(:trajectory

(:state (clear b2) (clear b7) (clear b8) (clear b9) (handempty) (on b1 b6) (on b10 b1) (on b11 b5) (on b12 b10) (on b2 b3) (on b4 b12) (on b5 b4) (on b7 b11) (ontable b3) (ontable b6) (ontable b8) (ontable b9))

(:action (pick_up b9))

(:state (clear b2) (clear b7) (clear b8) (holding b9) (on b1 b6) (on b10 b1) (on b11 b5) (on b12 b10) (on b2 b3) (on b4 b12) (on b5 b4) (on b7 b11) (ontable b3) (ontable b6) (ontable b8))

(:action (stack b9 b7))

(:state (clear b2) (clear b8) (clear b9) (handempty) (on b1 b6) (on b10 b1) (on b11 b5) (on b12 b10) (on b2 b3) (on b4 b12) (on b5 b4) (on b7 b11) (on b9 b7) (ontable b3) (ontable b6) (ontable b8))

(:action (pick_up b8))

(:state (clear b2) (clear b9) (holding b8) (on b1 b6) (on b10 b1) (on b11 b5) (on b12 b10) (on b2 b3) (on b4 b12) (on b5 b4) (on b7 b11) (on b9 b7) (ontable b3) (ontable b6))

(:action (stack b8 b2))

(:state (clear b8) (clear b9) (handempty) (on b1 b6) (on b10 b1) (on b11 b5) (on b12 b10) (on b2 b3) (on b4 b12) (on b5 b4) (on b7 b11) (on b8 b2) (on b9 b7) (ontable b3) (ontable b6))

(:action (unstack b9 b7))

(:state (clear b7) (clear b8) (holding b9) (on b1 b6) (on b10 b1) (on b11 b5) (on b12 b10) (on b2 b3) (on b4 b12) (on b5 b4) (on b7 b11) (on b8 b2) (ontable b3) (ontable b6))

(:action (put_down b9))

(:state (clear b7) (clear b8) (clear b9) (handempty) (on b1 b6) (on b10 b1) (on b11 b5) (on b12 b10) (on b2 b3) (on b4 b12) (on b5 b4) (on b7 b11) (on b8 b2) (ontable b3) (ontable b6) (ontable b9))

(:action (unstack b7 b11))

(:state (clear b11) (clear b8) (clear b9) (holding b7) (on b1 b6) (on b10 b1) (on b11 b5) (on b12 b10) (on b2 b3) (on b4 b12) (on b5 b4) (on b8 b2) (ontable b3) (ontable b6) (ontable b9))

(:action (stack b7 b9))

(:state (clear b11) (clear b7) (clear b8) (handempty) (on b1 b6) (on b10 b1) (on b11 b5) (on b12 b10) (on b2 b3) (on b4 b12) (on b5 b4) (on b7 b9) (on b8 b2) (ontable b3) (ontable b6) (ontable b9))

(:action (unstack b7 b9))

(:state (clear b11) (clear b8) (clear b9) (holding b7) (on b1 b6) (on b10 b1) (on b11 b5) (on b12 b10) (on b2 b3) (on b4 b12) (on b5 b4) (on b8 b2) (ontable b3) (ontable b6) (ontable b9))

)