b3) (clear b1)	[ [ "put-down b5" ], [ "pick-up b2" ], [ "stack b2 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)", "(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 b1) (clear b3) (clear b5)" ]	file_8145	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 b2) 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 b1) NEXT STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b5) (on-table b1) (on-table b4) (on b2 b1) (clear b3) (clear b5)
GOAL: (on b1 b5) (on-table b5) (clear b4) (on b4 b3) (holding b2) (on b3 b1)	GOAL: (on b1 b5) (on-table b5) (clear b4) (on b4 b3) (holding b2) (on b3 b1) STATE: (on b1 b3) (on b3 b2) (holding b5) (on-table b4) (on b2 b4) (clear b1)	[ [ "put-down b5" ], [ "unstack b1 b3" ], [ "stack b1 b5" ], [ "unstack b3 b2" ], [ "stack b3 b1" ], [ "unstack b2 b4" ], [ "put-down b2" ], [ "pick-up b4" ], [ "stack b4 b3" ], [ "pick-up b2" ] ]	[ "(on b1 b3) (arm-empty) (on-table b5) (on b2 b4) (clear b5) (on b3 b2) (on-table b4) (clear b1)", "(holding b1) (on-table b5) (on b3 b2) (on-table b4) (on b2 b4) (clear b3) (clear b5)", "(on b1 b5) (arm-empty) (on-table b5) (on b3 b2) (on-table b4) (on b2 b4) (clear b3) (clear b1)", "(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)", "(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) (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)" ]	file_164412	ACTION: (put-down b5) NEXT STATE: (on b1 b3) (arm-empty) (on-table b5) (on b2 b4) (clear b5) (on b3 b2) (on-table b4) (clear b1) ACTION: (unstack b1 b3) NEXT STATE: (holding b1) (on-table b5) (on b3 b2) (on-table b4) (on b2 b4) (clear b3) (clear b5) ACTION: (stack b1 b5) 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 b3 b2) 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) 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 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)
GOAL: (clear b4) (on b3 b1) (on-table b1) (on-table b4) (holding b2) (clear b3)	GOAL: (clear b4) (on b3 b1) (on-table b1) (on-table b4) (holding b2) (clear b3) STATE: (on-table b1) (clear b4) (on b4 b3) (holding b2) (clear b1) (on-table b3)	[ [ "stack b2 b1" ], [ "unstack b4 b3" ], [ "put-down b4" ], [ "unstack b2 b1" ], [ "stack b2 b4" ], [ "pick-up b3" ], [ "stack b3 b1" ], [ "unstack b2 b4" ] ]	[ "(clear b2) (arm-empty) (on-table b1) (clear b4) (on b4 b3) (on b2 b1) (on-table b3)", "(holding b4) (clear b2) (on-table b1) (on b2 b1) (clear b3) (on-table b3)", "(arm-empty) (clear b4) (on b2 b1) (clear b2) (on-table b1) (on-table b4) (clear b3) (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) (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)" ]	file_191148	ACTION: (stack b2 b1) NEXT STATE: (clear b2) (arm-empty) (on-table b1) (clear b4) (on b4 b3) (on b2 b1) (on-table b3) ACTION: (unstack b4 b3) NEXT STATE: (holding b4) (clear b2) (on-table b1) (on b2 b1) (clear b3) (on-table b3) ACTION: (put-down b4) NEXT STATE: (arm-empty) (clear b4) (on b2 b1) (clear b2) (on-table b1) (on-table b4) (clear b3) (on-table b3) ACTION: (unstack b2 b1) 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)
GOAL: (clear b2) (on b4 b1) (on-table b5) (on-table b1) (clear b4) (on b2 b5) (holding b3)	GOAL: (clear b2) (on b4 b1) (on-table b5) (on-table b1) (clear b4) (on b2 b5) (holding b3) STATE: (clear b2) (on b4 b1) (on-table b1) (holding b5) (on b2 b4) (clear b3) (on-table b3)	[ [ "put-down b5" ], [ "unstack b2 b4" ], [ "stack b2 b5" ], [ "pick-up b3" ] ]	[ "(on b4 b1) (arm-empty) (on-table b5) (on b2 b4) (clear b5) (clear b2) (on-table b1) (clear b3) (on-table b3)", "(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 b4 b1) (on-table b5) (on-table b1) (clear b4) (on b2 b5) (holding b3)" ]	file_88023	ACTION: (put-down b5) NEXT STATE: (on b4 b1) (arm-empty) (on-table b5) (on b2 b4) (clear b5) (clear b2) (on-table b1) (clear b3) (on-table b3) ACTION: (unstack b2 b4) 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: (pick-up b3) NEXT STATE: (clear b2) (on b4 b1) (on-table b5) (on-table b1) (clear b4) (on b2 b5) (holding b3)
GOAL: (holding b1) (clear b2) (on-table b2) (clear b3) (on-table b3)	GOAL: (holding b1) (clear b2) (on-table b2) (clear b3) (on-table b3) STATE: (clear b2) (on b1 b3) (arm-empty) (on-table b2) (clear b1) (on-table b3)	[ [ "unstack b1 b3" ] ]	[ "(holding b1) (clear b2) (on-table b2) (clear b3) (on-table b3)" ]	file_84911	ACTION: (unstack b1 b3) NEXT STATE: (holding b1) (clear b2) (on-table b2) (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)	GOAL: (clear b2) (on b4 b1) (on-table b2) (on-table b1) (clear b4) (holding b5) (clear b3) (on-table b3) STATE: (on b1 b3) (on-table b2) (on b3 b2) (clear b4) (holding b5) (on-table b4) (clear b1)	[ [ "stack b5 b4" ], [ "unstack b1 b3" ], [ "put-down b1" ], [ "unstack b5 b4" ], [ "stack b5 b3" ], [ "pick-up b4" ], [ "stack b4 b1" ], [ "unstack b5 b3" ], [ "stack b5 b4" ], [ "unstack b3 b2" ], [ "put-down b3" ], [ "unstack b5 b4" ] ]	[ "(on b1 b3) (on b5 b4) (on-table b2) (arm-empty) (on b3 b2) (on-table b4) (clear b1) (clear b5)", "(holding b1) (on b5 b4) (on-table b2) (on b3 b2) (on-table b4) (clear b3) (clear b5)", "(arm-empty) (on b5 b4) (on-table b2) (clear b5) (on-table b1) (on b3 b2) (on-table b4) (clear b3) (clear b1)", "(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)", "(on b4 b1) (arm-empty) (on-table b2) (on-table b1) (on b3 b2) (clear b4) (on b5 b3) (clear b5)", "(on b4 b1) (on-table b2) (on-table b1) (on b3 b2) (clear b4) (holding b5) (clear b3)", "(on b4 b1) (on b5 b4) (on-table b2) (arm-empty) (on-table b1) (on b3 b2) (clear b3) (clear b5)", "(clear b2) (on b4 b1) (on b5 b4) (on-table b2) (on-table b1) (holding 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)" ]	file_11878	ACTION: (stack b5 b4) NEXT STATE: (on b1 b3) (on b5 b4) (on-table b2) (arm-empty) (on b3 b2) (on-table b4) (clear b1) (clear b5) ACTION: (unstack b1 b3) NEXT STATE: (holding b1) (on b5 b4) (on-table b2) (on b3 b2) (on-table b4) (clear b3) (clear b5) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on b5 b4) (on-table b2) (clear b5) (on-table b1) (on b3 b2) (on-table b4) (clear b3) (clear b1) ACTION: (unstack b5 b4) 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 b1) NEXT STATE: (on b4 b1) (arm-empty) (on-table b2) (on-table b1) (on b3 b2) (clear b4) (on b5 b3) (clear b5) ACTION: (unstack b5 b3) NEXT STATE: (on b4 b1) (on-table b2) (on-table b1) (on b3 b2) (clear b4) (holding b5) (clear b3) ACTION: (stack b5 b4) NEXT STATE: (on b4 b1) (on b5 b4) (on-table b2) (arm-empty) (on-table b1) (on b3 b2) (clear b3) (clear b5) ACTION: (unstack b3 b2) NEXT STATE: (clear b2) (on b4 b1) (on b5 b4) (on-table b2) (on-table b1) (holding b3) (clear b5) ACTION: (put-down b3) 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)
GOAL: (on b3 b4) (clear b2) (on-table b1) (holding b5) (on-table b4) (on b2 b3) (clear b1)	GOAL: (on b3 b4) (clear b2) (on-table b1) (holding b5) (on-table b4) (on b2 b3) (clear b1) STATE: (on b3 b5) (on b1 b3) (on b4 b1) (on-table b5) (clear b4) (holding b2)	[ [ "put-down b2" ], [ "unstack b4 b1" ], [ "put-down b4" ], [ "unstack b1 b3" ], [ "put-down b1" ], [ "unstack b3 b5" ], [ "stack b3 b4" ], [ "pick-up b5" ], [ "stack b5 b1" ], [ "pick-up b2" ], [ "stack b2 b3" ], [ "unstack b5 b1" ] ]	[ "(on b3 b5) (on b1 b3) (on b4 b1) (on-table b2) (on-table b5) (arm-empty) (clear b4) (clear b2)", "(on b3 b5) (on b1 b3) (on-table b2) (on-table b5) (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)", "(holding b1) (on b3 b5) (on-table b2) (on-table b5) (clear b2) (clear b4) (on-table b4) (clear b3)", "(on b3 b5) (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (clear b3) (clear b1)", "(clear b2) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (holding 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)", "(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 b1) (on b5 b1) (on-table b4) (clear 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 b3) (clear b5)", "(on b3 b4) (clear b2) (on-table b1) (holding b5) (on-table b4) (on b2 b3) (clear b1)" ]	file_97034	ACTION: (put-down b2) NEXT STATE: (on b3 b5) (on b1 b3) (on b4 b1) (on-table b2) (on-table b5) (arm-empty) (clear b4) (clear b2) ACTION: (unstack b4 b1) NEXT STATE: (on b3 b5) (on b1 b3) (on-table b2) (on-table b5) (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: (unstack b1 b3) NEXT STATE: (holding b1) (on b3 b5) (on-table b2) (on-table b5) (clear b2) (clear b4) (on-table b4) (clear b3) ACTION: (put-down b1) NEXT STATE: (on b3 b5) (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (clear b3) (clear b1) ACTION: (unstack b3 b5) 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 b4) 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 b5) 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 b1) 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: (pick-up b2) NEXT STATE: (on b3 b4) (on-table b1) (on b5 b1) (on-table b4) (holding b2) (clear b3) (clear b5) ACTION: (stack b2 b3) 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 b5 b1) NEXT STATE: (on b3 b4) (clear b2) (on-table b1) (holding b5) (on-table b4) (on b2 b3) (clear b1)
GOAL: (on b3 b5) (on-table b2) (on-table b5) (holding b4) (clear b3) (on b1 b2) (clear b1)	GOAL: (on b3 b5) (on-table b2) (on-table b5) (holding b4) (clear b3) (on b1 b2) (clear b1) STATE: (holding b1) (on b3 b5) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b3)	[ [ "stack b1 b4" ], [ "unstack b3 b5" ], [ "stack b3 b1" ], [ "unstack b5 b2" ], [ "put-down b5" ], [ "unstack b3 b1" ], [ "stack b3 b5" ], [ "unstack b1 b4" ], [ "stack b1 b2" ], [ "pick-up b4" ] ]	[ "(on b3 b5) (arm-empty) (on-table b2) (on b5 b2) (on-table b4) (on b1 b4) (clear b3) (clear b1)", "(on-table b2) (on b5 b2) (on-table b4) (on b1 b4) (holding b3) (clear b1) (clear b5)", "(arm-empty) (on-table b2) (on b5 b2) (on-table b4) (on b1 b4) (on b3 b1) (clear b3) (clear b5)", "(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)", "(clear b2) (on b3 b5) (arm-empty) (on-table b2) (on-table b5) (on-table b4) (on b1 b4) (clear b3) (clear b1)", "(holding b1) (clear b2) (on b3 b5) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b3)", "(on b3 b5) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b3) (on b1 b2) (clear b1)", "(on b3 b5) (on-table b2) (on-table b5) (holding b4) (clear b3) (on b1 b2) (clear b1)" ]	file_207959	ACTION: (stack b1 b4) NEXT STATE: (on b3 b5) (arm-empty) (on-table b2) (on b5 b2) (on-table b4) (on b1 b4) (clear b3) (clear b1) ACTION: (unstack b3 b5) NEXT STATE: (on-table b2) (on b5 b2) (on-table b4) (on b1 b4) (holding b3) (clear b1) (clear b5) ACTION: (stack b3 b1) NEXT STATE: (arm-empty) (on-table b2) (on b5 b2) (on-table b4) (on b1 b4) (on b3 b1) (clear b3) (clear b5) ACTION: (unstack b5 b2) 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 b5) NEXT STATE: (clear b2) (on b3 b5) (arm-empty) (on-table b2) (on-table b5) (on-table b4) (on b1 b4) (clear b3) (clear b1) ACTION: (unstack b1 b4) NEXT STATE: (holding b1) (clear b2) (on b3 b5) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b3) ACTION: (stack b1 b2) NEXT STATE: (on b3 b5) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on-table b4) (clear b3) (on b1 b2) (clear b1) ACTION: (pick-up b4) NEXT STATE: (on b3 b5) (on-table b2) (on-table b5) (holding b4) (clear b3) (on b1 b2) (clear b1)
GOAL: (on b3 b4) (on b4 b1) (holding b2) (on-table b1) (clear b3)	GOAL: (on b3 b4) (on b4 b1) (holding b2) (on-table b1) (clear b3) STATE: (arm-empty) (on b1 b4) (on b4 b2) (on b2 b3) (clear b1) (on-table b3)	[ [ "unstack b1 b4" ], [ "put-down b1" ], [ "unstack b4 b2" ], [ "stack b4 b1" ], [ "unstack b2 b3" ], [ "put-down b2" ], [ "pick-up b3" ], [ "stack b3 b4" ], [ "pick-up b2" ] ]	[ "(holding b1) (clear b4) (on b4 b2) (on b2 b3) (on-table b3)", "(on-table b1) (arm-empty) (on b2 b3) (on b4 b2) (clear b4) (clear b1) (on-table b3)", "(holding b4) (clear b2) (on-table b1) (on b2 b3) (clear b1) (on-table b3)", "(clear b2) (on b4 b1) (arm-empty) (on-table b1) (clear b4) (on b2 b3) (on-table b3)", "(on b4 b1) (clear b4) (on-table b1) (holding b2) (clear b3) (on-table b3)", "(on b4 b1) (arm-empty) (on-table b2) (clear b4) (clear b2) (on-table b1) (clear b3) (on-table b3)", "(clear b2) (on b4 b1) (on-table b2) (on-table b1) (clear b4) (holding b3)", "(on b3 b4) (clear b2) (on b4 b1) (arm-empty) (on-table b2) (on-table b1) (clear b3)", "(on b3 b4) (on b4 b1) (holding b2) (on-table b1) (clear b3)" ]	file_183664	ACTION: (unstack b1 b4) NEXT STATE: (holding b1) (clear b4) (on b4 b2) (on b2 b3) (on-table b3) ACTION: (put-down b1) NEXT STATE: (on-table b1) (arm-empty) (on b2 b3) (on b4 b2) (clear b4) (clear b1) (on-table b3) ACTION: (unstack b4 b2) NEXT STATE: (holding b4) (clear b2) (on-table b1) (on b2 b3) (clear b1) (on-table b3) ACTION: (stack b4 b1) NEXT STATE: (clear b2) (on b4 b1) (arm-empty) (on-table b1) (clear b4) (on b2 b3) (on-table b3) ACTION: (unstack b2 b3) NEXT STATE: (on b4 b1) (clear b4) (on-table b1) (holding b2) (clear b3) (on-table b3) ACTION: (put-down b2) NEXT STATE: (on b4 b1) (arm-empty) (on-table b2) (clear b4) (clear b2) (on-table b1) (clear b3) (on-table b3) ACTION: (pick-up b3) NEXT STATE: (clear b2) (on b4 b1) (on-table b2) (on-table b1) (clear b4) (holding b3) ACTION: (stack b3 b4) NEXT STATE: (on b3 b4) (clear b2) (on b4 b1) (arm-empty) (on-table b2) (on-table b1) (clear b3) ACTION: (pick-up b2) NEXT STATE: (on b3 b4) (on b4 b1) (holding b2) (on-table b1) (clear b3)
GOAL: (on b1 b3) (on-table b5) (holding b4) (on b3 b2) (on b2 b5) (clear b1)	GOAL: (on b1 b3) (on-table b5) (holding b4) (on b3 b2) (on b2 b5) (clear b1) STATE: (on b1 b3) (arm-empty) (on-table b5) (on b4 b5) (on b3 b2) (on b2 b4) (clear b1)	[ [ "unstack b1 b3" ], [ "put-down b1" ], [ "unstack b3 b2" ], [ "stack b3 b1" ], [ "unstack b2 b4" ], [ "stack b2 b3" ], [ "unstack b4 b5" ], [ "put-down b4" ], [ "unstack b2 b3" ], [ "stack b2 b5" ], [ "unstack b3 b1" ], [ "stack b3 b2" ], [ "pick-up b1" ], [ "stack b1 b3" ], [ "pick-up b4" ] ]	[ "(on-table b5) (on b4 b5) (on b2 b4) (holding b1) (on b3 b2) (clear b3)", "(arm-empty) (on-table b5) (on b4 b5) (on b2 b4) (on-table b1) (on b3 b2) (clear b3) (clear b1)", "(clear b2) (on-table b5) (on b4 b5) (on-table b1) (on b2 b4) (holding b3) (clear b1)", "(clear b2) (arm-empty) (on-table b5) (on-table b1) (on b4 b5) (on b2 b4) (on b3 b1) (clear b3)", "(on-table b5) (on-table b1) (on b4 b5) (clear b4) (holding b2) (on b3 b1) (clear b3)", "(clear b2) (arm-empty) (on-table b5) (on-table b1) (on b4 b5) (clear b4) (on b3 b1) (on b2 b3)", "(clear b2) (on-table b5) (on-table b1) (holding b4) (on b3 b1) (on b2 b3) (clear b5)", "(arm-empty) (on-table b5) (clear b4) (on b3 b1) (clear b5) (clear b2) (on-table b1) (on-table b4) (on b2 b3)", "(on-table b5) (on-table b1) (clear b4) (on-table b4) (holding b2) (on b3 b1) (clear b3) (clear b5)", "(clear b2) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b3 b1) (on b2 b5) (clear b3)", "(clear b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b2 b5) (holding b3) (clear b1)", "(arm-empty) (on-table b5) (on-table b1) (on b3 b2) (clear b4) (on-table b4) (on b2 b5) (clear b3) (clear b1)", "(holding b1) (on-table b5) (on b3 b2) (clear b4) (on-table b4) (on b2 b5) (clear b3)", "(on b1 b3) (arm-empty) (on-table b5) (on b3 b2) (clear b4) (on-table b4) (on b2 b5) (clear b1)", "(on b1 b3) (on-table b5) (holding b4) (on b3 b2) (on b2 b5) (clear b1)" ]	file_150266	ACTION: (unstack b1 b3) NEXT STATE: (on-table b5) (on b4 b5) (on b2 b4) (holding b1) (on b3 b2) (clear b3) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on-table b5) (on b4 b5) (on b2 b4) (on-table b1) (on b3 b2) (clear b3) (clear b1) ACTION: (unstack b3 b2) NEXT STATE: (clear b2) (on-table b5) (on b4 b5) (on-table b1) (on b2 b4) (holding b3) (clear b1) ACTION: (stack b3 b1) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on-table b1) (on b4 b5) (on b2 b4) (on b3 b1) (clear b3) ACTION: (unstack b2 b4) NEXT STATE: (on-table b5) (on-table b1) (on b4 b5) (clear b4) (holding b2) (on b3 b1) (clear b3) ACTION: (stack b2 b3) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on-table b1) (on b4 b5) (clear b4) (on b3 b1) (on b2 b3) ACTION: (unstack b4 b5) NEXT STATE: (clear b2) (on-table b5) (on-table b1) (holding b4) (on b3 b1) (on b2 b3) (clear b5) ACTION: (put-down b4) NEXT STATE: (arm-empty) (on-table b5) (clear b4) (on b3 b1) (clear b5) (clear b2) (on-table b1) (on-table b4) (on b2 b3) ACTION: (unstack b2 b3) NEXT STATE: (on-table b5) (on-table b1) (clear b4) (on-table b4) (holding b2) (on b3 b1) (clear b3) (clear b5) ACTION: (stack b2 b5) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b3 b1) (on b2 b5) (clear b3) ACTION: (unstack b3 b1) NEXT STATE: (clear b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b2 b5) (holding b3) (clear b1) ACTION: (stack b3 b2) NEXT STATE: (arm-empty) (on-table b5) (on-table b1) (on b3 b2) (clear b4) (on-table b4) (on b2 b5) (clear b3) (clear b1) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on-table b5) (on b3 b2) (clear b4) (on-table b4) (on b2 b5) (clear b3) ACTION: (stack b1 b3) NEXT STATE: (on b1 b3) (arm-empty) (on-table b5) (on b3 b2) (clear b4) (on-table b4) (on b2 b5) (clear b1) ACTION: (pick-up b4) NEXT STATE: (on b1 b3) (on-table b5) (holding b4) (on b3 b2) (on b2 b5) (clear b1)
GOAL: (clear b2) (arm-empty) (on b5 b4) (on-table b1) (on-table b4) (on b2 b3) (clear b1) (on-table b3) (clear b5)	GOAL: (clear b2) (arm-empty) (on b5 b4) (on-table b1) (on-table b4) (on b2 b3) (clear b1) (on-table b3) (clear b5) STATE: (clear b2) (arm-empty) (on b4 b5) (on-table b1) (on b5 b1) (on b2 b4) (clear b3) (on-table b3)	[ [ "unstack b2 b4" ], [ "stack b2 b3" ], [ "unstack b4 b5" ], [ "put-down b4" ], [ "unstack b5 b1" ], [ "stack b5 b4" ] ]	[ "(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)", "(arm-empty) (clear b4) (clear b5) (clear b2) (on-table b1) (on b5 b1) (on-table b4) (on b2 b3) (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 b5 b4) (on-table b1) (on-table b4) (on b2 b3) (clear b1) (on-table b3) (clear b5)" ]	file_98865	ACTION: (unstack b2 b4) 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) ACTION: (put-down b4) NEXT STATE: (arm-empty) (clear b4) (clear b5) (clear b2) (on-table b1) (on b5 b1) (on-table b4) (on b2 b3) (on-table b3) ACTION: (unstack b5 b1) 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 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)
GOAL: (on b1 b5) (clear b2) (on b5 b4) (on-table b2) (on-table b4) (holding b3) (clear b1)	GOAL: (on b1 b5) (clear b2) (on b5 b4) (on-table b2) (on-table b4) (holding b3) (clear b1) STATE: (clear b2) (on b3 b5) (arm-empty) (on b5 b4) (on-table b2) (on-table b1) (on-table b4) (clear b3) (clear b1)	[ [ "unstack b3 b5" ], [ "stack b3 b2" ], [ "pick-up b1" ], [ "stack b1 b5" ], [ "unstack b3 b2" ] ]	[ "(clear b2) (on b5 b4) (on-table b2) (on-table b1) (on-table b4) (holding b3) (clear b1) (clear b5)", "(arm-empty) (on b5 b4) (on-table b2) (on-table b1) (on b3 b2) (on-table b4) (clear b3) (clear b1) (clear b5)", "(holding b1) (on b5 b4) (on-table b2) (on b3 b2) (on-table b4) (clear b3) (clear b5)", "(on b1 b5) (arm-empty) (on b5 b4) (on-table b2) (on b3 b2) (on-table b4) (clear b3) (clear b1)", "(on b1 b5) (clear b2) (on b5 b4) (on-table b2) (on-table b4) (holding b3) (clear b1)" ]	file_121962	ACTION: (unstack b3 b5) 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 b2) NEXT STATE: (arm-empty) (on b5 b4) (on-table b2) (on-table b1) (on b3 b2) (on-table b4) (clear b3) (clear b1) (clear b5) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on b5 b4) (on-table b2) (on b3 b2) (on-table b4) (clear b3) (clear b5) ACTION: (stack b1 b5) NEXT STATE: (on b1 b5) (arm-empty) (on b5 b4) (on-table b2) (on b3 b2) (on-table b4) (clear b3) (clear b1) ACTION: (unstack b3 b2) NEXT STATE: (on b1 b5) (clear b2) (on b5 b4) (on-table b2) (on-table b4) (holding b3) (clear b1)
GOAL: (holding b1) (clear b4) (on b5 b3) (on b4 b2) (on b2 b5) (on-table b3)	GOAL: (holding b1) (clear b4) (on b5 b3) (on b4 b2) (on b2 b5) (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" ], [ "put-down b1" ], [ "pick-up b4" ], [ "stack b4 b2" ], [ "pick-up b1" ] ]	[ "(holding b1) (clear b2) (clear b4) (on b5 b3) (on-table b4) (on b2 b5) (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)", "(clear b2) (on-table b1) (holding b4) (on b5 b3) (on b2 b5) (clear b1) (on-table b3)", "(arm-empty) (on-table b1) (clear b4) (on b5 b3) (on b4 b2) (on b2 b5) (clear b1) (on-table b3)", "(holding b1) (clear b4) (on b5 b3) (on b4 b2) (on b2 b5) (on-table b3)" ]	file_130206	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: (put-down b1) 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: (pick-up b4) NEXT STATE: (clear b2) (on-table b1) (holding b4) (on b5 b3) (on b2 b5) (clear b1) (on-table b3) ACTION: (stack b4 b2) NEXT STATE: (arm-empty) (on-table b1) (clear b4) (on b5 b3) (on b4 b2) (on b2 b5) (clear b1) (on-table b3) ACTION: (pick-up b1) NEXT STATE: (holding b1) (clear b4) (on b5 b3) (on b4 b2) (on b2 b5) (on-table b3)
GOAL: (clear b4) (on b1 b2) (holding b5) (on-table b4) (on b2 b3) (clear b1) (on-table b3)	GOAL: (clear b4) (on b1 b2) (holding b5) (on-table b4) (on b2 b3) (clear b1) (on-table 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" ], [ "pick-up b1" ], [ "stack b1 b2" ], [ "unstack b5 b4" ] ]	[ "(clear b2) (arm-empty) (on b5 b4) (on-table b1) (on-table b4) (on b2 b3) (clear b1) (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) (on b1 b2) (on-table b4) (on b2 b3) (clear b1) (on-table b3) (clear b5)", "(clear b4) (on b1 b2) (holding b5) (on-table b4) (on b2 b3) (clear b1) (on-table b3)" ]	file_52563	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: (pick-up b1) NEXT STATE: (holding b1) (clear b2) (on b5 b4) (on-table b4) (on b2 b3) (on-table b3) (clear b5) ACTION: (stack b1 b2) NEXT STATE: (arm-empty) (on b5 b4) (on b1 b2) (on-table b4) (on b2 b3) (clear b1) (on-table b3) (clear b5) ACTION: (unstack b5 b4) NEXT STATE: (clear b4) (on b1 b2) (holding b5) (on-table b4) (on b2 b3) (clear b1) (on-table b3)
GOAL: (on b1 b5) (clear b2) (arm-empty) (on b5 b4) (on-table b2) (on-table b4) (clear b3) (clear b1) (on-table b3)	GOAL: (on b1 b5) (clear b2) (arm-empty) (on b5 b4) (on-table b2) (on-table b4) (clear b3) (clear b1) (on-table b3) STATE: (holding b4) (on-table b1) (on b3 b2) (on b5 b3) (on b2 b1) (clear b5)	[ [ "put-down b4" ], [ "unstack b5 b3" ], [ "stack b5 b4" ], [ "unstack b3 b2" ], [ "put-down b3" ], [ "unstack b2 b1" ], [ "put-down b2" ], [ "pick-up b1" ], [ "stack b1 b5" ] ]	[ "(arm-empty) (clear b4) (on b5 b3) (on b2 b1) (clear b5) (on-table b1) (on b3 b2) (on-table b4)", "(on-table b1) (on b3 b2) (clear b4) (holding b5) (on-table b4) (on b2 b1) (clear b3)", "(arm-empty) (on b5 b4) (on-table b1) (on b3 b2) (on-table b4) (on b2 b1) (clear b3) (clear b5)", "(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 b2) (on-table b1) (on-table b4) (clear b3) (clear b1) (on-table b3) (clear b5)", "(holding b1) (clear b2) (on b5 b4) (on-table b2) (on-table b4) (clear b3) (on-table b3) (clear b5)", "(on b1 b5) (clear b2) (arm-empty) (on b5 b4) (on-table b2) (on-table b4) (clear b3) (clear b1) (on-table b3)" ]	file_81957	ACTION: (put-down b4) NEXT STATE: (arm-empty) (clear b4) (on b5 b3) (on b2 b1) (clear b5) (on-table b1) (on b3 b2) (on-table b4) 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: (stack b5 b4) 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 b3 b2) 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: (put-down b2) 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 b1) 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 b5) NEXT STATE: (on b1 b5) (clear b2) (arm-empty) (on b5 b4) (on-table b2) (on-table b4) (clear b3) (clear b1) (on-table b3)
GOAL: (on b3 b5) (on b1 b3) (on-table b5) (clear b4) (on-table b4) (holding b2) (clear b1)	GOAL: (on b3 b5) (on b1 b3) (on-table b5) (clear b4) (on-table b4) (holding b2) (clear b1) STATE: (arm-empty) (on b5 b4) (on-table b1) (on b3 b2) (on b4 b3) (on b2 b1) (clear b5)	[ [ "unstack b5 b4" ], [ "put-down b5" ], [ "unstack b4 b3" ], [ "put-down b4" ], [ "unstack b3 b2" ], [ "stack b3 b5" ], [ "unstack b2 b1" ], [ "stack b2 b4" ], [ "pick-up b1" ], [ "stack b1 b3" ], [ "unstack b2 b4" ] ]	[ "(clear b4) (holding b5) (on b2 b1) (on-table b1) (on b3 b2) (on b4 b3)", "(arm-empty) (on-table b5) (clear b4) (on b2 b1) (clear b5) (on-table b1) (on b3 b2) (on b4 b3)", "(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-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) (on b3 b5) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b2 b1) (clear b3)", "(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)", "(on b3 b5) (clear b2) (on b1 b3) (arm-empty) (on-table b5) (on-table b4) (on b2 b4) (clear b1)", "(on b3 b5) (on b1 b3) (on-table b5) (clear b4) (on-table b4) (holding b2) (clear b1)" ]	file_106068	ACTION: (unstack b5 b4) NEXT STATE: (clear b4) (holding b5) (on b2 b1) (on-table b1) (on b3 b2) (on b4 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 b4 b3) ACTION: (unstack b4 b3) NEXT STATE: (on-table b5) (on-table b1) (holding b4) (on b3 b2) (on b2 b1) (clear b3) (clear b5) ACTION: (put-down b4) 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: (stack b3 b5) NEXT STATE: (clear b2) (on b3 b5) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b2 b1) (clear b3) ACTION: (unstack b2 b1) 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) ACTION: (stack b1 b3) NEXT STATE: (on b3 b5) (clear b2) (on b1 b3) (arm-empty) (on-table b5) (on-table b4) (on b2 b4) (clear b1) ACTION: (unstack b2 b4) NEXT STATE: (on b3 b5) (on b1 b3) (on-table b5) (clear b4) (on-table b4) (holding b2) (clear b1)
GOAL: (on b3 b5) (clear b2) (on-table b2) (on-table b5) (on-table b1) (holding b4) (clear b3) (clear b1)	GOAL: (on b3 b5) (clear b2) (on-table b2) (on-table b5) (on-table b1) (holding b4) (clear b3) (clear b1) STATE: (clear b2) (on b3 b5) (on-table b5) (holding b4) (on-table b1) (on b2 b3) (clear b1)	[ [ "put-down b4" ], [ "unstack b2 b3" ], [ "put-down b2" ], [ "pick-up 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 b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (clear b3) (clear b1)", "(on b3 b5) (clear b2) (on-table b2) (on-table b5) (on-table b1) (holding b4) (clear b3) (clear b1)" ]	file_103310	ACTION: (put-down b4) 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: (put-down b2) NEXT STATE: (on b3 b5) (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (clear b3) (clear b1) ACTION: (pick-up b4) NEXT STATE: (on b3 b5) (clear b2) (on-table b2) (on-table b5) (on-table b1) (holding b4) (clear b3) (clear b1)
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: (on b3 b4) (clear b2) (arm-empty) (on-table b2) (on b4 b5) (on-table b5) (on-table b1) (clear b3) (clear b1)	[ [ "unstack b3 b4" ], [ "stack b3 b2" ], [ "unstack b4 b5" ], [ "stack b4 b1" ], [ "pick-up b5" ], [ "stack b5 b3" ], [ "unstack b4 b1" ], [ "stack b4 b5" ], [ "pick-up b1" ], [ "stack b1 b4" ] ]	[ "(clear b2) (on-table b2) (on b4 b5) (on-table b5) (on-table b1) (clear b4) (holding b3) (clear b1)", "(arm-empty) (on-table b2) (on b4 b5) (on-table b5) (on-table b1) (on b3 b2) (clear b4) (clear b3) (clear b1)", "(on-table b2) (on-table b5) (on-table b1) (holding b4) (on b3 b2) (clear b3) (clear b1) (clear b5)", "(on b4 b1) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (on b3 b2) (clear b4) (clear b3) (clear b5)", "(on b4 b1) (on-table b2) (on-table b1) (on b3 b2) (clear b4) (holding b5) (clear b3)", "(on b4 b1) (arm-empty) (on-table b2) (on-table b1) (on b3 b2) (clear b4) (on b5 b3) (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_176402	ACTION: (unstack b3 b4) NEXT STATE: (clear b2) (on-table b2) (on b4 b5) (on-table b5) (on-table b1) (clear b4) (holding b3) (clear b1) ACTION: (stack b3 b2) NEXT STATE: (arm-empty) (on-table b2) (on b4 b5) (on-table b5) (on-table b1) (on b3 b2) (clear b4) (clear b3) (clear b1) ACTION: (unstack b4 b5) NEXT STATE: (on-table b2) (on-table b5) (on-table b1) (holding b4) (on b3 b2) (clear b3) (clear b1) (clear b5) ACTION: (stack b4 b1) NEXT STATE: (on b4 b1) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (on b3 b2) (clear b4) (clear b3) (clear b5) ACTION: (pick-up b5) NEXT STATE: (on b4 b1) (on-table b2) (on-table b1) (on b3 b2) (clear b4) (holding b5) (clear b3) ACTION: (stack b5 b3) NEXT STATE: (on b4 b1) (arm-empty) (on-table b2) (on-table b1) (on b3 b2) (clear b4) (on b5 b3) (clear b5) ACTION: (unstack b4 b1) 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: (arm-empty) (on-table b2) (clear b5) (clear b2) (on b4 b3) (on b5 b1) (on b1 b4) (on-table b3)	GOAL: (arm-empty) (on-table b2) (clear b5) (clear b2) (on b4 b3) (on b5 b1) (on b1 b4) (on-table b3) STATE: (clear b1) (on-table b5) (holding b4) (on b2 b3) (on b1 b2) (on-table b3) (clear b5)	[ [ "stack b4 b5" ], [ "unstack b1 b2" ], [ "put-down b1" ], [ "unstack b2 b3" ], [ "put-down b2" ], [ "unstack b4 b5" ], [ "stack b4 b3" ], [ "pick-up b5" ], [ "stack b5 b2" ], [ "pick-up b1" ], [ "stack b1 b4" ], [ "unstack b5 b2" ], [ "stack b5 b1" ] ]	[ "(arm-empty) (on-table b5) (on b4 b5) (clear b4) (on b2 b3) (on b1 b2) (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)", "(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 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) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on b4 b3) (clear b1) (on-table b3) (clear b5)", "(clear b2) (on-table b2) (on-table b1) (clear b4) (on b4 b3) (holding b5) (clear b1) (on-table b3)", "(arm-empty) (on-table b2) (on-table b1) (on b5 b2) (clear b4) (on b4 b3) (clear b1) (on-table b3) (clear b5)", "(holding b1) (on-table b2) (on b5 b2) (clear b4) (on b4 b3) (on-table b3) (clear b5)", "(arm-empty) (on-table b2) (on b5 b2) (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) (clear b5) (clear b2) (on b4 b3) (on b5 b1) (on b1 b4) (on-table b3)" ]	file_135524	ACTION: (stack b4 b5) NEXT STATE: (arm-empty) (on-table b5) (on b4 b5) (clear b4) (on b2 b3) (on b1 b2) (clear b1) (on-table b3) 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: (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 b2 b3) NEXT STATE: (on-table b5) (on b4 b5) (on-table b1) (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 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 b3) 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 b5) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (clear b4) (on b4 b3) (holding b5) (clear b1) (on-table b3) ACTION: (stack b5 b2) 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) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on-table b2) (on b5 b2) (clear b4) (on b4 b3) (on-table b3) (clear b5) ACTION: (stack b1 b4) NEXT STATE: (arm-empty) (on-table b2) (on b5 b2) (on b4 b3) (on b1 b4) (clear b1) (on-table b3) (clear b5) ACTION: (unstack b5 b2) NEXT STATE: (clear b2) (on-table b2) (on b4 b3) (holding b5) (on b1 b4) (clear b1) (on-table b3) ACTION: (stack b5 b1) NEXT STATE: (arm-empty) (on-table b2) (clear b5) (clear b2) (on b4 b3) (on b5 b1) (on b1 b4) (on-table b3)
GOAL: (on b5 b4) (on-table b1) (on b4 b3) (holding b2) (on b3 b1) (clear b5)	GOAL: (on b5 b4) (on-table b1) (on b4 b3) (holding b2) (on b3 b1) (clear b5) STATE: (on-table b2) (on-table b1) (on b5 b2) (clear b4) (on-table b4) (holding b3) (clear b1) (clear b5)	[ [ "stack b3 b1" ], [ "pick-up b4" ], [ "stack b4 b3" ], [ "unstack b5 b2" ], [ "stack b5 b4" ], [ "pick-up b2" ] ]	[ "(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) (holding b4) (on b5 b2) (on b3 b1) (clear b3) (clear b5)", "(arm-empty) (on-table b2) (on b5 b2) (clear b4) (on b3 b1) (clear b5) (on-table b1) (on b4 b3)", "(clear b2) (on-table b2) (on-table b1) (clear b4) (on b4 b3) (holding b5) (on b3 b1)", "(clear b2) (arm-empty) (on b5 b4) (on-table b2) (on-table b1) (on b4 b3) (on b3 b1) (clear b5)", "(on b5 b4) (on-table b1) (on b4 b3) (holding b2) (on b3 b1) (clear b5)" ]	file_32756	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) ACTION: (pick-up b4) NEXT STATE: (on-table b2) (on-table b1) (holding b4) (on b5 b2) (on b3 b1) (clear b3) (clear b5) ACTION: (stack b4 b3) NEXT STATE: (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on b3 b1) (clear b5) (on-table b1) (on b4 b3) ACTION: (unstack b5 b2) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (clear b4) (on b4 b3) (holding b5) (on b3 b1) ACTION: (stack b5 b4) NEXT STATE: (clear b2) (arm-empty) (on b5 b4) (on-table b2) (on-table b1) (on b4 b3) (on b3 b1) (clear b5) ACTION: (pick-up b2) NEXT STATE: (on b5 b4) (on-table b1) (on b4 b3) (holding b2) (on b3 b1) (clear b5)
GOAL: (on b1 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on b4 b3) (clear b1) (on-table b3)	GOAL: (on b1 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on b4 b3) (clear b1) (on-table b3) STATE: (on b1 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (on b3 b1) (clear b3)	[ [ "unstack b3 b1" ], [ "put-down b3" ], [ "pick-up b4" ], [ "stack b4 b3" ] ]	[ "(on b1 b5) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (holding b3) (clear b1)", "(on b1 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b3) (clear b1) (on-table b3)", "(on b1 b5) (on-table b2) (holding b4) (on b5 b2) (clear b3) (clear b1) (on-table b3)", "(on b1 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on b4 b3) (clear b1) (on-table b3)" ]	file_209402	ACTION: (unstack b3 b1) NEXT STATE: (on b1 b5) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (holding b3) (clear b1) ACTION: (put-down b3) NEXT STATE: (on b1 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b4) NEXT STATE: (on b1 b5) (on-table b2) (holding b4) (on b5 b2) (clear b3) (clear b1) (on-table b3) ACTION: (stack b4 b3) NEXT STATE: (on b1 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on b4 b3) (clear b1) (on-table b3)
GOAL: (arm-empty) (on-table b2) (on b3 b2) (on-table b4) (on b1 b4) (clear b3) (clear b1)	GOAL: (arm-empty) (on-table b2) (on b3 b2) (on-table b4) (on b1 b4) (clear b3) (clear b1) 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 b3" ], [ "stack b3 b2" ], [ "pick-up b1" ], [ "stack b1 b4" ] ]	[ "(clear b2) (on-table b2) (on-table b1) (clear b4) (on-table b4) (holding b3) (clear b1)", "(arm-empty) (on-table b2) (on-table b1) (on b3 b2) (clear b4) (on-table b4) (clear b3) (clear b1)", "(holding b1) (on-table b2) (on b3 b2) (clear b4) (on-table b4) (clear b3)", "(arm-empty) (on-table b2) (on b3 b2) (on-table b4) (on b1 b4) (clear b3) (clear b1)" ]	file_65766	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 b2) NEXT STATE: (arm-empty) (on-table b2) (on-table b1) (on b3 b2) (clear b4) (on-table b4) (clear b3) (clear b1) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on-table b2) (on b3 b2) (clear b4) (on-table b4) (clear b3) ACTION: (stack b1 b4) NEXT STATE: (arm-empty) (on-table b2) (on b3 b2) (on-table b4) (on b1 b4) (clear b3) (clear b1)
GOAL: (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)	GOAL: (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) STATE: (clear b2) (on-table b5) (holding b4) (on-table b1) (on b2 b3) (clear b1) (on-table b3) (clear b5)	[ [ "stack b4 b1" ], [ "pick-up b5" ], [ "stack b5 b4" ], [ "unstack b2 b3" ], [ "put-down b2" ], [ "unstack b5 b4" ], [ "stack b5 b2" ], [ "unstack b4 b1" ], [ "stack b4 b5" ], [ "pick-up b3" ], [ "stack b3 b1" ], [ "unstack b4 b5" ], [ "put-down b4" ], [ "unstack b3 b1" ], [ "put-down b3" ] ]	[ "(clear b2) (on b4 b1) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on b2 b3) (on-table b3) (clear b5)", "(clear b2) (on b4 b1) (on-table b1) (clear b4) (holding b5) (on b2 b3) (on-table b3)", "(clear b2) (on b4 b1) (on b5 b4) (arm-empty) (on-table b1) (on b2 b3) (on-table b3) (clear b5)", "(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)", "(on b4 b1) (arm-empty) (on-table b2) (on-table b1) (on b5 b2) (clear b4) (clear b3) (on-table b3) (clear b5)", "(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 b4 b5) (on-table b1) (on b5 b2) (clear b4) (clear b3) (clear b1) (on-table b3)", "(on-table b2) (on b4 b5) (on-table b1) (on b5 b2) (clear b4) (holding b3) (clear b1)", "(arm-empty) (on-table b2) (on b4 b5) (on-table b1) (on b5 b2) (clear b4) (on b3 b1) (clear b3)", "(on-table b2) (on-table b1) (holding b4) (on b5 b2) (on b3 b1) (clear b3) (clear b5)", "(arm-empty) (on-table b2) (on b5 b2) (clear b4) (on b3 b1) (clear b5) (on-table b1) (on-table b4) (clear b3)", "(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)" ]	file_213618	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: (pick-up b5) NEXT STATE: (clear b2) (on b4 b1) (on-table b1) (clear b4) (holding b5) (on b2 b3) (on-table b3) ACTION: (stack b5 b4) NEXT STATE: (clear b2) (on b4 b1) (on b5 b4) (arm-empty) (on-table b1) (on b2 b3) (on-table b3) (clear b5) ACTION: (unstack b2 b3) 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: (stack b5 b2) NEXT STATE: (on b4 b1) (arm-empty) (on-table b2) (on-table b1) (on b5 b2) (clear b4) (clear b3) (on-table b3) (clear b5) 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 b5) NEXT STATE: (arm-empty) (on-table b2) (on b4 b5) (on-table b1) (on b5 b2) (clear b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b3) NEXT STATE: (on-table b2) (on b4 b5) (on-table b1) (on b5 b2) (clear b4) (holding b3) (clear b1) ACTION: (stack b3 b1) NEXT STATE: (arm-empty) (on-table b2) (on b4 b5) (on-table b1) (on b5 b2) (clear b4) (on b3 b1) (clear b3) ACTION: (unstack b4 b5) NEXT STATE: (on-table b2) (on-table b1) (holding b4) (on b5 b2) (on b3 b1) (clear b3) (clear b5) ACTION: (put-down b4) NEXT STATE: (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on b3 b1) (clear b5) (on-table b1) (on-table b4) (clear b3) 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)
GOAL: (clear b2) (on b3 b5) (arm-empty) (on-table b5) (on-table b4) (on b1 b4) (on b2 b1) (clear b3)	GOAL: (clear b2) (on b3 b5) (arm-empty) (on-table b5) (on-table b4) (on b1 b4) (on b2 b1) (clear b3) STATE: (arm-empty) (on b5 b2) (on-table b4) (on b1 b4) (on b2 b1) (clear b3) (on-table b3) (clear b5)	[ [ "unstack b5 b2" ], [ "put-down b5" ], [ "pick-up b3" ], [ "stack b3 b5" ] ]	[ "(clear b2) (holding b5) (on-table b4) (on b1 b4) (on b2 b1) (clear b3) (on-table b3)", "(arm-empty) (on-table b5) (on b2 b1) (clear b5) (clear b2) (on-table b4) (on b1 b4) (clear b3) (on-table b3)", "(clear b2) (on-table b5) (on-table b4) (on b1 b4) (on b2 b1) (holding b3) (clear b5)", "(clear b2) (on b3 b5) (arm-empty) (on-table b5) (on-table b4) (on b1 b4) (on b2 b1) (clear b3)" ]	file_185273	ACTION: (unstack b5 b2) NEXT STATE: (clear b2) (holding b5) (on-table b4) (on b1 b4) (on b2 b1) (clear b3) (on-table b3) ACTION: (put-down b5) NEXT STATE: (arm-empty) (on-table b5) (on b2 b1) (clear b5) (clear b2) (on-table b4) (on b1 b4) (clear b3) (on-table b3) ACTION: (pick-up b3) NEXT STATE: (clear b2) (on-table b5) (on-table b4) (on b1 b4) (on b2 b1) (holding b3) (clear b5) ACTION: (stack b3 b5) NEXT STATE: (clear b2) (on b3 b5) (arm-empty) (on-table b5) (on-table b4) (on b1 b4) (on b2 b1) (clear b3)
GOAL: (holding b1) (on b5 b2) (on-table b4) (on b2 b4) (clear b3) (on-table b3) (clear b5)	GOAL: (holding b1) (on b5 b2) (on-table b4) (on b2 b4) (clear b3) (on-table b3) (clear b5) STATE: (arm-empty) (on-table b1) (on b5 b2) (clear b4) (on-table b4) (on b3 b1) (on b2 b3) (clear b5)	[ [ "unstack b5 b2" ], [ "put-down b5" ], [ "unstack b2 b3" ], [ "stack b2 b4" ], [ "pick-up b5" ], [ "stack b5 b2" ], [ "unstack b3 b1" ], [ "put-down b3" ], [ "pick-up b1" ] ]	[ "(clear b2) (on-table b1) (clear b4) (holding b5) (on-table b4) (on b3 b1) (on b2 b3)", "(arm-empty) (on-table b5) (clear b4) (on b3 b1) (clear b5) (clear b2) (on-table b1) (on-table b4) (on b2 b3)", "(on-table b5) (on-table b1) (clear b4) (on-table b4) (holding b2) (on b3 b1) (clear b3) (clear b5)", "(clear b2) (arm-empty) (on-table b5) (on-table b1) (on b2 b4) (on-table b4) (on b3 b1) (clear b3) (clear b5)", "(clear b2) (on-table b1) (on b3 b1) (holding b5) (on-table b4) (on b2 b4) (clear b3)", "(arm-empty) (on-table b1) (on b5 b2) (on b2 b4) (on-table b4) (on b3 b1) (clear b3) (clear b5)", "(on-table b1) (on b5 b2) (on b2 b4) (on-table b4) (holding b3) (clear b1) (clear b5)", "(arm-empty) (on b5 b2) (on b2 b4) (clear b5) (on-table b1) (on-table b4) (clear b3) (clear b1) (on-table b3)", "(holding b1) (on b5 b2) (on-table b4) (on b2 b4) (clear b3) (on-table b3) (clear b5)" ]	file_24813	ACTION: (unstack b5 b2) NEXT STATE: (clear b2) (on-table b1) (clear b4) (holding b5) (on-table b4) (on b3 b1) (on b2 b3) ACTION: (put-down b5) NEXT STATE: (arm-empty) (on-table b5) (clear b4) (on b3 b1) (clear b5) (clear b2) (on-table b1) (on-table b4) (on b2 b3) ACTION: (unstack b2 b3) NEXT STATE: (on-table b5) (on-table b1) (clear b4) (on-table b4) (holding b2) (on b3 b1) (clear b3) (clear b5) ACTION: (stack b2 b4) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on-table b1) (on b2 b4) (on-table b4) (on b3 b1) (clear b3) (clear b5) ACTION: (pick-up b5) NEXT STATE: (clear b2) (on-table b1) (on b3 b1) (holding b5) (on-table b4) (on b2 b4) (clear b3) ACTION: (stack b5 b2) 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 b3 b1) NEXT STATE: (on-table b1) (on b5 b2) (on b2 b4) (on-table b4) (holding b3) (clear b1) (clear b5) ACTION: (put-down b3) NEXT STATE: (arm-empty) (on b5 b2) (on b2 b4) (clear b5) (on-table b1) (on-table b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on b5 b2) (on-table b4) (on b2 b4) (clear b3) (on-table b3) (clear b5)
GOAL: (clear b2) (on b1 b3) (on b4 b1) (arm-empty) (on b2 b4) (on-table b3)	GOAL: (clear b2) (on b1 b3) (on b4 b1) (arm-empty) (on b2 b4) (on-table b3) STATE: (clear b2) (arm-empty) (on-table b2) (on b4 b3) (on b1 b4) (clear b1) (on-table b3)	[ [ "unstack b1 b4" ], [ "put-down b1" ], [ "unstack b4 b3" ], [ "stack b4 b2" ], [ "pick-up b1" ], [ "stack b1 b3" ], [ "unstack b4 b2" ], [ "stack b4 b1" ], [ "pick-up b2" ], [ "stack b2 b4" ] ]	[ "(on-table b2) (clear b4) (holding b1) (clear b2) (on b4 b3) (on-table b3)", "(arm-empty) (on-table b2) (clear b4) (clear b2) (on-table b1) (on b4 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) (on-table b1) (clear b4) (on b4 b2) (clear b3) (clear b1) (on-table b3)", "(holding b1) (on-table b2) (clear b4) (on b4 b2) (clear b3) (on-table b3)", "(on b1 b3) (arm-empty) (on-table b2) (clear b4) (on b4 b2) (clear b1) (on-table b3)", "(clear b2) (on b1 b3) (on-table b2) (holding b4) (clear b1) (on-table b3)", "(clear b2) (on b1 b3) (on b4 b1) (on-table b2) (arm-empty) (clear b4) (on-table b3)", "(on b1 b3) (on b4 b1) (clear b4) (holding b2) (on-table b3)", "(clear b2) (on b1 b3) (on b4 b1) (arm-empty) (on b2 b4) (on-table b3)" ]	file_13024	ACTION: (unstack b1 b4) NEXT STATE: (on-table b2) (clear b4) (holding b1) (clear b2) (on b4 b3) (on-table b3) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on-table b2) (clear b4) (clear b2) (on-table b1) (on b4 b3) (clear b1) (on-table b3) ACTION: (unstack b4 b3) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (holding b4) (clear b3) (clear b1) (on-table b3) ACTION: (stack b4 b2) NEXT STATE: (arm-empty) (on-table b2) (on-table b1) (clear b4) (on b4 b2) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on-table b2) (clear b4) (on b4 b2) (clear b3) (on-table b3) ACTION: (stack b1 b3) NEXT STATE: (on b1 b3) (arm-empty) (on-table b2) (clear b4) (on b4 b2) (clear b1) (on-table b3) ACTION: (unstack b4 b2) NEXT STATE: (clear b2) (on b1 b3) (on-table b2) (holding b4) (clear b1) (on-table b3) ACTION: (stack b4 b1) NEXT STATE: (clear b2) (on b1 b3) (on b4 b1) (on-table b2) (arm-empty) (clear b4) (on-table b3) ACTION: (pick-up b2) NEXT STATE: (on b1 b3) (on b4 b1) (clear b4) (holding b2) (on-table b3) ACTION: (stack b2 b4) NEXT STATE: (clear b2) (on b1 b3) (on b4 b1) (arm-empty) (on b2 b4) (on-table b3)
GOAL: (holding b1) (on b3 b4) (clear b2) (on-table b5) (on b4 b5) (on b2 b3)	GOAL: (holding b1) (on b3 b4) (clear b2) (on-table b5) (on b4 b5) (on b2 b3) STATE: (clear b2) (on-table b2) (on-table b5) (on-table b1) (on b4 b5) (clear b4) (holding b3) (clear b1)	[ [ "stack b3 b4" ], [ "pick-up b2" ], [ "stack b2 b3" ], [ "pick-up b1" ] ]	[ "(on b3 b4) (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (on b4 b5) (clear b3) (clear b1)", "(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)" ]	file_149527	ACTION: (stack b3 b4) NEXT STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (on b4 b5) (clear b3) (clear b1) ACTION: (pick-up b2) 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)
GOAL: (on-table b2) (on b5 b1) (on b1 b4) (on b4 b2) (holding b3) (clear b5)	GOAL: (on-table b2) (on b5 b1) (on b1 b4) (on b4 b2) (holding b3) (clear b5) STATE: (on b1 b5) (clear b2) (on-table b2) (on-table b5) (holding b4) (clear b3) (clear b1) (on-table b3)	[ [ "stack b4 b2" ], [ "unstack b1 b5" ], [ "stack b1 b4" ], [ "pick-up b5" ], [ "stack b5 b1" ], [ "pick-up b3" ] ]	[ "(on b1 b5) (arm-empty) (on-table b2) (on-table b5) (clear 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 b1 b4) (on b4 b2) (clear b3) (clear b1) (on-table b3) (clear b5)", "(on-table b2) (holding b5) (on b1 b4) (on b4 b2) (clear b3) (clear b1) (on-table b3)", "(arm-empty) (on-table b2) (on b5 b1) (on b1 b4) (on b4 b2) (clear b3) (on-table b3) (clear b5)", "(on-table b2) (on b5 b1) (on b1 b4) (on b4 b2) (holding b3) (clear b5)" ]	file_37246	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: (unstack b1 b5) 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 b4) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (on b1 b4) (on b4 b2) (clear b3) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b5) NEXT STATE: (on-table b2) (holding b5) (on b1 b4) (on b4 b2) (clear b3) (clear b1) (on-table b3) ACTION: (stack b5 b1) NEXT STATE: (arm-empty) (on-table b2) (on b5 b1) (on b1 b4) (on b4 b2) (clear b3) (on-table b3) (clear b5) ACTION: (pick-up b3) NEXT STATE: (on-table b2) (on b5 b1) (on b1 b4) (on b4 b2) (holding b3) (clear b5)
GOAL: (clear b2) (on-table b1) (clear b4) (holding b5) (on-table b4) (on b2 b1) (clear b3) (on-table b3)	GOAL: (clear b2) (on-table b1) (clear b4) (holding b5) (on-table b4) (on b2 b1) (clear b3) (on-table b3) STATE: (on b4 b5) (on-table b1) (on b5 b2) (clear b4) (on b2 b1) (holding b3)	[ [ "put-down b3" ], [ "unstack b4 b5" ], [ "put-down b4" ], [ "unstack b5 b2" ] ]	[ "(arm-empty) (on b4 b5) (on-table b1) (on b5 b2) (clear b3) (clear b4) (on b2 b1) (on-table b3)", "(on-table b1) (holding b4) (on b5 b2) (on b2 b1) (clear b3) (on-table 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)", "(clear b2) (on-table b1) (clear b4) (holding b5) (on-table b4) (on b2 b1) (clear b3) (on-table b3)" ]	file_169840	ACTION: (put-down b3) NEXT STATE: (arm-empty) (on b4 b5) (on-table b1) (on b5 b2) (clear b3) (clear b4) (on b2 b1) (on-table b3) ACTION: (unstack b4 b5) NEXT STATE: (on-table b1) (holding b4) (on b5 b2) (on b2 b1) (clear b3) (on-table b3) (clear b5) ACTION: (put-down b4) 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) ACTION: (unstack b5 b2) NEXT STATE: (clear b2) (on-table b1) (clear b4) (holding b5) (on-table b4) (on b2 b1) (clear b3) (on-table b3)
GOAL: (on b3 b5) (on b1 b3) (on-table b2) (on-table b5) (clear b2) (holding b4) (clear b1)	GOAL: (on b3 b5) (on b1 b3) (on-table b2) (on-table b5) (clear b2) (holding b4) (clear b1) 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)	[ [ "pick-up b1" ], [ "stack b1 b4" ], [ "pick-up b3" ], [ "stack b3 b5" ], [ "unstack b1 b4" ], [ "stack b1 b3" ], [ "unstack b4 b2" ] ]	[ "(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 b1 b4) (on b4 b2) (clear b3) (clear b1) (on-table b3) (clear b5)", "(on-table b2) (on-table b5) (on b1 b4) (on b4 b2) (holding b3) (clear b1) (clear b5)", "(on b3 b5) (arm-empty) (on-table b2) (on-table b5) (on b1 b4) (on b4 b2) (clear b3) (clear b1)", "(holding b1) (on b3 b5) (on-table b2) (on-table b5) (clear b4) (on b4 b2) (clear b3)", "(on b3 b5) (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b4 b2) (clear b1)", "(on b3 b5) (on b1 b3) (on-table b2) (on-table b5) (clear b2) (holding b4) (clear b1)" ]	file_17940	ACTION: (pick-up b1) 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 b4) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (on b1 b4) (on b4 b2) (clear b3) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b3) NEXT STATE: (on-table b2) (on-table b5) (on b1 b4) (on b4 b2) (holding b3) (clear b1) (clear b5) ACTION: (stack b3 b5) NEXT STATE: (on b3 b5) (arm-empty) (on-table b2) (on-table b5) (on b1 b4) (on b4 b2) (clear b3) (clear b1) ACTION: (unstack b1 b4) NEXT STATE: (holding b1) (on b3 b5) (on-table b2) (on-table b5) (clear b4) (on b4 b2) (clear b3) ACTION: (stack b1 b3) NEXT STATE: (on b3 b5) (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b4 b2) (clear b1) ACTION: (unstack b4 b2) NEXT STATE: (on b3 b5) (on b1 b3) (on-table b2) (on-table b5) (clear b2) (holding b4) (clear b1)
GOAL: (clear b2) (on b4 b1) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on b2 b5) (clear b3) (on-table b3)	GOAL: (clear b2) (on b4 b1) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on b2 b5) (clear b3) (on-table b3) STATE: (arm-empty) (on b5 b3) (on b1 b4) (on b4 b2) (on b2 b5) (clear b1) (on-table b3)	[ [ "unstack b1 b4" ], [ "put-down b1" ], [ "unstack b4 b2" ], [ "stack b4 b1" ], [ "unstack b2 b5" ], [ "put-down b2" ], [ "unstack b5 b3" ], [ "put-down b5" ], [ "pick-up b2" ], [ "stack b2 b5" ] ]	[ "(clear b4) (on b5 b3) (on b2 b5) (holding b1) (on b4 b2) (on-table b3)", "(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)", "(clear b2) (on b4 b1) (arm-empty) (on-table b1) (clear b4) (on b5 b3) (on b2 b5) (on-table b3)", "(on b4 b1) (on-table b1) (clear b4) (on b5 b3) (holding b2) (on-table b3) (clear b5)", "(on b4 b1) (arm-empty) (on-table b2) (clear b4) (on b5 b3) (clear b5) (clear b2) (on-table b1) (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)", "(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)" ]	file_175270	ACTION: (unstack b1 b4) NEXT STATE: (clear b4) (on b5 b3) (on b2 b5) (holding b1) (on b4 b2) (on-table b3) 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: (stack b4 b1) NEXT STATE: (clear b2) (on b4 b1) (arm-empty) (on-table b1) (clear b4) (on b5 b3) (on b2 b5) (on-table b3) ACTION: (unstack b2 b5) NEXT STATE: (on b4 b1) (on-table b1) (clear b4) (on b5 b3) (holding b2) (on-table b3) (clear b5) ACTION: (put-down b2) NEXT STATE: (on b4 b1) (arm-empty) (on-table b2) (clear b4) (on b5 b3) (clear b5) (clear b2) (on-table b1) (on-table b3) 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) 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: (pick-up b2) 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)
GOAL: (holding b1) (on-table b2) (on b5 b2) (clear b4) (on b4 b3) (on-table b3) (clear b5)	GOAL: (holding b1) (on-table b2) (on b5 b2) (clear b4) (on b4 b3) (on-table b3) (clear b5) STATE: (on b1 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b3) (clear b1) (on-table b3)	[ [ "pick-up b4" ], [ "stack b4 b3" ], [ "unstack b1 b5" ] ]	[ "(on b1 b5) (on-table b2) (holding b4) (on b5 b2) (clear b3) (clear b1) (on-table b3)", "(on b1 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on b4 b3) (clear b1) (on-table b3)", "(holding b1) (on-table b2) (on b5 b2) (clear b4) (on b4 b3) (on-table b3) (clear b5)" ]	file_98414	ACTION: (pick-up b4) NEXT STATE: (on b1 b5) (on-table b2) (holding b4) (on b5 b2) (clear b3) (clear b1) (on-table b3) ACTION: (stack b4 b3) NEXT STATE: (on b1 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on b4 b3) (clear b1) (on-table b3) ACTION: (unstack b1 b5) NEXT STATE: (holding b1) (on-table b2) (on b5 b2) (clear b4) (on b4 b3) (on-table b3) (clear b5)
GOAL: (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b4 b2) (clear b1) (on-table b3) (clear b5)	GOAL: (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b4 b2) (clear b1) (on-table b3) (clear b5) STATE: (holding b1) (on b3 b4) (on-table b2) (on-table b5) (on b4 b2) (clear b3) (clear b5)	[ [ "stack b1 b5" ], [ "unstack b3 b4" ], [ "put-down b3" ], [ "unstack b1 b5" ], [ "stack b1 b3" ] ]	[ "(on b3 b4) (on b1 b5) (arm-empty) (on-table b2) (on-table b5) (on b4 b2) (clear b3) (clear b1)", "(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) (clear 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)" ]	file_178220	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) ACTION: (unstack b3 b4) NEXT STATE: (on b1 b5) (on-table b2) (on-table b5) (clear b4) (on b4 b2) (holding b3) (clear b1) ACTION: (put-down b3) 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: (unstack b1 b5) 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)
GOAL: (clear b2) (on-table b2) (on-table b5) (on-table b4) (on b1 b4) (holding b3) (clear b1) (clear b5)	GOAL: (clear b2) (on-table b2) (on-table b5) (on-table b4) (on b1 b4) (holding b3) (clear b1) (clear b5) STATE: (holding b2) (on b5 b3) (on-table b4) (on b1 b4) (on b3 b1) (clear b5)	[ [ "put-down b2" ], [ "unstack b5 b3" ], [ "put-down b5" ], [ "unstack b3 b1" ] ]	[ "(arm-empty) (on-table b2) (on b5 b3) (on b3 b1) (clear b5) (clear b2) (on-table b4) (on 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)" ]	file_117009	ACTION: (put-down b2) NEXT STATE: (arm-empty) (on-table b2) (on b5 b3) (on b3 b1) (clear b5) (clear b2) (on-table b4) (on b1 b4) 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)
GOAL: (clear b2) (arm-empty) (on-table b1) (on b5 b3) (on-table b4) (on b2 b4) (clear b1) (on-table b3) (clear b5)	GOAL: (clear b2) (arm-empty) (on-table b1) (on b5 b3) (on-table b4) (on b2 b4) (clear b1) (on-table b3) (clear b5) STATE: (on-table b2) (on-table b5) (holding b4) (on-table b1) (on b3 b2) (clear b3) (clear b1) (clear b5)	[ [ "stack b4 b1" ], [ "pick-up b5" ], [ "stack b5 b3" ], [ "unstack b4 b1" ], [ "put-down b4" ], [ "pick-up b1" ], [ "stack b1 b4" ], [ "unstack b5 b3" ], [ "stack b5 b1" ], [ "unstack b3 b2" ], [ "put-down b3" ], [ "unstack b5 b1" ], [ "stack b5 b3" ], [ "unstack b1 b4" ], [ "put-down b1" ], [ "pick-up b2" ], [ "stack b2 b4" ] ]	[ "(on b4 b1) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (on b3 b2) (clear b4) (clear b3) (clear b5)", "(on b4 b1) (on-table b2) (on-table b1) (on b3 b2) (clear b4) (holding b5) (clear b3)", "(on b4 b1) (arm-empty) (on-table b2) (on-table b1) (on b3 b2) (clear b4) (on b5 b3) (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) (clear b4) (on b5 b3) (clear b5) (on-table b1) (on b3 b2) (on-table b4) (clear b1)", "(holding b1) (on-table b2) (on b3 b2) (clear b4) (on b5 b3) (on-table b4) (clear b5)", "(arm-empty) (on-table b2) (on b3 b2) (on b5 b3) (on-table b4) (on b1 b4) (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 b1) (on-table b4) (on b1 b4) (clear b3) (clear b5)", "(clear b2) (on-table b2) (on b5 b1) (on-table b4) (on b1 b4) (holding 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) (holding b5) (on-table b4) (on b1 b4) (clear b3) (clear b1) (on-table b3)", "(clear b2) (arm-empty) (on-table b2) (on b5 b3) (on-table b4) (on b1 b4) (clear b1) (on-table b3) (clear b5)", "(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-table b1) (clear b4) (on b5 b3) (on-table b4) (clear b1) (on-table b3) (clear b5)", "(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 b1) (on b5 b3) (on-table b4) (on b2 b4) (clear b1) (on-table b3) (clear b5)" ]	file_174776	ACTION: (stack b4 b1) NEXT STATE: (on b4 b1) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (on b3 b2) (clear b4) (clear b3) (clear b5) ACTION: (pick-up b5) NEXT STATE: (on b4 b1) (on-table b2) (on-table b1) (on b3 b2) (clear b4) (holding b5) (clear b3) ACTION: (stack b5 b3) NEXT STATE: (on b4 b1) (arm-empty) (on-table b2) (on-table b1) (on b3 b2) (clear b4) (on b5 b3) (clear b5) ACTION: (unstack b4 b1) NEXT STATE: (on-table b2) (on-table b1) (holding b4) (on b3 b2) (on b5 b3) (clear b1) (clear b5) ACTION: (put-down b4) 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) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on-table b2) (on b3 b2) (clear b4) (on b5 b3) (on-table b4) (clear b5) ACTION: (stack b1 b4) 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 b5 b3) NEXT STATE: (on-table b2) (on b3 b2) (holding b5) (on-table b4) (on b1 b4) (clear b3) (clear b1) ACTION: (stack b5 b1) 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 b3 b2) NEXT STATE: (clear b2) (on-table b2) (on b5 b1) (on-table b4) (on b1 b4) (holding b3) (clear b5) ACTION: (put-down b3) 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: (unstack b5 b1) 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 b3) 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 b1 b4) NEXT STATE: (holding b1) (clear b2) (on-table b2) (clear b4) (on b5 b3) (on-table b4) (on-table b3) (clear b5) ACTION: (put-down b1) 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 b2) NEXT STATE: (on-table b1) (clear b4) (on b5 b3) (on-table b4) (holding b2) (clear b1) (on-table b3) (clear b5) 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)
GOAL: (on b1 b5) (clear b2) (on b4 b1) (on b3 b4) (on-table b2) (on-table b5) (arm-empty) (clear b3)	GOAL: (on b1 b5) (clear b2) (on b4 b1) (on b3 b4) (on-table b2) (on-table b5) (arm-empty) (clear b3) STATE: (arm-empty) (on-table b2) (on-table b5) (on-table b1) (on b3 b2) (clear b4) (on-table b4) (clear b3) (clear b1) (clear b5)	[ [ "pick-up b1" ], [ "stack b1 b5" ], [ "pick-up b4" ], [ "stack b4 b1" ], [ "unstack b3 b2" ], [ "stack b3 b4" ] ]	[ "(holding b1) (on-table b2) (on-table b5) (on b3 b2) (clear b4) (on-table b4) (clear b3) (clear b5)", "(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)", "(on b1 b5) (on b4 b1) (arm-empty) (on-table b2) (on-table b5) (on b3 b2) (clear b4) (clear b3)", "(on b1 b5) (clear b2) (on b4 b1) (on-table b2) (on-table b5) (clear b4) (holding b3)", "(on b1 b5) (clear b2) (on b4 b1) (on b3 b4) (on-table b2) (on-table b5) (arm-empty) (clear b3)" ]	file_45785	ACTION: (pick-up b1) NEXT STATE: (holding b1) (on-table b2) (on-table b5) (on b3 b2) (clear b4) (on-table b4) (clear b3) (clear b5) ACTION: (stack b1 b5) 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) ACTION: (stack b4 b1) 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 b3 b2) NEXT STATE: (on b1 b5) (clear b2) (on b4 b1) (on-table b2) (on-table b5) (clear b4) (holding b3) ACTION: (stack b3 b4) NEXT STATE: (on b1 b5) (clear b2) (on b4 b1) (on b3 b4) (on-table b2) (on-table b5) (arm-empty) (clear b3)
GOAL: (on b4 b3) (on-table b1) (clear b2) (arm-empty) (on b3 b1) (on b2 b4)	GOAL: (on b4 b3) (on-table b1) (clear b2) (arm-empty) (on b3 b1) (on b2 b4) STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b2) (on-table b1) (on-table b4) (clear b3) (clear b1)	[ [ "unstack b3 b4" ], [ "stack b3 b1" ], [ "pick-up b4" ], [ "stack b4 b3" ], [ "pick-up b2" ], [ "stack b2 b4" ] ]	[ "(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)", "(on b4 b3) (on b3 b1) (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4)", "(on b4 b3) (clear b4) (holding b2) (on b3 b1) (on-table b1)", "(on b4 b3) (on-table b1) (clear b2) (arm-empty) (on b3 b1) (on b2 b4)" ]	file_172577	ACTION: (unstack b3 b4) 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) ACTION: (stack b4 b3) NEXT STATE: (on b4 b3) (on b3 b1) (clear b2) (arm-empty) (on-table b2) (on-table b1) (clear b4) ACTION: (pick-up b2) NEXT STATE: (on b4 b3) (clear b4) (holding b2) (on b3 b1) (on-table b1) ACTION: (stack b2 b4) NEXT STATE: (on b4 b3) (on-table b1) (clear b2) (arm-empty) (on b3 b1) (on b2 b4)
GOAL: (on-table b2) (clear b4) (on b1 b2) (on-table b4) (holding b3) (clear b1)	GOAL: (on-table b2) (clear b4) (on b1 b2) (on-table b4) (holding b3) (clear b1) STATE: (clear b2) (on-table b2) (on-table b4) (on b1 b4) (holding b3) (clear b1)	[ [ "stack b3 b2" ], [ "unstack b1 b4" ], [ "put-down b1" ], [ "unstack b3 b2" ], [ "stack b3 b4" ], [ "pick-up b1" ], [ "stack b1 b2" ], [ "unstack b3 b4" ] ]	[ "(arm-empty) (on-table b2) (on b3 b2) (on-table b4) (on b1 b4) (clear b3) (clear b1)", "(on-table b2) (clear b4) (holding b1) (on b3 b2) (on-table b4) (clear b3)", "(arm-empty) (on-table b2) (clear b4) (on-table b1) (on b3 b2) (on-table b4) (clear b3) (clear b1)", "(clear b2) (on-table b2) (on-table b1) (clear b4) (on-table b4) (holding b3) (clear b1)", "(on b3 b4) (clear b2) (arm-empty) (on-table b2) (on-table b1) (on-table b4) (clear b3) (clear b1)", "(holding b1) (on b3 b4) (clear b2) (on-table b2) (on-table b4) (clear b3)", "(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)" ]	file_197513	ACTION: (stack b3 b2) NEXT STATE: (arm-empty) (on-table b2) (on b3 b2) (on-table b4) (on b1 b4) (clear b3) (clear b1) ACTION: (unstack b1 b4) NEXT STATE: (on-table b2) (clear b4) (holding b1) (on b3 b2) (on-table b4) (clear b3) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on-table b2) (clear b4) (on-table b1) (on b3 b2) (on-table b4) (clear b3) (clear b1) ACTION: (unstack b3 b2) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (clear b4) (on-table b4) (holding b3) (clear b1) ACTION: (stack b3 b4) NEXT STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b2) (on-table b1) (on-table b4) (clear b3) (clear b1) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on b3 b4) (clear b2) (on-table b2) (on-table b4) (clear b3) 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)
GOAL: (arm-empty) (on-table b1) (on b5 b2) (clear b4) (on b4 b3) (on b2 b1) (on-table b3) (clear b5)	GOAL: (arm-empty) (on-table b1) (on b5 b2) (clear b4) (on b4 b3) (on b2 b1) (on-table b3) (clear b5) STATE: (arm-empty) (on-table b2) (on b4 b5) (on-table b1) (on b5 b2) (clear b4) (clear b3) (clear b1) (on-table b3)	[ [ "unstack b4 b5" ], [ "stack b4 b3" ], [ "unstack b5 b2" ], [ "stack b5 b4" ], [ "pick-up b2" ], [ "stack b2 b1" ], [ "unstack b5 b4" ], [ "stack b5 b2" ] ]	[ "(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)", "(clear b2) (on-table b2) (on-table b1) (clear b4) (on b4 b3) (holding b5) (clear b1) (on-table b3)", "(clear b2) (arm-empty) (on b5 b4) (on-table b2) (on-table b1) (on b4 b3) (clear b1) (on-table b3) (clear b5)", "(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 b1) (on-table b3) (clear b5)", "(clear b2) (on-table b1) (clear b4) (on b4 b3) (holding b5) (on b2 b1) (on-table b3)", "(arm-empty) (on-table b1) (on b5 b2) (clear b4) (on b4 b3) (on b2 b1) (on-table b3) (clear b5)" ]	file_23456	ACTION: (unstack b4 b5) 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) ACTION: (unstack b5 b2) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (clear b4) (on b4 b3) (holding b5) (clear b1) (on-table b3) ACTION: (stack b5 b4) NEXT STATE: (clear b2) (arm-empty) (on b5 b4) (on-table b2) (on-table b1) (on b4 b3) (clear b1) (on-table b3) (clear b5) 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 b1) NEXT STATE: (clear b2) (arm-empty) (on b5 b4) (on-table b1) (on b4 b3) (on b2 b1) (on-table b3) (clear b5) ACTION: (unstack b5 b4) NEXT STATE: (clear b2) (on-table b1) (clear b4) (on b4 b3) (holding b5) (on b2 b1) (on-table b3) ACTION: (stack b5 b2) NEXT STATE: (arm-empty) (on-table b1) (on b5 b2) (clear b4) (on b4 b3) (on b2 b1) (on-table b3) (clear b5)
GOAL: (on b3 b4) (clear b2) (arm-empty) (on-table b1) (on b5 b3) (on-table b4) (on b2 b1) (clear b5)	GOAL: (on b3 b4) (clear b2) (arm-empty) (on-table b1) (on b5 b3) (on-table b4) (on b2 b1) (clear b5) STATE: (clear b2) (on-table b5) (on-table b1) (on-table b4) (on b2 b4) (holding b3) (clear b1) (clear b5)	[ [ "put-down b3" ], [ "unstack b2 b4" ], [ "stack b2 b1" ], [ "pick-up b3" ], [ "stack b3 b4" ], [ "pick-up b5" ], [ "stack b5 b3" ] ]	[ "(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)", "(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) (clear b4) (on-table b4) (on b2 b1) (clear b3) (on-table b3) (clear b5)", "(clear b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b2 b1) (holding b3) (clear b5)", "(on b3 b4) (clear b2) (arm-empty) (on-table b5) (on-table b1) (on-table b4) (on b2 b1) (clear b3) (clear b5)", "(on b3 b4) (clear b2) (on-table b1) (holding b5) (on-table b4) (on b2 b1) (clear b3)", "(on b3 b4) (clear b2) (arm-empty) (on-table b1) (on b5 b3) (on-table b4) (on b2 b1) (clear b5)" ]	file_126254	ACTION: (put-down b3) 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: (unstack b2 b4) 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 b1) 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 b3) 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 b4) NEXT STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b5) (on-table b1) (on-table b4) (on b2 b1) (clear b3) (clear b5) ACTION: (pick-up b5) NEXT STATE: (on b3 b4) (clear b2) (on-table b1) (holding b5) (on-table b4) (on b2 b1) (clear b3) ACTION: (stack b5 b3) NEXT STATE: (on b3 b4) (clear b2) (arm-empty) (on-table b1) (on b5 b3) (on-table b4) (on b2 b1) (clear b5)
GOAL: (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)	GOAL: (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) 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" ], [ "put-down b2" ], [ "unstack b5 b1" ], [ "put-down b5" ] ]	[ "(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 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) (holding b5) (on-table b4) (clear b3) (clear b1) (on-table b3)", "(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)" ]	file_26823	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: (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: (unstack b5 b1) 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: (put-down b5) 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)
GOAL: (on b1 b3) (on-table b2) (holding b4) (on b3 b2) (clear b1)	GOAL: (on b1 b3) (on-table b2) (holding b4) (on b3 b2) (clear b1) STATE: (on b3 b4) (clear b2) (on b4 b1) (arm-empty) (on-table b2) (on-table b1) (clear b3)	[ [ "unstack b3 b4" ], [ "stack b3 b2" ], [ "unstack b4 b1" ], [ "put-down b4" ], [ "pick-up b1" ], [ "stack b1 b3" ], [ "pick-up b4" ] ]	[ "(on b4 b1) (on-table b2) (clear b4) (clear b2) (on-table b1) (holding b3)", "(on b4 b1) (arm-empty) (on-table b2) (on-table b1) (on b3 b2) (clear b4) (clear b3)", "(on-table b2) (holding b4) (on-table b1) (on b3 b2) (clear b3) (clear b1)", "(arm-empty) (on-table b2) (clear b4) (on-table b1) (on b3 b2) (on-table b4) (clear b3) (clear b1)", "(holding b1) (on-table b2) (on b3 b2) (clear b4) (on-table b4) (clear b3)", "(on b1 b3) (arm-empty) (on-table b2) (on b3 b2) (clear b4) (on-table b4) (clear b1)", "(on b1 b3) (on-table b2) (holding b4) (on b3 b2) (clear b1)" ]	file_167653	ACTION: (unstack b3 b4) NEXT STATE: (on b4 b1) (on-table b2) (clear b4) (clear b2) (on-table b1) (holding b3) ACTION: (stack b3 b2) NEXT STATE: (on b4 b1) (arm-empty) (on-table b2) (on-table b1) (on b3 b2) (clear b4) (clear b3) ACTION: (unstack b4 b1) NEXT STATE: (on-table b2) (holding b4) (on-table b1) (on b3 b2) (clear b3) (clear b1) ACTION: (put-down b4) NEXT STATE: (arm-empty) (on-table b2) (clear b4) (on-table b1) (on b3 b2) (on-table b4) (clear b3) (clear b1) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on-table b2) (on b3 b2) (clear b4) (on-table b4) (clear b3) ACTION: (stack b1 b3) NEXT STATE: (on b1 b3) (arm-empty) (on-table b2) (on b3 b2) (clear b4) (on-table b4) (clear b1) ACTION: (pick-up b4) NEXT STATE: (on b1 b3) (on-table b2) (holding b4) (on b3 b2) (clear b1)
GOAL: (on b1 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b3) (clear b1) (on-table b3)	GOAL: (on b1 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b3) (clear b1) (on-table b3) STATE: (on b4 b1) (arm-empty) (clear b4) (on b5 b3) (on b2 b5) (on b1 b2) (on-table b3)	[ [ "unstack b4 b1" ], [ "put-down b4" ], [ "unstack b1 b2" ], [ "put-down b1" ], [ "pick-up b4" ], [ "stack b4 b1" ], [ "unstack b2 b5" ], [ "put-down b2" ], [ "unstack b5 b3" ], [ "stack b5 b2" ], [ "unstack b4 b1" ], [ "put-down b4" ], [ "pick-up b1" ], [ "stack b1 b5" ] ]	[ "(holding b4) (on b5 b3) (on b2 b5) (on b1 b2) (clear b1) (on-table b3)", "(arm-empty) (clear b4) (on b5 b3) (on b2 b5) (on b1 b2) (on-table b4) (clear b1) (on-table b3)", "(holding b1) (clear b2) (clear b4) (on b5 b3) (on-table b4) (on b2 b5) (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)", "(clear b2) (on-table b1) (holding b4) (on b5 b3) (on b2 b5) (clear b1) (on-table b3)", "(clear b2) (on b4 b1) (arm-empty) (on-table b1) (clear b4) (on b5 b3) (on b2 b5) (on-table b3)", "(on b4 b1) (on-table b1) (clear b4) (on b5 b3) (holding b2) (on-table b3) (clear b5)", "(on b4 b1) (arm-empty) (on-table b2) (clear b4) (on b5 b3) (clear b5) (clear b2) (on-table b1) (on-table b3)", "(clear b2) (on b4 b1) (on-table b2) (on-table b1) (clear b4) (holding b5) (clear b3) (on-table b3)", "(on b4 b1) (arm-empty) (on-table b2) (on-table b1) (on b5 b2) (clear b4) (clear b3) (on-table b3) (clear b5)", "(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-table b4) (clear b3) (clear b1) (on-table b3) (clear b5)", "(holding b1) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b3) (on-table b3) (clear b5)", "(on b1 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b3) (clear b1) (on-table b3)" ]	file_206570	ACTION: (unstack b4 b1) NEXT STATE: (holding b4) (on b5 b3) (on b2 b5) (on b1 b2) (clear b1) (on-table b3) ACTION: (put-down b4) NEXT STATE: (arm-empty) (clear b4) (on b5 b3) (on b2 b5) (on b1 b2) (on-table b4) (clear b1) (on-table b3) 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: (put-down b1) 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: (pick-up b4) NEXT STATE: (clear b2) (on-table b1) (holding b4) (on b5 b3) (on b2 b5) (clear b1) (on-table b3) ACTION: (stack b4 b1) NEXT STATE: (clear b2) (on b4 b1) (arm-empty) (on-table b1) (clear b4) (on b5 b3) (on b2 b5) (on-table b3) ACTION: (unstack b2 b5) NEXT STATE: (on b4 b1) (on-table b1) (clear b4) (on b5 b3) (holding b2) (on-table b3) (clear b5) ACTION: (put-down b2) NEXT STATE: (on b4 b1) (arm-empty) (on-table b2) (clear b4) (on b5 b3) (clear b5) (clear b2) (on-table b1) (on-table b3) 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) ACTION: (stack b5 b2) NEXT STATE: (on b4 b1) (arm-empty) (on-table b2) (on-table b1) (on b5 b2) (clear b4) (clear b3) (on-table b3) (clear b5) 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: (put-down b4) 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: (pick-up b1) NEXT STATE: (holding b1) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b3) (on-table b3) (clear b5) ACTION: (stack b1 b5) NEXT STATE: (on b1 b5) (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b3) (clear b1) (on-table b3)
GOAL: (on b3 b5) (on b1 b3) (on b4 b1) (clear b2) (on-table b5) (arm-empty) (on b2 b4)	GOAL: (on b3 b5) (on b1 b3) (on b4 b1) (clear b2) (on-table b5) (arm-empty) (on b2 b4) STATE: (clear b2) (arm-empty) (on b3 b5) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b2 b3) (clear b1)	[ [ "unstack b2 b3" ], [ "put-down b2" ], [ "pick-up b4" ], [ "stack b4 b2" ], [ "pick-up b1" ], [ "stack b1 b3" ], [ "unstack b4 b2" ], [ "stack b4 b1" ], [ "pick-up b2" ], [ "stack b2 b4" ] ]	[ "(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 b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (clear b3) (clear b1)", "(on b3 b5) (clear b2) (on-table b2) (on-table b5) (on-table b1) (holding b4) (clear b3) (clear b1)", "(on b3 b5) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on b4 b2) (clear b3) (clear b1)", "(holding b1) (on b3 b5) (on-table b2) (on-table b5) (clear b4) (on b4 b2) (clear b3)", "(on b3 b5) (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b4 b2) (clear b1)", "(on b3 b5) (on b1 b3) (on-table b2) (on-table b5) (clear b2) (holding b4) (clear b1)", "(on b3 b5) (on b1 b3) (on b4 b1) (on-table b2) (on-table b5) (arm-empty) (clear b4) (clear b2)", "(on b3 b5) (on b1 b3) (on b4 b1) (on-table b5) (clear b4) (holding b2)", "(on b3 b5) (on b1 b3) (on b4 b1) (clear b2) (on-table b5) (arm-empty) (on b2 b4)" ]	file_227248	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: (put-down b2) NEXT STATE: (on b3 b5) (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (clear b3) (clear b1) ACTION: (pick-up b4) NEXT STATE: (on b3 b5) (clear b2) (on-table b2) (on-table b5) (on-table b1) (holding b4) (clear b3) (clear b1) ACTION: (stack b4 b2) NEXT STATE: (on b3 b5) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on b4 b2) (clear b3) (clear b1) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on b3 b5) (on-table b2) (on-table b5) (clear b4) (on b4 b2) (clear b3) ACTION: (stack b1 b3) NEXT STATE: (on b3 b5) (on b1 b3) (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b4 b2) (clear b1) ACTION: (unstack b4 b2) NEXT STATE: (on b3 b5) (on b1 b3) (on-table b2) (on-table b5) (clear b2) (holding b4) (clear b1) ACTION: (stack b4 b1) NEXT STATE: (on b3 b5) (on b1 b3) (on b4 b1) (on-table b2) (on-table b5) (arm-empty) (clear b4) (clear b2) ACTION: (pick-up b2) NEXT STATE: (on b3 b5) (on b1 b3) (on b4 b1) (on-table b5) (clear b4) (holding b2) ACTION: (stack b2 b4) NEXT STATE: (on b3 b5) (on b1 b3) (on b4 b1) (clear b2) (on-table b5) (arm-empty) (on b2 b4)
GOAL: (clear b2) (arm-empty) (on-table b5) (on-table b1) (on b2 b4) (on-table b4) (on b3 b1) (clear b3) (clear b5)	GOAL: (clear b2) (arm-empty) (on-table b5) (on-table b1) (on b2 b4) (on-table b4) (on b3 b1) (clear b3) (clear b5) STATE: (on b3 b5) (on b4 b1) (on b1 b3) (arm-empty) (on-table b5) (clear b2) (on b2 b4)	[ [ "unstack b2 b4" ], [ "put-down b2" ], [ "unstack b4 b1" ], [ "put-down b4" ], [ "unstack b1 b3" ], [ "put-down b1" ], [ "unstack b3 b5" ], [ "stack b3 b1" ], [ "pick-up b2" ], [ "stack b2 b4" ] ]	[ "(on b3 b5) (on b4 b1) (on b1 b3) (on-table b5) (clear b4) (holding b2)", "(on b3 b5) (on b4 b1) (on b1 b3) (on-table b2) (on-table b5) (arm-empty) (clear b4) (clear b2)", "(on b3 b5) (on b1 b3) (on-table b2) (on-table b5) (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)", "(holding b1) (on b3 b5) (on-table b2) (on-table b5) (clear b2) (clear b4) (on-table b4) (clear b3)", "(on b3 b5) (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (clear b3) (clear b1)", "(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)", "(on-table b5) (on-table b1) (clear b4) (on-table b4) (holding b2) (on b3 b1) (clear b3) (clear b5)", "(clear b2) (arm-empty) (on-table b5) (on-table b1) (on b2 b4) (on-table b4) (on b3 b1) (clear b3) (clear b5)" ]	file_23337	ACTION: (unstack b2 b4) NEXT STATE: (on b3 b5) (on b4 b1) (on b1 b3) (on-table b5) (clear b4) (holding b2) ACTION: (put-down b2) NEXT STATE: (on b3 b5) (on b4 b1) (on b1 b3) (on-table b2) (on-table b5) (arm-empty) (clear b4) (clear b2) ACTION: (unstack b4 b1) NEXT STATE: (on b3 b5) (on b1 b3) (on-table b2) (on-table b5) (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: (unstack b1 b3) NEXT STATE: (holding b1) (on b3 b5) (on-table b2) (on-table b5) (clear b2) (clear b4) (on-table b4) (clear b3) ACTION: (put-down b1) NEXT STATE: (on b3 b5) (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (clear b3) (clear b1) ACTION: (unstack b3 b5) 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 b2) NEXT STATE: (on-table b5) (on-table b1) (clear b4) (on-table b4) (holding b2) (on b3 b1) (clear b3) (clear b5) ACTION: (stack b2 b4) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on-table b1) (on b2 b4) (on-table b4) (on b3 b1) (clear b3) (clear b5)
GOAL: (clear b2) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b3 b1) (on b2 b3) (clear b5)	GOAL: (clear b2) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b3 b1) (on b2 b3) (clear b5) STATE: (on-table b5) (on-table b1) (clear b4) (on b4 b3) (holding b2) (on b3 b1) (clear b5)	[ [ "stack b2 b5" ], [ "unstack b4 b3" ], [ "put-down b4" ], [ "unstack b2 b5" ], [ "stack b2 b3" ] ]	[ "(clear b2) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on b4 b3) (on b3 b1) (on b2 b5)", "(clear b2) (on-table b5) (on-table b1) (holding b4) (on b3 b1) (on b2 b5) (clear b3)", "(arm-empty) (on-table b5) (clear b4) (on b3 b1) (on b2 b5) (clear b2) (on-table b1) (on-table b4) (clear b3)", "(on-table b5) (on-table b1) (clear b4) (on-table b4) (holding b2) (on b3 b1) (clear b3) (clear b5)", "(clear b2) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b3 b1) (on b2 b3) (clear b5)" ]	file_71394	ACTION: (stack b2 b5) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on b4 b3) (on b3 b1) (on b2 b5) ACTION: (unstack b4 b3) NEXT STATE: (clear b2) (on-table b5) (on-table b1) (holding b4) (on b3 b1) (on b2 b5) (clear b3) ACTION: (put-down b4) NEXT STATE: (arm-empty) (on-table b5) (clear b4) (on b3 b1) (on b2 b5) (clear b2) (on-table b1) (on-table b4) (clear b3) ACTION: (unstack b2 b5) NEXT STATE: (on-table b5) (on-table b1) (clear b4) (on-table b4) (holding b2) (on b3 b1) (clear b3) (clear b5) ACTION: (stack b2 b3) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b3 b1) (on b2 b3) (clear b5)
GOAL: (on-table b2) (on-table b1) (holding b4) (on b3 b2) (on b5 b3) (clear b1) (clear b5)	GOAL: (on-table b2) (on-table b1) (holding b4) (on b3 b2) (on b5 b3) (clear b1) (clear b5) STATE: (on b1 b5) (on-table b2) (holding b4) (on b3 b2) (on b5 b3) (clear b1)	[ [ "put-down b4" ], [ "unstack b1 b5" ], [ "put-down b1" ], [ "pick-up b4" ] ]	[ "(on b1 b5) (arm-empty) (on-table b2) (clear b4) (on b5 b3) (on b3 b2) (on-table b4) (clear b1)", "(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)", "(on-table b2) (on-table b1) (holding b4) (on b3 b2) (on b5 b3) (clear b1) (clear b5)" ]	file_203122	ACTION: (put-down b4) NEXT STATE: (on b1 b5) (arm-empty) (on-table b2) (clear b4) (on b5 b3) (on b3 b2) (on-table b4) (clear b1) ACTION: (unstack b1 b5) 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) ACTION: (pick-up b4) NEXT STATE: (on-table b2) (on-table b1) (holding b4) (on b3 b2) (on b5 b3) (clear b1) (clear b5)
GOAL: (holding b1) (on b3 b4) (clear b2) (on-table b5) (on b4 b5) (on b2 b3)	GOAL: (holding b1) (on b3 b4) (clear b2) (on-table b5) (on b4 b5) (on b2 b3) STATE: (clear b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b2 b1) (holding b3) (clear b5)	[ [ "put-down b3" ], [ "pick-up b4" ], [ "stack b4 b5" ], [ "pick-up b3" ], [ "stack b3 b4" ], [ "unstack b2 b1" ], [ "stack b2 b3" ], [ "pick-up b1" ] ]	[ "(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)", "(clear b2) (arm-empty) (on-table b5) (on-table b1) (on b4 b5) (clear b4) (on b2 b1) (clear b3) (on-table b3)", "(clear b2) (on-table b5) (on-table b1) (on b4 b5) (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)" ]	file_71762	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 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: (pick-up b3) NEXT STATE: (clear b2) (on-table b5) (on-table b1) (on b4 b5) (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)
GOAL: (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)	GOAL: (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) STATE: (clear b2) (arm-empty) (on b3 b5) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b2 b3) (clear b1)	[ [ "pick-up b1" ], [ "stack b1 b4" ], [ "unstack b2 b3" ], [ "put-down b2" ], [ "unstack b3 b5" ], [ "put-down b3" ] ]	[ "(holding b1) (clear b2) (on b3 b5) (on-table b5) (clear b4) (on-table b4) (on b2 b3)", "(clear b2) (on b3 b5) (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) (clear b3) (clear b1) (on-table b3) (clear b5)" ]	file_227257	ACTION: (pick-up b1) NEXT STATE: (holding b1) (clear b2) (on b3 b5) (on-table b5) (clear b4) (on-table b4) (on b2 b3) ACTION: (stack b1 b4) NEXT STATE: (clear b2) (on b3 b5) (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: (put-down b3) NEXT 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)
GOAL: (on b3 b5) (clear b2) (arm-empty) (on-table b5) (on-table b4) (on b1 b4) (on b2 b3) (clear b1)	GOAL: (on b3 b5) (clear b2) (arm-empty) (on-table b5) (on-table b4) (on b1 b4) (on b2 b3) (clear b1) 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)	[ [ "pick-up b3" ], [ "stack b3 b5" ], [ "unstack b4 b2" ], [ "put-down b4" ], [ "pick-up b2" ], [ "stack b2 b3" ], [ "pick-up b1" ], [ "stack b1 b4" ] ]	[ "(on-table b2) (on-table b5) (on-table b1) (clear b4) (on b4 b2) (holding b3) (clear b1) (clear b5)", "(on b3 b5) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on b4 b2) (clear b3) (clear b1)", "(on b3 b5) (clear b2) (on-table b2) (on-table b5) (on-table b1) (holding b4) (clear b3) (clear b1)", "(on b3 b5) (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (clear 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 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)" ]	file_17892	ACTION: (pick-up b3) 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 b5) NEXT STATE: (on b3 b5) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on b4 b2) (clear b3) (clear b1) ACTION: (unstack b4 b2) NEXT STATE: (on b3 b5) (clear b2) (on-table b2) (on-table b5) (on-table b1) (holding b4) (clear b3) (clear b1) ACTION: (put-down b4) NEXT STATE: (on b3 b5) (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on-table b4) (clear b3) (clear b1) 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 b3) NEXT STATE: (on b3 b5) (clear b2) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on-table b4) (on b2 b3) (clear b1) ACTION: (pick-up b1) 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)
GOAL: (on-table b2) (clear b4) (on b5 b1) (on-table b4) (on b1 b2) (holding b3) (clear b5)	GOAL: (on-table b2) (clear b4) (on b5 b1) (on-table b4) (on b1 b2) (holding b3) (clear b5) STATE: (on-table b5) (clear b5) (on-table b4) (holding b2) (clear b3) (on b1 b4) (on-table b3) (clear b1)	[ [ "put-down b2" ], [ "unstack b1 b4" ], [ "stack b1 b2" ], [ "pick-up b3" ], [ "stack b3 b4" ], [ "pick-up b5" ], [ "stack b5 b1" ], [ "unstack b3 b4" ] ]	[ "(clear b2) (arm-empty) (on-table b2) (on-table b5) (clear b5) (on-table b4) (clear b3) (on b1 b4) (on-table b3) (clear b1)", "(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) (clear b4) (on-table b4) (on b1 b2) (clear b1) (holding b3) (clear b5)", "(on b3 b4) (arm-empty) (on-table b2) (on-table b5) (on-table b4) (clear b3) (on b1 b2) (clear b1) (clear b5)", "(on b3 b4) (on-table b2) (holding b5) (on-table b4) (clear b3) (on b1 b2) (clear b1)", "(on b3 b4) (arm-empty) (on-table b2) (on b5 b1) (on-table b4) (clear b3) (on b1 b2) (clear b5)", "(on-table b2) (clear b4) (on b5 b1) (on-table b4) (on b1 b2) (holding b3) (clear b5)" ]	file_35557	ACTION: (put-down b2) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b5) (clear b5) (on-table b4) (clear b3) (on b1 b4) (on-table b3) (clear b1) 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 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 b3) NEXT STATE: (on-table b2) (on-table b5) (clear b4) (on-table b4) (on b1 b2) (clear b1) (holding b3) (clear b5) ACTION: (stack b3 b4) NEXT STATE: (on b3 b4) (arm-empty) (on-table b2) (on-table b5) (on-table b4) (clear b3) (on b1 b2) (clear b1) (clear b5) ACTION: (pick-up b5) NEXT STATE: (on b3 b4) (on-table b2) (holding b5) (on-table b4) (clear b3) (on b1 b2) (clear b1) ACTION: (stack b5 b1) NEXT STATE: (on b3 b4) (arm-empty) (on-table b2) (on b5 b1) (on-table b4) (clear b3) (on b1 b2) (clear b5) ACTION: (unstack b3 b4) NEXT STATE: (on-table b2) (clear b4) (on b5 b1) (on-table b4) (on b1 b2) (holding b3) (clear b5)
GOAL: (clear b2) (arm-empty) (on-table b2) (on b5 b3) (on-table b4) (on b1 b4) (clear b1) (on-table b3) (clear b5)	GOAL: (clear b2) (arm-empty) (on-table b2) (on b5 b3) (on-table b4) (on b1 b4) (clear b1) (on-table b3) (clear b5) STATE: (holding b1) (on-table b2) (on-table b5) (clear b4) (on b4 b2) (clear b3) (on-table b3) (clear b5)	[ [ "stack b1 b4" ], [ "pick-up b5" ], [ "stack b5 b3" ], [ "unstack b1 b4" ], [ "stack b1 b5" ], [ "unstack b4 b2" ], [ "put-down b4" ], [ "unstack b1 b5" ], [ "stack b1 b4" ] ]	[ "(arm-empty) (on-table b2) (on-table b5) (on b1 b4) (on b4 b2) (clear b3) (clear b1) (on-table b3) (clear b5)", "(on-table b2) (holding b5) (on b1 b4) (on b4 b2) (clear b3) (clear b1) (on-table b3)", "(arm-empty) (on-table b2) (on b5 b3) (on b1 b4) (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) (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)" ]	file_217378	ACTION: (stack b1 b4) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (on b1 b4) (on b4 b2) (clear b3) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b5) NEXT STATE: (on-table b2) (holding b5) (on b1 b4) (on b4 b2) (clear b3) (clear b1) (on-table b3) ACTION: (stack b5 b3) NEXT STATE: (arm-empty) (on-table b2) (on b5 b3) (on b1 b4) (on b4 b2) (clear b1) (on-table b3) (clear b5) ACTION: (unstack b1 b4) 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: (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)
GOAL: (holding b1) (on b3 b5) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b3)	GOAL: (holding b1) (on b3 b5) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b3) STATE: (on b3 b4) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (on b4 b2) (clear b3) (clear b1) (clear b5)	[ [ "unstack b3 b4" ], [ "stack b3 b1" ], [ "pick-up b5" ], [ "stack b5 b3" ], [ "unstack b4 b2" ], [ "put-down b4" ], [ "unstack b5 b3" ], [ "stack b5 b2" ], [ "unstack b3 b1" ], [ "stack b3 b5" ], [ "pick-up 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-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)", "(arm-empty) (on-table b2) (clear b4) (on b5 b3) (on b3 b1) (clear b5) (clear b2) (on-table b1) (on-table b4)", "(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)", "(on b3 b5) (arm-empty) (on-table b2) (on-table b1) (on b5 b2) (clear b4) (on-table b4) (clear b3) (clear b1)", "(holding b1) (on b3 b5) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b3)" ]	file_221226	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 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: (put-down b4) NEXT STATE: (arm-empty) (on-table b2) (clear b4) (on b5 b3) (on b3 b1) (clear b5) (clear b2) (on-table b1) (on-table b4) ACTION: (unstack b5 b3) 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: (stack b3 b5) NEXT STATE: (on b3 b5) (arm-empty) (on-table b2) (on-table b1) (on b5 b2) (clear b4) (on-table b4) (clear b3) (clear b1) ACTION: (pick-up b1) NEXT STATE: (holding b1) (on b3 b5) (on-table b2) (on b5 b2) (clear b4) (on-table b4) (clear b3)
GOAL: (clear b2) (arm-empty) (on b5 b1) (on-table b4) (on b1 b4) (on b2 b3) (on-table b3) (clear b5)	GOAL: (clear b2) (arm-empty) (on b5 b1) (on-table b4) (on b1 b4) (on b2 b3) (on-table b3) (clear b5) STATE: (on b1 b5) (arm-empty) (on b5 b2) (on b2 b4) (on-table b4) (on b3 b1) (clear b3)	[ [ "unstack b3 b1" ], [ "put-down b3" ], [ "unstack b1 b5" ], [ "put-down b1" ], [ "unstack b5 b2" ], [ "put-down b5" ], [ "unstack b2 b4" ], [ "stack b2 b3" ], [ "pick-up b1" ], [ "stack b1 b4" ], [ "pick-up b5" ], [ "stack b5 b1" ] ]	[ "(on b1 b5) (on b5 b2) (on b2 b4) (on-table b4) (holding b3) (clear b1)", "(on b1 b5) (arm-empty) (on b5 b2) (on b2 b4) (on-table b4) (clear b3) (clear b1) (on-table b3)", "(holding b1) (on b5 b2) (on-table b4) (on b2 b4) (clear b3) (on-table b3) (clear b5)", "(arm-empty) (on b5 b2) (on b2 b4) (clear b5) (on-table b1) (on-table b4) (clear b3) (clear b1) (on-table b3)", "(clear b2) (on-table b1) (holding b5) (on-table b4) (on b2 b4) (clear b3) (clear b1) (on-table b3)", "(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)", "(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) (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 b2) (arm-empty) (on-table b5) (on-table b4) (on b1 b4) (on b2 b3) (clear b1) (on-table b3) (clear b5)", "(clear b2) (holding b5) (on-table b4) (on b1 b4) (on b2 b3) (clear b1) (on-table b3)", "(clear b2) (arm-empty) (on b5 b1) (on-table b4) (on b1 b4) (on b2 b3) (on-table b3) (clear b5)" ]	file_111221	ACTION: (unstack b3 b1) NEXT STATE: (on b1 b5) (on b5 b2) (on b2 b4) (on-table b4) (holding b3) (clear b1) ACTION: (put-down b3) NEXT STATE: (on b1 b5) (arm-empty) (on b5 b2) (on b2 b4) (on-table b4) (clear b3) (clear b1) (on-table b3) ACTION: (unstack b1 b5) NEXT STATE: (holding b1) (on b5 b2) (on-table b4) (on b2 b4) (clear b3) (on-table b3) (clear b5) ACTION: (put-down b1) NEXT STATE: (arm-empty) (on b5 b2) (on b2 b4) (clear b5) (on-table b1) (on-table b4) (clear b3) (clear b1) (on-table b3) ACTION: (unstack b5 b2) NEXT STATE: (clear b2) (on-table b1) (holding b5) (on-table b4) (on b2 b4) (clear b3) (clear b1) (on-table b3) 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: (unstack b2 b4) 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 b3) 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 b4) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on-table b4) (on b1 b4) (on b2 b3) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b5) NEXT STATE: (clear b2) (holding b5) (on-table b4) (on b1 b4) (on b2 b3) (clear b1) (on-table b3) ACTION: (stack b5 b1) NEXT STATE: (clear b2) (arm-empty) (on b5 b1) (on-table b4) (on b1 b4) (on b2 b3) (on-table b3) (clear b5)
GOAL: (on b1 b5) (arm-empty) (on b5 b4) (on-table b2) (on b3 b2) (on-table b4) (clear b3) (clear b1)	GOAL: (on b1 b5) (arm-empty) (on b5 b4) (on-table b2) (on b3 b2) (on-table b4) (clear b3) (clear b1) STATE: (on b1 b3) (on-table b2) (holding b4) (on b3 b2) (on b5 b1) (clear b5)	[ [ "put-down b4" ], [ "unstack b5 b1" ], [ "stack b5 b4" ], [ "unstack b1 b3" ], [ "stack b1 b5" ] ]	[ "(on b1 b3) (arm-empty) (on-table b2) (clear b4) (clear b5) (on b3 b2) (on b5 b1) (on-table b4)", "(on b1 b3) (on-table b2) (on b3 b2) (clear b4) (holding b5) (on-table b4) (clear b1)", "(on b1 b3) (on b5 b4) (on-table b2) (arm-empty) (on b3 b2) (on-table b4) (clear b1) (clear b5)", "(holding b1) (on b5 b4) (on-table b2) (on b3 b2) (on-table b4) (clear b3) (clear b5)", "(on b1 b5) (arm-empty) (on b5 b4) (on-table b2) (on b3 b2) (on-table b4) (clear b3) (clear b1)" ]	file_43652	ACTION: (put-down b4) NEXT STATE: (on b1 b3) (arm-empty) (on-table b2) (clear b4) (clear b5) (on b3 b2) (on b5 b1) (on-table b4) ACTION: (unstack b5 b1) NEXT STATE: (on b1 b3) (on-table b2) (on b3 b2) (clear b4) (holding b5) (on-table b4) (clear b1) ACTION: (stack b5 b4) NEXT STATE: (on b1 b3) (on b5 b4) (on-table b2) (arm-empty) (on b3 b2) (on-table b4) (clear b1) (clear b5) ACTION: (unstack b1 b3) NEXT STATE: (holding b1) (on b5 b4) (on-table b2) (on b3 b2) (on-table b4) (clear b3) (clear b5) ACTION: (stack b1 b5) NEXT STATE: (on b1 b5) (arm-empty) (on b5 b4) (on-table b2) (on b3 b2) (on-table b4) (clear b3) (clear b1)
GOAL: (arm-empty) (on b5 b4) (on-table b2) (on-table b1) (on b3 b2) (on-table b4) (clear b3) (clear b1) (clear b5)	GOAL: (arm-empty) (on b5 b4) (on-table b2) (on-table b1) (on b3 b2) (on-table b4) (clear b3) (clear b1) (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" ], [ "put-down b4" ], [ "unstack b5 b1" ], [ "stack b5 b4" ] ]	[ "(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) (clear b4) (clear b5) (on-table b1) (on b3 b2) (on b5 b1) (on-table b4) (clear b3)", "(on-table b2) (on-table b1) (on b3 b2) (clear b4) (holding b5) (on-table b4) (clear b3) (clear b1)", "(arm-empty) (on b5 b4) (on-table b2) (on-table b1) (on b3 b2) (on-table b4) (clear b3) (clear b1) (clear b5)" ]	file_119524	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: (put-down b4) NEXT STATE: (arm-empty) (on-table b2) (clear b4) (clear b5) (on-table b1) (on b3 b2) (on b5 b1) (on-table b4) (clear b3) 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 b4) NEXT STATE: (arm-empty) (on b5 b4) (on-table b2) (on-table b1) (on b3 b2) (on-table b4) (clear b3) (clear b1) (clear b5)
GOAL: (arm-empty) (on-table b5) (on b3 b1) (on b2 b4) (clear b5) (clear b2) (on-table b1) (on b4 b3)	GOAL: (arm-empty) (on-table b5) (on b3 b1) (on b2 b4) (clear b5) (clear b2) (on-table b1) (on b4 b3) STATE: (holding b1) (on b3 b4) (on-table b2) (on-table b5) (on b4 b2) (clear b3) (clear b5)	[ [ "put-down b1" ], [ "unstack b3 b4" ], [ "stack b3 b1" ], [ "unstack b4 b2" ], [ "stack b4 b3" ], [ "pick-up b2" ], [ "stack b2 b4" ] ]	[ "(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)", "(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 b4 b3) (on b3 b1) (clear b5)", "(on-table b5) (on-table b1) (clear b4) (on b4 b3) (holding b2) (on b3 b1) (clear b5)", "(arm-empty) (on-table b5) (on b3 b1) (on b2 b4) (clear b5) (clear b2) (on-table b1) (on b4 b3)" ]	file_178472	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: (unstack b4 b2) NEXT STATE: (clear b2) (on-table b2) (on-table b5) (on-table b1) (holding b4) (on b3 b1) (clear b3) (clear b5) ACTION: (stack b4 b3) NEXT STATE: (clear b2) (arm-empty) (on-table b2) (on-table b5) (on-table b1) (clear b4) (on b4 b3) (on b3 b1) (clear b5) ACTION: (pick-up b2) NEXT STATE: (on-table b5) (on-table b1) (clear b4) (on b4 b3) (holding b2) (on b3 b1) (clear b5) ACTION: (stack b2 b4) NEXT STATE: (arm-empty) (on-table b5) (on b3 b1) (on b2 b4) (clear b5) (clear b2) (on-table b1) (on b4 b3)
GOAL: (holding b2) (on b5 b3) (on-table b4) (on b1 b4) (clear b1) (on-table b3) (clear b5)	GOAL: (holding b2) (on b5 b3) (on-table b4) (on b1 b4) (clear b1) (on-table b3) (clear b5) STATE: (holding b4) (on b5 b3) (on b2 b5) (on b1 b2) (clear b1) (on-table b3)	[ [ "put-down b4" ], [ "unstack b1 b2" ], [ "stack b1 b4" ], [ "unstack b2 b5" ] ]	[ "(arm-empty) (clear b4) (on b5 b3) (on b2 b5) (on b1 b2) (on-table b4) (clear b1) (on-table 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)" ]	file_102954	ACTION: (put-down b4) NEXT STATE: (arm-empty) (clear b4) (on b5 b3) (on b2 b5) (on b1 b2) (on-table b4) (clear b1) (on-table b3) 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)
GOAL: (on b1 b5) (on b3 b4) (clear b2) (arm-empty) (on-table b5) (on-table b4) (on b2 b3) (clear b1)	GOAL: (on b1 b5) (on b3 b4) (clear b2) (arm-empty) (on-table b5) (on-table b4) (on b2 b3) (clear b1) STATE: (holding b1) (on-table b2) (on-table b5) (on b3 b2) (clear b4) (on b4 b3) (clear b5)	[ [ "stack b1 b5" ], [ "unstack b4 b3" ], [ "put-down b4" ], [ "unstack b3 b2" ], [ "stack b3 b4" ], [ "pick-up b2" ], [ "stack b2 b3" ] ]	[ "(on b1 b5) (arm-empty) (on-table b2) (on-table b5) (on b3 b2) (clear b4) (on b4 b3) (clear b1)", "(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) (on b3 b4) (arm-empty) (on-table b2) (on-table b5) (on-table b4) (clear b3) (clear b1)", "(on b1 b5) (on b3 b4) (on-table b5) (on-table b4) (holding b2) (clear b3) (clear b1)", "(on b1 b5) (on b3 b4) (clear b2) (arm-empty) (on-table b5) (on-table b4) (on b2 b3) (clear b1)" ]	file_24306	ACTION: (stack b1 b5) NEXT STATE: (on b1 b5) (arm-empty) (on-table b2) (on-table b5) (on b3 b2) (clear b4) (on b4 b3) (clear b1) ACTION: (unstack b4 b3) 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 b4) NEXT STATE: (on b1 b5) (clear b2) (on b3 b4) (arm-empty) (on-table b2) (on-table b5) (on-table b4) (clear b3) (clear b1) ACTION: (pick-up b2) NEXT STATE: (on b1 b5) (on b3 b4) (on-table b5) (on-table b4) (holding b2) (clear b3) (clear b1) ACTION: (stack b2 b3) NEXT STATE: (on b1 b5) (on b3 b4) (clear b2) (arm-empty) (on-table b5) (on-table b4) (on b2 b3) (clear b1)
GOAL: (on b3 b4) (arm-empty) (on-table b2) (on b4 b5) (on-table b1) (on b5 b2) (clear b3) (clear b1)	GOAL: (on b3 b4) (arm-empty) (on-table b2) (on b4 b5) (on-table b1) (on b5 b2) (clear b3) (clear b1) STATE: (on b3 b5) (on-table b2) (holding b4) (on-table b1) (on b5 b2) (clear b3) (clear b1)	[ [ "stack b4 b1" ], [ "unstack b3 b5" ], [ "put-down b3" ], [ "unstack b4 b1" ], [ "stack b4 b5" ], [ "pick-up b3" ], [ "stack b3 b4" ] ]	[ "(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 b4 b5) (on-table b1) (on b5 b2) (clear b4) (clear b3) (clear b1) (on-table b3)", "(on-table b2) (on b4 b5) (on-table b1) (on b5 b2) (clear b4) (holding b3) (clear b1)", "(on b3 b4) (arm-empty) (on-table b2) (on b4 b5) (on-table b1) (on b5 b2) (clear b3) (clear b1)" ]	file_222002	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 b5) NEXT STATE: (arm-empty) (on-table b2) (on b4 b5) (on-table b1) (on b5 b2) (clear b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b3) NEXT STATE: (on-table b2) (on b4 b5) (on-table b1) (on b5 b2) (clear b4) (holding b3) (clear b1) ACTION: (stack b3 b4) NEXT STATE: (on b3 b4) (arm-empty) (on-table b2) (on b4 b5) (on-table b1) (on b5 b2) (clear b3) (clear b1)
GOAL: (on b3 b4) (arm-empty) (on-table b5) (on-table b1) (on b4 b2) (on b2 b5) (clear b3) (clear b1)	GOAL: (on b3 b4) (arm-empty) (on-table b5) (on-table b1) (on b4 b2) (on b2 b5) (clear b3) (clear b1) 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 b2" ], [ "pick-up b3" ], [ "stack b3 b1" ], [ "pick-up b4" ], [ "stack b4 b3" ], [ "unstack b5 b2" ], [ "put-down b5" ], [ "pick-up b2" ], [ "stack b2 b5" ], [ "unstack b4 b3" ], [ "stack b4 b2" ], [ "unstack b3 b1" ], [ "stack b3 b4" ] ]	[ "(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)", "(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)", "(on-table b2) (on-table b1) (holding b4) (on b5 b2) (on b3 b1) (clear b3) (clear b5)", "(arm-empty) (on-table b2) (on b5 b2) (clear b4) (on b3 b1) (clear b5) (on-table b1) (on b4 b3)", "(clear b2) (on-table b2) (on-table b1) (clear b4) (on b4 b3) (holding b5) (on b3 b1)", "(arm-empty) (on-table b2) (on-table b5) (clear b4) (on b3 b1) (clear b5) (clear b2) (on-table b1) (on b4 b3)", "(on-table b5) (on-table b1) (clear b4) (on b4 b3) (holding b2) (on b3 b1) (clear b5)", "(clear b2) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on b4 b3) (on b3 b1) (on b2 b5)", "(clear b2) (on-table b5) (on-table b1) (holding b4) (on b3 b1) (on b2 b5) (clear b3)", "(arm-empty) (on-table b5) (on-table b1) (clear b4) (on b3 b1) (on b4 b2) (on b2 b5) (clear b3)", "(on-table b5) (on-table b1) (clear b4) (on b4 b2) (on b2 b5) (holding b3) (clear b1)", "(on b3 b4) (arm-empty) (on-table b5) (on-table b1) (on b4 b2) (on b2 b5) (clear b3) (clear b1)" ]	file_21669	ACTION: (stack b5 b2) 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: (pick-up b3) 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) ACTION: (pick-up b4) NEXT STATE: (on-table b2) (on-table b1) (holding b4) (on b5 b2) (on b3 b1) (clear b3) (clear b5) ACTION: (stack b4 b3) NEXT STATE: (arm-empty) (on-table b2) (on b5 b2) (clear b4) (on b3 b1) (clear b5) (on-table b1) (on b4 b3) ACTION: (unstack b5 b2) NEXT STATE: (clear b2) (on-table b2) (on-table b1) (clear b4) (on b4 b3) (holding b5) (on b3 b1) ACTION: (put-down b5) NEXT STATE: (arm-empty) (on-table b2) (on-table b5) (clear b4) (on b3 b1) (clear b5) (clear b2) (on-table b1) (on b4 b3) ACTION: (pick-up b2) NEXT STATE: (on-table b5) (on-table b1) (clear b4) (on b4 b3) (holding b2) (on b3 b1) (clear b5) ACTION: (stack b2 b5) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on-table b1) (clear b4) (on b4 b3) (on b3 b1) (on b2 b5) ACTION: (unstack b4 b3) NEXT STATE: (clear b2) (on-table b5) (on-table b1) (holding b4) (on b3 b1) (on b2 b5) (clear b3) ACTION: (stack b4 b2) NEXT STATE: (arm-empty) (on-table b5) (on-table b1) (clear b4) (on b3 b1) (on b4 b2) (on b2 b5) (clear b3) ACTION: (unstack b3 b1) NEXT STATE: (on-table b5) (on-table b1) (clear b4) (on b4 b2) (on b2 b5) (holding b3) (clear b1) ACTION: (stack b3 b4) NEXT STATE: (on b3 b4) (arm-empty) (on-table b5) (on-table b1) (on b4 b2) (on b2 b5) (clear b3) (clear b1)
GOAL: (clear b2) (holding b5) (on-table b4) (on b1 b4) (on b2 b3) (clear b1) (on-table b3)	GOAL: (clear b2) (holding b5) (on-table b4) (on b1 b4) (on b2 b3) (clear b1) (on-table b3) STATE: (arm-empty) (clear b4) (on b5 b1) (on-table b4) (on b2 b3) (on b1 b2) (on-table b3) (clear b5)	[ [ "unstack b5 b1" ], [ "put-down b5" ], [ "unstack b1 b2" ], [ "stack b1 b4" ], [ "pick-up b5" ] ]	[ "(clear b1) (clear b4) (holding b5) (on-table b4) (on b2 b3) (on b1 b2) (on-table b3)", "(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 b4) (on b1 b4) (on b2 b3) (clear b1) (on-table b3) (clear b5)", "(clear b2) (holding b5) (on-table b4) (on b1 b4) (on b2 b3) (clear b1) (on-table b3)" ]	file_128027	ACTION: (unstack b5 b1) NEXT STATE: (clear b1) (clear b4) (holding b5) (on-table b4) (on b2 b3) (on b1 b2) (on-table b3) ACTION: (put-down b5) 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: (stack b1 b4) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on-table b4) (on b1 b4) (on b2 b3) (clear b1) (on-table b3) (clear b5) ACTION: (pick-up b5) NEXT STATE: (clear b2) (holding b5) (on-table b4) (on b1 b4) (on b2 b3) (clear b1) (on-table b3)
GOAL: (on b3 b4) (clear b2) (arm-empty) (on-table b5) (on-table b1) (on b4 b5) (on b2 b1) (clear b3)	GOAL: (on b3 b4) (clear b2) (arm-empty) (on-table b5) (on-table b1) (on b4 b5) (on b2 b1) (clear b3) STATE: (clear b2) (on-table b5) (holding b4) (on-table b1) (on b2 b1) (clear b3) (on-table b3) (clear b5)	[ [ "stack b4 b5" ], [ "pick-up b3" ], [ "stack b3 b4" ] ]	[ "(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)" ]	file_157823	ACTION: (stack b4 b5) 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)
GOAL: (on b3 b4) (clear b2) (arm-empty) (on-table b2) (on-table b1) (on b5 b1) (on-table b4) (clear b3) (clear b5)	GOAL: (on b3 b4) (clear b2) (arm-empty) (on-table b2) (on-table b1) (on b5 b1) (on-table b4) (clear b3) (clear b5) STATE: (on b3 b4) (clear b2) (on-table b1) (holding b5) (on-table b4) (on b2 b3) (clear b1)	[ [ "put-down b5" ], [ "unstack b2 b3" ], [ "put-down b2" ], [ "pick-up b5" ], [ "stack b5 b1" ] ]	[ "(arm-empty) (on-table b5) (clear b5) (on b3 b4) (clear b2) (on-table b1) (on-table b4) (on b2 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 b2) (on-table b5) (on-table b1) (on-table b4) (clear b3) (clear b1) (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) (clear b2) (arm-empty) (on-table b2) (on-table b1) (on b5 b1) (on-table b4) (clear b3) (clear b5)" ]	file_125911	ACTION: (put-down b5) NEXT STATE: (arm-empty) (on-table b5) (clear b5) (on b3 b4) (clear b2) (on-table b1) (on-table b4) (on b2 b3) (clear b1) 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: (pick-up b5) 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 b1) 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)
GOAL: (arm-empty) (on-table b5) (on b4 b5) (on b2 b4) (on b3 b1) (clear b3) (on b1 b2)	GOAL: (arm-empty) (on-table b5) (on b4 b5) (on b2 b4) (on b3 b1) (clear b3) (on b1 b2) STATE: (on b5 b4) (on-table b1) (on b4 b2) (on b2 b1) (holding b3) (clear b5)	[ [ "put-down b3" ], [ "unstack b5 b4" ], [ "put-down b5" ], [ "unstack b4 b2" ], [ "stack b4 b5" ], [ "unstack b2 b1" ], [ "stack b2 b4" ], [ "pick-up b1" ], [ "stack b1 b2" ], [ "pick-up b3" ], [ "stack b3 b1" ] ]	[ "(arm-empty) (on b5 b4) (on b2 b1) (clear b5) (on-table b1) (on b4 b2) (clear b3) (on-table b3)", "(on-table b1) (clear b4) (holding b5) (on b4 b2) (on b2 b1) (clear b3) (on-table b3)", "(arm-empty) (on-table b5) (clear b4) (on b2 b1) (clear b5) (on-table b1) (on b4 b2) (clear b3) (on-table b3)", "(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)", "(clear b2) (arm-empty) (on-table b5) (on-table b1) (on b4 b5) (on b2 b4) (clear b3) (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 b3) (on b1 b2) (clear b1) (on-table b3)", "(on-table b5) (on b4 b5) (on b2 b4) (on b1 b2) (clear b1) (holding b3)", "(arm-empty) (on-table b5) (on b4 b5) (on b2 b4) (on b3 b1) (clear b3) (on b1 b2)" ]	file_81720	ACTION: (put-down b3) NEXT STATE: (arm-empty) (on b5 b4) (on b2 b1) (clear b5) (on-table b1) (on b4 b2) (clear b3) (on-table b3) ACTION: (unstack b5 b4) NEXT STATE: (on-table b1) (clear b4) (holding b5) (on b4 b2) (on b2 b1) (clear b3) (on-table b3) ACTION: (put-down b5) NEXT STATE: (arm-empty) (on-table b5) (clear b4) (on b2 b1) (clear b5) (on-table b1) (on b4 b2) (clear b3) (on-table b3) ACTION: (unstack b4 b2) 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) ACTION: (stack b2 b4) NEXT STATE: (clear b2) (arm-empty) (on-table b5) (on-table b1) (on b4 b5) (on b2 b4) (clear b3) (clear b1) (on-table b3) ACTION: (pick-up b1) NEXT STATE: (holding b1) (clear b2) (on-table b5) (on b4 b5) (on b2 b4) (clear b3) (on-table b3) ACTION: (stack b1 b2) NEXT STATE: (arm-empty) (on-table b5) (on b4 b5) (on b2 b4) (clear b3) (on b1 b2) (clear b1) (on-table b3) ACTION: (pick-up b3) NEXT STATE: (on-table b5) (on b4 b5) (on b2 b4) (on b1 b2) (clear b1) (holding b3) ACTION: (stack b3 b1) NEXT STATE: (arm-empty) (on-table b5) (on b4 b5) (on b2 b4) (on b3 b1) (clear b3) (on b1 b2)