Graphplan Algorithm
Clear A
Clear B
On-Table A
On-Table B
Arm-Empty R1
Arm-Empty R2
On A B
Pick-up A R1
Pick-up A R2
Clear A
Clear B
Holding A R1
On-Table A
On-Table B
Holding A R2
Arm-Empty R1
Arm-Empty R2
Stack A B R1
Stack A B R2
Put-down A R2
Pick-up B R2
Pick-up B R1
Put-down A R1
Initial State Level P-0
Goal State Level P-2
Level A-0
Level P-1
Level A-1
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