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- scene4_s41_if_blue_right_of_red_then_l_pick_else_r_stack
- scene4_s41_if_bowl_nonempty_then_l_pick_blue_else_r_stack
- scene4_s41_if_object_on_right_cube_then_r_stack_else_l_pick_blue
- scene4_s41_if_yellow_right_of_green_then_r_stack_else_l_pick_blue
- scene4_s41_l_pick_ball_not_leftmost
- scene4_s41_l_pick_blue_not_cube
- scene4_s41_l_pick_blue_sphere
- scene4_s41_l_pick_cube_in_bowl
- scene4_s41_l_pick_red_not_in_bowl
- scene4_s41_l_pick_red_sphere
- scene4_s41_l_pick_yellow_cylinder
- scene4_s41_r_pick_green_cylinder_top
- scene4_s41_r_stack_green_cylinder_on_yellow
- scene4_s41_r_unstack_green_cylinder_to_slot6
- scene4_s41_seq_l_bowl_then_r_green_cylinder
- scene4_s41_seq_r_green_cylinder_then_l_bowl
- scene4_s42_if_blue_right_of_red_then_l_pick_blue_else_r_stack
- scene4_s42_if_bowl_nonempty_then_l_pick_blue_else_r_stack
- scene4_s42_l_pick_yellow_cylinder
- scene4_s42_r_stack_green_cylinder_on_yellow
- scene4_s42_r_unstack_green_cylinder_to_slot6
- scene4_s42_seq_l_red_ball_then_r_green_cylinder
- scene4_s42_seq_r_green_cylinder_then_l_red_ball
- scene4_s43_if_bowl_nonempty_then_l_pick_blue_else_r_pick_red
- scene4_s43_r_pick_object_not_touching_table
- scene4_s43_r_stack_blue_cube_on_right_cylinder
- scene4_s43_r_unstack_blue_cube_from_yellow_to_slot5