goal stringlengths 69 172 | input stringlengths 140 332 | actions listlengths 1 18 | next_states listlengths 1 18 | source_file stringlengths 6 11 |
|---|---|---|---|---|
GOAL: (on zvsde punho) (arm-empty) (on punho bzams) (on-table lckye) (on tiwti lckye) (clear zvsde) (on bzams tiwti) | GOAL: (on zvsde punho) (arm-empty) (on punho bzams) (on-table lckye) (on tiwti lckye) (clear zvsde) (on bzams tiwti)
STATE: (clear tiwti) (arm-empty) (on lckye punho) (on punho zvsde) (on bzams lckye) (on tiwti bzams) (on-table zvsde) | [
[
"unstack tiwti bzams"
],
[
"put-down tiwti"
],
[
"unstack bzams lckye"
],
[
"put-down bzams"
],
[
"unstack lckye punho"
],
[
"put-down lckye"
],
[
"pick-up tiwti"
],
[
"stack tiwti lckye"
],
[
"pick-up bzams"
],
[
"stack bzams tiwti"
],
[
"unstack punho zvsde"
],
[
"stack punho bzams"
],
[
"pick-up zvsde"
],
[
"stack zvsde punho"
]
] | [
"(on lckye punho) (on punho zvsde) (on bzams lckye) (holding tiwti) (clear bzams) (on-table zvsde)",
"(clear tiwti) (arm-empty) (on-table tiwti) (on lckye punho) (on-table zvsde) (on bzams lckye) (on punho zvsde) (clear bzams)",
"(holding bzams) (clear tiwti) (on-table tiwti) (on lckye punho) (clear lckye) (on punho zvsde) (on-table zvsde)",
"(arm-empty) (on-table tiwti) (on lckye punho) (clear lckye) (on punho zvsde) (clear tiwti) (on-table bzams) (clear bzams) (on-table zvsde)",
"(clear tiwti) (on-table tiwti) (on-table bzams) (holding lckye) (on punho zvsde) (clear bzams) (on-table zvsde) (clear punho)",
"(clear tiwti) (arm-empty) (on-table tiwti) (on-table bzams) (clear lckye) (on punho zvsde) (on-table lckye) (clear bzams) (on-table zvsde) (clear punho)",
"(on-table bzams) (clear lckye) (on punho zvsde) (on-table lckye) (holding tiwti) (clear bzams) (on-table zvsde) (clear punho)",
"(clear tiwti) (arm-empty) (on-table bzams) (on punho zvsde) (on-table lckye) (on tiwti lckye) (clear bzams) (on-table zvsde) (clear punho)",
"(holding bzams) (clear tiwti) (on punho zvsde) (on-table lckye) (on tiwti lckye) (on-table zvsde) (clear punho)",
"(arm-empty) (on punho zvsde) (on-table lckye) (on tiwti lckye) (on bzams tiwti) (clear bzams) (on-table zvsde) (clear punho)",
"(holding punho) (on-table lckye) (on tiwti lckye) (clear zvsde) (on bzams tiwti) (clear bzams) (on-table zvsde)",
"(arm-empty) (on punho bzams) (on-table lckye) (on tiwti lckye) (clear zvsde) (on bzams tiwti) (on-table zvsde) (clear punho)",
"(on punho bzams) (on-table lckye) (on tiwti lckye) (on bzams tiwti) (holding zvsde) (clear punho)",
"(on zvsde punho) (arm-empty) (on punho bzams) (on-table lckye) (on tiwti lckye) (clear zvsde) (on bzams tiwti)"
] | file_156079 |
GOAL: (arm-empty) (on-table pbojq) (on-table gbbho) (on epwxp gbbho) (clear epwxp) (clear orwqc) (on jkhnt pbojq) (clear jkhnt) (on-table orwqc) | GOAL: (arm-empty) (on-table pbojq) (on-table gbbho) (on epwxp gbbho) (clear epwxp) (clear orwqc) (on jkhnt pbojq) (clear jkhnt) (on-table orwqc)
STATE: (clear pbojq) (on-table gbbho) (on-table jkhnt) (clear epwxp) (on-table epwxp) (on pbojq gbbho) (holding orwqc) (clear jkhnt) | [
[
"stack orwqc epwxp"
],
[
"unstack pbojq gbbho"
],
[
"put-down pbojq"
],
[
"pick-up jkhnt"
],
[
"stack jkhnt pbojq"
],
[
"pick-up gbbho"
],
[
"stack gbbho jkhnt"
],
[
"unstack orwqc epwxp"
],
[
"put-down orwqc"
],
[
"pick-up epwxp"
],
[
"stack epwxp orwqc"
],
[
"unstack gbbho jkhnt"
],
[
"put-down gbbho"
],
[
"unstack epwxp orwqc"
],
[
"stack epwxp gbbho"
]
] | [
"(on orwqc epwxp) (clear pbojq) (arm-empty) (on-table gbbho) (on-table jkhnt) (on-table epwxp) (on pbojq gbbho) (clear orwqc) (clear jkhnt)",
"(on orwqc epwxp) (on-table gbbho) (on-table jkhnt) (on-table epwxp) (holding pbojq) (clear orwqc) (clear jkhnt) (clear gbbho)",
"(on orwqc epwxp) (clear pbojq) (arm-empty) (on-table pbojq) (on-table gbbho) (on-table jkhnt) (on-table epwxp) (clear orwqc) (clear jkhnt) (clear gbbho)",
"(holding jkhnt) (on orwqc epwxp) (clear pbojq) (on-table pbojq) (on-table gbbho) (on-table epwxp) (clear orwqc) (clear gbbho)",
"(on orwqc epwxp) (arm-empty) (on-table pbojq) (on-table gbbho) (on-table epwxp) (clear orwqc) (on jkhnt pbojq) (clear jkhnt) (clear gbbho)",
"(on orwqc epwxp) (on-table pbojq) (holding gbbho) (on-table epwxp) (clear orwqc) (on jkhnt pbojq) (clear jkhnt)",
"(on orwqc epwxp) (arm-empty) (on-table pbojq) (on gbbho jkhnt) (on-table epwxp) (clear orwqc) (on jkhnt pbojq) (clear gbbho)",
"(on-table pbojq) (clear epwxp) (on gbbho jkhnt) (on-table epwxp) (on jkhnt pbojq) (holding orwqc) (clear gbbho)",
"(arm-empty) (on-table pbojq) (clear epwxp) (on jkhnt pbojq) (clear gbbho) (on gbbho jkhnt) (on-table epwxp) (clear orwqc) (on-table orwqc)",
"(on-table pbojq) (holding epwxp) (on gbbho jkhnt) (clear orwqc) (on jkhnt pbojq) (on-table orwqc) (clear gbbho)",
"(arm-empty) (on-table pbojq) (clear epwxp) (on gbbho jkhnt) (on epwxp orwqc) (on jkhnt pbojq) (on-table orwqc) (clear gbbho)",
"(on-table pbojq) (clear epwxp) (on epwxp orwqc) (holding gbbho) (on jkhnt pbojq) (clear jkhnt) (on-table orwqc)",
"(arm-empty) (on-table pbojq) (on-table gbbho) (clear epwxp) (on jkhnt pbojq) (clear gbbho) (on epwxp orwqc) (clear jkhnt) (on-table orwqc)",
"(on-table pbojq) (on-table gbbho) (holding epwxp) (clear orwqc) (on jkhnt pbojq) (clear jkhnt) (on-table orwqc) (clear gbbho)",
"(arm-empty) (on-table pbojq) (on-table gbbho) (on epwxp gbbho) (clear epwxp) (clear orwqc) (on jkhnt pbojq) (clear jkhnt) (on-table orwqc)"
] | file_121549 |
GOAL: (on ibyfy nsubb) (arm-empty) (on nsubb wnqvd) (on-table vsvxp) (on-table wnqvd) (clear ibyfy) (on efkal vsvxp) (clear efkal) | GOAL: (on ibyfy nsubb) (arm-empty) (on nsubb wnqvd) (on-table vsvxp) (on-table wnqvd) (clear ibyfy) (on efkal vsvxp) (clear efkal)
STATE: (arm-empty) (on-table vsvxp) (clear wnqvd) (on nsubb ibyfy) (on-table wnqvd) (on ibyfy efkal) (on efkal vsvxp) (clear nsubb) | [
[
"unstack nsubb ibyfy"
],
[
"stack nsubb wnqvd"
],
[
"unstack ibyfy efkal"
],
[
"stack ibyfy nsubb"
]
] | [
"(on-table vsvxp) (clear wnqvd) (holding nsubb) (on-table wnqvd) (on ibyfy efkal) (clear ibyfy) (on efkal vsvxp)",
"(arm-empty) (on nsubb wnqvd) (on-table vsvxp) (on-table wnqvd) (on ibyfy efkal) (clear ibyfy) (on efkal vsvxp) (clear nsubb)",
"(on nsubb wnqvd) (on-table vsvxp) (on-table wnqvd) (on efkal vsvxp) (clear efkal) (holding ibyfy) (clear nsubb)",
"(on ibyfy nsubb) (arm-empty) (on nsubb wnqvd) (on-table vsvxp) (on-table wnqvd) (clear ibyfy) (on efkal vsvxp) (clear efkal)"
] | file_143042 |
GOAL: (clear fuwiq) (arm-empty) (on-table eczdv) (on bbfok eczdv) (on-table zvmnz) (on fuwiq bbfok) (clear swdtq) (clear zvmnz) (on-table swdtq) | GOAL: (clear fuwiq) (arm-empty) (on-table eczdv) (on bbfok eczdv) (on-table zvmnz) (on fuwiq bbfok) (clear swdtq) (clear zvmnz) (on-table swdtq)
STATE: (clear fuwiq) (on-table fuwiq) (on-table zvmnz) (clear bbfok) (on bbfok swdtq) (holding eczdv) (on swdtq zvmnz) | [
[
"put-down eczdv"
],
[
"unstack bbfok swdtq"
],
[
"stack bbfok eczdv"
],
[
"unstack swdtq zvmnz"
],
[
"stack swdtq bbfok"
],
[
"pick-up fuwiq"
],
[
"stack fuwiq zvmnz"
],
[
"unstack swdtq bbfok"
],
[
"put-down swdtq"
],
[
"unstack fuwiq zvmnz"
],
[
"stack fuwiq bbfok"
]
] | [
"(arm-empty) (on-table fuwiq) (on-table eczdv) (clear bbfok) (on swdtq zvmnz) (clear eczdv) (clear fuwiq) (on-table zvmnz) (on bbfok swdtq)",
"(clear fuwiq) (on-table fuwiq) (on-table eczdv) (on-table zvmnz) (holding bbfok) (on swdtq zvmnz) (clear swdtq) (clear eczdv)",
"(clear fuwiq) (arm-empty) (on-table fuwiq) (on-table eczdv) (on-table zvmnz) (on bbfok eczdv) (clear bbfok) (on swdtq zvmnz) (clear swdtq)",
"(clear fuwiq) (on-table fuwiq) (on-table eczdv) (on-table zvmnz) (on bbfok eczdv) (clear bbfok) (holding swdtq) (clear zvmnz)",
"(on swdtq bbfok) (clear fuwiq) (arm-empty) (on-table fuwiq) (on-table eczdv) (on-table zvmnz) (on bbfok eczdv) (clear swdtq) (clear zvmnz)",
"(on swdtq bbfok) (on-table eczdv) (on-table zvmnz) (on bbfok eczdv) (holding fuwiq) (clear swdtq) (clear zvmnz)",
"(arm-empty) (on-table eczdv) (on bbfok eczdv) (on fuwiq zvmnz) (on swdtq bbfok) (clear fuwiq) (on-table zvmnz) (clear swdtq)",
"(clear fuwiq) (on-table eczdv) (on bbfok eczdv) (on-table zvmnz) (clear bbfok) (on fuwiq zvmnz) (holding swdtq)",
"(arm-empty) (on-table eczdv) (on bbfok eczdv) (clear bbfok) (on fuwiq zvmnz) (clear fuwiq) (on-table zvmnz) (clear swdtq) (on-table swdtq)",
"(on-table eczdv) (on bbfok eczdv) (on-table zvmnz) (clear bbfok) (holding fuwiq) (clear swdtq) (clear zvmnz) (on-table swdtq)",
"(clear fuwiq) (arm-empty) (on-table eczdv) (on bbfok eczdv) (on-table zvmnz) (on fuwiq bbfok) (clear swdtq) (clear zvmnz) (on-table swdtq)"
] | file_208563 |
GOAL: (on gozdf buxct) (arm-empty) (on-table lznns) (on bdcdg queas) (on queas lznns) (clear bdcdg) (clear gozdf) (on-table buxct) | GOAL: (on gozdf buxct) (arm-empty) (on-table lznns) (on bdcdg queas) (on queas lznns) (clear bdcdg) (clear gozdf) (on-table buxct)
STATE: (holding gozdf) (on-table lznns) (on queas lznns) (clear bdcdg) (on-table bdcdg) (clear buxct) (on-table buxct) (clear queas) | [
[
"stack gozdf buxct"
],
[
"pick-up bdcdg"
],
[
"stack bdcdg queas"
]
] | [
"(on gozdf buxct) (arm-empty) (on-table lznns) (on queas lznns) (clear bdcdg) (on-table bdcdg) (clear gozdf) (on-table buxct) (clear queas)",
"(on gozdf buxct) (on-table lznns) (holding bdcdg) (on queas lznns) (clear gozdf) (on-table buxct) (clear queas)",
"(on gozdf buxct) (arm-empty) (on-table lznns) (on bdcdg queas) (on queas lznns) (clear bdcdg) (clear gozdf) (on-table buxct)"
] | file_223203 |
GOAL: (on wipye ipvjz) (clear oggun) (on ipvjz cdhrz) (on-table oggun) (on-table cdhrz) (holding dlmsp) (clear wipye) | GOAL: (on wipye ipvjz) (clear oggun) (on ipvjz cdhrz) (on-table oggun) (on-table cdhrz) (holding dlmsp) (clear wipye)
STATE: (clear oggun) (on wipye dlmsp) (clear cdhrz) (holding ipvjz) (on-table cdhrz) (on oggun wipye) (on-table dlmsp) | [
[
"stack ipvjz cdhrz"
],
[
"unstack oggun wipye"
],
[
"put-down oggun"
],
[
"unstack wipye dlmsp"
],
[
"stack wipye ipvjz"
],
[
"pick-up dlmsp"
]
] | [
"(clear oggun) (on wipye dlmsp) (on ipvjz cdhrz) (arm-empty) (on-table cdhrz) (on oggun wipye) (on-table dlmsp) (clear ipvjz)",
"(on wipye dlmsp) (on ipvjz cdhrz) (on-table cdhrz) (holding oggun) (clear wipye) (on-table dlmsp) (clear ipvjz)",
"(on wipye dlmsp) (on ipvjz cdhrz) (on-table oggun) (arm-empty) (clear ipvjz) (clear oggun) (on-table cdhrz) (clear wipye) (on-table dlmsp)",
"(holding wipye) (clear oggun) (on ipvjz cdhrz) (on-table oggun) (on-table cdhrz) (clear dlmsp) (on-table dlmsp) (clear ipvjz)",
"(on wipye ipvjz) (clear oggun) (arm-empty) (on ipvjz cdhrz) (on-table oggun) (on-table cdhrz) (clear dlmsp) (clear wipye) (on-table dlmsp)",
"(on wipye ipvjz) (clear oggun) (on ipvjz cdhrz) (on-table oggun) (on-table cdhrz) (holding dlmsp) (clear wipye)"
] | file_109706 |
GOAL: (arm-empty) (on awfdh bhmrs) (on-table ardcq) (clear awfdh) (on-table hezjk) (on bhmrs ardcq) (clear sepcw) (clear hezjk) (on-table sepcw) | GOAL: (arm-empty) (on awfdh bhmrs) (on-table ardcq) (clear awfdh) (on-table hezjk) (on bhmrs ardcq) (clear sepcw) (clear hezjk) (on-table sepcw)
STATE: (on hezjk awfdh) (on awfdh bhmrs) (on-table ardcq) (on bhmrs ardcq) (holding sepcw) (clear hezjk) | [
[
"put-down sepcw"
],
[
"unstack hezjk awfdh"
],
[
"put-down hezjk"
]
] | [
"(on hezjk awfdh) (arm-empty) (on awfdh bhmrs) (on-table ardcq) (on bhmrs ardcq) (clear sepcw) (clear hezjk) (on-table sepcw)",
"(holding hezjk) (on awfdh bhmrs) (on-table ardcq) (on bhmrs ardcq) (clear sepcw) (on-table sepcw) (clear awfdh)",
"(arm-empty) (on awfdh bhmrs) (on-table ardcq) (clear awfdh) (on-table hezjk) (on bhmrs ardcq) (clear sepcw) (clear hezjk) (on-table sepcw)"
] | file_202231 |
GOAL: (clear otudy) (on gvprj xcldh) (arm-empty) (on-table otudy) (on-table xcldh) (clear gvprj) (clear dvojs) (on-table dvojs) | GOAL: (clear otudy) (on gvprj xcldh) (arm-empty) (on-table otudy) (on-table xcldh) (clear gvprj) (clear dvojs) (on-table dvojs)
STATE: (clear otudy) (arm-empty) (on-table otudy) (on-table xcldh) (clear gvprj) (on-table gvprj) (on dvojs xcldh) (clear dvojs) | [
[
"pick-up gvprj"
],
[
"stack gvprj otudy"
],
[
"unstack dvojs xcldh"
],
[
"put-down dvojs"
],
[
"unstack gvprj otudy"
],
[
"stack gvprj xcldh"
]
] | [
"(clear otudy) (on-table otudy) (on-table xcldh) (holding gvprj) (on dvojs xcldh) (clear dvojs)",
"(arm-empty) (on-table otudy) (on-table xcldh) (clear gvprj) (on dvojs xcldh) (on gvprj otudy) (clear dvojs)",
"(on-table otudy) (clear gvprj) (on-table xcldh) (on gvprj otudy) (holding dvojs) (clear xcldh)",
"(on gvprj otudy) (arm-empty) (on-table otudy) (on-table xcldh) (clear dvojs) (clear gvprj) (clear xcldh) (on-table dvojs)",
"(clear otudy) (on-table otudy) (on-table xcldh) (holding gvprj) (clear dvojs) (clear xcldh) (on-table dvojs)",
"(clear otudy) (on gvprj xcldh) (arm-empty) (on-table otudy) (on-table xcldh) (clear gvprj) (clear dvojs) (on-table dvojs)"
] | file_95311 |
GOAL: (arm-empty) (on-table klitz) (on ionhj oihbm) (on-table amcys) (on ydaff amcys) (on oihbm ydaff) (clear ionhj) (clear klitz) | GOAL: (arm-empty) (on-table klitz) (on ionhj oihbm) (on-table amcys) (on ydaff amcys) (on oihbm ydaff) (clear ionhj) (clear klitz)
STATE: (clear oihbm) (arm-empty) (on ionhj klitz) (on-table klitz) (on-table ydaff) (clear amcys) (on-table amcys) (on oihbm ionhj) (clear ydaff) | [
[
"pick-up ydaff"
],
[
"stack ydaff amcys"
],
[
"unstack oihbm ionhj"
],
[
"stack oihbm ydaff"
],
[
"unstack ionhj klitz"
],
[
"stack ionhj oihbm"
]
] | [
"(holding ydaff) (clear oihbm) (on ionhj klitz) (on-table klitz) (clear amcys) (on-table amcys) (on oihbm ionhj)",
"(clear oihbm) (on ionhj klitz) (arm-empty) (on-table klitz) (on-table amcys) (on ydaff amcys) (on oihbm ionhj) (clear ydaff)",
"(on ionhj klitz) (on-table klitz) (holding oihbm) (on-table amcys) (on ydaff amcys) (clear ionhj) (clear ydaff)",
"(on ionhj klitz) (clear oihbm) (arm-empty) (on-table klitz) (on-table amcys) (on ydaff amcys) (on oihbm ydaff) (clear ionhj)",
"(clear oihbm) (on-table klitz) (on-table amcys) (on ydaff amcys) (on oihbm ydaff) (holding ionhj) (clear klitz)",
"(arm-empty) (on-table klitz) (on ionhj oihbm) (on-table amcys) (on ydaff amcys) (on oihbm ydaff) (clear ionhj) (clear klitz)"
] | file_227125 |
GOAL: (on-table vhcib) (clear xvmql) (on-table xvmql) (on cbazz vhcib) (on rythi cbazz) (clear rythi) (holding hrind) | GOAL: (on-table vhcib) (clear xvmql) (on-table xvmql) (on cbazz vhcib) (on rythi cbazz) (clear rythi) (holding hrind)
STATE: (arm-empty) (on-table rythi) (on hrind cbazz) (clear xvmql) (on vhcib rythi) (on-table xvmql) (on cbazz vhcib) (clear hrind) | [
[
"unstack hrind cbazz"
],
[
"stack hrind xvmql"
],
[
"unstack cbazz vhcib"
],
[
"stack cbazz hrind"
],
[
"unstack vhcib rythi"
],
[
"put-down vhcib"
],
[
"unstack cbazz hrind"
],
[
"stack cbazz vhcib"
],
[
"pick-up rythi"
],
[
"stack rythi cbazz"
],
[
"unstack hrind xvmql"
]
] | [
"(clear cbazz) (on-table rythi) (clear xvmql) (on vhcib rythi) (on-table xvmql) (on cbazz vhcib) (holding hrind)",
"(on hrind xvmql) (clear cbazz) (arm-empty) (on-table rythi) (on vhcib rythi) (on-table xvmql) (on cbazz vhcib) (clear hrind)",
"(on hrind xvmql) (on-table rythi) (on vhcib rythi) (on-table xvmql) (holding cbazz) (clear hrind) (clear vhcib)",
"(on hrind xvmql) (clear cbazz) (arm-empty) (on-table rythi) (on vhcib rythi) (on-table xvmql) (on cbazz hrind) (clear vhcib)",
"(on hrind xvmql) (clear cbazz) (on-table rythi) (holding vhcib) (on-table xvmql) (on cbazz hrind) (clear rythi)",
"(arm-empty) (on-table vhcib) (clear vhcib) (on hrind xvmql) (clear cbazz) (on-table rythi) (on-table xvmql) (on cbazz hrind) (clear rythi)",
"(on hrind xvmql) (on-table vhcib) (on-table rythi) (on-table xvmql) (holding cbazz) (clear hrind) (clear rythi) (clear vhcib)",
"(on hrind xvmql) (clear cbazz) (arm-empty) (on-table vhcib) (on-table rythi) (on-table xvmql) (on cbazz vhcib) (clear hrind) (clear rythi)",
"(holding rythi) (on hrind xvmql) (clear cbazz) (on-table vhcib) (on-table xvmql) (on cbazz vhcib) (clear hrind)",
"(on hrind xvmql) (arm-empty) (on-table vhcib) (on-table xvmql) (on cbazz vhcib) (clear hrind) (on rythi cbazz) (clear rythi)",
"(on-table vhcib) (clear xvmql) (on-table xvmql) (on cbazz vhcib) (on rythi cbazz) (clear rythi) (holding hrind)"
] | file_646 |
GOAL: (on jflke cjnnj) (arm-empty) (on-table mlehf) (clear jflke) (clear krekp) (on cjnnj mlehf) (on-table krekp) | GOAL: (on jflke cjnnj) (arm-empty) (on-table mlehf) (clear jflke) (clear krekp) (on cjnnj mlehf) (on-table krekp)
STATE: (holding cjnnj) (on krekp jflke) (on-table mlehf) (on jflke mlehf) (clear krekp) | [
[
"put-down cjnnj"
],
[
"unstack krekp jflke"
],
[
"put-down krekp"
],
[
"unstack jflke mlehf"
],
[
"stack jflke krekp"
],
[
"pick-up cjnnj"
],
[
"stack cjnnj mlehf"
],
[
"unstack jflke krekp"
],
[
"stack jflke cjnnj"
]
] | [
"(on krekp jflke) (arm-empty) (on-table mlehf) (on jflke mlehf) (clear krekp) (on-table cjnnj) (clear cjnnj)",
"(on-table mlehf) (clear jflke) (on-table cjnnj) (on jflke mlehf) (holding krekp) (clear cjnnj)",
"(on jflke mlehf) (arm-empty) (on-table mlehf) (on-table cjnnj) (clear krekp) (clear jflke) (clear cjnnj) (on-table krekp)",
"(clear mlehf) (on-table mlehf) (on-table cjnnj) (holding jflke) (clear krekp) (clear cjnnj) (on-table krekp)",
"(arm-empty) (on-table mlehf) (clear jflke) (clear mlehf) (on-table cjnnj) (on jflke krekp) (clear cjnnj) (on-table krekp)",
"(holding cjnnj) (clear mlehf) (on-table mlehf) (clear jflke) (on jflke krekp) (on-table krekp)",
"(arm-empty) (on-table mlehf) (clear jflke) (on jflke krekp) (on cjnnj mlehf) (clear cjnnj) (on-table krekp)",
"(on-table mlehf) (holding jflke) (on cjnnj mlehf) (clear krekp) (clear cjnnj) (on-table krekp)",
"(on jflke cjnnj) (arm-empty) (on-table mlehf) (clear jflke) (clear krekp) (on cjnnj mlehf) (on-table krekp)"
] | file_10478 |
GOAL: (on tjqhf pwlgo) (on-table tkafo) (on-table aohpc) (on pwlgo tkafo) (holding sbsjo) (clear aohpc) (clear tjqhf) | GOAL: (on tjqhf pwlgo) (on-table tkafo) (on-table aohpc) (on pwlgo tkafo) (holding sbsjo) (clear aohpc) (clear tjqhf)
STATE: (clear tkafo) (on-table tkafo) (holding pwlgo) (on-table aohpc) (on tjqhf sbsjo) (on sbsjo aohpc) (clear tjqhf) | [
[
"stack pwlgo tkafo"
],
[
"unstack tjqhf sbsjo"
],
[
"stack tjqhf pwlgo"
],
[
"unstack sbsjo aohpc"
]
] | [
"(arm-empty) (on-table tkafo) (clear pwlgo) (on tjqhf sbsjo) (on sbsjo aohpc) (clear tjqhf) (on-table aohpc) (on pwlgo tkafo)",
"(on-table tkafo) (on-table aohpc) (on pwlgo tkafo) (clear pwlgo) (holding tjqhf) (on sbsjo aohpc) (clear sbsjo)",
"(arm-empty) (on tjqhf pwlgo) (on-table tkafo) (on-table aohpc) (on sbsjo aohpc) (on pwlgo tkafo) (clear sbsjo) (clear tjqhf)",
"(on tjqhf pwlgo) (on-table tkafo) (on-table aohpc) (on pwlgo tkafo) (holding sbsjo) (clear aohpc) (clear tjqhf)"
] | file_30314 |
GOAL: (on kxuhl xibkt) (on-table kgrcr) (clear yfovn) (on xibkt kgrcr) (on-table yfovn) (holding tecoa) (clear kxuhl) | GOAL: (on kxuhl xibkt) (on-table kgrcr) (clear yfovn) (on xibkt kgrcr) (on-table yfovn) (holding tecoa) (clear kxuhl)
STATE: (clear tecoa) (on-table tecoa) (on-table kgrcr) (clear yfovn) (on yfovn kxuhl) (holding xibkt) (on kxuhl kgrcr) | [
[
"stack xibkt tecoa"
],
[
"unstack yfovn kxuhl"
],
[
"stack yfovn xibkt"
],
[
"unstack kxuhl kgrcr"
],
[
"put-down kxuhl"
],
[
"pick-up kgrcr"
],
[
"stack kgrcr kxuhl"
],
[
"unstack yfovn xibkt"
],
[
"put-down yfovn"
],
[
"unstack kgrcr kxuhl"
],
[
"put-down kgrcr"
],
[
"unstack xibkt tecoa"
],
[
"stack xibkt kgrcr"
],
[
"pick-up kxuhl"
],
[
"stack kxuhl xibkt"
],
[
"pick-up tecoa"
]
] | [
"(arm-empty) (on-table tecoa) (on-table kgrcr) (on xibkt tecoa) (clear yfovn) (on yfovn kxuhl) (on kxuhl kgrcr) (clear xibkt)",
"(on-table tecoa) (on-table kgrcr) (holding yfovn) (on xibkt tecoa) (on kxuhl kgrcr) (clear kxuhl) (clear xibkt)",
"(arm-empty) (on-table tecoa) (on yfovn xibkt) (on-table kgrcr) (on xibkt tecoa) (clear yfovn) (on kxuhl kgrcr) (clear kxuhl)",
"(on-table tecoa) (on yfovn xibkt) (on-table kgrcr) (on xibkt tecoa) (clear yfovn) (holding kxuhl) (clear kgrcr)",
"(arm-empty) (on-table tecoa) (on yfovn xibkt) (on xibkt tecoa) (clear yfovn) (on-table kgrcr) (clear kxuhl) (clear kgrcr) (on-table kxuhl)",
"(holding kgrcr) (on-table tecoa) (on yfovn xibkt) (on xibkt tecoa) (clear yfovn) (clear kxuhl) (on-table kxuhl)",
"(on kgrcr kxuhl) (arm-empty) (on-table tecoa) (on yfovn xibkt) (on xibkt tecoa) (clear yfovn) (clear kgrcr) (on-table kxuhl)",
"(on kgrcr kxuhl) (on-table tecoa) (holding yfovn) (on xibkt tecoa) (clear kgrcr) (on-table kxuhl) (clear xibkt)",
"(on kgrcr kxuhl) (arm-empty) (on-table tecoa) (on xibkt tecoa) (clear yfovn) (clear xibkt) (on-table yfovn) (clear kgrcr) (on-table kxuhl)",
"(holding kgrcr) (on-table tecoa) (on xibkt tecoa) (clear yfovn) (on-table yfovn) (clear kxuhl) (on-table kxuhl) (clear xibkt)",
"(arm-empty) (on-table tecoa) (on-table kgrcr) (on xibkt tecoa) (clear yfovn) (on-table yfovn) (clear kxuhl) (clear kgrcr) (on-table kxuhl) (clear xibkt)",
"(clear tecoa) (on-table tecoa) (on-table kgrcr) (clear yfovn) (holding xibkt) (on-table yfovn) (clear kxuhl) (clear kgrcr) (on-table kxuhl)",
"(clear tecoa) (arm-empty) (on-table tecoa) (on-table kgrcr) (clear yfovn) (on xibkt kgrcr) (on-table yfovn) (clear kxuhl) (on-table kxuhl) (clear xibkt)",
"(clear tecoa) (on-table tecoa) (on-table kgrcr) (clear yfovn) (on xibkt kgrcr) (on-table yfovn) (holding kxuhl) (clear xibkt)",
"(clear tecoa) (on kxuhl xibkt) (arm-empty) (on-table tecoa) (on-table kgrcr) (clear yfovn) (on xibkt kgrcr) (on-table yfovn) (clear kxuhl)",
"(on kxuhl xibkt) (on-table kgrcr) (clear yfovn) (on xibkt kgrcr) (on-table yfovn) (holding tecoa) (clear kxuhl)"
] | file_208601 |
GOAL: (on cfoag bzhmr) (arm-empty) (on-table mgptb) (clear yoeug) (on gcvhx cfoag) (clear mgptb) (clear gcvhx) (on-table yoeug) (on-table bzhmr) | GOAL: (on cfoag bzhmr) (arm-empty) (on-table mgptb) (clear yoeug) (on gcvhx cfoag) (clear mgptb) (clear gcvhx) (on-table yoeug) (on-table bzhmr)
STATE: (clear gcvhx) (on cfoag bzhmr) (arm-empty) (on-table gcvhx) (clear yoeug) (on mgptb cfoag) (on-table yoeug) (on-table bzhmr) (clear mgptb) | [
[
"unstack mgptb cfoag"
],
[
"stack mgptb yoeug"
],
[
"pick-up gcvhx"
],
[
"stack gcvhx cfoag"
],
[
"unstack mgptb yoeug"
],
[
"put-down mgptb"
]
] | [
"(clear gcvhx) (on cfoag bzhmr) (on-table gcvhx) (clear yoeug) (holding mgptb) (on-table yoeug) (clear cfoag) (on-table bzhmr)",
"(clear gcvhx) (on cfoag bzhmr) (on mgptb yoeug) (on-table gcvhx) (arm-empty) (on-table yoeug) (clear cfoag) (on-table bzhmr) (clear mgptb)",
"(on cfoag bzhmr) (on mgptb yoeug) (on-table yoeug) (holding gcvhx) (clear cfoag) (on-table bzhmr) (clear mgptb)",
"(clear gcvhx) (on cfoag bzhmr) (on mgptb yoeug) (arm-empty) (on-table yoeug) (on gcvhx cfoag) (on-table bzhmr) (clear mgptb)",
"(clear gcvhx) (on cfoag bzhmr) (clear yoeug) (holding mgptb) (on-table yoeug) (on gcvhx cfoag) (on-table bzhmr)",
"(on cfoag bzhmr) (arm-empty) (on-table mgptb) (clear yoeug) (on gcvhx cfoag) (clear mgptb) (clear gcvhx) (on-table yoeug) (on-table bzhmr)"
] | file_14551 |
GOAL: (on-table fezis) (holding tiesf) (on njznu tucws) (on zwcxq fezis) (clear njznu) (on tucws zwcxq) | GOAL: (on-table fezis) (holding tiesf) (on njznu tucws) (on zwcxq fezis) (clear njznu) (on tucws zwcxq)
STATE: (on njznu tiesf) (clear zwcxq) (on tiesf tucws) (on-table zwcxq) (on-table tucws) (holding fezis) (clear njznu) | [
[
"put-down fezis"
],
[
"pick-up zwcxq"
],
[
"stack zwcxq fezis"
],
[
"unstack njznu tiesf"
],
[
"put-down njznu"
],
[
"unstack tiesf tucws"
],
[
"stack tiesf njznu"
],
[
"pick-up tucws"
],
[
"stack tucws zwcxq"
],
[
"unstack tiesf njznu"
],
[
"put-down tiesf"
],
[
"pick-up njznu"
],
[
"stack njznu tucws"
],
[
"pick-up tiesf"
]
] | [
"(on tiesf tucws) (arm-empty) (on-table zwcxq) (on-table fezis) (clear fezis) (on njznu tiesf) (clear zwcxq) (on-table tucws) (clear njznu)",
"(on njznu tiesf) (on tiesf tucws) (on-table fezis) (on-table tucws) (holding zwcxq) (clear njznu) (clear fezis)",
"(on njznu tiesf) (clear zwcxq) (on tiesf tucws) (arm-empty) (on-table fezis) (on-table tucws) (on zwcxq fezis) (clear njznu)",
"(clear zwcxq) (on tiesf tucws) (on-table fezis) (on-table tucws) (clear tiesf) (on zwcxq fezis) (holding njznu)",
"(on tiesf tucws) (arm-empty) (on-table fezis) (clear tiesf) (on zwcxq fezis) (clear zwcxq) (on-table tucws) (clear njznu) (on-table njznu)",
"(clear zwcxq) (on-table fezis) (on-table tucws) (holding tiesf) (on zwcxq fezis) (clear njznu) (clear tucws) (on-table njznu)",
"(clear zwcxq) (arm-empty) (on-table fezis) (on-table tucws) (clear tiesf) (on tiesf njznu) (on zwcxq fezis) (clear tucws) (on-table njznu)",
"(holding tucws) (clear zwcxq) (on-table fezis) (clear tiesf) (on tiesf njznu) (on zwcxq fezis) (on-table njznu)",
"(arm-empty) (on-table fezis) (clear tiesf) (on tiesf njznu) (on zwcxq fezis) (on tucws zwcxq) (clear tucws) (on-table njznu)",
"(on-table fezis) (holding tiesf) (on zwcxq fezis) (clear njznu) (on tucws zwcxq) (clear tucws) (on-table njznu)",
"(arm-empty) (on-table fezis) (clear tiesf) (on zwcxq fezis) (on tucws zwcxq) (on-table tiesf) (clear njznu) (clear tucws) (on-table njznu)",
"(on-table fezis) (clear tiesf) (on-table tiesf) (on zwcxq fezis) (on tucws zwcxq) (clear tucws) (holding njznu)",
"(arm-empty) (on-table fezis) (clear tiesf) (on-table tiesf) (on njznu tucws) (on zwcxq fezis) (clear njznu) (on tucws zwcxq)",
"(on-table fezis) (holding tiesf) (on njznu tucws) (on zwcxq fezis) (clear njznu) (on tucws zwcxq)"
] | file_227707 |
GOAL: (on xdmnt fnqlq) (arm-empty) (on-table zsdff) (on-table kggcm) (clear ildem) (on ildem zsdff) (clear xdmnt) (on-table fnqlq) (clear kggcm) | GOAL: (on xdmnt fnqlq) (arm-empty) (on-table zsdff) (on-table kggcm) (clear ildem) (on ildem zsdff) (clear xdmnt) (on-table fnqlq) (clear kggcm)
STATE: (on xdmnt fnqlq) (on ildem xdmnt) (on-table zsdff) (on fnqlq zsdff) (clear ildem) (holding kggcm) | [
[
"put-down kggcm"
],
[
"unstack ildem xdmnt"
],
[
"stack ildem kggcm"
],
[
"unstack xdmnt fnqlq"
],
[
"stack xdmnt ildem"
],
[
"unstack fnqlq zsdff"
],
[
"put-down fnqlq"
],
[
"unstack xdmnt ildem"
],
[
"stack xdmnt fnqlq"
],
[
"unstack ildem kggcm"
],
[
"stack ildem zsdff"
]
] | [
"(on xdmnt fnqlq) (on ildem xdmnt) (on-table zsdff) (on-table kggcm) (arm-empty) (clear ildem) (clear kggcm) (on fnqlq zsdff)",
"(on xdmnt fnqlq) (on-table zsdff) (on-table kggcm) (holding ildem) (on fnqlq zsdff) (clear xdmnt) (clear kggcm)",
"(on xdmnt fnqlq) (arm-empty) (on-table zsdff) (on-table kggcm) (on ildem kggcm) (on fnqlq zsdff) (clear ildem) (clear xdmnt)",
"(holding xdmnt) (on-table zsdff) (on-table kggcm) (on ildem kggcm) (on fnqlq zsdff) (clear ildem) (clear fnqlq)",
"(arm-empty) (on-table zsdff) (on-table kggcm) (on ildem kggcm) (on fnqlq zsdff) (on xdmnt ildem) (clear fnqlq) (clear xdmnt)",
"(clear zsdff) (on-table zsdff) (on-table kggcm) (on ildem kggcm) (on xdmnt ildem) (holding fnqlq) (clear xdmnt)",
"(arm-empty) (on-table zsdff) (on-table kggcm) (on ildem kggcm) (clear zsdff) (on xdmnt ildem) (clear fnqlq) (clear xdmnt) (on-table fnqlq)",
"(holding xdmnt) (clear zsdff) (on-table zsdff) (on-table kggcm) (on ildem kggcm) (clear ildem) (clear fnqlq) (on-table fnqlq)",
"(clear zsdff) (on xdmnt fnqlq) (arm-empty) (on-table zsdff) (on-table kggcm) (on ildem kggcm) (clear ildem) (clear xdmnt) (on-table fnqlq)",
"(clear zsdff) (on xdmnt fnqlq) (on-table zsdff) (on-table kggcm) (holding ildem) (clear xdmnt) (on-table fnqlq) (clear kggcm)",
"(on xdmnt fnqlq) (arm-empty) (on-table zsdff) (on-table kggcm) (clear ildem) (on ildem zsdff) (clear xdmnt) (on-table fnqlq) (clear kggcm)"
] | file_112673 |
GOAL: (clear zbtog) (on usaaa kjmmx) (arm-empty) (on-table dfksz) (on tseno dfksz) (on zbtog tseno) (clear usaaa) (on-table kjmmx) | GOAL: (clear zbtog) (on usaaa kjmmx) (arm-empty) (on-table dfksz) (on tseno dfksz) (on zbtog tseno) (clear usaaa) (on-table kjmmx)
STATE: (on tseno usaaa) (on-table dfksz) (on-table usaaa) (clear tseno) (holding zbtog) (clear kjmmx) (on-table kjmmx) (clear dfksz) | [
[
"stack zbtog kjmmx"
],
[
"unstack tseno usaaa"
],
[
"stack tseno dfksz"
],
[
"unstack zbtog kjmmx"
],
[
"stack zbtog tseno"
],
[
"pick-up usaaa"
],
[
"stack usaaa kjmmx"
]
] | [
"(clear zbtog) (on tseno usaaa) (arm-empty) (on-table dfksz) (on-table usaaa) (clear tseno) (on zbtog kjmmx) (on-table kjmmx) (clear dfksz)",
"(clear zbtog) (on-table dfksz) (on-table usaaa) (holding tseno) (on zbtog kjmmx) (clear usaaa) (on-table kjmmx) (clear dfksz)",
"(clear zbtog) (arm-empty) (on-table dfksz) (on-table usaaa) (on tseno dfksz) (clear tseno) (on zbtog kjmmx) (clear usaaa) (on-table kjmmx)",
"(on-table dfksz) (on-table usaaa) (on tseno dfksz) (clear tseno) (holding zbtog) (clear kjmmx) (clear usaaa) (on-table kjmmx)",
"(clear zbtog) (arm-empty) (on-table dfksz) (on-table usaaa) (on tseno dfksz) (on zbtog tseno) (clear kjmmx) (clear usaaa) (on-table kjmmx)",
"(holding usaaa) (clear zbtog) (on-table dfksz) (on tseno dfksz) (on zbtog tseno) (clear kjmmx) (on-table kjmmx)",
"(clear zbtog) (on usaaa kjmmx) (arm-empty) (on-table dfksz) (on tseno dfksz) (on zbtog tseno) (clear usaaa) (on-table kjmmx)"
] | file_190890 |
GOAL: (arm-empty) (on-table tmwwc) (on pfepk pmtlw) (clear pfepk) (on pmtlw ktivx) (on ktivx upkhq) (on upkhq tmwwc) | GOAL: (arm-empty) (on-table tmwwc) (on pfepk pmtlw) (clear pfepk) (on pmtlw ktivx) (on ktivx upkhq) (on upkhq tmwwc)
STATE: (on upkhq pmtlw) (on-table tmwwc) (holding pfepk) (on pmtlw tmwwc) (clear ktivx) (clear upkhq) (on-table ktivx) | [
[
"put-down pfepk"
],
[
"unstack upkhq pmtlw"
],
[
"stack upkhq ktivx"
],
[
"unstack pmtlw tmwwc"
],
[
"stack pmtlw pfepk"
],
[
"unstack upkhq ktivx"
],
[
"stack upkhq tmwwc"
],
[
"pick-up ktivx"
],
[
"stack ktivx upkhq"
],
[
"unstack pmtlw pfepk"
],
[
"stack pmtlw ktivx"
],
[
"pick-up pfepk"
],
[
"stack pfepk pmtlw"
]
] | [
"(on upkhq pmtlw) (arm-empty) (on-table tmwwc) (on pmtlw tmwwc) (clear pfepk) (on-table pfepk) (clear ktivx) (clear upkhq) (on-table ktivx)",
"(holding upkhq) (on-table tmwwc) (on pmtlw tmwwc) (clear pfepk) (on-table pfepk) (clear ktivx) (on-table ktivx) (clear pmtlw)",
"(on upkhq ktivx) (arm-empty) (on-table tmwwc) (on pmtlw tmwwc) (clear pfepk) (on-table pfepk) (clear upkhq) (on-table ktivx) (clear pmtlw)",
"(clear tmwwc) (on upkhq ktivx) (on-table tmwwc) (clear pfepk) (holding pmtlw) (on-table pfepk) (clear upkhq) (on-table ktivx)",
"(clear tmwwc) (on upkhq ktivx) (on pmtlw pfepk) (on-table tmwwc) (arm-empty) (on-table pfepk) (clear upkhq) (on-table ktivx) (clear pmtlw)",
"(holding upkhq) (clear tmwwc) (on pmtlw pfepk) (on-table tmwwc) (on-table pfepk) (clear ktivx) (on-table ktivx) (clear pmtlw)",
"(arm-empty) (on pmtlw pfepk) (on-table tmwwc) (on-table pfepk) (clear ktivx) (on upkhq tmwwc) (clear upkhq) (on-table ktivx) (clear pmtlw)",
"(on pmtlw pfepk) (on-table tmwwc) (on-table pfepk) (on upkhq tmwwc) (clear upkhq) (holding ktivx) (clear pmtlw)",
"(arm-empty) (on pmtlw pfepk) (on-table tmwwc) (on-table pfepk) (on ktivx upkhq) (clear ktivx) (on upkhq tmwwc) (clear pmtlw)",
"(on-table tmwwc) (clear pfepk) (holding pmtlw) (on-table pfepk) (on ktivx upkhq) (clear ktivx) (on upkhq tmwwc)",
"(arm-empty) (on-table tmwwc) (clear pfepk) (on pmtlw ktivx) (on-table pfepk) (on ktivx upkhq) (on upkhq tmwwc) (clear pmtlw)",
"(on-table tmwwc) (holding pfepk) (on pmtlw ktivx) (on ktivx upkhq) (on upkhq tmwwc) (clear pmtlw)",
"(arm-empty) (on-table tmwwc) (on pfepk pmtlw) (clear pfepk) (on pmtlw ktivx) (on ktivx upkhq) (on upkhq tmwwc)"
] | file_50761 |
GOAL: (on lcoxf himyt) (clear tipov) (on himyt ndqpr) (arm-empty) (on-table ndqpr) (on jxxee lcoxf) (on tipov jxxee) | GOAL: (on lcoxf himyt) (clear tipov) (on himyt ndqpr) (arm-empty) (on-table ndqpr) (on jxxee lcoxf) (on tipov jxxee)
STATE: (clear tipov) (on-table jxxee) (on-table ndqpr) (clear himyt) (on-table himyt) (on tipov jxxee) (holding lcoxf) (clear ndqpr) | [
[
"stack lcoxf tipov"
],
[
"pick-up himyt"
],
[
"stack himyt ndqpr"
],
[
"unstack lcoxf tipov"
],
[
"stack lcoxf himyt"
],
[
"unstack tipov jxxee"
],
[
"put-down tipov"
],
[
"pick-up jxxee"
],
[
"stack jxxee lcoxf"
],
[
"pick-up tipov"
],
[
"stack tipov jxxee"
]
] | [
"(arm-empty) (on-table jxxee) (on-table ndqpr) (on lcoxf tipov) (clear himyt) (on-table himyt) (on tipov jxxee) (clear lcoxf) (clear ndqpr)",
"(on-table jxxee) (on-table ndqpr) (holding himyt) (on lcoxf tipov) (on tipov jxxee) (clear lcoxf) (clear ndqpr)",
"(on himyt ndqpr) (arm-empty) (on-table jxxee) (on-table ndqpr) (on lcoxf tipov) (clear himyt) (on tipov jxxee) (clear lcoxf)",
"(clear tipov) (on himyt ndqpr) (on-table jxxee) (on-table ndqpr) (clear himyt) (on tipov jxxee) (holding lcoxf)",
"(on lcoxf himyt) (clear tipov) (on himyt ndqpr) (arm-empty) (on-table jxxee) (on-table ndqpr) (on tipov jxxee) (clear lcoxf)",
"(on lcoxf himyt) (on himyt ndqpr) (on-table jxxee) (on-table ndqpr) (holding tipov) (clear lcoxf) (clear jxxee)",
"(on himyt ndqpr) (arm-empty) (on-table tipov) (on-table jxxee) (clear jxxee) (on lcoxf himyt) (clear tipov) (on-table ndqpr) (clear lcoxf)",
"(on lcoxf himyt) (clear tipov) (on himyt ndqpr) (on-table tipov) (on-table ndqpr) (holding jxxee) (clear lcoxf)",
"(on lcoxf himyt) (clear tipov) (on himyt ndqpr) (arm-empty) (on-table tipov) (on-table ndqpr) (on jxxee lcoxf) (clear jxxee)",
"(on lcoxf himyt) (on himyt ndqpr) (on-table ndqpr) (on jxxee lcoxf) (holding tipov) (clear jxxee)",
"(on lcoxf himyt) (clear tipov) (on himyt ndqpr) (arm-empty) (on-table ndqpr) (on jxxee lcoxf) (on tipov jxxee)"
] | file_121575 |
GOAL: (clear skqjw) (arm-empty) (on vokdd hchjx) (on-table rievv) (on hchjx rievv) (on skqjw vokdd) (clear idrnt) (on-table idrnt) | GOAL: (clear skqjw) (arm-empty) (on vokdd hchjx) (on-table rievv) (on hchjx rievv) (on skqjw vokdd) (clear idrnt) (on-table idrnt)
STATE: (holding hchjx) (on-table vokdd) (on idrnt skqjw) (clear rievv) (on rievv idrnt) (on skqjw vokdd) | [
[
"put-down hchjx"
],
[
"unstack rievv idrnt"
],
[
"put-down rievv"
],
[
"unstack idrnt skqjw"
],
[
"put-down idrnt"
],
[
"unstack skqjw vokdd"
],
[
"stack skqjw idrnt"
],
[
"pick-up hchjx"
],
[
"stack hchjx rievv"
],
[
"pick-up vokdd"
],
[
"stack vokdd hchjx"
],
[
"unstack skqjw idrnt"
],
[
"stack skqjw vokdd"
]
] | [
"(arm-empty) (on-table vokdd) (clear rievv) (on skqjw vokdd) (on-table hchjx) (on idrnt skqjw) (on rievv idrnt) (clear hchjx)",
"(on-table vokdd) (on-table hchjx) (holding rievv) (on idrnt skqjw) (on skqjw vokdd) (clear idrnt) (clear hchjx)",
"(arm-empty) (on-table vokdd) (clear rievv) (on skqjw vokdd) (on-table hchjx) (on idrnt skqjw) (on-table rievv) (clear idrnt) (clear hchjx)",
"(clear skqjw) (on-table vokdd) (on-table hchjx) (clear rievv) (on-table rievv) (on skqjw vokdd) (holding idrnt) (clear hchjx)",
"(clear skqjw) (arm-empty) (on-table vokdd) (on-table hchjx) (clear rievv) (on-table rievv) (on skqjw vokdd) (clear idrnt) (clear hchjx) (on-table idrnt)",
"(on-table vokdd) (on-table hchjx) (clear rievv) (on-table rievv) (holding skqjw) (clear idrnt) (clear hchjx) (on-table idrnt) (clear vokdd)",
"(clear skqjw) (arm-empty) (on-table vokdd) (on-table hchjx) (clear rievv) (on-table rievv) (on skqjw idrnt) (clear hchjx) (on-table idrnt) (clear vokdd)",
"(holding hchjx) (clear skqjw) (on-table vokdd) (clear rievv) (on-table rievv) (on skqjw idrnt) (on-table idrnt) (clear vokdd)",
"(clear skqjw) (arm-empty) (on-table vokdd) (on-table rievv) (on hchjx rievv) (on skqjw idrnt) (clear hchjx) (on-table idrnt) (clear vokdd)",
"(clear skqjw) (holding vokdd) (on-table rievv) (on hchjx rievv) (on skqjw idrnt) (clear hchjx) (on-table idrnt)",
"(clear skqjw) (arm-empty) (on vokdd hchjx) (on-table rievv) (on hchjx rievv) (on skqjw idrnt) (on-table idrnt) (clear vokdd)",
"(holding skqjw) (on vokdd hchjx) (on-table rievv) (on hchjx rievv) (clear idrnt) (on-table idrnt) (clear vokdd)",
"(clear skqjw) (arm-empty) (on vokdd hchjx) (on-table rievv) (on hchjx rievv) (on skqjw vokdd) (clear idrnt) (on-table idrnt)"
] | file_159603 |
GOAL: (holding dbqfp) (on ubzup glwyu) (on-table ujfdw) (on glwyu ujfdw) (clear lmghj) (on-table lmghj) (clear ubzup) | GOAL: (holding dbqfp) (on ubzup glwyu) (on-table ujfdw) (on glwyu ujfdw) (clear lmghj) (on-table lmghj) (clear ubzup)
STATE: (on dbqfp lmghj) (on ujfdw ubzup) (clear ujfdw) (on ubzup dbqfp) (holding glwyu) (on-table lmghj) | [
[
"put-down glwyu"
],
[
"unstack ujfdw ubzup"
],
[
"put-down ujfdw"
],
[
"pick-up glwyu"
],
[
"stack glwyu ujfdw"
],
[
"unstack ubzup dbqfp"
],
[
"stack ubzup glwyu"
],
[
"unstack dbqfp lmghj"
]
] | [
"(on dbqfp lmghj) (arm-empty) (on-table glwyu) (on ujfdw ubzup) (clear ujfdw) (clear glwyu) (on ubzup dbqfp) (on-table lmghj)",
"(clear glwyu) (on dbqfp lmghj) (on-table glwyu) (holding ujfdw) (on ubzup dbqfp) (on-table lmghj) (clear ubzup)",
"(on dbqfp lmghj) (arm-empty) (on-table glwyu) (clear ujfdw) (clear ubzup) (clear glwyu) (on ubzup dbqfp) (on-table ujfdw) (on-table lmghj)",
"(on dbqfp lmghj) (clear ujfdw) (on ubzup dbqfp) (on-table ujfdw) (holding glwyu) (on-table lmghj) (clear ubzup)",
"(clear glwyu) (on dbqfp lmghj) (arm-empty) (on ubzup dbqfp) (on-table ujfdw) (on glwyu ujfdw) (on-table lmghj) (clear ubzup)",
"(clear glwyu) (on dbqfp lmghj) (holding ubzup) (on-table ujfdw) (on glwyu ujfdw) (clear dbqfp) (on-table lmghj)",
"(on dbqfp lmghj) (arm-empty) (on ubzup glwyu) (on-table ujfdw) (on glwyu ujfdw) (clear dbqfp) (on-table lmghj) (clear ubzup)",
"(holding dbqfp) (on ubzup glwyu) (on-table ujfdw) (on glwyu ujfdw) (clear lmghj) (on-table lmghj) (clear ubzup)"
] | file_160436 |
GOAL: (arm-empty) (on-table rmsmo) (on-table xzpbd) (on-table ecgmj) (on glumn xzpbd) (on aazpj rmsmo) (clear glumn) (clear aazpj) (clear ecgmj) | GOAL: (arm-empty) (on-table rmsmo) (on-table xzpbd) (on-table ecgmj) (on glumn xzpbd) (on aazpj rmsmo) (clear glumn) (clear aazpj) (clear ecgmj)
STATE: (clear rmsmo) (on glumn ecgmj) (arm-empty) (on-table rmsmo) (on-table xzpbd) (on-table ecgmj) (clear glumn) (clear aazpj) (on-table aazpj) (clear xzpbd) | [
[
"pick-up aazpj"
],
[
"stack aazpj rmsmo"
],
[
"unstack glumn ecgmj"
],
[
"stack glumn xzpbd"
]
] | [
"(clear rmsmo) (on glumn ecgmj) (on-table rmsmo) (on-table xzpbd) (on-table ecgmj) (clear glumn) (holding aazpj) (clear xzpbd)",
"(on glumn ecgmj) (arm-empty) (on-table rmsmo) (on-table xzpbd) (on-table ecgmj) (on aazpj rmsmo) (clear glumn) (clear aazpj) (clear xzpbd)",
"(on-table rmsmo) (on-table xzpbd) (on-table ecgmj) (holding glumn) (on aazpj rmsmo) (clear aazpj) (clear ecgmj) (clear xzpbd)",
"(arm-empty) (on-table rmsmo) (on-table xzpbd) (on-table ecgmj) (on glumn xzpbd) (on aazpj rmsmo) (clear glumn) (clear aazpj) (clear ecgmj)"
] | file_154747 |
GOAL: (clear sgiml) (arm-empty) (on-table bopnk) (on-table dficj) (clear xopqb) (on xopqb uypgf) (on uypgf dficj) (on sgiml bopnk) | GOAL: (clear sgiml) (arm-empty) (on-table bopnk) (on-table dficj) (clear xopqb) (on xopqb uypgf) (on uypgf dficj) (on sgiml bopnk)
STATE: (holding dficj) (on-table sgiml) (on xopqb bopnk) (on bopnk sgiml) (clear xopqb) (clear uypgf) (on-table uypgf) | [
[
"put-down dficj"
],
[
"pick-up uypgf"
],
[
"stack uypgf dficj"
],
[
"unstack xopqb bopnk"
],
[
"stack xopqb uypgf"
],
[
"unstack bopnk sgiml"
],
[
"put-down bopnk"
],
[
"pick-up sgiml"
],
[
"stack sgiml bopnk"
]
] | [
"(arm-empty) (on-table sgiml) (on xopqb bopnk) (on bopnk sgiml) (clear xopqb) (on-table dficj) (clear uypgf) (clear dficj) (on-table uypgf)",
"(on-table sgiml) (on xopqb bopnk) (on-table dficj) (on bopnk sgiml) (clear xopqb) (holding uypgf) (clear dficj)",
"(arm-empty) (on-table sgiml) (on xopqb bopnk) (on-table dficj) (on bopnk sgiml) (clear xopqb) (on uypgf dficj) (clear uypgf)",
"(on-table sgiml) (on-table dficj) (holding xopqb) (on bopnk sgiml) (on uypgf dficj) (clear uypgf) (clear bopnk)",
"(arm-empty) (on-table sgiml) (on bopnk sgiml) (clear xopqb) (on uypgf dficj) (clear bopnk) (on-table dficj) (on xopqb uypgf)",
"(clear sgiml) (on-table sgiml) (on-table dficj) (clear xopqb) (on xopqb uypgf) (holding bopnk) (on uypgf dficj)",
"(arm-empty) (on-table sgiml) (on-table bopnk) (clear xopqb) (on uypgf dficj) (clear bopnk) (clear sgiml) (on-table dficj) (on xopqb uypgf)",
"(on-table bopnk) (on-table dficj) (clear xopqb) (on xopqb uypgf) (holding sgiml) (on uypgf dficj) (clear bopnk)",
"(clear sgiml) (arm-empty) (on-table bopnk) (on-table dficj) (clear xopqb) (on xopqb uypgf) (on uypgf dficj) (on sgiml bopnk)"
] | file_192094 |
GOAL: (on ycvpj izdnt) (arm-empty) (on-table ycvhy) (on-table izdnt) (clear dpnyp) (on-table znofa) (on dpnyp ycvhy) (clear ycvpj) (clear znofa) | GOAL: (on ycvpj izdnt) (arm-empty) (on-table ycvhy) (on-table izdnt) (clear dpnyp) (on-table znofa) (on dpnyp ycvhy) (clear ycvpj) (clear znofa)
STATE: (holding znofa) (clear ycvhy) (on ycvpj izdnt) (on-table ycvhy) (on-table izdnt) (clear dpnyp) (on-table dpnyp) (clear ycvpj) | [
[
"stack znofa ycvpj"
],
[
"pick-up dpnyp"
],
[
"stack dpnyp ycvhy"
],
[
"unstack znofa ycvpj"
],
[
"put-down znofa"
]
] | [
"(clear ycvhy) (on ycvpj izdnt) (on znofa ycvpj) (on-table ycvhy) (on-table izdnt) (arm-empty) (clear dpnyp) (on-table dpnyp) (clear znofa)",
"(clear ycvhy) (on ycvpj izdnt) (on znofa ycvpj) (on-table ycvhy) (on-table izdnt) (holding dpnyp) (clear znofa)",
"(on ycvpj izdnt) (on znofa ycvpj) (arm-empty) (on-table ycvhy) (on-table izdnt) (clear dpnyp) (on dpnyp ycvhy) (clear znofa)",
"(holding znofa) (on ycvpj izdnt) (on-table ycvhy) (on-table izdnt) (clear dpnyp) (on dpnyp ycvhy) (clear ycvpj)",
"(on ycvpj izdnt) (arm-empty) (on-table ycvhy) (on-table izdnt) (clear dpnyp) (on-table znofa) (on dpnyp ycvhy) (clear ycvpj) (clear znofa)"
] | file_45477 |
GOAL: (on fltnn fhkir) (arm-empty) (on-table dhqrx) (on fhkir dhqrx) (clear gcknd) (on-table gsetj) (on gcknd fltnn) (clear gsetj) | GOAL: (on fltnn fhkir) (arm-empty) (on-table dhqrx) (on fhkir dhqrx) (clear gcknd) (on-table gsetj) (on gcknd fltnn) (clear gsetj)
STATE: (clear dhqrx) (on-table dhqrx) (on-table gsetj) (clear gcknd) (holding fhkir) (on-table gcknd) (clear fltnn) (clear gsetj) (on-table fltnn) | [
[
"stack fhkir dhqrx"
],
[
"pick-up gcknd"
],
[
"stack gcknd gsetj"
],
[
"pick-up fltnn"
],
[
"stack fltnn fhkir"
],
[
"unstack gcknd gsetj"
],
[
"stack gcknd fltnn"
]
] | [
"(arm-empty) (on-table dhqrx) (on-table gsetj) (on fhkir dhqrx) (clear gcknd) (on-table gcknd) (clear fltnn) (clear gsetj) (on-table fltnn) (clear fhkir)",
"(on-table dhqrx) (on-table gsetj) (holding gcknd) (on fhkir dhqrx) (clear fltnn) (clear gsetj) (on-table fltnn) (clear fhkir)",
"(on gcknd gsetj) (arm-empty) (on-table dhqrx) (on-table gsetj) (on fhkir dhqrx) (clear gcknd) (clear fltnn) (on-table fltnn) (clear fhkir)",
"(on gcknd gsetj) (on-table dhqrx) (on-table gsetj) (on fhkir dhqrx) (clear gcknd) (holding fltnn) (clear fhkir)",
"(on fltnn fhkir) (on gcknd gsetj) (arm-empty) (on-table dhqrx) (on-table gsetj) (on fhkir dhqrx) (clear gcknd) (clear fltnn)",
"(on fltnn fhkir) (on-table dhqrx) (on-table gsetj) (holding gcknd) (on fhkir dhqrx) (clear fltnn) (clear gsetj)",
"(on fltnn fhkir) (arm-empty) (on-table dhqrx) (on fhkir dhqrx) (clear gcknd) (on-table gsetj) (on gcknd fltnn) (clear gsetj)"
] | file_21623 |
GOAL: (on frxia zpfxo) (on-table hpitf) (on-table zpfxo) (clear frxia) (holding xqoad) (clear suhrg) (on-table suhrg) (clear hpitf) | GOAL: (on frxia zpfxo) (on-table hpitf) (on-table zpfxo) (clear frxia) (holding xqoad) (clear suhrg) (on-table suhrg) (clear hpitf)
STATE: (on zpfxo hpitf) (arm-empty) (on-table hpitf) (on suhrg xqoad) (clear frxia) (on-table frxia) (on xqoad zpfxo) (clear suhrg) | [
[
"unstack suhrg xqoad"
],
[
"stack suhrg frxia"
],
[
"unstack xqoad zpfxo"
],
[
"stack xqoad suhrg"
],
[
"unstack zpfxo hpitf"
],
[
"put-down zpfxo"
],
[
"unstack xqoad suhrg"
],
[
"stack xqoad hpitf"
],
[
"unstack suhrg frxia"
],
[
"stack suhrg xqoad"
],
[
"pick-up frxia"
],
[
"stack frxia zpfxo"
],
[
"unstack suhrg xqoad"
],
[
"put-down suhrg"
],
[
"unstack xqoad hpitf"
]
] | [
"(on zpfxo hpitf) (clear xqoad) (on-table hpitf) (clear frxia) (on-table frxia) (on xqoad zpfxo) (holding suhrg)",
"(on zpfxo hpitf) (clear xqoad) (on suhrg frxia) (arm-empty) (on-table hpitf) (on-table frxia) (on xqoad zpfxo) (clear suhrg)",
"(on zpfxo hpitf) (on suhrg frxia) (on-table hpitf) (on-table frxia) (holding xqoad) (clear suhrg) (clear zpfxo)",
"(on zpfxo hpitf) (on suhrg frxia) (clear xqoad) (arm-empty) (on-table hpitf) (on-table frxia) (on xqoad suhrg) (clear zpfxo)",
"(holding zpfxo) (on suhrg frxia) (clear xqoad) (on-table hpitf) (on-table frxia) (on xqoad suhrg) (clear hpitf)",
"(arm-empty) (on-table hpitf) (clear hpitf) (on suhrg frxia) (clear xqoad) (on-table zpfxo) (on-table frxia) (on xqoad suhrg) (clear zpfxo)",
"(on suhrg frxia) (on-table hpitf) (on-table zpfxo) (on-table frxia) (holding xqoad) (clear suhrg) (clear zpfxo) (clear hpitf)",
"(on suhrg frxia) (clear xqoad) (arm-empty) (on-table hpitf) (on-table zpfxo) (on-table frxia) (on xqoad hpitf) (clear suhrg) (clear zpfxo)",
"(clear xqoad) (on-table hpitf) (on-table zpfxo) (clear frxia) (on-table frxia) (on xqoad hpitf) (holding suhrg) (clear zpfxo)",
"(arm-empty) (on-table hpitf) (on-table zpfxo) (on suhrg xqoad) (clear frxia) (on-table frxia) (on xqoad hpitf) (clear suhrg) (clear zpfxo)",
"(on-table hpitf) (on-table zpfxo) (holding frxia) (on suhrg xqoad) (on xqoad hpitf) (clear suhrg) (clear zpfxo)",
"(on frxia zpfxo) (arm-empty) (on-table hpitf) (on-table zpfxo) (on suhrg xqoad) (clear frxia) (on xqoad hpitf) (clear suhrg)",
"(clear xqoad) (on frxia zpfxo) (on-table hpitf) (on-table zpfxo) (clear frxia) (on xqoad hpitf) (holding suhrg)",
"(on frxia zpfxo) (arm-empty) (on-table hpitf) (clear frxia) (on xqoad hpitf) (clear xqoad) (on-table zpfxo) (clear suhrg) (on-table suhrg)",
"(on frxia zpfxo) (on-table hpitf) (on-table zpfxo) (clear frxia) (holding xqoad) (clear suhrg) (on-table suhrg) (clear hpitf)"
] | file_214089 |
GOAL: (on zmnxy iliqv) (arm-empty) (on-table htxhz) (on egrwx zmnxy) (on iliqv htxhz) (clear egrwx) | GOAL: (on zmnxy iliqv) (arm-empty) (on-table htxhz) (on egrwx zmnxy) (on iliqv htxhz) (clear egrwx)
STATE: (arm-empty) (on egrwx zmnxy) (on zmnxy htxhz) (on htxhz iliqv) (clear egrwx) (on-table iliqv) | [
[
"unstack egrwx zmnxy"
],
[
"put-down egrwx"
],
[
"unstack zmnxy htxhz"
],
[
"stack zmnxy egrwx"
],
[
"unstack htxhz iliqv"
],
[
"put-down htxhz"
],
[
"pick-up iliqv"
],
[
"stack iliqv htxhz"
],
[
"unstack zmnxy egrwx"
],
[
"stack zmnxy iliqv"
],
[
"pick-up egrwx"
],
[
"stack egrwx zmnxy"
]
] | [
"(holding egrwx) (clear zmnxy) (on zmnxy htxhz) (on htxhz iliqv) (on-table iliqv)",
"(on-table egrwx) (arm-empty) (on htxhz iliqv) (on zmnxy htxhz) (clear zmnxy) (clear egrwx) (on-table iliqv)",
"(holding zmnxy) (clear htxhz) (on-table egrwx) (on htxhz iliqv) (clear egrwx) (on-table iliqv)",
"(clear htxhz) (on zmnxy egrwx) (arm-empty) (on-table egrwx) (clear zmnxy) (on htxhz iliqv) (on-table iliqv)",
"(on zmnxy egrwx) (clear zmnxy) (on-table egrwx) (holding htxhz) (clear iliqv) (on-table iliqv)",
"(on zmnxy egrwx) (arm-empty) (on-table htxhz) (clear zmnxy) (clear htxhz) (on-table egrwx) (clear iliqv) (on-table iliqv)",
"(clear htxhz) (on zmnxy egrwx) (on-table htxhz) (on-table egrwx) (clear zmnxy) (holding iliqv)",
"(on zmnxy egrwx) (arm-empty) (on-table htxhz) (on-table egrwx) (on iliqv htxhz) (clear zmnxy) (clear iliqv)",
"(on-table htxhz) (holding zmnxy) (on-table egrwx) (on iliqv htxhz) (clear iliqv) (clear egrwx)",
"(arm-empty) (on-table htxhz) (on-table egrwx) (on iliqv htxhz) (clear zmnxy) (on zmnxy iliqv) (clear egrwx)",
"(holding egrwx) (on zmnxy iliqv) (on-table htxhz) (on iliqv htxhz) (clear zmnxy)",
"(on zmnxy iliqv) (arm-empty) (on-table htxhz) (on egrwx zmnxy) (on iliqv htxhz) (clear egrwx)"
] | file_183779 |
GOAL: (on-table xhnmx) (clear ufina) (arm-empty) (on twbyp xhnmx) (on xrmcr twbyp) (on ufina xrmcr) | GOAL: (on-table xhnmx) (clear ufina) (arm-empty) (on twbyp xhnmx) (on xrmcr twbyp) (on ufina xrmcr)
STATE: (clear ufina) (on-table xhnmx) (on twbyp xhnmx) (on ufina twbyp) (holding xrmcr) | [
[
"put-down xrmcr"
],
[
"unstack ufina twbyp"
],
[
"put-down ufina"
],
[
"pick-up xrmcr"
],
[
"stack xrmcr twbyp"
],
[
"pick-up ufina"
],
[
"stack ufina xrmcr"
]
] | [
"(clear ufina) (on-table xhnmx) (arm-empty) (on twbyp xhnmx) (on ufina twbyp) (clear xrmcr) (on-table xrmcr)",
"(on twbyp xhnmx) (on-table xhnmx) (holding ufina) (clear xrmcr) (clear twbyp) (on-table xrmcr)",
"(arm-empty) (on-table ufina) (clear ufina) (on-table xhnmx) (on twbyp xhnmx) (clear xrmcr) (clear twbyp) (on-table xrmcr)",
"(clear ufina) (on-table ufina) (on-table xhnmx) (on twbyp xhnmx) (holding xrmcr) (clear twbyp)",
"(clear ufina) (arm-empty) (on-table ufina) (on-table xhnmx) (on twbyp xhnmx) (on xrmcr twbyp) (clear xrmcr)",
"(on-table xhnmx) (on twbyp xhnmx) (on xrmcr twbyp) (clear xrmcr) (holding ufina)",
"(on-table xhnmx) (clear ufina) (arm-empty) (on twbyp xhnmx) (on xrmcr twbyp) (on ufina xrmcr)"
] | file_222306 |
GOAL: (clear fctom) (on cthcf shpln) (on-table fctom) (on-table shpln) (on-table emqlm) (holding ozwrr) (clear cthcf) (clear emqlm) | GOAL: (clear fctom) (on cthcf shpln) (on-table fctom) (on-table shpln) (on-table emqlm) (holding ozwrr) (clear cthcf) (clear emqlm)
STATE: (arm-empty) (on-table fctom) (on-table shpln) (on-table emqlm) (on cthcf fctom) (clear ozwrr) (on-table ozwrr) (clear cthcf) (clear emqlm) (clear shpln) | [
[
"unstack cthcf fctom"
],
[
"stack cthcf shpln"
],
[
"pick-up ozwrr"
]
] | [
"(clear fctom) (on-table fctom) (on-table shpln) (on-table emqlm) (clear ozwrr) (on-table ozwrr) (holding cthcf) (clear emqlm) (clear shpln)",
"(clear fctom) (on cthcf shpln) (arm-empty) (on-table fctom) (on-table shpln) (on-table emqlm) (clear ozwrr) (on-table ozwrr) (clear cthcf) (clear emqlm)",
"(clear fctom) (on cthcf shpln) (on-table fctom) (on-table shpln) (on-table emqlm) (holding ozwrr) (clear cthcf) (clear emqlm)"
] | file_45725 |
GOAL: (on zcwsq ssnxk) (on-table agbkn) (on rsrdi zcwsq) (on-table ssnxk) (holding dkxcn) (clear agbkn) (clear rsrdi) | GOAL: (on zcwsq ssnxk) (on-table agbkn) (on rsrdi zcwsq) (on-table ssnxk) (holding dkxcn) (clear agbkn) (clear rsrdi)
STATE: (arm-empty) (on-table rsrdi) (clear ssnxk) (on-table ssnxk) (on zcwsq agbkn) (on dkxcn rsrdi) (clear zcwsq) (on agbkn dkxcn) | [
[
"unstack zcwsq agbkn"
],
[
"stack zcwsq ssnxk"
],
[
"unstack agbkn dkxcn"
],
[
"stack agbkn zcwsq"
],
[
"unstack dkxcn rsrdi"
],
[
"put-down dkxcn"
],
[
"pick-up rsrdi"
],
[
"stack rsrdi dkxcn"
],
[
"unstack agbkn zcwsq"
],
[
"put-down agbkn"
],
[
"unstack rsrdi dkxcn"
],
[
"stack rsrdi zcwsq"
],
[
"pick-up dkxcn"
]
] | [
"(on-table rsrdi) (clear ssnxk) (on-table ssnxk) (on dkxcn rsrdi) (on agbkn dkxcn) (clear agbkn) (holding zcwsq)",
"(on zcwsq ssnxk) (arm-empty) (on-table rsrdi) (on-table ssnxk) (on dkxcn rsrdi) (clear zcwsq) (on agbkn dkxcn) (clear agbkn)",
"(holding agbkn) (on zcwsq ssnxk) (clear dkxcn) (on-table rsrdi) (on-table ssnxk) (on dkxcn rsrdi) (clear zcwsq)",
"(on zcwsq ssnxk) (clear dkxcn) (on agbkn zcwsq) (arm-empty) (on-table rsrdi) (on-table ssnxk) (on dkxcn rsrdi) (clear agbkn)",
"(on zcwsq ssnxk) (on agbkn zcwsq) (on-table rsrdi) (on-table ssnxk) (holding dkxcn) (clear agbkn) (clear rsrdi)",
"(on agbkn zcwsq) (arm-empty) (on-table dkxcn) (on-table rsrdi) (clear rsrdi) (on zcwsq ssnxk) (clear dkxcn) (on-table ssnxk) (clear agbkn)",
"(on zcwsq ssnxk) (clear dkxcn) (on agbkn zcwsq) (on-table dkxcn) (holding rsrdi) (on-table ssnxk) (clear agbkn)",
"(on zcwsq ssnxk) (on agbkn zcwsq) (arm-empty) (on-table dkxcn) (on rsrdi dkxcn) (on-table ssnxk) (clear agbkn) (clear rsrdi)",
"(holding agbkn) (on zcwsq ssnxk) (on-table dkxcn) (on rsrdi dkxcn) (on-table ssnxk) (clear zcwsq) (clear rsrdi)",
"(arm-empty) (on-table dkxcn) (on rsrdi dkxcn) (clear rsrdi) (on zcwsq ssnxk) (on-table agbkn) (on-table ssnxk) (clear zcwsq) (clear agbkn)",
"(on zcwsq ssnxk) (clear dkxcn) (on-table dkxcn) (on-table agbkn) (holding rsrdi) (on-table ssnxk) (clear zcwsq) (clear agbkn)",
"(on zcwsq ssnxk) (clear dkxcn) (arm-empty) (on-table dkxcn) (on-table agbkn) (on rsrdi zcwsq) (on-table ssnxk) (clear agbkn) (clear rsrdi)",
"(on zcwsq ssnxk) (on-table agbkn) (on rsrdi zcwsq) (on-table ssnxk) (holding dkxcn) (clear agbkn) (clear rsrdi)"
] | file_205808 |
GOAL: (arm-empty) (on-table qvxkf) (clear lamcs) (on nchat qvxkf) (on emknr nchat) (on-table lamcs) (clear jobwx) (clear emknr) (on-table jobwx) | GOAL: (arm-empty) (on-table qvxkf) (clear lamcs) (on nchat qvxkf) (on emknr nchat) (on-table lamcs) (clear jobwx) (clear emknr) (on-table jobwx)
STATE: (on emknr qvxkf) (on qvxkf nchat) (on-table lamcs) (on nchat lamcs) (holding jobwx) (clear emknr) | [
[
"put-down jobwx"
],
[
"unstack emknr qvxkf"
],
[
"put-down emknr"
],
[
"unstack qvxkf nchat"
],
[
"put-down qvxkf"
],
[
"pick-up jobwx"
],
[
"stack jobwx qvxkf"
],
[
"unstack nchat lamcs"
],
[
"put-down nchat"
],
[
"unstack jobwx qvxkf"
],
[
"stack jobwx lamcs"
],
[
"pick-up nchat"
],
[
"stack nchat qvxkf"
],
[
"pick-up emknr"
],
[
"stack emknr nchat"
],
[
"unstack jobwx lamcs"
],
[
"put-down jobwx"
]
] | [
"(on emknr qvxkf) (arm-empty) (on qvxkf nchat) (on nchat lamcs) (on-table lamcs) (clear jobwx) (clear emknr) (on-table jobwx)",
"(holding emknr) (on qvxkf nchat) (on-table lamcs) (on nchat lamcs) (clear jobwx) (on-table jobwx) (clear qvxkf)",
"(arm-empty) (on qvxkf nchat) (on nchat lamcs) (clear qvxkf) (on-table emknr) (on-table lamcs) (clear jobwx) (clear emknr) (on-table jobwx)",
"(clear nchat) (on-table emknr) (holding qvxkf) (on-table lamcs) (on nchat lamcs) (clear jobwx) (clear emknr) (on-table jobwx)",
"(clear nchat) (arm-empty) (on-table qvxkf) (on-table emknr) (on-table lamcs) (on nchat lamcs) (clear jobwx) (clear emknr) (on-table jobwx) (clear qvxkf)",
"(clear nchat) (on-table qvxkf) (on-table emknr) (on-table lamcs) (on nchat lamcs) (holding jobwx) (clear emknr) (clear qvxkf)",
"(clear nchat) (on jobwx qvxkf) (arm-empty) (on-table qvxkf) (on-table emknr) (on-table lamcs) (on nchat lamcs) (clear jobwx) (clear emknr)",
"(on jobwx qvxkf) (on-table qvxkf) (on-table emknr) (clear lamcs) (on-table lamcs) (holding nchat) (clear jobwx) (clear emknr)",
"(on jobwx qvxkf) (clear nchat) (arm-empty) (on-table nchat) (on-table qvxkf) (on-table emknr) (clear lamcs) (on-table lamcs) (clear jobwx) (clear emknr)",
"(clear nchat) (on-table nchat) (on-table qvxkf) (on-table emknr) (clear lamcs) (on-table lamcs) (holding jobwx) (clear emknr) (clear qvxkf)",
"(on jobwx lamcs) (clear nchat) (arm-empty) (on-table nchat) (on-table qvxkf) (on-table emknr) (on-table lamcs) (clear jobwx) (clear emknr) (clear qvxkf)",
"(on jobwx lamcs) (on-table qvxkf) (on-table emknr) (on-table lamcs) (holding nchat) (clear jobwx) (clear emknr) (clear qvxkf)",
"(on jobwx lamcs) (clear nchat) (arm-empty) (on-table qvxkf) (on-table emknr) (on-table lamcs) (on nchat qvxkf) (clear jobwx) (clear emknr)",
"(holding emknr) (on jobwx lamcs) (clear nchat) (on-table qvxkf) (on-table lamcs) (on nchat qvxkf) (clear jobwx)",
"(on jobwx lamcs) (arm-empty) (on-table qvxkf) (on-table lamcs) (on nchat qvxkf) (clear jobwx) (on emknr nchat) (clear emknr)",
"(on-table qvxkf) (clear lamcs) (on-table lamcs) (on nchat qvxkf) (on emknr nchat) (clear emknr) (holding jobwx)",
"(arm-empty) (on-table qvxkf) (clear lamcs) (on nchat qvxkf) (on emknr nchat) (on-table lamcs) (clear jobwx) (clear emknr) (on-table jobwx)"
] | file_219415 |
GOAL: (arm-empty) (on-table xstoc) (clear qpson) (on oksxy lksef) (on-table qpson) (clear jrukf) (on lksef xstoc) (on-table jrukf) (clear oksxy) | GOAL: (arm-empty) (on-table xstoc) (clear qpson) (on oksxy lksef) (on-table qpson) (clear jrukf) (on lksef xstoc) (on-table jrukf) (clear oksxy)
STATE: (holding lksef) (clear xstoc) (on jrukf oksxy) (on oksxy qpson) (on-table xstoc) (on-table qpson) (clear jrukf) | [
[
"stack lksef xstoc"
],
[
"unstack jrukf oksxy"
],
[
"put-down jrukf"
],
[
"unstack oksxy qpson"
],
[
"stack oksxy lksef"
]
] | [
"(on jrukf oksxy) (arm-empty) (on oksxy qpson) (on-table xstoc) (on-table qpson) (clear jrukf) (on lksef xstoc) (clear lksef)",
"(on oksxy qpson) (on-table xstoc) (on-table qpson) (on lksef xstoc) (clear lksef) (holding jrukf) (clear oksxy)",
"(arm-empty) (on oksxy qpson) (on-table xstoc) (on lksef xstoc) (clear oksxy) (on-table qpson) (clear jrukf) (clear lksef) (on-table jrukf)",
"(on-table xstoc) (clear qpson) (holding oksxy) (on-table qpson) (clear jrukf) (on lksef xstoc) (clear lksef) (on-table jrukf)",
"(arm-empty) (on-table xstoc) (clear qpson) (on oksxy lksef) (on-table qpson) (clear jrukf) (on lksef xstoc) (on-table jrukf) (clear oksxy)"
] | file_93189 |
GOAL: (on fiwcs ticef) (clear fuujq) (on-table ticef) (on fuujq tvwfg) (on-table tvwfg) (holding vurjd) (clear fiwcs) | GOAL: (on fiwcs ticef) (clear fuujq) (on-table ticef) (on fuujq tvwfg) (on-table tvwfg) (holding vurjd) (clear fiwcs)
STATE: (on fiwcs ticef) (clear fuujq) (arm-empty) (on-table fuujq) (on-table ticef) (clear tvwfg) (on-table tvwfg) (on vurjd fiwcs) (clear vurjd) | [
[
"pick-up fuujq"
],
[
"stack fuujq tvwfg"
],
[
"unstack vurjd fiwcs"
]
] | [
"(on fiwcs ticef) (on-table ticef) (clear tvwfg) (on-table tvwfg) (holding fuujq) (on vurjd fiwcs) (clear vurjd)",
"(on fiwcs ticef) (arm-empty) (on-table ticef) (on vurjd fiwcs) (on fuujq tvwfg) (clear fuujq) (on-table tvwfg) (clear vurjd)",
"(on fiwcs ticef) (clear fuujq) (on-table ticef) (on fuujq tvwfg) (on-table tvwfg) (holding vurjd) (clear fiwcs)"
] | file_11436 |
GOAL: (holding wbsdt) (on gtjsl onoyw) (clear ymgxs) (on-table oyhmm) (on-table onoyw) (on ymgxs gtjsl) (clear oyhmm) | GOAL: (holding wbsdt) (on gtjsl onoyw) (clear ymgxs) (on-table oyhmm) (on-table onoyw) (on ymgxs gtjsl) (clear oyhmm)
STATE: (on wbsdt gtjsl) (arm-empty) (on-table oyhmm) (on onoyw oyhmm) (on gtjsl ymgxs) (on ymgxs onoyw) (clear wbsdt) | [
[
"unstack wbsdt gtjsl"
],
[
"put-down wbsdt"
],
[
"unstack gtjsl ymgxs"
],
[
"stack gtjsl wbsdt"
],
[
"unstack ymgxs onoyw"
],
[
"put-down ymgxs"
],
[
"unstack onoyw oyhmm"
],
[
"put-down onoyw"
],
[
"unstack gtjsl wbsdt"
],
[
"stack gtjsl onoyw"
],
[
"pick-up ymgxs"
],
[
"stack ymgxs gtjsl"
],
[
"pick-up wbsdt"
]
] | [
"(on-table oyhmm) (on onoyw oyhmm) (on ymgxs onoyw) (holding wbsdt) (on gtjsl ymgxs) (clear gtjsl)",
"(arm-empty) (on-table oyhmm) (on onoyw oyhmm) (on ymgxs onoyw) (on-table wbsdt) (on gtjsl ymgxs) (clear gtjsl) (clear wbsdt)",
"(clear ymgxs) (on-table oyhmm) (on onoyw oyhmm) (on-table wbsdt) (on ymgxs onoyw) (holding gtjsl) (clear wbsdt)",
"(clear ymgxs) (arm-empty) (on-table oyhmm) (on-table wbsdt) (on onoyw oyhmm) (on ymgxs onoyw) (on gtjsl wbsdt) (clear gtjsl)",
"(on-table oyhmm) (on-table wbsdt) (on onoyw oyhmm) (clear onoyw) (holding ymgxs) (on gtjsl wbsdt) (clear gtjsl)",
"(arm-empty) (on-table ymgxs) (on-table oyhmm) (on onoyw oyhmm) (clear onoyw) (on gtjsl wbsdt) (clear ymgxs) (on-table wbsdt) (clear gtjsl)",
"(clear ymgxs) (on-table ymgxs) (on-table oyhmm) (holding onoyw) (on-table wbsdt) (on gtjsl wbsdt) (clear gtjsl) (clear oyhmm)",
"(clear ymgxs) (arm-empty) (on-table ymgxs) (on-table oyhmm) (on-table wbsdt) (clear onoyw) (on-table onoyw) (on gtjsl wbsdt) (clear gtjsl) (clear oyhmm)",
"(clear ymgxs) (on-table ymgxs) (on-table oyhmm) (on-table wbsdt) (clear onoyw) (on-table onoyw) (holding gtjsl) (clear wbsdt) (clear oyhmm)",
"(on gtjsl onoyw) (clear ymgxs) (arm-empty) (on-table ymgxs) (on-table oyhmm) (on-table wbsdt) (on-table onoyw) (clear gtjsl) (clear wbsdt) (clear oyhmm)",
"(on gtjsl onoyw) (on-table oyhmm) (on-table wbsdt) (on-table onoyw) (holding ymgxs) (clear gtjsl) (clear wbsdt) (clear oyhmm)",
"(on gtjsl onoyw) (clear ymgxs) (arm-empty) (on-table oyhmm) (on-table wbsdt) (on-table onoyw) (on ymgxs gtjsl) (clear wbsdt) (clear oyhmm)",
"(holding wbsdt) (on gtjsl onoyw) (clear ymgxs) (on-table oyhmm) (on-table onoyw) (on ymgxs gtjsl) (clear oyhmm)"
] | file_150180 |
GOAL: (clear fwsfj) (on-table oqhla) (on linod ovwrv) (holding pteqx) (on fwsfj linod) (clear oqhla) (on-table ovwrv) | GOAL: (clear fwsfj) (on-table oqhla) (on linod ovwrv) (holding pteqx) (on fwsfj linod) (clear oqhla) (on-table ovwrv)
STATE: (clear fwsfj) (on linod ovwrv) (holding pteqx) (on oqhla linod) (on fwsfj oqhla) (on-table ovwrv) | [
[
"put-down pteqx"
],
[
"unstack fwsfj oqhla"
],
[
"stack fwsfj pteqx"
],
[
"unstack oqhla linod"
],
[
"put-down oqhla"
],
[
"unstack fwsfj pteqx"
],
[
"stack fwsfj linod"
],
[
"pick-up pteqx"
]
] | [
"(arm-empty) (on-table pteqx) (on fwsfj oqhla) (clear pteqx) (clear fwsfj) (on linod ovwrv) (on oqhla linod) (on-table ovwrv)",
"(on-table pteqx) (holding fwsfj) (on linod ovwrv) (on oqhla linod) (clear oqhla) (on-table ovwrv) (clear pteqx)",
"(clear fwsfj) (arm-empty) (on-table pteqx) (on linod ovwrv) (on oqhla linod) (on fwsfj pteqx) (clear oqhla) (on-table ovwrv)",
"(holding oqhla) (clear fwsfj) (on-table pteqx) (clear linod) (on linod ovwrv) (on fwsfj pteqx) (on-table ovwrv)",
"(arm-empty) (on-table pteqx) (clear linod) (on fwsfj pteqx) (clear fwsfj) (on-table oqhla) (on linod ovwrv) (clear oqhla) (on-table ovwrv)",
"(on-table pteqx) (on-table oqhla) (clear linod) (on linod ovwrv) (holding fwsfj) (clear oqhla) (on-table ovwrv) (clear pteqx)",
"(clear fwsfj) (arm-empty) (on-table pteqx) (on-table oqhla) (on linod ovwrv) (on fwsfj linod) (clear oqhla) (on-table ovwrv) (clear pteqx)",
"(clear fwsfj) (on-table oqhla) (on linod ovwrv) (holding pteqx) (on fwsfj linod) (clear oqhla) (on-table ovwrv)"
] | file_46786 |
GOAL: (clear bnkoa) (holding fppqg) (on-table apbsl) (on woypa apbsl) (on bnkoa woypa) (clear yison) (on-table yison) | GOAL: (clear bnkoa) (holding fppqg) (on-table apbsl) (on woypa apbsl) (on bnkoa woypa) (clear yison) (on-table yison)
STATE: (on yison bnkoa) (holding fppqg) (on-table apbsl) (on woypa apbsl) (on bnkoa woypa) (clear yison) | [
[
"put-down fppqg"
],
[
"unstack yison bnkoa"
],
[
"put-down yison"
],
[
"pick-up fppqg"
]
] | [
"(arm-empty) (on-table fppqg) (on bnkoa woypa) (clear fppqg) (on yison bnkoa) (on-table apbsl) (on woypa apbsl) (clear yison)",
"(clear bnkoa) (on-table fppqg) (on-table apbsl) (on woypa apbsl) (on bnkoa woypa) (holding yison) (clear fppqg)",
"(arm-empty) (on-table fppqg) (on bnkoa woypa) (clear fppqg) (clear bnkoa) (on-table apbsl) (on woypa apbsl) (clear yison) (on-table yison)",
"(clear bnkoa) (holding fppqg) (on-table apbsl) (on woypa apbsl) (on bnkoa woypa) (clear yison) (on-table yison)"
] | file_193609 |
GOAL: (on shfvy ogywy) (on-table irhco) (holding trqqa) (on htwdg irhco) (clear shfvy) (on-table ogywy) (clear htwdg) | GOAL: (on shfvy ogywy) (on-table irhco) (holding trqqa) (on htwdg irhco) (clear shfvy) (on-table ogywy) (clear htwdg)
STATE: (on-table irhco) (on-table shfvy) (on htwdg irhco) (clear trqqa) (on-table trqqa) (holding ogywy) (clear shfvy) (clear htwdg) | [
[
"stack ogywy htwdg"
],
[
"pick-up shfvy"
],
[
"stack shfvy trqqa"
],
[
"unstack ogywy htwdg"
],
[
"put-down ogywy"
],
[
"unstack shfvy trqqa"
],
[
"stack shfvy ogywy"
],
[
"pick-up trqqa"
]
] | [
"(on ogywy htwdg) (arm-empty) (on-table irhco) (on-table shfvy) (on htwdg irhco) (clear trqqa) (on-table trqqa) (clear ogywy) (clear shfvy)",
"(holding shfvy) (on ogywy htwdg) (on-table irhco) (on htwdg irhco) (clear trqqa) (on-table trqqa) (clear ogywy)",
"(on ogywy htwdg) (arm-empty) (on-table irhco) (on htwdg irhco) (on-table trqqa) (on shfvy trqqa) (clear ogywy) (clear shfvy)",
"(on-table irhco) (on htwdg irhco) (on-table trqqa) (on shfvy trqqa) (holding ogywy) (clear shfvy) (clear htwdg)",
"(arm-empty) (on-table irhco) (on htwdg irhco) (clear htwdg) (on-table trqqa) (on shfvy trqqa) (clear ogywy) (clear shfvy) (on-table ogywy)",
"(holding shfvy) (on-table irhco) (on htwdg irhco) (clear trqqa) (on-table trqqa) (clear ogywy) (on-table ogywy) (clear htwdg)",
"(on shfvy ogywy) (arm-empty) (on-table irhco) (on htwdg irhco) (clear trqqa) (on-table trqqa) (clear shfvy) (on-table ogywy) (clear htwdg)",
"(on shfvy ogywy) (on-table irhco) (holding trqqa) (on htwdg irhco) (clear shfvy) (on-table ogywy) (clear htwdg)"
] | file_32970 |
GOAL: (on waodp xpaxb) (on wnljf bbxer) (on xpaxb wnljf) (clear cxkce) (arm-empty) (on-table bbxer) (on cxkce waodp) | GOAL: (on waodp xpaxb) (on wnljf bbxer) (on xpaxb wnljf) (clear cxkce) (arm-empty) (on-table bbxer) (on cxkce waodp)
STATE: (clear cxkce) (on wnljf bbxer) (arm-empty) (on-table xpaxb) (on-table bbxer) (on cxkce wnljf) (clear waodp) (on-table waodp) (clear xpaxb) | [
[
"unstack cxkce wnljf"
],
[
"put-down cxkce"
],
[
"pick-up xpaxb"
],
[
"stack xpaxb wnljf"
],
[
"pick-up waodp"
],
[
"stack waodp xpaxb"
],
[
"pick-up cxkce"
],
[
"stack cxkce waodp"
]
] | [
"(on wnljf bbxer) (on-table xpaxb) (on-table bbxer) (clear wnljf) (holding cxkce) (clear waodp) (on-table waodp) (clear xpaxb)",
"(clear cxkce) (on wnljf bbxer) (arm-empty) (on-table cxkce) (on-table xpaxb) (on-table bbxer) (clear wnljf) (clear waodp) (on-table waodp) (clear xpaxb)",
"(clear cxkce) (on wnljf bbxer) (on-table cxkce) (on-table bbxer) (clear wnljf) (holding xpaxb) (clear waodp) (on-table waodp)",
"(clear cxkce) (on wnljf bbxer) (on xpaxb wnljf) (on-table cxkce) (arm-empty) (on-table bbxer) (clear waodp) (on-table waodp) (clear xpaxb)",
"(clear cxkce) (on wnljf bbxer) (on xpaxb wnljf) (on-table cxkce) (on-table bbxer) (holding waodp) (clear xpaxb)",
"(clear cxkce) (on wnljf bbxer) (on xpaxb wnljf) (on-table cxkce) (on waodp xpaxb) (on-table bbxer) (arm-empty) (clear waodp)",
"(on wnljf bbxer) (on xpaxb wnljf) (on waodp xpaxb) (on-table bbxer) (holding cxkce) (clear waodp)",
"(on waodp xpaxb) (on wnljf bbxer) (on xpaxb wnljf) (clear cxkce) (arm-empty) (on-table bbxer) (on cxkce waodp)"
] | file_39542 |
GOAL: (holding zkjcs) (on uoijs pbpom) (clear auggs) (on-table auggs) (on-table pbpom) (clear vhsct) (on vhsct uoijs) | GOAL: (holding zkjcs) (on uoijs pbpom) (clear auggs) (on-table auggs) (on-table pbpom) (clear vhsct) (on vhsct uoijs)
STATE: (clear zkjcs) (on-table auggs) (on-table pbpom) (clear vhsct) (on-table vhsct) (holding uoijs) (on zkjcs auggs) (clear pbpom) | [
[
"put-down uoijs"
],
[
"pick-up vhsct"
],
[
"stack vhsct zkjcs"
],
[
"pick-up uoijs"
],
[
"stack uoijs pbpom"
],
[
"unstack vhsct zkjcs"
],
[
"stack vhsct uoijs"
],
[
"unstack zkjcs auggs"
]
] | [
"(clear zkjcs) (arm-empty) (on-table auggs) (on-table pbpom) (clear vhsct) (on-table vhsct) (clear uoijs) (on zkjcs auggs) (on-table uoijs) (clear pbpom)",
"(on-table auggs) (on-table pbpom) (holding vhsct) (clear uoijs) (on zkjcs auggs) (clear zkjcs) (on-table uoijs) (clear pbpom)",
"(on vhsct zkjcs) (arm-empty) (on-table auggs) (on-table pbpom) (clear vhsct) (clear uoijs) (on zkjcs auggs) (on-table uoijs) (clear pbpom)",
"(on vhsct zkjcs) (on-table auggs) (on-table pbpom) (clear vhsct) (on zkjcs auggs) (holding uoijs) (clear pbpom)",
"(on uoijs pbpom) (on vhsct zkjcs) (arm-empty) (on-table auggs) (on-table pbpom) (clear vhsct) (clear uoijs) (on zkjcs auggs)",
"(on uoijs pbpom) (on-table auggs) (on-table pbpom) (holding vhsct) (clear uoijs) (on zkjcs auggs) (clear zkjcs)",
"(on uoijs pbpom) (arm-empty) (on-table auggs) (on-table pbpom) (clear vhsct) (on vhsct uoijs) (on zkjcs auggs) (clear zkjcs)",
"(holding zkjcs) (on uoijs pbpom) (clear auggs) (on-table auggs) (on-table pbpom) (clear vhsct) (on vhsct uoijs)"
] | file_17551 |
GOAL: (on gdzbh vxxfw) (arm-empty) (clear edqwj) (on vxxfw snddx) (on vzdln gdzbh) (clear vzdln) (on-table edqwj) (on-table snddx) | GOAL: (on gdzbh vxxfw) (arm-empty) (clear edqwj) (on vxxfw snddx) (on vzdln gdzbh) (clear vzdln) (on-table edqwj) (on-table snddx)
STATE: (on snddx vxxfw) (arm-empty) (on-table vzdln) (clear edqwj) (on vxxfw gdzbh) (on edqwj snddx) (on gdzbh vzdln) | [
[
"unstack edqwj snddx"
],
[
"put-down edqwj"
],
[
"unstack snddx vxxfw"
],
[
"put-down snddx"
],
[
"unstack vxxfw gdzbh"
],
[
"stack vxxfw snddx"
],
[
"unstack gdzbh vzdln"
],
[
"stack gdzbh vxxfw"
],
[
"pick-up vzdln"
],
[
"stack vzdln gdzbh"
]
] | [
"(on snddx vxxfw) (on-table vzdln) (holding edqwj) (on gdzbh vzdln) (on vxxfw gdzbh) (clear snddx)",
"(on snddx vxxfw) (arm-empty) (on-table vzdln) (clear edqwj) (on gdzbh vzdln) (on vxxfw gdzbh) (on-table edqwj) (clear snddx)",
"(on-table vzdln) (clear edqwj) (on vxxfw gdzbh) (on-table edqwj) (on gdzbh vzdln) (holding snddx) (clear vxxfw)",
"(arm-empty) (on-table vzdln) (clear edqwj) (on gdzbh vzdln) (clear vxxfw) (on vxxfw gdzbh) (on-table edqwj) (clear snddx) (on-table snddx)",
"(on-table vzdln) (clear edqwj) (holding vxxfw) (on-table edqwj) (clear snddx) (on gdzbh vzdln) (clear gdzbh) (on-table snddx)",
"(arm-empty) (on-table vzdln) (clear edqwj) (on vxxfw snddx) (on-table edqwj) (on gdzbh vzdln) (clear gdzbh) (on-table snddx) (clear vxxfw)",
"(holding gdzbh) (clear vzdln) (on-table vzdln) (clear edqwj) (on vxxfw snddx) (on-table edqwj) (on-table snddx) (clear vxxfw)",
"(on gdzbh vxxfw) (clear vzdln) (arm-empty) (on-table vzdln) (clear edqwj) (on vxxfw snddx) (on-table edqwj) (clear gdzbh) (on-table snddx)",
"(on gdzbh vxxfw) (clear edqwj) (on vxxfw snddx) (on-table edqwj) (holding vzdln) (clear gdzbh) (on-table snddx)",
"(on gdzbh vxxfw) (arm-empty) (clear edqwj) (on vxxfw snddx) (on vzdln gdzbh) (clear vzdln) (on-table edqwj) (on-table snddx)"
] | file_59695 |
GOAL: (on okmng hikyf) (on itvku ztvqf) (arm-empty) (on-table ibdtq) (on hikyf ibdtq) (on-table ztvqf) (clear itvku) (clear okmng) | GOAL: (on okmng hikyf) (on itvku ztvqf) (arm-empty) (on-table ibdtq) (on hikyf ibdtq) (on-table ztvqf) (clear itvku) (clear okmng)
STATE: (clear ibdtq) (on okmng itvku) (arm-empty) (on-table ibdtq) (clear ztvqf) (on hikyf okmng) (on-table ztvqf) (on-table itvku) (clear hikyf) | [
[
"unstack hikyf okmng"
],
[
"stack hikyf ibdtq"
],
[
"unstack okmng itvku"
],
[
"stack okmng hikyf"
],
[
"pick-up itvku"
],
[
"stack itvku ztvqf"
]
] | [
"(clear ibdtq) (on okmng itvku) (on-table ibdtq) (clear ztvqf) (holding hikyf) (on-table ztvqf) (clear okmng) (on-table itvku)",
"(on okmng itvku) (arm-empty) (on-table ibdtq) (on hikyf ibdtq) (clear ztvqf) (on-table ztvqf) (clear okmng) (on-table itvku) (clear hikyf)",
"(holding okmng) (on-table ibdtq) (on hikyf ibdtq) (clear ztvqf) (on-table ztvqf) (clear itvku) (on-table itvku) (clear hikyf)",
"(on okmng hikyf) (arm-empty) (on-table ibdtq) (on hikyf ibdtq) (clear ztvqf) (on-table ztvqf) (clear itvku) (clear okmng) (on-table itvku)",
"(on okmng hikyf) (on-table ibdtq) (on hikyf ibdtq) (clear ztvqf) (on-table ztvqf) (holding itvku) (clear okmng)",
"(on okmng hikyf) (on itvku ztvqf) (arm-empty) (on-table ibdtq) (on hikyf ibdtq) (on-table ztvqf) (clear itvku) (clear okmng)"
] | file_14510 |
GOAL: (on thbtn dirtx) (on uivso thbtn) (on-table dirtx) (clear gutzj) (on-table gutzj) (holding gqquo) (clear uivso) | GOAL: (on thbtn dirtx) (on uivso thbtn) (on-table dirtx) (clear gutzj) (on-table gutzj) (holding gqquo) (clear uivso)
STATE: (holding dirtx) (on-table gutzj) (on gqquo gutzj) (clear thbtn) (on uivso gqquo) (clear uivso) (on-table thbtn) | [
[
"put-down dirtx"
],
[
"pick-up thbtn"
],
[
"stack thbtn dirtx"
],
[
"unstack uivso gqquo"
],
[
"stack uivso thbtn"
],
[
"unstack gqquo gutzj"
]
] | [
"(arm-empty) (on-table dirtx) (on gqquo gutzj) (on uivso gqquo) (clear dirtx) (on-table gutzj) (clear thbtn) (clear uivso) (on-table thbtn)",
"(on-table dirtx) (on-table gutzj) (on gqquo gutzj) (on uivso gqquo) (clear uivso) (holding thbtn) (clear dirtx)",
"(on thbtn dirtx) (arm-empty) (on-table dirtx) (on-table gutzj) (on gqquo gutzj) (clear thbtn) (on uivso gqquo) (clear uivso)",
"(holding uivso) (on thbtn dirtx) (clear gqquo) (on-table dirtx) (on-table gutzj) (on gqquo gutzj) (clear thbtn)",
"(on thbtn dirtx) (clear gqquo) (on uivso thbtn) (arm-empty) (on-table dirtx) (on-table gutzj) (on gqquo gutzj) (clear uivso)",
"(on thbtn dirtx) (on uivso thbtn) (on-table dirtx) (clear gutzj) (on-table gutzj) (holding gqquo) (clear uivso)"
] | file_6054 |
GOAL: (clear xmtev) (arm-empty) (on-table mlqtg) (on-table wwbmv) (on xmtev wwbmv) (clear opult) (clear mlqtg) (on-table opult) | GOAL: (clear xmtev) (arm-empty) (on-table mlqtg) (on-table wwbmv) (on xmtev wwbmv) (clear opult) (clear mlqtg) (on-table opult)
STATE: (clear xmtev) (on wwbmv mlqtg) (on mlqtg opult) (on-table xmtev) (arm-empty) (clear wwbmv) (on-table opult) | [
[
"unstack wwbmv mlqtg"
],
[
"stack wwbmv xmtev"
],
[
"unstack mlqtg opult"
],
[
"put-down mlqtg"
],
[
"unstack wwbmv xmtev"
],
[
"put-down wwbmv"
],
[
"pick-up xmtev"
],
[
"stack xmtev wwbmv"
]
] | [
"(on mlqtg opult) (on-table xmtev) (holding wwbmv) (clear xmtev) (clear mlqtg) (on-table opult)",
"(on mlqtg opult) (arm-empty) (on-table xmtev) (on wwbmv xmtev) (clear wwbmv) (clear mlqtg) (on-table opult)",
"(on-table xmtev) (clear wwbmv) (holding mlqtg) (on wwbmv xmtev) (clear opult) (on-table opult)",
"(arm-empty) (on-table xmtev) (clear wwbmv) (on-table mlqtg) (on wwbmv xmtev) (clear opult) (clear mlqtg) (on-table opult)",
"(clear xmtev) (on-table xmtev) (on-table mlqtg) (holding wwbmv) (clear opult) (clear mlqtg) (on-table opult)",
"(arm-empty) (on-table xmtev) (clear wwbmv) (clear xmtev) (on-table mlqtg) (on-table wwbmv) (clear opult) (clear mlqtg) (on-table opult)",
"(on-table mlqtg) (clear wwbmv) (on-table wwbmv) (holding xmtev) (clear opult) (clear mlqtg) (on-table opult)",
"(clear xmtev) (arm-empty) (on-table mlqtg) (on-table wwbmv) (on xmtev wwbmv) (clear opult) (clear mlqtg) (on-table opult)"
] | file_185948 |
GOAL: (arm-empty) (on ckmqd ctkfa) (on ctkfa zshkj) (on sjrln ckmqd) (on chghf sjrln) (clear chghf) (on-table zshkj) | GOAL: (arm-empty) (on ckmqd ctkfa) (on ctkfa zshkj) (on sjrln ckmqd) (on chghf sjrln) (clear chghf) (on-table zshkj)
STATE: (on zshkj ctkfa) (on-table ctkfa) (on-table chghf) (clear ckmqd) (on ckmqd zshkj) (holding sjrln) (clear chghf) | [
[
"stack sjrln chghf"
],
[
"unstack ckmqd zshkj"
],
[
"stack ckmqd sjrln"
],
[
"unstack zshkj ctkfa"
],
[
"put-down zshkj"
],
[
"pick-up ctkfa"
],
[
"stack ctkfa zshkj"
],
[
"unstack ckmqd sjrln"
],
[
"stack ckmqd ctkfa"
],
[
"unstack sjrln chghf"
],
[
"stack sjrln ckmqd"
],
[
"pick-up chghf"
],
[
"stack chghf sjrln"
]
] | [
"(on zshkj ctkfa) (clear sjrln) (arm-empty) (on-table ctkfa) (on-table chghf) (clear ckmqd) (on ckmqd zshkj) (on sjrln chghf)",
"(on zshkj ctkfa) (clear sjrln) (on-table ctkfa) (on-table chghf) (holding ckmqd) (on sjrln chghf) (clear zshkj)",
"(on zshkj ctkfa) (arm-empty) (on-table ctkfa) (on-table chghf) (clear ckmqd) (on ckmqd sjrln) (on sjrln chghf) (clear zshkj)",
"(on-table ctkfa) (on-table chghf) (clear ckmqd) (on ckmqd sjrln) (on sjrln chghf) (holding zshkj) (clear ctkfa)",
"(arm-empty) (on-table ctkfa) (clear ckmqd) (on sjrln chghf) (clear ctkfa) (on-table chghf) (on ckmqd sjrln) (clear zshkj) (on-table zshkj)",
"(on-table chghf) (clear ckmqd) (holding ctkfa) (on ckmqd sjrln) (on sjrln chghf) (clear zshkj) (on-table zshkj)",
"(arm-empty) (on-table chghf) (clear ckmqd) (on ctkfa zshkj) (on ckmqd sjrln) (on sjrln chghf) (on-table zshkj) (clear ctkfa)",
"(clear sjrln) (on-table chghf) (holding ckmqd) (on ctkfa zshkj) (on sjrln chghf) (on-table zshkj) (clear ctkfa)",
"(clear sjrln) (arm-empty) (on ckmqd ctkfa) (on-table chghf) (clear ckmqd) (on ctkfa zshkj) (on sjrln chghf) (on-table zshkj)",
"(on ckmqd ctkfa) (on-table chghf) (clear ckmqd) (on ctkfa zshkj) (holding sjrln) (clear chghf) (on-table zshkj)",
"(arm-empty) (on ckmqd ctkfa) (on ctkfa zshkj) (on sjrln ckmqd) (clear sjrln) (on-table chghf) (clear chghf) (on-table zshkj)",
"(holding chghf) (clear sjrln) (on ckmqd ctkfa) (on ctkfa zshkj) (on sjrln ckmqd) (on-table zshkj)",
"(arm-empty) (on ckmqd ctkfa) (on ctkfa zshkj) (on sjrln ckmqd) (on chghf sjrln) (clear chghf) (on-table zshkj)"
] | file_217606 |
GOAL: (on lybvm pnalz) (arm-empty) (on-table lwori) (clear lrktb) (on iyycm lybvm) (on lrktb lwori) (on-table pnalz) (clear iyycm) | GOAL: (on lybvm pnalz) (arm-empty) (on-table lwori) (clear lrktb) (on iyycm lybvm) (on lrktb lwori) (on-table pnalz) (clear iyycm)
STATE: (on lybvm iyycm) (arm-empty) (on iyycm lrktb) (on-table lwori) (on lrktb lwori) (clear pnalz) (clear lybvm) (on-table pnalz) | [
[
"unstack lybvm iyycm"
],
[
"stack lybvm pnalz"
],
[
"unstack iyycm lrktb"
],
[
"stack iyycm lybvm"
]
] | [
"(holding lybvm) (on iyycm lrktb) (on-table lwori) (on lrktb lwori) (clear pnalz) (on-table pnalz) (clear iyycm)",
"(on lybvm pnalz) (on iyycm lrktb) (on-table lwori) (arm-empty) (on lrktb lwori) (clear lybvm) (on-table pnalz) (clear iyycm)",
"(on lybvm pnalz) (on-table lwori) (clear lrktb) (holding iyycm) (on lrktb lwori) (clear lybvm) (on-table pnalz)",
"(on lybvm pnalz) (arm-empty) (on-table lwori) (clear lrktb) (on iyycm lybvm) (on lrktb lwori) (on-table pnalz) (clear iyycm)"
] | file_136215 |
GOAL: (on ddudp hmeqh) (arm-empty) (on hmeqh kiygy) (on-table hvwsx) (on dflbz hvwsx) (clear ddudp) (on kiygy dflbz) | GOAL: (on ddudp hmeqh) (arm-empty) (on hmeqh kiygy) (on-table hvwsx) (on dflbz hvwsx) (clear ddudp) (on kiygy dflbz)
STATE: (arm-empty) (on-table hmeqh) (on-table kiygy) (on ddudp dflbz) (on-table hvwsx) (on dflbz hvwsx) (clear ddudp) (clear kiygy) (clear hmeqh) | [
[
"pick-up kiygy"
],
[
"stack kiygy hmeqh"
],
[
"unstack ddudp dflbz"
],
[
"put-down ddudp"
],
[
"unstack kiygy hmeqh"
],
[
"stack kiygy dflbz"
],
[
"pick-up hmeqh"
],
[
"stack hmeqh kiygy"
],
[
"pick-up ddudp"
],
[
"stack ddudp hmeqh"
]
] | [
"(holding kiygy) (on-table hmeqh) (on ddudp dflbz) (on-table hvwsx) (on dflbz hvwsx) (clear ddudp) (clear hmeqh)",
"(on kiygy hmeqh) (arm-empty) (on-table hmeqh) (on ddudp dflbz) (on-table hvwsx) (on dflbz hvwsx) (clear ddudp) (clear kiygy)",
"(on kiygy hmeqh) (clear dflbz) (on-table hmeqh) (on-table hvwsx) (on dflbz hvwsx) (holding ddudp) (clear kiygy)",
"(on kiygy hmeqh) (arm-empty) (on-table hmeqh) (on dflbz hvwsx) (clear dflbz) (on-table hvwsx) (clear ddudp) (clear kiygy) (on-table ddudp)",
"(holding kiygy) (clear dflbz) (on-table hmeqh) (on-table hvwsx) (on dflbz hvwsx) (clear ddudp) (on-table ddudp) (clear hmeqh)",
"(arm-empty) (on-table hmeqh) (on-table hvwsx) (on dflbz hvwsx) (clear ddudp) (on kiygy dflbz) (clear kiygy) (on-table ddudp) (clear hmeqh)",
"(holding hmeqh) (on-table hvwsx) (on dflbz hvwsx) (clear ddudp) (on kiygy dflbz) (clear kiygy) (on-table ddudp)",
"(arm-empty) (on hmeqh kiygy) (on-table hvwsx) (on dflbz hvwsx) (clear ddudp) (on kiygy dflbz) (on-table ddudp) (clear hmeqh)",
"(on hmeqh kiygy) (on-table hvwsx) (on dflbz hvwsx) (on kiygy dflbz) (holding ddudp) (clear hmeqh)",
"(on ddudp hmeqh) (arm-empty) (on hmeqh kiygy) (on-table hvwsx) (on dflbz hvwsx) (clear ddudp) (on kiygy dflbz)"
] | file_112977 |
GOAL: (on yywvk fcobr) (on fcobr dptvr) (on olubb yywvk) (on-table dptvr) (holding qbcyh) (clear olubb) | GOAL: (on yywvk fcobr) (on fcobr dptvr) (on olubb yywvk) (on-table dptvr) (holding qbcyh) (clear olubb)
STATE: (clear qbcyh) (on yywvk fcobr) (arm-empty) (on fcobr dptvr) (on-table olubb) (on-table dptvr) (on qbcyh yywvk) (clear olubb) | [
[
"unstack qbcyh yywvk"
],
[
"put-down qbcyh"
],
[
"pick-up olubb"
],
[
"stack olubb yywvk"
],
[
"pick-up qbcyh"
]
] | [
"(on yywvk fcobr) (on fcobr dptvr) (on-table olubb) (on-table dptvr) (holding qbcyh) (clear yywvk) (clear olubb)",
"(on yywvk fcobr) (arm-empty) (on fcobr dptvr) (on-table qbcyh) (clear qbcyh) (on-table olubb) (on-table dptvr) (clear yywvk) (clear olubb)",
"(holding olubb) (on yywvk fcobr) (on fcobr dptvr) (on-table qbcyh) (clear qbcyh) (on-table dptvr) (clear yywvk)",
"(on yywvk fcobr) (clear qbcyh) (on fcobr dptvr) (on-table qbcyh) (on olubb yywvk) (arm-empty) (on-table dptvr) (clear olubb)",
"(on yywvk fcobr) (on fcobr dptvr) (on olubb yywvk) (on-table dptvr) (holding qbcyh) (clear olubb)"
] | file_198683 |
GOAL: (arm-empty) (clear yfvay) (on mnwqz tfnuk) (on kpgfh mnwqz) (clear kpgfh) (on-table qceko) (on-table yfvay) (clear qceko) (on-table tfnuk) | GOAL: (arm-empty) (clear yfvay) (on mnwqz tfnuk) (on kpgfh mnwqz) (clear kpgfh) (on-table qceko) (on-table yfvay) (clear qceko) (on-table tfnuk)
STATE: (clear kpgfh) (arm-empty) (on-table kpgfh) (on yfvay mnwqz) (on-table qceko) (clear yfvay) (on mnwqz tfnuk) (clear qceko) (on-table tfnuk) | [
[
"unstack yfvay mnwqz"
],
[
"stack yfvay qceko"
],
[
"pick-up kpgfh"
],
[
"stack kpgfh mnwqz"
],
[
"unstack yfvay qceko"
],
[
"put-down yfvay"
]
] | [
"(clear kpgfh) (on-table kpgfh) (on-table qceko) (holding yfvay) (on mnwqz tfnuk) (clear qceko) (on-table tfnuk) (clear mnwqz)",
"(clear kpgfh) (on yfvay qceko) (arm-empty) (on-table kpgfh) (on-table qceko) (clear yfvay) (on mnwqz tfnuk) (on-table tfnuk) (clear mnwqz)",
"(on yfvay qceko) (on-table qceko) (clear yfvay) (on mnwqz tfnuk) (holding kpgfh) (on-table tfnuk) (clear mnwqz)",
"(clear kpgfh) (on yfvay qceko) (arm-empty) (on-table qceko) (clear yfvay) (on mnwqz tfnuk) (on kpgfh mnwqz) (on-table tfnuk)",
"(clear kpgfh) (on-table qceko) (holding yfvay) (on mnwqz tfnuk) (on kpgfh mnwqz) (clear qceko) (on-table tfnuk)",
"(arm-empty) (clear yfvay) (on mnwqz tfnuk) (on kpgfh mnwqz) (clear kpgfh) (on-table qceko) (on-table yfvay) (clear qceko) (on-table tfnuk)"
] | file_14936 |
GOAL: (clear utzup) (on-table qyyiu) (on nihzk qyyiu) (holding hxeai) (on-table rcafe) (on utzup rcafe) (clear nihzk) | GOAL: (clear utzup) (on-table qyyiu) (on nihzk qyyiu) (holding hxeai) (on-table rcafe) (on utzup rcafe) (clear nihzk)
STATE: (arm-empty) (on-table utzup) (on rcafe hxeai) (on hxeai utzup) (on qyyiu rcafe) (on nihzk qyyiu) (clear nihzk) | [
[
"unstack nihzk qyyiu"
],
[
"put-down nihzk"
],
[
"unstack qyyiu rcafe"
],
[
"stack qyyiu nihzk"
],
[
"unstack rcafe hxeai"
],
[
"put-down rcafe"
],
[
"unstack qyyiu nihzk"
],
[
"put-down qyyiu"
],
[
"pick-up nihzk"
],
[
"stack nihzk rcafe"
],
[
"unstack hxeai utzup"
],
[
"put-down hxeai"
],
[
"unstack nihzk rcafe"
],
[
"stack nihzk qyyiu"
],
[
"pick-up utzup"
],
[
"stack utzup rcafe"
],
[
"pick-up hxeai"
]
] | [
"(on-table utzup) (on rcafe hxeai) (on hxeai utzup) (on qyyiu rcafe) (holding nihzk) (clear qyyiu)",
"(arm-empty) (on-table utzup) (on rcafe hxeai) (on hxeai utzup) (on qyyiu rcafe) (clear nihzk) (clear qyyiu) (on-table nihzk)",
"(holding qyyiu) (on-table utzup) (on rcafe hxeai) (on hxeai utzup) (clear rcafe) (clear nihzk) (on-table nihzk)",
"(on qyyiu nihzk) (arm-empty) (on-table utzup) (on rcafe hxeai) (on hxeai utzup) (clear rcafe) (clear qyyiu) (on-table nihzk)",
"(on qyyiu nihzk) (on-table utzup) (holding rcafe) (on hxeai utzup) (clear qyyiu) (on-table nihzk) (clear hxeai)",
"(on qyyiu nihzk) (arm-empty) (on-table utzup) (on hxeai utzup) (clear rcafe) (clear hxeai) (on-table rcafe) (clear qyyiu) (on-table nihzk)",
"(holding qyyiu) (on-table utzup) (on hxeai utzup) (clear rcafe) (on-table rcafe) (clear nihzk) (on-table nihzk) (clear hxeai)",
"(arm-empty) (on-table utzup) (on-table qyyiu) (on hxeai utzup) (clear rcafe) (on-table rcafe) (clear nihzk) (clear qyyiu) (on-table nihzk) (clear hxeai)",
"(on-table utzup) (on-table qyyiu) (on hxeai utzup) (clear rcafe) (on-table rcafe) (holding nihzk) (clear qyyiu) (clear hxeai)",
"(on nihzk rcafe) (arm-empty) (on-table utzup) (on-table qyyiu) (on hxeai utzup) (on-table rcafe) (clear nihzk) (clear qyyiu) (clear hxeai)",
"(on nihzk rcafe) (clear utzup) (on-table utzup) (on-table qyyiu) (holding hxeai) (on-table rcafe) (clear nihzk) (clear qyyiu)",
"(on nihzk rcafe) (clear utzup) (arm-empty) (on-table utzup) (on-table hxeai) (on-table qyyiu) (on-table rcafe) (clear nihzk) (clear qyyiu) (clear hxeai)",
"(clear utzup) (on-table utzup) (on-table hxeai) (on-table qyyiu) (clear rcafe) (on-table rcafe) (holding nihzk) (clear qyyiu) (clear hxeai)",
"(clear utzup) (arm-empty) (on-table utzup) (on-table hxeai) (on-table qyyiu) (clear rcafe) (on-table rcafe) (on nihzk qyyiu) (clear nihzk) (clear hxeai)",
"(on-table hxeai) (on-table qyyiu) (clear rcafe) (on-table rcafe) (holding utzup) (on nihzk qyyiu) (clear nihzk) (clear hxeai)",
"(clear utzup) (arm-empty) (on-table hxeai) (on-table qyyiu) (on utzup rcafe) (on-table rcafe) (on nihzk qyyiu) (clear nihzk) (clear hxeai)",
"(clear utzup) (on-table qyyiu) (on nihzk qyyiu) (holding hxeai) (on-table rcafe) (on utzup rcafe) (clear nihzk)"
] | file_180656 |
GOAL: (on bhdcg seglf) (clear jcayd) (on-table kqfde) (holding zpgns) (on-table seglf) (on jcayd kqfde) (clear bhdcg) | GOAL: (on bhdcg seglf) (clear jcayd) (on-table kqfde) (holding zpgns) (on-table seglf) (on jcayd kqfde) (clear bhdcg)
STATE: (on bhdcg seglf) (clear jcayd) (on kqfde bhdcg) (arm-empty) (on-table zpgns) (on-table seglf) (on jcayd kqfde) (clear zpgns) | [
[
"unstack jcayd kqfde"
],
[
"put-down jcayd"
],
[
"unstack kqfde bhdcg"
],
[
"put-down kqfde"
],
[
"pick-up zpgns"
],
[
"stack zpgns bhdcg"
],
[
"pick-up jcayd"
],
[
"stack jcayd kqfde"
],
[
"unstack zpgns bhdcg"
]
] | [
"(on bhdcg seglf) (on kqfde bhdcg) (on-table zpgns) (on-table seglf) (holding jcayd) (clear kqfde) (clear zpgns)",
"(on kqfde bhdcg) (arm-empty) (on-table jcayd) (on-table zpgns) (clear zpgns) (on bhdcg seglf) (clear jcayd) (on-table seglf) (clear kqfde)",
"(holding kqfde) (on bhdcg seglf) (clear jcayd) (on-table jcayd) (on-table zpgns) (on-table seglf) (clear bhdcg) (clear zpgns)",
"(on bhdcg seglf) (clear jcayd) (arm-empty) (on-table jcayd) (on-table zpgns) (on-table kqfde) (on-table seglf) (clear bhdcg) (clear kqfde) (clear zpgns)",
"(on bhdcg seglf) (clear jcayd) (on-table jcayd) (on-table kqfde) (holding zpgns) (on-table seglf) (clear bhdcg) (clear kqfde)",
"(on bhdcg seglf) (clear jcayd) (arm-empty) (on-table jcayd) (on-table kqfde) (on zpgns bhdcg) (on-table seglf) (clear kqfde) (clear zpgns)",
"(on bhdcg seglf) (on-table kqfde) (on zpgns bhdcg) (on-table seglf) (holding jcayd) (clear kqfde) (clear zpgns)",
"(on bhdcg seglf) (clear jcayd) (arm-empty) (on-table kqfde) (on zpgns bhdcg) (on-table seglf) (on jcayd kqfde) (clear zpgns)",
"(on bhdcg seglf) (clear jcayd) (on-table kqfde) (holding zpgns) (on-table seglf) (on jcayd kqfde) (clear bhdcg)"
] | file_131585 |
GOAL: (on zkygx kkmyh) (clear zqgtw) (arm-empty) (on kkmyh apsqc) (on-table apsqc) (on zqgtw zkygx) | GOAL: (on zkygx kkmyh) (clear zqgtw) (arm-empty) (on kkmyh apsqc) (on-table apsqc) (on zqgtw zkygx)
STATE: (on apsqc kkmyh) (arm-empty) (clear zkygx) (on zkygx zqgtw) (on zqgtw apsqc) (on-table kkmyh) | [
[
"unstack zkygx zqgtw"
],
[
"put-down zkygx"
],
[
"unstack zqgtw apsqc"
],
[
"put-down zqgtw"
],
[
"pick-up zkygx"
],
[
"stack zkygx zqgtw"
],
[
"unstack apsqc kkmyh"
],
[
"put-down apsqc"
],
[
"pick-up kkmyh"
],
[
"stack kkmyh apsqc"
],
[
"unstack zkygx zqgtw"
],
[
"stack zkygx kkmyh"
],
[
"pick-up zqgtw"
],
[
"stack zqgtw zkygx"
]
] | [
"(clear zqgtw) (on apsqc kkmyh) (holding zkygx) (on zqgtw apsqc) (on-table kkmyh)",
"(clear zqgtw) (on apsqc kkmyh) (on-table zkygx) (arm-empty) (on zqgtw apsqc) (clear zkygx) (on-table kkmyh)",
"(on apsqc kkmyh) (clear zkygx) (on-table zkygx) (holding zqgtw) (clear apsqc) (on-table kkmyh)",
"(on-table zkygx) (on apsqc kkmyh) (clear zqgtw) (on-table zqgtw) (arm-empty) (clear zkygx) (clear apsqc) (on-table kkmyh)",
"(clear zqgtw) (on apsqc kkmyh) (on-table zqgtw) (holding zkygx) (clear apsqc) (on-table kkmyh)",
"(on apsqc kkmyh) (arm-empty) (on-table zqgtw) (on zkygx zqgtw) (clear zkygx) (clear apsqc) (on-table kkmyh)",
"(on-table zqgtw) (clear zkygx) (holding apsqc) (on zkygx zqgtw) (clear kkmyh) (on-table kkmyh)",
"(arm-empty) (on-table zqgtw) (clear zkygx) (on-table apsqc) (on zkygx zqgtw) (clear kkmyh) (clear apsqc) (on-table kkmyh)",
"(on-table zqgtw) (on-table apsqc) (clear zkygx) (on zkygx zqgtw) (holding kkmyh) (clear apsqc)",
"(arm-empty) (on-table zqgtw) (on-table apsqc) (clear zkygx) (on kkmyh apsqc) (on zkygx zqgtw) (clear kkmyh)",
"(on-table zqgtw) (holding zkygx) (on kkmyh apsqc) (clear zqgtw) (on-table apsqc) (clear kkmyh)",
"(clear zqgtw) (arm-empty) (on-table zqgtw) (on-table apsqc) (clear zkygx) (on zkygx kkmyh) (on kkmyh apsqc)",
"(on zkygx kkmyh) (on kkmyh apsqc) (holding zqgtw) (on-table apsqc) (clear zkygx)",
"(on zkygx kkmyh) (clear zqgtw) (arm-empty) (on kkmyh apsqc) (on-table apsqc) (on zqgtw zkygx)"
] | file_224530 |
GOAL: (on ywwrd acvlz) (on acvlz gpgmw) (arm-empty) (on-table arldw) (clear ywwrd) (on gpgmw arldw) | GOAL: (on ywwrd acvlz) (on acvlz gpgmw) (arm-empty) (on-table arldw) (clear ywwrd) (on gpgmw arldw)
STATE: (on-table arldw) (holding acvlz) (clear ywwrd) (on gpgmw arldw) (clear gpgmw) (on-table ywwrd) | [
[
"stack acvlz gpgmw"
],
[
"pick-up ywwrd"
],
[
"stack ywwrd acvlz"
]
] | [
"(on acvlz gpgmw) (arm-empty) (on-table arldw) (clear acvlz) (clear ywwrd) (on gpgmw arldw) (on-table ywwrd)",
"(on acvlz gpgmw) (on-table arldw) (clear acvlz) (on gpgmw arldw) (holding ywwrd)",
"(on ywwrd acvlz) (on acvlz gpgmw) (arm-empty) (on-table arldw) (clear ywwrd) (on gpgmw arldw)"
] | file_129600 |
GOAL: (on lufvc bctmf) (arm-empty) (on-table pcrjy) (on-table bctmf) (clear zncbt) (on-table crixv) (on zncbt pcrjy) (clear lufvc) (clear crixv) | GOAL: (on lufvc bctmf) (arm-empty) (on-table pcrjy) (on-table bctmf) (clear zncbt) (on-table crixv) (on zncbt pcrjy) (clear lufvc) (clear crixv)
STATE: (clear pcrjy) (on lufvc bctmf) (arm-empty) (on-table pcrjy) (on-table bctmf) (on-table crixv) (clear zncbt) (on zncbt lufvc) (clear crixv) | [
[
"pick-up crixv"
],
[
"stack crixv pcrjy"
],
[
"unstack zncbt lufvc"
],
[
"put-down zncbt"
],
[
"unstack crixv pcrjy"
],
[
"stack crixv lufvc"
],
[
"pick-up zncbt"
],
[
"stack zncbt pcrjy"
],
[
"unstack crixv lufvc"
],
[
"put-down crixv"
]
] | [
"(holding crixv) (clear pcrjy) (on lufvc bctmf) (on-table pcrjy) (on-table bctmf) (clear zncbt) (on zncbt lufvc)",
"(on lufvc bctmf) (arm-empty) (on-table pcrjy) (on-table bctmf) (clear zncbt) (on zncbt lufvc) (on crixv pcrjy) (clear crixv)",
"(on lufvc bctmf) (on-table pcrjy) (on-table bctmf) (holding zncbt) (clear lufvc) (on crixv pcrjy) (clear crixv)",
"(on lufvc bctmf) (arm-empty) (on-table pcrjy) (on-table bctmf) (clear zncbt) (on crixv pcrjy) (on-table zncbt) (clear lufvc) (clear crixv)",
"(holding crixv) (on lufvc bctmf) (clear pcrjy) (on-table pcrjy) (on-table bctmf) (clear zncbt) (on-table zncbt) (clear lufvc)",
"(on lufvc bctmf) (clear pcrjy) (on crixv lufvc) (on-table pcrjy) (on-table bctmf) (arm-empty) (clear zncbt) (on-table zncbt) (clear crixv)",
"(on lufvc bctmf) (clear pcrjy) (on crixv lufvc) (on-table pcrjy) (on-table bctmf) (holding zncbt) (clear crixv)",
"(on lufvc bctmf) (arm-empty) (on crixv lufvc) (on-table pcrjy) (on-table bctmf) (on zncbt pcrjy) (clear zncbt) (clear crixv)",
"(holding crixv) (on lufvc bctmf) (on-table pcrjy) (on-table bctmf) (clear zncbt) (on zncbt pcrjy) (clear lufvc)",
"(on lufvc bctmf) (arm-empty) (on-table pcrjy) (on-table bctmf) (clear zncbt) (on-table crixv) (on zncbt pcrjy) (clear lufvc) (clear crixv)"
] | file_92078 |
GOAL: (clear cxekl) (arm-empty) (on wgexc leame) (on-table ttsnl) (on fxvhg ttsnl) (on leame fxvhg) (on cxekl wgexc) | GOAL: (clear cxekl) (arm-empty) (on wgexc leame) (on-table ttsnl) (on fxvhg ttsnl) (on leame fxvhg) (on cxekl wgexc)
STATE: (clear cxekl) (arm-empty) (on-table wgexc) (on-table ttsnl) (on fxvhg ttsnl) (on leame fxvhg) (on cxekl leame) (clear wgexc) | [
[
"unstack cxekl leame"
],
[
"put-down cxekl"
],
[
"pick-up wgexc"
],
[
"stack wgexc leame"
],
[
"pick-up cxekl"
],
[
"stack cxekl wgexc"
]
] | [
"(on-table wgexc) (holding cxekl) (on-table ttsnl) (on fxvhg ttsnl) (on leame fxvhg) (clear leame) (clear wgexc)",
"(arm-empty) (on-table cxekl) (on-table wgexc) (on leame fxvhg) (clear wgexc) (clear cxekl) (on-table ttsnl) (on fxvhg ttsnl) (clear leame)",
"(clear cxekl) (on-table cxekl) (holding wgexc) (on-table ttsnl) (on fxvhg ttsnl) (on leame fxvhg) (clear leame)",
"(clear cxekl) (arm-empty) (on-table cxekl) (on wgexc leame) (on-table ttsnl) (on fxvhg ttsnl) (on leame fxvhg) (clear wgexc)",
"(holding cxekl) (on wgexc leame) (on-table ttsnl) (on fxvhg ttsnl) (on leame fxvhg) (clear wgexc)",
"(clear cxekl) (arm-empty) (on wgexc leame) (on-table ttsnl) (on fxvhg ttsnl) (on leame fxvhg) (on cxekl wgexc)"
] | file_44447 |
GOAL: (arm-empty) (on-table petrd) (on-table vjfnq) (on-table mdjap) (on otuch petrd) (clear otuch) (on iyxtn mdjap) (clear iyxtn) (clear vjfnq) | GOAL: (arm-empty) (on-table petrd) (on-table vjfnq) (on-table mdjap) (on otuch petrd) (clear otuch) (on iyxtn mdjap) (clear iyxtn) (clear vjfnq)
STATE: (on-table vjfnq) (on-table mdjap) (clear otuch) (on otuch petrd) (on petrd vjfnq) (holding iyxtn) (clear mdjap) | [
[
"stack iyxtn mdjap"
],
[
"unstack otuch petrd"
],
[
"put-down otuch"
],
[
"unstack petrd vjfnq"
],
[
"put-down petrd"
],
[
"pick-up otuch"
],
[
"stack otuch petrd"
]
] | [
"(arm-empty) (on-table vjfnq) (on-table mdjap) (clear otuch) (on iyxtn mdjap) (on otuch petrd) (on petrd vjfnq) (clear iyxtn)",
"(clear petrd) (on-table vjfnq) (on-table mdjap) (holding otuch) (on iyxtn mdjap) (on petrd vjfnq) (clear iyxtn)",
"(arm-empty) (on-table vjfnq) (clear otuch) (on iyxtn mdjap) (on petrd vjfnq) (clear petrd) (on-table mdjap) (on-table otuch) (clear iyxtn)",
"(on-table vjfnq) (on-table mdjap) (clear otuch) (on-table otuch) (holding petrd) (on iyxtn mdjap) (clear iyxtn) (clear vjfnq)",
"(clear petrd) (arm-empty) (on-table petrd) (on-table vjfnq) (on-table mdjap) (clear otuch) (on-table otuch) (on iyxtn mdjap) (clear iyxtn) (clear vjfnq)",
"(clear petrd) (on-table petrd) (on-table vjfnq) (on-table mdjap) (holding otuch) (on iyxtn mdjap) (clear iyxtn) (clear vjfnq)",
"(arm-empty) (on-table petrd) (on-table vjfnq) (on-table mdjap) (on otuch petrd) (clear otuch) (on iyxtn mdjap) (clear iyxtn) (clear vjfnq)"
] | file_209094 |
GOAL: (arm-empty) (on-table ptehh) (on-table tonyv) (on-table hhbey) (on ipgpa ptehh) (clear fzezl) (on-table fzezl) (clear ipgpa) (clear hhbey) (clear tonyv) | GOAL: (arm-empty) (on-table ptehh) (on-table tonyv) (on-table hhbey) (on ipgpa ptehh) (clear fzezl) (on-table fzezl) (clear ipgpa) (clear hhbey) (clear tonyv)
STATE: (holding hhbey) (on-table ptehh) (on-table tonyv) (on ipgpa ptehh) (clear fzezl) (on-table fzezl) (clear ipgpa) (clear tonyv) | [
[
"put-down hhbey"
]
] | [
"(arm-empty) (on-table ptehh) (on-table tonyv) (on-table hhbey) (on ipgpa ptehh) (clear fzezl) (on-table fzezl) (clear ipgpa) (clear hhbey) (clear tonyv)"
] | file_191407 |
GOAL: (on ggsqx ovfji) (on cvwko ggsqx) (arm-empty) (on-table jviha) (on-table eqfhx) (on ovfji jviha) (clear cvwko) (clear eqfhx) | GOAL: (on ggsqx ovfji) (on cvwko ggsqx) (arm-empty) (on-table jviha) (on-table eqfhx) (on ovfji jviha) (clear cvwko) (clear eqfhx)
STATE: (on ggsqx ovfji) (on-table jviha) (on-table cvwko) (holding eqfhx) (on ovfji jviha) (clear ggsqx) (clear cvwko) | [
[
"put-down eqfhx"
],
[
"pick-up cvwko"
],
[
"stack cvwko ggsqx"
]
] | [
"(arm-empty) (on-table jviha) (on-table eqfhx) (clear eqfhx) (on ggsqx ovfji) (on-table cvwko) (on ovfji jviha) (clear ggsqx) (clear cvwko)",
"(holding cvwko) (on ggsqx ovfji) (on-table jviha) (on-table eqfhx) (on ovfji jviha) (clear ggsqx) (clear eqfhx)",
"(on ggsqx ovfji) (on cvwko ggsqx) (arm-empty) (on-table jviha) (on-table eqfhx) (on ovfji jviha) (clear cvwko) (clear eqfhx)"
] | file_94224 |
GOAL: (arm-empty) (on-table ujzmq) (clear htktb) (on fyhor grdfe) (on nducp ujzmq) (clear fyhor) (on-table htktb) (clear nducp) (on-table grdfe) | GOAL: (arm-empty) (on-table ujzmq) (clear htktb) (on fyhor grdfe) (on nducp ujzmq) (clear fyhor) (on-table htktb) (clear nducp) (on-table grdfe)
STATE: (on nducp fyhor) (on htktb nducp) (clear htktb) (on fyhor grdfe) (holding ujzmq) (on-table grdfe) | [
[
"put-down ujzmq"
],
[
"unstack htktb nducp"
],
[
"put-down htktb"
],
[
"unstack nducp fyhor"
],
[
"put-down nducp"
],
[
"pick-up htktb"
],
[
"stack htktb fyhor"
],
[
"pick-up nducp"
],
[
"stack nducp ujzmq"
],
[
"unstack htktb fyhor"
],
[
"put-down htktb"
]
] | [
"(on nducp fyhor) (on htktb nducp) (arm-empty) (on-table ujzmq) (clear htktb) (on fyhor grdfe) (clear ujzmq) (on-table grdfe)",
"(on nducp fyhor) (clear ujzmq) (on-table ujzmq) (holding htktb) (on fyhor grdfe) (clear nducp) (on-table grdfe)",
"(on nducp fyhor) (arm-empty) (on-table ujzmq) (clear htktb) (on fyhor grdfe) (clear ujzmq) (on-table htktb) (clear nducp) (on-table grdfe)",
"(holding nducp) (clear ujzmq) (on-table ujzmq) (clear htktb) (on fyhor grdfe) (on-table htktb) (on-table grdfe) (clear fyhor)",
"(clear ujzmq) (arm-empty) (on-table ujzmq) (on-table nducp) (clear htktb) (on fyhor grdfe) (on-table htktb) (clear nducp) (on-table grdfe) (clear fyhor)",
"(clear ujzmq) (on-table ujzmq) (on-table nducp) (holding htktb) (on fyhor grdfe) (clear nducp) (on-table grdfe) (clear fyhor)",
"(clear ujzmq) (arm-empty) (on-table ujzmq) (on htktb fyhor) (on-table nducp) (clear htktb) (on fyhor grdfe) (clear nducp) (on-table grdfe)",
"(holding nducp) (clear ujzmq) (on-table ujzmq) (on htktb fyhor) (clear htktb) (on fyhor grdfe) (on-table grdfe)",
"(arm-empty) (on-table ujzmq) (on htktb fyhor) (clear htktb) (on fyhor grdfe) (on nducp ujzmq) (clear nducp) (on-table grdfe)",
"(on-table ujzmq) (holding htktb) (on fyhor grdfe) (on nducp ujzmq) (clear nducp) (on-table grdfe) (clear fyhor)",
"(arm-empty) (on-table ujzmq) (clear htktb) (on fyhor grdfe) (on nducp ujzmq) (clear fyhor) (on-table htktb) (clear nducp) (on-table grdfe)"
] | file_174301 |
GOAL: (on yhwio omgfc) (on yctps yskbm) (clear dbapc) (arm-empty) (on-table omgfc) (on-table yskbm) (clear yctps) (on dbapc yhwio) | GOAL: (on yhwio omgfc) (on yctps yskbm) (clear dbapc) (arm-empty) (on-table omgfc) (on-table yskbm) (clear yctps) (on dbapc yhwio)
STATE: (clear dbapc) (on yctps yskbm) (on-table omgfc) (on-table yskbm) (on dbapc yctps) (holding yhwio) (clear omgfc) | [
[
"stack yhwio omgfc"
],
[
"unstack dbapc yctps"
],
[
"stack dbapc yhwio"
]
] | [
"(clear dbapc) (on yctps yskbm) (on yhwio omgfc) (arm-empty) (on-table omgfc) (on-table yskbm) (on dbapc yctps) (clear yhwio)",
"(on yctps yskbm) (on yhwio omgfc) (on-table omgfc) (on-table yskbm) (clear yctps) (holding dbapc) (clear yhwio)",
"(on yhwio omgfc) (on yctps yskbm) (clear dbapc) (arm-empty) (on-table omgfc) (on-table yskbm) (clear yctps) (on dbapc yhwio)"
] | file_211205 |
GOAL: (on gazia mhqzf) (arm-empty) (on-table mhqzf) (on ckjrg xclfm) (clear ckjrg) (on-table mfpya) (on xclfm gazia) (clear mfpya) | GOAL: (on gazia mhqzf) (arm-empty) (on-table mhqzf) (on ckjrg xclfm) (clear ckjrg) (on-table mfpya) (on xclfm gazia) (clear mfpya)
STATE: (clear ckjrg) (on gazia mhqzf) (arm-empty) (on-table mhqzf) (on xclfm gazia) (on mfpya xclfm) (on ckjrg mfpya) | [
[
"unstack ckjrg mfpya"
],
[
"put-down ckjrg"
],
[
"unstack mfpya xclfm"
],
[
"put-down mfpya"
],
[
"pick-up ckjrg"
],
[
"stack ckjrg xclfm"
]
] | [
"(on gazia mhqzf) (on-table mhqzf) (on mfpya xclfm) (on xclfm gazia) (holding ckjrg) (clear mfpya)",
"(on xclfm gazia) (on gazia mhqzf) (clear ckjrg) (arm-empty) (on-table ckjrg) (on-table mhqzf) (on mfpya xclfm) (clear mfpya)",
"(holding mfpya) (on gazia mhqzf) (clear ckjrg) (on-table ckjrg) (on-table mhqzf) (clear xclfm) (on xclfm gazia)",
"(on gazia mhqzf) (arm-empty) (on-table ckjrg) (on-table mhqzf) (clear xclfm) (clear ckjrg) (on-table mfpya) (on xclfm gazia) (clear mfpya)",
"(on gazia mhqzf) (on-table mhqzf) (on-table mfpya) (clear xclfm) (on xclfm gazia) (holding ckjrg) (clear mfpya)",
"(on gazia mhqzf) (arm-empty) (on-table mhqzf) (on ckjrg xclfm) (clear ckjrg) (on-table mfpya) (on xclfm gazia) (clear mfpya)"
] | file_24092 |
GOAL: (arm-empty) (on-table lsqkf) (on-table pfgke) (on fcjil pfgke) (clear fcjil) (on onfqp lsqkf) (clear eayfa) (clear onfqp) (on-table eayfa) | GOAL: (arm-empty) (on-table lsqkf) (on-table pfgke) (on fcjil pfgke) (clear fcjil) (on onfqp lsqkf) (clear eayfa) (clear onfqp) (on-table eayfa)
STATE: (on-table lsqkf) (clear fcjil) (on fcjil eayfa) (holding pfgke) (on eayfa onfqp) (on onfqp lsqkf) | [
[
"put-down pfgke"
],
[
"unstack fcjil eayfa"
],
[
"stack fcjil pfgke"
],
[
"unstack eayfa onfqp"
],
[
"put-down eayfa"
]
] | [
"(arm-empty) (on-table lsqkf) (on-table pfgke) (clear fcjil) (on eayfa onfqp) (on onfqp lsqkf) (clear pfgke) (on fcjil eayfa)",
"(on-table lsqkf) (on-table pfgke) (holding fcjil) (on eayfa onfqp) (clear eayfa) (on onfqp lsqkf) (clear pfgke)",
"(arm-empty) (on-table lsqkf) (on-table pfgke) (on fcjil pfgke) (clear fcjil) (on eayfa onfqp) (clear eayfa) (on onfqp lsqkf)",
"(on-table lsqkf) (on-table pfgke) (on fcjil pfgke) (clear fcjil) (on onfqp lsqkf) (clear onfqp) (holding eayfa)",
"(arm-empty) (on-table lsqkf) (on-table pfgke) (on fcjil pfgke) (clear fcjil) (on onfqp lsqkf) (clear eayfa) (clear onfqp) (on-table eayfa)"
] | file_172221 |
GOAL: (on veneo sydci) (on-table aygoj) (holding ajqaj) (on-table sydci) (clear veneo) (on zzupo aygoj) (clear zzupo) | GOAL: (on veneo sydci) (on-table aygoj) (holding ajqaj) (on-table sydci) (clear veneo) (on zzupo aygoj) (clear zzupo)
STATE: (on zzupo ajqaj) (clear aygoj) (arm-empty) (on-table ajqaj) (clear sydci) (on-table sydci) (on veneo zzupo) (on aygoj veneo) | [
[
"unstack aygoj veneo"
],
[
"stack aygoj sydci"
],
[
"unstack veneo zzupo"
],
[
"put-down veneo"
],
[
"unstack aygoj sydci"
],
[
"put-down aygoj"
],
[
"pick-up veneo"
],
[
"stack veneo sydci"
],
[
"unstack zzupo ajqaj"
],
[
"stack zzupo aygoj"
],
[
"pick-up ajqaj"
]
] | [
"(on zzupo ajqaj) (on-table ajqaj) (clear sydci) (on-table sydci) (holding aygoj) (on veneo zzupo) (clear veneo)",
"(on zzupo ajqaj) (arm-empty) (on-table ajqaj) (on veneo zzupo) (on aygoj sydci) (clear aygoj) (on-table sydci) (clear veneo)",
"(on zzupo ajqaj) (clear aygoj) (on-table ajqaj) (on aygoj sydci) (on-table sydci) (holding veneo) (clear zzupo)",
"(on zzupo ajqaj) (arm-empty) (on-table ajqaj) (on aygoj sydci) (clear aygoj) (on-table sydci) (clear veneo) (clear zzupo) (on-table veneo)",
"(on zzupo ajqaj) (on-table ajqaj) (clear sydci) (on-table sydci) (holding aygoj) (clear veneo) (clear zzupo) (on-table veneo)",
"(on zzupo ajqaj) (clear aygoj) (arm-empty) (on-table aygoj) (on-table ajqaj) (clear sydci) (on-table sydci) (clear veneo) (clear zzupo) (on-table veneo)",
"(on zzupo ajqaj) (clear aygoj) (on-table aygoj) (on-table ajqaj) (clear sydci) (on-table sydci) (holding veneo) (clear zzupo)",
"(on zzupo ajqaj) (clear aygoj) (on veneo sydci) (arm-empty) (on-table aygoj) (on-table ajqaj) (on-table sydci) (clear veneo) (clear zzupo)",
"(holding zzupo) (clear aygoj) (on veneo sydci) (on-table aygoj) (on-table ajqaj) (on-table sydci) (clear veneo) (clear ajqaj)",
"(on veneo sydci) (arm-empty) (on-table aygoj) (on-table ajqaj) (on-table sydci) (clear veneo) (on zzupo aygoj) (clear zzupo) (clear ajqaj)",
"(on veneo sydci) (on-table aygoj) (holding ajqaj) (on-table sydci) (clear veneo) (on zzupo aygoj) (clear zzupo)"
] | file_38471 |
GOAL: (arm-empty) (on-table jhpur) (clear fydpm) (on ngkdp jhpur) (on-table hwewo) (on tpesr ngkdp) (on-table fydpm) (clear tpesr) (clear hwewo) | GOAL: (arm-empty) (on-table jhpur) (clear fydpm) (on ngkdp jhpur) (on-table hwewo) (on tpesr ngkdp) (on-table fydpm) (clear tpesr) (clear hwewo)
STATE: (clear ngkdp) (on-table ngkdp) (holding fydpm) (on-table hwewo) (on jhpur hwewo) (clear tpesr) (on-table tpesr) (clear jhpur) | [
[
"stack fydpm tpesr"
],
[
"pick-up ngkdp"
],
[
"stack ngkdp fydpm"
],
[
"unstack jhpur hwewo"
],
[
"put-down jhpur"
],
[
"unstack ngkdp fydpm"
],
[
"stack ngkdp jhpur"
],
[
"unstack fydpm tpesr"
],
[
"stack fydpm hwewo"
],
[
"pick-up tpesr"
],
[
"stack tpesr ngkdp"
],
[
"unstack fydpm hwewo"
],
[
"put-down fydpm"
]
] | [
"(clear ngkdp) (arm-empty) (on-table ngkdp) (on-table hwewo) (clear fydpm) (on jhpur hwewo) (on fydpm tpesr) (on-table tpesr) (clear jhpur)",
"(on-table hwewo) (clear fydpm) (on jhpur hwewo) (on fydpm tpesr) (holding ngkdp) (on-table tpesr) (clear jhpur)",
"(clear ngkdp) (arm-empty) (on-table hwewo) (on jhpur hwewo) (on fydpm tpesr) (on ngkdp fydpm) (on-table tpesr) (clear jhpur)",
"(clear ngkdp) (on-table hwewo) (on fydpm tpesr) (holding jhpur) (on ngkdp fydpm) (clear hwewo) (on-table tpesr)",
"(arm-empty) (on-table jhpur) (on ngkdp fydpm) (clear jhpur) (clear ngkdp) (on-table hwewo) (on fydpm tpesr) (clear hwewo) (on-table tpesr)",
"(on-table jhpur) (on-table hwewo) (clear fydpm) (on fydpm tpesr) (holding ngkdp) (clear hwewo) (on-table tpesr) (clear jhpur)",
"(clear ngkdp) (arm-empty) (on-table jhpur) (on-table hwewo) (clear fydpm) (on fydpm tpesr) (on ngkdp jhpur) (clear hwewo) (on-table tpesr)",
"(clear ngkdp) (on-table jhpur) (on-table hwewo) (holding fydpm) (on ngkdp jhpur) (clear tpesr) (clear hwewo) (on-table tpesr)",
"(clear ngkdp) (on fydpm hwewo) (arm-empty) (on-table jhpur) (on-table hwewo) (clear fydpm) (on ngkdp jhpur) (clear tpesr) (on-table tpesr)",
"(clear ngkdp) (on fydpm hwewo) (on-table jhpur) (on-table hwewo) (clear fydpm) (on ngkdp jhpur) (holding tpesr)",
"(on fydpm hwewo) (arm-empty) (on-table jhpur) (on-table hwewo) (on tpesr ngkdp) (clear fydpm) (on ngkdp jhpur) (clear tpesr)",
"(on-table jhpur) (on-table hwewo) (holding fydpm) (on tpesr ngkdp) (on ngkdp jhpur) (clear tpesr) (clear hwewo)",
"(arm-empty) (on-table jhpur) (clear fydpm) (on ngkdp jhpur) (on-table hwewo) (on tpesr ngkdp) (on-table fydpm) (clear tpesr) (clear hwewo)"
] | file_201006 |
GOAL: (clear qhnmf) (arm-empty) (on wkoqt udxyg) (on-table qhnmf) (on-table bvhrh) (on-table udxyg) (clear urtiz) (clear bvhrh) (on-table urtiz) (clear wkoqt) | GOAL: (clear qhnmf) (arm-empty) (on wkoqt udxyg) (on-table qhnmf) (on-table bvhrh) (on-table udxyg) (clear urtiz) (clear bvhrh) (on-table urtiz) (clear wkoqt)
STATE: (arm-empty) (on wkoqt udxyg) (on-table udxyg) (on qhnmf wkoqt) (clear urtiz) (on bvhrh qhnmf) (clear bvhrh) (on-table urtiz) | [
[
"unstack bvhrh qhnmf"
],
[
"stack bvhrh urtiz"
],
[
"unstack qhnmf wkoqt"
],
[
"put-down qhnmf"
],
[
"unstack bvhrh urtiz"
],
[
"put-down bvhrh"
]
] | [
"(holding bvhrh) (clear qhnmf) (on wkoqt udxyg) (on-table udxyg) (on qhnmf wkoqt) (clear urtiz) (on-table urtiz)",
"(clear qhnmf) (on bvhrh urtiz) (on wkoqt udxyg) (arm-empty) (on-table udxyg) (on qhnmf wkoqt) (clear bvhrh) (on-table urtiz)",
"(on bvhrh urtiz) (on wkoqt udxyg) (on-table udxyg) (holding qhnmf) (clear bvhrh) (on-table urtiz) (clear wkoqt)",
"(on bvhrh urtiz) (on wkoqt udxyg) (on-table qhnmf) (arm-empty) (clear wkoqt) (clear qhnmf) (on-table udxyg) (clear bvhrh) (on-table urtiz)",
"(holding bvhrh) (clear qhnmf) (on wkoqt udxyg) (on-table qhnmf) (on-table udxyg) (clear urtiz) (on-table urtiz) (clear wkoqt)",
"(clear qhnmf) (arm-empty) (on wkoqt udxyg) (on-table qhnmf) (on-table bvhrh) (on-table udxyg) (clear urtiz) (clear bvhrh) (on-table urtiz) (clear wkoqt)"
] | file_139507 |
GOAL: (on lzsqk uvphn) (clear dzmao) (arm-empty) (on-table oddbr) (on-table uvphn) (on dzmao lzsqk) (clear oddbr) | GOAL: (on lzsqk uvphn) (clear dzmao) (arm-empty) (on-table oddbr) (on-table uvphn) (on dzmao lzsqk) (clear oddbr)
STATE: (arm-empty) (on-table oddbr) (clear uvphn) (on uvphn dzmao) (on dzmao oddbr) (clear lzsqk) (on-table lzsqk) | [
[
"unstack uvphn dzmao"
],
[
"put-down uvphn"
],
[
"pick-up lzsqk"
],
[
"stack lzsqk uvphn"
],
[
"unstack dzmao oddbr"
],
[
"stack dzmao lzsqk"
]
] | [
"(holding uvphn) (on dzmao oddbr) (clear dzmao) (on-table oddbr) (clear lzsqk) (on-table lzsqk)",
"(arm-empty) (clear uvphn) (on dzmao oddbr) (clear dzmao) (on-table oddbr) (on-table uvphn) (clear lzsqk) (on-table lzsqk)",
"(clear dzmao) (on-table oddbr) (clear uvphn) (on-table uvphn) (on dzmao oddbr) (holding lzsqk)",
"(on lzsqk uvphn) (clear dzmao) (arm-empty) (on-table oddbr) (on-table uvphn) (on dzmao oddbr) (clear lzsqk)",
"(on lzsqk uvphn) (on-table oddbr) (on-table uvphn) (holding dzmao) (clear lzsqk) (clear oddbr)",
"(on lzsqk uvphn) (clear dzmao) (arm-empty) (on-table oddbr) (on-table uvphn) (on dzmao lzsqk) (clear oddbr)"
] | file_79064 |
GOAL: (on-table vhfwa) (holding qqujh) (on kdmcs levfo) (clear vhfwa) (on-table levfo) (clear kdmcs) | GOAL: (on-table vhfwa) (holding qqujh) (on kdmcs levfo) (clear vhfwa) (on-table levfo) (clear kdmcs)
STATE: (clear vhfwa) (on levfo kdmcs) (arm-empty) (on-table vhfwa) (clear qqujh) (on-table qqujh) (clear levfo) (on-table kdmcs) | [
[
"pick-up qqujh"
],
[
"stack qqujh vhfwa"
],
[
"unstack levfo kdmcs"
],
[
"put-down levfo"
],
[
"pick-up kdmcs"
],
[
"stack kdmcs levfo"
],
[
"unstack qqujh vhfwa"
]
] | [
"(clear vhfwa) (on levfo kdmcs) (on-table vhfwa) (holding qqujh) (clear levfo) (on-table kdmcs)",
"(on levfo kdmcs) (arm-empty) (on-table vhfwa) (on qqujh vhfwa) (clear qqujh) (clear levfo) (on-table kdmcs)",
"(on-table vhfwa) (clear qqujh) (holding levfo) (on qqujh vhfwa) (clear kdmcs) (on-table kdmcs)",
"(arm-empty) (on-table vhfwa) (clear qqujh) (on-table levfo) (on qqujh vhfwa) (clear kdmcs) (clear levfo) (on-table kdmcs)",
"(on-table vhfwa) (on-table levfo) (clear qqujh) (on qqujh vhfwa) (holding kdmcs) (clear levfo)",
"(arm-empty) (on-table vhfwa) (on-table levfo) (clear qqujh) (on kdmcs levfo) (on qqujh vhfwa) (clear kdmcs)",
"(on-table vhfwa) (holding qqujh) (on kdmcs levfo) (clear vhfwa) (on-table levfo) (clear kdmcs)"
] | file_200466 |
GOAL: (clear ksucy) (on gpiaf haxmw) (on ysnix gpiaf) (arm-empty) (on-table haxmw) (on ksucy ysnix) (clear mahrs) (on-table mahrs) | GOAL: (clear ksucy) (on gpiaf haxmw) (on ysnix gpiaf) (arm-empty) (on-table haxmw) (on ksucy ysnix) (clear mahrs) (on-table mahrs)
STATE: (clear ksucy) (on-table ysnix) (holding gpiaf) (on-table haxmw) (on ksucy mahrs) (clear haxmw) (on-table mahrs) (clear ysnix) | [
[
"stack gpiaf haxmw"
],
[
"pick-up ysnix"
],
[
"stack ysnix gpiaf"
],
[
"unstack ksucy mahrs"
],
[
"stack ksucy ysnix"
]
] | [
"(clear ksucy) (on gpiaf haxmw) (arm-empty) (on-table ysnix) (on-table haxmw) (clear gpiaf) (on ksucy mahrs) (on-table mahrs) (clear ysnix)",
"(clear ksucy) (on gpiaf haxmw) (on-table haxmw) (clear gpiaf) (holding ysnix) (on ksucy mahrs) (on-table mahrs)",
"(clear ksucy) (on gpiaf haxmw) (on ysnix gpiaf) (arm-empty) (on-table haxmw) (on ksucy mahrs) (on-table mahrs) (clear ysnix)",
"(on gpiaf haxmw) (on ysnix gpiaf) (on-table haxmw) (holding ksucy) (clear mahrs) (on-table mahrs) (clear ysnix)",
"(clear ksucy) (on gpiaf haxmw) (on ysnix gpiaf) (arm-empty) (on-table haxmw) (on ksucy ysnix) (clear mahrs) (on-table mahrs)"
] | file_213702 |
GOAL: (holding xhuas) (on ktlvj hzyyl) (on-table trimb) (on hzyyl trimb) (clear hnrtn) (on-table hnrtn) (clear ktlvj) | GOAL: (holding xhuas) (on ktlvj hzyyl) (on-table trimb) (on hzyyl trimb) (clear hnrtn) (on-table hnrtn) (clear ktlvj)
STATE: (on hnrtn ktlvj) (arm-empty) (on ktlvj xhuas) (on-table trimb) (on hzyyl trimb) (clear hnrtn) (on xhuas hzyyl) | [
[
"unstack hnrtn ktlvj"
],
[
"put-down hnrtn"
],
[
"unstack ktlvj xhuas"
],
[
"put-down ktlvj"
],
[
"unstack xhuas hzyyl"
],
[
"put-down xhuas"
],
[
"pick-up ktlvj"
],
[
"stack ktlvj hzyyl"
],
[
"pick-up xhuas"
]
] | [
"(on hzyyl trimb) (on xhuas hzyyl) (clear ktlvj) (on ktlvj xhuas) (on-table trimb) (holding hnrtn)",
"(on ktlvj xhuas) (on-table trimb) (arm-empty) (on hzyyl trimb) (clear hnrtn) (on xhuas hzyyl) (on-table hnrtn) (clear ktlvj)",
"(holding ktlvj) (on-table trimb) (on hzyyl trimb) (clear hnrtn) (on xhuas hzyyl) (clear xhuas) (on-table hnrtn)",
"(arm-empty) (on-table ktlvj) (on hzyyl trimb) (on xhuas hzyyl) (clear ktlvj) (on-table trimb) (clear hnrtn) (clear xhuas) (on-table hnrtn)",
"(holding xhuas) (clear hzyyl) (on-table ktlvj) (on-table trimb) (on hzyyl trimb) (clear hnrtn) (on-table hnrtn) (clear ktlvj)",
"(clear hzyyl) (arm-empty) (on-table ktlvj) (on-table xhuas) (on-table trimb) (on hzyyl trimb) (clear hnrtn) (clear xhuas) (on-table hnrtn) (clear ktlvj)",
"(clear hzyyl) (on-table xhuas) (holding ktlvj) (on-table trimb) (on hzyyl trimb) (clear hnrtn) (clear xhuas) (on-table hnrtn)",
"(arm-empty) (on-table xhuas) (on ktlvj hzyyl) (on-table trimb) (on hzyyl trimb) (clear hnrtn) (clear xhuas) (on-table hnrtn) (clear ktlvj)",
"(holding xhuas) (on ktlvj hzyyl) (on-table trimb) (on hzyyl trimb) (clear hnrtn) (on-table hnrtn) (clear ktlvj)"
] | file_105663 |
GOAL: (clear kfqod) (arm-empty) (on-table cdzsl) (on-table slgtn) (clear idlhs) (on-table idlhs) (on kfqod qbdce) (clear slgtn) (on-table qbdce) (clear cdzsl) | GOAL: (clear kfqod) (arm-empty) (on-table cdzsl) (on-table slgtn) (clear idlhs) (on-table idlhs) (on kfqod qbdce) (clear slgtn) (on-table qbdce) (clear cdzsl)
STATE: (arm-empty) (on-table cdzsl) (on qbdce kfqod) (on idlhs qbdce) (on slgtn idlhs) (on kfqod cdzsl) (clear slgtn) | [
[
"unstack slgtn idlhs"
],
[
"put-down slgtn"
],
[
"unstack idlhs qbdce"
],
[
"put-down idlhs"
],
[
"unstack qbdce kfqod"
],
[
"stack qbdce idlhs"
],
[
"unstack kfqod cdzsl"
],
[
"stack kfqod slgtn"
],
[
"unstack qbdce idlhs"
],
[
"put-down qbdce"
],
[
"unstack kfqod slgtn"
],
[
"stack kfqod qbdce"
]
] | [
"(on-table cdzsl) (clear idlhs) (on kfqod cdzsl) (holding slgtn) (on qbdce kfqod) (on idlhs qbdce)",
"(arm-empty) (on-table cdzsl) (clear idlhs) (on kfqod cdzsl) (on-table slgtn) (on qbdce kfqod) (on idlhs qbdce) (clear slgtn)",
"(on-table cdzsl) (on-table slgtn) (holding idlhs) (on qbdce kfqod) (on kfqod cdzsl) (clear qbdce) (clear slgtn)",
"(arm-empty) (on-table cdzsl) (clear idlhs) (on kfqod cdzsl) (on-table slgtn) (on qbdce kfqod) (on-table idlhs) (clear qbdce) (clear slgtn)",
"(clear kfqod) (on-table cdzsl) (on-table slgtn) (clear idlhs) (on-table idlhs) (on kfqod cdzsl) (holding qbdce) (clear slgtn)",
"(on qbdce idlhs) (clear kfqod) (arm-empty) (on-table cdzsl) (on-table slgtn) (on-table idlhs) (on kfqod cdzsl) (clear qbdce) (clear slgtn)",
"(on qbdce idlhs) (on-table cdzsl) (on-table slgtn) (on-table idlhs) (holding kfqod) (clear qbdce) (clear slgtn) (clear cdzsl)",
"(on qbdce idlhs) (clear kfqod) (arm-empty) (on-table cdzsl) (on-table slgtn) (on-table idlhs) (on kfqod slgtn) (clear qbdce) (clear cdzsl)",
"(clear kfqod) (on-table cdzsl) (on-table slgtn) (clear idlhs) (on-table idlhs) (on kfqod slgtn) (holding qbdce) (clear cdzsl)",
"(clear kfqod) (arm-empty) (on-table cdzsl) (on-table slgtn) (clear idlhs) (on-table idlhs) (on kfqod slgtn) (clear qbdce) (on-table qbdce) (clear cdzsl)",
"(on-table cdzsl) (on-table slgtn) (clear idlhs) (on-table idlhs) (holding kfqod) (clear qbdce) (clear slgtn) (on-table qbdce) (clear cdzsl)",
"(clear kfqod) (arm-empty) (on-table cdzsl) (on-table slgtn) (clear idlhs) (on-table idlhs) (on kfqod qbdce) (clear slgtn) (on-table qbdce) (clear cdzsl)"
] | file_216786 |
GOAL: (clear rudjk) (on-table rudjk) (on-table lfumu) (clear bafss) (on bafss byyah) (holding oeeet) (clear lfumu) (on-table byyah) | GOAL: (clear rudjk) (on-table rudjk) (on-table lfumu) (clear bafss) (on bafss byyah) (holding oeeet) (clear lfumu) (on-table byyah)
STATE: (arm-empty) (on bafss oeeet) (on-table lfumu) (on oeeet rudjk) (clear bafss) (on byyah lfumu) (on rudjk byyah) | [
[
"unstack bafss oeeet"
],
[
"put-down bafss"
],
[
"unstack oeeet rudjk"
],
[
"stack oeeet bafss"
],
[
"unstack rudjk byyah"
],
[
"put-down rudjk"
],
[
"unstack byyah lfumu"
],
[
"put-down byyah"
],
[
"unstack oeeet bafss"
],
[
"stack oeeet rudjk"
],
[
"pick-up bafss"
],
[
"stack bafss byyah"
],
[
"unstack oeeet rudjk"
]
] | [
"(holding bafss) (on oeeet rudjk) (on byyah lfumu) (clear oeeet) (on-table lfumu) (on rudjk byyah)",
"(arm-empty) (on oeeet rudjk) (clear bafss) (on byyah lfumu) (clear oeeet) (on-table lfumu) (on-table bafss) (on rudjk byyah)",
"(clear rudjk) (on-table lfumu) (clear bafss) (holding oeeet) (on-table bafss) (on byyah lfumu) (on rudjk byyah)",
"(clear rudjk) (arm-empty) (on oeeet bafss) (on-table lfumu) (on-table bafss) (on byyah lfumu) (on rudjk byyah) (clear oeeet)",
"(on oeeet bafss) (on-table lfumu) (on-table bafss) (holding rudjk) (on byyah lfumu) (clear byyah) (clear oeeet)",
"(arm-empty) (on oeeet bafss) (on-table rudjk) (on byyah lfumu) (clear oeeet) (clear rudjk) (on-table lfumu) (on-table bafss) (clear byyah)",
"(clear rudjk) (on oeeet bafss) (on-table rudjk) (on-table lfumu) (on-table bafss) (holding byyah) (clear lfumu) (clear oeeet)",
"(clear rudjk) (arm-empty) (on oeeet bafss) (on-table rudjk) (on-table lfumu) (on-table bafss) (clear byyah) (clear lfumu) (on-table byyah) (clear oeeet)",
"(clear rudjk) (on-table rudjk) (on-table lfumu) (clear bafss) (holding oeeet) (on-table bafss) (clear byyah) (clear lfumu) (on-table byyah)",
"(arm-empty) (on-table rudjk) (on-table lfumu) (on oeeet rudjk) (clear bafss) (on-table bafss) (clear byyah) (clear lfumu) (on-table byyah) (clear oeeet)",
"(on-table rudjk) (on-table lfumu) (holding bafss) (on oeeet rudjk) (clear byyah) (clear lfumu) (on-table byyah) (clear oeeet)",
"(arm-empty) (on-table rudjk) (on-table lfumu) (on oeeet rudjk) (clear bafss) (on bafss byyah) (clear lfumu) (on-table byyah) (clear oeeet)",
"(clear rudjk) (on-table rudjk) (on-table lfumu) (clear bafss) (on bafss byyah) (holding oeeet) (clear lfumu) (on-table byyah)"
] | file_19584 |
GOAL: (clear mhjge) (arm-empty) (on-table mhjge) (on-table sgwug) (on-table wvnuz) (clear gnklw) (on-table gnklw) (clear gxdzr) (clear wvnuz) (on-table gxdzr) (clear sgwug) | GOAL: (clear mhjge) (arm-empty) (on-table mhjge) (on-table sgwug) (on-table wvnuz) (clear gnklw) (on-table gnklw) (clear gxdzr) (clear wvnuz) (on-table gxdzr) (clear sgwug)
STATE: (clear mhjge) (on-table wvnuz) (clear gnklw) (holding sgwug) (on-table gnklw) (on gxdzr wvnuz) (on mhjge gxdzr) | [
[
"stack sgwug gnklw"
],
[
"unstack mhjge gxdzr"
],
[
"put-down mhjge"
],
[
"unstack gxdzr wvnuz"
],
[
"put-down gxdzr"
],
[
"unstack sgwug gnklw"
],
[
"put-down sgwug"
]
] | [
"(clear mhjge) (arm-empty) (on sgwug gnklw) (on-table wvnuz) (on-table gnklw) (on gxdzr wvnuz) (on mhjge gxdzr) (clear sgwug)",
"(on sgwug gnklw) (on-table wvnuz) (on-table gnklw) (holding mhjge) (on gxdzr wvnuz) (clear gxdzr) (clear sgwug)",
"(arm-empty) (on sgwug gnklw) (on-table mhjge) (on gxdzr wvnuz) (clear sgwug) (clear mhjge) (on-table wvnuz) (on-table gnklw) (clear gxdzr)",
"(clear mhjge) (on sgwug gnklw) (on-table mhjge) (on-table wvnuz) (on-table gnklw) (holding gxdzr) (clear wvnuz) (clear sgwug)",
"(clear mhjge) (arm-empty) (on sgwug gnklw) (on-table mhjge) (on-table wvnuz) (on-table gnklw) (clear gxdzr) (clear wvnuz) (on-table gxdzr) (clear sgwug)",
"(clear mhjge) (on-table mhjge) (on-table wvnuz) (clear gnklw) (holding sgwug) (on-table gnklw) (clear gxdzr) (clear wvnuz) (on-table gxdzr)",
"(clear mhjge) (arm-empty) (on-table mhjge) (on-table sgwug) (on-table wvnuz) (clear gnklw) (on-table gnklw) (clear gxdzr) (clear wvnuz) (on-table gxdzr) (clear sgwug)"
] | file_112467 |
GOAL: (on fxtqo ljajs) (arm-empty) (on-table ljajs) (on-table vpwjl) (on mbbvd vpwjl) (clear fxtqo) (on sqhto mbbvd) (clear sqhto) | GOAL: (on fxtqo ljajs) (arm-empty) (on-table ljajs) (on-table vpwjl) (on mbbvd vpwjl) (clear fxtqo) (on sqhto mbbvd) (clear sqhto)
STATE: (on fxtqo ljajs) (on sqhto fxtqo) (arm-empty) (on-table mbbvd) (on-table ljajs) (clear mbbvd) (clear vpwjl) (on-table vpwjl) (clear sqhto) | [
[
"unstack sqhto fxtqo"
],
[
"put-down sqhto"
],
[
"unstack fxtqo ljajs"
],
[
"put-down fxtqo"
],
[
"pick-up mbbvd"
],
[
"stack mbbvd sqhto"
],
[
"pick-up fxtqo"
],
[
"stack fxtqo ljajs"
],
[
"unstack mbbvd sqhto"
],
[
"stack mbbvd vpwjl"
],
[
"pick-up sqhto"
],
[
"stack sqhto mbbvd"
]
] | [
"(holding sqhto) (on fxtqo ljajs) (on-table mbbvd) (on-table ljajs) (clear mbbvd) (clear vpwjl) (on-table vpwjl) (clear fxtqo)",
"(on fxtqo ljajs) (clear mbbvd) (arm-empty) (on-table mbbvd) (on-table ljajs) (on-table sqhto) (clear vpwjl) (on-table vpwjl) (clear fxtqo) (clear sqhto)",
"(clear mbbvd) (on-table mbbvd) (on-table ljajs) (on-table sqhto) (clear vpwjl) (on-table vpwjl) (holding fxtqo) (clear sqhto) (clear ljajs)",
"(clear mbbvd) (arm-empty) (on-table mbbvd) (on-table ljajs) (on-table sqhto) (clear vpwjl) (on-table vpwjl) (clear fxtqo) (clear sqhto) (on-table fxtqo) (clear ljajs)",
"(on-table ljajs) (on-table sqhto) (clear vpwjl) (on-table vpwjl) (holding mbbvd) (clear fxtqo) (clear sqhto) (on-table fxtqo) (clear ljajs)",
"(clear mbbvd) (arm-empty) (on-table ljajs) (on-table sqhto) (clear vpwjl) (on-table vpwjl) (on mbbvd sqhto) (clear fxtqo) (on-table fxtqo) (clear ljajs)",
"(clear mbbvd) (on-table ljajs) (on-table sqhto) (clear vpwjl) (on-table vpwjl) (on mbbvd sqhto) (holding fxtqo) (clear ljajs)",
"(clear mbbvd) (on fxtqo ljajs) (arm-empty) (on-table ljajs) (on-table sqhto) (clear vpwjl) (on-table vpwjl) (on mbbvd sqhto) (clear fxtqo)",
"(on fxtqo ljajs) (on-table ljajs) (on-table sqhto) (clear vpwjl) (on-table vpwjl) (holding mbbvd) (clear fxtqo) (clear sqhto)",
"(on fxtqo ljajs) (clear mbbvd) (arm-empty) (on-table ljajs) (on-table sqhto) (on-table vpwjl) (on mbbvd vpwjl) (clear fxtqo) (clear sqhto)",
"(holding sqhto) (on fxtqo ljajs) (clear mbbvd) (on-table ljajs) (on-table vpwjl) (on mbbvd vpwjl) (clear fxtqo)",
"(on fxtqo ljajs) (arm-empty) (on-table ljajs) (on-table vpwjl) (on mbbvd vpwjl) (clear fxtqo) (on sqhto mbbvd) (clear sqhto)"
] | file_118071 |
GOAL: (holding sbuky) (clear lnxee) (on-table bdtpm) (on jwfxa hvtzq) (on lnxee jwfxa) (on-table hvtzq) (clear bdtpm) | GOAL: (holding sbuky) (clear lnxee) (on-table bdtpm) (on jwfxa hvtzq) (on lnxee jwfxa) (on-table hvtzq) (clear bdtpm)
STATE: (on sbuky bdtpm) (on jwfxa sbuky) (on-table lnxee) (on bdtpm lnxee) (clear jwfxa) (holding hvtzq) | [
[
"put-down hvtzq"
],
[
"unstack jwfxa sbuky"
],
[
"stack jwfxa hvtzq"
],
[
"unstack sbuky bdtpm"
],
[
"put-down sbuky"
],
[
"unstack bdtpm lnxee"
],
[
"stack bdtpm sbuky"
],
[
"pick-up lnxee"
],
[
"stack lnxee jwfxa"
],
[
"unstack bdtpm sbuky"
],
[
"put-down bdtpm"
],
[
"pick-up sbuky"
]
] | [
"(on sbuky bdtpm) (on jwfxa sbuky) (arm-empty) (on-table lnxee) (on bdtpm lnxee) (clear hvtzq) (clear jwfxa) (on-table hvtzq)",
"(on sbuky bdtpm) (on-table lnxee) (holding jwfxa) (on bdtpm lnxee) (clear hvtzq) (clear sbuky) (on-table hvtzq)",
"(on sbuky bdtpm) (arm-empty) (on-table lnxee) (on bdtpm lnxee) (clear jwfxa) (on jwfxa hvtzq) (clear sbuky) (on-table hvtzq)",
"(holding sbuky) (on-table lnxee) (on bdtpm lnxee) (clear jwfxa) (on jwfxa hvtzq) (on-table hvtzq) (clear bdtpm)",
"(arm-empty) (on-table lnxee) (on bdtpm lnxee) (clear jwfxa) (clear bdtpm) (on-table sbuky) (on jwfxa hvtzq) (clear sbuky) (on-table hvtzq)",
"(clear lnxee) (on-table lnxee) (on-table sbuky) (clear jwfxa) (on jwfxa hvtzq) (holding bdtpm) (clear sbuky) (on-table hvtzq)",
"(clear lnxee) (arm-empty) (on-table lnxee) (on-table sbuky) (clear jwfxa) (on jwfxa hvtzq) (on bdtpm sbuky) (on-table hvtzq) (clear bdtpm)",
"(on-table sbuky) (clear jwfxa) (on jwfxa hvtzq) (on bdtpm sbuky) (holding lnxee) (on-table hvtzq) (clear bdtpm)",
"(clear lnxee) (arm-empty) (on-table sbuky) (on jwfxa hvtzq) (on bdtpm sbuky) (on lnxee jwfxa) (on-table hvtzq) (clear bdtpm)",
"(clear lnxee) (on-table sbuky) (on jwfxa hvtzq) (holding bdtpm) (on lnxee jwfxa) (clear sbuky) (on-table hvtzq)",
"(arm-empty) (on-table bdtpm) (on lnxee jwfxa) (clear bdtpm) (clear lnxee) (on-table sbuky) (on jwfxa hvtzq) (clear sbuky) (on-table hvtzq)",
"(holding sbuky) (clear lnxee) (on-table bdtpm) (on jwfxa hvtzq) (on lnxee jwfxa) (on-table hvtzq) (clear bdtpm)"
] | file_55384 |
GOAL: (arm-empty) (on-table jqkxx) (on-table ezpgb) (clear ezpgb) (clear jqkxx) (on mlvqs gnedq) (on ksjjq mlvqs) (clear ksjjq) (on-table gnedq) | GOAL: (arm-empty) (on-table jqkxx) (on-table ezpgb) (clear ezpgb) (clear jqkxx) (on mlvqs gnedq) (on ksjjq mlvqs) (clear ksjjq) (on-table gnedq)
STATE: (clear jqkxx) (arm-empty) (on mlvqs gnedq) (on ezpgb ksjjq) (on ksjjq mlvqs) (on jqkxx ezpgb) (on-table gnedq) | [
[
"unstack jqkxx ezpgb"
],
[
"put-down jqkxx"
],
[
"unstack ezpgb ksjjq"
],
[
"put-down ezpgb"
]
] | [
"(holding jqkxx) (clear ezpgb) (on mlvqs gnedq) (on ezpgb ksjjq) (on ksjjq mlvqs) (on-table gnedq)",
"(arm-empty) (on-table jqkxx) (clear ezpgb) (clear jqkxx) (on mlvqs gnedq) (on ezpgb ksjjq) (on ksjjq mlvqs) (on-table gnedq)",
"(clear jqkxx) (on-table jqkxx) (on mlvqs gnedq) (holding ezpgb) (on ksjjq mlvqs) (clear ksjjq) (on-table gnedq)",
"(arm-empty) (on-table jqkxx) (on-table ezpgb) (clear ezpgb) (clear jqkxx) (on mlvqs gnedq) (on ksjjq mlvqs) (clear ksjjq) (on-table gnedq)"
] | file_156647 |
GOAL: (clear nnypt) (on amsrx jfezb) (on vqhja amsrx) (arm-empty) (on nnypt vqhja) (on-table jfezb) | GOAL: (clear nnypt) (on amsrx jfezb) (on vqhja amsrx) (arm-empty) (on nnypt vqhja) (on-table jfezb)
STATE: (on amsrx jfezb) (clear vqhja) (on-table vqhja) (holding nnypt) (clear amsrx) (on-table jfezb) | [
[
"put-down nnypt"
],
[
"pick-up vqhja"
],
[
"stack vqhja amsrx"
],
[
"pick-up nnypt"
],
[
"stack nnypt vqhja"
]
] | [
"(on-table vqhja) (on amsrx jfezb) (clear nnypt) (on-table nnypt) (arm-empty) (clear vqhja) (clear amsrx) (on-table jfezb)",
"(clear nnypt) (on amsrx jfezb) (on-table nnypt) (holding vqhja) (clear amsrx) (on-table jfezb)",
"(clear nnypt) (on amsrx jfezb) (on vqhja amsrx) (on-table nnypt) (arm-empty) (clear vqhja) (on-table jfezb)",
"(on amsrx jfezb) (on vqhja amsrx) (clear vqhja) (holding nnypt) (on-table jfezb)",
"(clear nnypt) (on amsrx jfezb) (on vqhja amsrx) (arm-empty) (on nnypt vqhja) (on-table jfezb)"
] | file_33323 |
GOAL: (arm-empty) (on-table ifthw) (on dwang ifthw) (on anopm xwnlg) (on-table lytol) (on xwnlg lytol) (clear dwang) (clear anopm) | GOAL: (arm-empty) (on-table ifthw) (on dwang ifthw) (on anopm xwnlg) (on-table lytol) (on xwnlg lytol) (clear dwang) (clear anopm)
STATE: (on lytol xwnlg) (on xwnlg dwang) (on-table ifthw) (on-table anopm) (arm-empty) (on dwang ifthw) (clear lytol) (clear anopm) | [
[
"unstack lytol xwnlg"
],
[
"put-down lytol"
],
[
"unstack xwnlg dwang"
],
[
"stack xwnlg lytol"
],
[
"pick-up anopm"
],
[
"stack anopm xwnlg"
]
] | [
"(on xwnlg dwang) (on-table ifthw) (on-table anopm) (holding lytol) (on dwang ifthw) (clear xwnlg) (clear anopm)",
"(on xwnlg dwang) (arm-empty) (on-table ifthw) (on-table anopm) (clear lytol) (clear anopm) (on dwang ifthw) (on-table lytol) (clear xwnlg)",
"(holding xwnlg) (on-table ifthw) (on-table anopm) (on dwang ifthw) (clear lytol) (on-table lytol) (clear dwang) (clear anopm)",
"(arm-empty) (on-table ifthw) (on-table anopm) (on dwang ifthw) (on-table lytol) (on xwnlg lytol) (clear dwang) (clear xwnlg) (clear anopm)",
"(on-table ifthw) (on dwang ifthw) (holding anopm) (on-table lytol) (on xwnlg lytol) (clear dwang) (clear xwnlg)",
"(arm-empty) (on-table ifthw) (on dwang ifthw) (on anopm xwnlg) (on-table lytol) (on xwnlg lytol) (clear dwang) (clear anopm)"
] | file_15811 |
GOAL: (on dxiod gskrj) (on joqyp dxiod) (arm-empty) (on-table seuat) (on gskrj seuat) (clear joqyp) | GOAL: (on dxiod gskrj) (on joqyp dxiod) (arm-empty) (on-table seuat) (on gskrj seuat) (clear joqyp)
STATE: (clear gskrj) (on dxiod seuat) (on seuat joqyp) (on-table gskrj) (arm-empty) (clear dxiod) (on-table joqyp) | [
[
"unstack dxiod seuat"
],
[
"put-down dxiod"
],
[
"unstack seuat joqyp"
],
[
"put-down seuat"
],
[
"pick-up dxiod"
],
[
"stack dxiod joqyp"
],
[
"pick-up gskrj"
],
[
"stack gskrj seuat"
],
[
"unstack dxiod joqyp"
],
[
"stack dxiod gskrj"
],
[
"pick-up joqyp"
],
[
"stack joqyp dxiod"
]
] | [
"(on seuat joqyp) (on-table gskrj) (holding dxiod) (clear gskrj) (clear seuat) (on-table joqyp)",
"(on seuat joqyp) (arm-empty) (on-table gskrj) (clear dxiod) (clear gskrj) (on-table dxiod) (clear seuat) (on-table joqyp)",
"(holding seuat) (clear gskrj) (on-table gskrj) (clear dxiod) (on-table dxiod) (clear joqyp) (on-table joqyp)",
"(arm-empty) (on-table gskrj) (clear dxiod) (clear gskrj) (on-table seuat) (on-table dxiod) (clear joqyp) (clear seuat) (on-table joqyp)",
"(clear gskrj) (on-table gskrj) (on-table seuat) (holding dxiod) (clear joqyp) (clear seuat) (on-table joqyp)",
"(arm-empty) (on-table gskrj) (clear dxiod) (clear gskrj) (on-table seuat) (on dxiod joqyp) (clear seuat) (on-table joqyp)",
"(on-table seuat) (clear dxiod) (on dxiod joqyp) (holding gskrj) (clear seuat) (on-table joqyp)",
"(clear gskrj) (arm-empty) (on-table seuat) (clear dxiod) (on dxiod joqyp) (on gskrj seuat) (on-table joqyp)",
"(holding dxiod) (clear gskrj) (on-table seuat) (on gskrj seuat) (clear joqyp) (on-table joqyp)",
"(arm-empty) (clear dxiod) (on dxiod gskrj) (on gskrj seuat) (clear joqyp) (on-table seuat) (on-table joqyp)",
"(on-table seuat) (on dxiod gskrj) (on gskrj seuat) (clear dxiod) (holding joqyp)",
"(on dxiod gskrj) (on joqyp dxiod) (arm-empty) (on-table seuat) (on gskrj seuat) (clear joqyp)"
] | file_185803 |
GOAL: (on zkamp upqbh) (on mzpyv zkamp) (arm-empty) (on-table zlyig) (on upqbh zlyig) (clear lawow) (on-table lawow) (clear mzpyv) | GOAL: (on zkamp upqbh) (on mzpyv zkamp) (arm-empty) (on-table zlyig) (on upqbh zlyig) (clear lawow) (on-table lawow) (clear mzpyv)
STATE: (on-table zlyig) (on-table mzpyv) (on upqbh zlyig) (clear lawow) (on-table lawow) (holding zkamp) (clear mzpyv) (clear upqbh) | [
[
"stack zkamp upqbh"
],
[
"pick-up mzpyv"
],
[
"stack mzpyv zkamp"
]
] | [
"(on zkamp upqbh) (arm-empty) (on-table zlyig) (on-table mzpyv) (on upqbh zlyig) (clear lawow) (on-table lawow) (clear zkamp) (clear mzpyv)",
"(holding mzpyv) (on zkamp upqbh) (on-table zlyig) (on upqbh zlyig) (clear lawow) (on-table lawow) (clear zkamp)",
"(on zkamp upqbh) (on mzpyv zkamp) (arm-empty) (on-table zlyig) (on upqbh zlyig) (clear lawow) (on-table lawow) (clear mzpyv)"
] | file_32719 |
GOAL: (clear ppzry) (on vexkp obokw) (arm-empty) (on-table wyfxy) (on yaruy wyfxy) (on ppzry yaruy) (clear vexkp) (on-table obokw) | GOAL: (clear ppzry) (on vexkp obokw) (arm-empty) (on-table wyfxy) (on yaruy wyfxy) (on ppzry yaruy) (clear vexkp) (on-table obokw)
STATE: (clear vexkp) (on-table wyfxy) (holding yaruy) (on ppzry obokw) (on vexkp ppzry) (on-table obokw) (clear wyfxy) | [
[
"stack yaruy wyfxy"
],
[
"unstack vexkp ppzry"
],
[
"stack vexkp yaruy"
],
[
"unstack ppzry obokw"
],
[
"put-down ppzry"
],
[
"unstack vexkp yaruy"
],
[
"stack vexkp obokw"
],
[
"pick-up ppzry"
],
[
"stack ppzry yaruy"
]
] | [
"(arm-empty) (on-table wyfxy) (on yaruy wyfxy) (clear yaruy) (on ppzry obokw) (on vexkp ppzry) (clear vexkp) (on-table obokw)",
"(holding vexkp) (clear ppzry) (on-table wyfxy) (on yaruy wyfxy) (clear yaruy) (on ppzry obokw) (on-table obokw)",
"(clear ppzry) (arm-empty) (on-table wyfxy) (on yaruy wyfxy) (on vexkp yaruy) (on ppzry obokw) (clear vexkp) (on-table obokw)",
"(on-table wyfxy) (on yaruy wyfxy) (holding ppzry) (on vexkp yaruy) (clear obokw) (clear vexkp) (on-table obokw)",
"(arm-empty) (on-table ppzry) (on-table wyfxy) (on yaruy wyfxy) (clear ppzry) (on vexkp yaruy) (clear obokw) (clear vexkp) (on-table obokw)",
"(holding vexkp) (clear ppzry) (on-table ppzry) (on-table wyfxy) (on yaruy wyfxy) (clear yaruy) (clear obokw) (on-table obokw)",
"(clear ppzry) (on vexkp obokw) (arm-empty) (on-table ppzry) (on-table wyfxy) (on yaruy wyfxy) (clear yaruy) (clear vexkp) (on-table obokw)",
"(on vexkp obokw) (on-table wyfxy) (on yaruy wyfxy) (clear yaruy) (holding ppzry) (clear vexkp) (on-table obokw)",
"(clear ppzry) (on vexkp obokw) (arm-empty) (on-table wyfxy) (on yaruy wyfxy) (on ppzry yaruy) (clear vexkp) (on-table obokw)"
] | file_135307 |
GOAL: (on xeqia mccxs) (clear xhomo) (on-table xhomo) (on-table hpdcz) (holding glqvn) (on-table mccxs) (clear xeqia) (clear hpdcz) | GOAL: (on xeqia mccxs) (clear xhomo) (on-table xhomo) (on-table hpdcz) (holding glqvn) (on-table mccxs) (clear xeqia) (clear hpdcz)
STATE: (clear xhomo) (arm-empty) (on-table glqvn) (on-table hpdcz) (clear mccxs) (on-table mccxs) (on xhomo xeqia) (clear hpdcz) (on-table xeqia) (clear glqvn) | [
[
"unstack xhomo xeqia"
],
[
"stack xhomo hpdcz"
],
[
"pick-up xeqia"
],
[
"stack xeqia mccxs"
],
[
"pick-up glqvn"
],
[
"stack glqvn xeqia"
],
[
"unstack xhomo hpdcz"
],
[
"put-down xhomo"
],
[
"unstack glqvn xeqia"
]
] | [
"(on-table glqvn) (on-table hpdcz) (clear mccxs) (on-table mccxs) (holding xhomo) (clear xeqia) (clear hpdcz) (on-table xeqia) (clear glqvn)",
"(clear xhomo) (arm-empty) (on-table glqvn) (on-table hpdcz) (clear mccxs) (on-table mccxs) (on xhomo hpdcz) (clear xeqia) (on-table xeqia) (clear glqvn)",
"(clear xhomo) (on-table glqvn) (on-table hpdcz) (clear mccxs) (on-table mccxs) (on xhomo hpdcz) (holding xeqia) (clear glqvn)",
"(on xeqia mccxs) (clear xhomo) (arm-empty) (on-table glqvn) (on-table hpdcz) (on-table mccxs) (on xhomo hpdcz) (clear xeqia) (clear glqvn)",
"(on xeqia mccxs) (clear xhomo) (on-table hpdcz) (holding glqvn) (on-table mccxs) (on xhomo hpdcz) (clear xeqia)",
"(on xeqia mccxs) (clear xhomo) (arm-empty) (on-table hpdcz) (on glqvn xeqia) (on-table mccxs) (on xhomo hpdcz) (clear glqvn)",
"(on xeqia mccxs) (on-table hpdcz) (on glqvn xeqia) (on-table mccxs) (holding xhomo) (clear hpdcz) (clear glqvn)",
"(arm-empty) (on-table xhomo) (on glqvn xeqia) (clear glqvn) (on xeqia mccxs) (clear xhomo) (on-table hpdcz) (on-table mccxs) (clear hpdcz)",
"(on xeqia mccxs) (clear xhomo) (on-table xhomo) (on-table hpdcz) (holding glqvn) (on-table mccxs) (clear xeqia) (clear hpdcz)"
] | file_56349 |
GOAL: (on vazdd aqqwp) (on-table gephq) (clear vazdd) (on aqqwp rwllz) (holding veouv) (clear gephq) (on-table rwllz) | GOAL: (on vazdd aqqwp) (on-table gephq) (clear vazdd) (on aqqwp rwllz) (holding veouv) (clear gephq) (on-table rwllz)
STATE: (on gephq aqqwp) (clear veouv) (arm-empty) (on aqqwp vazdd) (on-table veouv) (on-table vazdd) (clear rwllz) (clear gephq) (on-table rwllz) | [
[
"unstack gephq aqqwp"
],
[
"put-down gephq"
],
[
"unstack aqqwp vazdd"
],
[
"stack aqqwp rwllz"
],
[
"pick-up vazdd"
],
[
"stack vazdd aqqwp"
],
[
"pick-up veouv"
]
] | [
"(holding gephq) (clear veouv) (on aqqwp vazdd) (on-table veouv) (on-table vazdd) (clear rwllz) (on-table rwllz) (clear aqqwp)",
"(clear veouv) (arm-empty) (on aqqwp vazdd) (on-table veouv) (on-table gephq) (on-table vazdd) (clear rwllz) (clear gephq) (on-table rwllz) (clear aqqwp)",
"(clear veouv) (on-table veouv) (on-table gephq) (clear vazdd) (holding aqqwp) (on-table vazdd) (clear rwllz) (clear gephq) (on-table rwllz)",
"(clear veouv) (arm-empty) (on-table veouv) (on-table gephq) (clear vazdd) (on aqqwp rwllz) (on-table vazdd) (clear gephq) (on-table rwllz) (clear aqqwp)",
"(clear veouv) (on-table veouv) (on-table gephq) (holding vazdd) (on aqqwp rwllz) (clear gephq) (on-table rwllz) (clear aqqwp)",
"(clear veouv) (arm-empty) (on-table veouv) (on vazdd aqqwp) (on-table gephq) (clear vazdd) (on aqqwp rwllz) (clear gephq) (on-table rwllz)",
"(on vazdd aqqwp) (on-table gephq) (clear vazdd) (on aqqwp rwllz) (holding veouv) (clear gephq) (on-table rwllz)"
] | file_178507 |
GOAL: (arm-empty) (on-table vceue) (on mxwcg ovbac) (on-table rddmj) (on qskbo rddmj) (on ovbac vceue) (clear mxwcg) (clear qskbo) | GOAL: (arm-empty) (on-table vceue) (on mxwcg ovbac) (on-table rddmj) (on qskbo rddmj) (on ovbac vceue) (clear mxwcg) (clear qskbo)
STATE: (holding qskbo) (clear ovbac) (on mxwcg vceue) (on-table vceue) (clear rddmj) (on-table rddmj) (on ovbac mxwcg) | [
[
"stack qskbo rddmj"
],
[
"unstack ovbac mxwcg"
],
[
"stack ovbac qskbo"
],
[
"unstack mxwcg vceue"
],
[
"put-down mxwcg"
],
[
"unstack ovbac qskbo"
],
[
"put-down ovbac"
],
[
"pick-up mxwcg"
],
[
"stack mxwcg qskbo"
],
[
"pick-up ovbac"
],
[
"stack ovbac vceue"
],
[
"unstack mxwcg qskbo"
],
[
"stack mxwcg ovbac"
]
] | [
"(clear ovbac) (on mxwcg vceue) (arm-empty) (on-table vceue) (on-table rddmj) (on qskbo rddmj) (on ovbac mxwcg) (clear qskbo)",
"(on mxwcg vceue) (on-table vceue) (holding ovbac) (on-table rddmj) (on qskbo rddmj) (clear mxwcg) (clear qskbo)",
"(on mxwcg vceue) (clear ovbac) (arm-empty) (on-table vceue) (on-table rddmj) (on qskbo rddmj) (on ovbac qskbo) (clear mxwcg)",
"(clear ovbac) (on-table vceue) (on-table rddmj) (on qskbo rddmj) (on ovbac qskbo) (holding mxwcg) (clear vceue)",
"(arm-empty) (on-table vceue) (on ovbac qskbo) (clear vceue) (clear ovbac) (on-table rddmj) (on qskbo rddmj) (clear mxwcg) (on-table mxwcg)",
"(on-table vceue) (holding ovbac) (on-table rddmj) (on qskbo rddmj) (clear mxwcg) (clear qskbo) (on-table mxwcg) (clear vceue)",
"(clear ovbac) (arm-empty) (on-table ovbac) (on-table vceue) (clear vceue) (on-table rddmj) (clear mxwcg) (on qskbo rddmj) (on-table mxwcg) (clear qskbo)",
"(clear ovbac) (on-table ovbac) (on-table vceue) (on-table rddmj) (on qskbo rddmj) (holding mxwcg) (clear qskbo) (clear vceue)",
"(clear ovbac) (arm-empty) (on-table ovbac) (on-table vceue) (on-table rddmj) (on qskbo rddmj) (on mxwcg qskbo) (clear mxwcg) (clear vceue)",
"(on-table vceue) (holding ovbac) (on-table rddmj) (on qskbo rddmj) (on mxwcg qskbo) (clear mxwcg) (clear vceue)",
"(clear ovbac) (arm-empty) (on-table vceue) (on-table rddmj) (on qskbo rddmj) (on mxwcg qskbo) (on ovbac vceue) (clear mxwcg)",
"(clear ovbac) (on-table vceue) (on-table rddmj) (on qskbo rddmj) (on ovbac vceue) (holding mxwcg) (clear qskbo)",
"(arm-empty) (on-table vceue) (on mxwcg ovbac) (on-table rddmj) (on qskbo rddmj) (on ovbac vceue) (clear mxwcg) (clear qskbo)"
] | file_72953 |
GOAL: (on tjhel tppwa) (arm-empty) (on-table xqois) (on-table tppwa) (clear mircq) (clear xqois) (on-table vblxn) (on mircq tjhel) (clear vblxn) | GOAL: (on tjhel tppwa) (arm-empty) (on-table xqois) (on-table tppwa) (clear mircq) (clear xqois) (on-table vblxn) (on mircq tjhel) (clear vblxn)
STATE: (clear xqois) (arm-empty) (on-table xqois) (on-table tppwa) (on-table mircq) (on vblxn mircq) (on tjhel vblxn) (clear tjhel) (clear tppwa) | [
[
"unstack tjhel vblxn"
],
[
"stack tjhel tppwa"
],
[
"unstack vblxn mircq"
],
[
"stack vblxn xqois"
],
[
"pick-up mircq"
],
[
"stack mircq tjhel"
],
[
"unstack vblxn xqois"
],
[
"put-down vblxn"
]
] | [
"(clear xqois) (on-table xqois) (on-table tppwa) (on-table mircq) (on vblxn mircq) (holding tjhel) (clear vblxn) (clear tppwa)",
"(clear xqois) (on tjhel tppwa) (arm-empty) (on-table xqois) (on-table tppwa) (on-table mircq) (on vblxn mircq) (clear tjhel) (clear vblxn)",
"(holding vblxn) (clear xqois) (on tjhel tppwa) (on-table xqois) (on-table tppwa) (clear mircq) (on-table mircq) (clear tjhel)",
"(on tjhel tppwa) (arm-empty) (on-table xqois) (on-table tppwa) (clear mircq) (on-table mircq) (clear tjhel) (on vblxn xqois) (clear vblxn)",
"(on tjhel tppwa) (on-table xqois) (on-table tppwa) (holding mircq) (clear tjhel) (on vblxn xqois) (clear vblxn)",
"(on tjhel tppwa) (arm-empty) (on-table xqois) (on-table tppwa) (clear mircq) (on mircq tjhel) (on vblxn xqois) (clear vblxn)",
"(holding vblxn) (on tjhel tppwa) (clear xqois) (on-table xqois) (on-table tppwa) (clear mircq) (on mircq tjhel)",
"(on tjhel tppwa) (arm-empty) (on-table xqois) (on-table tppwa) (clear mircq) (clear xqois) (on-table vblxn) (on mircq tjhel) (clear vblxn)"
] | file_65209 |
GOAL: (on owuus imeba) (arm-empty) (on-table imeba) (clear dtbna) (on dtbna drfur) (on drfur vdflv) (clear owuus) (on-table vdflv) | GOAL: (on owuus imeba) (arm-empty) (on-table imeba) (clear dtbna) (on dtbna drfur) (on drfur vdflv) (clear owuus) (on-table vdflv)
STATE: (holding owuus) (clear drfur) (on-table drfur) (on-table imeba) (clear dtbna) (on dtbna vdflv) (on-table vdflv) (clear imeba) | [
[
"stack owuus imeba"
],
[
"unstack dtbna vdflv"
],
[
"stack dtbna owuus"
],
[
"pick-up drfur"
],
[
"stack drfur vdflv"
],
[
"unstack dtbna owuus"
],
[
"stack dtbna drfur"
]
] | [
"(on owuus imeba) (clear drfur) (arm-empty) (on-table drfur) (on-table imeba) (clear dtbna) (on dtbna vdflv) (clear owuus) (on-table vdflv)",
"(on owuus imeba) (clear drfur) (on-table drfur) (on-table imeba) (holding dtbna) (clear vdflv) (clear owuus) (on-table vdflv)",
"(on owuus imeba) (clear drfur) (on dtbna owuus) (arm-empty) (on-table drfur) (on-table imeba) (clear dtbna) (clear vdflv) (on-table vdflv)",
"(on owuus imeba) (on dtbna owuus) (on-table imeba) (clear dtbna) (holding drfur) (clear vdflv) (on-table vdflv)",
"(on owuus imeba) (clear drfur) (on dtbna owuus) (arm-empty) (on-table imeba) (clear dtbna) (on drfur vdflv) (on-table vdflv)",
"(on owuus imeba) (clear drfur) (on-table imeba) (holding dtbna) (on drfur vdflv) (clear owuus) (on-table vdflv)",
"(on owuus imeba) (arm-empty) (on-table imeba) (clear dtbna) (on dtbna drfur) (on drfur vdflv) (clear owuus) (on-table vdflv)"
] | file_41849 |
GOAL: (holding olsra) (on lzuud tkkfa) (on-table xrirf) (on feglq xrirf) (clear feglq) (on-table tkkfa) (clear lzuud) | GOAL: (holding olsra) (on lzuud tkkfa) (on-table xrirf) (on feglq xrirf) (clear feglq) (on-table tkkfa) (clear lzuud)
STATE: (clear olsra) (arm-empty) (on-table olsra) (on-table feglq) (clear xrirf) (on lzuud tkkfa) (on-table xrirf) (clear feglq) (on-table tkkfa) (clear lzuud) | [
[
"pick-up xrirf"
],
[
"stack xrirf feglq"
],
[
"pick-up olsra"
],
[
"stack olsra lzuud"
],
[
"unstack xrirf feglq"
],
[
"put-down xrirf"
],
[
"pick-up feglq"
],
[
"stack feglq xrirf"
],
[
"unstack olsra lzuud"
]
] | [
"(clear olsra) (on-table olsra) (on-table feglq) (holding xrirf) (on lzuud tkkfa) (clear feglq) (on-table tkkfa) (clear lzuud)",
"(clear olsra) (on xrirf feglq) (arm-empty) (on-table olsra) (on-table feglq) (clear xrirf) (on lzuud tkkfa) (on-table tkkfa) (clear lzuud)",
"(on xrirf feglq) (on-table feglq) (clear xrirf) (on lzuud tkkfa) (holding olsra) (on-table tkkfa) (clear lzuud)",
"(clear olsra) (on xrirf feglq) (arm-empty) (on-table feglq) (clear xrirf) (on lzuud tkkfa) (on olsra lzuud) (on-table tkkfa)",
"(clear olsra) (on-table feglq) (holding xrirf) (on lzuud tkkfa) (on olsra lzuud) (clear feglq) (on-table tkkfa)",
"(arm-empty) (clear xrirf) (on lzuud tkkfa) (on olsra lzuud) (clear olsra) (on-table feglq) (on-table xrirf) (clear feglq) (on-table tkkfa)",
"(holding feglq) (clear olsra) (clear xrirf) (on lzuud tkkfa) (on-table xrirf) (on olsra lzuud) (on-table tkkfa)",
"(clear olsra) (arm-empty) (on lzuud tkkfa) (on-table xrirf) (on feglq xrirf) (on olsra lzuud) (clear feglq) (on-table tkkfa)",
"(holding olsra) (on lzuud tkkfa) (on-table xrirf) (on feglq xrirf) (clear feglq) (on-table tkkfa) (clear lzuud)"
] | file_118610 |
GOAL: (on zxrth azamm) (on momnd siuts) (on-table ljbmj) (arm-empty) (on siuts ljbmj) (clear zxrth) (on-table azamm) (clear momnd) | GOAL: (on zxrth azamm) (on momnd siuts) (on-table ljbmj) (arm-empty) (on siuts ljbmj) (clear zxrth) (on-table azamm) (clear momnd)
STATE: (arm-empty) (clear siuts) (on momnd azamm) (on-table siuts) (on ljbmj momnd) (on zxrth ljbmj) (clear zxrth) (on-table azamm) | [
[
"unstack zxrth ljbmj"
],
[
"stack zxrth siuts"
],
[
"unstack ljbmj momnd"
],
[
"put-down ljbmj"
],
[
"unstack momnd azamm"
],
[
"put-down momnd"
],
[
"unstack zxrth siuts"
],
[
"stack zxrth azamm"
],
[
"pick-up siuts"
],
[
"stack siuts ljbmj"
],
[
"pick-up momnd"
],
[
"stack momnd siuts"
]
] | [
"(holding zxrth) (clear ljbmj) (clear siuts) (on momnd azamm) (on-table siuts) (on ljbmj momnd) (on-table azamm)",
"(clear ljbmj) (arm-empty) (on momnd azamm) (on-table siuts) (on zxrth siuts) (on ljbmj momnd) (clear zxrth) (on-table azamm)",
"(holding ljbmj) (on momnd azamm) (on-table siuts) (on zxrth siuts) (clear zxrth) (on-table azamm) (clear momnd)",
"(arm-empty) (on-table ljbmj) (on momnd azamm) (clear momnd) (clear ljbmj) (on-table siuts) (on zxrth siuts) (clear zxrth) (on-table azamm)",
"(clear ljbmj) (on-table ljbmj) (holding momnd) (on-table siuts) (on zxrth siuts) (clear azamm) (clear zxrth) (on-table azamm)",
"(clear ljbmj) (arm-empty) (on-table ljbmj) (on-table momnd) (on-table siuts) (on zxrth siuts) (clear azamm) (clear zxrth) (on-table azamm) (clear momnd)",
"(holding zxrth) (clear ljbmj) (on-table ljbmj) (on-table momnd) (clear siuts) (on-table siuts) (clear azamm) (on-table azamm) (clear momnd)",
"(clear ljbmj) (on zxrth azamm) (arm-empty) (on-table ljbmj) (on-table momnd) (clear siuts) (on-table siuts) (clear zxrth) (on-table azamm) (clear momnd)",
"(clear ljbmj) (on zxrth azamm) (on-table ljbmj) (on-table momnd) (holding siuts) (clear zxrth) (on-table azamm) (clear momnd)",
"(on zxrth azamm) (arm-empty) (on-table ljbmj) (on-table momnd) (clear siuts) (on siuts ljbmj) (clear zxrth) (on-table azamm) (clear momnd)",
"(on zxrth azamm) (on-table ljbmj) (clear siuts) (holding momnd) (on siuts ljbmj) (clear zxrth) (on-table azamm)",
"(on zxrth azamm) (on momnd siuts) (on-table ljbmj) (arm-empty) (on siuts ljbmj) (clear zxrth) (on-table azamm) (clear momnd)"
] | file_130254 |
GOAL: (arm-empty) (on-table qjtfc) (on wwddw voavo) (on-table vtryn) (on zwjkt qjtfc) (clear wwddw) (on voavo vtryn) (clear zwjkt) | GOAL: (arm-empty) (on-table qjtfc) (on wwddw voavo) (on-table vtryn) (on zwjkt qjtfc) (clear wwddw) (on voavo vtryn) (clear zwjkt)
STATE: (on-table qjtfc) (on-table vtryn) (clear wwddw) (holding voavo) (on wwddw qjtfc) (clear zwjkt) (clear vtryn) (on-table zwjkt) | [
[
"stack voavo vtryn"
],
[
"unstack wwddw qjtfc"
],
[
"stack wwddw voavo"
],
[
"pick-up zwjkt"
],
[
"stack zwjkt qjtfc"
]
] | [
"(arm-empty) (on-table qjtfc) (on-table vtryn) (clear wwddw) (on voavo vtryn) (on wwddw qjtfc) (clear zwjkt) (on-table zwjkt) (clear voavo)",
"(clear qjtfc) (on-table qjtfc) (on-table vtryn) (holding wwddw) (on voavo vtryn) (clear zwjkt) (on-table zwjkt) (clear voavo)",
"(clear qjtfc) (arm-empty) (on-table qjtfc) (on wwddw voavo) (on-table vtryn) (clear wwddw) (on voavo vtryn) (clear zwjkt) (on-table zwjkt)",
"(clear qjtfc) (on-table qjtfc) (on wwddw voavo) (on-table vtryn) (clear wwddw) (on voavo vtryn) (holding zwjkt)",
"(arm-empty) (on-table qjtfc) (on wwddw voavo) (on-table vtryn) (on zwjkt qjtfc) (clear wwddw) (on voavo vtryn) (clear zwjkt)"
] | file_87052 |
GOAL: (on qffxg dospz) (on qamyo qffxg) (arm-empty) (on lumpr rqxsn) (on dospz lumpr) (on-table rqxsn) (clear qamyo) | GOAL: (on qffxg dospz) (on qamyo qffxg) (arm-empty) (on lumpr rqxsn) (on dospz lumpr) (on-table rqxsn) (clear qamyo)
STATE: (clear lumpr) (arm-empty) (on-table qamyo) (on-table dospz) (clear qffxg) (on-table qffxg) (on lumpr qamyo) (clear rqxsn) (clear dospz) (on-table rqxsn) | [
[
"unstack lumpr qamyo"
],
[
"stack lumpr rqxsn"
],
[
"pick-up dospz"
],
[
"stack dospz lumpr"
],
[
"pick-up qffxg"
],
[
"stack qffxg dospz"
],
[
"pick-up qamyo"
],
[
"stack qamyo qffxg"
]
] | [
"(on-table qamyo) (on-table dospz) (clear qffxg) (on-table qffxg) (holding lumpr) (clear rqxsn) (clear dospz) (on-table rqxsn) (clear qamyo)",
"(clear lumpr) (arm-empty) (on-table qamyo) (on-table dospz) (clear qffxg) (on-table qffxg) (on lumpr rqxsn) (clear dospz) (on-table rqxsn) (clear qamyo)",
"(holding dospz) (clear lumpr) (on-table qamyo) (clear qffxg) (on-table qffxg) (on lumpr rqxsn) (on-table rqxsn) (clear qamyo)",
"(clear dospz) (arm-empty) (on-table qamyo) (clear qffxg) (on-table qffxg) (on lumpr rqxsn) (on dospz lumpr) (on-table rqxsn) (clear qamyo)",
"(on-table qamyo) (holding qffxg) (on dospz lumpr) (on lumpr rqxsn) (clear dospz) (on-table rqxsn) (clear qamyo)",
"(on qffxg dospz) (arm-empty) (on-table qamyo) (clear qffxg) (on lumpr rqxsn) (on dospz lumpr) (on-table rqxsn) (clear qamyo)",
"(on qffxg dospz) (clear qffxg) (holding qamyo) (on lumpr rqxsn) (on dospz lumpr) (on-table rqxsn)",
"(on qffxg dospz) (on qamyo qffxg) (arm-empty) (on lumpr rqxsn) (on dospz lumpr) (on-table rqxsn) (clear qamyo)"
] | file_182083 |
GOAL: (arm-empty) (on-table pbamn) (on zthex pbamn) (on kwyfo evvss) (on ubtgo zthex) (on evvss ubtgo) (clear kwyfo) | GOAL: (arm-empty) (on-table pbamn) (on zthex pbamn) (on kwyfo evvss) (on ubtgo zthex) (on evvss ubtgo) (clear kwyfo)
STATE: (holding ubtgo) (on-table pbamn) (on-table kwyfo) (clear zthex) (on zthex pbamn) (clear evvss) (on-table evvss) (clear kwyfo) | [
[
"stack ubtgo zthex"
],
[
"pick-up evvss"
],
[
"stack evvss ubtgo"
],
[
"pick-up kwyfo"
],
[
"stack kwyfo evvss"
]
] | [
"(arm-empty) (on-table pbamn) (on-table kwyfo) (on ubtgo zthex) (on zthex pbamn) (clear evvss) (clear ubtgo) (on-table evvss) (clear kwyfo)",
"(on-table pbamn) (on-table kwyfo) (on ubtgo zthex) (on zthex pbamn) (holding evvss) (clear ubtgo) (clear kwyfo)",
"(arm-empty) (on-table pbamn) (on-table kwyfo) (on zthex pbamn) (on ubtgo zthex) (on evvss ubtgo) (clear evvss) (clear kwyfo)",
"(on-table pbamn) (on zthex pbamn) (holding kwyfo) (on ubtgo zthex) (on evvss ubtgo) (clear evvss)",
"(arm-empty) (on-table pbamn) (on zthex pbamn) (on kwyfo evvss) (on ubtgo zthex) (on evvss ubtgo) (clear kwyfo)"
] | file_217202 |
GOAL: (on gepwu xwnya) (on xsffw eforc) (on eforc gepwu) (clear tvwiw) (arm-empty) (on-table xwnya) (on tvwiw xsffw) | GOAL: (on gepwu xwnya) (on xsffw eforc) (on eforc gepwu) (clear tvwiw) (arm-empty) (on-table xwnya) (on tvwiw xsffw)
STATE: (on gepwu xwnya) (on eforc gepwu) (on-table xwnya) (clear eforc) (holding tvwiw) (clear xsffw) (on-table xsffw) | [
[
"put-down tvwiw"
],
[
"pick-up xsffw"
],
[
"stack xsffw eforc"
],
[
"pick-up tvwiw"
],
[
"stack tvwiw xsffw"
]
] | [
"(on gepwu xwnya) (on eforc gepwu) (arm-empty) (on-table tvwiw) (on-table xwnya) (clear eforc) (clear tvwiw) (clear xsffw) (on-table xsffw)",
"(on gepwu xwnya) (clear tvwiw) (on eforc gepwu) (on-table tvwiw) (on-table xwnya) (clear eforc) (holding xsffw)",
"(on gepwu xwnya) (clear tvwiw) (on eforc gepwu) (on xsffw eforc) (on-table tvwiw) (on-table xwnya) (arm-empty) (clear xsffw)",
"(on gepwu xwnya) (on eforc gepwu) (on xsffw eforc) (on-table xwnya) (holding tvwiw) (clear xsffw)",
"(on gepwu xwnya) (on xsffw eforc) (on eforc gepwu) (clear tvwiw) (arm-empty) (on-table xwnya) (on tvwiw xsffw)"
] | file_2111 |
GOAL: (on aorgc zafrg) (on zafrg guctm) (holding bujac) (on-table guctm) (clear aorgc) | GOAL: (on aorgc zafrg) (on zafrg guctm) (holding bujac) (on-table guctm) (clear aorgc)
STATE: (on guctm aorgc) (on zafrg guctm) (clear zafrg) (holding bujac) (on-table aorgc) | [
[
"put-down bujac"
],
[
"unstack zafrg guctm"
],
[
"stack zafrg bujac"
],
[
"unstack guctm aorgc"
],
[
"put-down guctm"
],
[
"unstack zafrg bujac"
],
[
"stack zafrg guctm"
],
[
"pick-up aorgc"
],
[
"stack aorgc zafrg"
],
[
"pick-up bujac"
]
] | [
"(clear bujac) (on guctm aorgc) (on zafrg guctm) (on-table bujac) (arm-empty) (clear zafrg) (on-table aorgc)",
"(on guctm aorgc) (on-table bujac) (holding zafrg) (clear bujac) (clear guctm) (on-table aorgc)",
"(on guctm aorgc) (arm-empty) (on-table bujac) (on zafrg bujac) (clear zafrg) (clear guctm) (on-table aorgc)",
"(on-table bujac) (clear zafrg) (holding guctm) (on zafrg bujac) (clear aorgc) (on-table aorgc)",
"(arm-empty) (on-table bujac) (clear zafrg) (on-table guctm) (on zafrg bujac) (clear aorgc) (clear guctm) (on-table aorgc)",
"(clear bujac) (on-table bujac) (on-table guctm) (holding zafrg) (clear aorgc) (clear guctm) (on-table aorgc)",
"(clear bujac) (on zafrg guctm) (arm-empty) (on-table bujac) (on-table guctm) (clear zafrg) (clear aorgc) (on-table aorgc)",
"(clear bujac) (on zafrg guctm) (on-table bujac) (on-table guctm) (clear zafrg) (holding aorgc)",
"(on aorgc zafrg) (clear bujac) (on zafrg guctm) (arm-empty) (on-table bujac) (on-table guctm) (clear aorgc)",
"(on aorgc zafrg) (on zafrg guctm) (holding bujac) (on-table guctm) (clear aorgc)"
] | file_2888 |
GOAL: (on pkngr krttr) (on krttr jxroh) (arm-empty) (on-table ukvvr) (on-table jxroh) (on bfvpt ukvvr) (clear pkngr) (clear bfvpt) | GOAL: (on pkngr krttr) (on krttr jxroh) (arm-empty) (on-table ukvvr) (on-table jxroh) (on bfvpt ukvvr) (clear pkngr) (clear bfvpt)
STATE: (clear ukvvr) (on jxroh pkngr) (on-table ukvvr) (clear krttr) (holding bfvpt) (on-table krttr) (clear jxroh) (on-table pkngr) | [
[
"stack bfvpt ukvvr"
],
[
"unstack jxroh pkngr"
],
[
"put-down jxroh"
],
[
"pick-up krttr"
],
[
"stack krttr jxroh"
],
[
"pick-up pkngr"
],
[
"stack pkngr krttr"
]
] | [
"(on jxroh pkngr) (arm-empty) (on-table ukvvr) (on bfvpt ukvvr) (clear krttr) (on-table krttr) (clear jxroh) (on-table pkngr) (clear bfvpt)",
"(holding jxroh) (on-table ukvvr) (on bfvpt ukvvr) (clear krttr) (on-table krttr) (clear pkngr) (on-table pkngr) (clear bfvpt)",
"(arm-empty) (on-table ukvvr) (on-table jxroh) (on bfvpt ukvvr) (clear krttr) (on-table krttr) (clear pkngr) (clear jxroh) (on-table pkngr) (clear bfvpt)",
"(on-table ukvvr) (on-table jxroh) (holding krttr) (on bfvpt ukvvr) (clear pkngr) (clear jxroh) (on-table pkngr) (clear bfvpt)",
"(on krttr jxroh) (arm-empty) (on-table ukvvr) (on-table jxroh) (on bfvpt ukvvr) (clear krttr) (clear pkngr) (on-table pkngr) (clear bfvpt)",
"(on krttr jxroh) (on-table ukvvr) (on-table jxroh) (on bfvpt ukvvr) (clear krttr) (holding pkngr) (clear bfvpt)",
"(on pkngr krttr) (on krttr jxroh) (arm-empty) (on-table ukvvr) (on-table jxroh) (on bfvpt ukvvr) (clear pkngr) (clear bfvpt)"
] | file_218338 |
GOAL: (on cbbbw mqazt) (arm-empty) (on mqazt htmno) (on-table qwesb) (clear qwesb) (on-table hzhek) (on-table htmno) (clear cbbbw) (clear hzhek) | GOAL: (on cbbbw mqazt) (arm-empty) (on mqazt htmno) (on-table qwesb) (clear qwesb) (on-table hzhek) (on-table htmno) (clear cbbbw) (clear hzhek)
STATE: (clear qwesb) (arm-empty) (on mqazt htmno) (on-table qwesb) (on-table hzhek) (on htmno cbbbw) (clear hzhek) (on-table cbbbw) (clear mqazt) | [
[
"pick-up qwesb"
],
[
"stack qwesb hzhek"
],
[
"unstack mqazt htmno"
],
[
"stack mqazt qwesb"
],
[
"unstack htmno cbbbw"
],
[
"put-down htmno"
],
[
"unstack mqazt qwesb"
],
[
"stack mqazt htmno"
],
[
"pick-up cbbbw"
],
[
"stack cbbbw mqazt"
],
[
"unstack qwesb hzhek"
],
[
"put-down qwesb"
]
] | [
"(on mqazt htmno) (on-table hzhek) (on htmno cbbbw) (holding qwesb) (clear hzhek) (on-table cbbbw) (clear mqazt)",
"(clear qwesb) (arm-empty) (on mqazt htmno) (on-table hzhek) (on htmno cbbbw) (on qwesb hzhek) (on-table cbbbw) (clear mqazt)",
"(clear qwesb) (on-table hzhek) (clear htmno) (on htmno cbbbw) (holding mqazt) (on qwesb hzhek) (on-table cbbbw)",
"(arm-empty) (on-table hzhek) (on mqazt qwesb) (clear htmno) (on htmno cbbbw) (on qwesb hzhek) (on-table cbbbw) (clear mqazt)",
"(on-table hzhek) (holding htmno) (on mqazt qwesb) (on qwesb hzhek) (clear cbbbw) (on-table cbbbw) (clear mqazt)",
"(arm-empty) (on mqazt qwesb) (clear htmno) (on qwesb hzhek) (clear mqazt) (on-table hzhek) (on-table htmno) (clear cbbbw) (on-table cbbbw)",
"(clear qwesb) (on-table hzhek) (clear htmno) (holding mqazt) (on-table htmno) (on qwesb hzhek) (clear cbbbw) (on-table cbbbw)",
"(clear qwesb) (arm-empty) (on mqazt htmno) (on-table hzhek) (on-table htmno) (on qwesb hzhek) (clear cbbbw) (on-table cbbbw) (clear mqazt)",
"(clear qwesb) (on mqazt htmno) (on-table hzhek) (on-table htmno) (on qwesb hzhek) (holding cbbbw) (clear mqazt)",
"(clear qwesb) (on cbbbw mqazt) (on mqazt htmno) (arm-empty) (on-table hzhek) (on-table htmno) (on qwesb hzhek) (clear cbbbw)",
"(on cbbbw mqazt) (on mqazt htmno) (on-table hzhek) (on-table htmno) (holding qwesb) (clear cbbbw) (clear hzhek)",
"(on cbbbw mqazt) (arm-empty) (on mqazt htmno) (on-table qwesb) (clear qwesb) (on-table hzhek) (on-table htmno) (clear cbbbw) (clear hzhek)"
] | file_76542 |
GOAL: (clear xxfrs) (arm-empty) (on-table ftwve) (clear eeoqh) (on kljcy caica) (on-table eeoqh) (on caica ftwve) (on xxfrs kljcy) | GOAL: (clear xxfrs) (arm-empty) (on-table ftwve) (clear eeoqh) (on kljcy caica) (on-table eeoqh) (on caica ftwve) (on xxfrs kljcy)
STATE: (arm-empty) (on-table ftwve) (on kljcy xxfrs) (on eeoqh caica) (on caica ftwve) (on xxfrs eeoqh) (clear kljcy) | [
[
"unstack kljcy xxfrs"
],
[
"put-down kljcy"
],
[
"unstack xxfrs eeoqh"
],
[
"stack xxfrs kljcy"
],
[
"unstack eeoqh caica"
],
[
"put-down eeoqh"
],
[
"unstack xxfrs kljcy"
],
[
"stack xxfrs eeoqh"
],
[
"pick-up kljcy"
],
[
"stack kljcy caica"
],
[
"unstack xxfrs eeoqh"
],
[
"stack xxfrs kljcy"
]
] | [
"(holding kljcy) (on caica ftwve) (on xxfrs eeoqh) (clear xxfrs) (on-table ftwve) (on eeoqh caica)",
"(arm-empty) (on-table kljcy) (on caica ftwve) (on xxfrs eeoqh) (clear kljcy) (clear xxfrs) (on-table ftwve) (on eeoqh caica)",
"(on-table kljcy) (on-table ftwve) (clear eeoqh) (on eeoqh caica) (holding xxfrs) (on caica ftwve) (clear kljcy)",
"(clear xxfrs) (arm-empty) (on-table kljcy) (on-table ftwve) (clear eeoqh) (on eeoqh caica) (on caica ftwve) (on xxfrs kljcy)",
"(clear xxfrs) (on-table kljcy) (on-table ftwve) (holding eeoqh) (on caica ftwve) (on xxfrs kljcy) (clear caica)",
"(arm-empty) (on-table kljcy) (clear eeoqh) (on caica ftwve) (on xxfrs kljcy) (clear xxfrs) (on-table ftwve) (on-table eeoqh) (clear caica)",
"(on-table kljcy) (on-table ftwve) (clear eeoqh) (on-table eeoqh) (holding xxfrs) (on caica ftwve) (clear caica) (clear kljcy)",
"(clear xxfrs) (arm-empty) (on-table kljcy) (on-table ftwve) (on xxfrs eeoqh) (on-table eeoqh) (on caica ftwve) (clear caica) (clear kljcy)",
"(clear xxfrs) (on-table ftwve) (on caica ftwve) (holding kljcy) (on-table eeoqh) (on xxfrs eeoqh) (clear caica)",
"(clear xxfrs) (arm-empty) (on-table ftwve) (on xxfrs eeoqh) (on kljcy caica) (on-table eeoqh) (on caica ftwve) (clear kljcy)",
"(on-table ftwve) (clear eeoqh) (on kljcy caica) (on-table eeoqh) (holding xxfrs) (on caica ftwve) (clear kljcy)",
"(clear xxfrs) (arm-empty) (on-table ftwve) (clear eeoqh) (on kljcy caica) (on-table eeoqh) (on caica ftwve) (on xxfrs kljcy)"
] | file_208431 |
GOAL: (on oydqo acxbp) (on lliyc oydqo) (arm-empty) (on-table uzurx) (on acxbp uzurx) (clear lliyc) (clear afodn) (on-table afodn) | GOAL: (on oydqo acxbp) (on lliyc oydqo) (arm-empty) (on-table uzurx) (on acxbp uzurx) (clear lliyc) (clear afodn) (on-table afodn)
STATE: (clear uzurx) (arm-empty) (on-table uzurx) (on-table acxbp) (on-table lliyc) (on oydqo lliyc) (clear afodn) (clear oydqo) (on-table afodn) (clear acxbp) | [
[
"pick-up acxbp"
],
[
"stack acxbp uzurx"
],
[
"unstack oydqo lliyc"
],
[
"stack oydqo acxbp"
],
[
"pick-up lliyc"
],
[
"stack lliyc oydqo"
]
] | [
"(clear uzurx) (on-table uzurx) (holding acxbp) (on-table lliyc) (on oydqo lliyc) (clear afodn) (clear oydqo) (on-table afodn)",
"(arm-empty) (on-table uzurx) (on acxbp uzurx) (on-table lliyc) (on oydqo lliyc) (clear afodn) (clear oydqo) (on-table afodn) (clear acxbp)",
"(holding oydqo) (on-table uzurx) (on acxbp uzurx) (clear lliyc) (on-table lliyc) (clear afodn) (on-table afodn) (clear acxbp)",
"(on oydqo acxbp) (arm-empty) (on-table uzurx) (on acxbp uzurx) (clear lliyc) (on-table lliyc) (clear afodn) (clear oydqo) (on-table afodn)",
"(on oydqo acxbp) (on-table uzurx) (holding lliyc) (on acxbp uzurx) (clear afodn) (clear oydqo) (on-table afodn)",
"(on oydqo acxbp) (on lliyc oydqo) (arm-empty) (on-table uzurx) (on acxbp uzurx) (clear lliyc) (clear afodn) (on-table afodn)"
] | file_132390 |
GOAL: (holding owczn) (clear odgga) (on-table fkuol) (on bhjju xmyka) (on odgga bhjju) (on-table xmyka) (clear fkuol) | GOAL: (holding owczn) (clear odgga) (on-table fkuol) (on bhjju xmyka) (on odgga bhjju) (on-table xmyka) (clear fkuol)
STATE: (on owczn fkuol) (clear odgga) (arm-empty) (on-table odgga) (on-table fkuol) (clear bhjju) (on-table bhjju) (clear xmyka) (clear owczn) (on-table xmyka) | [
[
"pick-up bhjju"
],
[
"stack bhjju xmyka"
],
[
"pick-up odgga"
],
[
"stack odgga bhjju"
],
[
"unstack owczn fkuol"
]
] | [
"(on owczn fkuol) (clear odgga) (on-table odgga) (on-table fkuol) (holding bhjju) (clear xmyka) (clear owczn) (on-table xmyka)",
"(on owczn fkuol) (clear odgga) (arm-empty) (on-table odgga) (on-table fkuol) (clear bhjju) (on bhjju xmyka) (clear owczn) (on-table xmyka)",
"(on owczn fkuol) (on-table fkuol) (clear bhjju) (on bhjju xmyka) (holding odgga) (clear owczn) (on-table xmyka)",
"(on owczn fkuol) (clear odgga) (arm-empty) (on-table fkuol) (on bhjju xmyka) (on odgga bhjju) (clear owczn) (on-table xmyka)",
"(holding owczn) (clear odgga) (on-table fkuol) (on bhjju xmyka) (on odgga bhjju) (on-table xmyka) (clear fkuol)"
] | file_180926 |
GOAL: (on zplho rpbzr) (clear alcjy) (on rpbzr kfzht) (on-table alcjy) (on-table kfzht) (holding yolpn) (clear zplho) | GOAL: (on zplho rpbzr) (clear alcjy) (on rpbzr kfzht) (on-table alcjy) (on-table kfzht) (holding yolpn) (clear zplho)
STATE: (on zplho yolpn) (arm-empty) (on-table alcjy) (on yolpn alcjy) (clear kfzht) (on rpbzr zplho) (on-table kfzht) (clear rpbzr) | [
[
"unstack rpbzr zplho"
],
[
"stack rpbzr kfzht"
],
[
"unstack zplho yolpn"
],
[
"stack zplho rpbzr"
],
[
"unstack yolpn alcjy"
]
] | [
"(on zplho yolpn) (on-table alcjy) (on yolpn alcjy) (clear kfzht) (holding rpbzr) (on-table kfzht) (clear zplho)",
"(on zplho yolpn) (on rpbzr kfzht) (on-table alcjy) (arm-empty) (on yolpn alcjy) (on-table kfzht) (clear zplho) (clear rpbzr)",
"(holding zplho) (on rpbzr kfzht) (on-table alcjy) (on yolpn alcjy) (on-table kfzht) (clear yolpn) (clear rpbzr)",
"(on zplho rpbzr) (arm-empty) (on rpbzr kfzht) (on-table alcjy) (on yolpn alcjy) (on-table kfzht) (clear yolpn) (clear zplho)",
"(on zplho rpbzr) (clear alcjy) (on rpbzr kfzht) (on-table alcjy) (on-table kfzht) (holding yolpn) (clear zplho)"
] | file_204084 |
GOAL: (clear ebhut) (arm-empty) (on-table ebhut) (on-table fgyxo) (on uwpfk fgyxo) (on xrmcl uwpfk) (clear xrmcl) | GOAL: (clear ebhut) (arm-empty) (on-table ebhut) (on-table fgyxo) (on uwpfk fgyxo) (on xrmcl uwpfk) (clear xrmcl)
STATE: (holding uwpfk) (on-table ebhut) (on xrmcl ebhut) (clear fgyxo) (on-table fgyxo) (clear xrmcl) | [
[
"stack uwpfk fgyxo"
],
[
"unstack xrmcl ebhut"
],
[
"stack xrmcl uwpfk"
]
] | [
"(arm-empty) (on-table ebhut) (on xrmcl ebhut) (on-table fgyxo) (on uwpfk fgyxo) (clear xrmcl) (clear uwpfk)",
"(on-table ebhut) (clear ebhut) (on-table fgyxo) (on uwpfk fgyxo) (holding xrmcl) (clear uwpfk)",
"(clear ebhut) (arm-empty) (on-table ebhut) (on-table fgyxo) (on uwpfk fgyxo) (on xrmcl uwpfk) (clear xrmcl)"
] | file_104438 |
GOAL: (clear rxjfk) (on-table rxjfk) (holding umtbu) (on-table tcwxm) (on knkrt tcwxm) (clear sacoc) (clear knkrt) (on-table sacoc) | GOAL: (clear rxjfk) (on-table rxjfk) (holding umtbu) (on-table tcwxm) (on knkrt tcwxm) (clear sacoc) (clear knkrt) (on-table sacoc)
STATE: (clear rxjfk) (arm-empty) (on-table umtbu) (on-table knkrt) (clear tcwxm) (on-table tcwxm) (on rxjfk umtbu) (clear sacoc) (clear knkrt) (on-table sacoc) | [
[
"unstack rxjfk umtbu"
],
[
"stack rxjfk sacoc"
],
[
"pick-up umtbu"
],
[
"stack umtbu rxjfk"
],
[
"pick-up knkrt"
],
[
"stack knkrt tcwxm"
],
[
"unstack umtbu rxjfk"
],
[
"put-down umtbu"
],
[
"unstack rxjfk sacoc"
],
[
"put-down rxjfk"
],
[
"pick-up umtbu"
]
] | [
"(on-table umtbu) (on-table knkrt) (clear tcwxm) (on-table tcwxm) (holding rxjfk) (clear sacoc) (clear knkrt) (on-table sacoc) (clear umtbu)",
"(clear rxjfk) (arm-empty) (on-table umtbu) (on-table knkrt) (clear tcwxm) (on-table tcwxm) (on rxjfk sacoc) (clear knkrt) (on-table sacoc) (clear umtbu)",
"(clear rxjfk) (on-table knkrt) (clear tcwxm) (holding umtbu) (on-table tcwxm) (on rxjfk sacoc) (clear knkrt) (on-table sacoc)",
"(arm-empty) (on-table knkrt) (on umtbu rxjfk) (clear tcwxm) (on-table tcwxm) (on rxjfk sacoc) (clear knkrt) (on-table sacoc) (clear umtbu)",
"(holding knkrt) (on umtbu rxjfk) (clear tcwxm) (on-table tcwxm) (on rxjfk sacoc) (on-table sacoc) (clear umtbu)",
"(arm-empty) (on umtbu rxjfk) (on-table tcwxm) (on knkrt tcwxm) (on rxjfk sacoc) (clear knkrt) (on-table sacoc) (clear umtbu)",
"(clear rxjfk) (holding umtbu) (on-table tcwxm) (on knkrt tcwxm) (on rxjfk sacoc) (clear knkrt) (on-table sacoc)",
"(arm-empty) (on-table umtbu) (clear umtbu) (clear rxjfk) (on-table tcwxm) (on knkrt tcwxm) (on rxjfk sacoc) (clear knkrt) (on-table sacoc)",
"(on-table umtbu) (holding rxjfk) (on-table tcwxm) (on knkrt tcwxm) (clear sacoc) (clear knkrt) (on-table sacoc) (clear umtbu)",
"(clear rxjfk) (arm-empty) (on-table rxjfk) (on-table umtbu) (clear umtbu) (on-table tcwxm) (clear sacoc) (on knkrt tcwxm) (on-table sacoc) (clear knkrt)",
"(clear rxjfk) (on-table rxjfk) (holding umtbu) (on-table tcwxm) (on knkrt tcwxm) (clear sacoc) (clear knkrt) (on-table sacoc)"
] | file_181907 |
GOAL: (on mincb pirnq) (clear oivfs) (arm-empty) (on-table vwdjw) (on-table nfyln) (on-table pirnq) (on oivfs nfyln) (clear mincb) (clear vwdjw) | GOAL: (on mincb pirnq) (clear oivfs) (arm-empty) (on-table vwdjw) (on-table nfyln) (on-table pirnq) (on oivfs nfyln) (clear mincb) (clear vwdjw)
STATE: (on nfyln vwdjw) (on pirnq nfyln) (arm-empty) (on-table vwdjw) (on mincb oivfs) (on oivfs pirnq) (clear mincb) | [
[
"unstack mincb oivfs"
],
[
"put-down mincb"
],
[
"unstack oivfs pirnq"
],
[
"put-down oivfs"
],
[
"unstack pirnq nfyln"
],
[
"put-down pirnq"
],
[
"pick-up mincb"
],
[
"stack mincb pirnq"
],
[
"pick-up oivfs"
],
[
"stack oivfs mincb"
],
[
"unstack nfyln vwdjw"
],
[
"put-down nfyln"
],
[
"unstack oivfs mincb"
],
[
"stack oivfs nfyln"
]
] | [
"(on nfyln vwdjw) (on pirnq nfyln) (on-table vwdjw) (on oivfs pirnq) (clear oivfs) (holding mincb)",
"(on nfyln vwdjw) (on pirnq nfyln) (arm-empty) (on-table vwdjw) (on oivfs pirnq) (clear oivfs) (clear mincb) (on-table mincb)",
"(on nfyln vwdjw) (on pirnq nfyln) (on-table vwdjw) (clear pirnq) (holding oivfs) (clear mincb) (on-table mincb)",
"(on nfyln vwdjw) (on pirnq nfyln) (arm-empty) (on-table oivfs) (on-table vwdjw) (clear pirnq) (clear oivfs) (clear mincb) (on-table mincb)",
"(on nfyln vwdjw) (clear oivfs) (on-table oivfs) (on-table vwdjw) (holding pirnq) (clear mincb) (clear nfyln) (on-table mincb)",
"(on nfyln vwdjw) (clear oivfs) (arm-empty) (on-table oivfs) (on-table vwdjw) (clear pirnq) (on-table pirnq) (clear mincb) (clear nfyln) (on-table mincb)",
"(on nfyln vwdjw) (clear oivfs) (on-table oivfs) (on-table vwdjw) (clear pirnq) (on-table pirnq) (holding mincb) (clear nfyln)",
"(on nfyln vwdjw) (clear oivfs) (on mincb pirnq) (arm-empty) (on-table oivfs) (on-table vwdjw) (on-table pirnq) (clear mincb) (clear nfyln)",
"(on nfyln vwdjw) (on mincb pirnq) (on-table vwdjw) (on-table pirnq) (holding oivfs) (clear mincb) (clear nfyln)",
"(on nfyln vwdjw) (on mincb pirnq) (clear oivfs) (arm-empty) (on-table vwdjw) (on-table pirnq) (on oivfs mincb) (clear nfyln)",
"(holding nfyln) (on mincb pirnq) (clear oivfs) (on-table vwdjw) (on-table pirnq) (on oivfs mincb) (clear vwdjw)",
"(arm-empty) (on-table vwdjw) (clear vwdjw) (on mincb pirnq) (clear oivfs) (on-table nfyln) (on-table pirnq) (on oivfs mincb) (clear nfyln)",
"(on mincb pirnq) (on-table vwdjw) (on-table nfyln) (on-table pirnq) (holding oivfs) (clear mincb) (clear nfyln) (clear vwdjw)",
"(on mincb pirnq) (clear oivfs) (arm-empty) (on-table vwdjw) (on-table nfyln) (on-table pirnq) (on oivfs nfyln) (clear mincb) (clear vwdjw)"
] | file_158111 |
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