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STRIPS

    Representing states and goals
      Initial State:
        on(A, Table) ^
        on(B, Table) ^
        on(C, B) ^
        clear(A) ^
        clear(C) ^
        handEmpty
      Goal:
        on(B, Table) ^
        on(C, B) ^
        on(A, C) ^
        clear(A) ^
        handEmpty

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