Datasets:

NanQiangHF

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BlocksWorldTrainingDataFull3-8

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GOAL: (on b5 b1) (on-table b2) (on b7 b6) (on-table b3) (on-table b1) (on b8 b2) (on b6 b3) (holding b4) STATE: (on b5 b1) (on-table b2) (clear b4) (on-table b3) (on-table b1) (on b4 b6) (on b8 b2) (on b6 b3) (holding b7)

ACTION: (put-down b7) NEXT STATE: (on b5 b1) (on-table b2) (clear b4) (arm-empty) (on-table b3) (on-table b1) (on-table b7) (clear b7) (on b4 b6) (on b8 b2) (on b6 b3)

GOAL: (on b5 b1) (on-table b2) (on b7 b6) (on-table b3) (on-table b1) (on b8 b2) (on b6 b3) (holding b4) STATE: (on b5 b1) (on-table b2) (clear b4) (arm-empty) (on-table b3) (on-table b1) (on-table b7) (clear b7) (on b4 b6) (on b8 b2) (on b6 b3)

ACTION: (unstack b4 b6) NEXT STATE: (on b5 b1) (on-table b2) (on-table b3) (on-table b1) (on-table b7) (clear b7) (clear b6) (on b8 b2) (on b6 b3) (holding b4)

GOAL: (on b5 b1) (on-table b2) (on b7 b6) (on-table b3) (on-table b1) (on b8 b2) (on b6 b3) (holding b4) STATE: (on b5 b1) (on-table b2) (on-table b3) (on-table b1) (on-table b7) (clear b7) (clear b6) (on b8 b2) (on b6 b3) (holding b4)

ACTION: (put-down b4) NEXT STATE: (on b5 b1) (on-table b2) (clear b4) (arm-empty) (on-table b3) (on-table b1) (on-table b7) (clear b7) (clear b6) (on-table b4) (on b8 b2) (on b6 b3)

GOAL: (on b5 b1) (on-table b2) (on b7 b6) (on-table b3) (on-table b1) (on b8 b2) (on b6 b3) (holding b4) STATE: (on b5 b1) (on-table b2) (clear b4) (arm-empty) (on-table b3) (on-table b1) (on-table b7) (clear b7) (clear b6) (on-table b4) (on b8 b2) (on b6 b3)

ACTION: (pick-up b7) NEXT STATE: (on b5 b1) (on-table b2) (clear b4) (on-table b3) (on-table b1) (clear b6) (on-table b4) (on b8 b2) (on b6 b3) (holding b7)

GOAL: (on b5 b1) (on-table b2) (on b7 b6) (on-table b3) (on-table b1) (on b8 b2) (on b6 b3) (holding b4) STATE: (on b5 b1) (on-table b2) (clear b4) (on-table b3) (on-table b1) (clear b6) (on-table b4) (on b8 b2) (on b6 b3) (holding b7)

ACTION: (stack b7 b6) NEXT STATE: (on b5 b1) (on-table b2) (clear b4) (on b7 b6) (arm-empty) (on-table b3) (on-table b1) (on-table b4) (on b8 b2) (on b6 b3)

GOAL: (on b5 b1) (on-table b2) (on b7 b6) (on-table b3) (on-table b1) (on b8 b2) (on b6 b3) (holding b4) STATE: (on b5 b1) (on-table b2) (clear b4) (on b7 b6) (arm-empty) (on-table b3) (on-table b1) (on-table b4) (on b8 b2) (on b6 b3)

ACTION: (pick-up b4) NEXT STATE: (on b5 b1) (on-table b2) (on b7 b6) (on-table b3) (on-table b1) (on b8 b2) (on b6 b3) (holding b4)

GOAL: (on-table b2) (on-table b8) (arm-empty) (on b5 b2) (on b1 b6) (on-table b7) (on b3 b8) (on b6 b7) (on b4 b1) STATE: (clear b4) (on b3 b1) (on-table b8) (arm-empty) (on b2 b5) (clear b3) (on b1 b6) (clear b8) (on-table b7) (on-table b4) (on-table b5) (clear b2) (on b6 b7)

ACTION: (unstack b3 b1) NEXT STATE: (clear b4) (on-table b8) (on b2 b5) (on b1 b6) (clear b8) (on-table b7) (on-table b4) (on-table b5) (clear b2) (clear b1) (holding b3) (on b6 b7)

GOAL: (on-table b2) (on-table b8) (arm-empty) (on b5 b2) (on b1 b6) (on-table b7) (on b3 b8) (on b6 b7) (on b4 b1) STATE: (clear b4) (on-table b8) (on b2 b5) (on b1 b6) (clear b8) (on-table b7) (on-table b4) (on-table b5) (clear b2) (clear b1) (holding b3) (on b6 b7)

ACTION: (stack b3 b8) NEXT STATE: (clear b4) (on-table b8) (arm-empty) (on b2 b5) (clear b1) (on b1 b6) (on-table b7) (on-table b4) (on-table b5) (clear b2) (on b3 b8) (on b6 b7)

GOAL: (on-table b2) (on-table b8) (arm-empty) (on b5 b2) (on b1 b6) (on-table b7) (on b3 b8) (on b6 b7) (on b4 b1) STATE: (clear b4) (on-table b8) (arm-empty) (on b2 b5) (clear b1) (on b1 b6) (on-table b7) (on-table b4) (on-table b5) (clear b2) (on b3 b8) (on b6 b7)

ACTION: (pick-up b4) NEXT STATE: (on-table b8) (on b2 b5) (clear b1) (on b1 b6) (on-table b7) (on-table b5) (clear b2) (on b3 b8) (on b6 b7) (holding b4)

GOAL: (on-table b2) (on-table b8) (arm-empty) (on b5 b2) (on b1 b6) (on-table b7) (on b3 b8) (on b6 b7) (on b4 b1) STATE: (on-table b8) (on b2 b5) (clear b1) (on b1 b6) (on-table b7) (on-table b5) (clear b2) (on b3 b8) (on b6 b7) (holding b4)

ACTION: (stack b4 b1) NEXT STATE: (on-table b8) (arm-empty) (on b2 b5) (on b1 b6) (on-table b7) (on-table b5) (clear b2) (on b3 b8) (on b6 b7) (on b4 b1)

GOAL: (on-table b2) (on-table b8) (arm-empty) (on b5 b2) (on b1 b6) (on-table b7) (on b3 b8) (on b6 b7) (on b4 b1) STATE: (on-table b8) (arm-empty) (on b2 b5) (on b1 b6) (on-table b7) (on-table b5) (clear b2) (on b3 b8) (on b6 b7) (on b4 b1)

ACTION: (unstack b2 b5) NEXT STATE: (on-table b8) (clear b5) (on b1 b6) (on-table b7) (on-table b5) (on b3 b8) (on b6 b7) (on b4 b1) (holding b2)

GOAL: (on-table b2) (on-table b8) (arm-empty) (on b5 b2) (on b1 b6) (on-table b7) (on b3 b8) (on b6 b7) (on b4 b1) STATE: (on-table b8) (clear b5) (on b1 b6) (on-table b7) (on-table b5) (on b3 b8) (on b6 b7) (on b4 b1) (holding b2)

ACTION: (put-down b2) NEXT STATE: (on-table b2) (on-table b8) (arm-empty) (clear b5) (on b1 b6) (on-table b7) (on-table b5) (on b3 b8) (clear b2) (on b6 b7) (on b4 b1)

GOAL: (on-table b2) (on-table b8) (arm-empty) (on b5 b2) (on b1 b6) (on-table b7) (on b3 b8) (on b6 b7) (on b4 b1) STATE: (on-table b2) (on-table b8) (arm-empty) (clear b5) (on b1 b6) (on-table b7) (on-table b5) (on b3 b8) (clear b2) (on b6 b7) (on b4 b1)

ACTION: (pick-up b5) NEXT STATE: (on-table b2) (on-table b8) (holding b5) (on b1 b6) (on-table b7) (on b3 b8) (clear b2) (on b6 b7) (on b4 b1)

GOAL: (on-table b2) (on-table b8) (arm-empty) (on b5 b2) (on b1 b6) (on-table b7) (on b3 b8) (on b6 b7) (on b4 b1) STATE: (on-table b2) (on-table b8) (holding b5) (on b1 b6) (on-table b7) (on b3 b8) (clear b2) (on b6 b7) (on b4 b1)

ACTION: (stack b5 b2) NEXT STATE: (on-table b2) (on-table b8) (arm-empty) (on b5 b2) (on b1 b6) (on-table b7) (on b3 b8) (on b6 b7) (on b4 b1)

GOAL: (on b5 b1) (on-table b2) (arm-empty) (on b8 b3) (on b6 b4) (on-table b3) (on b7 b2) (on-table b1) (on-table b4) STATE: (on b2 b7) (on b1 b5) (on-table b8) (arm-empty) (on b3 b2) (on b6 b1) (clear b3) (clear b8) (on b7 b4) (on-table b5) (on b4 b6)

ACTION: (unstack b3 b2) NEXT STATE: (on b2 b7) (on b1 b5) (on-table b8) (on b6 b1) (clear b8) (on b7 b4) (on-table b5) (clear b2) (holding b3) (on b4 b6)

GOAL: (on b5 b1) (on-table b2) (arm-empty) (on b8 b3) (on b6 b4) (on-table b3) (on b7 b2) (on-table b1) (on-table b4) STATE: (on b2 b7) (on b1 b5) (on-table b8) (on b6 b1) (clear b8) (on b7 b4) (on-table b5) (clear b2) (holding b3) (on b4 b6)

ACTION: (put-down b3) NEXT STATE: (on b4 b6) (on b2 b7) (on-table b8) (arm-empty) (on b6 b1) (clear b3) (clear b8) (on-table b3) (on b7 b4) (on-table b5) (clear b2) (on b1 b5)

GOAL: (on b5 b1) (on-table b2) (arm-empty) (on b8 b3) (on b6 b4) (on-table b3) (on b7 b2) (on-table b1) (on-table b4) STATE: (on b4 b6) (on b2 b7) (on-table b8) (arm-empty) (on b6 b1) (clear b3) (clear b8) (on-table b3) (on b7 b4) (on-table b5) (clear b2) (on b1 b5)

ACTION: (pick-up b8) NEXT STATE: (on b2 b7) (holding b8) (on b1 b5) (on b6 b1) (clear b3) (on-table b3) (on b7 b4) (on-table b5) (clear b2) (on b4 b6)

GOAL: (on b5 b1) (on-table b2) (arm-empty) (on b8 b3) (on b6 b4) (on-table b3) (on b7 b2) (on-table b1) (on-table b4) STATE: (on b2 b7) (holding b8) (on b1 b5) (on b6 b1) (clear b3) (on-table b3) (on b7 b4) (on-table b5) (clear b2) (on b4 b6)

ACTION: (stack b8 b3) NEXT STATE: (on b4 b6) (on b2 b7) (arm-empty) (on b6 b1) (on b8 b3) (on-table b3) (on b7 b4) (on-table b5) (clear b2) (on b1 b5)

GOAL: (on b5 b1) (on-table b2) (arm-empty) (on b8 b3) (on b6 b4) (on-table b3) (on b7 b2) (on-table b1) (on-table b4) STATE: (on b4 b6) (on b2 b7) (arm-empty) (on b6 b1) (on b8 b3) (on-table b3) (on b7 b4) (on-table b5) (clear b2) (on b1 b5)

ACTION: (unstack b2 b7) NEXT STATE: (on b1 b5) (on b6 b1) (on b8 b3) (on-table b3) (clear b7) (on b7 b4) (on-table b5) (on b4 b6) (holding b2)

GOAL: (on b5 b1) (on-table b2) (arm-empty) (on b8 b3) (on b6 b4) (on-table b3) (on b7 b2) (on-table b1) (on-table b4) STATE: (on b1 b5) (on b6 b1) (on b8 b3) (on-table b3) (clear b7) (on b7 b4) (on-table b5) (on b4 b6) (holding b2)

ACTION: (put-down b2) NEXT STATE: (on b4 b6) (on-table b2) (arm-empty) (on b6 b1) (on b8 b3) (on-table b3) (clear b7) (on b7 b4) (on-table b5) (clear b2) (on b1 b5)

GOAL: (on b5 b1) (on-table b2) (arm-empty) (on b8 b3) (on b6 b4) (on-table b3) (on b7 b2) (on-table b1) (on-table b4) STATE: (on b4 b6) (on-table b2) (arm-empty) (on b6 b1) (on b8 b3) (on-table b3) (clear b7) (on b7 b4) (on-table b5) (clear b2) (on b1 b5)

ACTION: (unstack b7 b4) NEXT STATE: (on-table b2) (clear b4) (on b1 b5) (on b6 b1) (on b8 b3) (on-table b3) (on-table b5) (clear b2) (on b4 b6) (holding b7)

GOAL: (on b5 b1) (on-table b2) (arm-empty) (on b8 b3) (on b6 b4) (on-table b3) (on b7 b2) (on-table b1) (on-table b4) STATE: (on-table b2) (clear b4) (on b1 b5) (on b6 b1) (on b8 b3) (on-table b3) (on-table b5) (clear b2) (on b4 b6) (holding b7)

ACTION: (stack b7 b2) NEXT STATE: (on b4 b6) (on-table b2) (clear b4) (arm-empty) (on b6 b1) (on b8 b3) (on-table b3) (on b7 b2) (on-table b5) (on b1 b5)

GOAL: (on b5 b1) (on-table b2) (arm-empty) (on b8 b3) (on b6 b4) (on-table b3) (on b7 b2) (on-table b1) (on-table b4) STATE: (on b4 b6) (on-table b2) (clear b4) (arm-empty) (on b6 b1) (on b8 b3) (on-table b3) (on b7 b2) (on-table b5) (on b1 b5)

ACTION: (unstack b4 b6) NEXT STATE: (on-table b2) (on b1 b5) (on b6 b1) (on b8 b3) (on-table b3) (on b7 b2) (clear b6) (on-table b5) (holding b4)

GOAL: (on b5 b1) (on-table b2) (arm-empty) (on b8 b3) (on b6 b4) (on-table b3) (on b7 b2) (on-table b1) (on-table b4) STATE: (on-table b2) (on b1 b5) (on b6 b1) (on b8 b3) (on-table b3) (on b7 b2) (clear b6) (on-table b5) (holding b4)

ACTION: (put-down b4) NEXT STATE: (on-table b2) (clear b4) (arm-empty) (on b6 b1) (on b8 b3) (on-table b3) (on b7 b2) (clear b6) (on-table b5) (on-table b4) (on b1 b5)

GOAL: (on b5 b1) (on-table b2) (arm-empty) (on b8 b3) (on b6 b4) (on-table b3) (on b7 b2) (on-table b1) (on-table b4) STATE: (on-table b2) (clear b4) (arm-empty) (on b6 b1) (on b8 b3) (on-table b3) (on b7 b2) (clear b6) (on-table b5) (on-table b4) (on b1 b5)

ACTION: (unstack b6 b1) NEXT STATE: (on-table b2) (clear b4) (on b8 b3) (clear b1) (on-table b3) (on b7 b2) (on-table b5) (on-table b4) (holding b6) (on b1 b5)

GOAL: (on b5 b1) (on-table b2) (arm-empty) (on b8 b3) (on b6 b4) (on-table b3) (on b7 b2) (on-table b1) (on-table b4) STATE: (on-table b2) (clear b4) (on b8 b3) (clear b1) (on-table b3) (on b7 b2) (on-table b5) (on-table b4) (holding b6) (on b1 b5)

ACTION: (stack b6 b4) NEXT STATE: (on-table b2) (arm-empty) (on b8 b3) (on b6 b4) (clear b1) (on-table b3) (on b7 b2) (on-table b5) (on-table b4) (on b1 b5)

GOAL: (on b5 b1) (on-table b2) (arm-empty) (on b8 b3) (on b6 b4) (on-table b3) (on b7 b2) (on-table b1) (on-table b4) STATE: (on-table b2) (arm-empty) (on b8 b3) (on b6 b4) (clear b1) (on-table b3) (on b7 b2) (on-table b5) (on-table b4) (on b1 b5)

ACTION: (unstack b1 b5) NEXT STATE: (on-table b2) (holding b1) (on b8 b3) (on b6 b4) (clear b5) (on-table b3) (on b7 b2) (on-table b5) (on-table b4)

GOAL: (on b5 b1) (on-table b2) (arm-empty) (on b8 b3) (on b6 b4) (on-table b3) (on b7 b2) (on-table b1) (on-table b4) STATE: (on-table b2) (holding b1) (on b8 b3) (on b6 b4) (clear b5) (on-table b3) (on b7 b2) (on-table b5) (on-table b4)

ACTION: (put-down b1) NEXT STATE: (on-table b2) (arm-empty) (on b8 b3) (on b6 b4) (clear b5) (clear b1) (on-table b3) (on b7 b2) (on-table b1) (on-table b5) (on-table b4)

GOAL: (on b5 b1) (on-table b2) (arm-empty) (on b8 b3) (on b6 b4) (on-table b3) (on b7 b2) (on-table b1) (on-table b4) STATE: (on-table b2) (arm-empty) (on b8 b3) (on b6 b4) (clear b5) (clear b1) (on-table b3) (on b7 b2) (on-table b1) (on-table b5) (on-table b4)

ACTION: (pick-up b5) NEXT STATE: (on-table b2) (holding b5) (on b8 b3) (on b6 b4) (clear b1) (on-table b3) (on b7 b2) (on-table b1) (on-table b4)

GOAL: (on b5 b1) (on-table b2) (arm-empty) (on b8 b3) (on b6 b4) (on-table b3) (on b7 b2) (on-table b1) (on-table b4) STATE: (on-table b2) (holding b5) (on b8 b3) (on b6 b4) (clear b1) (on-table b3) (on b7 b2) (on-table b1) (on-table b4)

ACTION: (stack b5 b1) NEXT STATE: (on b5 b1) (on-table b2) (arm-empty) (on b8 b3) (on b6 b4) (on-table b3) (on b7 b2) (on-table b1) (on-table b4)

GOAL: (on-table b2) (on b7 b6) (on-table b8) (arm-empty) (on b5 b2) (on-table b1) (on b3 b8) (on-table b6) (on b4 b1) STATE: (on-table b2) (arm-empty) (on b1 b7) (on b6 b1) (on b8 b3) (clear b5) (on b7 b4) (on b3 b6) (on-table b4) (clear b2) (on b5 b8)

ACTION: (unstack b5 b8) NEXT STATE: (on-table b2) (on b1 b7) (on b6 b1) (on b8 b3) (holding b5) (clear b8) (on b7 b4) (on b3 b6) (on-table b4) (clear b2)

GOAL: (on-table b2) (on b7 b6) (on-table b8) (arm-empty) (on b5 b2) (on-table b1) (on b3 b8) (on-table b6) (on b4 b1) STATE: (on-table b2) (on b1 b7) (on b6 b1) (on b8 b3) (holding b5) (clear b8) (on b7 b4) (on b3 b6) (on-table b4) (clear b2)

ACTION: (stack b5 b2) NEXT STATE: (on-table b2) (arm-empty) (on b1 b7) (on b6 b1) (on b8 b3) (on b5 b2) (clear b8) (on b7 b4) (on b3 b6) (on-table b4)

GOAL: (on-table b2) (on b7 b6) (on-table b8) (arm-empty) (on b5 b2) (on-table b1) (on b3 b8) (on-table b6) (on b4 b1) STATE: (on-table b2) (arm-empty) (on b1 b7) (on b6 b1) (on b8 b3) (on b5 b2) (clear b8) (on b7 b4) (on b3 b6) (on-table b4)

ACTION: (unstack b8 b3) NEXT STATE: (on-table b2) (holding b8) (on b1 b7) (on b6 b1) (on b5 b2) (clear b3) (on b7 b4) (on b3 b6) (on-table b4)

GOAL: (on-table b2) (on b7 b6) (on-table b8) (arm-empty) (on b5 b2) (on-table b1) (on b3 b8) (on-table b6) (on b4 b1) STATE: (on-table b2) (holding b8) (on b1 b7) (on b6 b1) (on b5 b2) (clear b3) (on b7 b4) (on b3 b6) (on-table b4)

ACTION: (put-down b8) NEXT STATE: (on-table b2) (on-table b8) (arm-empty) (on b1 b7) (on b6 b1) (on b5 b2) (clear b3) (clear b8) (on b7 b4) (on b3 b6) (on-table b4)

GOAL: (on-table b2) (on b7 b6) (on-table b8) (arm-empty) (on b5 b2) (on-table b1) (on b3 b8) (on-table b6) (on b4 b1) STATE: (on-table b2) (on-table b8) (arm-empty) (on b1 b7) (on b6 b1) (on b5 b2) (clear b3) (clear b8) (on b7 b4) (on b3 b6) (on-table b4)

ACTION: (unstack b3 b6) NEXT STATE: (on-table b2) (on-table b8) (on b1 b7) (on b6 b1) (on b5 b2) (clear b8) (on b7 b4) (clear b6) (on-table b4) (holding b3)

GOAL: (on-table b2) (on b7 b6) (on-table b8) (arm-empty) (on b5 b2) (on-table b1) (on b3 b8) (on-table b6) (on b4 b1) STATE: (on-table b2) (on-table b8) (on b1 b7) (on b6 b1) (on b5 b2) (clear b8) (on b7 b4) (clear b6) (on-table b4) (holding b3)

ACTION: (stack b3 b8) NEXT STATE: (on-table b2) (on-table b8) (arm-empty) (on b1 b7) (on b6 b1) (on b5 b2) (on b7 b4) (clear b6) (on-table b4) (on b3 b8)

GOAL: (on-table b2) (on b7 b6) (on-table b8) (arm-empty) (on b5 b2) (on-table b1) (on b3 b8) (on-table b6) (on b4 b1) STATE: (on-table b2) (on-table b8) (arm-empty) (on b1 b7) (on b6 b1) (on b5 b2) (on b7 b4) (clear b6) (on-table b4) (on b3 b8)

ACTION: (unstack b6 b1) NEXT STATE: (on-table b2) (on-table b8) (on b1 b7) (on b5 b2) (clear b1) (on b7 b4) (on-table b4) (on b3 b8) (holding b6)

GOAL: (on-table b2) (on b7 b6) (on-table b8) (arm-empty) (on b5 b2) (on-table b1) (on b3 b8) (on-table b6) (on b4 b1) STATE: (on-table b2) (on-table b8) (on b1 b7) (on b5 b2) (clear b1) (on b7 b4) (on-table b4) (on b3 b8) (holding b6)

ACTION: (put-down b6) NEXT STATE: (on-table b2) (on-table b8) (arm-empty) (on b1 b7) (on b5 b2) (clear b1) (on b7 b4) (on-table b4) (on b3 b8) (clear b6) (on-table b6)

GOAL: (on-table b2) (on b7 b6) (on-table b8) (arm-empty) (on b5 b2) (on-table b1) (on b3 b8) (on-table b6) (on b4 b1) STATE: (on-table b2) (on-table b8) (arm-empty) (on b1 b7) (on b5 b2) (clear b1) (on b7 b4) (on-table b4) (on b3 b8) (clear b6) (on-table b6)

ACTION: (unstack b1 b7) NEXT STATE: (on-table b2) (holding b1) (on-table b8) (on b5 b2) (clear b7) (on b7 b4) (on-table b4) (on b3 b8) (clear b6) (on-table b6)

GOAL: (on-table b2) (on b7 b6) (on-table b8) (arm-empty) (on b5 b2) (on-table b1) (on b3 b8) (on-table b6) (on b4 b1) STATE: (on-table b2) (holding b1) (on-table b8) (on b5 b2) (clear b7) (on b7 b4) (on-table b4) (on b3 b8) (clear b6) (on-table b6)

ACTION: (put-down b1) NEXT STATE: (on-table b2) (on-table b8) (arm-empty) (on b5 b2) (clear b1) (clear b7) (on-table b1) (on b7 b4) (on-table b4) (on b3 b8) (clear b6) (on-table b6)

GOAL: (on-table b2) (on b7 b6) (on-table b8) (arm-empty) (on b5 b2) (on-table b1) (on b3 b8) (on-table b6) (on b4 b1) STATE: (on-table b2) (on-table b8) (arm-empty) (on b5 b2) (clear b1) (clear b7) (on-table b1) (on b7 b4) (on-table b4) (on b3 b8) (clear b6) (on-table b6)

ACTION: (unstack b7 b4) NEXT STATE: (on-table b2) (clear b4) (on-table b8) (on b5 b2) (clear b1) (on-table b1) (on-table b4) (on b3 b8) (clear b6) (on-table b6) (holding b7)

GOAL: (on-table b2) (on b7 b6) (on-table b8) (arm-empty) (on b5 b2) (on-table b1) (on b3 b8) (on-table b6) (on b4 b1) STATE: (on-table b2) (clear b4) (on-table b8) (on b5 b2) (clear b1) (on-table b1) (on-table b4) (on b3 b8) (clear b6) (on-table b6) (holding b7)

ACTION: (stack b7 b6) NEXT STATE: (on-table b2) (clear b4) (on-table b8) (on b7 b6) (arm-empty) (on b5 b2) (clear b1) (on-table b1) (on-table b4) (on b3 b8) (on-table b6)

GOAL: (on-table b2) (on b7 b6) (on-table b8) (arm-empty) (on b5 b2) (on-table b1) (on b3 b8) (on-table b6) (on b4 b1) STATE: (on-table b2) (clear b4) (on-table b8) (on b7 b6) (arm-empty) (on b5 b2) (clear b1) (on-table b1) (on-table b4) (on b3 b8) (on-table b6)

ACTION: (pick-up b4) NEXT STATE: (on-table b2) (on-table b8) (on b7 b6) (on b5 b2) (clear b1) (on-table b1) (on b3 b8) (on-table b6) (holding b4)

GOAL: (on-table b2) (on b7 b6) (on-table b8) (arm-empty) (on b5 b2) (on-table b1) (on b3 b8) (on-table b6) (on b4 b1) STATE: (on-table b2) (on-table b8) (on b7 b6) (on b5 b2) (clear b1) (on-table b1) (on b3 b8) (on-table b6) (holding b4)

ACTION: (stack b4 b1) NEXT STATE: (on-table b2) (on b7 b6) (on-table b8) (arm-empty) (on b5 b2) (on-table b1) (on b3 b8) (on-table b6) (on b4 b1)

GOAL: (on b2 b7) (on b8 b5) (holding b1) (on b5 b2) (on-table b3) (on-table b7) (on b6 b8) (on b4 b3) STATE: (on b2 b7) (on b8 b5) (arm-empty) (on b5 b2) (on b6 b4) (clear b3) (on-table b1) (on-table b7) (clear b6) (on b3 b8) (on b4 b1)

ACTION: (unstack b3 b8) NEXT STATE: (on b2 b7) (on b8 b5) (on b5 b2) (on b6 b4) (clear b8) (on-table b1) (on-table b7) (clear b6) (holding b3) (on b4 b1)

GOAL: (on b2 b7) (on b8 b5) (holding b1) (on b5 b2) (on-table b3) (on-table b7) (on b6 b8) (on b4 b3) STATE: (on b2 b7) (on b8 b5) (on b5 b2) (on b6 b4) (clear b8) (on-table b1) (on-table b7) (clear b6) (holding b3) (on b4 b1)

ACTION: (put-down b3) NEXT STATE: (on b2 b7) (on b8 b5) (arm-empty) (on b5 b2) (on b6 b4) (clear b3) (clear b8) (on-table b1) (on-table b7) (clear b6) (on-table b3) (on b4 b1)

GOAL: (on b2 b7) (on b8 b5) (holding b1) (on b5 b2) (on-table b3) (on-table b7) (on b6 b8) (on b4 b3) STATE: (on b2 b7) (on b8 b5) (arm-empty) (on b5 b2) (on b6 b4) (clear b3) (clear b8) (on-table b1) (on-table b7) (clear b6) (on-table b3) (on b4 b1)

ACTION: (unstack b6 b4) NEXT STATE: (on b2 b7) (on b8 b5) (clear b4) (on b5 b2) (clear b3) (clear b8) (on-table b1) (on-table b7) (on-table b3) (holding b6) (on b4 b1)

GOAL: (on b2 b7) (on b8 b5) (holding b1) (on b5 b2) (on-table b3) (on-table b7) (on b6 b8) (on b4 b3) STATE: (on b2 b7) (on b8 b5) (clear b4) (on b5 b2) (clear b3) (clear b8) (on-table b1) (on-table b7) (on-table b3) (holding b6) (on b4 b1)

ACTION: (stack b6 b8) NEXT STATE: (on b2 b7) (on b8 b5) (clear b4) (arm-empty) (on b5 b2) (clear b3) (on-table b1) (on-table b7) (on-table b3) (on b6 b8) (on b4 b1)

GOAL: (on b2 b7) (on b8 b5) (holding b1) (on b5 b2) (on-table b3) (on-table b7) (on b6 b8) (on b4 b3) STATE: (on b2 b7) (on b8 b5) (clear b4) (arm-empty) (on b5 b2) (clear b3) (on-table b1) (on-table b7) (on-table b3) (on b6 b8) (on b4 b1)

ACTION: (unstack b4 b1) NEXT STATE: (on b2 b7) (on b8 b5) (on b5 b2) (clear b3) (on-table b3) (on-table b1) (on-table b7) (on b6 b8) (clear b1) (holding b4)

GOAL: (on b2 b7) (on b8 b5) (holding b1) (on b5 b2) (on-table b3) (on-table b7) (on b6 b8) (on b4 b3) STATE: (on b2 b7) (on b8 b5) (on b5 b2) (clear b3) (on-table b3) (on-table b1) (on-table b7) (on b6 b8) (clear b1) (holding b4)

ACTION: (stack b4 b3) NEXT STATE: (on b2 b7) (on b8 b5) (arm-empty) (on b5 b2) (on-table b3) (on-table b1) (on-table b7) (on b6 b8) (clear b1) (on b4 b3)

GOAL: (on b2 b7) (on b8 b5) (holding b1) (on b5 b2) (on-table b3) (on-table b7) (on b6 b8) (on b4 b3) STATE: (on b2 b7) (on b8 b5) (arm-empty) (on b5 b2) (on-table b3) (on-table b1) (on-table b7) (on b6 b8) (clear b1) (on b4 b3)

ACTION: (pick-up b1) NEXT STATE: (on b2 b7) (on b8 b5) (holding b1) (on b5 b2) (on-table b3) (on-table b7) (on b6 b8) (on b4 b3)

GOAL: (arm-empty) (on b8 b7) (on-table b7) (on-table b4) (on b3 b4) (on-table b5) (on b1 b5) (on-table b6) (on b2 b6) STATE: (on-table b2) (clear b4) (arm-empty) (on b1 b7) (on b8 b1) (clear b3) (on-table b7) (on b3 b5) (clear b2) (on b5 b8) (on b4 b6) (on-table b6)

ACTION: (unstack b3 b5) NEXT STATE: (on-table b2) (clear b4) (on b1 b7) (clear b5) (on b8 b1) (on-table b7) (clear b2) (holding b3) (on b5 b8) (on b4 b6) (on-table b6)

GOAL: (arm-empty) (on b8 b7) (on-table b7) (on-table b4) (on b3 b4) (on-table b5) (on b1 b5) (on-table b6) (on b2 b6) STATE: (on-table b2) (clear b4) (on b1 b7) (clear b5) (on b8 b1) (on-table b7) (clear b2) (holding b3) (on b5 b8) (on b4 b6) (on-table b6)

ACTION: (put-down b3) NEXT STATE: (on-table b2) (clear b4) (arm-empty) (on b1 b7) (clear b5) (on b8 b1) (clear b3) (on-table b3) (on-table b7) (clear b2) (on b5 b8) (on b4 b6) (on-table b6)

GOAL: (arm-empty) (on b8 b7) (on-table b7) (on-table b4) (on b3 b4) (on-table b5) (on b1 b5) (on-table b6) (on b2 b6) STATE: (on-table b2) (clear b4) (arm-empty) (on b1 b7) (clear b5) (on b8 b1) (clear b3) (on-table b3) (on-table b7) (clear b2) (on b5 b8) (on b4 b6) (on-table b6)

ACTION: (unstack b4 b6) NEXT STATE: (on-table b2) (on b1 b7) (clear b5) (on b8 b1) (clear b3) (on-table b3) (on-table b7) (clear b6) (clear b2) (on b5 b8) (on-table b6) (holding b4)

GOAL: (arm-empty) (on b8 b7) (on-table b7) (on-table b4) (on b3 b4) (on-table b5) (on b1 b5) (on-table b6) (on b2 b6) STATE: (on-table b2) (on b1 b7) (clear b5) (on b8 b1) (clear b3) (on-table b3) (on-table b7) (clear b6) (clear b2) (on b5 b8) (on-table b6) (holding b4)

ACTION: (put-down b4) NEXT STATE: (on-table b2) (clear b4) (arm-empty) (on b1 b7) (clear b5) (on b8 b1) (clear b3) (on-table b3) (on-table b7) (clear b6) (clear b2) (on-table b4) (on b5 b8) (on-table b6)

GOAL: (arm-empty) (on b8 b7) (on-table b7) (on-table b4) (on b3 b4) (on-table b5) (on b1 b5) (on-table b6) (on b2 b6) STATE: (on-table b2) (clear b4) (arm-empty) (on b1 b7) (clear b5) (on b8 b1) (clear b3) (on-table b3) (on-table b7) (clear b6) (clear b2) (on-table b4) (on b5 b8) (on-table b6)

ACTION: (pick-up b3) NEXT STATE: (on-table b2) (clear b4) (on b1 b7) (clear b5) (on b8 b1) (on-table b7) (clear b6) (clear b2) (on-table b4) (holding b3) (on b5 b8) (on-table b6)

GOAL: (arm-empty) (on b8 b7) (on-table b7) (on-table b4) (on b3 b4) (on-table b5) (on b1 b5) (on-table b6) (on b2 b6) STATE: (on-table b2) (clear b4) (on b1 b7) (clear b5) (on b8 b1) (on-table b7) (clear b6) (clear b2) (on-table b4) (holding b3) (on b5 b8) (on-table b6)

ACTION: (stack b3 b4) NEXT STATE: (on-table b2) (arm-empty) (on b1 b7) (clear b5) (on b8 b1) (on-table b7) (clear b6) (clear b2) (on-table b4) (on b3 b4) (on b5 b8) (on-table b6)

GOAL: (arm-empty) (on b8 b7) (on-table b7) (on-table b4) (on b3 b4) (on-table b5) (on b1 b5) (on-table b6) (on b2 b6) STATE: (on-table b2) (arm-empty) (on b1 b7) (clear b5) (on b8 b1) (on-table b7) (clear b6) (clear b2) (on-table b4) (on b3 b4) (on b5 b8) (on-table b6)

ACTION: (pick-up b2) NEXT STATE: (on b1 b7) (clear b5) (on b8 b1) (on-table b7) (clear b6) (on-table b4) (on b3 b4) (on b5 b8) (on-table b6) (holding b2)

GOAL: (arm-empty) (on b8 b7) (on-table b7) (on-table b4) (on b3 b4) (on-table b5) (on b1 b5) (on-table b6) (on b2 b6) STATE: (on b1 b7) (clear b5) (on b8 b1) (on-table b7) (clear b6) (on-table b4) (on b3 b4) (on b5 b8) (on-table b6) (holding b2)

ACTION: (stack b2 b6) NEXT STATE: (arm-empty) (on b1 b7) (clear b5) (on b8 b1) (on-table b7) (on-table b4) (on b3 b4) (on b5 b8) (on-table b6) (on b2 b6)

GOAL: (arm-empty) (on b8 b7) (on-table b7) (on-table b4) (on b3 b4) (on-table b5) (on b1 b5) (on-table b6) (on b2 b6) STATE: (arm-empty) (on b1 b7) (clear b5) (on b8 b1) (on-table b7) (on-table b4) (on b3 b4) (on b5 b8) (on-table b6) (on b2 b6)

ACTION: (unstack b5 b8) NEXT STATE: (on b1 b7) (holding b5) (on b8 b1) (clear b8) (on-table b7) (on-table b4) (on b3 b4) (on-table b6) (on b2 b6)

GOAL: (arm-empty) (on b8 b7) (on-table b7) (on-table b4) (on b3 b4) (on-table b5) (on b1 b5) (on-table b6) (on b2 b6) STATE: (on b1 b7) (holding b5) (on b8 b1) (clear b8) (on-table b7) (on-table b4) (on b3 b4) (on-table b6) (on b2 b6)

ACTION: (put-down b5) NEXT STATE: (arm-empty) (on b1 b7) (clear b5) (on b8 b1) (clear b8) (on-table b7) (on-table b4) (on b3 b4) (on-table b5) (on-table b6) (on b2 b6)

GOAL: (arm-empty) (on b8 b7) (on-table b7) (on-table b4) (on b3 b4) (on-table b5) (on b1 b5) (on-table b6) (on b2 b6) STATE: (arm-empty) (on b1 b7) (clear b5) (on b8 b1) (clear b8) (on-table b7) (on-table b4) (on b3 b4) (on-table b5) (on-table b6) (on b2 b6)

ACTION: (unstack b8 b1) NEXT STATE: (holding b8) (on b1 b7) (clear b5) (clear b1) (on-table b7) (on-table b4) (on b3 b4) (on-table b5) (on-table b6) (on b2 b6)

GOAL: (arm-empty) (on b8 b7) (on-table b7) (on-table b4) (on b3 b4) (on-table b5) (on b1 b5) (on-table b6) (on b2 b6) STATE: (holding b8) (on b1 b7) (clear b5) (clear b1) (on-table b7) (on-table b4) (on b3 b4) (on-table b5) (on-table b6) (on b2 b6)

ACTION: (put-down b8) NEXT STATE: (on-table b8) (arm-empty) (on b1 b7) (clear b5) (clear b1) (clear b8) (on-table b7) (on-table b4) (on b3 b4) (on-table b5) (on-table b6) (on b2 b6)

GOAL: (arm-empty) (on b8 b7) (on-table b7) (on-table b4) (on b3 b4) (on-table b5) (on b1 b5) (on-table b6) (on b2 b6) STATE: (on-table b8) (arm-empty) (on b1 b7) (clear b5) (clear b1) (clear b8) (on-table b7) (on-table b4) (on b3 b4) (on-table b5) (on-table b6) (on b2 b6)

ACTION: (unstack b1 b7) NEXT STATE: (holding b1) (on-table b8) (clear b5) (clear b8) (clear b7) (on-table b7) (on-table b4) (on b3 b4) (on-table b5) (on-table b6) (on b2 b6)

GOAL: (arm-empty) (on b8 b7) (on-table b7) (on-table b4) (on b3 b4) (on-table b5) (on b1 b5) (on-table b6) (on b2 b6) STATE: (holding b1) (on-table b8) (clear b5) (clear b8) (clear b7) (on-table b7) (on-table b4) (on b3 b4) (on-table b5) (on-table b6) (on b2 b6)

ACTION: (stack b1 b5) NEXT STATE: (on-table b8) (arm-empty) (clear b8) (clear b7) (on-table b7) (on-table b4) (on b3 b4) (on-table b5) (on b1 b5) (on-table b6) (on b2 b6)

GOAL: (arm-empty) (on b8 b7) (on-table b7) (on-table b4) (on b3 b4) (on-table b5) (on b1 b5) (on-table b6) (on b2 b6) STATE: (on-table b8) (arm-empty) (clear b8) (clear b7) (on-table b7) (on-table b4) (on b3 b4) (on-table b5) (on b1 b5) (on-table b6) (on b2 b6)

ACTION: (pick-up b8) NEXT STATE: (holding b8) (clear b7) (on-table b7) (on-table b4) (on b3 b4) (on-table b5) (on b1 b5) (on-table b6) (on b2 b6)

GOAL: (arm-empty) (on b8 b7) (on-table b7) (on-table b4) (on b3 b4) (on-table b5) (on b1 b5) (on-table b6) (on b2 b6) STATE: (holding b8) (clear b7) (on-table b7) (on-table b4) (on b3 b4) (on-table b5) (on b1 b5) (on-table b6) (on b2 b6)

ACTION: (stack b8 b7) NEXT STATE: (arm-empty) (on b8 b7) (on-table b7) (on-table b4) (on b3 b4) (on-table b5) (on b1 b5) (on-table b6) (on b2 b6)

GOAL: (on b3 b2) (on b6 b1) (arm-empty) (on b2 b5) (on b8 b6) (on b4 b3) (on-table b1) (on-table b7) (on b5 b7) STATE: (clear b4) (arm-empty) (on b3 b2) (on b6 b1) (on b2 b5) (on b8 b3) (clear b8) (on-table b1) (on-table b7) (on-table b4) (clear b6) (on b5 b7)

ACTION: (unstack b8 b3) NEXT STATE: (clear b4) (holding b8) (on b3 b2) (on b6 b1) (on b2 b5) (clear b3) (on-table b1) (on-table b7) (on-table b4) (clear b6) (on b5 b7)

GOAL: (on b3 b2) (on b6 b1) (arm-empty) (on b2 b5) (on b8 b6) (on b4 b3) (on-table b1) (on-table b7) (on b5 b7) STATE: (clear b4) (holding b8) (on b3 b2) (on b6 b1) (on b2 b5) (clear b3) (on-table b1) (on-table b7) (on-table b4) (clear b6) (on b5 b7)

ACTION: (stack b8 b6) NEXT STATE: (clear b4) (on b3 b2) (on b6 b1) (arm-empty) (on b2 b5) (on b8 b6) (clear b3) (on-table b1) (on-table b7) (on-table b4) (on b5 b7)

GOAL: (on b3 b2) (on b6 b1) (arm-empty) (on b2 b5) (on b8 b6) (on b4 b3) (on-table b1) (on-table b7) (on b5 b7) STATE: (clear b4) (on b3 b2) (on b6 b1) (arm-empty) (on b2 b5) (on b8 b6) (clear b3) (on-table b1) (on-table b7) (on-table b4) (on b5 b7)

ACTION: (pick-up b4) NEXT STATE: (on b3 b2) (on b6 b1) (on b2 b5) (on b8 b6) (clear b3) (on-table b1) (on-table b7) (on b5 b7) (holding b4)

GOAL: (on b3 b2) (on b6 b1) (arm-empty) (on b2 b5) (on b8 b6) (on b4 b3) (on-table b1) (on-table b7) (on b5 b7) STATE: (on b3 b2) (on b6 b1) (on b2 b5) (on b8 b6) (clear b3) (on-table b1) (on-table b7) (on b5 b7) (holding b4)

ACTION: (stack b4 b3) NEXT STATE: (on b3 b2) (on b6 b1) (arm-empty) (on b2 b5) (on b8 b6) (on b4 b3) (on-table b1) (on-table b7) (on b5 b7)

GOAL: (on b6 b2) (on b2 b7) (arm-empty) (on b8 b1) (on b5 b4) (on-table b1) (on b7 b8) (on-table b4) (on b3 b6) STATE: (on b6 b2) (on b2 b7) (clear b4) (arm-empty) (on b8 b1) (on b4 b3) (on-table b1) (on b7 b8) (on b3 b5) (on b5 b6)

ACTION: (unstack b4 b3) NEXT STATE: (on b6 b2) (on b2 b7) (on b8 b1) (clear b3) (on-table b1) (on b7 b8) (on b3 b5) (on b5 b6) (holding b4)

GOAL: (on b6 b2) (on b2 b7) (arm-empty) (on b8 b1) (on b5 b4) (on-table b1) (on b7 b8) (on-table b4) (on b3 b6) STATE: (on b6 b2) (on b2 b7) (on b8 b1) (clear b3) (on-table b1) (on b7 b8) (on b3 b5) (on b5 b6) (holding b4)

ACTION: (put-down b4) NEXT STATE: (on b6 b2) (on b2 b7) (clear b4) (arm-empty) (on b8 b1) (clear b3) (on-table b1) (on b7 b8) (on-table b4) (on b3 b5) (on b5 b6)

GOAL: (on b6 b2) (on b2 b7) (arm-empty) (on b8 b1) (on b5 b4) (on-table b1) (on b7 b8) (on-table b4) (on b3 b6) STATE: (on b6 b2) (on b2 b7) (clear b4) (arm-empty) (on b8 b1) (clear b3) (on-table b1) (on b7 b8) (on-table b4) (on b3 b5) (on b5 b6)

ACTION: (unstack b3 b5) NEXT STATE: (on b6 b2) (on b2 b7) (clear b4) (clear b5) (on b8 b1) (on-table b1) (on b7 b8) (on-table b4) (on b5 b6) (holding b3)

GOAL: (on b6 b2) (on b2 b7) (arm-empty) (on b8 b1) (on b5 b4) (on-table b1) (on b7 b8) (on-table b4) (on b3 b6) STATE: (on b6 b2) (on b2 b7) (clear b4) (clear b5) (on b8 b1) (on-table b1) (on b7 b8) (on-table b4) (on b5 b6) (holding b3)

ACTION: (put-down b3) NEXT STATE: (on b6 b2) (on b2 b7) (clear b4) (arm-empty) (clear b5) (on b8 b1) (clear b3) (on-table b3) (on-table b1) (on b7 b8) (on-table b4) (on b5 b6)

GOAL: (on b6 b2) (on b2 b7) (arm-empty) (on b8 b1) (on b5 b4) (on-table b1) (on b7 b8) (on-table b4) (on b3 b6) STATE: (on b6 b2) (on b2 b7) (clear b4) (arm-empty) (clear b5) (on b8 b1) (clear b3) (on-table b3) (on-table b1) (on b7 b8) (on-table b4) (on b5 b6)

ACTION: (unstack b5 b6) NEXT STATE: (on b6 b2) (on b2 b7) (clear b4) (holding b5) (on b8 b1) (clear b3) (on-table b3) (on-table b1) (on b7 b8) (on-table b4) (clear b6)

GOAL: (on b6 b2) (on b2 b7) (arm-empty) (on b8 b1) (on b5 b4) (on-table b1) (on b7 b8) (on-table b4) (on b3 b6) STATE: (on b6 b2) (on b2 b7) (clear b4) (holding b5) (on b8 b1) (clear b3) (on-table b3) (on-table b1) (on b7 b8) (on-table b4) (clear b6)

ACTION: (stack b5 b4) NEXT STATE: (on b6 b2) (on b2 b7) (arm-empty) (on b8 b1) (clear b3) (on-table b3) (on-table b1) (on b7 b8) (on-table b4) (clear b6) (on b5 b4)

GOAL: (on b6 b2) (on b2 b7) (arm-empty) (on b8 b1) (on b5 b4) (on-table b1) (on b7 b8) (on-table b4) (on b3 b6) STATE: (on b6 b2) (on b2 b7) (arm-empty) (on b8 b1) (clear b3) (on-table b3) (on-table b1) (on b7 b8) (on-table b4) (clear b6) (on b5 b4)

ACTION: (pick-up b3) NEXT STATE: (on b6 b2) (on b2 b7) (on b8 b1) (on-table b1) (on b7 b8) (on-table b4) (clear b6) (on b5 b4) (holding b3)

GOAL: (on b6 b2) (on b2 b7) (arm-empty) (on b8 b1) (on b5 b4) (on-table b1) (on b7 b8) (on-table b4) (on b3 b6) STATE: (on b6 b2) (on b2 b7) (on b8 b1) (on-table b1) (on b7 b8) (on-table b4) (clear b6) (on b5 b4) (holding b3)

ACTION: (stack b3 b6) NEXT STATE: (on b6 b2) (on b2 b7) (arm-empty) (on b8 b1) (on b5 b4) (on-table b1) (on b7 b8) (on-table b4) (on b3 b6)

GOAL: (on b6 b2) (on b8 b5) (on-table b2) (arm-empty) (on b1 b4) (on b3 b7) (on-table b7) (on-table b4) (on b5 b6) STATE: (on b6 b2) (on-table b2) (arm-empty) (clear b5) (on b8 b7) (clear b3) (on-table b3) (on-table b1) (on b7 b4) (clear b8) (on b5 b6) (on b4 b1)

ACTION: (unstack b8 b7) NEXT STATE: (on b6 b2) (on-table b2) (holding b8) (clear b5) (clear b3) (on-table b3) (on-table b1) (on b7 b4) (clear b7) (on b5 b6) (on b4 b1)

GOAL: (on b6 b2) (on b8 b5) (on-table b2) (arm-empty) (on b1 b4) (on b3 b7) (on-table b7) (on-table b4) (on b5 b6) STATE: (on b6 b2) (on-table b2) (holding b8) (clear b5) (clear b3) (on-table b3) (on-table b1) (on b7 b4) (clear b7) (on b5 b6) (on b4 b1)

ACTION: (stack b8 b5) NEXT STATE: (on b6 b2) (on b8 b5) (on-table b2) (arm-empty) (clear b3) (on-table b3) (on-table b1) (on b7 b4) (clear b7) (on b5 b6) (on b4 b1)

GOAL: (on b6 b2) (on b8 b5) (on-table b2) (arm-empty) (on b1 b4) (on b3 b7) (on-table b7) (on-table b4) (on b5 b6) STATE: (on b6 b2) (on b8 b5) (on-table b2) (arm-empty) (clear b3) (on-table b3) (on-table b1) (on b7 b4) (clear b7) (on b5 b6) (on b4 b1)

ACTION: (unstack b7 b4) NEXT STATE: (on b6 b2) (on b8 b5) (on-table b2) (clear b4) (clear b3) (on-table b3) (on-table b1) (on b5 b6) (on b4 b1) (holding b7)

GOAL: (on b6 b2) (on b8 b5) (on-table b2) (arm-empty) (on b1 b4) (on b3 b7) (on-table b7) (on-table b4) (on b5 b6) STATE: (on b6 b2) (on b8 b5) (on-table b2) (clear b4) (clear b3) (on-table b3) (on-table b1) (on b5 b6) (on b4 b1) (holding b7)

ACTION: (put-down b7) NEXT STATE: (on b6 b2) (on b8 b5) (on-table b2) (clear b4) (arm-empty) (clear b3) (on-table b3) (on-table b1) (on-table b7) (clear b7) (on b5 b6) (on b4 b1)

GOAL: (on b6 b2) (on b8 b5) (on-table b2) (arm-empty) (on b1 b4) (on b3 b7) (on-table b7) (on-table b4) (on b5 b6) STATE: (on b6 b2) (on b8 b5) (on-table b2) (clear b4) (arm-empty) (clear b3) (on-table b3) (on-table b1) (on-table b7) (clear b7) (on b5 b6) (on b4 b1)

ACTION: (pick-up b3) NEXT STATE: (on b6 b2) (on b8 b5) (on-table b2) (clear b4) (on-table b1) (on-table b7) (clear b7) (on b5 b6) (holding b3) (on b4 b1)

GOAL: (on b6 b2) (on b8 b5) (on-table b2) (arm-empty) (on b1 b4) (on b3 b7) (on-table b7) (on-table b4) (on b5 b6) STATE: (on b6 b2) (on b8 b5) (on-table b2) (clear b4) (on-table b1) (on-table b7) (clear b7) (on b5 b6) (holding b3) (on b4 b1)

ACTION: (stack b3 b7) NEXT STATE: (on b6 b2) (on b8 b5) (on-table b2) (clear b4) (arm-empty) (on b3 b7) (on-table b1) (on-table b7) (on b5 b6) (on b4 b1)

GOAL: (on b6 b2) (on b8 b5) (on-table b2) (arm-empty) (on b1 b4) (on b3 b7) (on-table b7) (on-table b4) (on b5 b6) STATE: (on b6 b2) (on b8 b5) (on-table b2) (clear b4) (arm-empty) (on b3 b7) (on-table b1) (on-table b7) (on b5 b6) (on b4 b1)

ACTION: (unstack b4 b1) NEXT STATE: (on b6 b2) (on b8 b5) (on-table b2) (clear b1) (on b3 b7) (on-table b1) (on-table b7) (on b5 b6) (holding b4)

GOAL: (on b6 b2) (on b8 b5) (on-table b2) (arm-empty) (on b1 b4) (on b3 b7) (on-table b7) (on-table b4) (on b5 b6) STATE: (on b6 b2) (on b8 b5) (on-table b2) (clear b1) (on b3 b7) (on-table b1) (on-table b7) (on b5 b6) (holding b4)

ACTION: (put-down b4) NEXT STATE: (on b6 b2) (on b8 b5) (on-table b2) (clear b4) (arm-empty) (clear b1) (on b3 b7) (on-table b1) (on-table b7) (on-table b4) (on b5 b6)

GOAL: (on b6 b2) (on b8 b5) (on-table b2) (arm-empty) (on b1 b4) (on b3 b7) (on-table b7) (on-table b4) (on b5 b6) STATE: (on b6 b2) (on b8 b5) (on-table b2) (clear b4) (arm-empty) (clear b1) (on b3 b7) (on-table b1) (on-table b7) (on-table b4) (on b5 b6)

ACTION: (pick-up b1) NEXT STATE: (on b6 b2) (on b8 b5) (on-table b2) (clear b4) (holding b1) (on b3 b7) (on-table b7) (on-table b4) (on b5 b6)

GOAL: (on b6 b2) (on b8 b5) (on-table b2) (arm-empty) (on b1 b4) (on b3 b7) (on-table b7) (on-table b4) (on b5 b6) STATE: (on b6 b2) (on b8 b5) (on-table b2) (clear b4) (holding b1) (on b3 b7) (on-table b7) (on-table b4) (on b5 b6)

ACTION: (stack b1 b4) NEXT STATE: (on b6 b2) (on b8 b5) (on-table b2) (arm-empty) (on b1 b4) (on b3 b7) (on-table b7) (on-table b4) (on b5 b6)

GOAL: (on-table b2) (on b3 b1) (holding b5) (on b1 b6) (on b7 b4) (on-table b4) (on b8 b2) (on-table b6) STATE: (on b5 b1) (on-table b2) (clear b4) (on-table b8) (arm-empty) (on b4 b7) (on b1 b6) (on b7 b3) (clear b8) (on b3 b5) (clear b2) (on-table b6)

ACTION: (pick-up b8) NEXT STATE: (on b5 b1) (on-table b2) (clear b4) (holding b8) (on b4 b7) (on b1 b6) (on b7 b3) (on b3 b5) (clear b2) (on-table b6)

GOAL: (on-table b2) (on b3 b1) (holding b5) (on b1 b6) (on b7 b4) (on-table b4) (on b8 b2) (on-table b6) STATE: (on b5 b1) (on-table b2) (clear b4) (holding b8) (on b4 b7) (on b1 b6) (on b7 b3) (on b3 b5) (clear b2) (on-table b6)

ACTION: (stack b8 b2) NEXT STATE: (on b5 b1) (on-table b2) (clear b4) (on b4 b7) (arm-empty) (on b1 b6) (on b7 b3) (on b3 b5) (on b8 b2) (on-table b6)

GOAL: (on-table b2) (on b3 b1) (holding b5) (on b1 b6) (on b7 b4) (on-table b4) (on b8 b2) (on-table b6) STATE: (on b5 b1) (on-table b2) (clear b4) (on b4 b7) (arm-empty) (on b1 b6) (on b7 b3) (on b3 b5) (on b8 b2) (on-table b6)

ACTION: (unstack b4 b7) NEXT STATE: (on b5 b1) (on-table b2) (on b1 b6) (on b7 b3) (clear b7) (on b3 b5) (on b8 b2) (on-table b6) (holding b4)

GOAL: (on-table b2) (on b3 b1) (holding b5) (on b1 b6) (on b7 b4) (on-table b4) (on b8 b2) (on-table b6) STATE: (on b5 b1) (on-table b2) (on b1 b6) (on b7 b3) (clear b7) (on b3 b5) (on b8 b2) (on-table b6) (holding b4)

ACTION: (put-down b4) NEXT STATE: (on b5 b1) (on-table b2) (clear b4) (arm-empty) (on b1 b6) (on b7 b3) (clear b7) (on-table b4) (on b3 b5) (on b8 b2) (on-table b6)

GOAL: (on-table b2) (on b3 b1) (holding b5) (on b1 b6) (on b7 b4) (on-table b4) (on b8 b2) (on-table b6) STATE: (on b5 b1) (on-table b2) (clear b4) (arm-empty) (on b1 b6) (on b7 b3) (clear b7) (on-table b4) (on b3 b5) (on b8 b2) (on-table b6)

ACTION: (unstack b7 b3) NEXT STATE: (on b5 b1) (on-table b2) (clear b4) (clear b3) (on b1 b6) (on-table b4) (on b3 b5) (on b8 b2) (on-table b6) (holding b7)

GOAL: (on-table b2) (on b3 b1) (holding b5) (on b1 b6) (on b7 b4) (on-table b4) (on b8 b2) (on-table b6) STATE: (on b5 b1) (on-table b2) (clear b4) (clear b3) (on b1 b6) (on-table b4) (on b3 b5) (on b8 b2) (on-table b6) (holding b7)

ACTION: (stack b7 b4) NEXT STATE: (on b5 b1) (on-table b2) (arm-empty) (clear b3) (on b1 b6) (on b7 b4) (on-table b4) (on b3 b5) (on b8 b2) (on-table b6)

GOAL: (on-table b2) (on b3 b1) (holding b5) (on b1 b6) (on b7 b4) (on-table b4) (on b8 b2) (on-table b6) STATE: (on b5 b1) (on-table b2) (arm-empty) (clear b3) (on b1 b6) (on b7 b4) (on-table b4) (on b3 b5) (on b8 b2) (on-table b6)

ACTION: (unstack b3 b5) NEXT STATE: (on b5 b1) (on-table b2) (clear b5) (on b1 b6) (on b7 b4) (on-table b4) (holding b3) (on b8 b2) (on-table b6)

GOAL: (on-table b2) (on b3 b1) (holding b5) (on b1 b6) (on b7 b4) (on-table b4) (on b8 b2) (on-table b6) STATE: (on b5 b1) (on-table b2) (clear b5) (on b1 b6) (on b7 b4) (on-table b4) (holding b3) (on b8 b2) (on-table b6)

ACTION: (put-down b3) NEXT STATE: (on b5 b1) (on-table b2) (arm-empty) (clear b5) (clear b3) (on b1 b6) (on-table b3) (on b7 b4) (on-table b4) (on b8 b2) (on-table b6)

GOAL: (on-table b2) (on b3 b1) (holding b5) (on b1 b6) (on b7 b4) (on-table b4) (on b8 b2) (on-table b6) STATE: (on b5 b1) (on-table b2) (arm-empty) (clear b5) (clear b3) (on b1 b6) (on-table b3) (on b7 b4) (on-table b4) (on b8 b2) (on-table b6)

ACTION: (unstack b5 b1) NEXT STATE: (on-table b2) (holding b5) (clear b3) (on b1 b6) (on-table b3) (on b7 b4) (on-table b4) (clear b1) (on b8 b2) (on-table b6)

GOAL: (on-table b2) (on b3 b1) (holding b5) (on b1 b6) (on b7 b4) (on-table b4) (on b8 b2) (on-table b6) STATE: (on-table b2) (holding b5) (clear b3) (on b1 b6) (on-table b3) (on b7 b4) (on-table b4) (clear b1) (on b8 b2) (on-table b6)

ACTION: (put-down b5) NEXT STATE: (on-table b2) (arm-empty) (clear b5) (clear b3) (on b1 b6) (on-table b3) (on b7 b4) (on-table b4) (clear b1) (on-table b5) (on b8 b2) (on-table b6)

GOAL: (on-table b2) (on b3 b1) (holding b5) (on b1 b6) (on b7 b4) (on-table b4) (on b8 b2) (on-table b6) STATE: (on-table b2) (arm-empty) (clear b5) (clear b3) (on b1 b6) (on-table b3) (on b7 b4) (on-table b4) (clear b1) (on-table b5) (on b8 b2) (on-table b6)

ACTION: (pick-up b3) NEXT STATE: (on-table b2) (clear b5) (on b1 b6) (on b7 b4) (on-table b4) (clear b1) (on-table b5) (holding b3) (on b8 b2) (on-table b6)