(blockA OBJECT) (blockB OBJECT) (blockC OBJECT) (blockD OBJECT) (blockE OBJECT) (blockF OBJECT) (rob1 ROBOT) (rob2 ROBOT) (preconds (on-table blockA) (on blockB blockA) (on blockC blockB) (on blockD blockC) (on blockE blockD) (on blockF blockE) (clear blockF) (arm-empty rob1) (arm-empty rob2)) (effects (on blockD blockA) (on blockA blockE) (on blockE blockB) (on blockB blockF) (on blockF blockC))