Find a plan for the domain problem: <GOAL>on b1 b3, clear b1, ontable b2, clear b2, on b3 b4, ontable b4<INIT>handempty, ontable b1, on b2 b1, on b3 b2, clear b3, ontable b4, clear b4<ACTION> pick-up <PRE> clear x, ontable x, handempty <EFFECT> not ontable x, not clear x, not handempty, holding x <ACTION> put-down <PRE> holding x <EFFECT> not holding x, clear x, handempty, ontable x <ACTION> stack <PRE> holding x, clear y <EFFECT> not holding x, not clear y, clear x, handempty, on x y <ACTION> unstack <PRE> on x y, clear x, handempty <EFFECT> holding x, clear y, not clear x, not handempty, not on x y Please reply with exactly 6 paragraphs and separate each paragraph with two new lines. The very first paragraph must start with the word "bureaus".
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