(blockA OBJECT) (blockB OBJECT) (blockC OBJECT) (blockD OBJECT) (blockE OBJECT) (blockG OBJECT) (preconds (on-table blockA) (on blockB blockA) (on blockC blockB) (on blockD blockC) (on blockE blockD) (on blockG blockE) (clear blockG) (arm-empty)) (effects (on blockB blockA) (on blockC blockB) (on blockD blockC) (on blockE blockD) (on blockA blockG) )