; total time: 0.09
; plan length: 28
(pick-up c)
(stack c b)
(unstack c b)
(put-down c)
(unstack b a)
(stack b c)
(unstack a d)
(put-down a)
(unstack b c)
(stack b a)
(pick-up c)
(stack c b)
(pick-up d)
(stack d c)
(unstack d c)
(put-down d)
(unstack c b)
(stack c d)
(unstack b a)
(stack b c)
(pick-up a)
(stack a e)
(unstack b c)
(stack b a)
(unstack c d)
(stack c b)
(pick-up d)
(stack d c)
