goal stringlengths 69 172 | input stringlengths 140 332 | actions listlengths 1 18 | next_states listlengths 1 18 | source_file stringlengths 6 11 |
|---|---|---|---|---|
GOAL: (on tsvgo sadta) (clear jsjgp) (on-table jsjgp) (on-table ufurb) (holding skwhd) (on-table sadta) (clear tsvgo) (clear ufurb) | GOAL: (on tsvgo sadta) (clear jsjgp) (on-table jsjgp) (on-table ufurb) (holding skwhd) (on-table sadta) (clear tsvgo) (clear ufurb)
STATE: (clear jsjgp) (arm-empty) (on-table jsjgp) (on-table skwhd) (on-table ufurb) (clear sadta) (on-table sadta) (clear tsvgo) (clear ufurb) (on-table tsvgo) (clear skwhd) | [
[
"pick-up skwhd"
],
[
"stack skwhd jsjgp"
],
[
"pick-up tsvgo"
],
[
"stack tsvgo sadta"
],
[
"unstack skwhd jsjgp"
]
] | [
"(clear jsjgp) (on-table jsjgp) (on-table ufurb) (clear sadta) (holding skwhd) (on-table sadta) (clear tsvgo) (clear ufurb) (on-table tsvgo)",
"(arm-empty) (on-table jsjgp) (on-table ufurb) (on skwhd jsjgp) (clear sadta) (on-table sadta) (clear tsvgo) (clear ufurb) (on-table tsvgo) (clear skwhd)",
"(on-table jsjgp) (on-table ufurb) (on skwhd jsjgp) (clear sadta) (on-table sadta) (holding tsvgo) (clear ufurb) (clear skwhd)",
"(on tsvgo sadta) (arm-empty) (on-table jsjgp) (on-table ufurb) (on skwhd jsjgp) (on-table sadta) (clear tsvgo) (clear ufurb) (clear skwhd)",
"(on tsvgo sadta) (clear jsjgp) (on-table jsjgp) (on-table ufurb) (holding skwhd) (on-table sadta) (clear tsvgo) (clear ufurb)"
] | file_20899 |
GOAL: (arm-empty) (on pvthb ecovb) (clear pvthb) (on ecovb qeluz) (on ersmy ctbgx) (clear ersmy) (on-table ctbgx) (on-table qeluz) | GOAL: (arm-empty) (on pvthb ecovb) (clear pvthb) (on ecovb qeluz) (on ersmy ctbgx) (clear ersmy) (on-table ctbgx) (on-table qeluz)
STATE: (on pvthb ctbgx) (arm-empty) (on-table ctbgx) (on ecovb ersmy) (on ersmy pvthb) (clear qeluz) (on-table qeluz) (clear ecovb) | [
[
"unstack ecovb ersmy"
],
[
"stack ecovb qeluz"
],
[
"unstack ersmy pvthb"
],
[
"put-down ersmy"
],
[
"unstack pvthb ctbgx"
],
[
"stack pvthb ecovb"
],
[
"pick-up ersmy"
],
[
"stack ersmy ctbgx"
]
] | [
"(clear ersmy) (on pvthb ctbgx) (on-table ctbgx) (holding ecovb) (on ersmy pvthb) (clear qeluz) (on-table qeluz)",
"(clear ersmy) (on pvthb ctbgx) (arm-empty) (on-table ctbgx) (on ecovb qeluz) (on ersmy pvthb) (on-table qeluz) (clear ecovb)",
"(on pvthb ctbgx) (on-table ctbgx) (clear pvthb) (on ecovb qeluz) (holding ersmy) (on-table qeluz) (clear ecovb)",
"(on pvthb ctbgx) (arm-empty) (on-table ersmy) (clear pvthb) (on ecovb qeluz) (clear ecovb) (clear ersmy) (on-table ctbgx) (on-table qeluz)",
"(clear ersmy) (on-table ersmy) (on-table ctbgx) (holding pvthb) (on ecovb qeluz) (clear ctbgx) (on-table qeluz) (clear ecovb)",
"(clear ersmy) (arm-empty) (on-table ersmy) (on pvthb ecovb) (on-table ctbgx) (clear pvthb) (on ecovb qeluz) (clear ctbgx) (on-table qeluz)",
"(on pvthb ecovb) (on-table ctbgx) (clear pvthb) (on ecovb qeluz) (holding ersmy) (clear ctbgx) (on-table qeluz)",
"(arm-empty) (on pvthb ecovb) (clear pvthb) (on ecovb qeluz) (on ersmy ctbgx) (clear ersmy) (on-table ctbgx) (on-table qeluz)"
] | file_56084 |
GOAL: (on-table vkbhv) (clear roqde) (on-table roqde) (on vmxpf vkbhv) (clear vmxpf) (holding dybqm) | GOAL: (on-table vkbhv) (clear roqde) (on-table roqde) (on vmxpf vkbhv) (clear vmxpf) (holding dybqm)
STATE: (on dybqm roqde) (clear vkbhv) (arm-empty) (on-table vkbhv) (on-table vmxpf) (on-table roqde) (clear dybqm) (clear vmxpf) | [
[
"unstack dybqm roqde"
],
[
"put-down dybqm"
],
[
"pick-up vmxpf"
],
[
"stack vmxpf vkbhv"
],
[
"pick-up dybqm"
]
] | [
"(clear vkbhv) (on-table vkbhv) (on-table vmxpf) (clear roqde) (on-table roqde) (holding dybqm) (clear vmxpf)",
"(arm-empty) (on-table vkbhv) (clear roqde) (clear vkbhv) (on-table vmxpf) (on-table roqde) (clear dybqm) (clear vmxpf) (on-table dybqm)",
"(holding vmxpf) (clear vkbhv) (on-table vkbhv) (clear roqde) (on-table roqde) (clear dybqm) (on-table dybqm)",
"(arm-empty) (on-table vkbhv) (clear roqde) (on-table roqde) (clear dybqm) (on vmxpf vkbhv) (clear vmxpf) (on-table dybqm)",
"(on-table vkbhv) (clear roqde) (on-table roqde) (on vmxpf vkbhv) (clear vmxpf) (holding dybqm)"
] | file_172755 |
GOAL: (clear ceztf) (on jopdn hdiww) (on-table ceztf) (on-table ztebu) (on-table hdiww) (clear jopdn) (holding xjsew) (clear ztebu) | GOAL: (clear ceztf) (on jopdn hdiww) (on-table ceztf) (on-table ztebu) (on-table hdiww) (clear jopdn) (holding xjsew) (clear ztebu)
STATE: (holding hdiww) (on ztebu jopdn) (on-table ceztf) (on xjsew ceztf) (on jopdn xjsew) (clear ztebu) | [
[
"put-down hdiww"
],
[
"unstack ztebu jopdn"
],
[
"put-down ztebu"
],
[
"unstack jopdn xjsew"
],
[
"stack jopdn hdiww"
],
[
"unstack xjsew ceztf"
]
] | [
"(arm-empty) (on ztebu jopdn) (on-table ceztf) (clear ztebu) (on-table hdiww) (on xjsew ceztf) (on jopdn xjsew) (clear hdiww)",
"(on-table ceztf) (on-table hdiww) (on xjsew ceztf) (clear jopdn) (on jopdn xjsew) (holding ztebu) (clear hdiww)",
"(arm-empty) (on-table ceztf) (on-table ztebu) (clear jopdn) (clear ztebu) (on-table hdiww) (on xjsew ceztf) (on jopdn xjsew) (clear hdiww)",
"(on-table ceztf) (on-table ztebu) (on-table hdiww) (holding jopdn) (on xjsew ceztf) (clear xjsew) (clear hdiww) (clear ztebu)",
"(on jopdn hdiww) (arm-empty) (on-table ceztf) (on-table ztebu) (on-table hdiww) (on xjsew ceztf) (clear jopdn) (clear xjsew) (clear ztebu)",
"(clear ceztf) (on jopdn hdiww) (on-table ceztf) (on-table ztebu) (on-table hdiww) (clear jopdn) (holding xjsew) (clear ztebu)"
] | file_54932 |
GOAL: (on ysbfx vspli) (on amegs qtpyp) (clear xtwot) (arm-empty) (on-table qtpyp) (on vspli amegs) (on xtwot ysbfx) | GOAL: (on ysbfx vspli) (on amegs qtpyp) (clear xtwot) (arm-empty) (on-table qtpyp) (on vspli amegs) (on xtwot ysbfx)
STATE: (on amegs qtpyp) (on-table qtpyp) (clear ysbfx) (on ysbfx vspli) (holding xtwot) (on vspli amegs) | [
[
"stack xtwot ysbfx"
]
] | [
"(on ysbfx vspli) (on amegs qtpyp) (clear xtwot) (arm-empty) (on-table qtpyp) (on vspli amegs) (on xtwot ysbfx)"
] | file_110404 |
GOAL: (clear uibyp) (on rqekn ongya) (arm-empty) (on-table sxweo) (on vnbdh sxweo) (on uibyp vnbdh) (clear rqekn) (on-table ongya) | GOAL: (clear uibyp) (on rqekn ongya) (arm-empty) (on-table sxweo) (on vnbdh sxweo) (on uibyp vnbdh) (clear rqekn) (on-table ongya)
STATE: (clear uibyp) (on-table sxweo) (on-table rqekn) (on-table vnbdh) (on uibyp vnbdh) (holding ongya) (clear rqekn) (clear sxweo) | [
[
"stack ongya rqekn"
],
[
"unstack uibyp vnbdh"
],
[
"stack uibyp ongya"
],
[
"pick-up vnbdh"
],
[
"stack vnbdh sxweo"
],
[
"unstack uibyp ongya"
],
[
"stack uibyp vnbdh"
],
[
"unstack ongya rqekn"
],
[
"put-down ongya"
],
[
"pick-up rqekn"
],
[
"stack rqekn ongya"
]
] | [
"(clear uibyp) (arm-empty) (on-table sxweo) (on-table rqekn) (on ongya rqekn) (on-table vnbdh) (on uibyp vnbdh) (clear ongya) (clear sxweo)",
"(on-table sxweo) (on-table rqekn) (clear vnbdh) (on-table vnbdh) (holding uibyp) (on ongya rqekn) (clear ongya) (clear sxweo)",
"(clear uibyp) (arm-empty) (on-table sxweo) (on-table rqekn) (clear vnbdh) (on-table vnbdh) (on ongya rqekn) (on uibyp ongya) (clear sxweo)",
"(clear uibyp) (on-table sxweo) (on-table rqekn) (holding vnbdh) (on ongya rqekn) (on uibyp ongya) (clear sxweo)",
"(clear uibyp) (arm-empty) (on-table sxweo) (on-table rqekn) (on vnbdh sxweo) (clear vnbdh) (on ongya rqekn) (on uibyp ongya)",
"(on-table sxweo) (on-table rqekn) (on vnbdh sxweo) (clear vnbdh) (holding uibyp) (on ongya rqekn) (clear ongya)",
"(arm-empty) (on-table sxweo) (on vnbdh sxweo) (on ongya rqekn) (on uibyp vnbdh) (clear uibyp) (on-table rqekn) (clear ongya)",
"(clear uibyp) (on-table sxweo) (on vnbdh sxweo) (on-table rqekn) (on uibyp vnbdh) (holding ongya) (clear rqekn)",
"(arm-empty) (on-table sxweo) (on vnbdh sxweo) (on uibyp vnbdh) (clear uibyp) (on-table rqekn) (clear ongya) (clear rqekn) (on-table ongya)",
"(holding rqekn) (clear uibyp) (on-table sxweo) (on vnbdh sxweo) (on uibyp vnbdh) (clear ongya) (on-table ongya)",
"(clear uibyp) (on rqekn ongya) (arm-empty) (on-table sxweo) (on vnbdh sxweo) (on uibyp vnbdh) (clear rqekn) (on-table ongya)"
] | file_126040 |
GOAL: (arm-empty) (on-table vvryi) (clear krukq) (on wnnte aytmg) (on-table krukq) (on xgypf vvryi) (clear xgypf) (on-table aytmg) (clear wnnte) | GOAL: (arm-empty) (on-table vvryi) (clear krukq) (on wnnte aytmg) (on-table krukq) (on xgypf vvryi) (clear xgypf) (on-table aytmg) (clear wnnte)
STATE: (on krukq wnnte) (on-table xgypf) (clear krukq) (on wnnte xgypf) (holding vvryi) (clear aytmg) (on-table aytmg) | [
[
"put-down vvryi"
],
[
"unstack krukq wnnte"
],
[
"put-down krukq"
],
[
"unstack wnnte xgypf"
],
[
"stack wnnte aytmg"
],
[
"pick-up xgypf"
],
[
"stack xgypf vvryi"
]
] | [
"(arm-empty) (on-table vvryi) (on krukq wnnte) (clear krukq) (clear vvryi) (on-table xgypf) (on wnnte xgypf) (clear aytmg) (on-table aytmg)",
"(clear vvryi) (on-table vvryi) (on-table xgypf) (holding krukq) (on wnnte xgypf) (clear aytmg) (on-table aytmg) (clear wnnte)",
"(clear vvryi) (arm-empty) (on-table vvryi) (on-table xgypf) (clear krukq) (on wnnte xgypf) (on-table krukq) (clear aytmg) (on-table aytmg) (clear wnnte)",
"(clear vvryi) (on-table vvryi) (on-table xgypf) (clear krukq) (holding wnnte) (on-table krukq) (clear aytmg) (clear xgypf) (on-table aytmg)",
"(clear vvryi) (arm-empty) (on-table vvryi) (on-table xgypf) (clear krukq) (on wnnte aytmg) (on-table krukq) (clear xgypf) (on-table aytmg) (clear wnnte)",
"(holding xgypf) (clear vvryi) (on-table vvryi) (clear krukq) (on wnnte aytmg) (on-table krukq) (on-table aytmg) (clear wnnte)",
"(arm-empty) (on-table vvryi) (clear krukq) (on wnnte aytmg) (on-table krukq) (on xgypf vvryi) (clear xgypf) (on-table aytmg) (clear wnnte)"
] | file_18567 |
GOAL: (on aaosx jorqf) (on-table xtkdb) (on-table jorqf) (holding yelya) (clear xqbxf) (clear xtkdb) (on-table xqbxf) (clear aaosx) | GOAL: (on aaosx jorqf) (on-table xtkdb) (on-table jorqf) (holding yelya) (clear xqbxf) (clear xtkdb) (on-table xqbxf) (clear aaosx)
STATE: (arm-empty) (on jorqf aaosx) (on aaosx yelya) (on xtkdb jorqf) (on yelya xqbxf) (clear xtkdb) (on-table xqbxf) | [
[
"unstack xtkdb jorqf"
],
[
"put-down xtkdb"
],
[
"unstack jorqf aaosx"
],
[
"put-down jorqf"
],
[
"unstack aaosx yelya"
],
[
"stack aaosx jorqf"
],
[
"unstack yelya xqbxf"
]
] | [
"(on jorqf aaosx) (on aaosx yelya) (clear jorqf) (holding xtkdb) (on yelya xqbxf) (on-table xqbxf)",
"(arm-empty) (on jorqf aaosx) (on aaosx yelya) (clear jorqf) (on-table xtkdb) (on yelya xqbxf) (clear xtkdb) (on-table xqbxf)",
"(on-table xtkdb) (holding jorqf) (on aaosx yelya) (on yelya xqbxf) (clear xtkdb) (on-table xqbxf) (clear aaosx)",
"(arm-empty) (on aaosx yelya) (clear jorqf) (clear aaosx) (on-table xtkdb) (on-table jorqf) (on yelya xqbxf) (clear xtkdb) (on-table xqbxf)",
"(clear yelya) (on-table xtkdb) (clear jorqf) (holding aaosx) (on-table jorqf) (on yelya xqbxf) (clear xtkdb) (on-table xqbxf)",
"(clear yelya) (arm-empty) (on aaosx jorqf) (on-table xtkdb) (on-table jorqf) (on yelya xqbxf) (clear xtkdb) (on-table xqbxf) (clear aaosx)",
"(on aaosx jorqf) (on-table xtkdb) (on-table jorqf) (holding yelya) (clear xqbxf) (clear xtkdb) (on-table xqbxf) (clear aaosx)"
] | file_36683 |
GOAL: (on gabwf jmghc) (arm-empty) (on-table asghc) (on-table jmghc) (clear xveob) (on bmcsu gabwf) (on xveob asghc) (clear bmcsu) | GOAL: (on gabwf jmghc) (arm-empty) (on-table asghc) (on-table jmghc) (clear xveob) (on bmcsu gabwf) (on xveob asghc) (clear bmcsu)
STATE: (on gabwf jmghc) (on-table jmghc) (clear xveob) (on xveob bmcsu) (holding asghc) (on bmcsu gabwf) | [
[
"put-down asghc"
],
[
"unstack xveob bmcsu"
],
[
"stack xveob asghc"
]
] | [
"(on gabwf jmghc) (arm-empty) (on-table asghc) (on-table jmghc) (clear xveob) (on bmcsu gabwf) (clear asghc) (on xveob bmcsu)",
"(on gabwf jmghc) (clear asghc) (on-table asghc) (on-table jmghc) (holding xveob) (on bmcsu gabwf) (clear bmcsu)",
"(on gabwf jmghc) (arm-empty) (on-table asghc) (on-table jmghc) (clear xveob) (on bmcsu gabwf) (on xveob asghc) (clear bmcsu)"
] | file_110414 |
GOAL: (clear zelju) (arm-empty) (on-table pxeox) (clear okebg) (on-table okebg) (on pekgs lxlqg) (on zelju pekgs) (on-table lxlqg) (clear pxeox) | GOAL: (clear zelju) (arm-empty) (on-table pxeox) (clear okebg) (on-table okebg) (on pekgs lxlqg) (on zelju pekgs) (on-table lxlqg) (clear pxeox)
STATE: (on-table pxeox) (on okebg pxeox) (on pekgs okebg) (holding lxlqg) (on zelju pekgs) (clear zelju) | [
[
"put-down lxlqg"
],
[
"unstack zelju pekgs"
],
[
"stack zelju lxlqg"
],
[
"unstack pekgs okebg"
],
[
"put-down pekgs"
],
[
"unstack zelju lxlqg"
],
[
"stack zelju okebg"
],
[
"pick-up pekgs"
],
[
"stack pekgs lxlqg"
],
[
"unstack zelju okebg"
],
[
"put-down zelju"
],
[
"unstack okebg pxeox"
],
[
"put-down okebg"
],
[
"pick-up zelju"
],
[
"stack zelju pekgs"
]
] | [
"(arm-empty) (on-table pxeox) (on okebg pxeox) (on pekgs okebg) (on zelju pekgs) (clear lxlqg) (clear zelju) (on-table lxlqg)",
"(holding zelju) (clear pekgs) (on-table pxeox) (on okebg pxeox) (on pekgs okebg) (clear lxlqg) (on-table lxlqg)",
"(clear pekgs) (on zelju lxlqg) (arm-empty) (on-table pxeox) (on okebg pxeox) (on pekgs okebg) (clear zelju) (on-table lxlqg)",
"(on zelju lxlqg) (on-table pxeox) (on okebg pxeox) (clear okebg) (holding pekgs) (clear zelju) (on-table lxlqg)",
"(on zelju lxlqg) (arm-empty) (on-table pekgs) (on-table pxeox) (on okebg pxeox) (clear okebg) (clear pekgs) (clear zelju) (on-table lxlqg)",
"(holding zelju) (clear pekgs) (on-table pekgs) (on-table pxeox) (on okebg pxeox) (clear okebg) (clear lxlqg) (on-table lxlqg)",
"(clear pekgs) (arm-empty) (on-table pekgs) (on-table pxeox) (on okebg pxeox) (on zelju okebg) (clear lxlqg) (clear zelju) (on-table lxlqg)",
"(on-table pxeox) (on okebg pxeox) (holding pekgs) (on zelju okebg) (clear lxlqg) (clear zelju) (on-table lxlqg)",
"(clear pekgs) (arm-empty) (on-table pxeox) (on okebg pxeox) (on zelju okebg) (on pekgs lxlqg) (clear zelju) (on-table lxlqg)",
"(holding zelju) (clear pekgs) (on-table pxeox) (on okebg pxeox) (clear okebg) (on pekgs lxlqg) (on-table lxlqg)",
"(arm-empty) (on-table pxeox) (on okebg pxeox) (clear okebg) (clear pekgs) (on-table zelju) (on pekgs lxlqg) (clear zelju) (on-table lxlqg)",
"(clear pekgs) (on-table pxeox) (holding okebg) (on-table zelju) (on pekgs lxlqg) (clear zelju) (on-table lxlqg) (clear pxeox)",
"(clear pekgs) (arm-empty) (on-table pxeox) (on-table zelju) (clear okebg) (on-table okebg) (on pekgs lxlqg) (clear zelju) (on-table lxlqg) (clear pxeox)",
"(holding zelju) (clear pekgs) (on-table pxeox) (clear okebg) (on-table okebg) (on pekgs lxlqg) (on-table lxlqg) (clear pxeox)",
"(clear zelju) (arm-empty) (on-table pxeox) (clear okebg) (on-table okebg) (on pekgs lxlqg) (on zelju pekgs) (on-table lxlqg) (clear pxeox)"
] | file_139063 |
GOAL: (arm-empty) (on-table laidr) (on pslcm prnyn) (clear pslcm) (clear laidr) (on-table lnrqo) (on prnyn lnrqo) (clear wcsqy) (on-table wcsqy) | GOAL: (arm-empty) (on-table laidr) (on pslcm prnyn) (clear pslcm) (clear laidr) (on-table lnrqo) (on prnyn lnrqo) (clear wcsqy) (on-table wcsqy)
STATE: (clear laidr) (arm-empty) (on prnyn pslcm) (on-table laidr) (on-table lnrqo) (on-table pslcm) (clear wcsqy) (clear lnrqo) (on-table wcsqy) (clear prnyn) | [
[
"pick-up laidr"
],
[
"stack laidr wcsqy"
],
[
"unstack prnyn pslcm"
],
[
"stack prnyn lnrqo"
],
[
"pick-up pslcm"
],
[
"stack pslcm prnyn"
],
[
"unstack laidr wcsqy"
],
[
"put-down laidr"
]
] | [
"(on prnyn pslcm) (on-table lnrqo) (on-table pslcm) (holding laidr) (clear wcsqy) (clear lnrqo) (on-table wcsqy) (clear prnyn)",
"(clear laidr) (arm-empty) (on prnyn pslcm) (on-table lnrqo) (on-table pslcm) (on laidr wcsqy) (clear lnrqo) (on-table wcsqy) (clear prnyn)",
"(clear laidr) (on-table lnrqo) (clear pslcm) (holding prnyn) (on-table pslcm) (on laidr wcsqy) (clear lnrqo) (on-table wcsqy)",
"(clear laidr) (arm-empty) (on-table lnrqo) (clear pslcm) (on prnyn lnrqo) (on-table pslcm) (on laidr wcsqy) (on-table wcsqy) (clear prnyn)",
"(clear laidr) (on-table lnrqo) (holding pslcm) (on prnyn lnrqo) (on laidr wcsqy) (on-table wcsqy) (clear prnyn)",
"(clear laidr) (arm-empty) (on pslcm prnyn) (on-table lnrqo) (clear pslcm) (on prnyn lnrqo) (on laidr wcsqy) (on-table wcsqy)",
"(on pslcm prnyn) (on-table lnrqo) (clear pslcm) (on prnyn lnrqo) (holding laidr) (clear wcsqy) (on-table wcsqy)",
"(arm-empty) (on-table laidr) (on pslcm prnyn) (clear pslcm) (clear laidr) (on-table lnrqo) (on prnyn lnrqo) (clear wcsqy) (on-table wcsqy)"
] | file_158847 |
GOAL: (arm-empty) (on iyrkv ozequ) (clear iyrkv) (on ozequ pkavm) (on owshf rsyeg) (on pkavm owshf) (on-table rsyeg) | GOAL: (arm-empty) (on iyrkv ozequ) (clear iyrkv) (on ozequ pkavm) (on owshf rsyeg) (on pkavm owshf) (on-table rsyeg)
STATE: (arm-empty) (on-table owshf) (on-table pkavm) (on ozequ owshf) (clear iyrkv) (on-table iyrkv) (clear rsyeg) (clear pkavm) (on-table rsyeg) (clear ozequ) | [
[
"unstack ozequ owshf"
],
[
"stack ozequ iyrkv"
],
[
"pick-up owshf"
],
[
"stack owshf rsyeg"
],
[
"pick-up pkavm"
],
[
"stack pkavm owshf"
],
[
"unstack ozequ iyrkv"
],
[
"stack ozequ pkavm"
],
[
"pick-up iyrkv"
],
[
"stack iyrkv ozequ"
]
] | [
"(clear owshf) (on-table owshf) (on-table pkavm) (clear iyrkv) (holding ozequ) (on-table iyrkv) (clear rsyeg) (clear pkavm) (on-table rsyeg)",
"(clear owshf) (arm-empty) (on ozequ iyrkv) (on-table owshf) (on-table pkavm) (on-table iyrkv) (clear rsyeg) (clear pkavm) (on-table rsyeg) (clear ozequ)",
"(on ozequ iyrkv) (on-table pkavm) (on-table iyrkv) (holding owshf) (clear rsyeg) (clear pkavm) (on-table rsyeg) (clear ozequ)",
"(clear owshf) (arm-empty) (on ozequ iyrkv) (on-table pkavm) (on-table iyrkv) (on owshf rsyeg) (clear pkavm) (on-table rsyeg) (clear ozequ)",
"(holding pkavm) (clear owshf) (on ozequ iyrkv) (on-table iyrkv) (on owshf rsyeg) (on-table rsyeg) (clear ozequ)",
"(arm-empty) (on ozequ iyrkv) (on pkavm owshf) (on-table iyrkv) (on owshf rsyeg) (clear pkavm) (on-table rsyeg) (clear ozequ)",
"(clear iyrkv) (on pkavm owshf) (holding ozequ) (on-table iyrkv) (on owshf rsyeg) (clear pkavm) (on-table rsyeg)",
"(arm-empty) (clear iyrkv) (on pkavm owshf) (clear ozequ) (on ozequ pkavm) (on-table iyrkv) (on owshf rsyeg) (on-table rsyeg)",
"(holding iyrkv) (on ozequ pkavm) (on owshf rsyeg) (on pkavm owshf) (on-table rsyeg) (clear ozequ)",
"(arm-empty) (on iyrkv ozequ) (clear iyrkv) (on ozequ pkavm) (on owshf rsyeg) (on pkavm owshf) (on-table rsyeg)"
] | file_70654 |
GOAL: (holding fhzpk) (on pqeye thhaf) (on-table mbnvw) (on thhaf mbnvw) (clear ovhnc) (on ovhnc pqeye) | GOAL: (holding fhzpk) (on pqeye thhaf) (on-table mbnvw) (on thhaf mbnvw) (clear ovhnc) (on ovhnc pqeye)
STATE: (on pqeye ovhnc) (clear mbnvw) (on ovhnc fhzpk) (arm-empty) (on-table mbnvw) (on-table thhaf) (on-table fhzpk) (clear pqeye) (clear thhaf) | [
[
"pick-up thhaf"
],
[
"stack thhaf mbnvw"
],
[
"unstack pqeye ovhnc"
],
[
"stack pqeye thhaf"
],
[
"unstack ovhnc fhzpk"
],
[
"stack ovhnc pqeye"
],
[
"pick-up fhzpk"
]
] | [
"(on pqeye ovhnc) (clear mbnvw) (on ovhnc fhzpk) (on-table mbnvw) (on-table fhzpk) (holding thhaf) (clear pqeye)",
"(on pqeye ovhnc) (on ovhnc fhzpk) (arm-empty) (on-table mbnvw) (on-table fhzpk) (on thhaf mbnvw) (clear pqeye) (clear thhaf)",
"(on ovhnc fhzpk) (on-table mbnvw) (on-table fhzpk) (on thhaf mbnvw) (clear ovhnc) (holding pqeye) (clear thhaf)",
"(on pqeye thhaf) (on ovhnc fhzpk) (arm-empty) (on-table mbnvw) (on-table fhzpk) (on thhaf mbnvw) (clear ovhnc) (clear pqeye)",
"(on pqeye thhaf) (on-table mbnvw) (on-table fhzpk) (holding ovhnc) (on thhaf mbnvw) (clear pqeye) (clear fhzpk)",
"(on pqeye thhaf) (arm-empty) (on-table mbnvw) (on thhaf mbnvw) (clear ovhnc) (on-table fhzpk) (on ovhnc pqeye) (clear fhzpk)",
"(holding fhzpk) (on pqeye thhaf) (on-table mbnvw) (on thhaf mbnvw) (clear ovhnc) (on ovhnc pqeye)"
] | file_218455 |
GOAL: (on roepb twrqj) (arm-empty) (clear nuwwk) (on nuwwk cxhcz) (on cxhcz roepb) (on-table mebwh) (on twrqj mebwh) | GOAL: (on roepb twrqj) (arm-empty) (clear nuwwk) (on nuwwk cxhcz) (on cxhcz roepb) (on-table mebwh) (on twrqj mebwh)
STATE: (on-table cxhcz) (on nuwwk cxhcz) (holding twrqj) (on roepb nuwwk) (on mebwh roepb) (clear mebwh) | [
[
"put-down twrqj"
],
[
"unstack mebwh roepb"
],
[
"put-down mebwh"
],
[
"pick-up twrqj"
],
[
"stack twrqj mebwh"
],
[
"unstack roepb nuwwk"
],
[
"stack roepb twrqj"
],
[
"unstack nuwwk cxhcz"
],
[
"put-down nuwwk"
],
[
"pick-up cxhcz"
],
[
"stack cxhcz roepb"
],
[
"pick-up nuwwk"
],
[
"stack nuwwk cxhcz"
]
] | [
"(arm-empty) (on-table cxhcz) (on-table twrqj) (on mebwh roepb) (clear twrqj) (on roepb nuwwk) (on nuwwk cxhcz) (clear mebwh)",
"(on-table cxhcz) (on-table twrqj) (on nuwwk cxhcz) (on roepb nuwwk) (holding mebwh) (clear roepb) (clear twrqj)",
"(arm-empty) (on-table cxhcz) (on-table twrqj) (clear twrqj) (on roepb nuwwk) (on nuwwk cxhcz) (clear mebwh) (clear roepb) (on-table mebwh)",
"(on-table cxhcz) (holding twrqj) (on roepb nuwwk) (on nuwwk cxhcz) (clear mebwh) (clear roepb) (on-table mebwh)",
"(arm-empty) (on-table cxhcz) (on twrqj mebwh) (on roepb nuwwk) (on nuwwk cxhcz) (clear roepb) (on-table mebwh) (clear twrqj)",
"(holding roepb) (on-table cxhcz) (clear nuwwk) (on twrqj mebwh) (on nuwwk cxhcz) (on-table mebwh) (clear twrqj)",
"(on roepb twrqj) (arm-empty) (on-table cxhcz) (clear nuwwk) (on twrqj mebwh) (on nuwwk cxhcz) (clear roepb) (on-table mebwh)",
"(on roepb twrqj) (clear cxhcz) (on-table cxhcz) (holding nuwwk) (on twrqj mebwh) (clear roepb) (on-table mebwh)",
"(on roepb twrqj) (arm-empty) (on-table cxhcz) (clear nuwwk) (on twrqj mebwh) (clear cxhcz) (on-table nuwwk) (clear roepb) (on-table mebwh)",
"(on roepb twrqj) (clear nuwwk) (on twrqj mebwh) (on-table nuwwk) (holding cxhcz) (clear roepb) (on-table mebwh)",
"(on roepb twrqj) (arm-empty) (clear nuwwk) (on twrqj mebwh) (on cxhcz roepb) (clear cxhcz) (on-table nuwwk) (on-table mebwh)",
"(on roepb twrqj) (clear cxhcz) (holding nuwwk) (on twrqj mebwh) (on cxhcz roepb) (on-table mebwh)",
"(on roepb twrqj) (arm-empty) (clear nuwwk) (on nuwwk cxhcz) (on cxhcz roepb) (on-table mebwh) (on twrqj mebwh)"
] | file_55700 |
GOAL: (holding vqonr) (clear iofvo) (on jefmk valnw) (on-table rtbzz) (on iofvo rtbzz) (on-table valnw) (clear jefmk) | GOAL: (holding vqonr) (clear iofvo) (on jefmk valnw) (on-table rtbzz) (on iofvo rtbzz) (on-table valnw) (clear jefmk)
STATE: (on-table iofvo) (holding jefmk) (on vqonr rtbzz) (on rtbzz iofvo) (clear valnw) (clear vqonr) (on-table valnw) | [
[
"stack jefmk valnw"
],
[
"unstack vqonr rtbzz"
],
[
"stack vqonr jefmk"
],
[
"unstack rtbzz iofvo"
],
[
"put-down rtbzz"
],
[
"pick-up iofvo"
],
[
"stack iofvo rtbzz"
],
[
"unstack vqonr jefmk"
]
] | [
"(arm-empty) (on-table iofvo) (on jefmk valnw) (on vqonr rtbzz) (on rtbzz iofvo) (clear vqonr) (on-table valnw) (clear jefmk)",
"(holding vqonr) (on-table iofvo) (clear rtbzz) (on jefmk valnw) (on rtbzz iofvo) (on-table valnw) (clear jefmk)",
"(on vqonr jefmk) (arm-empty) (on-table iofvo) (clear rtbzz) (on jefmk valnw) (on rtbzz iofvo) (clear vqonr) (on-table valnw)",
"(on vqonr jefmk) (clear iofvo) (on-table iofvo) (holding rtbzz) (on jefmk valnw) (clear vqonr) (on-table valnw)",
"(on vqonr jefmk) (arm-empty) (on-table iofvo) (clear rtbzz) (on jefmk valnw) (clear iofvo) (on-table rtbzz) (clear vqonr) (on-table valnw)",
"(on vqonr jefmk) (clear rtbzz) (on jefmk valnw) (on-table rtbzz) (holding iofvo) (clear vqonr) (on-table valnw)",
"(on vqonr jefmk) (clear iofvo) (arm-empty) (on jefmk valnw) (on-table rtbzz) (on iofvo rtbzz) (clear vqonr) (on-table valnw)",
"(holding vqonr) (clear iofvo) (on jefmk valnw) (on-table rtbzz) (on iofvo rtbzz) (on-table valnw) (clear jefmk)"
] | file_145205 |
GOAL: (arm-empty) (clear txoix) (on txoix rrnku) (on rrnku qjbru) (clear swwjm) (on-table qjbru) (on-table swwjm) | GOAL: (arm-empty) (clear txoix) (on txoix rrnku) (on rrnku qjbru) (clear swwjm) (on-table qjbru) (on-table swwjm)
STATE: (arm-empty) (on qjbru txoix) (on txoix rrnku) (on rrnku swwjm) (clear qjbru) (on-table swwjm) | [
[
"unstack qjbru txoix"
],
[
"put-down qjbru"
],
[
"unstack txoix rrnku"
],
[
"stack txoix qjbru"
],
[
"unstack rrnku swwjm"
],
[
"put-down rrnku"
],
[
"unstack txoix qjbru"
],
[
"stack txoix swwjm"
],
[
"pick-up rrnku"
],
[
"stack rrnku qjbru"
],
[
"unstack txoix swwjm"
],
[
"stack txoix rrnku"
]
] | [
"(holding qjbru) (clear txoix) (on txoix rrnku) (on rrnku swwjm) (on-table swwjm)",
"(on-table qjbru) (arm-empty) (on rrnku swwjm) (on txoix rrnku) (clear txoix) (clear qjbru) (on-table swwjm)",
"(holding txoix) (clear rrnku) (on-table qjbru) (on rrnku swwjm) (clear qjbru) (on-table swwjm)",
"(clear rrnku) (on txoix qjbru) (arm-empty) (on-table qjbru) (clear txoix) (on rrnku swwjm) (on-table swwjm)",
"(on txoix qjbru) (clear txoix) (on-table qjbru) (holding rrnku) (clear swwjm) (on-table swwjm)",
"(on txoix qjbru) (arm-empty) (on-table rrnku) (clear txoix) (clear rrnku) (on-table qjbru) (clear swwjm) (on-table swwjm)",
"(clear rrnku) (on-table rrnku) (on-table qjbru) (holding txoix) (clear swwjm) (clear qjbru) (on-table swwjm)",
"(arm-empty) (on-table rrnku) (clear txoix) (clear rrnku) (on-table qjbru) (on txoix swwjm) (clear qjbru) (on-table swwjm)",
"(on-table qjbru) (clear txoix) (on txoix swwjm) (holding rrnku) (clear qjbru) (on-table swwjm)",
"(clear rrnku) (arm-empty) (on-table qjbru) (clear txoix) (on txoix swwjm) (on rrnku qjbru) (on-table swwjm)",
"(holding txoix) (clear rrnku) (on-table qjbru) (on rrnku qjbru) (clear swwjm) (on-table swwjm)",
"(arm-empty) (clear txoix) (on txoix rrnku) (on rrnku qjbru) (clear swwjm) (on-table qjbru) (on-table swwjm)"
] | file_183782 |
GOAL: (arm-empty) (on-table njwak) (on-table lnjya) (on-table zzgjl) (on drrqg lnjya) (on vpnmu njwak) (clear drrqg) (clear vpnmu) (clear zzgjl) | GOAL: (arm-empty) (on-table njwak) (on-table lnjya) (on-table zzgjl) (on drrqg lnjya) (on vpnmu njwak) (clear drrqg) (clear vpnmu) (clear zzgjl)
STATE: (clear njwak) (on-table njwak) (on-table lnjya) (on-table zzgjl) (on drrqg lnjya) (clear drrqg) (holding vpnmu) (clear zzgjl) | [
[
"stack vpnmu njwak"
]
] | [
"(arm-empty) (on-table njwak) (on-table lnjya) (on-table zzgjl) (on drrqg lnjya) (on vpnmu njwak) (clear drrqg) (clear vpnmu) (clear zzgjl)"
] | file_149425 |
GOAL: (on itycw ubtcw) (on-table czjsu) (on biodi czjsu) (on ubtcw biodi) (holding wqeen) (clear itycw) | GOAL: (on itycw ubtcw) (on-table czjsu) (on biodi czjsu) (on ubtcw biodi) (holding wqeen) (clear itycw)
STATE: (clear ubtcw) (on-table ubtcw) (holding itycw) (on-table czjsu) (on biodi czjsu) (clear wqeen) (clear biodi) (on-table wqeen) | [
[
"stack itycw wqeen"
],
[
"pick-up ubtcw"
],
[
"stack ubtcw biodi"
],
[
"unstack itycw wqeen"
],
[
"stack itycw ubtcw"
],
[
"pick-up wqeen"
]
] | [
"(clear ubtcw) (arm-empty) (on-table ubtcw) (on itycw wqeen) (on-table czjsu) (on biodi czjsu) (clear biodi) (on-table wqeen) (clear itycw)",
"(holding ubtcw) (on itycw wqeen) (on-table czjsu) (on biodi czjsu) (clear biodi) (on-table wqeen) (clear itycw)",
"(clear ubtcw) (arm-empty) (on itycw wqeen) (on-table czjsu) (on biodi czjsu) (on ubtcw biodi) (on-table wqeen) (clear itycw)",
"(clear ubtcw) (holding itycw) (on-table czjsu) (on biodi czjsu) (on ubtcw biodi) (clear wqeen) (on-table wqeen)",
"(arm-empty) (on itycw ubtcw) (on-table czjsu) (on biodi czjsu) (on ubtcw biodi) (clear wqeen) (on-table wqeen) (clear itycw)",
"(on itycw ubtcw) (on-table czjsu) (on biodi czjsu) (on ubtcw biodi) (holding wqeen) (clear itycw)"
] | file_12309 |
GOAL: (on-table micde) (holding njtnp) (on hdmfs hxnuv) (on yhhav hdmfs) (on hxnuv micde) (clear yhhav) | GOAL: (on-table micde) (holding njtnp) (on hdmfs hxnuv) (on yhhav hdmfs) (on hxnuv micde) (clear yhhav)
STATE: (arm-empty) (on-table yhhav) (on-table micde) (on hdmfs hxnuv) (clear njtnp) (on njtnp hdmfs) (on hxnuv micde) (clear yhhav) | [
[
"unstack njtnp hdmfs"
],
[
"put-down njtnp"
],
[
"pick-up yhhav"
],
[
"stack yhhav hdmfs"
],
[
"pick-up njtnp"
]
] | [
"(on-table yhhav) (on-table micde) (holding njtnp) (on hdmfs hxnuv) (on hxnuv micde) (clear hdmfs) (clear yhhav)",
"(arm-empty) (on-table yhhav) (clear njtnp) (on hxnuv micde) (clear yhhav) (on-table micde) (on hdmfs hxnuv) (on-table njtnp) (clear hdmfs)",
"(on-table micde) (on hdmfs hxnuv) (clear njtnp) (holding yhhav) (on-table njtnp) (on hxnuv micde) (clear hdmfs)",
"(arm-empty) (on-table micde) (on hdmfs hxnuv) (clear njtnp) (on yhhav hdmfs) (on-table njtnp) (on hxnuv micde) (clear yhhav)",
"(on-table micde) (holding njtnp) (on hdmfs hxnuv) (on yhhav hdmfs) (on hxnuv micde) (clear yhhav)"
] | file_179804 |
GOAL: (on kdsdz yaqst) (on-table yaqst) (on-table ydzbc) (clear ajhyf) (on-table ajhyf) (holding molcq) (clear kdsdz) (clear ydzbc) | GOAL: (on kdsdz yaqst) (on-table yaqst) (on-table ydzbc) (clear ajhyf) (on-table ajhyf) (holding molcq) (clear kdsdz) (clear ydzbc)
STATE: (on-table yaqst) (on-table ydzbc) (clear ajhyf) (on ajhyf kdsdz) (holding molcq) (on kdsdz ydzbc) (clear yaqst) | [
[
"put-down molcq"
],
[
"unstack ajhyf kdsdz"
],
[
"stack ajhyf molcq"
],
[
"unstack kdsdz ydzbc"
],
[
"stack kdsdz yaqst"
],
[
"unstack ajhyf molcq"
],
[
"put-down ajhyf"
],
[
"pick-up molcq"
]
] | [
"(arm-empty) (on-table molcq) (on-table yaqst) (clear ajhyf) (on kdsdz ydzbc) (clear yaqst) (clear molcq) (on-table ydzbc) (on ajhyf kdsdz)",
"(clear molcq) (on-table molcq) (on-table yaqst) (on-table ydzbc) (holding ajhyf) (on kdsdz ydzbc) (clear kdsdz) (clear yaqst)",
"(arm-empty) (on-table molcq) (on-table yaqst) (on-table ydzbc) (on ajhyf molcq) (clear ajhyf) (on kdsdz ydzbc) (clear kdsdz) (clear yaqst)",
"(on-table molcq) (on-table yaqst) (on-table ydzbc) (clear ajhyf) (on ajhyf molcq) (holding kdsdz) (clear ydzbc) (clear yaqst)",
"(on kdsdz yaqst) (arm-empty) (on-table molcq) (on-table yaqst) (on-table ydzbc) (clear ajhyf) (on ajhyf molcq) (clear kdsdz) (clear ydzbc)",
"(on kdsdz yaqst) (clear molcq) (on-table molcq) (on-table yaqst) (on-table ydzbc) (holding ajhyf) (clear kdsdz) (clear ydzbc)",
"(on kdsdz yaqst) (clear molcq) (arm-empty) (on-table molcq) (on-table yaqst) (on-table ydzbc) (clear ajhyf) (on-table ajhyf) (clear kdsdz) (clear ydzbc)",
"(on kdsdz yaqst) (on-table yaqst) (on-table ydzbc) (clear ajhyf) (on-table ajhyf) (holding molcq) (clear kdsdz) (clear ydzbc)"
] | file_71320 |
GOAL: (on orlcn zyvtp) (clear mqhkf) (on-table pflru) (holding eqool) (on zyvtp pflru) (on mqhkf orlcn) | GOAL: (on orlcn zyvtp) (clear mqhkf) (on-table pflru) (holding eqool) (on zyvtp pflru) (on mqhkf orlcn)
STATE: (on orlcn zyvtp) (on-table zyvtp) (on-table pflru) (clear eqool) (on-table eqool) (holding mqhkf) (clear orlcn) (clear pflru) | [
[
"stack mqhkf eqool"
],
[
"unstack orlcn zyvtp"
],
[
"stack orlcn mqhkf"
],
[
"pick-up zyvtp"
],
[
"stack zyvtp pflru"
],
[
"unstack orlcn mqhkf"
],
[
"stack orlcn zyvtp"
],
[
"unstack mqhkf eqool"
],
[
"stack mqhkf orlcn"
],
[
"pick-up eqool"
]
] | [
"(on orlcn zyvtp) (clear mqhkf) (arm-empty) (on-table zyvtp) (on-table pflru) (on-table eqool) (on mqhkf eqool) (clear orlcn) (clear pflru)",
"(clear mqhkf) (on-table zyvtp) (on-table pflru) (on-table eqool) (on mqhkf eqool) (holding orlcn) (clear pflru) (clear zyvtp)",
"(arm-empty) (on-table zyvtp) (on-table pflru) (on orlcn mqhkf) (on-table eqool) (on mqhkf eqool) (clear orlcn) (clear pflru) (clear zyvtp)",
"(on-table pflru) (on orlcn mqhkf) (holding zyvtp) (on-table eqool) (on mqhkf eqool) (clear orlcn) (clear pflru)",
"(arm-empty) (on mqhkf eqool) (clear zyvtp) (on-table pflru) (on orlcn mqhkf) (on zyvtp pflru) (on-table eqool) (clear orlcn)",
"(clear mqhkf) (on-table pflru) (on zyvtp pflru) (on-table eqool) (on mqhkf eqool) (holding orlcn) (clear zyvtp)",
"(clear mqhkf) (on orlcn zyvtp) (arm-empty) (on-table pflru) (on zyvtp pflru) (on-table eqool) (on mqhkf eqool) (clear orlcn)",
"(on orlcn zyvtp) (on-table pflru) (clear eqool) (on zyvtp pflru) (on-table eqool) (holding mqhkf) (clear orlcn)",
"(on orlcn zyvtp) (clear mqhkf) (arm-empty) (on-table pflru) (clear eqool) (on zyvtp pflru) (on-table eqool) (on mqhkf orlcn)",
"(on orlcn zyvtp) (clear mqhkf) (on-table pflru) (holding eqool) (on zyvtp pflru) (on mqhkf orlcn)"
] | file_85479 |
GOAL: (on vypun mghgf) (arm-empty) (on-table mghgf) (clear mzxfx) (clear sxfvq) (on-table mzxfx) (on sxfvq ldnkk) (clear vypun) (on-table ldnkk) | GOAL: (on vypun mghgf) (arm-empty) (on-table mghgf) (clear mzxfx) (clear sxfvq) (on-table mzxfx) (on sxfvq ldnkk) (clear vypun) (on-table ldnkk)
STATE: (on vypun mghgf) (clear sxfvq) (on mzxfx vypun) (arm-empty) (on-table mghgf) (on sxfvq mzxfx) (clear ldnkk) (on-table ldnkk) | [
[
"unstack sxfvq mzxfx"
],
[
"stack sxfvq ldnkk"
],
[
"unstack mzxfx vypun"
],
[
"put-down mzxfx"
]
] | [
"(on vypun mghgf) (on mzxfx vypun) (on-table mghgf) (clear mzxfx) (holding sxfvq) (clear ldnkk) (on-table ldnkk)",
"(on vypun mghgf) (clear sxfvq) (on mzxfx vypun) (arm-empty) (on-table mghgf) (clear mzxfx) (on sxfvq ldnkk) (on-table ldnkk)",
"(on vypun mghgf) (clear sxfvq) (on-table mghgf) (holding mzxfx) (on sxfvq ldnkk) (clear vypun) (on-table ldnkk)",
"(on vypun mghgf) (arm-empty) (on-table mghgf) (clear mzxfx) (clear sxfvq) (on-table mzxfx) (on sxfvq ldnkk) (clear vypun) (on-table ldnkk)"
] | file_136823 |
GOAL: (arm-empty) (on-table lumyq) (on-table dqdfs) (on wkiqv lumyq) (clear imozv) (on imozv klqas) (on klqas dqdfs) (clear wkiqv) | GOAL: (arm-empty) (on-table lumyq) (on-table dqdfs) (on wkiqv lumyq) (clear imozv) (on imozv klqas) (on klqas dqdfs) (clear wkiqv)
STATE: (on-table dqdfs) (on klqas lumyq) (clear imozv) (holding wkiqv) (on-table imozv) (on lumyq dqdfs) (clear klqas) | [
[
"put-down wkiqv"
],
[
"unstack klqas lumyq"
],
[
"put-down klqas"
],
[
"unstack lumyq dqdfs"
],
[
"stack lumyq wkiqv"
],
[
"pick-up klqas"
],
[
"stack klqas dqdfs"
],
[
"pick-up imozv"
],
[
"stack imozv klqas"
],
[
"unstack lumyq wkiqv"
],
[
"put-down lumyq"
],
[
"pick-up wkiqv"
],
[
"stack wkiqv lumyq"
]
] | [
"(arm-empty) (on-table wkiqv) (clear imozv) (on lumyq dqdfs) (clear wkiqv) (on-table dqdfs) (on klqas lumyq) (on-table imozv) (clear klqas)",
"(clear lumyq) (on-table wkiqv) (on-table dqdfs) (clear imozv) (on-table imozv) (on lumyq dqdfs) (holding klqas) (clear wkiqv)",
"(clear lumyq) (arm-empty) (on-table wkiqv) (on-table dqdfs) (clear imozv) (on-table imozv) (on lumyq dqdfs) (clear klqas) (on-table klqas) (clear wkiqv)",
"(on-table wkiqv) (on-table dqdfs) (clear imozv) (on-table imozv) (holding lumyq) (clear klqas) (clear dqdfs) (on-table klqas) (clear wkiqv)",
"(clear lumyq) (arm-empty) (on-table wkiqv) (on-table dqdfs) (clear imozv) (on-table imozv) (on lumyq wkiqv) (clear klqas) (clear dqdfs) (on-table klqas)",
"(clear lumyq) (on-table wkiqv) (on-table dqdfs) (clear imozv) (on-table imozv) (on lumyq wkiqv) (holding klqas) (clear dqdfs)",
"(clear lumyq) (arm-empty) (on-table wkiqv) (on-table dqdfs) (clear imozv) (on-table imozv) (on klqas dqdfs) (on lumyq wkiqv) (clear klqas)",
"(clear lumyq) (on-table wkiqv) (on-table dqdfs) (holding imozv) (on klqas dqdfs) (on lumyq wkiqv) (clear klqas)",
"(arm-empty) (on-table wkiqv) (clear imozv) (on klqas dqdfs) (on lumyq wkiqv) (clear lumyq) (on-table dqdfs) (on imozv klqas)",
"(on-table wkiqv) (on-table dqdfs) (clear imozv) (on imozv klqas) (holding lumyq) (on klqas dqdfs) (clear wkiqv)",
"(arm-empty) (on-table lumyq) (on-table wkiqv) (clear imozv) (on klqas dqdfs) (clear wkiqv) (clear lumyq) (on-table dqdfs) (on imozv klqas)",
"(clear lumyq) (on-table lumyq) (on-table dqdfs) (clear imozv) (on imozv klqas) (holding wkiqv) (on klqas dqdfs)",
"(arm-empty) (on-table lumyq) (on-table dqdfs) (on wkiqv lumyq) (clear imozv) (on imozv klqas) (on klqas dqdfs) (clear wkiqv)"
] | file_112116 |
GOAL: (on prqwl yspdy) (on rxhhu uwhio) (arm-empty) (on-table uwhio) (on cafrl rxhhu) (on yspdy cafrl) (clear prqwl) | GOAL: (on prqwl yspdy) (on rxhhu uwhio) (arm-empty) (on-table uwhio) (on cafrl rxhhu) (on yspdy cafrl) (clear prqwl)
STATE: (holding prqwl) (on-table uwhio) (on rxhhu cafrl) (on cafrl yspdy) (clear uwhio) (on-table yspdy) (clear rxhhu) | [
[
"put-down prqwl"
],
[
"unstack rxhhu cafrl"
],
[
"stack rxhhu uwhio"
],
[
"unstack cafrl yspdy"
],
[
"stack cafrl rxhhu"
],
[
"pick-up yspdy"
],
[
"stack yspdy cafrl"
],
[
"pick-up prqwl"
],
[
"stack prqwl yspdy"
]
] | [
"(arm-empty) (on rxhhu cafrl) (clear prqwl) (clear rxhhu) (on-table uwhio) (on-table prqwl) (on cafrl yspdy) (clear uwhio) (on-table yspdy)",
"(clear cafrl) (on-table uwhio) (clear prqwl) (holding rxhhu) (on-table prqwl) (on cafrl yspdy) (clear uwhio) (on-table yspdy)",
"(clear cafrl) (arm-empty) (on-table uwhio) (clear prqwl) (on rxhhu uwhio) (on-table prqwl) (on cafrl yspdy) (on-table yspdy) (clear rxhhu)",
"(on-table uwhio) (clear prqwl) (on rxhhu uwhio) (on-table prqwl) (holding cafrl) (clear yspdy) (on-table yspdy) (clear rxhhu)",
"(clear cafrl) (arm-empty) (on-table uwhio) (clear prqwl) (on rxhhu uwhio) (on-table prqwl) (on cafrl rxhhu) (clear yspdy) (on-table yspdy)",
"(clear cafrl) (on-table uwhio) (clear prqwl) (on rxhhu uwhio) (on-table prqwl) (on cafrl rxhhu) (holding yspdy)",
"(arm-empty) (on-table uwhio) (on yspdy cafrl) (clear prqwl) (on rxhhu uwhio) (on-table prqwl) (on cafrl rxhhu) (clear yspdy)",
"(on-table uwhio) (holding prqwl) (on yspdy cafrl) (on rxhhu uwhio) (on cafrl rxhhu) (clear yspdy)",
"(on prqwl yspdy) (on rxhhu uwhio) (arm-empty) (on-table uwhio) (on cafrl rxhhu) (on yspdy cafrl) (clear prqwl)"
] | file_153737 |
GOAL: (on wowtu fqhvp) (arm-empty) (on-table nhovk) (on gdkfp wowtu) (on fqhvp nhovk) (clear gdkfp) | GOAL: (on wowtu fqhvp) (arm-empty) (on-table nhovk) (on gdkfp wowtu) (on fqhvp nhovk) (clear gdkfp)
STATE: (arm-empty) (on-table gdkfp) (on fqhvp nhovk) (clear wowtu) (on-table wowtu) (on nhovk gdkfp) (clear fqhvp) | [
[
"unstack fqhvp nhovk"
],
[
"stack fqhvp wowtu"
],
[
"unstack nhovk gdkfp"
],
[
"put-down nhovk"
],
[
"unstack fqhvp wowtu"
],
[
"stack fqhvp nhovk"
],
[
"pick-up wowtu"
],
[
"stack wowtu fqhvp"
],
[
"pick-up gdkfp"
],
[
"stack gdkfp wowtu"
]
] | [
"(clear wowtu) (on nhovk gdkfp) (clear nhovk) (on-table gdkfp) (on-table wowtu) (holding fqhvp)",
"(on fqhvp wowtu) (clear nhovk) (arm-empty) (on-table gdkfp) (on-table wowtu) (on nhovk gdkfp) (clear fqhvp)",
"(on fqhvp wowtu) (on-table gdkfp) (on-table wowtu) (holding nhovk) (clear fqhvp) (clear gdkfp)",
"(arm-empty) (on-table nhovk) (on fqhvp wowtu) (clear nhovk) (on-table gdkfp) (on-table wowtu) (clear fqhvp) (clear gdkfp)",
"(clear nhovk) (on-table nhovk) (on-table gdkfp) (clear wowtu) (on-table wowtu) (holding fqhvp) (clear gdkfp)",
"(arm-empty) (on-table nhovk) (on-table gdkfp) (on fqhvp nhovk) (clear wowtu) (on-table wowtu) (clear fqhvp) (clear gdkfp)",
"(on-table nhovk) (on-table gdkfp) (holding wowtu) (on fqhvp nhovk) (clear fqhvp) (clear gdkfp)",
"(on wowtu fqhvp) (arm-empty) (on-table nhovk) (on-table gdkfp) (on fqhvp nhovk) (clear wowtu) (clear gdkfp)",
"(holding gdkfp) (on wowtu fqhvp) (on-table nhovk) (on fqhvp nhovk) (clear wowtu)",
"(on wowtu fqhvp) (arm-empty) (on-table nhovk) (on gdkfp wowtu) (on fqhvp nhovk) (clear gdkfp)"
] | file_119788 |
GOAL: (arm-empty) (on-table uqrgm) (clear vxbwz) (on gnkkn wxqfa) (on wxqfa gpgsx) (clear gnkkn) (clear uqrgm) (on-table gpgsx) (on-table vxbwz) | GOAL: (arm-empty) (on-table uqrgm) (clear vxbwz) (on gnkkn wxqfa) (on wxqfa gpgsx) (clear gnkkn) (clear uqrgm) (on-table gpgsx) (on-table vxbwz)
STATE: (on wxqfa vxbwz) (on gpgsx wxqfa) (arm-empty) (on-table uqrgm) (on gnkkn gpgsx) (on vxbwz uqrgm) (clear gnkkn) | [
[
"unstack gnkkn gpgsx"
],
[
"put-down gnkkn"
],
[
"unstack gpgsx wxqfa"
],
[
"put-down gpgsx"
],
[
"unstack wxqfa vxbwz"
],
[
"stack wxqfa gpgsx"
],
[
"pick-up gnkkn"
],
[
"stack gnkkn wxqfa"
],
[
"unstack vxbwz uqrgm"
],
[
"put-down vxbwz"
]
] | [
"(on gpgsx wxqfa) (on-table uqrgm) (holding gnkkn) (on wxqfa vxbwz) (on vxbwz uqrgm) (clear gpgsx)",
"(on gpgsx wxqfa) (arm-empty) (on-table uqrgm) (on-table gnkkn) (clear gnkkn) (on wxqfa vxbwz) (on vxbwz uqrgm) (clear gpgsx)",
"(holding gpgsx) (on wxqfa vxbwz) (on-table uqrgm) (on-table gnkkn) (on vxbwz uqrgm) (clear wxqfa) (clear gnkkn)",
"(arm-empty) (on-table uqrgm) (on-table gnkkn) (clear gnkkn) (on wxqfa vxbwz) (on-table gpgsx) (on vxbwz uqrgm) (clear wxqfa) (clear gpgsx)",
"(on-table uqrgm) (on-table gnkkn) (on-table gpgsx) (clear vxbwz) (on vxbwz uqrgm) (holding wxqfa) (clear gpgsx) (clear gnkkn)",
"(arm-empty) (on-table uqrgm) (on-table gnkkn) (on-table gpgsx) (clear vxbwz) (on wxqfa gpgsx) (on vxbwz uqrgm) (clear wxqfa) (clear gnkkn)",
"(on-table uqrgm) (on-table gpgsx) (on vxbwz uqrgm) (clear vxbwz) (holding gnkkn) (on wxqfa gpgsx) (clear wxqfa)",
"(arm-empty) (on-table uqrgm) (on-table gpgsx) (clear vxbwz) (on gnkkn wxqfa) (on wxqfa gpgsx) (on vxbwz uqrgm) (clear gnkkn)",
"(clear uqrgm) (on-table uqrgm) (on-table gpgsx) (holding vxbwz) (on gnkkn wxqfa) (on wxqfa gpgsx) (clear gnkkn)",
"(arm-empty) (on-table uqrgm) (clear vxbwz) (on gnkkn wxqfa) (on wxqfa gpgsx) (clear gnkkn) (clear uqrgm) (on-table gpgsx) (on-table vxbwz)"
] | file_191875 |
GOAL: (clear jfjqw) (arm-empty) (on-table suknm) (on-table piooa) (on jfjqw suknm) (clear ojhsh) (on wvhms piooa) (on-table ojhsh) (clear wvhms) | GOAL: (clear jfjqw) (arm-empty) (on-table suknm) (on-table piooa) (on jfjqw suknm) (clear ojhsh) (on wvhms piooa) (on-table ojhsh) (clear wvhms)
STATE: (on ojhsh suknm) (arm-empty) (on-table jfjqw) (on suknm jfjqw) (on piooa ojhsh) (on wvhms piooa) (clear wvhms) | [
[
"unstack wvhms piooa"
],
[
"put-down wvhms"
],
[
"unstack piooa ojhsh"
],
[
"put-down piooa"
],
[
"pick-up wvhms"
],
[
"stack wvhms piooa"
],
[
"unstack ojhsh suknm"
],
[
"put-down ojhsh"
],
[
"unstack suknm jfjqw"
],
[
"put-down suknm"
],
[
"pick-up jfjqw"
],
[
"stack jfjqw suknm"
]
] | [
"(on ojhsh suknm) (on-table jfjqw) (on suknm jfjqw) (clear piooa) (holding wvhms) (on piooa ojhsh)",
"(on ojhsh suknm) (arm-empty) (on-table jfjqw) (on suknm jfjqw) (clear piooa) (on-table wvhms) (on piooa ojhsh) (clear wvhms)",
"(on ojhsh suknm) (on-table jfjqw) (on-table wvhms) (holding piooa) (on suknm jfjqw) (clear ojhsh) (clear wvhms)",
"(on ojhsh suknm) (arm-empty) (on-table jfjqw) (on suknm jfjqw) (clear piooa) (on-table wvhms) (on-table piooa) (clear ojhsh) (clear wvhms)",
"(holding wvhms) (on ojhsh suknm) (on-table jfjqw) (on suknm jfjqw) (clear piooa) (on-table piooa) (clear ojhsh)",
"(on ojhsh suknm) (arm-empty) (on-table jfjqw) (on suknm jfjqw) (on-table piooa) (on wvhms piooa) (clear ojhsh) (clear wvhms)",
"(on-table jfjqw) (on suknm jfjqw) (on-table piooa) (on wvhms piooa) (holding ojhsh) (clear wvhms) (clear suknm)",
"(arm-empty) (on-table jfjqw) (on suknm jfjqw) (clear suknm) (on-table piooa) (on wvhms piooa) (clear ojhsh) (clear wvhms) (on-table ojhsh)",
"(clear jfjqw) (on-table jfjqw) (holding suknm) (on-table piooa) (on wvhms piooa) (clear ojhsh) (clear wvhms) (on-table ojhsh)",
"(clear jfjqw) (arm-empty) (on-table jfjqw) (on-table suknm) (on-table piooa) (on wvhms piooa) (clear ojhsh) (clear wvhms) (on-table ojhsh) (clear suknm)",
"(on-table suknm) (holding jfjqw) (on-table piooa) (on wvhms piooa) (clear ojhsh) (clear wvhms) (on-table ojhsh) (clear suknm)",
"(clear jfjqw) (arm-empty) (on-table suknm) (on-table piooa) (on jfjqw suknm) (clear ojhsh) (on wvhms piooa) (on-table ojhsh) (clear wvhms)"
] | file_33992 |
GOAL: (clear ktgbb) (on-table ktgbb) (on-table xnfna) (holding jcipl) (on pxhda xnfna) (clear djpje) (on-table djpje) (clear pxhda) | GOAL: (clear ktgbb) (on-table ktgbb) (on-table xnfna) (holding jcipl) (on pxhda xnfna) (clear djpje) (on-table djpje) (clear pxhda)
STATE: (clear ktgbb) (on djpje pxhda) (arm-empty) (on-table ktgbb) (on-table xnfna) (clear jcipl) (on pxhda xnfna) (on-table jcipl) (clear djpje) | [
[
"pick-up jcipl"
],
[
"stack jcipl ktgbb"
],
[
"unstack djpje pxhda"
],
[
"put-down djpje"
],
[
"unstack jcipl ktgbb"
]
] | [
"(clear ktgbb) (on djpje pxhda) (on-table ktgbb) (on-table xnfna) (holding jcipl) (on pxhda xnfna) (clear djpje)",
"(on djpje pxhda) (arm-empty) (on-table ktgbb) (on-table xnfna) (clear jcipl) (on pxhda xnfna) (on jcipl ktgbb) (clear djpje)",
"(on-table ktgbb) (on-table xnfna) (clear jcipl) (on pxhda xnfna) (on jcipl ktgbb) (holding djpje) (clear pxhda)",
"(arm-empty) (on-table ktgbb) (clear jcipl) (clear pxhda) (on-table xnfna) (on pxhda xnfna) (on jcipl ktgbb) (clear djpje) (on-table djpje)",
"(clear ktgbb) (on-table ktgbb) (on-table xnfna) (holding jcipl) (on pxhda xnfna) (clear djpje) (on-table djpje) (clear pxhda)"
] | file_102520 |
GOAL: (arm-empty) (on-table vchru) (on-table lpqus) (on kmouv lpqus) (clear pvkmb) (on feurj kmouv) (clear feurj) (on-table pvkmb) (clear vchru) | GOAL: (arm-empty) (on-table vchru) (on-table lpqus) (on kmouv lpqus) (clear pvkmb) (on feurj kmouv) (clear feurj) (on-table pvkmb) (clear vchru)
STATE: (on feurj vchru) (clear kmouv) (arm-empty) (on-table kmouv) (on-table vchru) (clear lpqus) (on-table lpqus) (clear pvkmb) (clear feurj) (on-table pvkmb) | [
[
"pick-up kmouv"
],
[
"stack kmouv lpqus"
],
[
"unstack feurj vchru"
],
[
"stack feurj kmouv"
]
] | [
"(on feurj vchru) (on-table vchru) (clear lpqus) (on-table lpqus) (holding kmouv) (clear pvkmb) (clear feurj) (on-table pvkmb)",
"(on feurj vchru) (clear kmouv) (arm-empty) (on-table vchru) (on-table lpqus) (on kmouv lpqus) (clear pvkmb) (clear feurj) (on-table pvkmb)",
"(holding feurj) (clear kmouv) (on-table vchru) (on-table lpqus) (on kmouv lpqus) (clear pvkmb) (on-table pvkmb) (clear vchru)",
"(arm-empty) (on-table vchru) (on-table lpqus) (on kmouv lpqus) (clear pvkmb) (on feurj kmouv) (clear feurj) (on-table pvkmb) (clear vchru)"
] | file_180905 |
GOAL: (clear mpozj) (on fzsak vfvrs) (arm-empty) (clear wmuus) (on fmkhl fzsak) (on-table wmuus) (on mpozj fmkhl) (on-table vfvrs) | GOAL: (clear mpozj) (on fzsak vfvrs) (arm-empty) (clear wmuus) (on fmkhl fzsak) (on-table wmuus) (on mpozj fmkhl) (on-table vfvrs)
STATE: (holding fzsak) (on fmkhl mpozj) (on-table wmuus) (on mpozj wmuus) (clear vfvrs) (on-table vfvrs) (clear fmkhl) | [
[
"stack fzsak vfvrs"
],
[
"unstack fmkhl mpozj"
],
[
"stack fmkhl fzsak"
],
[
"unstack mpozj wmuus"
],
[
"stack mpozj fmkhl"
]
] | [
"(on fzsak vfvrs) (arm-empty) (on fmkhl mpozj) (on-table wmuus) (on mpozj wmuus) (clear fzsak) (on-table vfvrs) (clear fmkhl)",
"(clear mpozj) (on fzsak vfvrs) (holding fmkhl) (on-table wmuus) (on mpozj wmuus) (clear fzsak) (on-table vfvrs)",
"(clear mpozj) (on fzsak vfvrs) (arm-empty) (on fmkhl fzsak) (on-table wmuus) (on mpozj wmuus) (on-table vfvrs) (clear fmkhl)",
"(on fzsak vfvrs) (clear wmuus) (on fmkhl fzsak) (on-table wmuus) (holding mpozj) (on-table vfvrs) (clear fmkhl)",
"(clear mpozj) (on fzsak vfvrs) (arm-empty) (clear wmuus) (on fmkhl fzsak) (on-table wmuus) (on mpozj fmkhl) (on-table vfvrs)"
] | file_127108 |
GOAL: (arm-empty) (on-table kecpu) (clear foxxd) (clear kecpu) (on-table cgooh) (on-table foxxd) (clear bggdx) (clear cgooh) (on-table bggdx) | GOAL: (arm-empty) (on-table kecpu) (clear foxxd) (clear kecpu) (on-table cgooh) (on-table foxxd) (clear bggdx) (clear cgooh) (on-table bggdx)
STATE: (holding kecpu) (on-table foxxd) (on cgooh foxxd) (clear bggdx) (clear cgooh) (on-table bggdx) | [
[
"put-down kecpu"
],
[
"unstack cgooh foxxd"
],
[
"put-down cgooh"
]
] | [
"(arm-empty) (on-table kecpu) (clear kecpu) (on-table foxxd) (on cgooh foxxd) (clear bggdx) (clear cgooh) (on-table bggdx)",
"(holding cgooh) (clear kecpu) (on-table kecpu) (clear foxxd) (on-table foxxd) (clear bggdx) (on-table bggdx)",
"(arm-empty) (on-table kecpu) (clear foxxd) (clear kecpu) (on-table cgooh) (on-table foxxd) (clear bggdx) (clear cgooh) (on-table bggdx)"
] | file_80707 |
GOAL: (clear gafrc) (arm-empty) (on-table dasam) (on-table gjewl) (on kiqsv dasam) (on gafrc kiqsv) (on qqvbu gjewl) (clear qqvbu) | GOAL: (clear gafrc) (arm-empty) (on-table dasam) (on-table gjewl) (on kiqsv dasam) (on gafrc kiqsv) (on qqvbu gjewl) (clear qqvbu)
STATE: (on-table dasam) (on kiqsv dasam) (on gafrc kiqsv) (holding qqvbu) (on gjewl gafrc) (clear gjewl) | [
[
"put-down qqvbu"
],
[
"unstack gjewl gafrc"
],
[
"put-down gjewl"
],
[
"pick-up qqvbu"
],
[
"stack qqvbu gjewl"
]
] | [
"(arm-empty) (on-table dasam) (on kiqsv dasam) (on gafrc kiqsv) (on gjewl gafrc) (clear qqvbu) (clear gjewl) (on-table qqvbu)",
"(holding gjewl) (clear gafrc) (on-table dasam) (on kiqsv dasam) (on gafrc kiqsv) (clear qqvbu) (on-table qqvbu)",
"(arm-empty) (on-table dasam) (on kiqsv dasam) (on gafrc kiqsv) (clear gafrc) (on-table gjewl) (clear qqvbu) (clear gjewl) (on-table qqvbu)",
"(clear gafrc) (on-table dasam) (on kiqsv dasam) (on-table gjewl) (on gafrc kiqsv) (holding qqvbu) (clear gjewl)",
"(clear gafrc) (arm-empty) (on-table dasam) (on-table gjewl) (on kiqsv dasam) (on gafrc kiqsv) (on qqvbu gjewl) (clear qqvbu)"
] | file_138976 |
GOAL: (clear mybzq) (arm-empty) (on nkrbj dxfgv) (on-table wpxws) (on-table dxfgv) (on tzrnz wpxws) (on mybzq nkrbj) (clear tzrnz) | GOAL: (clear mybzq) (arm-empty) (on nkrbj dxfgv) (on-table wpxws) (on-table dxfgv) (on tzrnz wpxws) (on mybzq nkrbj) (clear tzrnz)
STATE: (on nkrbj dxfgv) (on-table dxfgv) (on mybzq nkrbj) (on wpxws mybzq) (clear wpxws) (holding tzrnz) | [
[
"put-down tzrnz"
],
[
"unstack wpxws mybzq"
],
[
"put-down wpxws"
],
[
"pick-up tzrnz"
],
[
"stack tzrnz wpxws"
]
] | [
"(on-table dxfgv) (arm-empty) (on nkrbj dxfgv) (on mybzq nkrbj) (clear tzrnz) (on wpxws mybzq) (clear wpxws) (on-table tzrnz)",
"(holding wpxws) (clear mybzq) (on nkrbj dxfgv) (on-table dxfgv) (on mybzq nkrbj) (clear tzrnz) (on-table tzrnz)",
"(arm-empty) (on nkrbj dxfgv) (on mybzq nkrbj) (clear mybzq) (on-table wpxws) (on-table dxfgv) (clear tzrnz) (clear wpxws) (on-table tzrnz)",
"(clear mybzq) (on nkrbj dxfgv) (on-table wpxws) (on-table dxfgv) (on mybzq nkrbj) (holding tzrnz) (clear wpxws)",
"(clear mybzq) (arm-empty) (on nkrbj dxfgv) (on-table wpxws) (on-table dxfgv) (on tzrnz wpxws) (on mybzq nkrbj) (clear tzrnz)"
] | file_29542 |
GOAL: (clear uwupy) (on oioia sbpiq) (on llgye oioia) (on-table sbpiq) (on uwupy llgye) (holding javhm) | GOAL: (clear uwupy) (on oioia sbpiq) (on llgye oioia) (on-table sbpiq) (on uwupy llgye) (holding javhm)
STATE: (clear uwupy) (on oioia sbpiq) (on-table uwupy) (on-table sbpiq) (clear oioia) (holding llgye) (clear javhm) (on-table javhm) | [
[
"stack llgye oioia"
],
[
"pick-up uwupy"
],
[
"stack uwupy llgye"
],
[
"pick-up javhm"
]
] | [
"(clear uwupy) (on oioia sbpiq) (on llgye oioia) (on-table uwupy) (arm-empty) (on-table sbpiq) (clear javhm) (on-table javhm) (clear llgye)",
"(on oioia sbpiq) (on llgye oioia) (on-table sbpiq) (holding uwupy) (clear javhm) (on-table javhm) (clear llgye)",
"(clear uwupy) (on oioia sbpiq) (on llgye oioia) (arm-empty) (on-table sbpiq) (on uwupy llgye) (clear javhm) (on-table javhm)",
"(clear uwupy) (on oioia sbpiq) (on llgye oioia) (on-table sbpiq) (on uwupy llgye) (holding javhm)"
] | file_181605 |
GOAL: (on xxaoq lubtl) (on gobfk glbxd) (arm-empty) (on-table khdws) (on glbxd xxaoq) (on lubtl khdws) (clear gobfk) | GOAL: (on xxaoq lubtl) (on gobfk glbxd) (arm-empty) (on-table khdws) (on glbxd xxaoq) (on lubtl khdws) (clear gobfk)
STATE: (holding gobfk) (on-table khdws) (on-table glbxd) (clear lubtl) (on lubtl khdws) (clear xxaoq) (on-table xxaoq) (clear glbxd) | [
[
"put-down gobfk"
],
[
"pick-up xxaoq"
],
[
"stack xxaoq lubtl"
],
[
"pick-up glbxd"
],
[
"stack glbxd xxaoq"
],
[
"pick-up gobfk"
],
[
"stack gobfk glbxd"
]
] | [
"(arm-empty) (on-table khdws) (on-table glbxd) (on-table gobfk) (clear lubtl) (on lubtl khdws) (clear xxaoq) (clear gobfk) (on-table xxaoq) (clear glbxd)",
"(on-table khdws) (on-table glbxd) (on-table gobfk) (clear lubtl) (on lubtl khdws) (holding xxaoq) (clear gobfk) (clear glbxd)",
"(on xxaoq lubtl) (arm-empty) (on-table khdws) (on-table glbxd) (on-table gobfk) (on lubtl khdws) (clear xxaoq) (clear gobfk) (clear glbxd)",
"(on xxaoq lubtl) (on-table khdws) (on-table gobfk) (holding glbxd) (on lubtl khdws) (clear xxaoq) (clear gobfk)",
"(on xxaoq lubtl) (arm-empty) (on-table khdws) (on-table gobfk) (on glbxd xxaoq) (on lubtl khdws) (clear gobfk) (clear glbxd)",
"(holding gobfk) (on xxaoq lubtl) (on-table khdws) (on glbxd xxaoq) (on lubtl khdws) (clear glbxd)",
"(on xxaoq lubtl) (on gobfk glbxd) (arm-empty) (on-table khdws) (on glbxd xxaoq) (on lubtl khdws) (clear gobfk)"
] | file_217312 |
GOAL: (clear spnmh) (on-table spnmh) (holding ojagl) (on-table lifgm) (on nvacj lifgm) (clear jkweb) (clear nvacj) (on-table jkweb) | GOAL: (clear spnmh) (on-table spnmh) (holding ojagl) (on-table lifgm) (on nvacj lifgm) (clear jkweb) (clear nvacj) (on-table jkweb)
STATE: (clear spnmh) (on lifgm nvacj) (arm-empty) (on-table ojagl) (on-table nvacj) (on spnmh lifgm) (clear jkweb) (on-table jkweb) (clear ojagl) | [
[
"unstack spnmh lifgm"
],
[
"stack spnmh jkweb"
],
[
"pick-up ojagl"
],
[
"stack ojagl spnmh"
],
[
"unstack lifgm nvacj"
],
[
"put-down lifgm"
],
[
"pick-up nvacj"
],
[
"stack nvacj lifgm"
],
[
"unstack ojagl spnmh"
],
[
"stack ojagl nvacj"
],
[
"unstack spnmh jkweb"
],
[
"put-down spnmh"
],
[
"unstack ojagl nvacj"
]
] | [
"(on lifgm nvacj) (on-table ojagl) (on-table nvacj) (clear lifgm) (holding spnmh) (clear jkweb) (on-table jkweb) (clear ojagl)",
"(clear spnmh) (on lifgm nvacj) (arm-empty) (on-table ojagl) (on-table nvacj) (clear lifgm) (on spnmh jkweb) (on-table jkweb) (clear ojagl)",
"(clear spnmh) (on lifgm nvacj) (on-table nvacj) (clear lifgm) (holding ojagl) (on spnmh jkweb) (on-table jkweb)",
"(on lifgm nvacj) (arm-empty) (on-table nvacj) (on ojagl spnmh) (clear lifgm) (on spnmh jkweb) (on-table jkweb) (clear ojagl)",
"(on-table nvacj) (holding lifgm) (on ojagl spnmh) (on spnmh jkweb) (clear nvacj) (on-table jkweb) (clear ojagl)",
"(arm-empty) (on ojagl spnmh) (clear lifgm) (clear ojagl) (on-table nvacj) (on-table lifgm) (on spnmh jkweb) (clear nvacj) (on-table jkweb)",
"(holding nvacj) (on ojagl spnmh) (clear lifgm) (on-table lifgm) (on spnmh jkweb) (on-table jkweb) (clear ojagl)",
"(arm-empty) (on ojagl spnmh) (on-table lifgm) (on nvacj lifgm) (on spnmh jkweb) (clear nvacj) (on-table jkweb) (clear ojagl)",
"(clear spnmh) (holding ojagl) (on-table lifgm) (on nvacj lifgm) (on spnmh jkweb) (clear nvacj) (on-table jkweb)",
"(clear spnmh) (arm-empty) (on ojagl nvacj) (on-table lifgm) (on nvacj lifgm) (on spnmh jkweb) (on-table jkweb) (clear ojagl)",
"(holding spnmh) (on ojagl nvacj) (on-table lifgm) (on nvacj lifgm) (clear jkweb) (on-table jkweb) (clear ojagl)",
"(arm-empty) (on-table spnmh) (clear ojagl) (clear spnmh) (on ojagl nvacj) (on-table lifgm) (on nvacj lifgm) (clear jkweb) (on-table jkweb)",
"(clear spnmh) (on-table spnmh) (holding ojagl) (on-table lifgm) (on nvacj lifgm) (clear jkweb) (clear nvacj) (on-table jkweb)"
] | file_39583 |
GOAL: (clear ephjf) (on-table ephjf) (on-table pqiex) (on-table uswfq) (holding xabam) (clear tfdyv) (clear uswfq) (on-table tfdyv) (clear pqiex) | GOAL: (clear ephjf) (on-table ephjf) (on-table pqiex) (on-table uswfq) (holding xabam) (clear tfdyv) (clear uswfq) (on-table tfdyv) (clear pqiex)
STATE: (clear ephjf) (on-table ephjf) (on-table uswfq) (clear xabam) (holding pqiex) (on-table xabam) (on tfdyv uswfq) (clear tfdyv) | [
[
"put-down pqiex"
],
[
"unstack tfdyv uswfq"
],
[
"put-down tfdyv"
],
[
"pick-up xabam"
]
] | [
"(clear ephjf) (arm-empty) (on-table ephjf) (on-table pqiex) (on-table uswfq) (clear xabam) (on-table xabam) (on tfdyv uswfq) (clear tfdyv) (clear pqiex)",
"(clear ephjf) (on-table ephjf) (on-table pqiex) (on-table uswfq) (clear xabam) (on-table xabam) (holding tfdyv) (clear uswfq) (clear pqiex)",
"(clear ephjf) (arm-empty) (on-table ephjf) (on-table pqiex) (on-table uswfq) (clear xabam) (on-table xabam) (clear tfdyv) (clear uswfq) (on-table tfdyv) (clear pqiex)",
"(clear ephjf) (on-table ephjf) (on-table pqiex) (on-table uswfq) (holding xabam) (clear tfdyv) (clear uswfq) (on-table tfdyv) (clear pqiex)"
] | file_9088 |
GOAL: (on tzucu vezqn) (on ycswz tzucu) (on-table wgeeg) (arm-empty) (on-table vezqn) (on zirnr wgeeg) (clear zirnr) (clear ycswz) | GOAL: (on tzucu vezqn) (on ycswz tzucu) (on-table wgeeg) (arm-empty) (on-table vezqn) (on zirnr wgeeg) (clear zirnr) (clear ycswz)
STATE: (holding tzucu) (on-table vezqn) (on ycswz wgeeg) (on wgeeg zirnr) (clear vezqn) (on-table zirnr) (clear ycswz) | [
[
"stack tzucu vezqn"
],
[
"unstack ycswz wgeeg"
],
[
"stack ycswz tzucu"
],
[
"unstack wgeeg zirnr"
],
[
"put-down wgeeg"
],
[
"pick-up zirnr"
],
[
"stack zirnr wgeeg"
]
] | [
"(on tzucu vezqn) (arm-empty) (on-table vezqn) (on ycswz wgeeg) (clear tzucu) (on wgeeg zirnr) (on-table zirnr) (clear ycswz)",
"(clear wgeeg) (on tzucu vezqn) (on-table vezqn) (clear tzucu) (holding ycswz) (on wgeeg zirnr) (on-table zirnr)",
"(clear wgeeg) (on tzucu vezqn) (on ycswz tzucu) (arm-empty) (on-table vezqn) (on wgeeg zirnr) (on-table zirnr) (clear ycswz)",
"(on tzucu vezqn) (on ycswz tzucu) (on-table vezqn) (holding wgeeg) (clear zirnr) (on-table zirnr) (clear ycswz)",
"(on tzucu vezqn) (on ycswz tzucu) (on-table wgeeg) (arm-empty) (clear ycswz) (clear wgeeg) (on-table vezqn) (clear zirnr) (on-table zirnr)",
"(clear wgeeg) (on tzucu vezqn) (on ycswz tzucu) (on-table wgeeg) (on-table vezqn) (holding zirnr) (clear ycswz)",
"(on tzucu vezqn) (on ycswz tzucu) (on-table wgeeg) (arm-empty) (on-table vezqn) (on zirnr wgeeg) (clear zirnr) (clear ycswz)"
] | file_153702 |
GOAL: (clear wayyh) (on-table wayyh) (on-table chlxt) (on-table nhnkz) (holding uwign) (clear jfqjh) (clear nhnkz) (on-table jfqjh) (clear chlxt) | GOAL: (clear wayyh) (on-table wayyh) (on-table chlxt) (on-table nhnkz) (holding uwign) (clear jfqjh) (clear nhnkz) (on-table jfqjh) (clear chlxt)
STATE: (on-table chlxt) (holding uwign) (on-table nhnkz) (on jfqjh wayyh) (on wayyh chlxt) (clear jfqjh) (clear nhnkz) | [
[
"put-down uwign"
],
[
"unstack jfqjh wayyh"
],
[
"put-down jfqjh"
],
[
"pick-up uwign"
],
[
"stack uwign jfqjh"
],
[
"unstack wayyh chlxt"
],
[
"put-down wayyh"
],
[
"unstack uwign jfqjh"
]
] | [
"(arm-empty) (on-table chlxt) (clear uwign) (on wayyh chlxt) (on-table nhnkz) (on jfqjh wayyh) (on-table uwign) (clear jfqjh) (clear nhnkz)",
"(clear wayyh) (on-table chlxt) (on-table nhnkz) (clear uwign) (on-table uwign) (on wayyh chlxt) (holding jfqjh) (clear nhnkz)",
"(clear wayyh) (arm-empty) (on-table chlxt) (on-table nhnkz) (clear uwign) (on-table uwign) (on wayyh chlxt) (clear jfqjh) (clear nhnkz) (on-table jfqjh)",
"(clear wayyh) (on-table chlxt) (on-table nhnkz) (holding uwign) (on wayyh chlxt) (clear jfqjh) (clear nhnkz) (on-table jfqjh)",
"(clear wayyh) (arm-empty) (on-table chlxt) (on-table nhnkz) (clear uwign) (on uwign jfqjh) (on wayyh chlxt) (clear nhnkz) (on-table jfqjh)",
"(on-table chlxt) (on-table nhnkz) (clear uwign) (on uwign jfqjh) (holding wayyh) (clear nhnkz) (on-table jfqjh) (clear chlxt)",
"(clear wayyh) (arm-empty) (on-table wayyh) (on-table chlxt) (on-table nhnkz) (clear uwign) (on uwign jfqjh) (clear nhnkz) (on-table jfqjh) (clear chlxt)",
"(clear wayyh) (on-table wayyh) (on-table chlxt) (on-table nhnkz) (holding uwign) (clear jfqjh) (clear nhnkz) (on-table jfqjh) (clear chlxt)"
] | file_107129 |
GOAL: (on-table hmtfc) (on-table eybyk) (clear xucot) (on rqetc eybyk) (holding uajoi) (on xucot hmtfc) (clear rqetc) | GOAL: (on-table hmtfc) (on-table eybyk) (clear xucot) (on rqetc eybyk) (holding uajoi) (on xucot hmtfc) (clear rqetc)
STATE: (on rqetc xucot) (arm-empty) (on-table uajoi) (on xucot uajoi) (on hmtfc rqetc) (on eybyk hmtfc) (clear eybyk) | [
[
"unstack eybyk hmtfc"
],
[
"put-down eybyk"
],
[
"unstack hmtfc rqetc"
],
[
"put-down hmtfc"
],
[
"unstack rqetc xucot"
],
[
"stack rqetc eybyk"
],
[
"unstack xucot uajoi"
],
[
"stack xucot hmtfc"
],
[
"pick-up uajoi"
]
] | [
"(on-table uajoi) (on xucot uajoi) (holding eybyk) (on rqetc xucot) (clear hmtfc) (on hmtfc rqetc)",
"(arm-empty) (on-table uajoi) (on xucot uajoi) (on rqetc xucot) (clear hmtfc) (on-table eybyk) (on hmtfc rqetc) (clear eybyk)",
"(on rqetc xucot) (on-table uajoi) (on xucot uajoi) (on-table eybyk) (holding hmtfc) (clear rqetc) (clear eybyk)",
"(arm-empty) (on-table hmtfc) (on-table uajoi) (on xucot uajoi) (on rqetc xucot) (clear hmtfc) (on-table eybyk) (clear rqetc) (clear eybyk)",
"(clear hmtfc) (on-table hmtfc) (on-table uajoi) (on xucot uajoi) (on-table eybyk) (clear xucot) (holding rqetc) (clear eybyk)",
"(clear hmtfc) (arm-empty) (on-table hmtfc) (on-table uajoi) (on xucot uajoi) (on-table eybyk) (clear xucot) (on rqetc eybyk) (clear rqetc)",
"(clear hmtfc) (on-table hmtfc) (on-table uajoi) (holding xucot) (on-table eybyk) (on rqetc eybyk) (clear rqetc) (clear uajoi)",
"(arm-empty) (on-table hmtfc) (on-table uajoi) (on xucot hmtfc) (on-table eybyk) (clear xucot) (on rqetc eybyk) (clear rqetc) (clear uajoi)",
"(on-table hmtfc) (on-table eybyk) (clear xucot) (on rqetc eybyk) (holding uajoi) (on xucot hmtfc) (clear rqetc)"
] | file_223075 |
GOAL: (clear ffjii) (on brzxe kzyho) (on-table kzyho) (holding yfhrq) (on ffjii brzxe) (clear svlwc) (on-table svlwc) | GOAL: (clear ffjii) (on brzxe kzyho) (on-table kzyho) (holding yfhrq) (on ffjii brzxe) (clear svlwc) (on-table svlwc)
STATE: (on-table kzyho) (clear brzxe) (holding yfhrq) (on brzxe ffjii) (on ffjii kzyho) (clear svlwc) (on-table svlwc) | [
[
"stack yfhrq svlwc"
],
[
"unstack brzxe ffjii"
],
[
"put-down brzxe"
],
[
"unstack ffjii kzyho"
],
[
"stack ffjii yfhrq"
],
[
"pick-up brzxe"
],
[
"stack brzxe kzyho"
],
[
"unstack ffjii yfhrq"
],
[
"stack ffjii brzxe"
],
[
"unstack yfhrq svlwc"
]
] | [
"(arm-empty) (on-table kzyho) (clear brzxe) (on yfhrq svlwc) (on brzxe ffjii) (on ffjii kzyho) (on-table svlwc) (clear yfhrq)",
"(clear ffjii) (on-table kzyho) (holding brzxe) (on yfhrq svlwc) (on ffjii kzyho) (on-table svlwc) (clear yfhrq)",
"(arm-empty) (clear brzxe) (on yfhrq svlwc) (on ffjii kzyho) (clear yfhrq) (clear ffjii) (on-table kzyho) (on-table brzxe) (on-table svlwc)",
"(on-table kzyho) (clear brzxe) (on yfhrq svlwc) (on-table brzxe) (holding ffjii) (clear kzyho) (on-table svlwc) (clear yfhrq)",
"(clear ffjii) (arm-empty) (on-table kzyho) (clear brzxe) (on yfhrq svlwc) (on-table brzxe) (on ffjii yfhrq) (clear kzyho) (on-table svlwc)",
"(clear ffjii) (on-table kzyho) (holding brzxe) (on yfhrq svlwc) (on ffjii yfhrq) (clear kzyho) (on-table svlwc)",
"(clear ffjii) (on brzxe kzyho) (arm-empty) (on-table kzyho) (clear brzxe) (on yfhrq svlwc) (on ffjii yfhrq) (on-table svlwc)",
"(on brzxe kzyho) (on-table kzyho) (clear brzxe) (on yfhrq svlwc) (holding ffjii) (on-table svlwc) (clear yfhrq)",
"(clear ffjii) (on brzxe kzyho) (arm-empty) (on-table kzyho) (on yfhrq svlwc) (on ffjii brzxe) (on-table svlwc) (clear yfhrq)",
"(clear ffjii) (on brzxe kzyho) (on-table kzyho) (holding yfhrq) (on ffjii brzxe) (clear svlwc) (on-table svlwc)"
] | file_73944 |
GOAL: (clear oohay) (arm-empty) (on-table oohay) (on-table ccnry) (on-table bgelr) (clear pootm) (on-table pootm) (on lxdyg bgelr) (clear lxdyg) (clear ccnry) | GOAL: (clear oohay) (arm-empty) (on-table oohay) (on-table ccnry) (on-table bgelr) (clear pootm) (on-table pootm) (on lxdyg bgelr) (clear lxdyg) (clear ccnry)
STATE: (holding bgelr) (on-table oohay) (on-table ccnry) (on lxdyg oohay) (clear pootm) (on-table pootm) (clear lxdyg) (clear ccnry) | [
[
"put-down bgelr"
],
[
"unstack lxdyg oohay"
],
[
"stack lxdyg bgelr"
]
] | [
"(arm-empty) (on-table oohay) (on-table ccnry) (on-table bgelr) (on lxdyg oohay) (clear pootm) (on-table pootm) (clear lxdyg) (clear bgelr) (clear ccnry)",
"(clear oohay) (on-table oohay) (on-table ccnry) (on-table bgelr) (clear pootm) (on-table pootm) (holding lxdyg) (clear bgelr) (clear ccnry)",
"(clear oohay) (arm-empty) (on-table oohay) (on-table ccnry) (on-table bgelr) (clear pootm) (on-table pootm) (on lxdyg bgelr) (clear lxdyg) (clear ccnry)"
] | file_191487 |
GOAL: (on ipsbd nwuhc) (clear dehqm) (on-table nwuhc) (clear pssta) (on-table pssta) (on dehqm ipsbd) (holding unxly) | GOAL: (on ipsbd nwuhc) (clear dehqm) (on-table nwuhc) (clear pssta) (on-table pssta) (on dehqm ipsbd) (holding unxly)
STATE: (on unxly pssta) (arm-empty) (on nwuhc ipsbd) (on-table pssta) (on dehqm unxly) (on ipsbd dehqm) (clear nwuhc) | [
[
"unstack nwuhc ipsbd"
],
[
"put-down nwuhc"
],
[
"unstack ipsbd dehqm"
],
[
"stack ipsbd nwuhc"
],
[
"unstack dehqm unxly"
],
[
"stack dehqm ipsbd"
],
[
"unstack unxly pssta"
]
] | [
"(holding nwuhc) (on ipsbd dehqm) (on unxly pssta) (on-table pssta) (on dehqm unxly) (clear ipsbd)",
"(arm-empty) (on-table nwuhc) (on ipsbd dehqm) (clear nwuhc) (on unxly pssta) (on-table pssta) (on dehqm unxly) (clear ipsbd)",
"(holding ipsbd) (on unxly pssta) (clear dehqm) (on-table nwuhc) (on-table pssta) (on dehqm unxly) (clear nwuhc)",
"(on unxly pssta) (clear dehqm) (on ipsbd nwuhc) (arm-empty) (on-table nwuhc) (on-table pssta) (on dehqm unxly) (clear ipsbd)",
"(on unxly pssta) (on ipsbd nwuhc) (on-table nwuhc) (on-table pssta) (holding dehqm) (clear unxly) (clear ipsbd)",
"(on unxly pssta) (on ipsbd nwuhc) (clear dehqm) (arm-empty) (on-table nwuhc) (on-table pssta) (on dehqm ipsbd) (clear unxly)",
"(on ipsbd nwuhc) (clear dehqm) (on-table nwuhc) (clear pssta) (on-table pssta) (on dehqm ipsbd) (holding unxly)"
] | file_220543 |
GOAL: (arm-empty) (on-table ocgbn) (on emrqe gdzdp) (on-table qiqtt) (on mwkna ocgbn) (clear emrqe) (on gdzdp qiqtt) (clear mwkna) | GOAL: (arm-empty) (on-table ocgbn) (on emrqe gdzdp) (on-table qiqtt) (on mwkna ocgbn) (clear emrqe) (on gdzdp qiqtt) (clear mwkna)
STATE: (on mwkna emrqe) (arm-empty) (on gdzdp qiqtt) (on-table emrqe) (on ocgbn mwkna) (on qiqtt ocgbn) (clear gdzdp) | [
[
"unstack gdzdp qiqtt"
],
[
"put-down gdzdp"
],
[
"unstack qiqtt ocgbn"
],
[
"put-down qiqtt"
],
[
"unstack ocgbn mwkna"
],
[
"put-down ocgbn"
],
[
"pick-up gdzdp"
],
[
"stack gdzdp qiqtt"
],
[
"unstack mwkna emrqe"
],
[
"stack mwkna ocgbn"
],
[
"pick-up emrqe"
],
[
"stack emrqe gdzdp"
]
] | [
"(holding gdzdp) (on qiqtt ocgbn) (on mwkna emrqe) (on-table emrqe) (on ocgbn mwkna) (clear qiqtt)",
"(arm-empty) (on-table gdzdp) (on qiqtt ocgbn) (clear gdzdp) (on mwkna emrqe) (on-table emrqe) (on ocgbn mwkna) (clear qiqtt)",
"(holding qiqtt) (on mwkna emrqe) (clear ocgbn) (on-table gdzdp) (on-table emrqe) (on ocgbn mwkna) (clear gdzdp)",
"(arm-empty) (on-table gdzdp) (clear gdzdp) (on mwkna emrqe) (clear ocgbn) (on-table qiqtt) (on-table emrqe) (on ocgbn mwkna) (clear qiqtt)",
"(on mwkna emrqe) (on-table gdzdp) (on-table qiqtt) (on-table emrqe) (holding ocgbn) (clear mwkna) (clear qiqtt) (clear gdzdp)",
"(on mwkna emrqe) (clear ocgbn) (arm-empty) (on-table ocgbn) (on-table gdzdp) (on-table qiqtt) (on-table emrqe) (clear mwkna) (clear qiqtt) (clear gdzdp)",
"(on mwkna emrqe) (clear ocgbn) (on-table ocgbn) (on-table qiqtt) (holding gdzdp) (on-table emrqe) (clear mwkna) (clear qiqtt)",
"(on mwkna emrqe) (clear ocgbn) (arm-empty) (on-table ocgbn) (on-table qiqtt) (on gdzdp qiqtt) (on-table emrqe) (clear mwkna) (clear gdzdp)",
"(clear ocgbn) (on-table ocgbn) (on-table qiqtt) (clear emrqe) (on gdzdp qiqtt) (on-table emrqe) (holding mwkna) (clear gdzdp)",
"(arm-empty) (on-table ocgbn) (on-table qiqtt) (on mwkna ocgbn) (clear emrqe) (on gdzdp qiqtt) (on-table emrqe) (clear mwkna) (clear gdzdp)",
"(on-table ocgbn) (on-table qiqtt) (holding emrqe) (on mwkna ocgbn) (on gdzdp qiqtt) (clear mwkna) (clear gdzdp)",
"(arm-empty) (on-table ocgbn) (on emrqe gdzdp) (on-table qiqtt) (on mwkna ocgbn) (clear emrqe) (on gdzdp qiqtt) (clear mwkna)"
] | file_220630 |
GOAL: (on yydlz qgptg) (on-table gfdsr) (on-table ajldk) (clear yydlz) (on qgptg gfdsr) (holding wsicy) (clear ajldk) | GOAL: (on yydlz qgptg) (on-table gfdsr) (on-table ajldk) (clear yydlz) (on qgptg gfdsr) (holding wsicy) (clear ajldk)
STATE: (on-table gfdsr) (holding yydlz) (on ajldk wsicy) (on wsicy qgptg) (on qgptg gfdsr) (clear ajldk) | [
[
"put-down yydlz"
],
[
"unstack ajldk wsicy"
],
[
"put-down ajldk"
],
[
"unstack wsicy qgptg"
],
[
"stack wsicy ajldk"
],
[
"pick-up yydlz"
],
[
"stack yydlz qgptg"
],
[
"unstack wsicy ajldk"
]
] | [
"(arm-empty) (on-table gfdsr) (clear yydlz) (on ajldk wsicy) (on wsicy qgptg) (on qgptg gfdsr) (clear ajldk) (on-table yydlz)",
"(on-table gfdsr) (clear yydlz) (holding ajldk) (on-table yydlz) (on wsicy qgptg) (clear wsicy) (on qgptg gfdsr)",
"(arm-empty) (on-table gfdsr) (on-table ajldk) (clear yydlz) (on wsicy qgptg) (on qgptg gfdsr) (clear ajldk) (on-table yydlz) (clear wsicy)",
"(on-table gfdsr) (on-table ajldk) (clear yydlz) (on-table yydlz) (on qgptg gfdsr) (clear qgptg) (holding wsicy) (clear ajldk)",
"(on wsicy ajldk) (arm-empty) (on-table gfdsr) (on-table ajldk) (clear yydlz) (on-table yydlz) (clear wsicy) (on qgptg gfdsr) (clear qgptg)",
"(on wsicy ajldk) (on-table gfdsr) (on-table ajldk) (holding yydlz) (clear wsicy) (on qgptg gfdsr) (clear qgptg)",
"(on wsicy ajldk) (on yydlz qgptg) (arm-empty) (on-table gfdsr) (on-table ajldk) (clear yydlz) (clear wsicy) (on qgptg gfdsr)",
"(on yydlz qgptg) (on-table gfdsr) (on-table ajldk) (clear yydlz) (on qgptg gfdsr) (holding wsicy) (clear ajldk)"
] | file_72309 |
GOAL: (arm-empty) (on lfkmn rvglx) (clear zzrpg) (on-table zwemw) (on bzjpa lfkmn) (on zzrpg zwemw) (on-table rvglx) (clear bzjpa) | GOAL: (arm-empty) (on lfkmn rvglx) (clear zzrpg) (on-table zwemw) (on bzjpa lfkmn) (on zzrpg zwemw) (on-table rvglx) (clear bzjpa)
STATE: (on zwemw zzrpg) (arm-empty) (on-table zzrpg) (clear rvglx) (on bzjpa zwemw) (on rvglx lfkmn) (on lfkmn bzjpa) | [
[
"unstack rvglx lfkmn"
],
[
"put-down rvglx"
],
[
"unstack lfkmn bzjpa"
],
[
"stack lfkmn rvglx"
],
[
"unstack bzjpa zwemw"
],
[
"stack bzjpa lfkmn"
],
[
"unstack zwemw zzrpg"
],
[
"put-down zwemw"
],
[
"pick-up zzrpg"
],
[
"stack zzrpg zwemw"
]
] | [
"(on zwemw zzrpg) (on-table zzrpg) (holding rvglx) (on bzjpa zwemw) (clear lfkmn) (on lfkmn bzjpa)",
"(on zwemw zzrpg) (arm-empty) (on-table zzrpg) (clear rvglx) (on bzjpa zwemw) (clear lfkmn) (on-table rvglx) (on lfkmn bzjpa)",
"(on zwemw zzrpg) (on-table zzrpg) (clear rvglx) (on-table rvglx) (holding lfkmn) (on bzjpa zwemw) (clear bzjpa)",
"(on zwemw zzrpg) (arm-empty) (on-table zzrpg) (on bzjpa zwemw) (on lfkmn rvglx) (clear lfkmn) (on-table rvglx) (clear bzjpa)",
"(on zwemw zzrpg) (clear lfkmn) (on-table zzrpg) (on lfkmn rvglx) (on-table rvglx) (holding bzjpa) (clear zwemw)",
"(on zwemw zzrpg) (arm-empty) (on-table zzrpg) (on bzjpa lfkmn) (on-table rvglx) (on lfkmn rvglx) (clear bzjpa) (clear zwemw)",
"(holding zwemw) (on-table zzrpg) (on bzjpa lfkmn) (on-table rvglx) (on lfkmn rvglx) (clear bzjpa) (clear zzrpg)",
"(arm-empty) (on-table zzrpg) (on lfkmn rvglx) (clear zzrpg) (on-table zwemw) (on bzjpa lfkmn) (on-table rvglx) (clear bzjpa) (clear zwemw)",
"(on-table zwemw) (on bzjpa lfkmn) (holding zzrpg) (on-table rvglx) (on lfkmn rvglx) (clear bzjpa) (clear zwemw)",
"(arm-empty) (on lfkmn rvglx) (clear zzrpg) (on-table zwemw) (on bzjpa lfkmn) (on zzrpg zwemw) (on-table rvglx) (clear bzjpa)"
] | file_61969 |
GOAL: (clear jycdw) (on qeivn lmcsp) (on-table vebni) (on lmcsp vebni) (on jycdw qeivn) (holding xpfds) | GOAL: (clear jycdw) (on qeivn lmcsp) (on-table vebni) (on lmcsp vebni) (on jycdw qeivn) (holding xpfds)
STATE: (on xpfds qeivn) (on qeivn lmcsp) (on-table vebni) (on lmcsp vebni) (holding jycdw) (clear xpfds) | [
[
"put-down jycdw"
],
[
"unstack xpfds qeivn"
],
[
"put-down xpfds"
],
[
"pick-up jycdw"
],
[
"stack jycdw qeivn"
],
[
"pick-up xpfds"
]
] | [
"(arm-empty) (on-table jycdw) (on qeivn lmcsp) (on xpfds qeivn) (clear jycdw) (on-table vebni) (on lmcsp vebni) (clear xpfds)",
"(clear jycdw) (on-table jycdw) (on qeivn lmcsp) (on-table vebni) (clear qeivn) (on lmcsp vebni) (holding xpfds)",
"(arm-empty) (on-table jycdw) (on qeivn lmcsp) (clear qeivn) (clear jycdw) (on-table vebni) (on lmcsp vebni) (clear xpfds) (on-table xpfds)",
"(on qeivn lmcsp) (on-table vebni) (clear qeivn) (on lmcsp vebni) (holding jycdw) (clear xpfds) (on-table xpfds)",
"(arm-empty) (on qeivn lmcsp) (on jycdw qeivn) (clear jycdw) (on-table vebni) (on lmcsp vebni) (clear xpfds) (on-table xpfds)",
"(clear jycdw) (on qeivn lmcsp) (on-table vebni) (on lmcsp vebni) (on jycdw qeivn) (holding xpfds)"
] | file_40041 |
GOAL: (clear wppgv) (holding gvsyv) (on-table bfpci) (on dgtdp bfpci) (on wppgv dgtdp) (clear iavjh) (on-table iavjh) | GOAL: (clear wppgv) (holding gvsyv) (on-table bfpci) (on dgtdp bfpci) (on wppgv dgtdp) (clear iavjh) (on-table iavjh)
STATE: (arm-empty) (on iavjh wppgv) (on gvsyv iavjh) (on-table bfpci) (on dgtdp bfpci) (on wppgv dgtdp) (clear gvsyv) | [
[
"unstack gvsyv iavjh"
],
[
"put-down gvsyv"
],
[
"unstack iavjh wppgv"
],
[
"put-down iavjh"
],
[
"pick-up gvsyv"
]
] | [
"(holding gvsyv) (on wppgv dgtdp) (on iavjh wppgv) (on-table bfpci) (on dgtdp bfpci) (clear iavjh)",
"(arm-empty) (on-table gvsyv) (on wppgv dgtdp) (clear gvsyv) (on iavjh wppgv) (on-table bfpci) (on dgtdp bfpci) (clear iavjh)",
"(clear wppgv) (on-table gvsyv) (on-table bfpci) (on dgtdp bfpci) (on wppgv dgtdp) (holding iavjh) (clear gvsyv)",
"(arm-empty) (on-table gvsyv) (on wppgv dgtdp) (clear gvsyv) (clear wppgv) (on-table bfpci) (on dgtdp bfpci) (clear iavjh) (on-table iavjh)",
"(clear wppgv) (holding gvsyv) (on-table bfpci) (on dgtdp bfpci) (on wppgv dgtdp) (clear iavjh) (on-table iavjh)"
] | file_99946 |
GOAL: (on ulyjz necbm) (arm-empty) (on-table gugnb) (on-table admtm) (on hfqew ulyjz) (on necbm gugnb) (clear admtm) (clear hfqew) | GOAL: (on ulyjz necbm) (arm-empty) (on-table gugnb) (on-table admtm) (on hfqew ulyjz) (on necbm gugnb) (clear admtm) (clear hfqew)
STATE: (holding necbm) (on-table admtm) (on hfqew gugnb) (on ulyjz admtm) (on gugnb ulyjz) (clear hfqew) | [
[
"put-down necbm"
],
[
"unstack hfqew gugnb"
],
[
"put-down hfqew"
],
[
"unstack gugnb ulyjz"
],
[
"put-down gugnb"
],
[
"pick-up necbm"
],
[
"stack necbm gugnb"
],
[
"unstack ulyjz admtm"
],
[
"stack ulyjz necbm"
],
[
"pick-up hfqew"
],
[
"stack hfqew ulyjz"
]
] | [
"(arm-empty) (on hfqew gugnb) (clear necbm) (on ulyjz admtm) (clear hfqew) (on-table admtm) (on-table necbm) (on gugnb ulyjz)",
"(clear gugnb) (on-table admtm) (clear necbm) (holding hfqew) (on-table necbm) (on ulyjz admtm) (on gugnb ulyjz)",
"(arm-empty) (on-table hfqew) (clear necbm) (on ulyjz admtm) (clear hfqew) (clear gugnb) (on-table admtm) (on-table necbm) (on gugnb ulyjz)",
"(on-table hfqew) (on-table admtm) (clear necbm) (on-table necbm) (holding gugnb) (on ulyjz admtm) (clear ulyjz) (clear hfqew)",
"(clear gugnb) (arm-empty) (on-table gugnb) (on-table hfqew) (on-table admtm) (clear necbm) (on-table necbm) (on ulyjz admtm) (clear ulyjz) (clear hfqew)",
"(clear gugnb) (on-table gugnb) (on-table hfqew) (on-table admtm) (holding necbm) (on ulyjz admtm) (clear ulyjz) (clear hfqew)",
"(arm-empty) (on-table gugnb) (on-table hfqew) (on-table admtm) (on necbm gugnb) (clear necbm) (on ulyjz admtm) (clear ulyjz) (clear hfqew)",
"(on-table gugnb) (on-table hfqew) (on-table admtm) (clear necbm) (on necbm gugnb) (holding ulyjz) (clear admtm) (clear hfqew)",
"(on ulyjz necbm) (arm-empty) (on-table gugnb) (on-table hfqew) (on-table admtm) (on necbm gugnb) (clear ulyjz) (clear admtm) (clear hfqew)",
"(on ulyjz necbm) (on-table gugnb) (on-table admtm) (holding hfqew) (on necbm gugnb) (clear ulyjz) (clear admtm)",
"(on ulyjz necbm) (arm-empty) (on-table gugnb) (on-table admtm) (on hfqew ulyjz) (on necbm gugnb) (clear admtm) (clear hfqew)"
] | file_177824 |
GOAL: (clear tzhfk) (on-table djusq) (on-table pldgd) (clear wsuod) (on-table wsuod) (on tzhfk djusq) (holding brtmm) (clear pldgd) | GOAL: (clear tzhfk) (on-table djusq) (on-table pldgd) (clear wsuod) (on-table wsuod) (on tzhfk djusq) (holding brtmm) (clear pldgd)
STATE: (arm-empty) (on brtmm tzhfk) (on djusq brtmm) (on-table wsuod) (on pldgd wsuod) (on tzhfk pldgd) (clear djusq) | [
[
"unstack djusq brtmm"
],
[
"put-down djusq"
],
[
"unstack brtmm tzhfk"
],
[
"stack brtmm djusq"
],
[
"unstack tzhfk pldgd"
],
[
"put-down tzhfk"
],
[
"unstack brtmm djusq"
],
[
"stack brtmm pldgd"
],
[
"pick-up tzhfk"
],
[
"stack tzhfk djusq"
],
[
"unstack brtmm pldgd"
],
[
"put-down brtmm"
],
[
"unstack pldgd wsuod"
],
[
"put-down pldgd"
],
[
"pick-up brtmm"
]
] | [
"(holding djusq) (on tzhfk pldgd) (on brtmm tzhfk) (on-table wsuod) (on pldgd wsuod) (clear brtmm)",
"(arm-empty) (on-table djusq) (on tzhfk pldgd) (clear djusq) (on brtmm tzhfk) (on-table wsuod) (on pldgd wsuod) (clear brtmm)",
"(clear tzhfk) (on-table djusq) (on-table wsuod) (on pldgd wsuod) (on tzhfk pldgd) (holding brtmm) (clear djusq)",
"(clear tzhfk) (on brtmm djusq) (arm-empty) (on-table djusq) (on-table wsuod) (on pldgd wsuod) (on tzhfk pldgd) (clear brtmm)",
"(on brtmm djusq) (on-table djusq) (holding tzhfk) (on-table wsuod) (on pldgd wsuod) (clear brtmm) (clear pldgd)",
"(on brtmm djusq) (arm-empty) (on-table tzhfk) (on-table djusq) (clear tzhfk) (on-table wsuod) (on pldgd wsuod) (clear brtmm) (clear pldgd)",
"(clear tzhfk) (on-table tzhfk) (on-table djusq) (on-table wsuod) (on pldgd wsuod) (holding brtmm) (clear pldgd) (clear djusq)",
"(clear tzhfk) (arm-empty) (on-table tzhfk) (on-table djusq) (on-table wsuod) (on pldgd wsuod) (on brtmm pldgd) (clear brtmm) (clear djusq)",
"(on-table djusq) (holding tzhfk) (on-table wsuod) (on pldgd wsuod) (on brtmm pldgd) (clear brtmm) (clear djusq)",
"(clear tzhfk) (arm-empty) (on-table djusq) (on-table wsuod) (on pldgd wsuod) (on brtmm pldgd) (on tzhfk djusq) (clear brtmm)",
"(clear tzhfk) (on-table djusq) (on-table wsuod) (on pldgd wsuod) (on tzhfk djusq) (holding brtmm) (clear pldgd)",
"(arm-empty) (on-table djusq) (on tzhfk djusq) (clear tzhfk) (on-table wsuod) (on pldgd wsuod) (clear brtmm) (clear pldgd) (on-table brtmm)",
"(holding pldgd) (clear tzhfk) (on-table djusq) (clear wsuod) (on-table wsuod) (on tzhfk djusq) (clear brtmm) (on-table brtmm)",
"(clear tzhfk) (arm-empty) (on-table djusq) (on-table pldgd) (clear wsuod) (on-table wsuod) (on tzhfk djusq) (clear brtmm) (clear pldgd) (on-table brtmm)",
"(clear tzhfk) (on-table djusq) (on-table pldgd) (clear wsuod) (on-table wsuod) (on tzhfk djusq) (holding brtmm) (clear pldgd)"
] | file_100037 |
GOAL: (holding uriem) (clear vrbyp) (on-table hdvhd) (on rwmfa hdvhd) (clear rwmfa) (on vrbyp owenu) (on-table owenu) | GOAL: (holding uriem) (clear vrbyp) (on-table hdvhd) (on rwmfa hdvhd) (clear rwmfa) (on vrbyp owenu) (on-table owenu)
STATE: (holding uriem) (clear vrbyp) (on-table hdvhd) (on rwmfa hdvhd) (on vrbyp rwmfa) (clear owenu) (on-table owenu) | [
[
"put-down uriem"
],
[
"unstack vrbyp rwmfa"
],
[
"stack vrbyp owenu"
],
[
"pick-up uriem"
]
] | [
"(arm-empty) (on-table hdvhd) (on rwmfa hdvhd) (on vrbyp rwmfa) (clear vrbyp) (on-table uriem) (clear owenu) (clear uriem) (on-table owenu)",
"(on-table hdvhd) (on rwmfa hdvhd) (on-table uriem) (clear rwmfa) (holding vrbyp) (clear owenu) (clear uriem) (on-table owenu)",
"(clear vrbyp) (arm-empty) (on-table hdvhd) (on rwmfa hdvhd) (on-table uriem) (clear rwmfa) (on vrbyp owenu) (clear uriem) (on-table owenu)",
"(holding uriem) (clear vrbyp) (on-table hdvhd) (on rwmfa hdvhd) (clear rwmfa) (on vrbyp owenu) (on-table owenu)"
] | file_180547 |
GOAL: (on dxwnw whomr) (on yhnby ljslh) (arm-empty) (on-table whomr) (clear yhnby) (on euksn dxwnw) (on ljslh euksn) | GOAL: (on dxwnw whomr) (on yhnby ljslh) (arm-empty) (on-table whomr) (clear yhnby) (on euksn dxwnw) (on ljslh euksn)
STATE: (on ljslh whomr) (clear euksn) (on-table euksn) (on-table whomr) (clear yhnby) (on-table yhnby) (holding dxwnw) (clear ljslh) | [
[
"stack dxwnw euksn"
],
[
"unstack ljslh whomr"
],
[
"stack ljslh yhnby"
],
[
"unstack dxwnw euksn"
],
[
"stack dxwnw whomr"
],
[
"pick-up euksn"
],
[
"stack euksn dxwnw"
],
[
"unstack ljslh yhnby"
],
[
"stack ljslh euksn"
],
[
"pick-up yhnby"
],
[
"stack yhnby ljslh"
]
] | [
"(on ljslh whomr) (arm-empty) (on-table euksn) (on-table whomr) (on dxwnw euksn) (clear yhnby) (on-table yhnby) (clear dxwnw) (clear ljslh)",
"(holding ljslh) (on-table euksn) (on-table whomr) (on dxwnw euksn) (clear yhnby) (on-table yhnby) (clear dxwnw) (clear whomr)",
"(arm-empty) (on-table euksn) (on-table whomr) (on dxwnw euksn) (on-table yhnby) (on ljslh yhnby) (clear dxwnw) (clear ljslh) (clear whomr)",
"(clear euksn) (on-table euksn) (on-table whomr) (on-table yhnby) (on ljslh yhnby) (holding dxwnw) (clear ljslh) (clear whomr)",
"(clear euksn) (on dxwnw whomr) (arm-empty) (on-table euksn) (on-table whomr) (on-table yhnby) (on ljslh yhnby) (clear dxwnw) (clear ljslh)",
"(on dxwnw whomr) (on-table whomr) (holding euksn) (on-table yhnby) (on ljslh yhnby) (clear dxwnw) (clear ljslh)",
"(on dxwnw whomr) (clear euksn) (arm-empty) (on-table whomr) (on-table yhnby) (on ljslh yhnby) (on euksn dxwnw) (clear ljslh)",
"(holding ljslh) (on dxwnw whomr) (clear euksn) (on-table whomr) (clear yhnby) (on-table yhnby) (on euksn dxwnw)",
"(on dxwnw whomr) (arm-empty) (on-table whomr) (clear yhnby) (on-table yhnby) (on euksn dxwnw) (on ljslh euksn) (clear ljslh)",
"(on dxwnw whomr) (on-table whomr) (holding yhnby) (on euksn dxwnw) (on ljslh euksn) (clear ljslh)",
"(on dxwnw whomr) (on yhnby ljslh) (arm-empty) (on-table whomr) (clear yhnby) (on euksn dxwnw) (on ljslh euksn)"
] | file_29747 |
GOAL: (holding hatqm) (clear kengv) (on-table kengv) (on-table ulyxe) (on gtnbu ulyxe) (clear gtnbu) (clear aappy) (on-table aappy) | GOAL: (holding hatqm) (clear kengv) (on-table kengv) (on-table ulyxe) (on gtnbu ulyxe) (clear gtnbu) (clear aappy) (on-table aappy)
STATE: (on gtnbu ulyxe) (on-table hatqm) (clear gtnbu) (on ulyxe hatqm) (holding kengv) (clear aappy) (on-table aappy) | [
[
"stack kengv aappy"
],
[
"unstack gtnbu ulyxe"
],
[
"stack gtnbu kengv"
],
[
"unstack ulyxe hatqm"
],
[
"put-down ulyxe"
],
[
"pick-up hatqm"
],
[
"stack hatqm ulyxe"
],
[
"unstack gtnbu kengv"
],
[
"put-down gtnbu"
],
[
"unstack kengv aappy"
],
[
"put-down kengv"
],
[
"unstack hatqm ulyxe"
],
[
"stack hatqm aappy"
],
[
"pick-up gtnbu"
],
[
"stack gtnbu ulyxe"
],
[
"unstack hatqm aappy"
]
] | [
"(clear kengv) (arm-empty) (on gtnbu ulyxe) (on-table hatqm) (clear gtnbu) (on ulyxe hatqm) (on kengv aappy) (on-table aappy)",
"(clear kengv) (on-table hatqm) (holding gtnbu) (on ulyxe hatqm) (on kengv aappy) (on-table aappy) (clear ulyxe)",
"(arm-empty) (on-table hatqm) (clear gtnbu) (on ulyxe hatqm) (on gtnbu kengv) (on kengv aappy) (on-table aappy) (clear ulyxe)",
"(on-table hatqm) (clear gtnbu) (holding ulyxe) (on gtnbu kengv) (on kengv aappy) (clear hatqm) (on-table aappy)",
"(arm-empty) (on-table ulyxe) (clear gtnbu) (clear ulyxe) (on-table hatqm) (on gtnbu kengv) (on kengv aappy) (clear hatqm) (on-table aappy)",
"(holding hatqm) (on-table ulyxe) (clear gtnbu) (on gtnbu kengv) (on kengv aappy) (on-table aappy) (clear ulyxe)",
"(on hatqm ulyxe) (arm-empty) (on-table ulyxe) (clear gtnbu) (on gtnbu kengv) (on kengv aappy) (clear hatqm) (on-table aappy)",
"(on hatqm ulyxe) (clear kengv) (on-table ulyxe) (holding gtnbu) (on kengv aappy) (clear hatqm) (on-table aappy)",
"(on hatqm ulyxe) (arm-empty) (on-table ulyxe) (clear gtnbu) (clear kengv) (on-table gtnbu) (on kengv aappy) (clear hatqm) (on-table aappy)",
"(on hatqm ulyxe) (on-table ulyxe) (clear gtnbu) (on-table gtnbu) (holding kengv) (clear aappy) (clear hatqm) (on-table aappy)",
"(on hatqm ulyxe) (clear kengv) (arm-empty) (on-table kengv) (on-table ulyxe) (clear gtnbu) (on-table gtnbu) (clear aappy) (clear hatqm) (on-table aappy)",
"(holding hatqm) (clear kengv) (on-table kengv) (on-table ulyxe) (clear gtnbu) (on-table gtnbu) (clear aappy) (on-table aappy) (clear ulyxe)",
"(clear kengv) (on hatqm aappy) (arm-empty) (on-table kengv) (on-table ulyxe) (clear gtnbu) (on-table gtnbu) (clear hatqm) (on-table aappy) (clear ulyxe)",
"(clear kengv) (on hatqm aappy) (on-table kengv) (on-table ulyxe) (holding gtnbu) (clear hatqm) (on-table aappy) (clear ulyxe)",
"(clear kengv) (on hatqm aappy) (arm-empty) (on-table kengv) (on-table ulyxe) (on gtnbu ulyxe) (clear gtnbu) (clear hatqm) (on-table aappy)",
"(holding hatqm) (clear kengv) (on-table kengv) (on-table ulyxe) (on gtnbu ulyxe) (clear gtnbu) (clear aappy) (on-table aappy)"
] | file_18552 |
GOAL: (holding vjkrd) (on-table lutla) (on astbd bpssw) (on-table wklzq) (on bpssw wklzq) (clear astbd) (clear lutla) | GOAL: (holding vjkrd) (on-table lutla) (on astbd bpssw) (on-table wklzq) (on bpssw wklzq) (clear astbd) (clear lutla)
STATE: (on vjkrd lutla) (clear bpssw) (arm-empty) (on-table lutla) (clear wklzq) (on-table wklzq) (on bpssw vjkrd) (clear astbd) (on-table astbd) | [
[
"unstack bpssw vjkrd"
],
[
"put-down bpssw"
],
[
"pick-up astbd"
],
[
"stack astbd vjkrd"
],
[
"pick-up bpssw"
],
[
"stack bpssw wklzq"
],
[
"unstack astbd vjkrd"
],
[
"stack astbd bpssw"
],
[
"unstack vjkrd lutla"
]
] | [
"(on vjkrd lutla) (on-table lutla) (clear wklzq) (on-table wklzq) (holding bpssw) (clear astbd) (clear vjkrd) (on-table astbd)",
"(on vjkrd lutla) (clear bpssw) (arm-empty) (on-table bpssw) (on-table lutla) (clear wklzq) (on-table wklzq) (clear astbd) (clear vjkrd) (on-table astbd)",
"(on vjkrd lutla) (clear bpssw) (on-table bpssw) (on-table lutla) (clear wklzq) (on-table wklzq) (holding astbd) (clear vjkrd)",
"(on vjkrd lutla) (clear bpssw) (arm-empty) (on-table bpssw) (on-table lutla) (clear wklzq) (on-table wklzq) (on astbd vjkrd) (clear astbd)",
"(on vjkrd lutla) (on-table lutla) (clear wklzq) (on-table wklzq) (holding bpssw) (on astbd vjkrd) (clear astbd)",
"(on vjkrd lutla) (arm-empty) (on-table lutla) (on astbd vjkrd) (on bpssw wklzq) (clear bpssw) (on-table wklzq) (clear astbd)",
"(on vjkrd lutla) (clear bpssw) (on-table lutla) (on bpssw wklzq) (on-table wklzq) (holding astbd) (clear vjkrd)",
"(on vjkrd lutla) (arm-empty) (on-table lutla) (on astbd bpssw) (on-table wklzq) (on bpssw wklzq) (clear astbd) (clear vjkrd)",
"(holding vjkrd) (on-table lutla) (on astbd bpssw) (on-table wklzq) (on bpssw wklzq) (clear astbd) (clear lutla)"
] | file_188739 |
GOAL: (clear pjkkk) (arm-empty) (on wrkns rprex) (on xljvk tjbax) (on tjbax wrkns) (on pjkkk xljvk) (on-table rprex) | GOAL: (clear pjkkk) (arm-empty) (on wrkns rprex) (on xljvk tjbax) (on tjbax wrkns) (on pjkkk xljvk) (on-table rprex)
STATE: (arm-empty) (on xljvk wrkns) (on wrkns rprex) (on pjkkk xljvk) (on tjbax pjkkk) (clear tjbax) (on-table rprex) | [
[
"unstack tjbax pjkkk"
],
[
"put-down tjbax"
],
[
"unstack pjkkk xljvk"
],
[
"put-down pjkkk"
],
[
"unstack xljvk wrkns"
],
[
"stack xljvk pjkkk"
],
[
"pick-up tjbax"
],
[
"stack tjbax wrkns"
],
[
"unstack xljvk pjkkk"
],
[
"stack xljvk tjbax"
],
[
"pick-up pjkkk"
],
[
"stack pjkkk xljvk"
]
] | [
"(on xljvk wrkns) (on pjkkk xljvk) (holding tjbax) (clear pjkkk) (on wrkns rprex) (on-table rprex)",
"(arm-empty) (on xljvk wrkns) (on pjkkk xljvk) (clear pjkkk) (on-table tjbax) (on wrkns rprex) (clear tjbax) (on-table rprex)",
"(on xljvk wrkns) (on-table tjbax) (on wrkns rprex) (holding pjkkk) (clear tjbax) (on-table rprex) (clear xljvk)",
"(arm-empty) (on xljvk wrkns) (on-table pjkkk) (clear xljvk) (clear pjkkk) (on-table tjbax) (on wrkns rprex) (clear tjbax) (on-table rprex)",
"(clear pjkkk) (on-table pjkkk) (on-table tjbax) (clear wrkns) (on wrkns rprex) (holding xljvk) (clear tjbax) (on-table rprex)",
"(arm-empty) (on-table pjkkk) (on-table tjbax) (on xljvk pjkkk) (clear wrkns) (on wrkns rprex) (clear tjbax) (on-table rprex) (clear xljvk)",
"(holding tjbax) (on-table pjkkk) (on xljvk pjkkk) (clear wrkns) (on wrkns rprex) (on-table rprex) (clear xljvk)",
"(arm-empty) (on-table pjkkk) (on xljvk pjkkk) (on wrkns rprex) (on tjbax wrkns) (clear tjbax) (on-table rprex) (clear xljvk)",
"(clear pjkkk) (on-table pjkkk) (on wrkns rprex) (holding xljvk) (on tjbax wrkns) (clear tjbax) (on-table rprex)",
"(arm-empty) (on-table pjkkk) (clear xljvk) (clear pjkkk) (on wrkns rprex) (on xljvk tjbax) (on tjbax wrkns) (on-table rprex)",
"(holding pjkkk) (on wrkns rprex) (on xljvk tjbax) (on tjbax wrkns) (on-table rprex) (clear xljvk)",
"(clear pjkkk) (arm-empty) (on wrkns rprex) (on xljvk tjbax) (on tjbax wrkns) (on pjkkk xljvk) (on-table rprex)"
] | file_128357 |
GOAL: (on-table mpexm) (holding huhag) (on fewng macep) (on macep xegzq) (clear mpexm) (on-table xegzq) (clear fewng) | GOAL: (on-table mpexm) (holding huhag) (on fewng macep) (on macep xegzq) (clear mpexm) (on-table xegzq) (clear fewng)
STATE: (arm-empty) (on-table macep) (on huhag fewng) (on-table mpexm) (on xegzq macep) (clear huhag) (on fewng xegzq) (clear mpexm) | [
[
"unstack huhag fewng"
],
[
"stack huhag mpexm"
],
[
"unstack fewng xegzq"
],
[
"stack fewng huhag"
],
[
"unstack xegzq macep"
],
[
"put-down xegzq"
],
[
"pick-up macep"
],
[
"stack macep xegzq"
],
[
"unstack fewng huhag"
],
[
"stack fewng macep"
],
[
"unstack huhag mpexm"
]
] | [
"(on-table macep) (on-table mpexm) (holding huhag) (on xegzq macep) (on fewng xegzq) (clear mpexm) (clear fewng)",
"(on huhag mpexm) (arm-empty) (on-table macep) (on-table mpexm) (on xegzq macep) (clear huhag) (on fewng xegzq) (clear fewng)",
"(on huhag mpexm) (on-table macep) (on-table mpexm) (on xegzq macep) (clear huhag) (holding fewng) (clear xegzq)",
"(on huhag mpexm) (on fewng huhag) (on-table macep) (arm-empty) (on-table mpexm) (on xegzq macep) (clear xegzq) (clear fewng)",
"(clear macep) (on huhag mpexm) (on fewng huhag) (on-table macep) (on-table mpexm) (holding xegzq) (clear fewng)",
"(on huhag mpexm) (on fewng huhag) (on-table macep) (arm-empty) (clear fewng) (clear macep) (on-table mpexm) (clear xegzq) (on-table xegzq)",
"(on huhag mpexm) (on fewng huhag) (on-table mpexm) (holding macep) (clear xegzq) (on-table xegzq) (clear fewng)",
"(clear macep) (on huhag mpexm) (on fewng huhag) (arm-empty) (on-table mpexm) (on macep xegzq) (on-table xegzq) (clear fewng)",
"(clear macep) (on huhag mpexm) (on-table mpexm) (clear huhag) (holding fewng) (on macep xegzq) (on-table xegzq)",
"(on huhag mpexm) (arm-empty) (on-table mpexm) (on fewng macep) (clear huhag) (on macep xegzq) (on-table xegzq) (clear fewng)",
"(on-table mpexm) (holding huhag) (on fewng macep) (on macep xegzq) (clear mpexm) (on-table xegzq) (clear fewng)"
] | file_204443 |
GOAL: (clear nojzz) (on-table nojzz) (holding ogceh) (on-table mnecr) (on qxrge mnecr) (on ivsgy qxrge) (clear ivsgy) | GOAL: (clear nojzz) (on-table nojzz) (holding ogceh) (on-table mnecr) (on qxrge mnecr) (on ivsgy qxrge) (clear ivsgy)
STATE: (holding nojzz) (on ogceh ivsgy) (on-table mnecr) (on qxrge mnecr) (on ivsgy qxrge) (clear ogceh) | [
[
"put-down nojzz"
],
[
"unstack ogceh ivsgy"
]
] | [
"(arm-empty) (on-table nojzz) (on ogceh ivsgy) (on ivsgy qxrge) (clear ogceh) (clear nojzz) (on-table mnecr) (on qxrge mnecr)",
"(clear nojzz) (on-table nojzz) (holding ogceh) (on-table mnecr) (on qxrge mnecr) (on ivsgy qxrge) (clear ivsgy)"
] | file_117011 |
GOAL: (clear clyrd) (on wdeop ewcom) (arm-empty) (on-table lpldb) (on-table ewcom) (clear wdeop) (on clyrd lpldb) (clear jhyju) (on-table jhyju) | GOAL: (clear clyrd) (on wdeop ewcom) (arm-empty) (on-table lpldb) (on-table ewcom) (clear wdeop) (on clyrd lpldb) (clear jhyju) (on-table jhyju)
STATE: (arm-empty) (on lpldb clyrd) (on wdeop jhyju) (on ewcom wdeop) (on clyrd ewcom) (on-table jhyju) (clear lpldb) | [
[
"unstack lpldb clyrd"
],
[
"put-down lpldb"
],
[
"unstack clyrd ewcom"
],
[
"stack clyrd lpldb"
],
[
"unstack ewcom wdeop"
],
[
"put-down ewcom"
],
[
"unstack wdeop jhyju"
],
[
"stack wdeop ewcom"
]
] | [
"(holding lpldb) (on clyrd ewcom) (clear clyrd) (on wdeop jhyju) (on ewcom wdeop) (on-table jhyju)",
"(arm-empty) (on-table lpldb) (on clyrd ewcom) (clear lpldb) (clear clyrd) (on wdeop jhyju) (on ewcom wdeop) (on-table jhyju)",
"(on-table lpldb) (holding clyrd) (on wdeop jhyju) (on ewcom wdeop) (clear ewcom) (on-table jhyju) (clear lpldb)",
"(clear clyrd) (arm-empty) (on-table lpldb) (on wdeop jhyju) (on ewcom wdeop) (on clyrd lpldb) (clear ewcom) (on-table jhyju)",
"(holding ewcom) (clear clyrd) (on-table lpldb) (clear wdeop) (on wdeop jhyju) (on clyrd lpldb) (on-table jhyju)",
"(arm-empty) (on-table lpldb) (clear wdeop) (on clyrd lpldb) (clear clyrd) (on-table ewcom) (on wdeop jhyju) (clear ewcom) (on-table jhyju)",
"(clear clyrd) (on-table lpldb) (on-table ewcom) (holding wdeop) (on clyrd lpldb) (clear jhyju) (clear ewcom) (on-table jhyju)",
"(clear clyrd) (on wdeop ewcom) (arm-empty) (on-table lpldb) (on-table ewcom) (clear wdeop) (on clyrd lpldb) (clear jhyju) (on-table jhyju)"
] | file_89610 |
GOAL: (arm-empty) (on-table ahbik) (on-table yzgbr) (on-table cigsl) (on lewrt ahbik) (clear pdybq) (on-table pdybq) (clear lewrt) (clear cigsl) (clear yzgbr) | GOAL: (arm-empty) (on-table ahbik) (on-table yzgbr) (on-table cigsl) (on lewrt ahbik) (clear pdybq) (on-table pdybq) (clear lewrt) (clear cigsl) (clear yzgbr)
STATE: (on pdybq cigsl) (on cigsl lewrt) (arm-empty) (on-table yzgbr) (on lewrt ahbik) (clear pdybq) (on ahbik yzgbr) | [
[
"unstack pdybq cigsl"
],
[
"put-down pdybq"
],
[
"unstack cigsl lewrt"
],
[
"put-down cigsl"
],
[
"unstack lewrt ahbik"
],
[
"stack lewrt cigsl"
],
[
"unstack ahbik yzgbr"
],
[
"put-down ahbik"
],
[
"unstack lewrt cigsl"
],
[
"stack lewrt ahbik"
]
] | [
"(on cigsl lewrt) (on-table yzgbr) (holding pdybq) (on ahbik yzgbr) (on lewrt ahbik) (clear cigsl)",
"(on cigsl lewrt) (arm-empty) (on-table yzgbr) (clear pdybq) (on ahbik yzgbr) (on lewrt ahbik) (on-table pdybq) (clear cigsl)",
"(holding cigsl) (on-table yzgbr) (on lewrt ahbik) (clear pdybq) (on-table pdybq) (on ahbik yzgbr) (clear lewrt)",
"(arm-empty) (on-table yzgbr) (clear pdybq) (on ahbik yzgbr) (on-table cigsl) (on lewrt ahbik) (on-table pdybq) (clear lewrt) (clear cigsl)",
"(clear ahbik) (on-table yzgbr) (on-table cigsl) (clear pdybq) (on-table pdybq) (on ahbik yzgbr) (holding lewrt) (clear cigsl)",
"(clear ahbik) (arm-empty) (on-table yzgbr) (on-table cigsl) (clear pdybq) (on-table pdybq) (on lewrt cigsl) (on ahbik yzgbr) (clear lewrt)",
"(on-table yzgbr) (on-table cigsl) (clear pdybq) (on-table pdybq) (holding ahbik) (on lewrt cigsl) (clear lewrt) (clear yzgbr)",
"(clear ahbik) (arm-empty) (on-table ahbik) (on-table yzgbr) (on-table cigsl) (clear pdybq) (on-table pdybq) (on lewrt cigsl) (clear lewrt) (clear yzgbr)",
"(clear ahbik) (on-table ahbik) (on-table yzgbr) (on-table cigsl) (clear pdybq) (on-table pdybq) (holding lewrt) (clear cigsl) (clear yzgbr)",
"(arm-empty) (on-table ahbik) (on-table yzgbr) (on-table cigsl) (on lewrt ahbik) (clear pdybq) (on-table pdybq) (clear lewrt) (clear cigsl) (clear yzgbr)"
] | file_68853 |
GOAL: (holding malgd) (on-table ydruj) (on katfp mdybj) (on-table ezlod) (on mdybj ezlod) (clear katfp) (clear ydruj) | GOAL: (holding malgd) (on-table ydruj) (on katfp mdybj) (on-table ezlod) (on mdybj ezlod) (clear katfp) (clear ydruj)
STATE: (on-table malgd) (on katfp mdybj) (holding ydruj) (on-table ezlod) (on mdybj ezlod) (clear katfp) (clear malgd) | [
[
"put-down ydruj"
],
[
"pick-up malgd"
]
] | [
"(arm-empty) (on-table ydruj) (on mdybj ezlod) (clear ydruj) (on-table malgd) (on katfp mdybj) (on-table ezlod) (clear katfp) (clear malgd)",
"(holding malgd) (on-table ydruj) (on katfp mdybj) (on-table ezlod) (on mdybj ezlod) (clear katfp) (clear ydruj)"
] | file_60359 |
GOAL: (on cjdpb sfcge) (on lbdqf qdebt) (on-table veznw) (arm-empty) (on qdebt veznw) (clear cjdpb) (on-table sfcge) (clear lbdqf) | GOAL: (on cjdpb sfcge) (on lbdqf qdebt) (on-table veznw) (arm-empty) (on qdebt veznw) (clear cjdpb) (on-table sfcge) (clear lbdqf)
STATE: (on lbdqf qdebt) (on-table veznw) (on-table cjdpb) (on qdebt veznw) (holding sfcge) (clear cjdpb) (clear lbdqf) | [
[
"put-down sfcge"
],
[
"pick-up cjdpb"
],
[
"stack cjdpb sfcge"
]
] | [
"(arm-empty) (on lbdqf qdebt) (on-table veznw) (clear lbdqf) (on-table cjdpb) (on qdebt veznw) (clear sfcge) (clear cjdpb) (on-table sfcge)",
"(holding cjdpb) (on lbdqf qdebt) (on-table veznw) (on qdebt veznw) (clear sfcge) (on-table sfcge) (clear lbdqf)",
"(on cjdpb sfcge) (on lbdqf qdebt) (on-table veznw) (arm-empty) (on qdebt veznw) (clear cjdpb) (on-table sfcge) (clear lbdqf)"
] | file_26409 |
GOAL: (clear qiaax) (arm-empty) (on-table qiaax) (on-table caqgx) (clear grefp) (on ulldq srxxk) (on-table grefp) (clear caqgx) (on-table srxxk) (clear ulldq) | GOAL: (clear qiaax) (arm-empty) (on-table qiaax) (on-table caqgx) (clear grefp) (on ulldq srxxk) (on-table grefp) (clear caqgx) (on-table srxxk) (clear ulldq)
STATE: (arm-empty) (on-table qiaax) (on-table caqgx) (on srxxk qiaax) (clear grefp) (on ulldq srxxk) (on-table grefp) (clear caqgx) (clear ulldq) | [
[
"unstack ulldq srxxk"
],
[
"stack ulldq caqgx"
],
[
"unstack srxxk qiaax"
],
[
"put-down srxxk"
],
[
"unstack ulldq caqgx"
],
[
"stack ulldq srxxk"
]
] | [
"(on-table qiaax) (on-table caqgx) (on srxxk qiaax) (clear grefp) (holding ulldq) (on-table grefp) (clear srxxk) (clear caqgx)",
"(arm-empty) (on-table qiaax) (on-table caqgx) (on srxxk qiaax) (clear grefp) (on ulldq caqgx) (on-table grefp) (clear srxxk) (clear ulldq)",
"(clear qiaax) (on-table qiaax) (on-table caqgx) (clear grefp) (on ulldq caqgx) (on-table grefp) (holding srxxk) (clear ulldq)",
"(clear qiaax) (arm-empty) (on-table qiaax) (on-table caqgx) (clear grefp) (on ulldq caqgx) (on-table grefp) (clear srxxk) (on-table srxxk) (clear ulldq)",
"(clear qiaax) (on-table qiaax) (on-table caqgx) (clear grefp) (holding ulldq) (on-table grefp) (clear srxxk) (clear caqgx) (on-table srxxk)",
"(clear qiaax) (arm-empty) (on-table qiaax) (on-table caqgx) (clear grefp) (on ulldq srxxk) (on-table grefp) (clear caqgx) (on-table srxxk) (clear ulldq)"
] | file_115593 |
GOAL: (on stbst stypu) (clear oixyw) (arm-empty) (on-table stypu) (clear tyshb) (on-table tyshb) (on oixyw stbst) (clear qwtrz) (on-table qwtrz) | GOAL: (on stbst stypu) (clear oixyw) (arm-empty) (on-table stypu) (clear tyshb) (on-table tyshb) (on oixyw stbst) (clear qwtrz) (on-table qwtrz)
STATE: (on stbst stypu) (clear oixyw) (arm-empty) (on-table oixyw) (on-table stypu) (clear tyshb) (on tyshb qwtrz) (on qwtrz stbst) | [
[
"unstack tyshb qwtrz"
],
[
"put-down tyshb"
],
[
"unstack qwtrz stbst"
],
[
"put-down qwtrz"
],
[
"pick-up oixyw"
],
[
"stack oixyw stbst"
]
] | [
"(on stbst stypu) (clear oixyw) (on-table oixyw) (on-table stypu) (holding tyshb) (on qwtrz stbst) (clear qwtrz)",
"(on stbst stypu) (arm-empty) (on-table oixyw) (on-table stypu) (clear tyshb) (on qwtrz stbst) (clear oixyw) (on-table tyshb) (clear qwtrz)",
"(on stbst stypu) (clear oixyw) (on-table oixyw) (on-table stypu) (clear tyshb) (on-table tyshb) (holding qwtrz) (clear stbst)",
"(on stbst stypu) (clear oixyw) (arm-empty) (on-table oixyw) (on-table stypu) (clear tyshb) (on-table tyshb) (clear qwtrz) (clear stbst) (on-table qwtrz)",
"(on stbst stypu) (on-table stypu) (clear tyshb) (on-table tyshb) (holding oixyw) (clear qwtrz) (clear stbst) (on-table qwtrz)",
"(on stbst stypu) (clear oixyw) (arm-empty) (on-table stypu) (clear tyshb) (on-table tyshb) (on oixyw stbst) (clear qwtrz) (on-table qwtrz)"
] | file_225376 |
GOAL: (on xqfms gsnfr) (arm-empty) (on-table nrzxt) (on gsnfr nrzxt) (clear tmqwc) (on-table tmqwc) (on vkplu xqfms) (clear vkplu) | GOAL: (on xqfms gsnfr) (arm-empty) (on-table nrzxt) (on gsnfr nrzxt) (clear tmqwc) (on-table tmqwc) (on vkplu xqfms) (clear vkplu)
STATE: (on xqfms vkplu) (arm-empty) (on gsnfr nrzxt) (clear tmqwc) (on-table tmqwc) (on nrzxt xqfms) (on-table vkplu) (clear gsnfr) | [
[
"unstack gsnfr nrzxt"
],
[
"stack gsnfr tmqwc"
],
[
"unstack nrzxt xqfms"
],
[
"put-down nrzxt"
],
[
"unstack gsnfr tmqwc"
],
[
"stack gsnfr nrzxt"
],
[
"unstack xqfms vkplu"
],
[
"stack xqfms gsnfr"
],
[
"pick-up vkplu"
],
[
"stack vkplu xqfms"
]
] | [
"(clear nrzxt) (on xqfms vkplu) (clear tmqwc) (holding gsnfr) (on-table tmqwc) (on nrzxt xqfms) (on-table vkplu)",
"(clear nrzxt) (on xqfms vkplu) (on gsnfr tmqwc) (arm-empty) (on-table tmqwc) (on nrzxt xqfms) (on-table vkplu) (clear gsnfr)",
"(on xqfms vkplu) (on gsnfr tmqwc) (on-table tmqwc) (holding nrzxt) (clear xqfms) (on-table vkplu) (clear gsnfr)",
"(on xqfms vkplu) (on gsnfr tmqwc) (on-table nrzxt) (arm-empty) (clear gsnfr) (clear nrzxt) (on-table tmqwc) (clear xqfms) (on-table vkplu)",
"(clear nrzxt) (on xqfms vkplu) (on-table nrzxt) (clear tmqwc) (holding gsnfr) (on-table tmqwc) (clear xqfms) (on-table vkplu)",
"(on xqfms vkplu) (arm-empty) (on-table nrzxt) (on gsnfr nrzxt) (clear tmqwc) (on-table tmqwc) (clear xqfms) (on-table vkplu) (clear gsnfr)",
"(holding xqfms) (on-table nrzxt) (on gsnfr nrzxt) (clear tmqwc) (on-table tmqwc) (clear vkplu) (on-table vkplu) (clear gsnfr)",
"(on xqfms gsnfr) (arm-empty) (on-table nrzxt) (on gsnfr nrzxt) (clear tmqwc) (on-table tmqwc) (clear vkplu) (clear xqfms) (on-table vkplu)",
"(on xqfms gsnfr) (on-table nrzxt) (on gsnfr nrzxt) (clear tmqwc) (on-table tmqwc) (holding vkplu) (clear xqfms)",
"(on xqfms gsnfr) (arm-empty) (on-table nrzxt) (on gsnfr nrzxt) (clear tmqwc) (on-table tmqwc) (on vkplu xqfms) (clear vkplu)"
] | file_92958 |
GOAL: (on kwqzw dgnju) (arm-empty) (on-table dhocs) (on-table txflh) (clear kwqzw) (on dgnju dhocs) (clear txflh) (clear qvljg) (on-table qvljg) | GOAL: (on kwqzw dgnju) (arm-empty) (on-table dhocs) (on-table txflh) (clear kwqzw) (on dgnju dhocs) (clear txflh) (clear qvljg) (on-table qvljg)
STATE: (on qvljg kwqzw) (on kwqzw dgnju) (arm-empty) (on-table dhocs) (on txflh qvljg) (on dgnju dhocs) (clear txflh) | [
[
"unstack txflh qvljg"
],
[
"put-down txflh"
],
[
"unstack qvljg kwqzw"
],
[
"put-down qvljg"
]
] | [
"(on kwqzw dgnju) (on-table dhocs) (holding txflh) (on dgnju dhocs) (on qvljg kwqzw) (clear qvljg)",
"(on kwqzw dgnju) (arm-empty) (on-table dhocs) (on-table txflh) (on dgnju dhocs) (clear txflh) (on qvljg kwqzw) (clear qvljg)",
"(on kwqzw dgnju) (on-table dhocs) (on-table txflh) (clear kwqzw) (on dgnju dhocs) (holding qvljg) (clear txflh)",
"(on kwqzw dgnju) (arm-empty) (on-table dhocs) (on-table txflh) (clear kwqzw) (on dgnju dhocs) (clear txflh) (clear qvljg) (on-table qvljg)"
] | file_114945 |
GOAL: (on hrfzh azcyx) (on-table azcyx) (holding lhwom) (on gnhlt wpgex) (on wpgex hrfzh) (clear gnhlt) | GOAL: (on hrfzh azcyx) (on-table azcyx) (holding lhwom) (on gnhlt wpgex) (on wpgex hrfzh) (clear gnhlt)
STATE: (on gnhlt lhwom) (clear wpgex) (arm-empty) (on-table wpgex) (on-table azcyx) (on-table hrfzh) (on-table lhwom) (clear gnhlt) (clear hrfzh) (clear azcyx) | [
[
"pick-up hrfzh"
],
[
"stack hrfzh azcyx"
],
[
"pick-up wpgex"
],
[
"stack wpgex hrfzh"
],
[
"unstack gnhlt lhwom"
],
[
"stack gnhlt wpgex"
],
[
"pick-up lhwom"
]
] | [
"(holding hrfzh) (on gnhlt lhwom) (clear wpgex) (on-table wpgex) (on-table azcyx) (on-table lhwom) (clear gnhlt) (clear azcyx)",
"(on gnhlt lhwom) (clear wpgex) (on hrfzh azcyx) (arm-empty) (on-table wpgex) (on-table azcyx) (on-table lhwom) (clear gnhlt) (clear hrfzh)",
"(on gnhlt lhwom) (on hrfzh azcyx) (on-table azcyx) (on-table lhwom) (holding wpgex) (clear gnhlt) (clear hrfzh)",
"(on gnhlt lhwom) (on hrfzh azcyx) (clear wpgex) (arm-empty) (on-table azcyx) (on-table lhwom) (on wpgex hrfzh) (clear gnhlt)",
"(on hrfzh azcyx) (clear wpgex) (on-table azcyx) (clear lhwom) (on-table lhwom) (on wpgex hrfzh) (holding gnhlt)",
"(on hrfzh azcyx) (arm-empty) (on-table azcyx) (on gnhlt wpgex) (clear lhwom) (on-table lhwom) (on wpgex hrfzh) (clear gnhlt)",
"(on hrfzh azcyx) (on-table azcyx) (holding lhwom) (on gnhlt wpgex) (on wpgex hrfzh) (clear gnhlt)"
] | file_141698 |
GOAL: (on hinrs jdyty) (arm-empty) (on jdyty fxwtl) (on-table xcipn) (on zavvi xcipn) (on fxwtl zavvi) (clear hinrs) | GOAL: (on hinrs jdyty) (arm-empty) (on jdyty fxwtl) (on-table xcipn) (on zavvi xcipn) (on fxwtl zavvi) (clear hinrs)
STATE: (on zavvi jdyty) (arm-empty) (on-table jdyty) (clear xcipn) (on xcipn fxwtl) (on fxwtl zavvi) (clear hinrs) (on-table hinrs) | [
[
"unstack xcipn fxwtl"
],
[
"put-down xcipn"
],
[
"unstack fxwtl zavvi"
],
[
"put-down fxwtl"
],
[
"unstack zavvi jdyty"
],
[
"stack zavvi xcipn"
],
[
"pick-up jdyty"
],
[
"stack jdyty hinrs"
],
[
"pick-up fxwtl"
],
[
"stack fxwtl zavvi"
],
[
"unstack jdyty hinrs"
],
[
"stack jdyty fxwtl"
],
[
"pick-up hinrs"
],
[
"stack hinrs jdyty"
]
] | [
"(on zavvi jdyty) (clear fxwtl) (on-table jdyty) (holding xcipn) (on fxwtl zavvi) (clear hinrs) (on-table hinrs)",
"(on zavvi jdyty) (arm-empty) (on-table jdyty) (clear xcipn) (on fxwtl zavvi) (clear fxwtl) (on-table xcipn) (clear hinrs) (on-table hinrs)",
"(on zavvi jdyty) (on-table jdyty) (clear xcipn) (on-table xcipn) (holding fxwtl) (clear hinrs) (clear zavvi) (on-table hinrs)",
"(on zavvi jdyty) (clear fxwtl) (arm-empty) (on-table fxwtl) (on-table jdyty) (clear xcipn) (on-table xcipn) (clear hinrs) (clear zavvi) (on-table hinrs)",
"(holding zavvi) (clear fxwtl) (on-table fxwtl) (on-table jdyty) (clear xcipn) (on-table xcipn) (clear hinrs) (on-table hinrs) (clear jdyty)",
"(clear fxwtl) (arm-empty) (on-table fxwtl) (on-table jdyty) (on-table xcipn) (on zavvi xcipn) (clear hinrs) (clear zavvi) (on-table hinrs) (clear jdyty)",
"(clear fxwtl) (on-table fxwtl) (holding jdyty) (on-table xcipn) (on zavvi xcipn) (clear hinrs) (clear zavvi) (on-table hinrs)",
"(clear fxwtl) (arm-empty) (on-table fxwtl) (on jdyty hinrs) (on-table xcipn) (on zavvi xcipn) (clear zavvi) (on-table hinrs) (clear jdyty)",
"(holding fxwtl) (on jdyty hinrs) (on-table xcipn) (on zavvi xcipn) (clear zavvi) (on-table hinrs) (clear jdyty)",
"(clear fxwtl) (arm-empty) (on jdyty hinrs) (on-table xcipn) (on zavvi xcipn) (on fxwtl zavvi) (on-table hinrs) (clear jdyty)",
"(clear fxwtl) (holding jdyty) (on-table xcipn) (on zavvi xcipn) (on fxwtl zavvi) (clear hinrs) (on-table hinrs)",
"(arm-empty) (on jdyty fxwtl) (on-table xcipn) (on zavvi xcipn) (on fxwtl zavvi) (clear hinrs) (on-table hinrs) (clear jdyty)",
"(on jdyty fxwtl) (on-table xcipn) (on zavvi xcipn) (on fxwtl zavvi) (holding hinrs) (clear jdyty)",
"(on hinrs jdyty) (arm-empty) (on jdyty fxwtl) (on-table xcipn) (on zavvi xcipn) (on fxwtl zavvi) (clear hinrs)"
] | file_123799 |
GOAL: (on ezqlw bjkke) (on bjkke nszhy) (arm-empty) (on-table ouccp) (on rlasx ezqlw) (on nszhy ouccp) (clear rlasx) | GOAL: (on ezqlw bjkke) (on bjkke nszhy) (arm-empty) (on-table ouccp) (on rlasx ezqlw) (on nszhy ouccp) (clear rlasx)
STATE: (on ezqlw bjkke) (clear ouccp) (arm-empty) (on nszhy rlasx) (on rlasx ezqlw) (on-table bjkke) (on ouccp nszhy) | [
[
"unstack ouccp nszhy"
],
[
"put-down ouccp"
],
[
"unstack nszhy rlasx"
],
[
"stack nszhy ouccp"
],
[
"unstack rlasx ezqlw"
],
[
"put-down rlasx"
],
[
"unstack ezqlw bjkke"
],
[
"stack ezqlw rlasx"
],
[
"pick-up bjkke"
],
[
"stack bjkke nszhy"
],
[
"unstack ezqlw rlasx"
],
[
"stack ezqlw bjkke"
],
[
"pick-up rlasx"
],
[
"stack rlasx ezqlw"
]
] | [
"(on nszhy rlasx) (on rlasx ezqlw) (on ezqlw bjkke) (on-table bjkke) (holding ouccp) (clear nszhy)",
"(on nszhy rlasx) (on ezqlw bjkke) (on-table bjkke) (clear ouccp) (on-table ouccp) (arm-empty) (clear nszhy) (on rlasx ezqlw)",
"(holding nszhy) (on ezqlw bjkke) (clear ouccp) (on-table ouccp) (on rlasx ezqlw) (on-table bjkke) (clear rlasx)",
"(on ezqlw bjkke) (arm-empty) (on-table ouccp) (on rlasx ezqlw) (on-table bjkke) (on nszhy ouccp) (clear nszhy) (clear rlasx)",
"(on ezqlw bjkke) (on-table ouccp) (holding rlasx) (on-table bjkke) (clear ezqlw) (on nszhy ouccp) (clear nszhy)",
"(arm-empty) (on-table ouccp) (on-table rlasx) (on nszhy ouccp) (clear rlasx) (on ezqlw bjkke) (on-table bjkke) (clear ezqlw) (clear nszhy)",
"(on-table ouccp) (on-table rlasx) (clear bjkke) (on-table bjkke) (on nszhy ouccp) (clear nszhy) (holding ezqlw) (clear rlasx)",
"(on ezqlw rlasx) (arm-empty) (on-table ouccp) (on-table rlasx) (clear bjkke) (on-table bjkke) (clear ezqlw) (on nszhy ouccp) (clear nszhy)",
"(on ezqlw rlasx) (on-table ouccp) (on-table rlasx) (holding bjkke) (clear ezqlw) (on nszhy ouccp) (clear nszhy)",
"(on ezqlw rlasx) (on bjkke nszhy) (arm-empty) (on-table ouccp) (on-table rlasx) (clear bjkke) (clear ezqlw) (on nszhy ouccp)",
"(on bjkke nszhy) (on-table ouccp) (on-table rlasx) (clear bjkke) (on nszhy ouccp) (holding ezqlw) (clear rlasx)",
"(on ezqlw bjkke) (on bjkke nszhy) (arm-empty) (on-table ouccp) (on-table rlasx) (clear ezqlw) (on nszhy ouccp) (clear rlasx)",
"(on ezqlw bjkke) (on bjkke nszhy) (on-table ouccp) (holding rlasx) (clear ezqlw) (on nszhy ouccp)",
"(on ezqlw bjkke) (on bjkke nszhy) (arm-empty) (on-table ouccp) (on rlasx ezqlw) (on nszhy ouccp) (clear rlasx)"
] | file_74566 |
GOAL: (on rlnjd kmold) (on-table kmold) (clear pbbno) (on-table pbbno) (holding adcig) (clear vywcx) (clear rlnjd) (on-table vywcx) | GOAL: (on rlnjd kmold) (on-table kmold) (clear pbbno) (on-table pbbno) (holding adcig) (clear vywcx) (clear rlnjd) (on-table vywcx)
STATE: (clear rlnjd) (on-table kmold) (on-table pbbno) (on adcig pbbno) (holding vywcx) (on rlnjd adcig) (clear kmold) | [
[
"put-down vywcx"
],
[
"unstack rlnjd adcig"
],
[
"stack rlnjd kmold"
],
[
"unstack adcig pbbno"
]
] | [
"(arm-empty) (on-table kmold) (on adcig pbbno) (on rlnjd adcig) (clear kmold) (on-table pbbno) (clear vywcx) (clear rlnjd) (on-table vywcx)",
"(holding rlnjd) (clear adcig) (on-table kmold) (on-table pbbno) (on adcig pbbno) (clear vywcx) (on-table vywcx) (clear kmold)",
"(on rlnjd kmold) (clear adcig) (arm-empty) (on-table kmold) (on-table pbbno) (on adcig pbbno) (clear vywcx) (clear rlnjd) (on-table vywcx)",
"(on rlnjd kmold) (on-table kmold) (clear pbbno) (on-table pbbno) (holding adcig) (clear vywcx) (clear rlnjd) (on-table vywcx)"
] | file_108810 |
GOAL: (on tzwhn qkdno) (arm-empty) (on-table mjmlo) (clear dyaio) (on qkdno lpjbk) (on dyaio tzwhn) (on lpjbk mjmlo) | GOAL: (on tzwhn qkdno) (arm-empty) (on-table mjmlo) (clear dyaio) (on qkdno lpjbk) (on dyaio tzwhn) (on lpjbk mjmlo)
STATE: (on lpjbk qkdno) (clear mjmlo) (on dyaio lpjbk) (arm-empty) (on-table mjmlo) (clear dyaio) (on qkdno tzwhn) (on-table tzwhn) | [
[
"unstack dyaio lpjbk"
],
[
"put-down dyaio"
],
[
"unstack lpjbk qkdno"
],
[
"stack lpjbk mjmlo"
],
[
"unstack qkdno tzwhn"
],
[
"stack qkdno lpjbk"
],
[
"pick-up tzwhn"
],
[
"stack tzwhn qkdno"
],
[
"pick-up dyaio"
],
[
"stack dyaio tzwhn"
]
] | [
"(on lpjbk qkdno) (clear mjmlo) (on-table mjmlo) (holding dyaio) (on qkdno tzwhn) (clear lpjbk) (on-table tzwhn)",
"(on lpjbk qkdno) (arm-empty) (on-table mjmlo) (clear dyaio) (on qkdno tzwhn) (clear mjmlo) (on-table dyaio) (clear lpjbk) (on-table tzwhn)",
"(holding lpjbk) (clear mjmlo) (on-table mjmlo) (clear dyaio) (on qkdno tzwhn) (on-table dyaio) (on-table tzwhn) (clear qkdno)",
"(arm-empty) (on-table mjmlo) (clear dyaio) (on qkdno tzwhn) (on-table dyaio) (on lpjbk mjmlo) (clear lpjbk) (on-table tzwhn) (clear qkdno)",
"(on-table mjmlo) (clear dyaio) (holding qkdno) (on-table dyaio) (clear tzwhn) (on lpjbk mjmlo) (clear lpjbk) (on-table tzwhn)",
"(arm-empty) (on-table mjmlo) (clear dyaio) (on qkdno lpjbk) (on-table dyaio) (clear tzwhn) (on lpjbk mjmlo) (on-table tzwhn) (clear qkdno)",
"(on-table mjmlo) (clear dyaio) (on qkdno lpjbk) (on-table dyaio) (on lpjbk mjmlo) (holding tzwhn) (clear qkdno)",
"(on tzwhn qkdno) (arm-empty) (on-table mjmlo) (clear dyaio) (on qkdno lpjbk) (on-table dyaio) (clear tzwhn) (on lpjbk mjmlo)",
"(on tzwhn qkdno) (on-table mjmlo) (holding dyaio) (on qkdno lpjbk) (clear tzwhn) (on lpjbk mjmlo)",
"(on tzwhn qkdno) (arm-empty) (on-table mjmlo) (clear dyaio) (on qkdno lpjbk) (on dyaio tzwhn) (on lpjbk mjmlo)"
] | file_96012 |
GOAL: (on cnddw nnumj) (clear svgmj) (on-table svgmj) (on-table nnumj) (holding kruat) (clear bxzjw) (clear cnddw) (on-table bxzjw) | GOAL: (on cnddw nnumj) (clear svgmj) (on-table svgmj) (on-table nnumj) (holding kruat) (clear bxzjw) (clear cnddw) (on-table bxzjw)
STATE: (clear svgmj) (arm-empty) (on-table nnumj) (on-table cnddw) (clear kruat) (on-table kruat) (on svgmj nnumj) (clear bxzjw) (clear cnddw) (on-table bxzjw) | [
[
"pick-up cnddw"
],
[
"stack cnddw bxzjw"
],
[
"unstack svgmj nnumj"
],
[
"put-down svgmj"
],
[
"pick-up kruat"
],
[
"stack kruat svgmj"
],
[
"unstack cnddw bxzjw"
],
[
"stack cnddw nnumj"
],
[
"unstack kruat svgmj"
]
] | [
"(holding cnddw) (clear svgmj) (on-table nnumj) (clear kruat) (on-table kruat) (on svgmj nnumj) (clear bxzjw) (on-table bxzjw)",
"(clear svgmj) (on cnddw bxzjw) (arm-empty) (on-table nnumj) (clear kruat) (on-table kruat) (on svgmj nnumj) (clear cnddw) (on-table bxzjw)",
"(on cnddw bxzjw) (on-table nnumj) (clear kruat) (on-table kruat) (holding svgmj) (clear cnddw) (on-table bxzjw) (clear nnumj)",
"(clear svgmj) (on cnddw bxzjw) (arm-empty) (on-table svgmj) (on-table nnumj) (clear kruat) (on-table kruat) (clear cnddw) (on-table bxzjw) (clear nnumj)",
"(clear svgmj) (on cnddw bxzjw) (on-table svgmj) (on-table nnumj) (holding kruat) (clear cnddw) (on-table bxzjw) (clear nnumj)",
"(on cnddw bxzjw) (arm-empty) (on-table svgmj) (on-table nnumj) (clear kruat) (on kruat svgmj) (clear cnddw) (on-table bxzjw) (clear nnumj)",
"(holding cnddw) (on-table svgmj) (on-table nnumj) (clear kruat) (on kruat svgmj) (clear bxzjw) (on-table bxzjw) (clear nnumj)",
"(on cnddw nnumj) (arm-empty) (on-table svgmj) (on-table nnumj) (clear kruat) (on kruat svgmj) (clear bxzjw) (clear cnddw) (on-table bxzjw)",
"(on cnddw nnumj) (clear svgmj) (on-table svgmj) (on-table nnumj) (holding kruat) (clear bxzjw) (clear cnddw) (on-table bxzjw)"
] | file_182096 |
GOAL: (on xzrka feplv) (clear tmmne) (arm-empty) (on feplv kbqpz) (on kbqpz cbxmy) (on tmmne xzrka) (on-table cbxmy) | GOAL: (on xzrka feplv) (clear tmmne) (arm-empty) (on feplv kbqpz) (on kbqpz cbxmy) (on tmmne xzrka) (on-table cbxmy)
STATE: (clear tmmne) (arm-empty) (on-table tmmne) (on-table feplv) (on-table xzrka) (clear kbqpz) (on kbqpz cbxmy) (clear xzrka) (on-table cbxmy) (clear feplv) | [
[
"pick-up feplv"
],
[
"stack feplv kbqpz"
],
[
"pick-up xzrka"
],
[
"stack xzrka feplv"
],
[
"pick-up tmmne"
],
[
"stack tmmne xzrka"
]
] | [
"(clear tmmne) (on-table tmmne) (on-table xzrka) (clear kbqpz) (on kbqpz cbxmy) (holding feplv) (clear xzrka) (on-table cbxmy)",
"(clear tmmne) (arm-empty) (on feplv kbqpz) (on-table tmmne) (on-table xzrka) (on kbqpz cbxmy) (clear xzrka) (on-table cbxmy) (clear feplv)",
"(holding xzrka) (clear tmmne) (on feplv kbqpz) (on-table tmmne) (on kbqpz cbxmy) (on-table cbxmy) (clear feplv)",
"(on xzrka feplv) (clear tmmne) (arm-empty) (on feplv kbqpz) (on-table tmmne) (on kbqpz cbxmy) (clear xzrka) (on-table cbxmy)",
"(on xzrka feplv) (on feplv kbqpz) (on kbqpz cbxmy) (holding tmmne) (clear xzrka) (on-table cbxmy)",
"(on xzrka feplv) (clear tmmne) (arm-empty) (on feplv kbqpz) (on kbqpz cbxmy) (on tmmne xzrka) (on-table cbxmy)"
] | file_194153 |
GOAL: (on ibdrg jnpzi) (holding wnisx) (on-table jnpzi) (on zliyn qiwhx) (clear zliyn) (on qiwhx ibdrg) | GOAL: (on ibdrg jnpzi) (holding wnisx) (on-table jnpzi) (on zliyn qiwhx) (clear zliyn) (on qiwhx ibdrg)
STATE: (clear ibdrg) (on zliyn wnisx) (arm-empty) (on-table ibdrg) (on-table qiwhx) (clear jnpzi) (on wnisx qiwhx) (on-table jnpzi) (clear zliyn) | [
[
"unstack zliyn wnisx"
],
[
"stack zliyn jnpzi"
],
[
"unstack wnisx qiwhx"
],
[
"put-down wnisx"
],
[
"unstack zliyn jnpzi"
],
[
"stack zliyn wnisx"
],
[
"pick-up ibdrg"
],
[
"stack ibdrg jnpzi"
],
[
"pick-up qiwhx"
],
[
"stack qiwhx ibdrg"
],
[
"unstack zliyn wnisx"
],
[
"stack zliyn qiwhx"
],
[
"pick-up wnisx"
]
] | [
"(clear ibdrg) (on-table ibdrg) (on-table qiwhx) (clear jnpzi) (on wnisx qiwhx) (on-table jnpzi) (holding zliyn) (clear wnisx)",
"(on zliyn jnpzi) (clear ibdrg) (arm-empty) (on-table ibdrg) (on-table qiwhx) (on wnisx qiwhx) (on-table jnpzi) (clear zliyn) (clear wnisx)",
"(on zliyn jnpzi) (clear ibdrg) (on-table ibdrg) (on-table qiwhx) (holding wnisx) (on-table jnpzi) (clear zliyn) (clear qiwhx)",
"(on zliyn jnpzi) (clear ibdrg) (arm-empty) (on-table ibdrg) (on-table wnisx) (on-table qiwhx) (on-table jnpzi) (clear zliyn) (clear qiwhx) (clear wnisx)",
"(clear ibdrg) (on-table ibdrg) (on-table wnisx) (on-table qiwhx) (clear jnpzi) (on-table jnpzi) (holding zliyn) (clear qiwhx) (clear wnisx)",
"(clear ibdrg) (on zliyn wnisx) (arm-empty) (on-table ibdrg) (on-table wnisx) (on-table qiwhx) (clear jnpzi) (on-table jnpzi) (clear zliyn) (clear qiwhx)",
"(on zliyn wnisx) (on-table wnisx) (on-table qiwhx) (clear jnpzi) (on-table jnpzi) (holding ibdrg) (clear zliyn) (clear qiwhx)",
"(on zliyn wnisx) (clear ibdrg) (arm-empty) (on-table wnisx) (on-table qiwhx) (on-table jnpzi) (on ibdrg jnpzi) (clear zliyn) (clear qiwhx)",
"(holding qiwhx) (on zliyn wnisx) (clear ibdrg) (on-table wnisx) (on-table jnpzi) (on ibdrg jnpzi) (clear zliyn)",
"(on zliyn wnisx) (arm-empty) (on-table wnisx) (on-table jnpzi) (on ibdrg jnpzi) (clear zliyn) (on qiwhx ibdrg) (clear qiwhx)",
"(on-table wnisx) (on-table jnpzi) (on ibdrg jnpzi) (on qiwhx ibdrg) (clear qiwhx) (holding zliyn) (clear wnisx)",
"(arm-empty) (on-table wnisx) (on ibdrg jnpzi) (on-table jnpzi) (on zliyn qiwhx) (clear zliyn) (on qiwhx ibdrg) (clear wnisx)",
"(on ibdrg jnpzi) (holding wnisx) (on-table jnpzi) (on zliyn qiwhx) (clear zliyn) (on qiwhx ibdrg)"
] | file_102512 |
GOAL: (on umgkj kghbj) (clear lwxpc) (on-table kghbj) (clear bpthl) (on-table bpthl) (on lwxpc umgkj) (holding bveuh) | GOAL: (on umgkj kghbj) (clear lwxpc) (on-table kghbj) (clear bpthl) (on-table bpthl) (on lwxpc umgkj) (holding bveuh)
STATE: (on bveuh bpthl) (clear lwxpc) (arm-empty) (on-table lwxpc) (on-table umgkj) (on kghbj bveuh) (on-table bpthl) (clear umgkj) (clear kghbj) | [
[
"pick-up umgkj"
],
[
"stack umgkj lwxpc"
],
[
"unstack kghbj bveuh"
],
[
"put-down kghbj"
],
[
"unstack umgkj lwxpc"
],
[
"stack umgkj kghbj"
],
[
"pick-up lwxpc"
],
[
"stack lwxpc umgkj"
],
[
"unstack bveuh bpthl"
]
] | [
"(holding umgkj) (on bveuh bpthl) (clear lwxpc) (on-table lwxpc) (on kghbj bveuh) (on-table bpthl) (clear kghbj)",
"(on bveuh bpthl) (arm-empty) (on-table lwxpc) (on kghbj bveuh) (on-table bpthl) (on umgkj lwxpc) (clear umgkj) (clear kghbj)",
"(on bveuh bpthl) (on-table lwxpc) (holding kghbj) (on-table bpthl) (clear bveuh) (on umgkj lwxpc) (clear umgkj)",
"(arm-empty) (on-table lwxpc) (on-table kghbj) (on umgkj lwxpc) (clear kghbj) (on bveuh bpthl) (on-table bpthl) (clear bveuh) (clear umgkj)",
"(holding umgkj) (on bveuh bpthl) (clear lwxpc) (on-table lwxpc) (on-table kghbj) (on-table bpthl) (clear bveuh) (clear kghbj)",
"(on bveuh bpthl) (clear lwxpc) (on umgkj kghbj) (arm-empty) (on-table lwxpc) (on-table kghbj) (on-table bpthl) (clear bveuh) (clear umgkj)",
"(on bveuh bpthl) (on umgkj kghbj) (on-table kghbj) (on-table bpthl) (holding lwxpc) (clear bveuh) (clear umgkj)",
"(on bveuh bpthl) (on umgkj kghbj) (clear lwxpc) (arm-empty) (on-table kghbj) (on-table bpthl) (on lwxpc umgkj) (clear bveuh)",
"(on umgkj kghbj) (clear lwxpc) (on-table kghbj) (clear bpthl) (on-table bpthl) (on lwxpc umgkj) (holding bveuh)"
] | file_32200 |
GOAL: (arm-empty) (on-table btcls) (on sxiwd btcls) (clear szufv) (on tbktg jcnfn) (clear sxiwd) (on-table jcnfn) (on szufv tbktg) | GOAL: (arm-empty) (on-table btcls) (on sxiwd btcls) (clear szufv) (on tbktg jcnfn) (clear sxiwd) (on-table jcnfn) (on szufv tbktg)
STATE: (holding jcnfn) (on-table btcls) (on szufv sxiwd) (on sxiwd btcls) (clear szufv) (clear tbktg) (on-table tbktg) | [
[
"put-down jcnfn"
],
[
"pick-up tbktg"
],
[
"stack tbktg jcnfn"
],
[
"unstack szufv sxiwd"
],
[
"stack szufv tbktg"
]
] | [
"(arm-empty) (on-table btcls) (on szufv sxiwd) (on sxiwd btcls) (clear szufv) (on-table jcnfn) (clear tbktg) (clear jcnfn) (on-table tbktg)",
"(on-table btcls) (on szufv sxiwd) (on-table jcnfn) (on sxiwd btcls) (clear szufv) (holding tbktg) (clear jcnfn)",
"(arm-empty) (on-table btcls) (on szufv sxiwd) (on-table jcnfn) (on sxiwd btcls) (clear szufv) (on tbktg jcnfn) (clear tbktg)",
"(on-table btcls) (on-table jcnfn) (holding szufv) (on sxiwd btcls) (on tbktg jcnfn) (clear tbktg) (clear sxiwd)",
"(arm-empty) (on-table btcls) (on sxiwd btcls) (clear szufv) (on tbktg jcnfn) (clear sxiwd) (on-table jcnfn) (on szufv tbktg)"
] | file_192078 |
GOAL: (on ocdjd ulbzp) (clear dzpxc) (on ulbzp fcwru) (arm-empty) (on-table hffro) (on-table fcwru) (on dzpxc ocdjd) (clear hffro) | GOAL: (on ocdjd ulbzp) (clear dzpxc) (on ulbzp fcwru) (arm-empty) (on-table hffro) (on-table fcwru) (on dzpxc ocdjd) (clear hffro)
STATE: (holding hffro) (clear dzpxc) (on ocdjd ulbzp) (on ulbzp fcwru) (on-table dzpxc) (on-table fcwru) (clear ocdjd) | [
[
"put-down hffro"
],
[
"pick-up dzpxc"
],
[
"stack dzpxc ocdjd"
]
] | [
"(on ocdjd ulbzp) (arm-empty) (on ulbzp fcwru) (on-table dzpxc) (clear dzpxc) (on-table hffro) (on-table fcwru) (clear ocdjd) (clear hffro)",
"(on ocdjd ulbzp) (on ulbzp fcwru) (on-table hffro) (on-table fcwru) (holding dzpxc) (clear ocdjd) (clear hffro)",
"(on ocdjd ulbzp) (clear dzpxc) (on ulbzp fcwru) (arm-empty) (on-table hffro) (on-table fcwru) (on dzpxc ocdjd) (clear hffro)"
] | file_93064 |
GOAL: (arm-empty) (on-table ycene) (on yzbda tcsew) (on kfvwr bbblw) (clear ycene) (clear kfvwr) (on-table tcsew) (on-table bbblw) (clear yzbda) | GOAL: (arm-empty) (on-table ycene) (on yzbda tcsew) (on kfvwr bbblw) (clear ycene) (clear kfvwr) (on-table tcsew) (on-table bbblw) (clear yzbda)
STATE: (clear kfvwr) (arm-empty) (on-table ycene) (on-table tcsew) (clear bbblw) (on-table bbblw) (on kfvwr ycene) (clear yzbda) (clear tcsew) (on-table yzbda) | [
[
"unstack kfvwr ycene"
],
[
"stack kfvwr bbblw"
],
[
"pick-up ycene"
],
[
"stack ycene kfvwr"
],
[
"pick-up yzbda"
],
[
"stack yzbda tcsew"
],
[
"unstack ycene kfvwr"
],
[
"put-down ycene"
]
] | [
"(on-table ycene) (on-table tcsew) (clear bbblw) (on-table bbblw) (holding kfvwr) (clear yzbda) (clear tcsew) (on-table yzbda) (clear ycene)",
"(clear kfvwr) (arm-empty) (on-table ycene) (on-table tcsew) (on-table bbblw) (on kfvwr bbblw) (clear yzbda) (clear tcsew) (on-table yzbda) (clear ycene)",
"(clear kfvwr) (on-table tcsew) (holding ycene) (on-table bbblw) (on kfvwr bbblw) (clear yzbda) (clear tcsew) (on-table yzbda)",
"(arm-empty) (on-table tcsew) (on ycene kfvwr) (on-table bbblw) (on kfvwr bbblw) (clear yzbda) (clear tcsew) (on-table yzbda) (clear ycene)",
"(on-table tcsew) (on ycene kfvwr) (on-table bbblw) (on kfvwr bbblw) (holding yzbda) (clear tcsew) (clear ycene)",
"(arm-empty) (on-table tcsew) (on ycene kfvwr) (on kfvwr bbblw) (on-table bbblw) (on yzbda tcsew) (clear yzbda) (clear ycene)",
"(clear kfvwr) (on-table tcsew) (on kfvwr bbblw) (holding ycene) (on-table bbblw) (on yzbda tcsew) (clear yzbda)",
"(arm-empty) (on-table ycene) (on yzbda tcsew) (on kfvwr bbblw) (clear ycene) (clear kfvwr) (on-table tcsew) (on-table bbblw) (clear yzbda)"
] | file_181835 |
GOAL: (on wgesy mdmyi) (on jsuxu wsvqt) (arm-empty) (on-table obbxz) (on mdmyi obbxz) (on-table wsvqt) (clear jsuxu) (clear wgesy) | GOAL: (on wgesy mdmyi) (on jsuxu wsvqt) (arm-empty) (on-table obbxz) (on mdmyi obbxz) (on-table wsvqt) (clear jsuxu) (clear wgesy)
STATE: (on wgesy mdmyi) (on wsvqt wgesy) (arm-empty) (on-table obbxz) (on mdmyi obbxz) (clear wsvqt) (clear jsuxu) (on-table jsuxu) | [
[
"unstack wsvqt wgesy"
],
[
"put-down wsvqt"
],
[
"pick-up jsuxu"
],
[
"stack jsuxu wsvqt"
]
] | [
"(on wgesy mdmyi) (on-table obbxz) (holding wsvqt) (on mdmyi obbxz) (clear jsuxu) (clear wgesy) (on-table jsuxu)",
"(on wgesy mdmyi) (arm-empty) (on-table obbxz) (on mdmyi obbxz) (clear wsvqt) (on-table wsvqt) (clear jsuxu) (clear wgesy) (on-table jsuxu)",
"(on wgesy mdmyi) (on-table obbxz) (on mdmyi obbxz) (clear wsvqt) (on-table wsvqt) (holding jsuxu) (clear wgesy)",
"(on wgesy mdmyi) (on jsuxu wsvqt) (arm-empty) (on-table obbxz) (on mdmyi obbxz) (on-table wsvqt) (clear jsuxu) (clear wgesy)"
] | file_1356 |
GOAL: (clear xpcci) (on-table xpcci) (on-table vxgmy) (on-table epute) (holding iendz) (clear zcwvg) (clear epute) (on-table zcwvg) (clear vxgmy) | GOAL: (clear xpcci) (on-table xpcci) (on-table vxgmy) (on-table epute) (holding iendz) (clear zcwvg) (clear epute) (on-table zcwvg) (clear vxgmy)
STATE: (on zcwvg iendz) (clear xpcci) (on iendz epute) (arm-empty) (on-table xpcci) (on-table vxgmy) (on-table epute) (clear zcwvg) (clear vxgmy) | [
[
"unstack zcwvg iendz"
],
[
"put-down zcwvg"
],
[
"unstack iendz epute"
]
] | [
"(clear xpcci) (on iendz epute) (on-table xpcci) (on-table vxgmy) (on-table epute) (clear iendz) (holding zcwvg) (clear vxgmy)",
"(clear xpcci) (on iendz epute) (arm-empty) (on-table xpcci) (on-table vxgmy) (on-table epute) (clear iendz) (clear zcwvg) (on-table zcwvg) (clear vxgmy)",
"(clear xpcci) (on-table xpcci) (on-table vxgmy) (on-table epute) (holding iendz) (clear zcwvg) (clear epute) (on-table zcwvg) (clear vxgmy)"
] | file_218427 |
GOAL: (on oppje gfctn) (on jzqza oppje) (on-table gkaxj) (on-table oxira) (arm-empty) (on gfctn gkaxj) (clear jzqza) (clear oxira) | GOAL: (on oppje gfctn) (on jzqza oppje) (on-table gkaxj) (on-table oxira) (arm-empty) (on gfctn gkaxj) (clear jzqza) (clear oxira)
STATE: (holding oppje) (on-table gkaxj) (on jzqza oxira) (on gfctn gkaxj) (clear jzqza) (on oxira gfctn) | [
[
"put-down oppje"
],
[
"unstack jzqza oxira"
],
[
"put-down jzqza"
],
[
"unstack oxira gfctn"
],
[
"put-down oxira"
],
[
"pick-up oppje"
],
[
"stack oppje gfctn"
],
[
"pick-up jzqza"
],
[
"stack jzqza oppje"
]
] | [
"(arm-empty) (on-table gkaxj) (on jzqza oxira) (clear jzqza) (on oxira gfctn) (on-table oppje) (on gfctn gkaxj) (clear oppje)",
"(on-table gkaxj) (on-table oppje) (holding jzqza) (on gfctn gkaxj) (on oxira gfctn) (clear oppje) (clear oxira)",
"(arm-empty) (on-table gkaxj) (clear jzqza) (on oxira gfctn) (clear oxira) (on-table oppje) (on gfctn gkaxj) (on-table jzqza) (clear oppje)",
"(on-table gkaxj) (on-table oppje) (on gfctn gkaxj) (clear jzqza) (holding oxira) (on-table jzqza) (clear gfctn) (clear oppje)",
"(arm-empty) (on-table gkaxj) (on-table oxira) (on-table oppje) (on gfctn gkaxj) (clear jzqza) (on-table jzqza) (clear gfctn) (clear oppje) (clear oxira)",
"(holding oppje) (on-table gkaxj) (on-table oxira) (on gfctn gkaxj) (clear jzqza) (on-table jzqza) (clear gfctn) (clear oxira)",
"(on oppje gfctn) (arm-empty) (on-table gkaxj) (on-table oxira) (on gfctn gkaxj) (clear jzqza) (on-table jzqza) (clear oppje) (clear oxira)",
"(on oppje gfctn) (on-table gkaxj) (on-table oxira) (holding jzqza) (on gfctn gkaxj) (clear oppje) (clear oxira)",
"(on oppje gfctn) (on jzqza oppje) (on-table gkaxj) (on-table oxira) (arm-empty) (on gfctn gkaxj) (clear jzqza) (clear oxira)"
] | file_201424 |
GOAL: (on kqulu mttlm) (clear hwemw) (on mttlm gsipx) (arm-empty) (on-table gsipx) (on hwemw kqulu) | GOAL: (on kqulu mttlm) (clear hwemw) (on mttlm gsipx) (arm-empty) (on-table gsipx) (on hwemw kqulu)
STATE: (on-table hwemw) (clear mttlm) (on-table mttlm) (on gsipx hwemw) (clear gsipx) (holding kqulu) | [
[
"stack kqulu mttlm"
],
[
"unstack gsipx hwemw"
],
[
"put-down gsipx"
],
[
"unstack kqulu mttlm"
],
[
"stack kqulu hwemw"
],
[
"pick-up mttlm"
],
[
"stack mttlm gsipx"
],
[
"unstack kqulu hwemw"
],
[
"stack kqulu mttlm"
],
[
"pick-up hwemw"
],
[
"stack hwemw kqulu"
]
] | [
"(on kqulu mttlm) (arm-empty) (on-table hwemw) (on-table mttlm) (clear kqulu) (on gsipx hwemw) (clear gsipx)",
"(on-table hwemw) (holding gsipx) (on kqulu mttlm) (clear hwemw) (on-table mttlm) (clear kqulu)",
"(arm-empty) (on-table hwemw) (on kqulu mttlm) (clear hwemw) (on-table gsipx) (on-table mttlm) (clear kqulu) (clear gsipx)",
"(clear hwemw) (on-table hwemw) (on-table gsipx) (clear mttlm) (on-table mttlm) (holding kqulu) (clear gsipx)",
"(arm-empty) (on-table hwemw) (on-table gsipx) (on kqulu hwemw) (clear mttlm) (on-table mttlm) (clear kqulu) (clear gsipx)",
"(on-table hwemw) (on-table gsipx) (holding mttlm) (on kqulu hwemw) (clear kqulu) (clear gsipx)",
"(on mttlm gsipx) (arm-empty) (on-table hwemw) (on-table gsipx) (on kqulu hwemw) (clear mttlm) (clear kqulu)",
"(on mttlm gsipx) (on-table hwemw) (clear mttlm) (clear hwemw) (on-table gsipx) (holding kqulu)",
"(on kqulu mttlm) (clear hwemw) (on mttlm gsipx) (arm-empty) (on-table hwemw) (on-table gsipx) (clear kqulu)",
"(on kqulu mttlm) (on mttlm gsipx) (holding hwemw) (on-table gsipx) (clear kqulu)",
"(on kqulu mttlm) (clear hwemw) (on mttlm gsipx) (arm-empty) (on-table gsipx) (on hwemw kqulu)"
] | file_212303 |
GOAL: (on jnnpu hwhtv) (arm-empty) (on-table hwhtv) (on ipgqx mgkco) (on mgkco jnnpu) (clear scnev) (on-table scnev) (clear ipgqx) | GOAL: (on jnnpu hwhtv) (arm-empty) (on-table hwhtv) (on ipgqx mgkco) (on mgkco jnnpu) (clear scnev) (on-table scnev) (clear ipgqx)
STATE: (clear mgkco) (on jnnpu hwhtv) (on-table ipgqx) (on-table hwhtv) (on mgkco jnnpu) (holding scnev) (clear ipgqx) | [
[
"put-down scnev"
],
[
"unstack mgkco jnnpu"
],
[
"put-down mgkco"
],
[
"pick-up ipgqx"
],
[
"stack ipgqx scnev"
],
[
"pick-up mgkco"
],
[
"stack mgkco jnnpu"
],
[
"unstack ipgqx scnev"
],
[
"stack ipgqx mgkco"
]
] | [
"(on jnnpu hwhtv) (arm-empty) (on-table ipgqx) (on mgkco jnnpu) (clear ipgqx) (clear mgkco) (on-table hwhtv) (clear scnev) (on-table scnev)",
"(on jnnpu hwhtv) (on-table ipgqx) (on-table hwhtv) (clear jnnpu) (holding mgkco) (clear scnev) (on-table scnev) (clear ipgqx)",
"(clear mgkco) (on jnnpu hwhtv) (arm-empty) (on-table mgkco) (on-table ipgqx) (on-table hwhtv) (clear jnnpu) (clear scnev) (on-table scnev) (clear ipgqx)",
"(clear mgkco) (on jnnpu hwhtv) (on-table mgkco) (on-table hwhtv) (clear jnnpu) (holding ipgqx) (clear scnev) (on-table scnev)",
"(clear mgkco) (on jnnpu hwhtv) (arm-empty) (on-table mgkco) (on-table hwhtv) (clear jnnpu) (on ipgqx scnev) (on-table scnev) (clear ipgqx)",
"(on jnnpu hwhtv) (on-table hwhtv) (clear jnnpu) (on ipgqx scnev) (holding mgkco) (on-table scnev) (clear ipgqx)",
"(clear mgkco) (on jnnpu hwhtv) (arm-empty) (on-table hwhtv) (on ipgqx scnev) (on mgkco jnnpu) (on-table scnev) (clear ipgqx)",
"(clear mgkco) (on jnnpu hwhtv) (on-table hwhtv) (holding ipgqx) (on mgkco jnnpu) (clear scnev) (on-table scnev)",
"(on jnnpu hwhtv) (arm-empty) (on-table hwhtv) (on ipgqx mgkco) (on mgkco jnnpu) (clear scnev) (on-table scnev) (clear ipgqx)"
] | file_211238 |
GOAL: (on udlus zsshh) (clear aqwub) (arm-empty) (on-table zsshh) (on aqwub qrwxh) (on-table qrwxh) (on qpqxz udlus) (clear qpqxz) | GOAL: (on udlus zsshh) (clear aqwub) (arm-empty) (on-table zsshh) (on aqwub qrwxh) (on-table qrwxh) (on qpqxz udlus) (clear qpqxz)
STATE: (on qpqxz qrwxh) (on-table aqwub) (on-table udlus) (holding zsshh) (on qrwxh aqwub) (clear qpqxz) (clear udlus) | [
[
"put-down zsshh"
],
[
"pick-up udlus"
],
[
"stack udlus zsshh"
],
[
"unstack qpqxz qrwxh"
],
[
"put-down qpqxz"
],
[
"unstack qrwxh aqwub"
],
[
"put-down qrwxh"
],
[
"pick-up aqwub"
],
[
"stack aqwub qrwxh"
],
[
"pick-up qpqxz"
],
[
"stack qpqxz udlus"
]
] | [
"(arm-empty) (on-table aqwub) (on-table zsshh) (clear zsshh) (on qpqxz qrwxh) (on-table udlus) (on qrwxh aqwub) (clear qpqxz) (clear udlus)",
"(holding udlus) (on qpqxz qrwxh) (on-table aqwub) (on-table zsshh) (on qrwxh aqwub) (clear qpqxz) (clear zsshh)",
"(on qpqxz qrwxh) (on udlus zsshh) (arm-empty) (on-table aqwub) (on-table zsshh) (on qrwxh aqwub) (clear qpqxz) (clear udlus)",
"(on udlus zsshh) (on-table aqwub) (on-table zsshh) (clear qrwxh) (on qrwxh aqwub) (holding qpqxz) (clear udlus)",
"(on udlus zsshh) (arm-empty) (on-table aqwub) (on-table zsshh) (clear qrwxh) (on qrwxh aqwub) (clear qpqxz) (clear udlus) (on-table qpqxz)",
"(on udlus zsshh) (clear aqwub) (on-table aqwub) (on-table zsshh) (holding qrwxh) (clear qpqxz) (clear udlus) (on-table qpqxz)",
"(on udlus zsshh) (clear aqwub) (arm-empty) (on-table aqwub) (on-table zsshh) (clear qrwxh) (on-table qrwxh) (clear qpqxz) (clear udlus) (on-table qpqxz)",
"(on udlus zsshh) (on-table zsshh) (clear qrwxh) (on-table qrwxh) (holding aqwub) (clear qpqxz) (clear udlus) (on-table qpqxz)",
"(on udlus zsshh) (clear aqwub) (arm-empty) (on-table zsshh) (on-table qrwxh) (on aqwub qrwxh) (clear qpqxz) (clear udlus) (on-table qpqxz)",
"(on udlus zsshh) (clear aqwub) (on-table zsshh) (on-table qrwxh) (on aqwub qrwxh) (holding qpqxz) (clear udlus)",
"(on udlus zsshh) (clear aqwub) (arm-empty) (on-table zsshh) (on aqwub qrwxh) (on-table qrwxh) (on qpqxz udlus) (clear qpqxz)"
] | file_94293 |
GOAL: (on-table kugbu) (on-table kejud) (on-table oybdb) (clear cvtta) (on cvtta kugbu) (holding xepgs) (clear oybdb) (clear kejud) | GOAL: (on-table kugbu) (on-table kejud) (on-table oybdb) (clear cvtta) (on cvtta kugbu) (holding xepgs) (clear oybdb) (clear kejud)
STATE: (on oybdb kejud) (on-table kejud) (clear cvtta) (on-table cvtta) (holding kugbu) (on xepgs oybdb) (clear xepgs) | [
[
"put-down kugbu"
],
[
"pick-up cvtta"
],
[
"stack cvtta kugbu"
],
[
"unstack xepgs oybdb"
],
[
"stack xepgs cvtta"
],
[
"unstack oybdb kejud"
],
[
"put-down oybdb"
],
[
"pick-up kejud"
],
[
"stack kejud oybdb"
],
[
"unstack xepgs cvtta"
],
[
"put-down xepgs"
],
[
"unstack kejud oybdb"
],
[
"put-down kejud"
],
[
"pick-up xepgs"
]
] | [
"(on oybdb kejud) (arm-empty) (on-table kugbu) (on-table kejud) (clear cvtta) (on xepgs oybdb) (clear kugbu) (on-table cvtta) (clear xepgs)",
"(on oybdb kejud) (clear kugbu) (on-table kugbu) (on-table kejud) (holding cvtta) (on xepgs oybdb) (clear xepgs)",
"(on oybdb kejud) (arm-empty) (on-table kugbu) (on-table kejud) (clear cvtta) (on xepgs oybdb) (on cvtta kugbu) (clear xepgs)",
"(on oybdb kejud) (on-table kugbu) (on-table kejud) (on cvtta kugbu) (clear cvtta) (holding xepgs) (clear oybdb)",
"(on oybdb kejud) (on xepgs cvtta) (arm-empty) (on-table kugbu) (on-table kejud) (on cvtta kugbu) (clear xepgs) (clear oybdb)",
"(holding oybdb) (on xepgs cvtta) (on-table kugbu) (on-table kejud) (on cvtta kugbu) (clear xepgs) (clear kejud)",
"(arm-empty) (on-table kugbu) (on-table kejud) (clear kejud) (on xepgs cvtta) (on-table oybdb) (on cvtta kugbu) (clear xepgs) (clear oybdb)",
"(on xepgs cvtta) (on-table kugbu) (on-table oybdb) (holding kejud) (on cvtta kugbu) (clear xepgs) (clear oybdb)",
"(on xepgs cvtta) (arm-empty) (on-table kugbu) (on-table oybdb) (on kejud oybdb) (on cvtta kugbu) (clear xepgs) (clear kejud)",
"(on-table kugbu) (on-table oybdb) (clear cvtta) (on kejud oybdb) (on cvtta kugbu) (holding xepgs) (clear kejud)",
"(arm-empty) (on-table kugbu) (clear cvtta) (clear kejud) (on-table oybdb) (on kejud oybdb) (on cvtta kugbu) (clear xepgs) (on-table xepgs)",
"(on-table kugbu) (on-table oybdb) (clear cvtta) (holding kejud) (on cvtta kugbu) (clear xepgs) (clear oybdb) (on-table xepgs)",
"(arm-empty) (on-table kugbu) (on-table kejud) (on-table oybdb) (clear cvtta) (on cvtta kugbu) (clear xepgs) (clear oybdb) (on-table xepgs) (clear kejud)",
"(on-table kugbu) (on-table kejud) (on-table oybdb) (clear cvtta) (on cvtta kugbu) (holding xepgs) (clear oybdb) (clear kejud)"
] | file_210104 |
GOAL: (holding xymmo) (on-table rhhwp) (on efufh xertx) (clear ezrkb) (on-table ezrkb) (on xertx rhhwp) (clear efufh) | GOAL: (holding xymmo) (on-table rhhwp) (on efufh xertx) (clear ezrkb) (on-table ezrkb) (on xertx rhhwp) (clear efufh)
STATE: (on efufh rhhwp) (on xymmo efufh) (arm-empty) (on rhhwp xertx) (on-table ezrkb) (on xertx ezrkb) (clear xymmo) | [
[
"unstack xymmo efufh"
],
[
"put-down xymmo"
],
[
"unstack efufh rhhwp"
],
[
"stack efufh xymmo"
],
[
"unstack rhhwp xertx"
],
[
"put-down rhhwp"
],
[
"unstack xertx ezrkb"
],
[
"stack xertx rhhwp"
],
[
"unstack efufh xymmo"
],
[
"put-down efufh"
],
[
"pick-up xymmo"
],
[
"stack xymmo ezrkb"
],
[
"pick-up efufh"
],
[
"stack efufh xertx"
],
[
"unstack xymmo ezrkb"
]
] | [
"(on efufh rhhwp) (on rhhwp xertx) (on xertx ezrkb) (holding xymmo) (on-table ezrkb) (clear efufh)",
"(on efufh rhhwp) (arm-empty) (on rhhwp xertx) (on xertx ezrkb) (on-table xymmo) (on-table ezrkb) (clear efufh) (clear xymmo)",
"(on-table xymmo) (on rhhwp xertx) (on-table ezrkb) (on xertx ezrkb) (holding efufh) (clear xymmo) (clear rhhwp)",
"(arm-empty) (on-table xymmo) (on rhhwp xertx) (on xertx ezrkb) (on-table ezrkb) (on efufh xymmo) (clear efufh) (clear rhhwp)",
"(clear xertx) (on-table xymmo) (on xertx ezrkb) (holding rhhwp) (on-table ezrkb) (on efufh xymmo) (clear efufh)",
"(arm-empty) (on-table rhhwp) (on efufh xymmo) (on xertx ezrkb) (clear rhhwp) (clear xertx) (on-table xymmo) (on-table ezrkb) (clear efufh)",
"(on-table rhhwp) (on-table xymmo) (clear ezrkb) (on-table ezrkb) (holding xertx) (on efufh xymmo) (clear efufh) (clear rhhwp)",
"(clear xertx) (arm-empty) (on-table rhhwp) (on-table xymmo) (clear ezrkb) (on-table ezrkb) (on efufh xymmo) (on xertx rhhwp) (clear efufh)",
"(clear xertx) (on-table rhhwp) (on-table xymmo) (clear ezrkb) (on-table ezrkb) (on xertx rhhwp) (holding efufh) (clear xymmo)",
"(clear xertx) (arm-empty) (on-table rhhwp) (on-table xymmo) (clear ezrkb) (on-table ezrkb) (on xertx rhhwp) (clear efufh) (clear xymmo) (on-table efufh)",
"(holding xymmo) (clear xertx) (on-table rhhwp) (clear ezrkb) (on-table ezrkb) (on xertx rhhwp) (clear efufh) (on-table efufh)",
"(clear xertx) (arm-empty) (on-table rhhwp) (on-table ezrkb) (on xymmo ezrkb) (on xertx rhhwp) (clear efufh) (clear xymmo) (on-table efufh)",
"(clear xertx) (on-table rhhwp) (on-table ezrkb) (on xymmo ezrkb) (on xertx rhhwp) (holding efufh) (clear xymmo)",
"(arm-empty) (on-table rhhwp) (on efufh xertx) (on-table ezrkb) (on xymmo ezrkb) (on xertx rhhwp) (clear efufh) (clear xymmo)",
"(holding xymmo) (on-table rhhwp) (on efufh xertx) (clear ezrkb) (on-table ezrkb) (on xertx rhhwp) (clear efufh)"
] | file_154138 |
GOAL: (on ojnxc pypxe) (clear puvbh) (on-table wnuxx) (holding inovx) (on-table pypxe) (on puvbh ojnxc) (clear wnuxx) | GOAL: (on ojnxc pypxe) (clear puvbh) (on-table wnuxx) (holding inovx) (on-table pypxe) (on puvbh ojnxc) (clear wnuxx)
STATE: (clear puvbh) (on-table inovx) (on-table wnuxx) (clear pypxe) (on-table pypxe) (on puvbh wnuxx) (holding ojnxc) (clear inovx) | [
[
"stack ojnxc pypxe"
],
[
"unstack puvbh wnuxx"
],
[
"stack puvbh ojnxc"
],
[
"pick-up inovx"
]
] | [
"(on ojnxc pypxe) (clear puvbh) (arm-empty) (on-table inovx) (on-table wnuxx) (on-table pypxe) (on puvbh wnuxx) (clear ojnxc) (clear inovx)",
"(on ojnxc pypxe) (on-table inovx) (on-table wnuxx) (on-table pypxe) (holding puvbh) (clear ojnxc) (clear wnuxx) (clear inovx)",
"(on ojnxc pypxe) (clear puvbh) (arm-empty) (on-table inovx) (on-table wnuxx) (on-table pypxe) (on puvbh ojnxc) (clear wnuxx) (clear inovx)",
"(on ojnxc pypxe) (clear puvbh) (on-table wnuxx) (holding inovx) (on-table pypxe) (on puvbh ojnxc) (clear wnuxx)"
] | file_71887 |
GOAL: (on gfswy owfbu) (on pvdtc gfswy) (arm-empty) (on-table fgrji) (on owfbu alcbh) (on alcbh fgrji) (clear pvdtc) | GOAL: (on gfswy owfbu) (on pvdtc gfswy) (arm-empty) (on-table fgrji) (on owfbu alcbh) (on alcbh fgrji) (clear pvdtc)
STATE: (clear alcbh) (on owfbu pvdtc) (on-table alcbh) (on-table pvdtc) (clear owfbu) (holding fgrji) (clear gfswy) (on-table gfswy) | [
[
"put-down fgrji"
],
[
"pick-up alcbh"
],
[
"stack alcbh fgrji"
],
[
"unstack owfbu pvdtc"
],
[
"stack owfbu alcbh"
],
[
"pick-up gfswy"
],
[
"stack gfswy owfbu"
],
[
"pick-up pvdtc"
],
[
"stack pvdtc gfswy"
]
] | [
"(clear alcbh) (on owfbu pvdtc) (arm-empty) (on-table alcbh) (on-table fgrji) (on-table pvdtc) (clear owfbu) (clear gfswy) (on-table gfswy) (clear fgrji)",
"(on owfbu pvdtc) (on-table fgrji) (on-table pvdtc) (clear owfbu) (holding alcbh) (clear gfswy) (on-table gfswy) (clear fgrji)",
"(clear alcbh) (on owfbu pvdtc) (arm-empty) (on-table fgrji) (on-table pvdtc) (clear owfbu) (on alcbh fgrji) (clear gfswy) (on-table gfswy)",
"(clear alcbh) (on-table fgrji) (on-table pvdtc) (holding owfbu) (on alcbh fgrji) (clear gfswy) (clear pvdtc) (on-table gfswy)",
"(arm-empty) (on-table fgrji) (on-table pvdtc) (clear owfbu) (on owfbu alcbh) (on alcbh fgrji) (clear gfswy) (clear pvdtc) (on-table gfswy)",
"(on-table fgrji) (on-table pvdtc) (clear owfbu) (on owfbu alcbh) (on alcbh fgrji) (holding gfswy) (clear pvdtc)",
"(on gfswy owfbu) (arm-empty) (on-table fgrji) (on-table pvdtc) (on owfbu alcbh) (on alcbh fgrji) (clear gfswy) (clear pvdtc)",
"(holding pvdtc) (on gfswy owfbu) (on-table fgrji) (on owfbu alcbh) (on alcbh fgrji) (clear gfswy)",
"(on gfswy owfbu) (on pvdtc gfswy) (arm-empty) (on-table fgrji) (on owfbu alcbh) (on alcbh fgrji) (clear pvdtc)"
] | file_181717 |
GOAL: (arm-empty) (on-table fimca) (clear rymew) (clear fimca) (on-table kbidw) (on rymew dyyme) (clear kbidw) (on-table dyyme) | GOAL: (arm-empty) (on-table fimca) (clear rymew) (clear fimca) (on-table kbidw) (on rymew dyyme) (clear kbidw) (on-table dyyme)
STATE: (holding fimca) (on-table rymew) (on kbidw rymew) (on dyyme kbidw) (clear dyyme) | [
[
"put-down fimca"
],
[
"unstack dyyme kbidw"
],
[
"put-down dyyme"
],
[
"unstack kbidw rymew"
],
[
"stack kbidw fimca"
],
[
"pick-up rymew"
],
[
"stack rymew dyyme"
],
[
"unstack kbidw fimca"
],
[
"put-down kbidw"
]
] | [
"(on-table rymew) (clear fimca) (arm-empty) (on-table fimca) (on dyyme kbidw) (clear dyyme) (on kbidw rymew)",
"(on-table fimca) (clear fimca) (on-table rymew) (on kbidw rymew) (holding dyyme) (clear kbidw)",
"(arm-empty) (on-table fimca) (clear fimca) (on-table rymew) (on kbidw rymew) (clear dyyme) (clear kbidw) (on-table dyyme)",
"(holding kbidw) (clear fimca) (on-table fimca) (clear rymew) (on-table rymew) (clear dyyme) (on-table dyyme)",
"(arm-empty) (on-table fimca) (clear rymew) (on-table rymew) (clear dyyme) (on kbidw fimca) (clear kbidw) (on-table dyyme)",
"(on-table fimca) (holding rymew) (clear dyyme) (on kbidw fimca) (clear kbidw) (on-table dyyme)",
"(arm-empty) (on-table fimca) (clear rymew) (on rymew dyyme) (on kbidw fimca) (clear kbidw) (on-table dyyme)",
"(on-table fimca) (clear rymew) (holding kbidw) (clear fimca) (on rymew dyyme) (on-table dyyme)",
"(arm-empty) (on-table fimca) (clear rymew) (clear fimca) (on-table kbidw) (on rymew dyyme) (clear kbidw) (on-table dyyme)"
] | file_133076 |
GOAL: (on odxsb ghlog) (arm-empty) (on-table cuwbk) (on lioma mrcmk) (on ghlog cuwbk) (clear lioma) (on mrcmk odxsb) | GOAL: (on odxsb ghlog) (arm-empty) (on-table cuwbk) (on lioma mrcmk) (on ghlog cuwbk) (clear lioma) (on mrcmk odxsb)
STATE: (clear cuwbk) (arm-empty) (on-table cuwbk) (on-table mrcmk) (on lioma mrcmk) (on odxsb lioma) (on ghlog odxsb) (clear ghlog) | [
[
"unstack ghlog odxsb"
],
[
"stack ghlog cuwbk"
],
[
"unstack odxsb lioma"
],
[
"stack odxsb ghlog"
],
[
"unstack lioma mrcmk"
],
[
"put-down lioma"
],
[
"pick-up mrcmk"
],
[
"stack mrcmk odxsb"
],
[
"pick-up lioma"
],
[
"stack lioma mrcmk"
]
] | [
"(clear cuwbk) (on-table cuwbk) (on-table mrcmk) (on lioma mrcmk) (on odxsb lioma) (holding ghlog) (clear odxsb)",
"(arm-empty) (on-table cuwbk) (on-table mrcmk) (on lioma mrcmk) (on ghlog cuwbk) (on odxsb lioma) (clear ghlog) (clear odxsb)",
"(holding odxsb) (on-table cuwbk) (on-table mrcmk) (on lioma mrcmk) (on ghlog cuwbk) (clear lioma) (clear ghlog)",
"(on odxsb ghlog) (arm-empty) (on-table cuwbk) (on-table mrcmk) (on lioma mrcmk) (on ghlog cuwbk) (clear lioma) (clear odxsb)",
"(on odxsb ghlog) (on-table cuwbk) (on-table mrcmk) (holding lioma) (on ghlog cuwbk) (clear odxsb) (clear mrcmk)",
"(on odxsb ghlog) (arm-empty) (on-table cuwbk) (on-table mrcmk) (clear lioma) (clear mrcmk) (on ghlog cuwbk) (on-table lioma) (clear odxsb)",
"(on odxsb ghlog) (on-table cuwbk) (on ghlog cuwbk) (clear lioma) (holding mrcmk) (on-table lioma) (clear odxsb)",
"(on odxsb ghlog) (arm-empty) (on-table cuwbk) (on ghlog cuwbk) (clear lioma) (on mrcmk odxsb) (on-table lioma) (clear mrcmk)",
"(on odxsb ghlog) (on-table cuwbk) (holding lioma) (on ghlog cuwbk) (on mrcmk odxsb) (clear mrcmk)",
"(on odxsb ghlog) (arm-empty) (on-table cuwbk) (on lioma mrcmk) (on ghlog cuwbk) (clear lioma) (on mrcmk odxsb)"
] | file_215972 |
GOAL: (clear gtlfy) (on-table gtlfy) (on-table dqecs) (holding zncol) (on bfvqr dqecs) (clear epxbi) (on-table epxbi) (clear bfvqr) | GOAL: (clear gtlfy) (on-table gtlfy) (on-table dqecs) (holding zncol) (on bfvqr dqecs) (clear epxbi) (on-table epxbi) (clear bfvqr)
STATE: (on dqecs epxbi) (arm-empty) (on epxbi gtlfy) (on bfvqr dqecs) (on-table zncol) (on gtlfy zncol) (clear bfvqr) | [
[
"unstack bfvqr dqecs"
],
[
"put-down bfvqr"
],
[
"unstack dqecs epxbi"
],
[
"put-down dqecs"
],
[
"pick-up bfvqr"
],
[
"stack bfvqr dqecs"
],
[
"unstack epxbi gtlfy"
],
[
"stack epxbi bfvqr"
],
[
"unstack gtlfy zncol"
],
[
"put-down gtlfy"
],
[
"unstack epxbi bfvqr"
],
[
"put-down epxbi"
],
[
"pick-up zncol"
]
] | [
"(on dqecs epxbi) (holding bfvqr) (on gtlfy zncol) (on epxbi gtlfy) (on-table zncol) (clear dqecs)",
"(on dqecs epxbi) (arm-empty) (on-table bfvqr) (on gtlfy zncol) (clear bfvqr) (on epxbi gtlfy) (on-table zncol) (clear dqecs)",
"(holding dqecs) (on-table bfvqr) (on epxbi gtlfy) (on-table zncol) (on gtlfy zncol) (clear epxbi) (clear bfvqr)",
"(arm-empty) (on-table bfvqr) (on gtlfy zncol) (clear bfvqr) (on-table dqecs) (on epxbi gtlfy) (on-table zncol) (clear epxbi) (clear dqecs)",
"(on-table dqecs) (on epxbi gtlfy) (holding bfvqr) (on-table zncol) (on gtlfy zncol) (clear epxbi) (clear dqecs)",
"(arm-empty) (on gtlfy zncol) (clear bfvqr) (on-table dqecs) (on epxbi gtlfy) (on bfvqr dqecs) (on-table zncol) (clear epxbi)",
"(clear gtlfy) (on-table dqecs) (on bfvqr dqecs) (on-table zncol) (on gtlfy zncol) (holding epxbi) (clear bfvqr)",
"(clear gtlfy) (on epxbi bfvqr) (arm-empty) (on-table dqecs) (on bfvqr dqecs) (on-table zncol) (on gtlfy zncol) (clear epxbi)",
"(on epxbi bfvqr) (on-table dqecs) (clear zncol) (on bfvqr dqecs) (on-table zncol) (holding gtlfy) (clear epxbi)",
"(on epxbi bfvqr) (arm-empty) (on-table gtlfy) (clear zncol) (clear gtlfy) (on-table dqecs) (on bfvqr dqecs) (on-table zncol) (clear epxbi)",
"(clear gtlfy) (on-table gtlfy) (on-table dqecs) (clear zncol) (on bfvqr dqecs) (on-table zncol) (holding epxbi) (clear bfvqr)",
"(clear gtlfy) (arm-empty) (on-table gtlfy) (on-table dqecs) (clear zncol) (on bfvqr dqecs) (on-table zncol) (clear epxbi) (on-table epxbi) (clear bfvqr)",
"(clear gtlfy) (on-table gtlfy) (on-table dqecs) (holding zncol) (on bfvqr dqecs) (clear epxbi) (on-table epxbi) (clear bfvqr)"
] | file_67192 |
GOAL: (arm-empty) (on-table bffct) (on pxjao cxtnp) (on njcgk pxjao) (on gmjvr njcgk) (on cxtnp bffct) (clear gmjvr) | GOAL: (arm-empty) (on-table bffct) (on pxjao cxtnp) (on njcgk pxjao) (on gmjvr njcgk) (on cxtnp bffct) (clear gmjvr)
STATE: (clear cxtnp) (arm-empty) (on-table cxtnp) (on-table bffct) (on-table gmjvr) (clear njcgk) (on-table njcgk) (clear pxjao) (clear gmjvr) (on-table pxjao) (clear bffct) | [
[
"pick-up cxtnp"
],
[
"stack cxtnp bffct"
],
[
"pick-up njcgk"
],
[
"stack njcgk gmjvr"
],
[
"pick-up pxjao"
],
[
"stack pxjao cxtnp"
],
[
"unstack njcgk gmjvr"
],
[
"stack njcgk pxjao"
],
[
"pick-up gmjvr"
],
[
"stack gmjvr njcgk"
]
] | [
"(on-table bffct) (on-table gmjvr) (clear njcgk) (on-table njcgk) (holding cxtnp) (clear pxjao) (clear gmjvr) (on-table pxjao) (clear bffct)",
"(clear cxtnp) (arm-empty) (on-table bffct) (on-table gmjvr) (clear njcgk) (on-table njcgk) (on cxtnp bffct) (clear pxjao) (clear gmjvr) (on-table pxjao)",
"(clear cxtnp) (on-table bffct) (on-table gmjvr) (holding njcgk) (on cxtnp bffct) (clear pxjao) (clear gmjvr) (on-table pxjao)",
"(clear cxtnp) (on njcgk gmjvr) (arm-empty) (on-table bffct) (on-table gmjvr) (clear njcgk) (on cxtnp bffct) (clear pxjao) (on-table pxjao)",
"(clear cxtnp) (on njcgk gmjvr) (on-table bffct) (on-table gmjvr) (clear njcgk) (on cxtnp bffct) (holding pxjao)",
"(on njcgk gmjvr) (arm-empty) (on-table bffct) (on-table gmjvr) (on pxjao cxtnp) (clear njcgk) (on cxtnp bffct) (clear pxjao)",
"(on-table bffct) (on-table gmjvr) (holding njcgk) (on pxjao cxtnp) (on cxtnp bffct) (clear pxjao) (clear gmjvr)",
"(arm-empty) (on-table bffct) (clear njcgk) (on cxtnp bffct) (on-table gmjvr) (on pxjao cxtnp) (on njcgk pxjao) (clear gmjvr)",
"(holding gmjvr) (on-table bffct) (on pxjao cxtnp) (clear njcgk) (on njcgk pxjao) (on cxtnp bffct)",
"(arm-empty) (on-table bffct) (on pxjao cxtnp) (on njcgk pxjao) (on gmjvr njcgk) (on cxtnp bffct) (clear gmjvr)"
] | file_20878 |
GOAL: (clear levsl) (on deoab mqkyd) (on-table levsl) (on-table rsomr) (holding crroc) (clear deoab) (on-table mqkyd) (clear rsomr) | GOAL: (clear levsl) (on deoab mqkyd) (on-table levsl) (on-table rsomr) (holding crroc) (clear deoab) (on-table mqkyd) (clear rsomr)
STATE: (on mqkyd crroc) (on crroc deoab) (arm-empty) (on-table deoab) (on rsomr levsl) (on levsl mqkyd) (clear rsomr) | [
[
"unstack rsomr levsl"
],
[
"put-down rsomr"
],
[
"unstack levsl mqkyd"
],
[
"put-down levsl"
],
[
"pick-up rsomr"
],
[
"stack rsomr levsl"
],
[
"unstack mqkyd crroc"
],
[
"put-down mqkyd"
],
[
"unstack crroc deoab"
],
[
"stack crroc rsomr"
],
[
"pick-up deoab"
],
[
"stack deoab mqkyd"
],
[
"unstack crroc rsomr"
],
[
"put-down crroc"
],
[
"unstack rsomr levsl"
],
[
"put-down rsomr"
],
[
"pick-up crroc"
]
] | [
"(on crroc deoab) (holding rsomr) (on mqkyd crroc) (clear levsl) (on-table deoab) (on levsl mqkyd)",
"(on crroc deoab) (arm-empty) (on-table rsomr) (clear rsomr) (on mqkyd crroc) (clear levsl) (on-table deoab) (on levsl mqkyd)",
"(on mqkyd crroc) (on crroc deoab) (on-table rsomr) (on-table deoab) (holding levsl) (clear mqkyd) (clear rsomr)",
"(on crroc deoab) (arm-empty) (on-table levsl) (on-table rsomr) (clear rsomr) (on mqkyd crroc) (clear levsl) (on-table deoab) (clear mqkyd)",
"(on mqkyd crroc) (clear levsl) (on crroc deoab) (on-table levsl) (on-table deoab) (holding rsomr) (clear mqkyd)",
"(on mqkyd crroc) (on crroc deoab) (arm-empty) (on-table levsl) (on-table deoab) (on rsomr levsl) (clear mqkyd) (clear rsomr)",
"(on crroc deoab) (on-table levsl) (on-table deoab) (on rsomr levsl) (clear crroc) (holding mqkyd) (clear rsomr)",
"(on crroc deoab) (arm-empty) (on-table levsl) (on rsomr levsl) (clear crroc) (clear rsomr) (on-table deoab) (clear mqkyd) (on-table mqkyd)",
"(on-table levsl) (on-table deoab) (holding crroc) (on rsomr levsl) (clear mqkyd) (clear deoab) (on-table mqkyd) (clear rsomr)",
"(arm-empty) (on-table levsl) (on crroc rsomr) (on-table deoab) (on rsomr levsl) (clear crroc) (clear mqkyd) (clear deoab) (on-table mqkyd)",
"(holding deoab) (on-table levsl) (on crroc rsomr) (on rsomr levsl) (clear crroc) (clear mqkyd) (on-table mqkyd)",
"(on deoab mqkyd) (arm-empty) (on-table levsl) (on crroc rsomr) (on rsomr levsl) (clear crroc) (clear deoab) (on-table mqkyd)",
"(on deoab mqkyd) (on-table levsl) (holding crroc) (on rsomr levsl) (clear deoab) (on-table mqkyd) (clear rsomr)",
"(on deoab mqkyd) (arm-empty) (on-table levsl) (on rsomr levsl) (clear crroc) (clear rsomr) (on-table crroc) (clear deoab) (on-table mqkyd)",
"(clear levsl) (on deoab mqkyd) (on-table levsl) (clear crroc) (holding rsomr) (on-table crroc) (clear deoab) (on-table mqkyd)",
"(clear levsl) (on deoab mqkyd) (arm-empty) (on-table levsl) (on-table rsomr) (clear crroc) (on-table crroc) (clear deoab) (on-table mqkyd) (clear rsomr)",
"(clear levsl) (on deoab mqkyd) (on-table levsl) (on-table rsomr) (holding crroc) (clear deoab) (on-table mqkyd) (clear rsomr)"
] | file_5427 |
GOAL: (arm-empty) (on-table yyajb) (on-table fpbdp) (on pceyu yyajb) (on xcpfi pceyu) (on jfzzt xcpfi) (clear jfzzt) (clear fpbdp) | GOAL: (arm-empty) (on-table yyajb) (on-table fpbdp) (on pceyu yyajb) (on xcpfi pceyu) (on jfzzt xcpfi) (clear jfzzt) (clear fpbdp)
STATE: (on pceyu xcpfi) (arm-empty) (on-table yyajb) (on-table fpbdp) (clear pceyu) (clear jfzzt) (on xcpfi yyajb) (on-table jfzzt) (clear fpbdp) | [
[
"pick-up jfzzt"
],
[
"stack jfzzt fpbdp"
],
[
"unstack pceyu xcpfi"
],
[
"stack pceyu jfzzt"
],
[
"unstack xcpfi yyajb"
],
[
"put-down xcpfi"
],
[
"unstack pceyu jfzzt"
],
[
"stack pceyu yyajb"
],
[
"pick-up xcpfi"
],
[
"stack xcpfi pceyu"
],
[
"unstack jfzzt fpbdp"
],
[
"stack jfzzt xcpfi"
]
] | [
"(on pceyu xcpfi) (on-table yyajb) (on-table fpbdp) (clear pceyu) (on xcpfi yyajb) (holding jfzzt) (clear fpbdp)",
"(on jfzzt fpbdp) (on pceyu xcpfi) (arm-empty) (on-table yyajb) (on-table fpbdp) (clear pceyu) (clear jfzzt) (on xcpfi yyajb)",
"(on jfzzt fpbdp) (on-table yyajb) (on-table fpbdp) (holding pceyu) (clear jfzzt) (on xcpfi yyajb) (clear xcpfi)",
"(on jfzzt fpbdp) (arm-empty) (on-table yyajb) (on-table fpbdp) (clear pceyu) (on pceyu jfzzt) (on xcpfi yyajb) (clear xcpfi)",
"(holding xcpfi) (on jfzzt fpbdp) (clear yyajb) (on-table yyajb) (on-table fpbdp) (clear pceyu) (on pceyu jfzzt)",
"(on jfzzt fpbdp) (arm-empty) (on-table yyajb) (on-table fpbdp) (clear pceyu) (clear yyajb) (on-table xcpfi) (on pceyu jfzzt) (clear xcpfi)",
"(on jfzzt fpbdp) (clear yyajb) (on-table yyajb) (on-table fpbdp) (on-table xcpfi) (holding pceyu) (clear jfzzt) (clear xcpfi)",
"(on jfzzt fpbdp) (arm-empty) (on-table yyajb) (on-table fpbdp) (on-table xcpfi) (clear pceyu) (on pceyu yyajb) (clear jfzzt) (clear xcpfi)",
"(holding xcpfi) (on jfzzt fpbdp) (on-table yyajb) (on-table fpbdp) (clear pceyu) (on pceyu yyajb) (clear jfzzt)",
"(on jfzzt fpbdp) (arm-empty) (on-table yyajb) (on-table fpbdp) (on xcpfi pceyu) (on pceyu yyajb) (clear jfzzt) (clear xcpfi)",
"(on-table yyajb) (on-table fpbdp) (on xcpfi pceyu) (on pceyu yyajb) (holding jfzzt) (clear xcpfi) (clear fpbdp)",
"(arm-empty) (on-table yyajb) (on-table fpbdp) (on pceyu yyajb) (on xcpfi pceyu) (on jfzzt xcpfi) (clear jfzzt) (clear fpbdp)"
] | file_114848 |
GOAL: (on uyjue qdsnm) (clear uwbge) (on dyjcb uyjue) (on-table uwbge) (holding oilfd) (on-table qdsnm) (clear dyjcb) | GOAL: (on uyjue qdsnm) (clear uwbge) (on dyjcb uyjue) (on-table uwbge) (holding oilfd) (on-table qdsnm) (clear dyjcb)
STATE: (on dyjcb uyjue) (arm-empty) (on-table uwbge) (on qdsnm oilfd) (on uyjue uwbge) (clear qdsnm) (on oilfd dyjcb) | [
[
"unstack qdsnm oilfd"
],
[
"put-down qdsnm"
],
[
"unstack oilfd dyjcb"
],
[
"put-down oilfd"
],
[
"unstack dyjcb uyjue"
],
[
"stack dyjcb oilfd"
],
[
"unstack uyjue uwbge"
],
[
"stack uyjue qdsnm"
],
[
"unstack dyjcb oilfd"
],
[
"stack dyjcb uyjue"
],
[
"pick-up oilfd"
]
] | [
"(on dyjcb uyjue) (on-table uwbge) (holding qdsnm) (clear oilfd) (on uyjue uwbge) (on oilfd dyjcb)",
"(on dyjcb uyjue) (arm-empty) (on-table uwbge) (clear qdsnm) (clear oilfd) (on uyjue uwbge) (on oilfd dyjcb) (on-table qdsnm)",
"(on dyjcb uyjue) (on-table uwbge) (on uyjue uwbge) (clear qdsnm) (holding oilfd) (on-table qdsnm) (clear dyjcb)",
"(on dyjcb uyjue) (arm-empty) (on-table uwbge) (on-table oilfd) (clear qdsnm) (clear oilfd) (on uyjue uwbge) (on-table qdsnm) (clear dyjcb)",
"(holding dyjcb) (on-table uwbge) (on-table oilfd) (on uyjue uwbge) (clear qdsnm) (on-table qdsnm) (clear uyjue) (clear oilfd)",
"(on dyjcb oilfd) (arm-empty) (on-table uwbge) (on-table oilfd) (on uyjue uwbge) (clear qdsnm) (on-table qdsnm) (clear uyjue) (clear dyjcb)",
"(on dyjcb oilfd) (clear uwbge) (on-table uwbge) (on-table oilfd) (clear qdsnm) (on-table qdsnm) (holding uyjue) (clear dyjcb)",
"(on dyjcb oilfd) (clear uwbge) (on uyjue qdsnm) (arm-empty) (on-table uwbge) (on-table oilfd) (on-table qdsnm) (clear uyjue) (clear dyjcb)",
"(holding dyjcb) (clear uwbge) (on uyjue qdsnm) (on-table uwbge) (on-table oilfd) (on-table qdsnm) (clear uyjue) (clear oilfd)",
"(on uyjue qdsnm) (clear uwbge) (on dyjcb uyjue) (arm-empty) (on-table uwbge) (on-table oilfd) (on-table qdsnm) (clear dyjcb) (clear oilfd)",
"(on uyjue qdsnm) (clear uwbge) (on dyjcb uyjue) (on-table uwbge) (holding oilfd) (on-table qdsnm) (clear dyjcb)"
] | file_27524 |
GOAL: (clear wniuy) (on-table wniuy) (on-table rshms) (holding gvrag) (on-table ofhap) (clear jhsfw) (clear ofhap) (on-table jhsfw) (clear rshms) | GOAL: (clear wniuy) (on-table wniuy) (on-table rshms) (holding gvrag) (on-table ofhap) (clear jhsfw) (clear ofhap) (on-table jhsfw) (clear rshms)
STATE: (on-table rshms) (on gvrag rshms) (holding wniuy) (on ofhap gvrag) (clear jhsfw) (clear ofhap) (on-table jhsfw) | [
[
"stack wniuy jhsfw"
],
[
"unstack ofhap gvrag"
],
[
"put-down ofhap"
],
[
"unstack wniuy jhsfw"
],
[
"put-down wniuy"
],
[
"unstack gvrag rshms"
]
] | [
"(clear wniuy) (arm-empty) (on-table rshms) (on gvrag rshms) (on ofhap gvrag) (on wniuy jhsfw) (clear ofhap) (on-table jhsfw)",
"(holding ofhap) (clear wniuy) (on-table rshms) (on gvrag rshms) (clear gvrag) (on wniuy jhsfw) (on-table jhsfw)",
"(arm-empty) (on-table rshms) (on gvrag rshms) (clear gvrag) (clear wniuy) (on-table ofhap) (on wniuy jhsfw) (clear ofhap) (on-table jhsfw)",
"(on-table rshms) (on gvrag rshms) (on-table ofhap) (clear gvrag) (holding wniuy) (clear jhsfw) (clear ofhap) (on-table jhsfw)",
"(clear wniuy) (arm-empty) (on-table wniuy) (on-table rshms) (on gvrag rshms) (on-table ofhap) (clear gvrag) (clear jhsfw) (clear ofhap) (on-table jhsfw)",
"(clear wniuy) (on-table wniuy) (on-table rshms) (holding gvrag) (on-table ofhap) (clear jhsfw) (clear ofhap) (on-table jhsfw) (clear rshms)"
] | file_123310 |
GOAL: (holding wxgsk) (on ueofp cindy) (on-table nlxzp) (on efdcq nlxzp) (on cindy efdcq) (clear ueofp) | GOAL: (holding wxgsk) (on ueofp cindy) (on-table nlxzp) (on efdcq nlxzp) (on cindy efdcq) (clear ueofp)
STATE: (clear wxgsk) (holding ueofp) (on-table nlxzp) (on efdcq nlxzp) (on cindy efdcq) (on wxgsk cindy) | [
[
"put-down ueofp"
],
[
"unstack wxgsk cindy"
],
[
"put-down wxgsk"
],
[
"pick-up ueofp"
],
[
"stack ueofp cindy"
],
[
"pick-up wxgsk"
]
] | [
"(arm-empty) (on-table ueofp) (on cindy efdcq) (clear ueofp) (clear wxgsk) (on-table nlxzp) (on efdcq nlxzp) (on wxgsk cindy)",
"(on-table ueofp) (holding wxgsk) (on-table nlxzp) (on efdcq nlxzp) (on cindy efdcq) (clear cindy) (clear ueofp)",
"(arm-empty) (on-table wxgsk) (on-table ueofp) (on cindy efdcq) (clear ueofp) (clear wxgsk) (on-table nlxzp) (on efdcq nlxzp) (clear cindy)",
"(clear wxgsk) (on-table wxgsk) (holding ueofp) (on-table nlxzp) (on efdcq nlxzp) (on cindy efdcq) (clear cindy)",
"(clear wxgsk) (arm-empty) (on-table wxgsk) (on ueofp cindy) (on-table nlxzp) (on efdcq nlxzp) (on cindy efdcq) (clear ueofp)",
"(holding wxgsk) (on ueofp cindy) (on-table nlxzp) (on efdcq nlxzp) (on cindy efdcq) (clear ueofp)"
] | file_89254 |
GOAL: (holding fpaha) (clear boqos) (on-table boqos) (on-table evfhg) (on rigmb evfhg) (clear rigmb) (clear ovbjj) (on-table ovbjj) | GOAL: (holding fpaha) (clear boqos) (on-table boqos) (on-table evfhg) (on rigmb evfhg) (clear rigmb) (clear ovbjj) (on-table ovbjj)
STATE: (on-table boqos) (on-table fpaha) (clear rigmb) (holding evfhg) (on rigmb boqos) (clear ovbjj) (clear fpaha) (on-table ovbjj) | [
[
"stack evfhg rigmb"
],
[
"pick-up ovbjj"
],
[
"stack ovbjj fpaha"
],
[
"unstack evfhg rigmb"
],
[
"put-down evfhg"
],
[
"unstack rigmb boqos"
],
[
"stack rigmb evfhg"
],
[
"unstack ovbjj fpaha"
],
[
"put-down ovbjj"
],
[
"pick-up fpaha"
]
] | [
"(arm-empty) (on evfhg rigmb) (on-table boqos) (on-table fpaha) (on rigmb boqos) (clear ovbjj) (clear fpaha) (on-table ovbjj) (clear evfhg)",
"(on evfhg rigmb) (on-table boqos) (on-table fpaha) (on rigmb boqos) (holding ovbjj) (clear fpaha) (clear evfhg)",
"(arm-empty) (on evfhg rigmb) (on-table boqos) (on-table fpaha) (on ovbjj fpaha) (on rigmb boqos) (clear ovbjj) (clear evfhg)",
"(on-table boqos) (on-table fpaha) (clear rigmb) (on ovbjj fpaha) (holding evfhg) (on rigmb boqos) (clear ovbjj)",
"(arm-empty) (on-table boqos) (on-table evfhg) (clear rigmb) (on ovbjj fpaha) (clear evfhg) (on-table fpaha) (on rigmb boqos) (clear ovbjj)",
"(clear boqos) (on-table boqos) (on-table evfhg) (on-table fpaha) (holding rigmb) (on ovbjj fpaha) (clear ovbjj) (clear evfhg)",
"(clear boqos) (arm-empty) (on-table boqos) (on-table evfhg) (on-table fpaha) (on rigmb evfhg) (clear rigmb) (on ovbjj fpaha) (clear ovbjj)",
"(clear boqos) (on-table boqos) (on-table evfhg) (on-table fpaha) (on rigmb evfhg) (clear rigmb) (holding ovbjj) (clear fpaha)",
"(clear boqos) (arm-empty) (on-table boqos) (on-table evfhg) (on-table fpaha) (on rigmb evfhg) (clear rigmb) (clear ovbjj) (clear fpaha) (on-table ovbjj)",
"(holding fpaha) (clear boqos) (on-table boqos) (on-table evfhg) (on rigmb evfhg) (clear rigmb) (clear ovbjj) (on-table ovbjj)"
] | file_87212 |
GOAL: (on crcqa vgygk) (clear acnrd) (arm-empty) (on-table acnrd) (on vgygk lqcim) (on-table selhv) (on lqcim selhv) (clear crcqa) | GOAL: (on crcqa vgygk) (clear acnrd) (arm-empty) (on-table acnrd) (on vgygk lqcim) (on-table selhv) (on lqcim selhv) (clear crcqa)
STATE: (arm-empty) (on-table acnrd) (on-table lqcim) (on crcqa acnrd) (on vgygk crcqa) (on selhv vgygk) (clear selhv) (clear lqcim) | [
[
"unstack selhv vgygk"
],
[
"put-down selhv"
],
[
"pick-up lqcim"
],
[
"stack lqcim selhv"
],
[
"unstack vgygk crcqa"
],
[
"stack vgygk lqcim"
],
[
"unstack crcqa acnrd"
],
[
"stack crcqa vgygk"
]
] | [
"(holding selhv) (on-table acnrd) (on-table lqcim) (on crcqa acnrd) (clear vgygk) (on vgygk crcqa) (clear lqcim)",
"(arm-empty) (on-table acnrd) (on-table lqcim) (clear vgygk) (clear lqcim) (on-table selhv) (on crcqa acnrd) (on vgygk crcqa) (clear selhv)",
"(on-table acnrd) (on-table selhv) (on crcqa acnrd) (clear vgygk) (on vgygk crcqa) (holding lqcim) (clear selhv)",
"(arm-empty) (on-table acnrd) (clear vgygk) (clear lqcim) (on-table selhv) (on crcqa acnrd) (on vgygk crcqa) (on lqcim selhv)",
"(on-table acnrd) (on-table selhv) (holding vgygk) (on crcqa acnrd) (on lqcim selhv) (clear crcqa) (clear lqcim)",
"(arm-empty) (on-table acnrd) (on vgygk lqcim) (on-table selhv) (on crcqa acnrd) (clear vgygk) (on lqcim selhv) (clear crcqa)",
"(clear acnrd) (on-table acnrd) (on vgygk lqcim) (on-table selhv) (clear vgygk) (on lqcim selhv) (holding crcqa)",
"(on crcqa vgygk) (clear acnrd) (arm-empty) (on-table acnrd) (on vgygk lqcim) (on-table selhv) (on lqcim selhv) (clear crcqa)"
] | file_15916 |
GOAL: (on zhqju xxhix) (clear vjlqb) (arm-empty) (on-table mkpwf) (on gwfln mkpwf) (on-table xxhix) (on vjlqb gwfln) (clear zhqju) | GOAL: (on zhqju xxhix) (clear vjlqb) (arm-empty) (on-table mkpwf) (on gwfln mkpwf) (on-table xxhix) (on vjlqb gwfln) (clear zhqju)
STATE: (on zhqju xxhix) (clear vjlqb) (on-table mkpwf) (holding gwfln) (on-table xxhix) (on vjlqb zhqju) (clear mkpwf) | [
[
"stack gwfln mkpwf"
],
[
"unstack vjlqb zhqju"
],
[
"stack vjlqb gwfln"
]
] | [
"(on zhqju xxhix) (clear vjlqb) (arm-empty) (on-table mkpwf) (on gwfln mkpwf) (on-table xxhix) (on vjlqb zhqju) (clear gwfln)",
"(on zhqju xxhix) (on-table mkpwf) (on gwfln mkpwf) (on-table xxhix) (holding vjlqb) (clear zhqju) (clear gwfln)",
"(on zhqju xxhix) (clear vjlqb) (arm-empty) (on-table mkpwf) (on gwfln mkpwf) (on-table xxhix) (on vjlqb gwfln) (clear zhqju)"
] | file_125702 |
GOAL: (on gvpkw twmlu) (arm-empty) (on-table clkip) (on twmlu hvtkc) (on hvtkc clkip) (clear gvpkw) | GOAL: (on gvpkw twmlu) (arm-empty) (on-table clkip) (on twmlu hvtkc) (on hvtkc clkip) (clear gvpkw)
STATE: (on-table twmlu) (clear hvtkc) (on hvtkc gvpkw) (holding clkip) (clear twmlu) (on-table gvpkw) | [
[
"put-down clkip"
],
[
"unstack hvtkc gvpkw"
],
[
"stack hvtkc clkip"
],
[
"pick-up twmlu"
],
[
"stack twmlu hvtkc"
],
[
"pick-up gvpkw"
],
[
"stack gvpkw twmlu"
]
] | [
"(arm-empty) (on-table clkip) (clear hvtkc) (clear clkip) (on-table twmlu) (on hvtkc gvpkw) (clear twmlu) (on-table gvpkw)",
"(clear clkip) (on-table clkip) (on-table twmlu) (holding hvtkc) (clear gvpkw) (clear twmlu) (on-table gvpkw)",
"(arm-empty) (on-table clkip) (on-table twmlu) (clear hvtkc) (on hvtkc clkip) (clear gvpkw) (clear twmlu) (on-table gvpkw)",
"(holding twmlu) (on-table clkip) (clear hvtkc) (on hvtkc clkip) (clear gvpkw) (on-table gvpkw)",
"(arm-empty) (on-table clkip) (on twmlu hvtkc) (on hvtkc clkip) (clear gvpkw) (clear twmlu) (on-table gvpkw)",
"(on-table clkip) (on twmlu hvtkc) (on hvtkc clkip) (holding gvpkw) (clear twmlu)",
"(on gvpkw twmlu) (arm-empty) (on-table clkip) (on twmlu hvtkc) (on hvtkc clkip) (clear gvpkw)"
] | file_191234 |
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