goal stringlengths 69 172 | input stringlengths 140 332 | actions listlengths 1 18 | next_states listlengths 1 18 | source_file stringlengths 6 11 |
|---|---|---|---|---|
GOAL: (on xnorp lkiaa) (clear avuvz) (on-table lkiaa) (holding pmjen) (on avuvz xnorp) (clear gpwdt) (on-table gpwdt) | GOAL: (on xnorp lkiaa) (clear avuvz) (on-table lkiaa) (holding pmjen) (on avuvz xnorp) (clear gpwdt) (on-table gpwdt)
STATE: (on pmjen xnorp) (arm-empty) (on-table lkiaa) (clear pmjen) (on avuvz lkiaa) (clear gpwdt) (on xnorp avuvz) (on-table gpwdt) | [
[
"unstack pmjen xnorp"
],
[
"stack pmjen gpwdt"
],
[
"unstack xnorp avuvz"
],
[
"put-down xnorp"
],
[
"unstack avuvz lkiaa"
],
[
"stack avuvz pmjen"
],
[
"pick-up xnorp"
],
[
"stack xnorp lkiaa"
],
[
"unstack avuvz pmjen"
],
[
"stack avuvz xnorp"
],
[
"unstack pmjen gpwdt"
]
] | [
"(on-table lkiaa) (holding pmjen) (on avuvz lkiaa) (clear gpwdt) (on xnorp avuvz) (clear xnorp) (on-table gpwdt)",
"(arm-empty) (on-table lkiaa) (clear pmjen) (on pmjen gpwdt) (on avuvz lkiaa) (on xnorp avuvz) (clear xnorp) (on-table gpwdt)",
"(holding xnorp) (clear avuvz) (on-table lkiaa) (clear pmjen) (on pmjen gpwdt) (on avuvz lkiaa) (on-table gpwdt)",
"(arm-empty) (on-table lkiaa) (clear pmjen) (on avuvz lkiaa) (clear avuvz) (on-table xnorp) (on pmjen gpwdt) (clear xnorp) (on-table gpwdt)",
"(on-table lkiaa) (on-table xnorp) (clear pmjen) (on pmjen gpwdt) (holding avuvz) (clear xnorp) (on-table gpwdt) (clear lkiaa)",
"(clear avuvz) (arm-empty) (on-table lkiaa) (on-table xnorp) (on pmjen gpwdt) (on avuvz pmjen) (clear xnorp) (on-table gpwdt) (clear lkiaa)",
"(holding xnorp) (clear avuvz) (on-table lkiaa) (on pmjen gpwdt) (on avuvz pmjen) (on-table gpwdt) (clear lkiaa)",
"(on xnorp lkiaa) (clear avuvz) (arm-empty) (on-table lkiaa) (on pmjen gpwdt) (on avuvz pmjen) (clear xnorp) (on-table gpwdt)",
"(on xnorp lkiaa) (on-table lkiaa) (clear pmjen) (on pmjen gpwdt) (holding avuvz) (clear xnorp) (on-table gpwdt)",
"(on xnorp lkiaa) (clear avuvz) (arm-empty) (on-table lkiaa) (clear pmjen) (on pmjen gpwdt) (on avuvz xnorp) (on-table gpwdt)",
"(on xnorp lkiaa) (clear avuvz) (on-table lkiaa) (holding pmjen) (on avuvz xnorp) (clear gpwdt) (on-table gpwdt)"
] | file_121299 |
GOAL: (on npysq kxeku) (on-table asqbc) (on-table kxeku) (clear npysq) (holding pfzli) (clear tvtmx) (on-table tvtmx) (clear asqbc) | GOAL: (on npysq kxeku) (on-table asqbc) (on-table kxeku) (clear npysq) (holding pfzli) (clear tvtmx) (on-table tvtmx) (clear asqbc)
STATE: (holding pfzli) (on asqbc tvtmx) (on-table npysq) (on kxeku npysq) (on tvtmx kxeku) (clear asqbc) | [
[
"put-down pfzli"
],
[
"unstack asqbc tvtmx"
],
[
"stack asqbc pfzli"
],
[
"unstack tvtmx kxeku"
],
[
"stack tvtmx asqbc"
],
[
"unstack kxeku npysq"
],
[
"put-down kxeku"
],
[
"unstack tvtmx asqbc"
],
[
"put-down tvtmx"
],
[
"unstack asqbc pfzli"
],
[
"put-down asqbc"
],
[
"pick-up npysq"
],
[
"stack npysq kxeku"
],
[
"pick-up pfzli"
]
] | [
"(arm-empty) (on-table pfzli) (on asqbc tvtmx) (on tvtmx kxeku) (clear asqbc) (clear pfzli) (on-table npysq) (on kxeku npysq)",
"(clear pfzli) (on-table pfzli) (holding asqbc) (on-table npysq) (on kxeku npysq) (on tvtmx kxeku) (clear tvtmx)",
"(arm-empty) (on-table pfzli) (on asqbc pfzli) (on-table npysq) (on kxeku npysq) (on tvtmx kxeku) (clear tvtmx) (clear asqbc)",
"(on-table pfzli) (on asqbc pfzli) (on-table npysq) (on kxeku npysq) (holding tvtmx) (clear kxeku) (clear asqbc)",
"(on tvtmx asqbc) (arm-empty) (on-table pfzli) (on asqbc pfzli) (on-table npysq) (on kxeku npysq) (clear tvtmx) (clear kxeku)",
"(holding kxeku) (on tvtmx asqbc) (on-table pfzli) (on asqbc pfzli) (clear npysq) (on-table npysq) (clear tvtmx)",
"(on tvtmx asqbc) (arm-empty) (on-table pfzli) (on asqbc pfzli) (clear npysq) (on-table kxeku) (on-table npysq) (clear tvtmx) (clear kxeku)",
"(on-table pfzli) (on-table kxeku) (on asqbc pfzli) (clear npysq) (on-table npysq) (holding tvtmx) (clear kxeku) (clear asqbc)",
"(arm-empty) (on-table pfzli) (on-table kxeku) (on asqbc pfzli) (clear npysq) (on-table npysq) (clear tvtmx) (clear kxeku) (on-table tvtmx) (clear asqbc)",
"(clear pfzli) (on-table pfzli) (on-table kxeku) (clear npysq) (holding asqbc) (on-table npysq) (clear tvtmx) (clear kxeku) (on-table tvtmx)",
"(clear pfzli) (arm-empty) (on-table pfzli) (on-table asqbc) (on-table kxeku) (clear npysq) (on-table npysq) (clear tvtmx) (clear kxeku) (on-table tvtmx) (clear asqbc)",
"(clear pfzli) (on-table pfzli) (on-table asqbc) (on-table kxeku) (holding npysq) (clear tvtmx) (clear kxeku) (on-table tvtmx) (clear asqbc)",
"(clear pfzli) (on npysq kxeku) (arm-empty) (on-table pfzli) (on-table asqbc) (on-table kxeku) (clear npysq) (clear tvtmx) (on-table tvtmx) (clear asqbc)",
"(on npysq kxeku) (on-table asqbc) (on-table kxeku) (clear npysq) (holding pfzli) (clear tvtmx) (on-table tvtmx) (clear asqbc)"
] | file_117269 |
GOAL: (clear acjud) (on otkol tzfle) (arm-empty) (on axrgb otkol) (on-table otllj) (on acjud otllj) (on-table tzfle) (clear axrgb) | GOAL: (clear acjud) (on otkol tzfle) (arm-empty) (on axrgb otkol) (on-table otllj) (on acjud otllj) (on-table tzfle) (clear axrgb)
STATE: (clear acjud) (on-table otkol) (holding axrgb) (on-table otllj) (on acjud otllj) (clear tzfle) (clear otkol) (on-table tzfle) | [
[
"put-down axrgb"
],
[
"pick-up otkol"
],
[
"stack otkol tzfle"
],
[
"pick-up axrgb"
],
[
"stack axrgb otkol"
]
] | [
"(clear acjud) (arm-empty) (on-table axrgb) (on-table otkol) (on-table otllj) (on acjud otllj) (clear tzfle) (clear otkol) (on-table tzfle) (clear axrgb)",
"(holding otkol) (clear acjud) (on-table axrgb) (on-table otllj) (on acjud otllj) (clear tzfle) (on-table tzfle) (clear axrgb)",
"(clear acjud) (on otkol tzfle) (arm-empty) (on-table axrgb) (on-table otllj) (on acjud otllj) (clear otkol) (on-table tzfle) (clear axrgb)",
"(clear acjud) (on otkol tzfle) (holding axrgb) (on-table otllj) (on acjud otllj) (clear otkol) (on-table tzfle)",
"(clear acjud) (on otkol tzfle) (arm-empty) (on axrgb otkol) (on-table otllj) (on acjud otllj) (on-table tzfle) (clear axrgb)"
] | file_80413 |
GOAL: (clear tczyi) (on-table nopgt) (holding vfncw) (on yhonp nopgt) (on tczyi cspxy) (on-table cspxy) (clear yhonp) | GOAL: (clear tczyi) (on-table nopgt) (holding vfncw) (on yhonp nopgt) (on tczyi cspxy) (on-table cspxy) (clear yhonp)
STATE: (on cspxy vfncw) (clear tczyi) (arm-empty) (on-table tczyi) (on vfncw yhonp) (on-table nopgt) (on yhonp nopgt) (clear cspxy) | [
[
"unstack cspxy vfncw"
],
[
"put-down cspxy"
],
[
"pick-up tczyi"
],
[
"stack tczyi cspxy"
],
[
"unstack vfncw yhonp"
]
] | [
"(clear tczyi) (on-table tczyi) (on vfncw yhonp) (on-table nopgt) (clear vfncw) (on yhonp nopgt) (holding cspxy)",
"(arm-empty) (on-table tczyi) (on vfncw yhonp) (clear vfncw) (clear tczyi) (on-table nopgt) (on yhonp nopgt) (clear cspxy) (on-table cspxy)",
"(on vfncw yhonp) (on-table nopgt) (clear vfncw) (on yhonp nopgt) (holding tczyi) (clear cspxy) (on-table cspxy)",
"(clear tczyi) (arm-empty) (on vfncw yhonp) (on-table nopgt) (clear vfncw) (on yhonp nopgt) (on tczyi cspxy) (on-table cspxy)",
"(clear tczyi) (on-table nopgt) (holding vfncw) (on yhonp nopgt) (on tczyi cspxy) (on-table cspxy) (clear yhonp)"
] | file_159350 |
GOAL: (clear zueov) (on-table zueov) (on-table poqak) (holding enati) (clear poqak) | GOAL: (clear zueov) (on-table zueov) (on-table poqak) (holding enati) (clear poqak)
STATE: (holding poqak) (clear zueov) (on-table zueov) (clear enati) (on-table enati) | [
[
"put-down poqak"
],
[
"pick-up enati"
]
] | [
"(clear zueov) (arm-empty) (on-table zueov) (on-table poqak) (clear enati) (clear poqak) (on-table enati)",
"(clear zueov) (on-table zueov) (on-table poqak) (holding enati) (clear poqak)"
] | file_57059 |
GOAL: (on-table lzsch) (clear vapeo) (on qqecc bmxkx) (on-table vapeo) (holding submb) (clear lzsch) (on-table bmxkx) (clear qqecc) | GOAL: (on-table lzsch) (clear vapeo) (on qqecc bmxkx) (on-table vapeo) (holding submb) (clear lzsch) (on-table bmxkx) (clear qqecc)
STATE: (clear submb) (on-table lzsch) (holding qqecc) (on-table vapeo) (on submb vapeo) (clear bmxkx) (clear lzsch) (on-table bmxkx) | [
[
"stack qqecc bmxkx"
],
[
"unstack submb vapeo"
]
] | [
"(clear submb) (arm-empty) (on-table lzsch) (on qqecc bmxkx) (on-table vapeo) (on submb vapeo) (clear lzsch) (on-table bmxkx) (clear qqecc)",
"(on-table lzsch) (clear vapeo) (on qqecc bmxkx) (on-table vapeo) (holding submb) (clear lzsch) (on-table bmxkx) (clear qqecc)"
] | file_80519 |
GOAL: (arm-empty) (on-table dotix) (on zmmlt bnfjs) (clear bwbrc) (on yeyhh zmmlt) (on-table bwbrc) (on bnfjs dotix) (clear yeyhh) | GOAL: (arm-empty) (on-table dotix) (on zmmlt bnfjs) (clear bwbrc) (on yeyhh zmmlt) (on-table bwbrc) (on bnfjs dotix) (clear yeyhh)
STATE: (on zmmlt yeyhh) (arm-empty) (on yeyhh bwbrc) (on-table bwbrc) (on bnfjs zmmlt) (on dotix bnfjs) (clear dotix) | [
[
"unstack dotix bnfjs"
],
[
"put-down dotix"
],
[
"unstack bnfjs zmmlt"
],
[
"stack bnfjs dotix"
],
[
"unstack zmmlt yeyhh"
],
[
"stack zmmlt bnfjs"
],
[
"unstack yeyhh bwbrc"
],
[
"stack yeyhh zmmlt"
]
] | [
"(on zmmlt yeyhh) (on yeyhh bwbrc) (holding dotix) (clear bnfjs) (on-table bwbrc) (on bnfjs zmmlt)",
"(on zmmlt yeyhh) (arm-empty) (on yeyhh bwbrc) (clear bnfjs) (on-table dotix) (on-table bwbrc) (on bnfjs zmmlt) (clear dotix)",
"(on zmmlt yeyhh) (on yeyhh bwbrc) (on-table dotix) (on-table bwbrc) (holding bnfjs) (clear zmmlt) (clear dotix)",
"(on zmmlt yeyhh) (clear bnfjs) (on yeyhh bwbrc) (arm-empty) (on-table dotix) (on-table bwbrc) (on bnfjs dotix) (clear zmmlt)",
"(clear bnfjs) (on yeyhh bwbrc) (on-table dotix) (on-table bwbrc) (on bnfjs dotix) (holding zmmlt) (clear yeyhh)",
"(arm-empty) (on yeyhh bwbrc) (on-table dotix) (on zmmlt bnfjs) (on-table bwbrc) (on bnfjs dotix) (clear zmmlt) (clear yeyhh)",
"(on-table dotix) (on zmmlt bnfjs) (clear bwbrc) (holding yeyhh) (on-table bwbrc) (on bnfjs dotix) (clear zmmlt)",
"(arm-empty) (on-table dotix) (on zmmlt bnfjs) (clear bwbrc) (on yeyhh zmmlt) (on-table bwbrc) (on bnfjs dotix) (clear yeyhh)"
] | file_122160 |
GOAL: (clear igsjv) (arm-empty) (on-table igsjv) (on-table fxico) (on-table gdrfw) (on cstnq gdrfw) (clear zfwpd) (clear cstnq) (on-table zfwpd) (clear fxico) | GOAL: (clear igsjv) (arm-empty) (on-table igsjv) (on-table fxico) (on-table gdrfw) (on cstnq gdrfw) (clear zfwpd) (clear cstnq) (on-table zfwpd) (clear fxico)
STATE: (holding cstnq) (clear igsjv) (on-table igsjv) (clear gdrfw) (on fxico zfwpd) (on-table gdrfw) (on-table zfwpd) (clear fxico) | [
[
"stack cstnq gdrfw"
],
[
"unstack fxico zfwpd"
],
[
"put-down fxico"
]
] | [
"(clear igsjv) (arm-empty) (on-table igsjv) (on fxico zfwpd) (on-table gdrfw) (on cstnq gdrfw) (clear cstnq) (on-table zfwpd) (clear fxico)",
"(clear igsjv) (on-table igsjv) (holding fxico) (on-table gdrfw) (on cstnq gdrfw) (clear zfwpd) (clear cstnq) (on-table zfwpd)",
"(clear igsjv) (arm-empty) (on-table igsjv) (on-table fxico) (on-table gdrfw) (on cstnq gdrfw) (clear zfwpd) (clear cstnq) (on-table zfwpd) (clear fxico)"
] | file_219875 |
GOAL: (on kjhuq xpjdb) (arm-empty) (on-table oxgzm) (on-table xpjdb) (on tfuqk oxgzm) (clear kjhuq) (clear nmvym) (on-table nmvym) (clear tfuqk) | GOAL: (on kjhuq xpjdb) (arm-empty) (on-table oxgzm) (on-table xpjdb) (on tfuqk oxgzm) (clear kjhuq) (clear nmvym) (on-table nmvym) (clear tfuqk)
STATE: (on xpjdb tfuqk) (on kjhuq xpjdb) (arm-empty) (on-table oxgzm) (on tfuqk oxgzm) (clear kjhuq) (clear nmvym) (on-table nmvym) | [
[
"unstack kjhuq xpjdb"
],
[
"stack kjhuq nmvym"
],
[
"unstack xpjdb tfuqk"
],
[
"put-down xpjdb"
],
[
"unstack kjhuq nmvym"
],
[
"stack kjhuq xpjdb"
]
] | [
"(on xpjdb tfuqk) (on-table oxgzm) (holding kjhuq) (on tfuqk oxgzm) (clear nmvym) (clear xpjdb) (on-table nmvym)",
"(on xpjdb tfuqk) (arm-empty) (on-table oxgzm) (on tfuqk oxgzm) (clear kjhuq) (on kjhuq nmvym) (clear xpjdb) (on-table nmvym)",
"(holding xpjdb) (on-table oxgzm) (on tfuqk oxgzm) (clear kjhuq) (on kjhuq nmvym) (on-table nmvym) (clear tfuqk)",
"(arm-empty) (on-table oxgzm) (on tfuqk oxgzm) (clear kjhuq) (clear tfuqk) (on-table xpjdb) (on kjhuq nmvym) (clear xpjdb) (on-table nmvym)",
"(on-table oxgzm) (on-table xpjdb) (holding kjhuq) (on tfuqk oxgzm) (clear nmvym) (clear xpjdb) (on-table nmvym) (clear tfuqk)",
"(on kjhuq xpjdb) (arm-empty) (on-table oxgzm) (on-table xpjdb) (on tfuqk oxgzm) (clear kjhuq) (clear nmvym) (on-table nmvym) (clear tfuqk)"
] | file_1228 |
GOAL: (arm-empty) (on-table kopad) (on-table mmzxo) (clear fzdij) (on-table fzdij) (clear siqyy) (on fkaxo kopad) (clear fkaxo) (on-table siqyy) (clear mmzxo) | GOAL: (arm-empty) (on-table kopad) (on-table mmzxo) (clear fzdij) (on-table fzdij) (clear siqyy) (on fkaxo kopad) (clear fkaxo) (on-table siqyy) (clear mmzxo)
STATE: (clear kopad) (on-table mmzxo) (on-table fkaxo) (on fzdij mmzxo) (on kopad fzdij) (holding siqyy) (clear fkaxo) | [
[
"put-down siqyy"
],
[
"pick-up fkaxo"
],
[
"stack fkaxo siqyy"
],
[
"unstack kopad fzdij"
],
[
"put-down kopad"
],
[
"unstack fzdij mmzxo"
],
[
"put-down fzdij"
],
[
"unstack fkaxo siqyy"
],
[
"stack fkaxo kopad"
]
] | [
"(arm-empty) (on-table mmzxo) (on fzdij mmzxo) (on kopad fzdij) (clear kopad) (on-table fkaxo) (clear siqyy) (clear fkaxo) (on-table siqyy)",
"(holding fkaxo) (clear kopad) (on-table mmzxo) (on fzdij mmzxo) (on kopad fzdij) (clear siqyy) (on-table siqyy)",
"(clear kopad) (on fkaxo siqyy) (arm-empty) (on-table mmzxo) (on fzdij mmzxo) (on kopad fzdij) (clear fkaxo) (on-table siqyy)",
"(on fkaxo siqyy) (on-table mmzxo) (on fzdij mmzxo) (clear fzdij) (holding kopad) (clear fkaxo) (on-table siqyy)",
"(on fkaxo siqyy) (arm-empty) (on-table kopad) (on-table mmzxo) (on fzdij mmzxo) (clear fzdij) (clear kopad) (clear fkaxo) (on-table siqyy)",
"(clear kopad) (on fkaxo siqyy) (on-table kopad) (on-table mmzxo) (holding fzdij) (clear fkaxo) (on-table siqyy) (clear mmzxo)",
"(clear kopad) (on fkaxo siqyy) (arm-empty) (on-table kopad) (on-table mmzxo) (clear fzdij) (on-table fzdij) (clear fkaxo) (on-table siqyy) (clear mmzxo)",
"(holding fkaxo) (clear kopad) (on-table kopad) (on-table mmzxo) (clear fzdij) (on-table fzdij) (clear siqyy) (on-table siqyy) (clear mmzxo)",
"(arm-empty) (on-table kopad) (on-table mmzxo) (clear fzdij) (on-table fzdij) (clear siqyy) (on fkaxo kopad) (clear fkaxo) (on-table siqyy) (clear mmzxo)"
] | file_58003 |
GOAL: (arm-empty) (on-table pshzf) (on trcsc xsblj) (on-table xsblj) (on-table hvriw) (on xvwga pshzf) (clear trcsc) (clear xvwga) (clear hvriw) | GOAL: (arm-empty) (on-table pshzf) (on trcsc xsblj) (on-table xsblj) (on-table hvriw) (on xvwga pshzf) (clear trcsc) (clear xvwga) (clear hvriw)
STATE: (holding hvriw) (on xvwga trcsc) (clear pshzf) (on-table pshzf) (on trcsc xsblj) (on-table xsblj) (clear xvwga) | [
[
"put-down hvriw"
],
[
"unstack xvwga trcsc"
],
[
"stack xvwga pshzf"
]
] | [
"(arm-empty) (on-table pshzf) (on trcsc xsblj) (on-table xsblj) (on xvwga trcsc) (clear pshzf) (on-table hvriw) (clear xvwga) (clear hvriw)",
"(clear pshzf) (on-table pshzf) (on trcsc xsblj) (on-table xsblj) (on-table hvriw) (clear trcsc) (holding xvwga) (clear hvriw)",
"(arm-empty) (on-table pshzf) (on trcsc xsblj) (on-table xsblj) (on-table hvriw) (on xvwga pshzf) (clear trcsc) (clear xvwga) (clear hvriw)"
] | file_133261 |
GOAL: (holding fwepg) (on egjej nqdgs) (clear zgock) (on-table zgock) (on-table padru) (on-table nqdgs) (clear egjej) (clear padru) | GOAL: (holding fwepg) (on egjej nqdgs) (clear zgock) (on-table zgock) (on-table padru) (on-table nqdgs) (clear egjej) (clear padru)
STATE: (on fwepg padru) (on-table zgock) (holding nqdgs) (on padru zgock) (on egjej fwepg) (clear egjej) | [
[
"put-down nqdgs"
],
[
"unstack egjej fwepg"
],
[
"stack egjej nqdgs"
],
[
"unstack fwepg padru"
],
[
"stack fwepg egjej"
],
[
"unstack padru zgock"
],
[
"put-down padru"
],
[
"unstack fwepg egjej"
]
] | [
"(on fwepg padru) (arm-empty) (on-table zgock) (on padru zgock) (clear nqdgs) (on egjej fwepg) (on-table nqdgs) (clear egjej)",
"(on fwepg padru) (on-table zgock) (on padru zgock) (clear nqdgs) (on-table nqdgs) (holding egjej) (clear fwepg)",
"(on fwepg padru) (on egjej nqdgs) (arm-empty) (on-table zgock) (on padru zgock) (on-table nqdgs) (clear egjej) (clear fwepg)",
"(holding fwepg) (on egjej nqdgs) (on-table zgock) (on padru zgock) (on-table nqdgs) (clear egjej) (clear padru)",
"(on egjej nqdgs) (on fwepg egjej) (arm-empty) (on-table zgock) (on padru zgock) (on-table nqdgs) (clear fwepg) (clear padru)",
"(on egjej nqdgs) (clear zgock) (on fwepg egjej) (on-table zgock) (holding padru) (on-table nqdgs) (clear fwepg)",
"(on fwepg egjej) (arm-empty) (on-table zgock) (on-table padru) (clear padru) (on egjej nqdgs) (clear zgock) (on-table nqdgs) (clear fwepg)",
"(holding fwepg) (on egjej nqdgs) (clear zgock) (on-table zgock) (on-table padru) (on-table nqdgs) (clear egjej) (clear padru)"
] | file_5853 |
GOAL: (holding ouewh) (on spctm hovms) (on-table fakna) (on-table ybwmb) (on hovms fakna) (clear spctm) (clear ybwmb) | GOAL: (holding ouewh) (on spctm hovms) (on-table fakna) (on-table ybwmb) (on hovms fakna) (clear spctm) (clear ybwmb)
STATE: (clear fakna) (on spctm ybwmb) (arm-empty) (on-table ybwmb) (on hovms spctm) (on ouewh hovms) (on fakna ouewh) | [
[
"unstack fakna ouewh"
],
[
"put-down fakna"
],
[
"unstack ouewh hovms"
],
[
"stack ouewh fakna"
],
[
"unstack hovms spctm"
],
[
"put-down hovms"
],
[
"unstack ouewh fakna"
],
[
"put-down ouewh"
],
[
"pick-up hovms"
],
[
"stack hovms fakna"
],
[
"unstack spctm ybwmb"
],
[
"stack spctm hovms"
],
[
"pick-up ouewh"
]
] | [
"(on spctm ybwmb) (on-table ybwmb) (on ouewh hovms) (on hovms spctm) (holding fakna) (clear ouewh)",
"(on hovms spctm) (on spctm ybwmb) (clear fakna) (arm-empty) (on-table fakna) (on-table ybwmb) (on ouewh hovms) (clear ouewh)",
"(holding ouewh) (on spctm ybwmb) (clear fakna) (on-table fakna) (on-table ybwmb) (clear hovms) (on hovms spctm)",
"(on spctm ybwmb) (arm-empty) (on-table fakna) (on-table ybwmb) (clear hovms) (on hovms spctm) (on ouewh fakna) (clear ouewh)",
"(on spctm ybwmb) (on-table fakna) (on-table ybwmb) (holding hovms) (clear spctm) (on ouewh fakna) (clear ouewh)",
"(on spctm ybwmb) (arm-empty) (on-table fakna) (on-table ybwmb) (clear hovms) (on ouewh fakna) (on-table hovms) (clear spctm) (clear ouewh)",
"(holding ouewh) (on spctm ybwmb) (clear fakna) (on-table fakna) (on-table ybwmb) (clear hovms) (on-table hovms) (clear spctm)",
"(on spctm ybwmb) (clear fakna) (arm-empty) (on-table fakna) (on-table ybwmb) (on-table ouewh) (clear hovms) (on-table hovms) (clear spctm) (clear ouewh)",
"(on spctm ybwmb) (clear fakna) (on-table fakna) (on-table ybwmb) (on-table ouewh) (holding hovms) (clear spctm) (clear ouewh)",
"(on spctm ybwmb) (arm-empty) (on-table fakna) (on-table ybwmb) (on-table ouewh) (clear hovms) (on hovms fakna) (clear spctm) (clear ouewh)",
"(on-table fakna) (on-table ybwmb) (on-table ouewh) (clear hovms) (on hovms fakna) (holding spctm) (clear ouewh) (clear ybwmb)",
"(on spctm hovms) (arm-empty) (on-table fakna) (on-table ybwmb) (on-table ouewh) (on hovms fakna) (clear spctm) (clear ouewh) (clear ybwmb)",
"(holding ouewh) (on spctm hovms) (on-table fakna) (on-table ybwmb) (on hovms fakna) (clear spctm) (clear ybwmb)"
] | file_24089 |
GOAL: (arm-empty) (on-table yscje) (clear viyyn) (clear yscje) (on-table pfnpr) (on-table viyyn) (clear qjiht) (clear pfnpr) (on-table qjiht) | GOAL: (arm-empty) (on-table yscje) (clear viyyn) (clear yscje) (on-table pfnpr) (on-table viyyn) (clear qjiht) (clear pfnpr) (on-table qjiht)
STATE: (arm-empty) (on qjiht yscje) (on-table viyyn) (on pfnpr viyyn) (on yscje pfnpr) (clear qjiht) | [
[
"unstack qjiht yscje"
],
[
"put-down qjiht"
],
[
"unstack yscje pfnpr"
],
[
"stack yscje qjiht"
],
[
"unstack pfnpr viyyn"
],
[
"put-down pfnpr"
],
[
"unstack yscje qjiht"
],
[
"put-down yscje"
]
] | [
"(on-table viyyn) (clear yscje) (on pfnpr viyyn) (on yscje pfnpr) (holding qjiht)",
"(on-table viyyn) (clear yscje) (arm-empty) (on pfnpr viyyn) (on yscje pfnpr) (clear qjiht) (on-table qjiht)",
"(on pfnpr viyyn) (on-table viyyn) (holding yscje) (clear qjiht) (clear pfnpr) (on-table qjiht)",
"(clear yscje) (arm-empty) (on-table viyyn) (on pfnpr viyyn) (on yscje qjiht) (clear pfnpr) (on-table qjiht)",
"(clear viyyn) (holding pfnpr) (clear yscje) (on-table viyyn) (on yscje qjiht) (on-table qjiht)",
"(arm-empty) (clear viyyn) (clear yscje) (on-table pfnpr) (on-table viyyn) (on yscje qjiht) (clear pfnpr) (on-table qjiht)",
"(on-table pfnpr) (clear viyyn) (on-table viyyn) (holding yscje) (clear qjiht) (clear pfnpr) (on-table qjiht)",
"(arm-empty) (on-table yscje) (clear viyyn) (clear yscje) (on-table pfnpr) (on-table viyyn) (clear qjiht) (clear pfnpr) (on-table qjiht)"
] | file_162071 |
GOAL: (on tmppb wlktp) (on wgzhc aiyis) (arm-empty) (on-table aiyis) (on ahqwf wgzhc) (on wlktp ahqwf) (clear tmppb) | GOAL: (on tmppb wlktp) (on wgzhc aiyis) (arm-empty) (on-table aiyis) (on ahqwf wgzhc) (on wlktp ahqwf) (clear tmppb)
STATE: (arm-empty) (on-table aiyis) (on wlktp ahqwf) (clear tmppb) (on wgzhc aiyis) (on-table tmppb) (on ahqwf wgzhc) (clear wlktp) | [
[
"pick-up tmppb"
],
[
"stack tmppb wlktp"
]
] | [
"(on-table aiyis) (holding tmppb) (on wlktp ahqwf) (on wgzhc aiyis) (on ahqwf wgzhc) (clear wlktp)",
"(on tmppb wlktp) (on wgzhc aiyis) (arm-empty) (on-table aiyis) (on ahqwf wgzhc) (on wlktp ahqwf) (clear tmppb)"
] | file_600 |
GOAL: (on-table rojlq) (holding tizrh) (clear lroxc) (on slrik rojlq) (clear slrik) (on-table lroxc) | GOAL: (on-table rojlq) (holding tizrh) (clear lroxc) (on slrik rojlq) (clear slrik) (on-table lroxc)
STATE: (clear rojlq) (arm-empty) (on-table rojlq) (on-table tizrh) (on slrik tizrh) (clear lroxc) (clear slrik) (on-table lroxc) | [
[
"unstack slrik tizrh"
],
[
"stack slrik rojlq"
],
[
"pick-up tizrh"
]
] | [
"(holding slrik) (clear rojlq) (on-table rojlq) (clear tizrh) (on-table tizrh) (clear lroxc) (on-table lroxc)",
"(arm-empty) (on-table rojlq) (clear tizrh) (on-table tizrh) (clear lroxc) (on slrik rojlq) (clear slrik) (on-table lroxc)",
"(on-table rojlq) (holding tizrh) (clear lroxc) (on slrik rojlq) (clear slrik) (on-table lroxc)"
] | file_28223 |
GOAL: (clear qzptm) (on-table qzptm) (on-table avbos) (on-table hqawm) (holding xxfpm) (on gtcgj hqawm) (clear gtcgj) (clear avbos) | GOAL: (clear qzptm) (on-table qzptm) (on-table avbos) (on-table hqawm) (holding xxfpm) (on gtcgj hqawm) (clear gtcgj) (clear avbos)
STATE: (on-table hqawm) (clear xxfpm) (on avbos hqawm) (on xxfpm qzptm) (on qzptm avbos) (holding gtcgj) | [
[
"put-down gtcgj"
],
[
"unstack xxfpm qzptm"
],
[
"stack xxfpm gtcgj"
],
[
"unstack qzptm avbos"
],
[
"put-down qzptm"
],
[
"unstack avbos hqawm"
],
[
"stack avbos qzptm"
],
[
"unstack xxfpm gtcgj"
],
[
"stack xxfpm avbos"
],
[
"pick-up gtcgj"
],
[
"stack gtcgj hqawm"
],
[
"unstack xxfpm avbos"
],
[
"stack xxfpm gtcgj"
],
[
"unstack avbos qzptm"
],
[
"put-down avbos"
],
[
"unstack xxfpm gtcgj"
]
] | [
"(on xxfpm qzptm) (on avbos hqawm) (arm-empty) (on-table hqawm) (on qzptm avbos) (clear gtcgj) (clear xxfpm) (on-table gtcgj)",
"(clear qzptm) (on-table hqawm) (holding xxfpm) (on avbos hqawm) (on qzptm avbos) (clear gtcgj) (on-table gtcgj)",
"(arm-empty) (clear xxfpm) (on qzptm avbos) (clear qzptm) (on-table hqawm) (on xxfpm gtcgj) (on avbos hqawm) (on-table gtcgj)",
"(on-table hqawm) (clear xxfpm) (on xxfpm gtcgj) (on avbos hqawm) (holding qzptm) (on-table gtcgj) (clear avbos)",
"(arm-empty) (on-table qzptm) (clear xxfpm) (clear avbos) (clear qzptm) (on-table hqawm) (on xxfpm gtcgj) (on avbos hqawm) (on-table gtcgj)",
"(clear qzptm) (on-table qzptm) (on-table hqawm) (clear xxfpm) (on xxfpm gtcgj) (holding avbos) (clear hqawm) (on-table gtcgj)",
"(arm-empty) (on-table qzptm) (on-table hqawm) (on avbos qzptm) (clear xxfpm) (on xxfpm gtcgj) (clear hqawm) (on-table gtcgj) (clear avbos)",
"(on-table qzptm) (on-table hqawm) (holding xxfpm) (on avbos qzptm) (clear gtcgj) (clear hqawm) (on-table gtcgj) (clear avbos)",
"(arm-empty) (on-table qzptm) (on xxfpm avbos) (on-table hqawm) (on avbos qzptm) (clear xxfpm) (clear gtcgj) (clear hqawm) (on-table gtcgj)",
"(on-table qzptm) (on xxfpm avbos) (on-table hqawm) (on avbos qzptm) (clear xxfpm) (holding gtcgj) (clear hqawm)",
"(arm-empty) (on-table qzptm) (on xxfpm avbos) (on-table hqawm) (on avbos qzptm) (clear xxfpm) (on gtcgj hqawm) (clear gtcgj)",
"(on-table qzptm) (on-table hqawm) (holding xxfpm) (on avbos qzptm) (on gtcgj hqawm) (clear gtcgj) (clear avbos)",
"(arm-empty) (on-table qzptm) (on avbos qzptm) (clear xxfpm) (on gtcgj hqawm) (clear avbos) (on-table hqawm) (on xxfpm gtcgj)",
"(clear qzptm) (on-table qzptm) (on-table hqawm) (clear xxfpm) (on xxfpm gtcgj) (holding avbos) (on gtcgj hqawm)",
"(arm-empty) (on-table qzptm) (on-table avbos) (clear xxfpm) (on gtcgj hqawm) (clear avbos) (clear qzptm) (on-table hqawm) (on xxfpm gtcgj)",
"(clear qzptm) (on-table qzptm) (on-table avbos) (on-table hqawm) (holding xxfpm) (on gtcgj hqawm) (clear gtcgj) (clear avbos)"
] | file_170646 |
GOAL: (holding dsezn) (on ywbep aakus) (clear vonqm) (on-table vonqm) (on-table aakus) (clear uogsu) (on-table uogsu) (clear ywbep) | GOAL: (holding dsezn) (on ywbep aakus) (clear vonqm) (on-table vonqm) (on-table aakus) (clear uogsu) (on-table uogsu) (clear ywbep)
STATE: (clear vonqm) (on ywbep aakus) (holding uogsu) (on-table dsezn) (on aakus dsezn) (on vonqm ywbep) | [
[
"put-down uogsu"
],
[
"unstack vonqm ywbep"
],
[
"put-down vonqm"
],
[
"unstack ywbep aakus"
],
[
"stack ywbep vonqm"
],
[
"unstack aakus dsezn"
],
[
"put-down aakus"
],
[
"unstack ywbep vonqm"
],
[
"stack ywbep uogsu"
],
[
"pick-up dsezn"
],
[
"stack dsezn vonqm"
],
[
"unstack ywbep uogsu"
],
[
"stack ywbep aakus"
],
[
"unstack dsezn vonqm"
]
] | [
"(on aakus dsezn) (clear vonqm) (on ywbep aakus) (on-table uogsu) (on vonqm ywbep) (clear uogsu) (arm-empty) (on-table dsezn)",
"(on ywbep aakus) (on-table dsezn) (clear uogsu) (on aakus dsezn) (on-table uogsu) (holding vonqm) (clear ywbep)",
"(on ywbep aakus) (arm-empty) (on-table vonqm) (clear uogsu) (clear vonqm) (on-table dsezn) (on aakus dsezn) (on-table uogsu) (clear ywbep)",
"(clear vonqm) (on-table vonqm) (on-table dsezn) (clear uogsu) (on aakus dsezn) (on-table uogsu) (holding ywbep) (clear aakus)",
"(arm-empty) (on-table vonqm) (on-table dsezn) (on ywbep vonqm) (clear uogsu) (on aakus dsezn) (on-table uogsu) (clear ywbep) (clear aakus)",
"(on-table vonqm) (on-table dsezn) (on ywbep vonqm) (clear uogsu) (holding aakus) (on-table uogsu) (clear ywbep) (clear dsezn)",
"(arm-empty) (on-table vonqm) (on-table aakus) (on-table dsezn) (on ywbep vonqm) (clear uogsu) (on-table uogsu) (clear ywbep) (clear dsezn) (clear aakus)",
"(clear vonqm) (on-table vonqm) (on-table aakus) (on-table dsezn) (clear uogsu) (on-table uogsu) (holding ywbep) (clear dsezn) (clear aakus)",
"(on ywbep uogsu) (clear vonqm) (arm-empty) (on-table vonqm) (on-table aakus) (on-table dsezn) (on-table uogsu) (clear ywbep) (clear dsezn) (clear aakus)",
"(holding dsezn) (on ywbep uogsu) (clear vonqm) (on-table vonqm) (on-table aakus) (on-table uogsu) (clear ywbep) (clear aakus)",
"(on ywbep uogsu) (arm-empty) (on-table vonqm) (on-table aakus) (on-table uogsu) (clear ywbep) (on dsezn vonqm) (clear dsezn) (clear aakus)",
"(on-table vonqm) (on-table aakus) (clear uogsu) (on-table uogsu) (on dsezn vonqm) (clear dsezn) (holding ywbep) (clear aakus)",
"(on ywbep aakus) (arm-empty) (on-table vonqm) (on-table aakus) (clear uogsu) (on-table uogsu) (clear ywbep) (on dsezn vonqm) (clear dsezn)",
"(holding dsezn) (on ywbep aakus) (clear vonqm) (on-table vonqm) (on-table aakus) (clear uogsu) (on-table uogsu) (clear ywbep)"
] | file_209238 |
GOAL: (on duudv uncoq) (on-table bbace) (arm-empty) (on hjhnv bbace) (clear duudv) (on uncoq hjhnv) | GOAL: (on duudv uncoq) (on-table bbace) (arm-empty) (on hjhnv bbace) (clear duudv) (on uncoq hjhnv)
STATE: (on-table uncoq) (clear bbace) (on-table bbace) (holding hjhnv) (on duudv uncoq) (clear duudv) | [
[
"stack hjhnv bbace"
],
[
"unstack duudv uncoq"
],
[
"put-down duudv"
],
[
"pick-up uncoq"
],
[
"stack uncoq hjhnv"
],
[
"pick-up duudv"
],
[
"stack duudv uncoq"
]
] | [
"(clear hjhnv) (arm-empty) (on-table uncoq) (on hjhnv bbace) (on-table bbace) (on duudv uncoq) (clear duudv)",
"(on hjhnv bbace) (clear hjhnv) (on-table uncoq) (on-table bbace) (holding duudv) (clear uncoq)",
"(clear hjhnv) (on-table bbace) (arm-empty) (on hjhnv bbace) (clear duudv) (on-table uncoq) (clear uncoq) (on-table duudv)",
"(holding uncoq) (clear hjhnv) (on-table bbace) (on hjhnv bbace) (clear duudv) (on-table duudv)",
"(arm-empty) (on-table bbace) (on hjhnv bbace) (clear duudv) (on uncoq hjhnv) (clear uncoq) (on-table duudv)",
"(on-table bbace) (on hjhnv bbace) (on uncoq hjhnv) (clear uncoq) (holding duudv)",
"(on duudv uncoq) (on-table bbace) (arm-empty) (on hjhnv bbace) (clear duudv) (on uncoq hjhnv)"
] | file_141525 |
GOAL: (on hnhcp dcgkc) (clear dkcah) (arm-empty) (on-table dkcah) (on dcgkc lnrab) (on-table xxwlp) (on lnrab xxwlp) (clear hnhcp) | GOAL: (on hnhcp dcgkc) (clear dkcah) (arm-empty) (on-table dkcah) (on dcgkc lnrab) (on-table xxwlp) (on lnrab xxwlp) (clear hnhcp)
STATE: (clear dkcah) (on hnhcp lnrab) (arm-empty) (on-table dkcah) (on-table lnrab) (on-table xxwlp) (clear dcgkc) (on-table dcgkc) (clear hnhcp) (clear xxwlp) | [
[
"unstack hnhcp lnrab"
],
[
"stack hnhcp dkcah"
],
[
"pick-up lnrab"
],
[
"stack lnrab xxwlp"
],
[
"pick-up dcgkc"
],
[
"stack dcgkc lnrab"
],
[
"unstack hnhcp dkcah"
],
[
"stack hnhcp dcgkc"
]
] | [
"(clear dkcah) (on-table dkcah) (on-table lnrab) (on-table xxwlp) (clear dcgkc) (on-table dcgkc) (holding hnhcp) (clear xxwlp) (clear lnrab)",
"(arm-empty) (on-table dkcah) (on-table lnrab) (on-table xxwlp) (on hnhcp dkcah) (clear dcgkc) (on-table dcgkc) (clear hnhcp) (clear xxwlp) (clear lnrab)",
"(on-table dkcah) (on-table xxwlp) (on hnhcp dkcah) (clear dcgkc) (holding lnrab) (on-table dcgkc) (clear hnhcp) (clear xxwlp)",
"(arm-empty) (on-table dkcah) (on-table xxwlp) (on hnhcp dkcah) (clear dcgkc) (on lnrab xxwlp) (on-table dcgkc) (clear hnhcp) (clear lnrab)",
"(on-table dkcah) (on-table xxwlp) (holding dcgkc) (on hnhcp dkcah) (on lnrab xxwlp) (clear hnhcp) (clear lnrab)",
"(arm-empty) (on-table dkcah) (on dcgkc lnrab) (on-table xxwlp) (on hnhcp dkcah) (clear dcgkc) (on lnrab xxwlp) (clear hnhcp)",
"(clear dkcah) (on-table dkcah) (on dcgkc lnrab) (on-table xxwlp) (clear dcgkc) (on lnrab xxwlp) (holding hnhcp)",
"(on hnhcp dcgkc) (clear dkcah) (arm-empty) (on-table dkcah) (on dcgkc lnrab) (on-table xxwlp) (on lnrab xxwlp) (clear hnhcp)"
] | file_8487 |
GOAL: (clear jebuy) (arm-empty) (on knmzf gmusv) (on ahopx tsdqm) (on tsdqm knmzf) (on jebuy ahopx) (on-table gmusv) | GOAL: (clear jebuy) (arm-empty) (on knmzf gmusv) (on ahopx tsdqm) (on tsdqm knmzf) (on jebuy ahopx) (on-table gmusv)
STATE: (on-table ahopx) (holding knmzf) (on jebuy ahopx) (clear gmusv) (on tsdqm jebuy) (clear tsdqm) (on-table gmusv) | [
[
"stack knmzf gmusv"
],
[
"unstack tsdqm jebuy"
],
[
"stack tsdqm knmzf"
],
[
"unstack jebuy ahopx"
],
[
"put-down jebuy"
],
[
"pick-up ahopx"
],
[
"stack ahopx tsdqm"
],
[
"pick-up jebuy"
],
[
"stack jebuy ahopx"
]
] | [
"(arm-empty) (on-table ahopx) (clear knmzf) (on knmzf gmusv) (on jebuy ahopx) (on tsdqm jebuy) (clear tsdqm) (on-table gmusv)",
"(holding tsdqm) (clear jebuy) (on-table ahopx) (clear knmzf) (on knmzf gmusv) (on jebuy ahopx) (on-table gmusv)",
"(clear jebuy) (arm-empty) (on-table ahopx) (on knmzf gmusv) (on tsdqm knmzf) (on jebuy ahopx) (clear tsdqm) (on-table gmusv)",
"(on-table ahopx) (holding jebuy) (on knmzf gmusv) (on tsdqm knmzf) (clear tsdqm) (on-table gmusv) (clear ahopx)",
"(arm-empty) (on-table jebuy) (on-table ahopx) (clear ahopx) (clear jebuy) (on knmzf gmusv) (on tsdqm knmzf) (clear tsdqm) (on-table gmusv)",
"(clear jebuy) (on-table jebuy) (on knmzf gmusv) (holding ahopx) (on tsdqm knmzf) (clear tsdqm) (on-table gmusv)",
"(arm-empty) (on-table jebuy) (clear ahopx) (clear jebuy) (on knmzf gmusv) (on ahopx tsdqm) (on tsdqm knmzf) (on-table gmusv)",
"(holding jebuy) (on knmzf gmusv) (on ahopx tsdqm) (on tsdqm knmzf) (on-table gmusv) (clear ahopx)",
"(clear jebuy) (arm-empty) (on knmzf gmusv) (on ahopx tsdqm) (on tsdqm knmzf) (on jebuy ahopx) (on-table gmusv)"
] | file_160033 |
GOAL: (arm-empty) (on-table hydct) (clear gdmrg) (on xfwec hydct) (on gdmrg tbptc) (on tbptc xfwec) (clear lfdmb) (on-table lfdmb) | GOAL: (arm-empty) (on-table hydct) (clear gdmrg) (on xfwec hydct) (on gdmrg tbptc) (on tbptc xfwec) (clear lfdmb) (on-table lfdmb)
STATE: (on lfdmb gdmrg) (clear tbptc) (on hydct lfdmb) (arm-empty) (on xfwec hydct) (on-table gdmrg) (on tbptc xfwec) | [
[
"unstack tbptc xfwec"
],
[
"put-down tbptc"
],
[
"unstack xfwec hydct"
],
[
"put-down xfwec"
],
[
"unstack hydct lfdmb"
],
[
"put-down hydct"
],
[
"unstack lfdmb gdmrg"
],
[
"put-down lfdmb"
],
[
"pick-up gdmrg"
],
[
"stack gdmrg lfdmb"
],
[
"pick-up xfwec"
],
[
"stack xfwec hydct"
],
[
"pick-up tbptc"
],
[
"stack tbptc xfwec"
],
[
"unstack gdmrg lfdmb"
],
[
"stack gdmrg tbptc"
]
] | [
"(on hydct lfdmb) (clear xfwec) (on lfdmb gdmrg) (on xfwec hydct) (on-table gdmrg) (holding tbptc)",
"(on xfwec hydct) (on lfdmb gdmrg) (on-table gdmrg) (on hydct lfdmb) (clear tbptc) (on-table tbptc) (arm-empty) (clear xfwec)",
"(on lfdmb gdmrg) (clear tbptc) (on hydct lfdmb) (on-table tbptc) (holding xfwec) (on-table gdmrg) (clear hydct)",
"(on hydct lfdmb) (arm-empty) (on-table tbptc) (on-table xfwec) (clear xfwec) (on lfdmb gdmrg) (clear tbptc) (on-table gdmrg) (clear hydct)",
"(holding hydct) (on lfdmb gdmrg) (clear tbptc) (on-table tbptc) (on-table xfwec) (on-table gdmrg) (clear lfdmb) (clear xfwec)",
"(on lfdmb gdmrg) (clear tbptc) (arm-empty) (on-table tbptc) (on-table xfwec) (on-table hydct) (on-table gdmrg) (clear lfdmb) (clear hydct) (clear xfwec)",
"(clear tbptc) (on-table tbptc) (on-table xfwec) (on-table hydct) (clear gdmrg) (on-table gdmrg) (holding lfdmb) (clear hydct) (clear xfwec)",
"(clear tbptc) (arm-empty) (on-table tbptc) (on-table xfwec) (on-table hydct) (clear gdmrg) (on-table gdmrg) (clear lfdmb) (clear hydct) (on-table lfdmb) (clear xfwec)",
"(clear tbptc) (on-table tbptc) (on-table xfwec) (on-table hydct) (holding gdmrg) (clear lfdmb) (clear hydct) (on-table lfdmb) (clear xfwec)",
"(clear tbptc) (arm-empty) (on-table tbptc) (on-table xfwec) (on-table hydct) (clear gdmrg) (on gdmrg lfdmb) (clear hydct) (on-table lfdmb) (clear xfwec)",
"(clear tbptc) (on-table tbptc) (on-table hydct) (clear gdmrg) (on gdmrg lfdmb) (holding xfwec) (clear hydct) (on-table lfdmb)",
"(clear tbptc) (arm-empty) (on-table tbptc) (on-table hydct) (clear gdmrg) (on gdmrg lfdmb) (on xfwec hydct) (on-table lfdmb) (clear xfwec)",
"(on-table hydct) (clear gdmrg) (on gdmrg lfdmb) (on xfwec hydct) (holding tbptc) (on-table lfdmb) (clear xfwec)",
"(clear tbptc) (arm-empty) (on-table hydct) (clear gdmrg) (on gdmrg lfdmb) (on xfwec hydct) (on tbptc xfwec) (on-table lfdmb)",
"(clear tbptc) (on-table hydct) (holding gdmrg) (on xfwec hydct) (on tbptc xfwec) (clear lfdmb) (on-table lfdmb)",
"(arm-empty) (on-table hydct) (clear gdmrg) (on xfwec hydct) (on gdmrg tbptc) (on tbptc xfwec) (clear lfdmb) (on-table lfdmb)"
] | file_99745 |
GOAL: (on bqgld ikdqr) (on-table ikdqr) (on-table edpic) (clear wxeau) (on-table wxeau) (holding skmak) (clear bqgld) (clear edpic) | GOAL: (on bqgld ikdqr) (on-table ikdqr) (on-table edpic) (clear wxeau) (on-table wxeau) (holding skmak) (clear bqgld) (clear edpic)
STATE: (clear skmak) (on bqgld ikdqr) (arm-empty) (on-table edpic) (clear wxeau) (on ikdqr edpic) (on-table wxeau) (on skmak bqgld) | [
[
"unstack skmak bqgld"
],
[
"stack skmak wxeau"
],
[
"unstack bqgld ikdqr"
],
[
"stack bqgld skmak"
],
[
"unstack ikdqr edpic"
],
[
"put-down ikdqr"
],
[
"unstack bqgld skmak"
],
[
"stack bqgld ikdqr"
],
[
"unstack skmak wxeau"
]
] | [
"(on bqgld ikdqr) (on-table edpic) (clear wxeau) (on ikdqr edpic) (on-table wxeau) (holding skmak) (clear bqgld)",
"(on bqgld ikdqr) (clear skmak) (arm-empty) (on-table edpic) (on ikdqr edpic) (on-table wxeau) (on skmak wxeau) (clear bqgld)",
"(clear skmak) (on-table edpic) (on ikdqr edpic) (on-table wxeau) (on skmak wxeau) (holding bqgld) (clear ikdqr)",
"(arm-empty) (on-table edpic) (on bqgld skmak) (on ikdqr edpic) (on-table wxeau) (on skmak wxeau) (clear bqgld) (clear ikdqr)",
"(on-table edpic) (on bqgld skmak) (holding ikdqr) (on-table wxeau) (on skmak wxeau) (clear bqgld) (clear edpic)",
"(arm-empty) (on-table ikdqr) (on skmak wxeau) (clear ikdqr) (on-table edpic) (on bqgld skmak) (on-table wxeau) (clear bqgld) (clear edpic)",
"(clear skmak) (on-table ikdqr) (on-table edpic) (on-table wxeau) (on skmak wxeau) (holding bqgld) (clear edpic) (clear ikdqr)",
"(clear skmak) (on bqgld ikdqr) (arm-empty) (on-table ikdqr) (on-table edpic) (on-table wxeau) (on skmak wxeau) (clear bqgld) (clear edpic)",
"(on bqgld ikdqr) (on-table ikdqr) (on-table edpic) (clear wxeau) (on-table wxeau) (holding skmak) (clear bqgld) (clear edpic)"
] | file_127296 |
GOAL: (holding hizky) (on-table qetpk) (on-table tqbcy) (clear hnrbv) (on hnrbv qetpk) (clear iprsf) (on-table iprsf) (clear tqbcy) | GOAL: (holding hizky) (on-table qetpk) (on-table tqbcy) (clear hnrbv) (on hnrbv qetpk) (clear iprsf) (on-table iprsf) (clear tqbcy)
STATE: (clear qetpk) (on hizky iprsf) (arm-empty) (on-table qetpk) (on-table tqbcy) (clear hnrbv) (on-table hnrbv) (clear hizky) (on-table iprsf) (clear tqbcy) | [
[
"pick-up hnrbv"
],
[
"stack hnrbv qetpk"
],
[
"unstack hizky iprsf"
]
] | [
"(clear qetpk) (on hizky iprsf) (on-table qetpk) (on-table tqbcy) (holding hnrbv) (clear hizky) (on-table iprsf) (clear tqbcy)",
"(on hizky iprsf) (arm-empty) (on-table qetpk) (on-table tqbcy) (clear hnrbv) (on hnrbv qetpk) (clear hizky) (on-table iprsf) (clear tqbcy)",
"(holding hizky) (on-table qetpk) (on-table tqbcy) (clear hnrbv) (on hnrbv qetpk) (clear iprsf) (on-table iprsf) (clear tqbcy)"
] | file_209768 |
GOAL: (on-table gobvp) (on vidcr byirp) (on-table xsxcm) (on byirp xsxcm) (holding gzpdz) (clear gobvp) (clear vidcr) | GOAL: (on-table gobvp) (on vidcr byirp) (on-table xsxcm) (on byirp xsxcm) (holding gzpdz) (clear gobvp) (clear vidcr)
STATE: (clear byirp) (on gobvp gzpdz) (holding xsxcm) (on vidcr gobvp) (on byirp vidcr) (on-table gzpdz) | [
[
"put-down xsxcm"
],
[
"unstack byirp vidcr"
],
[
"stack byirp xsxcm"
],
[
"unstack vidcr gobvp"
],
[
"stack vidcr byirp"
],
[
"unstack gobvp gzpdz"
],
[
"put-down gobvp"
],
[
"pick-up gzpdz"
]
] | [
"(on gobvp gzpdz) (arm-empty) (clear xsxcm) (on byirp vidcr) (clear byirp) (on vidcr gobvp) (on-table xsxcm) (on-table gzpdz)",
"(on gobvp gzpdz) (clear xsxcm) (on vidcr gobvp) (on-table xsxcm) (holding byirp) (on-table gzpdz) (clear vidcr)",
"(clear byirp) (on gobvp gzpdz) (arm-empty) (on vidcr gobvp) (on-table xsxcm) (on byirp xsxcm) (on-table gzpdz) (clear vidcr)",
"(clear byirp) (on gobvp gzpdz) (holding vidcr) (on-table xsxcm) (on byirp xsxcm) (clear gobvp) (on-table gzpdz)",
"(on gobvp gzpdz) (arm-empty) (on vidcr byirp) (on-table xsxcm) (on byirp xsxcm) (clear gobvp) (on-table gzpdz) (clear vidcr)",
"(holding gobvp) (on vidcr byirp) (on-table xsxcm) (on byirp xsxcm) (clear gzpdz) (on-table gzpdz) (clear vidcr)",
"(arm-empty) (on vidcr byirp) (on byirp xsxcm) (clear vidcr) (on-table gobvp) (on-table xsxcm) (clear gzpdz) (clear gobvp) (on-table gzpdz)",
"(on-table gobvp) (on vidcr byirp) (on-table xsxcm) (on byirp xsxcm) (holding gzpdz) (clear gobvp) (clear vidcr)"
] | file_53942 |
GOAL: (on bsvol rxdur) (on-table rxdur) (clear hnozd) (on hnozd aawmh) (on aawmh bsvol) (holding pnaec) | GOAL: (on bsvol rxdur) (on-table rxdur) (clear hnozd) (on hnozd aawmh) (on aawmh bsvol) (holding pnaec)
STATE: (holding bsvol) (on pnaec hnozd) (on rxdur aawmh) (on-table hnozd) (on aawmh pnaec) (clear rxdur) | [
[
"put-down bsvol"
],
[
"unstack rxdur aawmh"
],
[
"put-down rxdur"
],
[
"pick-up bsvol"
],
[
"stack bsvol rxdur"
],
[
"unstack aawmh pnaec"
],
[
"stack aawmh bsvol"
],
[
"unstack pnaec hnozd"
],
[
"put-down pnaec"
],
[
"pick-up hnozd"
],
[
"stack hnozd aawmh"
],
[
"pick-up pnaec"
]
] | [
"(arm-empty) (on rxdur aawmh) (clear rxdur) (on pnaec hnozd) (on-table bsvol) (on-table hnozd) (on aawmh pnaec) (clear bsvol)",
"(on pnaec hnozd) (clear aawmh) (on-table bsvol) (holding rxdur) (on-table hnozd) (on aawmh pnaec) (clear bsvol)",
"(arm-empty) (on-table rxdur) (clear rxdur) (on pnaec hnozd) (clear aawmh) (on-table bsvol) (on-table hnozd) (on aawmh pnaec) (clear bsvol)",
"(holding bsvol) (on pnaec hnozd) (clear aawmh) (on-table rxdur) (on-table hnozd) (on aawmh pnaec) (clear rxdur)",
"(on pnaec hnozd) (clear aawmh) (on bsvol rxdur) (arm-empty) (on-table rxdur) (on-table hnozd) (on aawmh pnaec) (clear bsvol)",
"(on pnaec hnozd) (on bsvol rxdur) (on-table rxdur) (on-table hnozd) (holding aawmh) (clear pnaec) (clear bsvol)",
"(on pnaec hnozd) (on bsvol rxdur) (clear aawmh) (arm-empty) (on-table rxdur) (on-table hnozd) (on aawmh bsvol) (clear pnaec)",
"(on bsvol rxdur) (clear aawmh) (on-table rxdur) (clear hnozd) (on-table hnozd) (on aawmh bsvol) (holding pnaec)",
"(on bsvol rxdur) (arm-empty) (on-table rxdur) (clear hnozd) (on aawmh bsvol) (clear aawmh) (on-table hnozd) (clear pnaec) (on-table pnaec)",
"(on bsvol rxdur) (clear aawmh) (on-table rxdur) (holding hnozd) (on aawmh bsvol) (clear pnaec) (on-table pnaec)",
"(on bsvol rxdur) (arm-empty) (on-table rxdur) (clear hnozd) (on aawmh bsvol) (on hnozd aawmh) (clear pnaec) (on-table pnaec)",
"(on bsvol rxdur) (on-table rxdur) (clear hnozd) (on hnozd aawmh) (on aawmh bsvol) (holding pnaec)"
] | file_207371 |
GOAL: (holding anfdl) (on-table wiobe) (on-table covvd) (on zkjoa wiobe) (clear qwjyp) (on qwjyp zkjoa) (clear covvd) | GOAL: (holding anfdl) (on-table wiobe) (on-table covvd) (on zkjoa wiobe) (clear qwjyp) (on qwjyp zkjoa) (clear covvd)
STATE: (on anfdl covvd) (clear wiobe) (on qwjyp anfdl) (on zkjoa qwjyp) (arm-empty) (on-table covvd) (on wiobe zkjoa) | [
[
"unstack wiobe zkjoa"
],
[
"put-down wiobe"
],
[
"unstack zkjoa qwjyp"
],
[
"stack zkjoa wiobe"
],
[
"unstack qwjyp anfdl"
],
[
"stack qwjyp zkjoa"
],
[
"unstack anfdl covvd"
]
] | [
"(on anfdl covvd) (on qwjyp anfdl) (on-table covvd) (on zkjoa qwjyp) (holding wiobe) (clear zkjoa)",
"(on anfdl covvd) (on qwjyp anfdl) (arm-empty) (on-table wiobe) (on-table covvd) (on zkjoa qwjyp) (clear wiobe) (clear zkjoa)",
"(on anfdl covvd) (on qwjyp anfdl) (on-table wiobe) (on-table covvd) (clear wiobe) (clear qwjyp) (holding zkjoa)",
"(on anfdl covvd) (on qwjyp anfdl) (arm-empty) (on-table wiobe) (on-table covvd) (on zkjoa wiobe) (clear qwjyp) (clear zkjoa)",
"(on anfdl covvd) (on-table wiobe) (on-table covvd) (holding qwjyp) (on zkjoa wiobe) (clear zkjoa) (clear anfdl)",
"(on anfdl covvd) (arm-empty) (on-table wiobe) (on-table covvd) (on zkjoa wiobe) (clear qwjyp) (on qwjyp zkjoa) (clear anfdl)",
"(holding anfdl) (on-table wiobe) (on-table covvd) (on zkjoa wiobe) (clear qwjyp) (on qwjyp zkjoa) (clear covvd)"
] | file_41504 |
GOAL: (on yyhwb dnrnd) (arm-empty) (on-table qpdik) (on ayjpx qpdik) (clear umqwm) (on dnrnd ayjpx) (on-table umqwm) (clear yyhwb) | GOAL: (on yyhwb dnrnd) (arm-empty) (on-table qpdik) (on ayjpx qpdik) (clear umqwm) (on dnrnd ayjpx) (on-table umqwm) (clear yyhwb)
STATE: (holding yyhwb) (clear qpdik) (on ayjpx dnrnd) (on-table qpdik) (on-table dnrnd) (clear umqwm) (on-table umqwm) (clear ayjpx) | [
[
"put-down yyhwb"
],
[
"pick-up umqwm"
],
[
"stack umqwm yyhwb"
],
[
"unstack ayjpx dnrnd"
],
[
"stack ayjpx qpdik"
],
[
"pick-up dnrnd"
],
[
"stack dnrnd ayjpx"
],
[
"unstack umqwm yyhwb"
],
[
"put-down umqwm"
],
[
"pick-up yyhwb"
],
[
"stack yyhwb dnrnd"
]
] | [
"(clear qpdik) (on ayjpx dnrnd) (arm-empty) (on-table qpdik) (on-table dnrnd) (on-table yyhwb) (clear umqwm) (on-table umqwm) (clear ayjpx) (clear yyhwb)",
"(clear qpdik) (on ayjpx dnrnd) (on-table qpdik) (on-table dnrnd) (on-table yyhwb) (holding umqwm) (clear ayjpx) (clear yyhwb)",
"(clear qpdik) (on ayjpx dnrnd) (on umqwm yyhwb) (on-table qpdik) (on-table dnrnd) (on-table yyhwb) (arm-empty) (clear umqwm) (clear ayjpx)",
"(clear qpdik) (on umqwm yyhwb) (on-table qpdik) (on-table dnrnd) (on-table yyhwb) (clear umqwm) (holding ayjpx) (clear dnrnd)",
"(on umqwm yyhwb) (arm-empty) (on-table qpdik) (on-table dnrnd) (on-table yyhwb) (on ayjpx qpdik) (clear umqwm) (clear ayjpx) (clear dnrnd)",
"(on umqwm yyhwb) (on-table qpdik) (on-table yyhwb) (on ayjpx qpdik) (clear umqwm) (holding dnrnd) (clear ayjpx)",
"(on umqwm yyhwb) (arm-empty) (on-table qpdik) (on-table yyhwb) (on ayjpx qpdik) (clear umqwm) (on dnrnd ayjpx) (clear dnrnd)",
"(on-table qpdik) (on-table yyhwb) (holding umqwm) (on ayjpx qpdik) (on dnrnd ayjpx) (clear yyhwb) (clear dnrnd)",
"(arm-empty) (on-table qpdik) (clear umqwm) (on dnrnd ayjpx) (clear dnrnd) (on-table yyhwb) (on ayjpx qpdik) (on-table umqwm) (clear yyhwb)",
"(holding yyhwb) (on-table qpdik) (on ayjpx qpdik) (clear umqwm) (on dnrnd ayjpx) (on-table umqwm) (clear dnrnd)",
"(on yyhwb dnrnd) (arm-empty) (on-table qpdik) (on ayjpx qpdik) (clear umqwm) (on dnrnd ayjpx) (on-table umqwm) (clear yyhwb)"
] | file_45579 |
GOAL: (on ihjuk mwcug) (on mwcug jltmn) (arm-empty) (on-table msyxg) (clear ihjuk) (on jltmn msyxg) | GOAL: (on ihjuk mwcug) (on mwcug jltmn) (arm-empty) (on-table msyxg) (clear ihjuk) (on jltmn msyxg)
STATE: (clear msyxg) (on-table msyxg) (on-table mwcug) (on jltmn mwcug) (holding ihjuk) (clear jltmn) | [
[
"put-down ihjuk"
],
[
"unstack jltmn mwcug"
],
[
"stack jltmn msyxg"
],
[
"pick-up mwcug"
],
[
"stack mwcug jltmn"
],
[
"pick-up ihjuk"
],
[
"stack ihjuk mwcug"
]
] | [
"(arm-empty) (on-table msyxg) (clear msyxg) (on-table mwcug) (on jltmn mwcug) (clear ihjuk) (clear jltmn) (on-table ihjuk)",
"(holding jltmn) (clear msyxg) (on-table msyxg) (clear mwcug) (on-table mwcug) (clear ihjuk) (on-table ihjuk)",
"(arm-empty) (on-table msyxg) (clear mwcug) (on-table mwcug) (clear ihjuk) (on jltmn msyxg) (clear jltmn) (on-table ihjuk)",
"(on-table msyxg) (holding mwcug) (clear ihjuk) (on jltmn msyxg) (clear jltmn) (on-table ihjuk)",
"(on mwcug jltmn) (arm-empty) (on-table msyxg) (clear mwcug) (clear ihjuk) (on jltmn msyxg) (on-table ihjuk)",
"(on mwcug jltmn) (on-table msyxg) (clear mwcug) (on jltmn msyxg) (holding ihjuk)",
"(on ihjuk mwcug) (on mwcug jltmn) (arm-empty) (on-table msyxg) (clear ihjuk) (on jltmn msyxg)"
] | file_197636 |
GOAL: (on onupv eyulw) (arm-empty) (on eyulw iantn) (on ntoza onupv) (on-table yvrfl) (on iantn yvrfl) (clear ntoza) | GOAL: (on onupv eyulw) (arm-empty) (on eyulw iantn) (on ntoza onupv) (on-table yvrfl) (on iantn yvrfl) (clear ntoza)
STATE: (on-table ntoza) (holding yvrfl) (on-table onupv) (on eyulw iantn) (on iantn onupv) (clear eyulw) (clear ntoza) | [
[
"put-down yvrfl"
],
[
"unstack eyulw iantn"
],
[
"stack eyulw ntoza"
],
[
"unstack iantn onupv"
],
[
"stack iantn yvrfl"
],
[
"unstack eyulw ntoza"
],
[
"stack eyulw iantn"
],
[
"pick-up onupv"
],
[
"stack onupv eyulw"
],
[
"pick-up ntoza"
],
[
"stack ntoza onupv"
]
] | [
"(arm-empty) (on-table ntoza) (clear yvrfl) (on iantn onupv) (clear ntoza) (on-table onupv) (on eyulw iantn) (on-table yvrfl) (clear eyulw)",
"(clear iantn) (on-table ntoza) (on-table onupv) (clear yvrfl) (on-table yvrfl) (on iantn onupv) (holding eyulw) (clear ntoza)",
"(clear iantn) (on eyulw ntoza) (arm-empty) (on-table ntoza) (on-table onupv) (clear yvrfl) (on-table yvrfl) (on iantn onupv) (clear eyulw)",
"(on eyulw ntoza) (on-table ntoza) (on-table onupv) (clear yvrfl) (on-table yvrfl) (holding iantn) (clear eyulw) (clear onupv)",
"(on eyulw ntoza) (clear iantn) (arm-empty) (on-table ntoza) (on-table onupv) (on-table yvrfl) (on iantn yvrfl) (clear eyulw) (clear onupv)",
"(clear iantn) (on-table ntoza) (on-table onupv) (on-table yvrfl) (on iantn yvrfl) (holding eyulw) (clear onupv) (clear ntoza)",
"(arm-empty) (on-table ntoza) (on-table onupv) (on eyulw iantn) (on-table yvrfl) (on iantn yvrfl) (clear eyulw) (clear onupv) (clear ntoza)",
"(holding onupv) (on-table ntoza) (on eyulw iantn) (on-table yvrfl) (on iantn yvrfl) (clear eyulw) (clear ntoza)",
"(on onupv eyulw) (arm-empty) (on-table ntoza) (on eyulw iantn) (on-table yvrfl) (on iantn yvrfl) (clear onupv) (clear ntoza)",
"(on onupv eyulw) (on eyulw iantn) (holding ntoza) (on-table yvrfl) (on iantn yvrfl) (clear onupv)",
"(on onupv eyulw) (arm-empty) (on eyulw iantn) (on ntoza onupv) (on-table yvrfl) (on iantn yvrfl) (clear ntoza)"
] | file_1122 |
GOAL: (on tpfoq vfpqg) (on-table iwumg) (on-table lohgp) (on vfpqg iwumg) (holding anxbn) (clear lohgp) (clear tpfoq) | GOAL: (on tpfoq vfpqg) (on-table iwumg) (on-table lohgp) (on vfpqg iwumg) (holding anxbn) (clear lohgp) (clear tpfoq)
STATE: (on lohgp tpfoq) (on tpfoq vfpqg) (on-table iwumg) (on vfpqg iwumg) (holding anxbn) (clear lohgp) | [
[
"put-down anxbn"
],
[
"unstack lohgp tpfoq"
],
[
"put-down lohgp"
],
[
"pick-up anxbn"
]
] | [
"(on lohgp tpfoq) (arm-empty) (on tpfoq vfpqg) (on-table iwumg) (on vfpqg iwumg) (clear anxbn) (clear lohgp) (on-table anxbn)",
"(holding lohgp) (on tpfoq vfpqg) (on-table iwumg) (on vfpqg iwumg) (clear anxbn) (on-table anxbn) (clear tpfoq)",
"(arm-empty) (on tpfoq vfpqg) (on-table iwumg) (clear tpfoq) (on-table lohgp) (on vfpqg iwumg) (clear anxbn) (clear lohgp) (on-table anxbn)",
"(on tpfoq vfpqg) (on-table iwumg) (on-table lohgp) (on vfpqg iwumg) (holding anxbn) (clear lohgp) (clear tpfoq)"
] | file_202296 |
GOAL: (arm-empty) (on ljfec wgcyy) (on ohrgw ljfec) (on-table rjbox) (on alyys rjbox) (on wgcyy alyys) (clear ohrgw) | GOAL: (arm-empty) (on ljfec wgcyy) (on ohrgw ljfec) (on-table rjbox) (on alyys rjbox) (on wgcyy alyys) (clear ohrgw)
STATE: (on ljfec wgcyy) (holding ohrgw) (on-table rjbox) (on alyys rjbox) (on wgcyy alyys) (clear ljfec) | [
[
"stack ohrgw ljfec"
]
] | [
"(arm-empty) (on ljfec wgcyy) (on ohrgw ljfec) (on-table rjbox) (on alyys rjbox) (on wgcyy alyys) (clear ohrgw)"
] | file_193501 |
GOAL: (on ykeeq fpxcl) (arm-empty) (on-table dtfxl) (clear dczbp) (clear dtfxl) (on-table jpirg) (on fpxcl jpirg) (on-table dczbp) (clear ykeeq) | GOAL: (on ykeeq fpxcl) (arm-empty) (on-table dtfxl) (clear dczbp) (clear dtfxl) (on-table jpirg) (on fpxcl jpirg) (on-table dczbp) (clear ykeeq)
STATE: (on ykeeq fpxcl) (on-table jpirg) (clear dczbp) (on fpxcl jpirg) (on-table dczbp) (holding dtfxl) (clear ykeeq) | [
[
"put-down dtfxl"
]
] | [
"(on ykeeq fpxcl) (arm-empty) (on-table dtfxl) (clear dczbp) (clear dtfxl) (on-table jpirg) (on fpxcl jpirg) (on-table dczbp) (clear ykeeq)"
] | file_91004 |
GOAL: (on unvse xfyoi) (arm-empty) (on xfyoi wpilu) (on wpilu rihtv) (on-table rihtv) (on xkuwk unvse) (clear xkuwk) | GOAL: (on unvse xfyoi) (arm-empty) (on xfyoi wpilu) (on wpilu rihtv) (on-table rihtv) (on xkuwk unvse) (clear xkuwk)
STATE: (on xkuwk xfyoi) (arm-empty) (on xfyoi unvse) (on-table rihtv) (on wpilu rihtv) (clear xkuwk) (on unvse wpilu) | [
[
"unstack xkuwk xfyoi"
],
[
"put-down xkuwk"
],
[
"unstack xfyoi unvse"
],
[
"put-down xfyoi"
],
[
"unstack unvse wpilu"
],
[
"stack unvse xkuwk"
],
[
"pick-up xfyoi"
],
[
"stack xfyoi wpilu"
],
[
"unstack unvse xkuwk"
],
[
"stack unvse xfyoi"
],
[
"pick-up xkuwk"
],
[
"stack xkuwk unvse"
]
] | [
"(on wpilu rihtv) (on unvse wpilu) (clear xfyoi) (on xfyoi unvse) (on-table rihtv) (holding xkuwk)",
"(on xfyoi unvse) (on-table rihtv) (arm-empty) (on wpilu rihtv) (clear xkuwk) (on unvse wpilu) (on-table xkuwk) (clear xfyoi)",
"(holding xfyoi) (on-table rihtv) (on wpilu rihtv) (clear xkuwk) (on unvse wpilu) (clear unvse) (on-table xkuwk)",
"(arm-empty) (on-table xfyoi) (on wpilu rihtv) (on unvse wpilu) (clear xfyoi) (on-table rihtv) (clear xkuwk) (clear unvse) (on-table xkuwk)",
"(holding unvse) (clear wpilu) (on-table xfyoi) (on-table rihtv) (on wpilu rihtv) (clear xkuwk) (on-table xkuwk) (clear xfyoi)",
"(clear wpilu) (on unvse xkuwk) (arm-empty) (on-table xfyoi) (on-table rihtv) (on wpilu rihtv) (clear unvse) (on-table xkuwk) (clear xfyoi)",
"(clear wpilu) (on unvse xkuwk) (holding xfyoi) (on-table rihtv) (on wpilu rihtv) (clear unvse) (on-table xkuwk)",
"(on unvse xkuwk) (arm-empty) (on xfyoi wpilu) (on-table rihtv) (on wpilu rihtv) (clear unvse) (on-table xkuwk) (clear xfyoi)",
"(holding unvse) (on xfyoi wpilu) (on-table rihtv) (on wpilu rihtv) (clear xkuwk) (on-table xkuwk) (clear xfyoi)",
"(on unvse xfyoi) (arm-empty) (on xfyoi wpilu) (on-table rihtv) (on wpilu rihtv) (clear xkuwk) (clear unvse) (on-table xkuwk)",
"(on unvse xfyoi) (on xfyoi wpilu) (on-table rihtv) (on wpilu rihtv) (holding xkuwk) (clear unvse)",
"(on unvse xfyoi) (arm-empty) (on xfyoi wpilu) (on wpilu rihtv) (on-table rihtv) (on xkuwk unvse) (clear xkuwk)"
] | file_105620 |
GOAL: (on avivq nsdlq) (clear xpjhr) (on-table nsdlq) (holding wfnwm) (on owded avivq) (on xpjhr owded) | GOAL: (on avivq nsdlq) (clear xpjhr) (on-table nsdlq) (holding wfnwm) (on owded avivq) (on xpjhr owded)
STATE: (on avivq nsdlq) (clear xpjhr) (on-table nsdlq) (clear wfnwm) (on-table wfnwm) (on xpjhr avivq) (holding owded) | [
[
"stack owded wfnwm"
],
[
"unstack xpjhr avivq"
],
[
"put-down xpjhr"
],
[
"unstack owded wfnwm"
],
[
"stack owded avivq"
],
[
"pick-up xpjhr"
],
[
"stack xpjhr owded"
],
[
"pick-up wfnwm"
]
] | [
"(on avivq nsdlq) (clear xpjhr) (on owded wfnwm) (arm-empty) (on-table nsdlq) (on-table wfnwm) (on xpjhr avivq) (clear owded)",
"(on avivq nsdlq) (on owded wfnwm) (on-table nsdlq) (on-table wfnwm) (holding xpjhr) (clear owded) (clear avivq)",
"(on avivq nsdlq) (arm-empty) (on-table xpjhr) (on-table nsdlq) (on owded wfnwm) (clear xpjhr) (on-table wfnwm) (clear owded) (clear avivq)",
"(on avivq nsdlq) (clear xpjhr) (on-table xpjhr) (on-table nsdlq) (clear wfnwm) (on-table wfnwm) (holding owded) (clear avivq)",
"(on avivq nsdlq) (clear xpjhr) (arm-empty) (on-table xpjhr) (on-table nsdlq) (clear wfnwm) (on-table wfnwm) (on owded avivq) (clear owded)",
"(on avivq nsdlq) (on-table nsdlq) (clear wfnwm) (on-table wfnwm) (holding xpjhr) (on owded avivq) (clear owded)",
"(on avivq nsdlq) (clear xpjhr) (arm-empty) (on-table nsdlq) (clear wfnwm) (on-table wfnwm) (on owded avivq) (on xpjhr owded)",
"(on avivq nsdlq) (clear xpjhr) (on-table nsdlq) (holding wfnwm) (on owded avivq) (on xpjhr owded)"
] | file_17307 |
GOAL: (on jkwcq dsebj) (on-table dsebj) (clear eychu) (on eychu reime) (holding cjmau) (clear jkwcq) (on-table reime) | GOAL: (on jkwcq dsebj) (on-table dsebj) (clear eychu) (on eychu reime) (holding cjmau) (clear jkwcq) (on-table reime)
STATE: (on jkwcq dsebj) (on eychu jkwcq) (on-table dsebj) (clear eychu) (holding cjmau) (clear reime) (on-table reime) | [
[
"put-down cjmau"
],
[
"unstack eychu jkwcq"
],
[
"stack eychu reime"
],
[
"pick-up cjmau"
]
] | [
"(on jkwcq dsebj) (on eychu jkwcq) (arm-empty) (on-table cjmau) (on-table dsebj) (clear eychu) (clear cjmau) (clear reime) (on-table reime)",
"(on jkwcq dsebj) (clear cjmau) (on-table cjmau) (on-table dsebj) (holding eychu) (clear reime) (clear jkwcq) (on-table reime)",
"(on jkwcq dsebj) (clear cjmau) (arm-empty) (on-table cjmau) (on-table dsebj) (clear eychu) (on eychu reime) (clear jkwcq) (on-table reime)",
"(on jkwcq dsebj) (on-table dsebj) (clear eychu) (on eychu reime) (holding cjmau) (clear jkwcq) (on-table reime)"
] | file_2248 |
GOAL: (arm-empty) (on-table cpooi) (on-table heoli) (on jkjdb heoli) (on vyytx jkjdb) (clear cpooi) (on-table umjuc) (clear vyytx) (clear umjuc) | GOAL: (arm-empty) (on-table cpooi) (on-table heoli) (on jkjdb heoli) (on vyytx jkjdb) (clear cpooi) (on-table umjuc) (clear vyytx) (clear umjuc)
STATE: (on vyytx jkjdb) (on jkjdb umjuc) (arm-empty) (on-table cpooi) (on heoli vyytx) (on umjuc cpooi) (clear heoli) | [
[
"unstack heoli vyytx"
],
[
"put-down heoli"
],
[
"unstack vyytx jkjdb"
],
[
"put-down vyytx"
],
[
"unstack jkjdb umjuc"
],
[
"stack jkjdb heoli"
],
[
"pick-up vyytx"
],
[
"stack vyytx jkjdb"
],
[
"unstack umjuc cpooi"
],
[
"put-down umjuc"
]
] | [
"(on jkjdb umjuc) (on-table cpooi) (holding heoli) (on umjuc cpooi) (on vyytx jkjdb) (clear vyytx)",
"(on jkjdb umjuc) (arm-empty) (on-table cpooi) (on-table heoli) (on umjuc cpooi) (clear heoli) (on vyytx jkjdb) (clear vyytx)",
"(on jkjdb umjuc) (on-table cpooi) (on-table heoli) (clear jkjdb) (on umjuc cpooi) (holding vyytx) (clear heoli)",
"(on jkjdb umjuc) (arm-empty) (on-table cpooi) (on-table heoli) (clear jkjdb) (on umjuc cpooi) (clear heoli) (clear vyytx) (on-table vyytx)",
"(on-table cpooi) (on-table heoli) (holding jkjdb) (clear vyytx) (on umjuc cpooi) (clear umjuc) (on-table vyytx) (clear heoli)",
"(arm-empty) (on-table cpooi) (on-table heoli) (on jkjdb heoli) (clear jkjdb) (clear vyytx) (on umjuc cpooi) (clear umjuc) (on-table vyytx)",
"(on-table cpooi) (on-table heoli) (on jkjdb heoli) (clear jkjdb) (on umjuc cpooi) (clear umjuc) (holding vyytx)",
"(on vyytx jkjdb) (arm-empty) (on-table cpooi) (on-table heoli) (on jkjdb heoli) (clear vyytx) (on umjuc cpooi) (clear umjuc)",
"(holding umjuc) (on vyytx jkjdb) (clear cpooi) (on-table cpooi) (on-table heoli) (on jkjdb heoli) (clear vyytx)",
"(arm-empty) (on-table cpooi) (on-table heoli) (on jkjdb heoli) (on vyytx jkjdb) (clear cpooi) (on-table umjuc) (clear vyytx) (clear umjuc)"
] | file_115046 |
GOAL: (arm-empty) (on-table pgrru) (on nvmbb kmxpc) (on ypahx gzkms) (on gzkms pgrru) (clear ypahx) (on-table kmxpc) (clear nvmbb) | GOAL: (arm-empty) (on-table pgrru) (on nvmbb kmxpc) (on ypahx gzkms) (on gzkms pgrru) (clear ypahx) (on-table kmxpc) (clear nvmbb)
STATE: (on kmxpc gzkms) (on ypahx kmxpc) (arm-empty) (on-table pgrru) (on-table nvmbb) (on gzkms pgrru) (clear ypahx) (clear nvmbb) | [
[
"unstack ypahx kmxpc"
],
[
"put-down ypahx"
],
[
"unstack kmxpc gzkms"
],
[
"put-down kmxpc"
],
[
"pick-up ypahx"
],
[
"stack ypahx gzkms"
],
[
"pick-up nvmbb"
],
[
"stack nvmbb kmxpc"
]
] | [
"(holding ypahx) (on kmxpc gzkms) (on-table pgrru) (on-table nvmbb) (on gzkms pgrru) (clear kmxpc) (clear nvmbb)",
"(arm-empty) (on-table pgrru) (on-table nvmbb) (clear nvmbb) (on kmxpc gzkms) (on-table ypahx) (on gzkms pgrru) (clear kmxpc) (clear ypahx)",
"(on-table pgrru) (on-table nvmbb) (on-table ypahx) (clear gzkms) (on gzkms pgrru) (holding kmxpc) (clear ypahx) (clear nvmbb)",
"(arm-empty) (on-table pgrru) (on-table nvmbb) (on-table ypahx) (clear gzkms) (on gzkms pgrru) (clear kmxpc) (clear ypahx) (on-table kmxpc) (clear nvmbb)",
"(holding ypahx) (on-table pgrru) (on-table nvmbb) (clear gzkms) (on gzkms pgrru) (clear kmxpc) (on-table kmxpc) (clear nvmbb)",
"(arm-empty) (on-table pgrru) (on-table nvmbb) (on ypahx gzkms) (on gzkms pgrru) (clear kmxpc) (clear ypahx) (on-table kmxpc) (clear nvmbb)",
"(on-table pgrru) (holding nvmbb) (on ypahx gzkms) (on gzkms pgrru) (clear kmxpc) (clear ypahx) (on-table kmxpc)",
"(arm-empty) (on-table pgrru) (on nvmbb kmxpc) (on ypahx gzkms) (on gzkms pgrru) (clear ypahx) (on-table kmxpc) (clear nvmbb)"
] | file_186688 |
GOAL: (on szolt iflzf) (clear fmenh) (arm-empty) (on-table katug) (on puqur katug) (on-table iflzf) (on fmenh szolt) (clear puqur) | GOAL: (on szolt iflzf) (clear fmenh) (arm-empty) (on-table katug) (on puqur katug) (on-table iflzf) (on fmenh szolt) (clear puqur)
STATE: (on szolt iflzf) (arm-empty) (on-table fmenh) (on iflzf puqur) (on puqur katug) (clear szolt) (on katug fmenh) | [
[
"unstack szolt iflzf"
],
[
"put-down szolt"
],
[
"unstack iflzf puqur"
],
[
"put-down iflzf"
],
[
"pick-up szolt"
],
[
"stack szolt iflzf"
],
[
"unstack puqur katug"
],
[
"stack puqur szolt"
],
[
"unstack katug fmenh"
],
[
"put-down katug"
],
[
"unstack puqur szolt"
],
[
"stack puqur katug"
],
[
"pick-up fmenh"
],
[
"stack fmenh szolt"
]
] | [
"(on-table fmenh) (on iflzf puqur) (clear iflzf) (on katug fmenh) (on puqur katug) (holding szolt)",
"(on puqur katug) (arm-empty) (on-table fmenh) (on iflzf puqur) (clear szolt) (clear iflzf) (on katug fmenh) (on-table szolt)",
"(on-table fmenh) (holding iflzf) (on puqur katug) (clear szolt) (on katug fmenh) (on-table szolt) (clear puqur)",
"(arm-empty) (on-table fmenh) (clear iflzf) (on katug fmenh) (clear puqur) (on puqur katug) (on-table iflzf) (clear szolt) (on-table szolt)",
"(on-table fmenh) (clear iflzf) (on puqur katug) (on-table iflzf) (on katug fmenh) (holding szolt) (clear puqur)",
"(on szolt iflzf) (arm-empty) (on-table fmenh) (on puqur katug) (on-table iflzf) (clear szolt) (on katug fmenh) (clear puqur)",
"(on szolt iflzf) (on-table fmenh) (holding puqur) (on-table iflzf) (clear szolt) (on katug fmenh) (clear katug)",
"(on szolt iflzf) (arm-empty) (on-table fmenh) (on puqur szolt) (on-table iflzf) (on katug fmenh) (clear katug) (clear puqur)",
"(holding katug) (on szolt iflzf) (clear fmenh) (on-table fmenh) (on puqur szolt) (on-table iflzf) (clear puqur)",
"(arm-empty) (on-table fmenh) (on puqur szolt) (clear puqur) (on szolt iflzf) (clear fmenh) (on-table katug) (on-table iflzf) (clear katug)",
"(on szolt iflzf) (clear fmenh) (on-table fmenh) (on-table katug) (holding puqur) (on-table iflzf) (clear szolt) (clear katug)",
"(on szolt iflzf) (clear fmenh) (arm-empty) (on-table fmenh) (on-table katug) (on puqur katug) (on-table iflzf) (clear szolt) (clear puqur)",
"(on szolt iflzf) (on-table katug) (on puqur katug) (on-table iflzf) (holding fmenh) (clear szolt) (clear puqur)",
"(on szolt iflzf) (clear fmenh) (arm-empty) (on-table katug) (on puqur katug) (on-table iflzf) (on fmenh szolt) (clear puqur)"
] | file_143214 |
GOAL: (on-table wxwwy) (on-table obwhu) (holding wwfxm) (on ygmle ddrwe) (on ddrwe wxwwy) (clear ygmle) (clear obwhu) | GOAL: (on-table wxwwy) (on-table obwhu) (holding wwfxm) (on ygmle ddrwe) (on ddrwe wxwwy) (clear ygmle) (clear obwhu)
STATE: (on ygmle wxwwy) (on wwfxm obwhu) (on wxwwy wwfxm) (on-table obwhu) (holding ddrwe) (clear ygmle) | [
[
"put-down ddrwe"
],
[
"unstack ygmle wxwwy"
],
[
"stack ygmle ddrwe"
],
[
"unstack wxwwy wwfxm"
],
[
"put-down wxwwy"
],
[
"unstack ygmle ddrwe"
],
[
"stack ygmle wwfxm"
],
[
"pick-up ddrwe"
],
[
"stack ddrwe wxwwy"
],
[
"unstack ygmle wwfxm"
],
[
"stack ygmle ddrwe"
],
[
"unstack wwfxm obwhu"
]
] | [
"(on ygmle wxwwy) (on wwfxm obwhu) (on wxwwy wwfxm) (on-table ddrwe) (clear ddrwe) (on-table obwhu) (arm-empty) (clear ygmle)",
"(on wwfxm obwhu) (on wxwwy wwfxm) (on-table ddrwe) (clear ddrwe) (on-table obwhu) (holding ygmle) (clear wxwwy)",
"(on wwfxm obwhu) (on wxwwy wwfxm) (on-table ddrwe) (arm-empty) (on-table obwhu) (on ygmle ddrwe) (clear ygmle) (clear wxwwy)",
"(on wwfxm obwhu) (on-table ddrwe) (on-table obwhu) (on ygmle ddrwe) (clear wwfxm) (holding wxwwy) (clear ygmle)",
"(on wwfxm obwhu) (arm-empty) (on-table ddrwe) (on-table wxwwy) (clear wwfxm) (clear wxwwy) (on-table obwhu) (on ygmle ddrwe) (clear ygmle)",
"(clear ddrwe) (on wwfxm obwhu) (on-table ddrwe) (on-table wxwwy) (on-table obwhu) (clear wwfxm) (holding ygmle) (clear wxwwy)",
"(on ygmle wwfxm) (clear ddrwe) (on wwfxm obwhu) (arm-empty) (on-table ddrwe) (on-table wxwwy) (on-table obwhu) (clear ygmle) (clear wxwwy)",
"(on ygmle wwfxm) (on wwfxm obwhu) (on-table wxwwy) (on-table obwhu) (holding ddrwe) (clear ygmle) (clear wxwwy)",
"(on ygmle wwfxm) (clear ddrwe) (on wwfxm obwhu) (arm-empty) (on-table wxwwy) (on-table obwhu) (on ddrwe wxwwy) (clear ygmle)",
"(clear ddrwe) (on wwfxm obwhu) (on-table wxwwy) (on-table obwhu) (clear wwfxm) (on ddrwe wxwwy) (holding ygmle)",
"(on wwfxm obwhu) (arm-empty) (on-table wxwwy) (on-table obwhu) (on ygmle ddrwe) (clear wwfxm) (on ddrwe wxwwy) (clear ygmle)",
"(on-table wxwwy) (on-table obwhu) (holding wwfxm) (on ygmle ddrwe) (on ddrwe wxwwy) (clear ygmle) (clear obwhu)"
] | file_52852 |
GOAL: (clear pjqjt) (on bemur ztbci) (holding tdsik) (on lgcon bemur) (on pjqjt lgcon) (on-table ztbci) | GOAL: (clear pjqjt) (on bemur ztbci) (holding tdsik) (on lgcon bemur) (on pjqjt lgcon) (on-table ztbci)
STATE: (clear pjqjt) (arm-empty) (on-table tdsik) (on-table lgcon) (on bemur ztbci) (on pjqjt bemur) (clear lgcon) (on-table ztbci) (clear tdsik) | [
[
"unstack pjqjt bemur"
],
[
"stack pjqjt tdsik"
],
[
"pick-up lgcon"
],
[
"stack lgcon bemur"
],
[
"unstack pjqjt tdsik"
],
[
"stack pjqjt lgcon"
],
[
"pick-up tdsik"
]
] | [
"(on-table tdsik) (on-table lgcon) (clear bemur) (on bemur ztbci) (holding pjqjt) (clear lgcon) (on-table ztbci) (clear tdsik)",
"(clear pjqjt) (arm-empty) (on-table tdsik) (on-table lgcon) (clear bemur) (on bemur ztbci) (on pjqjt tdsik) (clear lgcon) (on-table ztbci)",
"(holding lgcon) (clear pjqjt) (on-table tdsik) (clear bemur) (on bemur ztbci) (on pjqjt tdsik) (on-table ztbci)",
"(clear pjqjt) (arm-empty) (on-table tdsik) (on bemur ztbci) (on lgcon bemur) (on pjqjt tdsik) (clear lgcon) (on-table ztbci)",
"(on-table tdsik) (holding pjqjt) (on bemur ztbci) (on lgcon bemur) (clear lgcon) (on-table ztbci) (clear tdsik)",
"(arm-empty) (on-table tdsik) (on pjqjt lgcon) (clear tdsik) (clear pjqjt) (on bemur ztbci) (on lgcon bemur) (on-table ztbci)",
"(clear pjqjt) (on bemur ztbci) (holding tdsik) (on lgcon bemur) (on pjqjt lgcon) (on-table ztbci)"
] | file_212866 |
GOAL: (clear xcffh) (on-table fiugu) (clear ogvhv) (on ogvhv nlono) (holding bdsbu) (on xcffh fiugu) (on-table nlono) | GOAL: (clear xcffh) (on-table fiugu) (clear ogvhv) (on ogvhv nlono) (holding bdsbu) (on xcffh fiugu) (on-table nlono)
STATE: (arm-empty) (on-table bdsbu) (on-table fiugu) (on nlono xcffh) (clear ogvhv) (on-table ogvhv) (on xcffh fiugu) (clear nlono) (clear bdsbu) | [
[
"pick-up ogvhv"
],
[
"stack ogvhv bdsbu"
],
[
"unstack nlono xcffh"
],
[
"put-down nlono"
],
[
"unstack ogvhv bdsbu"
],
[
"stack ogvhv nlono"
],
[
"pick-up bdsbu"
]
] | [
"(on-table bdsbu) (on-table fiugu) (holding ogvhv) (on nlono xcffh) (on xcffh fiugu) (clear nlono) (clear bdsbu)",
"(arm-empty) (on ogvhv bdsbu) (on-table bdsbu) (on-table fiugu) (on nlono xcffh) (clear ogvhv) (on xcffh fiugu) (clear nlono)",
"(clear xcffh) (on ogvhv bdsbu) (on-table bdsbu) (on-table fiugu) (clear ogvhv) (on xcffh fiugu) (holding nlono)",
"(arm-empty) (on-table bdsbu) (on ogvhv bdsbu) (clear ogvhv) (on xcffh fiugu) (clear xcffh) (on-table fiugu) (clear nlono) (on-table nlono)",
"(clear xcffh) (on-table bdsbu) (holding ogvhv) (on-table fiugu) (on xcffh fiugu) (clear nlono) (on-table nlono) (clear bdsbu)",
"(clear xcffh) (arm-empty) (on-table bdsbu) (on-table fiugu) (clear ogvhv) (on ogvhv nlono) (on xcffh fiugu) (on-table nlono) (clear bdsbu)",
"(clear xcffh) (on-table fiugu) (clear ogvhv) (on ogvhv nlono) (holding bdsbu) (on xcffh fiugu) (on-table nlono)"
] | file_10784 |
GOAL: (on mgysp cqorr) (on-table cqorr) (clear doqxa) (on-table doqxa) (holding mlerc) (clear kckmk) (clear mgysp) (on-table kckmk) | GOAL: (on mgysp cqorr) (on-table cqorr) (clear doqxa) (on-table doqxa) (holding mlerc) (clear kckmk) (clear mgysp) (on-table kckmk)
STATE: (holding mgysp) (on-table cqorr) (on kckmk mlerc) (on-table doqxa) (on mlerc doqxa) (clear kckmk) (clear cqorr) | [
[
"stack mgysp cqorr"
],
[
"unstack kckmk mlerc"
],
[
"put-down kckmk"
],
[
"unstack mlerc doqxa"
]
] | [
"(on mgysp cqorr) (arm-empty) (on-table cqorr) (on kckmk mlerc) (on-table doqxa) (on mlerc doqxa) (clear kckmk) (clear mgysp)",
"(on mgysp cqorr) (clear mlerc) (on-table cqorr) (on-table doqxa) (on mlerc doqxa) (holding kckmk) (clear mgysp)",
"(on mgysp cqorr) (arm-empty) (on-table cqorr) (on mlerc doqxa) (clear mlerc) (on-table doqxa) (clear kckmk) (clear mgysp) (on-table kckmk)",
"(on mgysp cqorr) (on-table cqorr) (clear doqxa) (on-table doqxa) (holding mlerc) (clear kckmk) (clear mgysp) (on-table kckmk)"
] | file_56595 |
GOAL: (on aebva hdvfp) (on fmsrg aebva) (arm-empty) (on-table qxaqg) (on hdvfp zkkhy) (clear fmsrg) (on zkkhy qxaqg) | GOAL: (on aebva hdvfp) (on fmsrg aebva) (arm-empty) (on-table qxaqg) (on hdvfp zkkhy) (clear fmsrg) (on zkkhy qxaqg)
STATE: (arm-empty) (on hdvfp zkkhy) (on qxaqg hdvfp) (on-table fmsrg) (on aebva fmsrg) (on zkkhy aebva) (clear qxaqg) | [
[
"unstack qxaqg hdvfp"
],
[
"put-down qxaqg"
],
[
"unstack hdvfp zkkhy"
],
[
"put-down hdvfp"
],
[
"unstack zkkhy aebva"
],
[
"stack zkkhy qxaqg"
],
[
"pick-up hdvfp"
],
[
"stack hdvfp zkkhy"
],
[
"unstack aebva fmsrg"
],
[
"stack aebva hdvfp"
],
[
"pick-up fmsrg"
],
[
"stack fmsrg aebva"
]
] | [
"(holding qxaqg) (on zkkhy aebva) (on hdvfp zkkhy) (on-table fmsrg) (on aebva fmsrg) (clear hdvfp)",
"(arm-empty) (on-table qxaqg) (on zkkhy aebva) (clear qxaqg) (on hdvfp zkkhy) (on-table fmsrg) (on aebva fmsrg) (clear hdvfp)",
"(clear zkkhy) (on-table qxaqg) (on-table fmsrg) (on aebva fmsrg) (on zkkhy aebva) (holding hdvfp) (clear qxaqg)",
"(arm-empty) (on-table qxaqg) (on zkkhy aebva) (clear qxaqg) (clear zkkhy) (on-table fmsrg) (on aebva fmsrg) (clear hdvfp) (on-table hdvfp)",
"(on-table qxaqg) (holding zkkhy) (on-table fmsrg) (on aebva fmsrg) (clear hdvfp) (clear aebva) (on-table hdvfp) (clear qxaqg)",
"(clear zkkhy) (arm-empty) (on-table qxaqg) (on-table fmsrg) (on zkkhy qxaqg) (clear hdvfp) (on aebva fmsrg) (on-table hdvfp) (clear aebva)",
"(clear zkkhy) (on-table qxaqg) (on-table fmsrg) (on aebva fmsrg) (on zkkhy qxaqg) (holding hdvfp) (clear aebva)",
"(arm-empty) (on-table qxaqg) (on hdvfp zkkhy) (on-table fmsrg) (on aebva fmsrg) (on zkkhy qxaqg) (clear hdvfp) (clear aebva)",
"(holding aebva) (on-table qxaqg) (on hdvfp zkkhy) (clear fmsrg) (on-table fmsrg) (on zkkhy qxaqg) (clear hdvfp)",
"(on aebva hdvfp) (arm-empty) (on-table qxaqg) (on hdvfp zkkhy) (clear fmsrg) (on-table fmsrg) (on zkkhy qxaqg) (clear aebva)",
"(on aebva hdvfp) (on-table qxaqg) (holding fmsrg) (on hdvfp zkkhy) (on zkkhy qxaqg) (clear aebva)",
"(on aebva hdvfp) (on fmsrg aebva) (arm-empty) (on-table qxaqg) (on hdvfp zkkhy) (clear fmsrg) (on zkkhy qxaqg)"
] | file_99983 |
GOAL: (clear zzaxb) (arm-empty) (on iukrx pokau) (on-table adgaz) (on-table pokau) (on qbesn adgaz) (on zzaxb qbesn) (clear iukrx) | GOAL: (clear zzaxb) (arm-empty) (on iukrx pokau) (on-table adgaz) (on-table pokau) (on qbesn adgaz) (on zzaxb qbesn) (clear iukrx)
STATE: (clear zzaxb) (on-table iukrx) (holding pokau) (on-table adgaz) (on qbesn adgaz) (on zzaxb qbesn) (clear iukrx) | [
[
"put-down pokau"
],
[
"pick-up iukrx"
],
[
"stack iukrx pokau"
]
] | [
"(arm-empty) (on-table iukrx) (clear pokau) (on qbesn adgaz) (clear iukrx) (clear zzaxb) (on-table adgaz) (on-table pokau) (on zzaxb qbesn)",
"(clear zzaxb) (on-table adgaz) (clear pokau) (holding iukrx) (on-table pokau) (on qbesn adgaz) (on zzaxb qbesn)",
"(clear zzaxb) (arm-empty) (on iukrx pokau) (on-table adgaz) (on-table pokau) (on qbesn adgaz) (on zzaxb qbesn) (clear iukrx)"
] | file_186482 |
GOAL: (clear inlxy) (arm-empty) (on-table nuqgz) (on gbjfn zzdju) (on inlxy gbjfn) (clear nuqgz) (on-table zzdju) | GOAL: (clear inlxy) (arm-empty) (on-table nuqgz) (on gbjfn zzdju) (on inlxy gbjfn) (clear nuqgz) (on-table zzdju)
STATE: (arm-empty) (on-table inlxy) (on-table nuqgz) (on zzdju inlxy) (clear gbjfn) (on gbjfn zzdju) (clear nuqgz) | [
[
"unstack gbjfn zzdju"
],
[
"put-down gbjfn"
],
[
"unstack zzdju inlxy"
],
[
"put-down zzdju"
],
[
"pick-up inlxy"
],
[
"stack inlxy nuqgz"
],
[
"pick-up gbjfn"
],
[
"stack gbjfn zzdju"
],
[
"unstack inlxy nuqgz"
],
[
"stack inlxy gbjfn"
]
] | [
"(holding gbjfn) (on-table inlxy) (clear zzdju) (on-table nuqgz) (on zzdju inlxy) (clear nuqgz)",
"(arm-empty) (on-table inlxy) (clear gbjfn) (on-table nuqgz) (on zzdju inlxy) (on-table gbjfn) (clear zzdju) (clear nuqgz)",
"(clear inlxy) (on-table inlxy) (on-table nuqgz) (clear gbjfn) (on-table gbjfn) (holding zzdju) (clear nuqgz)",
"(arm-empty) (on-table inlxy) (clear gbjfn) (clear inlxy) (on-table nuqgz) (on-table gbjfn) (clear zzdju) (clear nuqgz) (on-table zzdju)",
"(on-table nuqgz) (clear gbjfn) (on-table gbjfn) (holding inlxy) (clear zzdju) (clear nuqgz) (on-table zzdju)",
"(clear inlxy) (arm-empty) (on-table nuqgz) (clear gbjfn) (on-table gbjfn) (on inlxy nuqgz) (clear zzdju) (on-table zzdju)",
"(clear inlxy) (on-table nuqgz) (holding gbjfn) (on inlxy nuqgz) (clear zzdju) (on-table zzdju)",
"(on gbjfn zzdju) (clear inlxy) (arm-empty) (on-table nuqgz) (on inlxy nuqgz) (clear gbjfn) (on-table zzdju)",
"(clear gbjfn) (on-table nuqgz) (on gbjfn zzdju) (holding inlxy) (clear nuqgz) (on-table zzdju)",
"(clear inlxy) (arm-empty) (on-table nuqgz) (on gbjfn zzdju) (on inlxy gbjfn) (clear nuqgz) (on-table zzdju)"
] | file_151634 |
GOAL: (on whpct nducn) (on-table nducn) (clear khsks) (on khsks fpkhw) (holding aimid) (clear whpct) (on-table fpkhw) | GOAL: (on whpct nducn) (on-table nducn) (clear khsks) (on khsks fpkhw) (holding aimid) (clear whpct) (on-table fpkhw)
STATE: (clear aimid) (arm-empty) (on-table aimid) (on-table nducn) (on khsks fpkhw) (on whpct khsks) (clear whpct) (on-table fpkhw) (clear nducn) | [
[
"unstack whpct khsks"
],
[
"stack whpct nducn"
],
[
"pick-up aimid"
]
] | [
"(holding whpct) (clear aimid) (on-table aimid) (on-table nducn) (clear khsks) (on khsks fpkhw) (on-table fpkhw) (clear nducn)",
"(on whpct nducn) (clear aimid) (arm-empty) (on-table aimid) (on-table nducn) (clear khsks) (on khsks fpkhw) (clear whpct) (on-table fpkhw)",
"(on whpct nducn) (on-table nducn) (clear khsks) (on khsks fpkhw) (holding aimid) (clear whpct) (on-table fpkhw)"
] | file_107425 |
GOAL: (clear ttqkd) (on-table ttqkd) (on-table ukshj) (on-table ucgkc) (holding rmrns) (clear qkaiw) (clear ucgkc) (on-table qkaiw) (clear ukshj) | GOAL: (clear ttqkd) (on-table ttqkd) (on-table ukshj) (on-table ucgkc) (holding rmrns) (clear qkaiw) (clear ucgkc) (on-table qkaiw) (clear ukshj)
STATE: (on-table ttqkd) (on-table ukshj) (on-table ucgkc) (clear rmrns) (on rmrns ttqkd) (holding qkaiw) (clear ucgkc) (clear ukshj) | [
[
"put-down qkaiw"
],
[
"unstack rmrns ttqkd"
]
] | [
"(arm-empty) (on-table ttqkd) (on-table ukshj) (on-table ucgkc) (clear rmrns) (on rmrns ttqkd) (clear qkaiw) (clear ucgkc) (on-table qkaiw) (clear ukshj)",
"(clear ttqkd) (on-table ttqkd) (on-table ukshj) (on-table ucgkc) (holding rmrns) (clear qkaiw) (clear ucgkc) (on-table qkaiw) (clear ukshj)"
] | file_122516 |
GOAL: (on jmihw fsgyq) (on-table mnxzf) (on fsgyq cnjdf) (holding dxsdq) (clear mnxzf) (on-table cnjdf) (clear jmihw) | GOAL: (on jmihw fsgyq) (on-table mnxzf) (on fsgyq cnjdf) (holding dxsdq) (clear mnxzf) (on-table cnjdf) (clear jmihw)
STATE: (on mnxzf jmihw) (arm-empty) (on jmihw dxsdq) (on fsgyq cnjdf) (on dxsdq fsgyq) (clear mnxzf) (on-table cnjdf) | [
[
"unstack mnxzf jmihw"
],
[
"put-down mnxzf"
],
[
"unstack jmihw dxsdq"
],
[
"stack jmihw mnxzf"
],
[
"unstack dxsdq fsgyq"
],
[
"put-down dxsdq"
],
[
"unstack jmihw mnxzf"
],
[
"stack jmihw fsgyq"
],
[
"pick-up dxsdq"
]
] | [
"(on jmihw dxsdq) (on dxsdq fsgyq) (clear jmihw) (holding mnxzf) (on fsgyq cnjdf) (on-table cnjdf)",
"(arm-empty) (on jmihw dxsdq) (on dxsdq fsgyq) (clear jmihw) (on-table mnxzf) (on fsgyq cnjdf) (clear mnxzf) (on-table cnjdf)",
"(clear dxsdq) (on-table mnxzf) (on fsgyq cnjdf) (holding jmihw) (on dxsdq fsgyq) (clear mnxzf) (on-table cnjdf)",
"(on fsgyq cnjdf) (on jmihw mnxzf) (clear dxsdq) (arm-empty) (on-table mnxzf) (on dxsdq fsgyq) (on-table cnjdf) (clear jmihw)",
"(on-table mnxzf) (clear fsgyq) (on fsgyq cnjdf) (on jmihw mnxzf) (holding dxsdq) (on-table cnjdf) (clear jmihw)",
"(arm-empty) (on-table dxsdq) (clear fsgyq) (clear jmihw) (clear dxsdq) (on-table mnxzf) (on fsgyq cnjdf) (on jmihw mnxzf) (on-table cnjdf)",
"(clear dxsdq) (on-table dxsdq) (on-table mnxzf) (clear fsgyq) (on fsgyq cnjdf) (holding jmihw) (clear mnxzf) (on-table cnjdf)",
"(clear dxsdq) (arm-empty) (on jmihw fsgyq) (on-table dxsdq) (on-table mnxzf) (on fsgyq cnjdf) (clear mnxzf) (on-table cnjdf) (clear jmihw)",
"(on jmihw fsgyq) (on-table mnxzf) (on fsgyq cnjdf) (holding dxsdq) (clear mnxzf) (on-table cnjdf) (clear jmihw)"
] | file_78618 |
GOAL: (on cvkuc rysqg) (arm-empty) (on-table capir) (on vhuxg cvkuc) (on rysqg glmvc) (on glmvc capir) (clear vhuxg) | GOAL: (on cvkuc rysqg) (arm-empty) (on-table capir) (on vhuxg cvkuc) (on rysqg glmvc) (on glmvc capir) (clear vhuxg)
STATE: (arm-empty) (on-table vhuxg) (on-table capir) (clear rysqg) (on rysqg glmvc) (on glmvc capir) (clear cvkuc) (on-table cvkuc) (clear vhuxg) | [
[
"pick-up cvkuc"
],
[
"stack cvkuc rysqg"
],
[
"pick-up vhuxg"
],
[
"stack vhuxg cvkuc"
]
] | [
"(on-table vhuxg) (on-table capir) (clear rysqg) (on rysqg glmvc) (on glmvc capir) (holding cvkuc) (clear vhuxg)",
"(on cvkuc rysqg) (arm-empty) (on-table vhuxg) (on-table capir) (on rysqg glmvc) (on glmvc capir) (clear cvkuc) (clear vhuxg)",
"(on cvkuc rysqg) (on-table capir) (holding vhuxg) (on rysqg glmvc) (on glmvc capir) (clear cvkuc)",
"(on cvkuc rysqg) (arm-empty) (on-table capir) (on vhuxg cvkuc) (on rysqg glmvc) (on glmvc capir) (clear vhuxg)"
] | file_141006 |
GOAL: (arm-empty) (on-table jghyw) (on-table tjljb) (clear wsgxv) (on hmvso smjja) (clear tjljb) (clear jghyw) (on-table smjja) (on wsgxv hmvso) | GOAL: (arm-empty) (on-table jghyw) (on-table tjljb) (clear wsgxv) (on hmvso smjja) (clear tjljb) (clear jghyw) (on-table smjja) (on wsgxv hmvso)
STATE: (arm-empty) (on-table jghyw) (on wsgxv tjljb) (on-table smjja) (on tjljb jghyw) (clear wsgxv) (clear hmvso) (clear smjja) (on-table hmvso) | [
[
"pick-up hmvso"
],
[
"stack hmvso smjja"
],
[
"unstack wsgxv tjljb"
],
[
"stack wsgxv hmvso"
],
[
"unstack tjljb jghyw"
],
[
"put-down tjljb"
]
] | [
"(on-table jghyw) (on wsgxv tjljb) (on-table smjja) (on tjljb jghyw) (clear wsgxv) (holding hmvso) (clear smjja)",
"(arm-empty) (on-table jghyw) (on wsgxv tjljb) (on-table smjja) (on tjljb jghyw) (clear wsgxv) (on hmvso smjja) (clear hmvso)",
"(on-table jghyw) (on-table smjja) (holding wsgxv) (on tjljb jghyw) (on hmvso smjja) (clear hmvso) (clear tjljb)",
"(arm-empty) (on-table jghyw) (on tjljb jghyw) (clear wsgxv) (on hmvso smjja) (clear tjljb) (on-table smjja) (on wsgxv hmvso)",
"(clear jghyw) (on-table jghyw) (on-table smjja) (clear wsgxv) (on wsgxv hmvso) (holding tjljb) (on hmvso smjja)",
"(arm-empty) (on-table jghyw) (on-table tjljb) (clear wsgxv) (on hmvso smjja) (clear tjljb) (clear jghyw) (on-table smjja) (on wsgxv hmvso)"
] | file_23419 |
GOAL: (on rcgui mbkqq) (arm-empty) (on-table wpjvt) (on lwjyp wpjvt) (clear jqaac) (on-table jqaac) (clear rcgui) (on-table mbkqq) (clear lwjyp) | GOAL: (on rcgui mbkqq) (arm-empty) (on-table wpjvt) (on lwjyp wpjvt) (clear jqaac) (on-table jqaac) (clear rcgui) (on-table mbkqq) (clear lwjyp)
STATE: (holding rcgui) (clear wpjvt) (on-table wpjvt) (clear jqaac) (on lwjyp mbkqq) (on-table jqaac) (on-table mbkqq) (clear lwjyp) | [
[
"stack rcgui jqaac"
],
[
"unstack lwjyp mbkqq"
],
[
"stack lwjyp wpjvt"
],
[
"unstack rcgui jqaac"
],
[
"stack rcgui mbkqq"
]
] | [
"(clear wpjvt) (arm-empty) (on-table wpjvt) (on lwjyp mbkqq) (on-table jqaac) (on rcgui jqaac) (clear rcgui) (on-table mbkqq) (clear lwjyp)",
"(clear wpjvt) (on-table wpjvt) (holding lwjyp) (on-table jqaac) (on rcgui jqaac) (clear mbkqq) (clear rcgui) (on-table mbkqq)",
"(arm-empty) (on-table wpjvt) (on lwjyp wpjvt) (on-table jqaac) (on rcgui jqaac) (clear mbkqq) (clear rcgui) (on-table mbkqq) (clear lwjyp)",
"(holding rcgui) (on-table wpjvt) (on lwjyp wpjvt) (clear jqaac) (on-table jqaac) (clear mbkqq) (on-table mbkqq) (clear lwjyp)",
"(on rcgui mbkqq) (arm-empty) (on-table wpjvt) (on lwjyp wpjvt) (clear jqaac) (on-table jqaac) (clear rcgui) (on-table mbkqq) (clear lwjyp)"
] | file_219811 |
GOAL: (on jnwll nkbmp) (arm-empty) (on nkbmp wnovp) (on-table xoncz) (clear xoncz) (on-table ybvup) (on-table wnovp) (clear jnwll) (clear ybvup) | GOAL: (on jnwll nkbmp) (arm-empty) (on nkbmp wnovp) (on-table xoncz) (clear xoncz) (on-table ybvup) (on-table wnovp) (clear jnwll) (clear ybvup)
STATE: (on jnwll nkbmp) (on ybvup jnwll) (on nkbmp wnovp) (on-table xoncz) (arm-empty) (clear xoncz) (on-table wnovp) (clear ybvup) | [
[
"unstack ybvup jnwll"
],
[
"put-down ybvup"
]
] | [
"(holding ybvup) (on jnwll nkbmp) (on nkbmp wnovp) (on-table xoncz) (clear xoncz) (on-table wnovp) (clear jnwll)",
"(on jnwll nkbmp) (arm-empty) (on nkbmp wnovp) (on-table xoncz) (clear xoncz) (on-table ybvup) (on-table wnovp) (clear jnwll) (clear ybvup)"
] | file_120629 |
GOAL: (clear trccv) (arm-empty) (on-table gddgk) (on-table lhnjq) (on trccv lhnjq) (clear bktai) (clear gddgk) (on-table bktai) | GOAL: (clear trccv) (arm-empty) (on-table gddgk) (on-table lhnjq) (on trccv lhnjq) (clear bktai) (clear gddgk) (on-table bktai)
STATE: (holding gddgk) (clear trccv) (on-table trccv) (clear lhnjq) (on-table lhnjq) (clear bktai) (on-table bktai) | [
[
"put-down gddgk"
],
[
"pick-up trccv"
],
[
"stack trccv lhnjq"
]
] | [
"(arm-empty) (on-table trccv) (clear lhnjq) (clear trccv) (on-table gddgk) (on-table lhnjq) (clear bktai) (clear gddgk) (on-table bktai)",
"(on-table gddgk) (clear lhnjq) (on-table lhnjq) (holding trccv) (clear bktai) (clear gddgk) (on-table bktai)",
"(clear trccv) (arm-empty) (on-table gddgk) (on-table lhnjq) (on trccv lhnjq) (clear bktai) (clear gddgk) (on-table bktai)"
] | file_19085 |
GOAL: (on-table coeaf) (on-table xjklf) (on uknbz coeaf) (clear sqmki) (holding slhst) (on-table sqmki) (clear uknbz) (clear xjklf) | GOAL: (on-table coeaf) (on-table xjklf) (on uknbz coeaf) (clear sqmki) (holding slhst) (on-table sqmki) (clear uknbz) (clear xjklf)
STATE: (on xjklf slhst) (clear coeaf) (arm-empty) (on-table coeaf) (on-table slhst) (clear sqmki) (on-table sqmki) (clear uknbz) (clear xjklf) (on-table uknbz) | [
[
"pick-up sqmki"
],
[
"stack sqmki uknbz"
],
[
"unstack xjklf slhst"
],
[
"put-down xjklf"
],
[
"unstack sqmki uknbz"
],
[
"put-down sqmki"
],
[
"pick-up uknbz"
],
[
"stack uknbz coeaf"
],
[
"pick-up slhst"
]
] | [
"(on xjklf slhst) (clear coeaf) (on-table coeaf) (on-table slhst) (holding sqmki) (clear uknbz) (clear xjklf) (on-table uknbz)",
"(on xjklf slhst) (clear coeaf) (arm-empty) (on-table coeaf) (on-table slhst) (clear sqmki) (on sqmki uknbz) (clear xjklf) (on-table uknbz)",
"(holding xjklf) (clear coeaf) (on-table coeaf) (on-table slhst) (clear sqmki) (on sqmki uknbz) (on-table uknbz) (clear slhst)",
"(clear coeaf) (arm-empty) (on-table coeaf) (on-table slhst) (on-table xjklf) (clear sqmki) (on sqmki uknbz) (clear xjklf) (on-table uknbz) (clear slhst)",
"(clear coeaf) (on-table coeaf) (on-table slhst) (on-table xjklf) (holding sqmki) (clear uknbz) (clear xjklf) (on-table uknbz) (clear slhst)",
"(clear coeaf) (arm-empty) (on-table coeaf) (on-table slhst) (on-table xjklf) (clear sqmki) (on-table sqmki) (clear uknbz) (clear xjklf) (on-table uknbz) (clear slhst)",
"(clear coeaf) (on-table coeaf) (on-table slhst) (on-table xjklf) (clear sqmki) (on-table sqmki) (holding uknbz) (clear xjklf) (clear slhst)",
"(arm-empty) (on-table coeaf) (on-table slhst) (on-table xjklf) (on uknbz coeaf) (clear sqmki) (on-table sqmki) (clear uknbz) (clear xjklf) (clear slhst)",
"(on-table coeaf) (on-table xjklf) (on uknbz coeaf) (clear sqmki) (holding slhst) (on-table sqmki) (clear uknbz) (clear xjklf)"
] | file_180974 |
GOAL: (on bfdvm pshlt) (clear nqhzg) (on pshlt gbhns) (on-table nqhzg) (on-table gbhns) (holding lsawv) (clear bfdvm) | GOAL: (on bfdvm pshlt) (clear nqhzg) (on pshlt gbhns) (on-table nqhzg) (on-table gbhns) (holding lsawv) (clear bfdvm)
STATE: (on-table nqhzg) (holding gbhns) (on-table bfdvm) (on lsawv nqhzg) (on pshlt lsawv) (clear bfdvm) (clear pshlt) | [
[
"stack gbhns bfdvm"
],
[
"unstack pshlt lsawv"
],
[
"put-down pshlt"
],
[
"unstack gbhns bfdvm"
],
[
"put-down gbhns"
],
[
"pick-up pshlt"
],
[
"stack pshlt gbhns"
],
[
"pick-up bfdvm"
],
[
"stack bfdvm pshlt"
],
[
"unstack lsawv nqhzg"
]
] | [
"(on gbhns bfdvm) (arm-empty) (on-table nqhzg) (on-table bfdvm) (on lsawv nqhzg) (clear gbhns) (on pshlt lsawv) (clear pshlt)",
"(on gbhns bfdvm) (on-table nqhzg) (on-table bfdvm) (on lsawv nqhzg) (clear gbhns) (holding pshlt) (clear lsawv)",
"(on gbhns bfdvm) (arm-empty) (on-table nqhzg) (on-table pshlt) (clear gbhns) (clear pshlt) (on-table bfdvm) (on lsawv nqhzg) (clear lsawv)",
"(on-table nqhzg) (on-table pshlt) (on-table bfdvm) (holding gbhns) (on lsawv nqhzg) (clear lsawv) (clear bfdvm) (clear pshlt)",
"(arm-empty) (on-table nqhzg) (on-table pshlt) (on-table bfdvm) (on lsawv nqhzg) (clear gbhns) (on-table gbhns) (clear lsawv) (clear bfdvm) (clear pshlt)",
"(on-table nqhzg) (on-table bfdvm) (on lsawv nqhzg) (clear gbhns) (holding pshlt) (on-table gbhns) (clear lsawv) (clear bfdvm)",
"(arm-empty) (on pshlt gbhns) (on-table nqhzg) (on-table bfdvm) (on lsawv nqhzg) (on-table gbhns) (clear lsawv) (clear bfdvm) (clear pshlt)",
"(holding bfdvm) (on pshlt gbhns) (on-table nqhzg) (on lsawv nqhzg) (on-table gbhns) (clear lsawv) (clear pshlt)",
"(on bfdvm pshlt) (arm-empty) (on pshlt gbhns) (on-table nqhzg) (on lsawv nqhzg) (on-table gbhns) (clear lsawv) (clear bfdvm)",
"(on bfdvm pshlt) (clear nqhzg) (on pshlt gbhns) (on-table nqhzg) (on-table gbhns) (holding lsawv) (clear bfdvm)"
] | file_27116 |
GOAL: (on arbsw ddtxj) (arm-empty) (on-table lbjha) (on ddtxj ovhjx) (on ovhjx uvusr) (clear arbsw) (on uvusr lbjha) | GOAL: (on arbsw ddtxj) (arm-empty) (on-table lbjha) (on ddtxj ovhjx) (on ovhjx uvusr) (clear arbsw) (on uvusr lbjha)
STATE: (clear lbjha) (on uvusr arbsw) (arm-empty) (on-table lbjha) (on-table ovhjx) (clear ddtxj) (on-table ddtxj) (clear uvusr) (on-table arbsw) (clear ovhjx) | [
[
"pick-up ovhjx"
],
[
"stack ovhjx ddtxj"
],
[
"unstack uvusr arbsw"
],
[
"stack uvusr lbjha"
],
[
"unstack ovhjx ddtxj"
],
[
"stack ovhjx uvusr"
],
[
"pick-up ddtxj"
],
[
"stack ddtxj ovhjx"
],
[
"pick-up arbsw"
],
[
"stack arbsw ddtxj"
]
] | [
"(clear lbjha) (on uvusr arbsw) (on-table lbjha) (clear ddtxj) (holding ovhjx) (on-table ddtxj) (clear uvusr) (on-table arbsw)",
"(clear lbjha) (on uvusr arbsw) (on ovhjx ddtxj) (on-table lbjha) (arm-empty) (on-table ddtxj) (clear uvusr) (on-table arbsw) (clear ovhjx)",
"(holding uvusr) (clear lbjha) (on ovhjx ddtxj) (on-table lbjha) (on-table ddtxj) (clear arbsw) (on-table arbsw) (clear ovhjx)",
"(arm-empty) (on ovhjx ddtxj) (on-table lbjha) (on-table ddtxj) (clear arbsw) (on uvusr lbjha) (clear uvusr) (on-table arbsw) (clear ovhjx)",
"(on-table lbjha) (clear ddtxj) (holding ovhjx) (on-table ddtxj) (clear arbsw) (on uvusr lbjha) (clear uvusr) (on-table arbsw)",
"(arm-empty) (on-table lbjha) (clear ddtxj) (on ovhjx uvusr) (on-table ddtxj) (clear arbsw) (on uvusr lbjha) (on-table arbsw) (clear ovhjx)",
"(on-table lbjha) (holding ddtxj) (on ovhjx uvusr) (clear arbsw) (on uvusr lbjha) (on-table arbsw) (clear ovhjx)",
"(arm-empty) (on-table lbjha) (on ddtxj ovhjx) (clear ddtxj) (on ovhjx uvusr) (clear arbsw) (on uvusr lbjha) (on-table arbsw)",
"(on-table lbjha) (on ddtxj ovhjx) (clear ddtxj) (on ovhjx uvusr) (on uvusr lbjha) (holding arbsw)",
"(on arbsw ddtxj) (arm-empty) (on-table lbjha) (on ddtxj ovhjx) (on ovhjx uvusr) (clear arbsw) (on uvusr lbjha)"
] | file_209856 |
GOAL: (on qsgvb yexyz) (on zyyma qsgvb) (on cxkse zyyma) (on-table aqhmk) (arm-empty) (on yexyz aqhmk) (clear cxkse) | GOAL: (on qsgvb yexyz) (on zyyma qsgvb) (on cxkse zyyma) (on-table aqhmk) (arm-empty) (on yexyz aqhmk) (clear cxkse)
STATE: (on-table yexyz) (clear yexyz) (on-table cxkse) (holding aqhmk) (clear qsgvb) (on zyyma cxkse) (on-table qsgvb) (clear zyyma) | [
[
"put-down aqhmk"
],
[
"pick-up yexyz"
],
[
"stack yexyz aqhmk"
],
[
"pick-up qsgvb"
],
[
"stack qsgvb yexyz"
],
[
"unstack zyyma cxkse"
],
[
"stack zyyma qsgvb"
],
[
"pick-up cxkse"
],
[
"stack cxkse zyyma"
]
] | [
"(clear aqhmk) (arm-empty) (on-table aqhmk) (on-table yexyz) (clear yexyz) (on-table cxkse) (clear qsgvb) (on zyyma cxkse) (on-table qsgvb) (clear zyyma)",
"(clear aqhmk) (on-table aqhmk) (holding yexyz) (on-table cxkse) (on zyyma cxkse) (clear qsgvb) (clear zyyma) (on-table qsgvb)",
"(arm-empty) (on-table aqhmk) (on yexyz aqhmk) (on-table cxkse) (on zyyma cxkse) (clear qsgvb) (clear zyyma) (on-table qsgvb) (clear yexyz)",
"(on-table aqhmk) (on yexyz aqhmk) (on-table cxkse) (on zyyma cxkse) (holding qsgvb) (clear zyyma) (clear yexyz)",
"(on qsgvb yexyz) (arm-empty) (on-table aqhmk) (on yexyz aqhmk) (on-table cxkse) (on zyyma cxkse) (clear qsgvb) (clear zyyma)",
"(holding zyyma) (on qsgvb yexyz) (on-table aqhmk) (on yexyz aqhmk) (clear cxkse) (on-table cxkse) (clear qsgvb)",
"(on qsgvb yexyz) (on zyyma qsgvb) (arm-empty) (on-table aqhmk) (on yexyz aqhmk) (clear cxkse) (on-table cxkse) (clear zyyma)",
"(on qsgvb yexyz) (on zyyma qsgvb) (on-table aqhmk) (holding cxkse) (on yexyz aqhmk) (clear zyyma)",
"(on qsgvb yexyz) (on zyyma qsgvb) (on cxkse zyyma) (on-table aqhmk) (arm-empty) (on yexyz aqhmk) (clear cxkse)"
] | file_35597 |
GOAL: (holding xpzho) (on sbrhn qxtyc) (on-table xmnej) (on pjhwo xmnej) (on-table qxtyc) (clear sbrhn) (clear pjhwo) | GOAL: (holding xpzho) (on sbrhn qxtyc) (on-table xmnej) (on pjhwo xmnej) (on-table qxtyc) (clear sbrhn) (clear pjhwo)
STATE: (holding xpzho) (clear xmnej) (on-table pjhwo) (on qxtyc sbrhn) (on xmnej qxtyc) (on-table sbrhn) (clear pjhwo) | [
[
"put-down xpzho"
],
[
"pick-up pjhwo"
],
[
"stack pjhwo xpzho"
],
[
"unstack xmnej qxtyc"
],
[
"stack xmnej pjhwo"
],
[
"unstack qxtyc sbrhn"
],
[
"put-down qxtyc"
],
[
"unstack xmnej pjhwo"
],
[
"put-down xmnej"
],
[
"unstack pjhwo xpzho"
],
[
"stack pjhwo xmnej"
],
[
"pick-up sbrhn"
],
[
"stack sbrhn qxtyc"
],
[
"pick-up xpzho"
]
] | [
"(arm-empty) (on-table pjhwo) (on xmnej qxtyc) (clear pjhwo) (clear xmnej) (on-table xpzho) (on qxtyc sbrhn) (clear xpzho) (on-table sbrhn)",
"(clear xmnej) (on-table xpzho) (on qxtyc sbrhn) (holding pjhwo) (on xmnej qxtyc) (clear xpzho) (on-table sbrhn)",
"(on qxtyc sbrhn) (on pjhwo xpzho) (clear xmnej) (arm-empty) (on-table xpzho) (on xmnej qxtyc) (on-table sbrhn) (clear pjhwo)",
"(on-table xpzho) (clear qxtyc) (on qxtyc sbrhn) (on pjhwo xpzho) (holding xmnej) (on-table sbrhn) (clear pjhwo)",
"(clear xmnej) (arm-empty) (on-table xpzho) (clear qxtyc) (on qxtyc sbrhn) (on pjhwo xpzho) (on xmnej pjhwo) (on-table sbrhn)",
"(clear xmnej) (on-table xpzho) (holding qxtyc) (on pjhwo xpzho) (on xmnej pjhwo) (clear sbrhn) (on-table sbrhn)",
"(arm-empty) (clear qxtyc) (on xmnej pjhwo) (clear xmnej) (on-table xpzho) (on pjhwo xpzho) (on-table qxtyc) (clear sbrhn) (on-table sbrhn)",
"(on-table xpzho) (clear qxtyc) (on pjhwo xpzho) (on-table qxtyc) (holding xmnej) (clear sbrhn) (on-table sbrhn) (clear pjhwo)",
"(clear xmnej) (arm-empty) (on-table xmnej) (on-table xpzho) (clear qxtyc) (on pjhwo xpzho) (on-table qxtyc) (clear sbrhn) (on-table sbrhn) (clear pjhwo)",
"(clear xmnej) (on-table xmnej) (on-table xpzho) (clear qxtyc) (holding pjhwo) (on-table qxtyc) (clear sbrhn) (clear xpzho) (on-table sbrhn)",
"(arm-empty) (on-table xmnej) (on-table xpzho) (on pjhwo xmnej) (clear qxtyc) (on-table qxtyc) (clear sbrhn) (clear xpzho) (on-table sbrhn) (clear pjhwo)",
"(on-table xmnej) (on-table xpzho) (on pjhwo xmnej) (clear qxtyc) (on-table qxtyc) (holding sbrhn) (clear xpzho) (clear pjhwo)",
"(on sbrhn qxtyc) (arm-empty) (on-table xmnej) (on-table xpzho) (on pjhwo xmnej) (on-table qxtyc) (clear sbrhn) (clear xpzho) (clear pjhwo)",
"(holding xpzho) (on sbrhn qxtyc) (on-table xmnej) (on pjhwo xmnej) (on-table qxtyc) (clear sbrhn) (clear pjhwo)"
] | file_134025 |
GOAL: (on dfkam pqelp) (arm-empty) (on qcwyc rnena) (on rnena dfkam) (clear qcwyc) (on-table pqelp) | GOAL: (on dfkam pqelp) (arm-empty) (on qcwyc rnena) (on rnena dfkam) (clear qcwyc) (on-table pqelp)
STATE: (clear rnena) (on qcwyc dfkam) (on dfkam pqelp) (on-table rnena) (arm-empty) (clear qcwyc) (on-table pqelp) | [
[
"unstack qcwyc dfkam"
],
[
"put-down qcwyc"
],
[
"pick-up rnena"
],
[
"stack rnena dfkam"
],
[
"pick-up qcwyc"
],
[
"stack qcwyc rnena"
]
] | [
"(on dfkam pqelp) (on-table rnena) (holding qcwyc) (clear rnena) (clear dfkam) (on-table pqelp)",
"(on dfkam pqelp) (arm-empty) (on-table rnena) (clear qcwyc) (clear rnena) (on-table qcwyc) (clear dfkam) (on-table pqelp)",
"(on dfkam pqelp) (clear qcwyc) (on-table qcwyc) (holding rnena) (clear dfkam) (on-table pqelp)",
"(clear rnena) (on dfkam pqelp) (arm-empty) (clear qcwyc) (on-table qcwyc) (on rnena dfkam) (on-table pqelp)",
"(clear rnena) (on dfkam pqelp) (holding qcwyc) (on rnena dfkam) (on-table pqelp)",
"(on dfkam pqelp) (arm-empty) (on qcwyc rnena) (on rnena dfkam) (clear qcwyc) (on-table pqelp)"
] | file_185734 |
GOAL: (clear bjccp) (on-table bjccp) (on thncn qjhcd) (on-table uirrj) (clear thncn) (on qjhcd uirrj) (holding waibh) | GOAL: (clear bjccp) (on-table bjccp) (on thncn qjhcd) (on-table uirrj) (clear thncn) (on qjhcd uirrj) (holding waibh)
STATE: (clear bjccp) (on-table bjccp) (holding thncn) (on-table uirrj) (on qjhcd uirrj) (clear waibh) (on-table waibh) (clear qjhcd) | [
[
"put-down thncn"
],
[
"pick-up bjccp"
],
[
"stack bjccp waibh"
],
[
"pick-up thncn"
],
[
"stack thncn qjhcd"
],
[
"unstack bjccp waibh"
],
[
"put-down bjccp"
],
[
"pick-up waibh"
]
] | [
"(clear bjccp) (arm-empty) (on-table bjccp) (on-table uirrj) (clear thncn) (on qjhcd uirrj) (on-table thncn) (clear waibh) (on-table waibh) (clear qjhcd)",
"(on-table uirrj) (clear thncn) (on qjhcd uirrj) (on-table thncn) (holding bjccp) (clear waibh) (on-table waibh) (clear qjhcd)",
"(clear bjccp) (arm-empty) (on-table uirrj) (clear thncn) (on qjhcd uirrj) (on-table thncn) (on bjccp waibh) (on-table waibh) (clear qjhcd)",
"(clear bjccp) (on-table uirrj) (holding thncn) (on qjhcd uirrj) (on bjccp waibh) (on-table waibh) (clear qjhcd)",
"(clear bjccp) (arm-empty) (on thncn qjhcd) (on-table uirrj) (clear thncn) (on qjhcd uirrj) (on bjccp waibh) (on-table waibh)",
"(on thncn qjhcd) (on-table uirrj) (clear thncn) (on qjhcd uirrj) (holding bjccp) (clear waibh) (on-table waibh)",
"(arm-empty) (on-table bjccp) (on thncn qjhcd) (clear thncn) (clear bjccp) (on-table uirrj) (on qjhcd uirrj) (clear waibh) (on-table waibh)",
"(clear bjccp) (on-table bjccp) (on thncn qjhcd) (on-table uirrj) (clear thncn) (on qjhcd uirrj) (holding waibh)"
] | file_201017 |
GOAL: (on-table jjbju) (on-table efjmi) (holding ndgpb) (on jyuzv jjbju) (clear crfmt) (clear efjmi) (on-table crfmt) (clear jyuzv) | GOAL: (on-table jjbju) (on-table efjmi) (holding ndgpb) (on jyuzv jjbju) (clear crfmt) (clear efjmi) (on-table crfmt) (clear jyuzv)
STATE: (on-table jjbju) (on ndgpb jyuzv) (on jyuzv jjbju) (on efjmi ndgpb) (holding crfmt) (clear efjmi) | [
[
"put-down crfmt"
],
[
"unstack efjmi ndgpb"
],
[
"put-down efjmi"
],
[
"unstack ndgpb jyuzv"
]
] | [
"(arm-empty) (on-table jjbju) (on ndgpb jyuzv) (on jyuzv jjbju) (on efjmi ndgpb) (clear crfmt) (clear efjmi) (on-table crfmt)",
"(holding efjmi) (on-table jjbju) (on ndgpb jyuzv) (on jyuzv jjbju) (clear ndgpb) (clear crfmt) (on-table crfmt)",
"(arm-empty) (on-table jjbju) (on ndgpb jyuzv) (on jyuzv jjbju) (clear ndgpb) (on-table efjmi) (clear crfmt) (clear efjmi) (on-table crfmt)",
"(on-table jjbju) (on-table efjmi) (holding ndgpb) (on jyuzv jjbju) (clear crfmt) (clear efjmi) (on-table crfmt) (clear jyuzv)"
] | file_188157 |
GOAL: (arm-empty) (on-table nbbrp) (on hfsqu urdhm) (on-table utnmk) (on aenbg utnmk) (on urdhm nbbrp) (clear hfsqu) (clear aenbg) | GOAL: (arm-empty) (on-table nbbrp) (on hfsqu urdhm) (on-table utnmk) (on aenbg utnmk) (on urdhm nbbrp) (clear hfsqu) (clear aenbg)
STATE: (arm-empty) (on-table nbbrp) (on-table aenbg) (on hfsqu urdhm) (clear utnmk) (on utnmk hfsqu) (on urdhm nbbrp) (clear aenbg) | [
[
"unstack utnmk hfsqu"
],
[
"put-down utnmk"
],
[
"pick-up aenbg"
],
[
"stack aenbg utnmk"
]
] | [
"(on-table nbbrp) (on-table aenbg) (holding utnmk) (on hfsqu urdhm) (on urdhm nbbrp) (clear hfsqu) (clear aenbg)",
"(arm-empty) (on-table nbbrp) (clear utnmk) (on urdhm nbbrp) (on-table aenbg) (on hfsqu urdhm) (on-table utnmk) (clear hfsqu) (clear aenbg)",
"(holding aenbg) (on-table nbbrp) (on hfsqu urdhm) (clear utnmk) (on-table utnmk) (on urdhm nbbrp) (clear hfsqu)",
"(arm-empty) (on-table nbbrp) (on hfsqu urdhm) (on-table utnmk) (on aenbg utnmk) (on urdhm nbbrp) (clear hfsqu) (clear aenbg)"
] | file_12131 |
GOAL: (on vreep zmiui) (clear fuzwy) (on mkurr vreep) (on-table fuzwy) (holding qwzyg) (on-table zmiui) (clear mkurr) | GOAL: (on vreep zmiui) (clear fuzwy) (on mkurr vreep) (on-table fuzwy) (holding qwzyg) (on-table zmiui) (clear mkurr)
STATE: (on-table mkurr) (clear zmiui) (on qwzyg mkurr) (on-table zmiui) (holding fuzwy) (clear vreep) (on-table vreep) (clear qwzyg) | [
[
"stack fuzwy qwzyg"
],
[
"pick-up vreep"
],
[
"stack vreep zmiui"
],
[
"unstack fuzwy qwzyg"
],
[
"put-down fuzwy"
],
[
"unstack vreep zmiui"
],
[
"put-down vreep"
],
[
"unstack qwzyg mkurr"
],
[
"stack qwzyg fuzwy"
],
[
"pick-up vreep"
],
[
"stack vreep zmiui"
],
[
"pick-up mkurr"
],
[
"stack mkurr vreep"
],
[
"unstack qwzyg fuzwy"
]
] | [
"(clear fuzwy) (arm-empty) (on-table mkurr) (clear zmiui) (on qwzyg mkurr) (on-table zmiui) (on fuzwy qwzyg) (clear vreep) (on-table vreep)",
"(clear fuzwy) (on-table mkurr) (clear zmiui) (on qwzyg mkurr) (on-table zmiui) (on fuzwy qwzyg) (holding vreep)",
"(on vreep zmiui) (clear fuzwy) (arm-empty) (on-table mkurr) (on qwzyg mkurr) (on-table zmiui) (on fuzwy qwzyg) (clear vreep)",
"(on vreep zmiui) (on-table mkurr) (on qwzyg mkurr) (on-table zmiui) (holding fuzwy) (clear vreep) (clear qwzyg)",
"(arm-empty) (on-table fuzwy) (clear qwzyg) (on vreep zmiui) (clear fuzwy) (on-table mkurr) (on qwzyg mkurr) (on-table zmiui) (clear vreep)",
"(clear fuzwy) (on-table fuzwy) (on-table mkurr) (clear zmiui) (on qwzyg mkurr) (on-table zmiui) (holding vreep) (clear qwzyg)",
"(clear fuzwy) (arm-empty) (on-table fuzwy) (on-table mkurr) (clear zmiui) (on qwzyg mkurr) (on-table zmiui) (clear vreep) (on-table vreep) (clear qwzyg)",
"(clear fuzwy) (on-table fuzwy) (on-table mkurr) (clear zmiui) (holding qwzyg) (on-table zmiui) (clear vreep) (clear mkurr) (on-table vreep)",
"(arm-empty) (on-table fuzwy) (on-table mkurr) (on qwzyg fuzwy) (clear zmiui) (on-table zmiui) (clear vreep) (clear mkurr) (on-table vreep) (clear qwzyg)",
"(on-table fuzwy) (on-table mkurr) (on qwzyg fuzwy) (clear zmiui) (on-table zmiui) (holding vreep) (clear mkurr) (clear qwzyg)",
"(on vreep zmiui) (arm-empty) (on-table fuzwy) (on-table mkurr) (on qwzyg fuzwy) (on-table zmiui) (clear vreep) (clear mkurr) (clear qwzyg)",
"(holding mkurr) (on vreep zmiui) (on-table fuzwy) (on qwzyg fuzwy) (on-table zmiui) (clear vreep) (clear qwzyg)",
"(on vreep zmiui) (on mkurr vreep) (arm-empty) (on-table fuzwy) (on qwzyg fuzwy) (on-table zmiui) (clear mkurr) (clear qwzyg)",
"(on vreep zmiui) (clear fuzwy) (on mkurr vreep) (on-table fuzwy) (holding qwzyg) (on-table zmiui) (clear mkurr)"
] | file_210589 |
GOAL: (on ochjx trgos) (clear kfjpy) (arm-empty) (on-table tuszs) (on-table frjxf) (on-table trgos) (on kfjpy frjxf) (clear ochjx) (clear tuszs) | GOAL: (on ochjx trgos) (clear kfjpy) (arm-empty) (on-table tuszs) (on-table frjxf) (on-table trgos) (on kfjpy frjxf) (clear ochjx) (clear tuszs)
STATE: (on-table frjxf) (on tuszs kfjpy) (clear trgos) (on-table trgos) (on kfjpy frjxf) (holding ochjx) (clear tuszs) | [
[
"put-down ochjx"
],
[
"unstack tuszs kfjpy"
],
[
"put-down tuszs"
],
[
"pick-up ochjx"
],
[
"stack ochjx trgos"
]
] | [
"(arm-empty) (on tuszs kfjpy) (clear trgos) (on kfjpy frjxf) (clear tuszs) (on-table frjxf) (on-table trgos) (clear ochjx) (on-table ochjx)",
"(clear kfjpy) (on-table frjxf) (clear trgos) (holding tuszs) (on-table trgos) (on kfjpy frjxf) (clear ochjx) (on-table ochjx)",
"(clear kfjpy) (arm-empty) (on-table tuszs) (on-table frjxf) (clear trgos) (on-table trgos) (on kfjpy frjxf) (clear ochjx) (on-table ochjx) (clear tuszs)",
"(clear kfjpy) (on-table tuszs) (on-table frjxf) (clear trgos) (on-table trgos) (on kfjpy frjxf) (holding ochjx) (clear tuszs)",
"(on ochjx trgos) (clear kfjpy) (arm-empty) (on-table tuszs) (on-table frjxf) (on-table trgos) (on kfjpy frjxf) (clear ochjx) (clear tuszs)"
] | file_3915 |
GOAL: (clear oiybu) (arm-empty) (on-table oiybu) (on-table ggulh) (on-table nmmoa) (on hcmke ggulh) (clear hcmke) (clear thglf) (clear nmmoa) (on-table thglf) | GOAL: (clear oiybu) (arm-empty) (on-table oiybu) (on-table ggulh) (on-table nmmoa) (on hcmke ggulh) (clear hcmke) (clear thglf) (clear nmmoa) (on-table thglf)
STATE: (clear oiybu) (arm-empty) (on-table ggulh) (on-table nmmoa) (clear hcmke) (on-table hcmke) (on oiybu ggulh) (clear thglf) (clear nmmoa) (on-table thglf) | [
[
"pick-up hcmke"
],
[
"stack hcmke nmmoa"
],
[
"unstack oiybu ggulh"
],
[
"put-down oiybu"
],
[
"unstack hcmke nmmoa"
],
[
"stack hcmke ggulh"
]
] | [
"(clear oiybu) (on-table ggulh) (on-table nmmoa) (holding hcmke) (on oiybu ggulh) (clear thglf) (clear nmmoa) (on-table thglf)",
"(clear oiybu) (on hcmke nmmoa) (arm-empty) (on-table ggulh) (on-table nmmoa) (clear hcmke) (on oiybu ggulh) (clear thglf) (on-table thglf)",
"(on hcmke nmmoa) (on-table ggulh) (on-table nmmoa) (clear hcmke) (holding oiybu) (clear thglf) (on-table thglf) (clear ggulh)",
"(clear oiybu) (on hcmke nmmoa) (arm-empty) (on-table oiybu) (on-table ggulh) (on-table nmmoa) (clear hcmke) (clear thglf) (on-table thglf) (clear ggulh)",
"(clear oiybu) (on-table oiybu) (on-table ggulh) (on-table nmmoa) (holding hcmke) (clear thglf) (clear nmmoa) (on-table thglf) (clear ggulh)",
"(clear oiybu) (arm-empty) (on-table oiybu) (on-table ggulh) (on-table nmmoa) (on hcmke ggulh) (clear hcmke) (clear thglf) (clear nmmoa) (on-table thglf)"
] | file_181990 |
GOAL: (clear vphlm) (on-table vphlm) (on-table zcstm) (holding fscbq) (clear hwpka) (clear zcstm) (on-table hwpka) | GOAL: (clear vphlm) (on-table vphlm) (on-table zcstm) (holding fscbq) (clear hwpka) (clear zcstm) (on-table hwpka)
STATE: (clear vphlm) (holding fscbq) (on-table zcstm) (on vphlm hwpka) (clear zcstm) (on-table hwpka) | [
[
"put-down fscbq"
],
[
"unstack vphlm hwpka"
],
[
"put-down vphlm"
],
[
"pick-up hwpka"
],
[
"stack hwpka zcstm"
],
[
"pick-up fscbq"
],
[
"stack fscbq vphlm"
],
[
"unstack hwpka zcstm"
],
[
"put-down hwpka"
],
[
"unstack fscbq vphlm"
]
] | [
"(arm-empty) (clear fscbq) (clear vphlm) (on-table zcstm) (on-table fscbq) (on vphlm hwpka) (clear zcstm) (on-table hwpka)",
"(on-table zcstm) (clear fscbq) (on-table fscbq) (holding vphlm) (clear hwpka) (clear zcstm) (on-table hwpka)",
"(arm-empty) (on-table vphlm) (clear fscbq) (clear vphlm) (on-table zcstm) (on-table fscbq) (clear hwpka) (clear zcstm) (on-table hwpka)",
"(clear vphlm) (on-table vphlm) (on-table zcstm) (clear fscbq) (on-table fscbq) (holding hwpka) (clear zcstm)",
"(clear vphlm) (arm-empty) (on-table vphlm) (on-table zcstm) (clear fscbq) (on-table fscbq) (on hwpka zcstm) (clear hwpka)",
"(clear vphlm) (on-table vphlm) (on-table zcstm) (holding fscbq) (on hwpka zcstm) (clear hwpka)",
"(arm-empty) (on-table vphlm) (on-table zcstm) (clear fscbq) (on hwpka zcstm) (on fscbq vphlm) (clear hwpka)",
"(on-table vphlm) (clear fscbq) (on-table zcstm) (on fscbq vphlm) (holding hwpka) (clear zcstm)",
"(on fscbq vphlm) (arm-empty) (on-table vphlm) (on-table zcstm) (clear hwpka) (clear fscbq) (clear zcstm) (on-table hwpka)",
"(clear vphlm) (on-table vphlm) (on-table zcstm) (holding fscbq) (clear hwpka) (clear zcstm) (on-table hwpka)"
] | file_108273 |
GOAL: (clear wqggy) (on hwjqn yfmkm) (on umooy hwjqn) (arm-empty) (on-table yfmkm) (on wqggy lwirn) (on-table lwirn) (clear umooy) | GOAL: (clear wqggy) (on hwjqn yfmkm) (on umooy hwjqn) (arm-empty) (on-table yfmkm) (on wqggy lwirn) (on-table lwirn) (clear umooy)
STATE: (holding yfmkm) (clear wqggy) (on-table wqggy) (on-table umooy) (on hwjqn umooy) (clear hwjqn) (clear lwirn) (on-table lwirn) | [
[
"put-down yfmkm"
],
[
"unstack hwjqn umooy"
],
[
"stack hwjqn yfmkm"
],
[
"pick-up wqggy"
],
[
"stack wqggy lwirn"
],
[
"pick-up umooy"
],
[
"stack umooy hwjqn"
]
] | [
"(clear wqggy) (arm-empty) (on-table wqggy) (on-table umooy) (on hwjqn umooy) (on-table yfmkm) (clear hwjqn) (clear lwirn) (clear yfmkm) (on-table lwirn)",
"(clear wqggy) (on-table wqggy) (on-table umooy) (holding hwjqn) (on-table yfmkm) (clear lwirn) (clear yfmkm) (on-table lwirn) (clear umooy)",
"(clear wqggy) (on hwjqn yfmkm) (arm-empty) (on-table wqggy) (on-table umooy) (on-table yfmkm) (clear hwjqn) (clear lwirn) (on-table lwirn) (clear umooy)",
"(on hwjqn yfmkm) (on-table umooy) (on-table yfmkm) (clear hwjqn) (holding wqggy) (clear lwirn) (on-table lwirn) (clear umooy)",
"(clear wqggy) (on hwjqn yfmkm) (arm-empty) (on-table umooy) (on-table yfmkm) (clear hwjqn) (on wqggy lwirn) (on-table lwirn) (clear umooy)",
"(clear wqggy) (on hwjqn yfmkm) (on-table yfmkm) (clear hwjqn) (holding umooy) (on wqggy lwirn) (on-table lwirn)",
"(clear wqggy) (on hwjqn yfmkm) (on umooy hwjqn) (arm-empty) (on-table yfmkm) (on wqggy lwirn) (on-table lwirn) (clear umooy)"
] | file_87347 |
GOAL: (on dpmig mmuvy) (arm-empty) (on-table ddcud) (on hosvd qnscj) (on mmuvy ddcud) (clear hosvd) (on qnscj dpmig) | GOAL: (on dpmig mmuvy) (arm-empty) (on-table ddcud) (on hosvd qnscj) (on mmuvy ddcud) (clear hosvd) (on qnscj dpmig)
STATE: (clear ddcud) (arm-empty) (on qnscj hosvd) (on-table dpmig) (on-table hosvd) (on ddcud qnscj) (clear mmuvy) (clear dpmig) (on-table mmuvy) | [
[
"unstack ddcud qnscj"
],
[
"put-down ddcud"
],
[
"pick-up dpmig"
],
[
"stack dpmig qnscj"
],
[
"pick-up mmuvy"
],
[
"stack mmuvy ddcud"
],
[
"unstack dpmig qnscj"
],
[
"stack dpmig mmuvy"
],
[
"unstack qnscj hosvd"
],
[
"stack qnscj dpmig"
],
[
"pick-up hosvd"
],
[
"stack hosvd qnscj"
]
] | [
"(on qnscj hosvd) (on-table dpmig) (on-table hosvd) (holding ddcud) (clear mmuvy) (clear dpmig) (on-table mmuvy) (clear qnscj)",
"(clear ddcud) (arm-empty) (on qnscj hosvd) (on-table ddcud) (on-table dpmig) (on-table hosvd) (clear mmuvy) (clear dpmig) (on-table mmuvy) (clear qnscj)",
"(holding dpmig) (clear ddcud) (on qnscj hosvd) (on-table ddcud) (on-table hosvd) (clear mmuvy) (on-table mmuvy) (clear qnscj)",
"(on dpmig qnscj) (clear ddcud) (arm-empty) (on qnscj hosvd) (on-table ddcud) (on-table hosvd) (clear mmuvy) (clear dpmig) (on-table mmuvy)",
"(on dpmig qnscj) (clear ddcud) (on qnscj hosvd) (on-table ddcud) (on-table hosvd) (holding mmuvy) (clear dpmig)",
"(on dpmig qnscj) (arm-empty) (on qnscj hosvd) (on-table ddcud) (on mmuvy ddcud) (on-table hosvd) (clear mmuvy) (clear dpmig)",
"(holding dpmig) (on qnscj hosvd) (on-table ddcud) (on mmuvy ddcud) (on-table hosvd) (clear mmuvy) (clear qnscj)",
"(on dpmig mmuvy) (on qnscj hosvd) (on-table ddcud) (arm-empty) (on mmuvy ddcud) (on-table hosvd) (clear dpmig) (clear qnscj)",
"(on dpmig mmuvy) (on-table ddcud) (on mmuvy ddcud) (clear hosvd) (holding qnscj) (on-table hosvd) (clear dpmig)",
"(on dpmig mmuvy) (arm-empty) (on-table ddcud) (on mmuvy ddcud) (clear hosvd) (on qnscj dpmig) (on-table hosvd) (clear qnscj)",
"(on dpmig mmuvy) (on-table ddcud) (holding hosvd) (on mmuvy ddcud) (on qnscj dpmig) (clear qnscj)",
"(on dpmig mmuvy) (arm-empty) (on-table ddcud) (on hosvd qnscj) (on mmuvy ddcud) (clear hosvd) (on qnscj dpmig)"
] | file_128927 |
GOAL: (clear oailn) (arm-empty) (on-table ohpou) (on-table dvfgk) (on nmjod ohpou) (clear nmjod) (on oailn dvfgk) (clear qcxor) (on-table qcxor) | GOAL: (clear oailn) (arm-empty) (on-table ohpou) (on-table dvfgk) (on nmjod ohpou) (clear nmjod) (on oailn dvfgk) (clear qcxor) (on-table qcxor)
STATE: (clear oailn) (on-table ohpou) (on-table dvfgk) (clear nmjod) (on-table nmjod) (on oailn ohpou) (holding qcxor) (clear dvfgk) | [
[
"put-down qcxor"
],
[
"unstack oailn ohpou"
],
[
"stack oailn dvfgk"
],
[
"pick-up nmjod"
],
[
"stack nmjod ohpou"
]
] | [
"(clear oailn) (arm-empty) (on-table ohpou) (on-table dvfgk) (clear nmjod) (on-table nmjod) (on oailn ohpou) (clear qcxor) (clear dvfgk) (on-table qcxor)",
"(on-table ohpou) (on-table dvfgk) (clear nmjod) (on-table nmjod) (holding oailn) (clear qcxor) (clear dvfgk) (on-table qcxor) (clear ohpou)",
"(clear oailn) (arm-empty) (on-table ohpou) (on-table dvfgk) (clear nmjod) (on-table nmjod) (on oailn dvfgk) (clear qcxor) (on-table qcxor) (clear ohpou)",
"(clear oailn) (on-table ohpou) (on-table dvfgk) (holding nmjod) (on oailn dvfgk) (clear qcxor) (on-table qcxor) (clear ohpou)",
"(clear oailn) (arm-empty) (on-table ohpou) (on-table dvfgk) (on nmjod ohpou) (clear nmjod) (on oailn dvfgk) (clear qcxor) (on-table qcxor)"
] | file_121504 |
GOAL: (on yyyak khvir) (arm-empty) (on-table vqrhw) (on ikeqc jfxyc) (on-table khvir) (on jfxyc yyyak) (clear vqrhw) (clear ikeqc) | GOAL: (on yyyak khvir) (arm-empty) (on-table vqrhw) (on ikeqc jfxyc) (on-table khvir) (on jfxyc yyyak) (clear vqrhw) (clear ikeqc)
STATE: (clear jfxyc) (arm-empty) (on-table jfxyc) (on-table ikeqc) (on-table vqrhw) (clear khvir) (on khvir yyyak) (clear vqrhw) (on-table yyyak) (clear ikeqc) | [
[
"pick-up vqrhw"
],
[
"stack vqrhw ikeqc"
],
[
"pick-up jfxyc"
],
[
"stack jfxyc vqrhw"
],
[
"unstack khvir yyyak"
],
[
"put-down khvir"
],
[
"pick-up yyyak"
],
[
"stack yyyak khvir"
],
[
"unstack jfxyc vqrhw"
],
[
"stack jfxyc yyyak"
],
[
"unstack vqrhw ikeqc"
],
[
"put-down vqrhw"
],
[
"pick-up ikeqc"
],
[
"stack ikeqc jfxyc"
]
] | [
"(holding vqrhw) (clear jfxyc) (on-table jfxyc) (on-table ikeqc) (clear khvir) (on khvir yyyak) (on-table yyyak) (clear ikeqc)",
"(on vqrhw ikeqc) (clear jfxyc) (arm-empty) (on-table jfxyc) (on-table ikeqc) (clear khvir) (on khvir yyyak) (clear vqrhw) (on-table yyyak)",
"(on vqrhw ikeqc) (on-table ikeqc) (clear khvir) (on khvir yyyak) (holding jfxyc) (clear vqrhw) (on-table yyyak)",
"(on vqrhw ikeqc) (clear jfxyc) (arm-empty) (on-table ikeqc) (clear khvir) (on khvir yyyak) (on jfxyc vqrhw) (on-table yyyak)",
"(on vqrhw ikeqc) (clear jfxyc) (on-table ikeqc) (holding khvir) (on jfxyc vqrhw) (clear yyyak) (on-table yyyak)",
"(on vqrhw ikeqc) (arm-empty) (on-table ikeqc) (clear khvir) (on jfxyc vqrhw) (clear jfxyc) (on-table khvir) (clear yyyak) (on-table yyyak)",
"(on vqrhw ikeqc) (clear jfxyc) (on-table ikeqc) (clear khvir) (on-table khvir) (on jfxyc vqrhw) (holding yyyak)",
"(on vqrhw ikeqc) (clear jfxyc) (on yyyak khvir) (arm-empty) (on-table ikeqc) (on-table khvir) (on jfxyc vqrhw) (clear yyyak)",
"(on vqrhw ikeqc) (on yyyak khvir) (on-table ikeqc) (on-table khvir) (holding jfxyc) (clear yyyak) (clear vqrhw)",
"(on vqrhw ikeqc) (on yyyak khvir) (clear jfxyc) (arm-empty) (on-table ikeqc) (on-table khvir) (on jfxyc yyyak) (clear vqrhw)",
"(holding vqrhw) (on yyyak khvir) (clear jfxyc) (on-table ikeqc) (on-table khvir) (on jfxyc yyyak) (clear ikeqc)",
"(arm-empty) (on-table ikeqc) (clear ikeqc) (on yyyak khvir) (clear jfxyc) (on-table vqrhw) (on-table khvir) (on jfxyc yyyak) (clear vqrhw)",
"(on yyyak khvir) (clear jfxyc) (on-table vqrhw) (holding ikeqc) (on-table khvir) (on jfxyc yyyak) (clear vqrhw)",
"(on yyyak khvir) (arm-empty) (on-table vqrhw) (on ikeqc jfxyc) (on-table khvir) (on jfxyc yyyak) (clear vqrhw) (clear ikeqc)"
] | file_194379 |
GOAL: (holding iqfgk) (on wlilz pzuwg) (clear jatda) (on-table jatda) (on pzuwg gpjvh) (on-table gpjvh) (clear wlilz) | GOAL: (holding iqfgk) (on wlilz pzuwg) (clear jatda) (on-table jatda) (on pzuwg gpjvh) (on-table gpjvh) (clear wlilz)
STATE: (arm-empty) (on wlilz jatda) (on-table iqfgk) (on jatda pzuwg) (on pzuwg gpjvh) (clear iqfgk) (on-table gpjvh) (clear wlilz) | [
[
"unstack wlilz jatda"
],
[
"stack wlilz iqfgk"
],
[
"unstack jatda pzuwg"
],
[
"put-down jatda"
],
[
"unstack wlilz iqfgk"
],
[
"put-down wlilz"
],
[
"pick-up iqfgk"
],
[
"stack iqfgk jatda"
],
[
"pick-up wlilz"
],
[
"stack wlilz pzuwg"
],
[
"unstack iqfgk jatda"
]
] | [
"(on-table iqfgk) (clear jatda) (holding wlilz) (on jatda pzuwg) (on pzuwg gpjvh) (clear iqfgk) (on-table gpjvh)",
"(arm-empty) (on-table iqfgk) (clear jatda) (on wlilz iqfgk) (on jatda pzuwg) (on pzuwg gpjvh) (on-table gpjvh) (clear wlilz)",
"(clear pzuwg) (on-table iqfgk) (holding jatda) (on wlilz iqfgk) (on pzuwg gpjvh) (on-table gpjvh) (clear wlilz)",
"(arm-empty) (clear jatda) (clear wlilz) (clear pzuwg) (on-table iqfgk) (on wlilz iqfgk) (on-table jatda) (on pzuwg gpjvh) (on-table gpjvh)",
"(clear pzuwg) (on-table iqfgk) (clear jatda) (holding wlilz) (on-table jatda) (on pzuwg gpjvh) (clear iqfgk) (on-table gpjvh)",
"(clear pzuwg) (arm-empty) (on-table wlilz) (on-table iqfgk) (clear jatda) (on-table jatda) (on pzuwg gpjvh) (clear iqfgk) (on-table gpjvh) (clear wlilz)",
"(holding iqfgk) (clear pzuwg) (on-table wlilz) (clear jatda) (on-table jatda) (on pzuwg gpjvh) (on-table gpjvh) (clear wlilz)",
"(clear pzuwg) (arm-empty) (on-table wlilz) (on-table jatda) (on iqfgk jatda) (on pzuwg gpjvh) (clear iqfgk) (on-table gpjvh) (clear wlilz)",
"(clear pzuwg) (holding wlilz) (on-table jatda) (on iqfgk jatda) (on pzuwg gpjvh) (clear iqfgk) (on-table gpjvh)",
"(arm-empty) (on wlilz pzuwg) (on-table jatda) (on iqfgk jatda) (on pzuwg gpjvh) (clear iqfgk) (on-table gpjvh) (clear wlilz)",
"(holding iqfgk) (on wlilz pzuwg) (clear jatda) (on-table jatda) (on pzuwg gpjvh) (on-table gpjvh) (clear wlilz)"
] | file_135782 |
GOAL: (on iihlk mqhiy) (on-table cecpl) (clear iihlk) (clear cecpl) (on-table mqhiy) (holding dfxjk) | GOAL: (on iihlk mqhiy) (on-table cecpl) (clear iihlk) (clear cecpl) (on-table mqhiy) (holding dfxjk)
STATE: (clear cecpl) (arm-empty) (on-table cecpl) (on-table mqhiy) (clear iihlk) (on iihlk dfxjk) (on dfxjk mqhiy) | [
[
"unstack iihlk dfxjk"
],
[
"put-down iihlk"
],
[
"unstack dfxjk mqhiy"
],
[
"stack dfxjk cecpl"
],
[
"pick-up iihlk"
],
[
"stack iihlk mqhiy"
],
[
"unstack dfxjk cecpl"
]
] | [
"(holding iihlk) (on dfxjk mqhiy) (clear cecpl) (on-table cecpl) (on-table mqhiy) (clear dfxjk)",
"(arm-empty) (on-table cecpl) (clear iihlk) (on dfxjk mqhiy) (clear cecpl) (on-table mqhiy) (on-table iihlk) (clear dfxjk)",
"(clear cecpl) (on-table cecpl) (on-table mqhiy) (clear iihlk) (on-table iihlk) (holding dfxjk) (clear mqhiy)",
"(arm-empty) (on-table cecpl) (on-table mqhiy) (on dfxjk cecpl) (clear iihlk) (on-table iihlk) (clear dfxjk) (clear mqhiy)",
"(on-table cecpl) (on-table mqhiy) (holding iihlk) (on dfxjk cecpl) (clear dfxjk) (clear mqhiy)",
"(on iihlk mqhiy) (arm-empty) (on-table cecpl) (on-table mqhiy) (on dfxjk cecpl) (clear iihlk) (clear dfxjk)",
"(on iihlk mqhiy) (on-table cecpl) (clear iihlk) (clear cecpl) (on-table mqhiy) (holding dfxjk)"
] | file_178062 |
GOAL: (on hxszc wlklv) (arm-empty) (on wlklv sgnjw) (on-table zxlhl) (on sgnjw zxlhl) (on qtwfm hxszc) (clear qtwfm) | GOAL: (on hxszc wlklv) (arm-empty) (on wlklv sgnjw) (on-table zxlhl) (on sgnjw zxlhl) (on qtwfm hxszc) (clear qtwfm)
STATE: (on hxszc qtwfm) (on sgnjw wlklv) (clear sgnjw) (on wlklv hxszc) (holding zxlhl) (on-table qtwfm) | [
[
"put-down zxlhl"
],
[
"unstack sgnjw wlklv"
],
[
"stack sgnjw zxlhl"
],
[
"unstack wlklv hxszc"
],
[
"stack wlklv sgnjw"
],
[
"unstack hxszc qtwfm"
],
[
"stack hxszc wlklv"
],
[
"pick-up qtwfm"
],
[
"stack qtwfm hxszc"
]
] | [
"(on hxszc qtwfm) (arm-empty) (on-table zxlhl) (on sgnjw wlklv) (clear sgnjw) (clear zxlhl) (on wlklv hxszc) (on-table qtwfm)",
"(clear zxlhl) (on hxszc qtwfm) (on-table zxlhl) (holding sgnjw) (on wlklv hxszc) (on-table qtwfm) (clear wlklv)",
"(on hxszc qtwfm) (arm-empty) (on-table zxlhl) (clear sgnjw) (clear wlklv) (on wlklv hxszc) (on sgnjw zxlhl) (on-table qtwfm)",
"(on hxszc qtwfm) (on-table zxlhl) (clear sgnjw) (holding wlklv) (on sgnjw zxlhl) (clear hxszc) (on-table qtwfm)",
"(on hxszc qtwfm) (on wlklv sgnjw) (on-table zxlhl) (arm-empty) (on sgnjw zxlhl) (clear hxszc) (on-table qtwfm) (clear wlklv)",
"(holding hxszc) (on wlklv sgnjw) (on-table zxlhl) (on sgnjw zxlhl) (clear qtwfm) (on-table qtwfm) (clear wlklv)",
"(on hxszc wlklv) (arm-empty) (on wlklv sgnjw) (on-table zxlhl) (on sgnjw zxlhl) (clear qtwfm) (clear hxszc) (on-table qtwfm)",
"(on hxszc wlklv) (on wlklv sgnjw) (on-table zxlhl) (on sgnjw zxlhl) (holding qtwfm) (clear hxszc)",
"(on hxszc wlklv) (arm-empty) (on wlklv sgnjw) (on-table zxlhl) (on sgnjw zxlhl) (on qtwfm hxszc) (clear qtwfm)"
] | file_160485 |
GOAL: (clear djrhx) (arm-empty) (on-table djrhx) (on-table pxgso) (on-table gjfxu) (on tlxfh gjfxu) (on yppbs tlxfh) (clear yppbs) (clear pxgso) | GOAL: (clear djrhx) (arm-empty) (on-table djrhx) (on-table pxgso) (on-table gjfxu) (on tlxfh gjfxu) (on yppbs tlxfh) (clear yppbs) (clear pxgso)
STATE: (clear djrhx) (on-table djrhx) (on-table pxgso) (on-table tlxfh) (on gjfxu pxgso) (clear gjfxu) (holding yppbs) (clear tlxfh) | [
[
"stack yppbs djrhx"
],
[
"unstack gjfxu pxgso"
],
[
"put-down gjfxu"
],
[
"pick-up tlxfh"
],
[
"stack tlxfh gjfxu"
],
[
"unstack yppbs djrhx"
],
[
"stack yppbs tlxfh"
]
] | [
"(arm-empty) (on-table djrhx) (on-table pxgso) (on-table tlxfh) (on gjfxu pxgso) (on yppbs djrhx) (clear gjfxu) (clear yppbs) (clear tlxfh)",
"(on-table djrhx) (on-table pxgso) (on-table tlxfh) (holding gjfxu) (on yppbs djrhx) (clear yppbs) (clear tlxfh) (clear pxgso)",
"(arm-empty) (on-table djrhx) (on-table pxgso) (on-table tlxfh) (on yppbs djrhx) (clear gjfxu) (on-table gjfxu) (clear yppbs) (clear tlxfh) (clear pxgso)",
"(holding tlxfh) (on-table djrhx) (on-table pxgso) (on yppbs djrhx) (clear gjfxu) (on-table gjfxu) (clear yppbs) (clear pxgso)",
"(arm-empty) (on-table djrhx) (on-table pxgso) (on yppbs djrhx) (on-table gjfxu) (on tlxfh gjfxu) (clear yppbs) (clear tlxfh) (clear pxgso)",
"(clear djrhx) (on-table djrhx) (on-table pxgso) (on-table gjfxu) (on tlxfh gjfxu) (holding yppbs) (clear tlxfh) (clear pxgso)",
"(clear djrhx) (arm-empty) (on-table djrhx) (on-table pxgso) (on-table gjfxu) (on tlxfh gjfxu) (on yppbs tlxfh) (clear yppbs) (clear pxgso)"
] | file_149580 |
GOAL: (clear vxhsm) (on hrqds szyia) (holding wuzdf) (on vxhsm hrqds) (on-table szyia) | GOAL: (clear vxhsm) (on hrqds szyia) (holding wuzdf) (on vxhsm hrqds) (on-table szyia)
STATE: (clear vxhsm) (on hrqds szyia) (arm-empty) (on-table vxhsm) (clear wuzdf) (on-table wuzdf) (clear hrqds) (on-table szyia) | [
[
"pick-up vxhsm"
],
[
"stack vxhsm hrqds"
],
[
"pick-up wuzdf"
]
] | [
"(on hrqds szyia) (clear wuzdf) (on-table wuzdf) (holding vxhsm) (clear hrqds) (on-table szyia)",
"(clear vxhsm) (on hrqds szyia) (arm-empty) (clear wuzdf) (on-table wuzdf) (on vxhsm hrqds) (on-table szyia)",
"(clear vxhsm) (on hrqds szyia) (holding wuzdf) (on vxhsm hrqds) (on-table szyia)"
] | file_200461 |
GOAL: (on bmuls vqvtz) (on-table oproc) (on-table vqvtz) (holding ucyyi) (clear fozlp) (clear oproc) (on-table fozlp) (clear bmuls) | GOAL: (on bmuls vqvtz) (on-table oproc) (on-table vqvtz) (holding ucyyi) (clear fozlp) (clear oproc) (on-table fozlp) (clear bmuls)
STATE: (on oproc bmuls) (arm-empty) (on bmuls vqvtz) (on-table ucyyi) (on vqvtz ucyyi) (on fozlp oproc) (clear fozlp) | [
[
"unstack fozlp oproc"
],
[
"put-down fozlp"
],
[
"unstack oproc bmuls"
],
[
"put-down oproc"
],
[
"unstack bmuls vqvtz"
],
[
"put-down bmuls"
],
[
"unstack vqvtz ucyyi"
],
[
"stack vqvtz bmuls"
],
[
"pick-up ucyyi"
],
[
"stack ucyyi oproc"
],
[
"unstack vqvtz bmuls"
],
[
"put-down vqvtz"
],
[
"pick-up bmuls"
],
[
"stack bmuls vqvtz"
],
[
"unstack ucyyi oproc"
]
] | [
"(on oproc bmuls) (on bmuls vqvtz) (on-table ucyyi) (on vqvtz ucyyi) (holding fozlp) (clear oproc)",
"(on oproc bmuls) (arm-empty) (on bmuls vqvtz) (on-table ucyyi) (on vqvtz ucyyi) (clear fozlp) (clear oproc) (on-table fozlp)",
"(holding oproc) (on bmuls vqvtz) (on-table ucyyi) (on vqvtz ucyyi) (clear fozlp) (on-table fozlp) (clear bmuls)",
"(arm-empty) (on bmuls vqvtz) (on-table ucyyi) (clear bmuls) (on-table oproc) (on vqvtz ucyyi) (clear fozlp) (clear oproc) (on-table fozlp)",
"(on-table ucyyi) (on-table oproc) (clear vqvtz) (holding bmuls) (on vqvtz ucyyi) (clear fozlp) (clear oproc) (on-table fozlp)",
"(arm-empty) (on-table ucyyi) (on-table bmuls) (on-table oproc) (clear vqvtz) (on vqvtz ucyyi) (clear fozlp) (clear oproc) (on-table fozlp) (clear bmuls)",
"(clear ucyyi) (on-table ucyyi) (on-table bmuls) (on-table oproc) (holding vqvtz) (clear fozlp) (clear oproc) (on-table fozlp) (clear bmuls)",
"(clear ucyyi) (arm-empty) (on-table ucyyi) (on-table bmuls) (on-table oproc) (on vqvtz bmuls) (clear vqvtz) (clear fozlp) (clear oproc) (on-table fozlp)",
"(on-table bmuls) (on-table oproc) (on vqvtz bmuls) (clear vqvtz) (holding ucyyi) (clear fozlp) (clear oproc) (on-table fozlp)",
"(clear ucyyi) (arm-empty) (on-table bmuls) (on-table oproc) (on vqvtz bmuls) (clear vqvtz) (on ucyyi oproc) (clear fozlp) (on-table fozlp)",
"(clear ucyyi) (on-table bmuls) (on-table oproc) (holding vqvtz) (on ucyyi oproc) (clear fozlp) (on-table fozlp) (clear bmuls)",
"(clear ucyyi) (arm-empty) (on-table bmuls) (on-table oproc) (clear vqvtz) (on-table vqvtz) (on ucyyi oproc) (clear fozlp) (on-table fozlp) (clear bmuls)",
"(clear ucyyi) (on-table oproc) (clear vqvtz) (holding bmuls) (on-table vqvtz) (on ucyyi oproc) (clear fozlp) (on-table fozlp)",
"(clear ucyyi) (arm-empty) (on bmuls vqvtz) (on-table oproc) (on-table vqvtz) (on ucyyi oproc) (clear fozlp) (on-table fozlp) (clear bmuls)",
"(on bmuls vqvtz) (on-table oproc) (on-table vqvtz) (holding ucyyi) (clear fozlp) (clear oproc) (on-table fozlp) (clear bmuls)"
] | file_166914 |
GOAL: (clear syeoy) (on cipkx ptinl) (on ibadt cipkx) (on-table syeoy) (arm-empty) (on-table ptinl) (clear ejrro) (on-table ejrro) (clear ibadt) | GOAL: (clear syeoy) (on cipkx ptinl) (on ibadt cipkx) (on-table syeoy) (arm-empty) (on-table ptinl) (clear ejrro) (on-table ejrro) (clear ibadt)
STATE: (clear syeoy) (on cipkx ptinl) (on-table syeoy) (on-table ptinl) (clear cipkx) (holding ibadt) (clear ejrro) (on-table ejrro) | [
[
"stack ibadt cipkx"
]
] | [
"(clear syeoy) (on cipkx ptinl) (on ibadt cipkx) (on-table syeoy) (arm-empty) (on-table ptinl) (clear ejrro) (on-table ejrro) (clear ibadt)"
] | file_181547 |
GOAL: (on nmscp xtsme) (clear vacqw) (on fkirl yvqmg) (arm-empty) (on-table vacqw) (on-table yvqmg) (on-table xtsme) (clear nmscp) (clear fkirl) | GOAL: (on nmscp xtsme) (clear vacqw) (on fkirl yvqmg) (arm-empty) (on-table vacqw) (on-table yvqmg) (on-table xtsme) (clear nmscp) (clear fkirl)
STATE: (on nmscp xtsme) (arm-empty) (on-table fkirl) (on yvqmg fkirl) (on xtsme vacqw) (on vacqw yvqmg) (clear nmscp) | [
[
"unstack nmscp xtsme"
],
[
"put-down nmscp"
],
[
"unstack xtsme vacqw"
],
[
"put-down xtsme"
],
[
"pick-up nmscp"
],
[
"stack nmscp xtsme"
],
[
"unstack vacqw yvqmg"
],
[
"put-down vacqw"
],
[
"unstack yvqmg fkirl"
],
[
"put-down yvqmg"
],
[
"pick-up fkirl"
],
[
"stack fkirl yvqmg"
]
] | [
"(clear xtsme) (on vacqw yvqmg) (on-table fkirl) (on yvqmg fkirl) (on xtsme vacqw) (holding nmscp)",
"(on xtsme vacqw) (on yvqmg fkirl) (arm-empty) (on-table fkirl) (on vacqw yvqmg) (clear nmscp) (clear xtsme) (on-table nmscp)",
"(clear vacqw) (on-table fkirl) (holding xtsme) (on yvqmg fkirl) (on vacqw yvqmg) (clear nmscp) (on-table nmscp)",
"(arm-empty) (clear xtsme) (on vacqw yvqmg) (clear vacqw) (on-table fkirl) (on yvqmg fkirl) (on-table xtsme) (clear nmscp) (on-table nmscp)",
"(clear vacqw) (on-table fkirl) (clear xtsme) (on yvqmg fkirl) (on-table xtsme) (on vacqw yvqmg) (holding nmscp)",
"(on nmscp xtsme) (clear vacqw) (arm-empty) (on-table fkirl) (on yvqmg fkirl) (on-table xtsme) (on vacqw yvqmg) (clear nmscp)",
"(on nmscp xtsme) (on-table fkirl) (on yvqmg fkirl) (on-table xtsme) (holding vacqw) (clear nmscp) (clear yvqmg)",
"(arm-empty) (on-table vacqw) (clear yvqmg) (on nmscp xtsme) (clear vacqw) (on-table fkirl) (on yvqmg fkirl) (on-table xtsme) (clear nmscp)",
"(on nmscp xtsme) (clear vacqw) (on-table vacqw) (on-table fkirl) (holding yvqmg) (on-table xtsme) (clear nmscp) (clear fkirl)",
"(on nmscp xtsme) (clear vacqw) (arm-empty) (on-table vacqw) (on-table yvqmg) (on-table fkirl) (on-table xtsme) (clear nmscp) (clear fkirl) (clear yvqmg)",
"(holding fkirl) (on nmscp xtsme) (clear vacqw) (on-table vacqw) (on-table yvqmg) (on-table xtsme) (clear nmscp) (clear yvqmg)",
"(on nmscp xtsme) (clear vacqw) (on fkirl yvqmg) (arm-empty) (on-table vacqw) (on-table yvqmg) (on-table xtsme) (clear nmscp) (clear fkirl)"
] | file_220104 |
GOAL: (on vyhna xaryb) (on tacju ntkox) (clear lbeqb) (arm-empty) (on-table xaryb) (on-table ntkox) (on lbeqb vyhna) (clear tacju) | GOAL: (on vyhna xaryb) (on tacju ntkox) (clear lbeqb) (arm-empty) (on-table xaryb) (on-table ntkox) (on lbeqb vyhna) (clear tacju)
STATE: (clear lbeqb) (arm-empty) (on-table xaryb) (on-table vyhna) (clear ntkox) (on-table ntkox) (on tacju vyhna) (on lbeqb tacju) (clear xaryb) | [
[
"unstack lbeqb tacju"
],
[
"put-down lbeqb"
],
[
"pick-up ntkox"
],
[
"stack ntkox xaryb"
],
[
"unstack tacju vyhna"
],
[
"stack tacju lbeqb"
],
[
"unstack ntkox xaryb"
],
[
"put-down ntkox"
],
[
"unstack tacju lbeqb"
],
[
"put-down tacju"
],
[
"pick-up vyhna"
],
[
"stack vyhna xaryb"
],
[
"pick-up tacju"
],
[
"stack tacju ntkox"
],
[
"pick-up lbeqb"
],
[
"stack lbeqb vyhna"
]
] | [
"(on-table xaryb) (on-table vyhna) (clear ntkox) (on-table ntkox) (holding lbeqb) (on tacju vyhna) (clear tacju) (clear xaryb)",
"(clear lbeqb) (arm-empty) (on-table lbeqb) (on-table xaryb) (on-table vyhna) (clear ntkox) (on-table ntkox) (on tacju vyhna) (clear tacju) (clear xaryb)",
"(clear lbeqb) (on-table lbeqb) (on-table xaryb) (on-table vyhna) (holding ntkox) (on tacju vyhna) (clear tacju) (clear xaryb)",
"(clear lbeqb) (arm-empty) (on-table lbeqb) (on-table xaryb) (on-table vyhna) (on ntkox xaryb) (clear ntkox) (on tacju vyhna) (clear tacju)",
"(clear lbeqb) (on-table lbeqb) (on-table xaryb) (on-table vyhna) (on ntkox xaryb) (clear ntkox) (holding tacju) (clear vyhna)",
"(arm-empty) (on-table lbeqb) (on-table xaryb) (on-table vyhna) (on ntkox xaryb) (on tacju lbeqb) (clear ntkox) (clear tacju) (clear vyhna)",
"(on-table lbeqb) (on-table xaryb) (on-table vyhna) (holding ntkox) (on tacju lbeqb) (clear tacju) (clear vyhna) (clear xaryb)",
"(arm-empty) (on-table lbeqb) (on-table xaryb) (on-table vyhna) (on tacju lbeqb) (clear ntkox) (on-table ntkox) (clear tacju) (clear vyhna) (clear xaryb)",
"(clear lbeqb) (on-table lbeqb) (on-table xaryb) (on-table vyhna) (clear ntkox) (on-table ntkox) (holding tacju) (clear vyhna) (clear xaryb)",
"(clear lbeqb) (arm-empty) (on-table lbeqb) (on-table xaryb) (on-table vyhna) (clear ntkox) (on-table ntkox) (clear tacju) (clear vyhna) (on-table tacju) (clear xaryb)",
"(holding vyhna) (clear lbeqb) (on-table lbeqb) (on-table xaryb) (clear ntkox) (on-table ntkox) (clear tacju) (on-table tacju) (clear xaryb)",
"(on vyhna xaryb) (clear lbeqb) (arm-empty) (on-table lbeqb) (on-table xaryb) (clear ntkox) (on-table ntkox) (clear tacju) (clear vyhna) (on-table tacju)",
"(on vyhna xaryb) (clear lbeqb) (on-table lbeqb) (on-table xaryb) (clear ntkox) (on-table ntkox) (holding tacju) (clear vyhna)",
"(on vyhna xaryb) (clear lbeqb) (on tacju ntkox) (arm-empty) (on-table lbeqb) (on-table xaryb) (on-table ntkox) (clear tacju) (clear vyhna)",
"(on vyhna xaryb) (on tacju ntkox) (on-table xaryb) (on-table ntkox) (holding lbeqb) (clear tacju) (clear vyhna)",
"(on vyhna xaryb) (on tacju ntkox) (clear lbeqb) (arm-empty) (on-table xaryb) (on-table ntkox) (on lbeqb vyhna) (clear tacju)"
] | file_10834 |
GOAL: (clear sqfgh) (arm-empty) (on-table mdvxw) (clear pqlro) (on jkwbx mdvxw) (on-table pqlro) (on sqfgh rcklv) (on-table rcklv) (clear jkwbx) | GOAL: (clear sqfgh) (arm-empty) (on-table mdvxw) (clear pqlro) (on jkwbx mdvxw) (on-table pqlro) (on sqfgh rcklv) (on-table rcklv) (clear jkwbx)
STATE: (arm-empty) (on-table jkwbx) (on-table mdvxw) (on rcklv sqfgh) (clear pqlro) (on pqlro rcklv) (on sqfgh jkwbx) (clear mdvxw) | [
[
"unstack pqlro rcklv"
],
[
"stack pqlro mdvxw"
],
[
"unstack rcklv sqfgh"
],
[
"put-down rcklv"
],
[
"unstack pqlro mdvxw"
],
[
"stack pqlro rcklv"
],
[
"unstack sqfgh jkwbx"
],
[
"put-down sqfgh"
],
[
"pick-up jkwbx"
],
[
"stack jkwbx mdvxw"
],
[
"unstack pqlro rcklv"
],
[
"put-down pqlro"
],
[
"pick-up sqfgh"
],
[
"stack sqfgh rcklv"
]
] | [
"(on-table jkwbx) (on-table mdvxw) (holding pqlro) (on rcklv sqfgh) (on sqfgh jkwbx) (clear rcklv) (clear mdvxw)",
"(on pqlro mdvxw) (arm-empty) (on-table jkwbx) (on-table mdvxw) (on rcklv sqfgh) (clear pqlro) (on sqfgh jkwbx) (clear rcklv)",
"(clear sqfgh) (on pqlro mdvxw) (on-table jkwbx) (on-table mdvxw) (clear pqlro) (on sqfgh jkwbx) (holding rcklv)",
"(on pqlro mdvxw) (arm-empty) (on-table jkwbx) (clear pqlro) (on sqfgh jkwbx) (clear sqfgh) (on-table mdvxw) (clear rcklv) (on-table rcklv)",
"(clear sqfgh) (on-table jkwbx) (on-table mdvxw) (holding pqlro) (on sqfgh jkwbx) (clear rcklv) (clear mdvxw) (on-table rcklv)",
"(clear sqfgh) (arm-empty) (on-table jkwbx) (on-table mdvxw) (clear pqlro) (on pqlro rcklv) (on sqfgh jkwbx) (clear mdvxw) (on-table rcklv)",
"(on-table jkwbx) (on-table mdvxw) (clear pqlro) (on pqlro rcklv) (holding sqfgh) (clear mdvxw) (on-table rcklv) (clear jkwbx)",
"(clear sqfgh) (arm-empty) (on-table sqfgh) (on-table jkwbx) (on-table mdvxw) (clear pqlro) (on pqlro rcklv) (clear mdvxw) (on-table rcklv) (clear jkwbx)",
"(clear sqfgh) (on-table sqfgh) (on-table mdvxw) (clear pqlro) (on pqlro rcklv) (holding jkwbx) (clear mdvxw) (on-table rcklv)",
"(clear sqfgh) (arm-empty) (on-table sqfgh) (on-table mdvxw) (clear pqlro) (on pqlro rcklv) (on jkwbx mdvxw) (on-table rcklv) (clear jkwbx)",
"(clear sqfgh) (on-table sqfgh) (on-table mdvxw) (holding pqlro) (on jkwbx mdvxw) (clear rcklv) (on-table rcklv) (clear jkwbx)",
"(clear sqfgh) (arm-empty) (on-table sqfgh) (on-table mdvxw) (clear pqlro) (on jkwbx mdvxw) (on-table pqlro) (clear rcklv) (on-table rcklv) (clear jkwbx)",
"(on-table mdvxw) (clear pqlro) (on jkwbx mdvxw) (on-table pqlro) (holding sqfgh) (clear rcklv) (on-table rcklv) (clear jkwbx)",
"(clear sqfgh) (arm-empty) (on-table mdvxw) (clear pqlro) (on jkwbx mdvxw) (on-table pqlro) (on sqfgh rcklv) (on-table rcklv) (clear jkwbx)"
] | file_12233 |
GOAL: (on hyqlb rxwxz) (arm-empty) (on-table vowxh) (on rxwxz tdwkc) (on tdwkc ozhxi) (clear hyqlb) (on ozhxi vowxh) | GOAL: (on hyqlb rxwxz) (arm-empty) (on-table vowxh) (on rxwxz tdwkc) (on tdwkc ozhxi) (clear hyqlb) (on ozhxi vowxh)
STATE: (clear vowxh) (arm-empty) (on-table vowxh) (on rxwxz tdwkc) (on tdwkc hyqlb) (on ozhxi rxwxz) (clear ozhxi) (on-table hyqlb) | [
[
"unstack ozhxi rxwxz"
],
[
"stack ozhxi vowxh"
],
[
"unstack rxwxz tdwkc"
],
[
"put-down rxwxz"
],
[
"unstack tdwkc hyqlb"
],
[
"stack tdwkc ozhxi"
],
[
"pick-up rxwxz"
],
[
"stack rxwxz tdwkc"
],
[
"pick-up hyqlb"
],
[
"stack hyqlb rxwxz"
]
] | [
"(holding ozhxi) (clear vowxh) (on-table vowxh) (on rxwxz tdwkc) (clear rxwxz) (on tdwkc hyqlb) (on-table hyqlb)",
"(arm-empty) (on-table vowxh) (on rxwxz tdwkc) (clear rxwxz) (on tdwkc hyqlb) (on ozhxi vowxh) (clear ozhxi) (on-table hyqlb)",
"(on-table vowxh) (holding rxwxz) (on tdwkc hyqlb) (on ozhxi vowxh) (clear ozhxi) (on-table hyqlb) (clear tdwkc)",
"(arm-empty) (on-table vowxh) (clear rxwxz) (on tdwkc hyqlb) (on ozhxi vowxh) (clear tdwkc) (on-table rxwxz) (clear ozhxi) (on-table hyqlb)",
"(on-table vowxh) (clear rxwxz) (holding tdwkc) (on-table rxwxz) (clear hyqlb) (on ozhxi vowxh) (clear ozhxi) (on-table hyqlb)",
"(arm-empty) (on-table vowxh) (clear rxwxz) (on tdwkc ozhxi) (on-table rxwxz) (clear hyqlb) (on ozhxi vowxh) (on-table hyqlb) (clear tdwkc)",
"(on-table vowxh) (holding rxwxz) (on tdwkc ozhxi) (clear hyqlb) (on ozhxi vowxh) (on-table hyqlb) (clear tdwkc)",
"(arm-empty) (on-table vowxh) (on rxwxz tdwkc) (clear rxwxz) (on tdwkc ozhxi) (clear hyqlb) (on ozhxi vowxh) (on-table hyqlb)",
"(on-table vowxh) (on rxwxz tdwkc) (clear rxwxz) (on tdwkc ozhxi) (on ozhxi vowxh) (holding hyqlb)",
"(on hyqlb rxwxz) (arm-empty) (on-table vowxh) (on rxwxz tdwkc) (on tdwkc ozhxi) (clear hyqlb) (on ozhxi vowxh)"
] | file_193412 |
GOAL: (on hcevd trkzx) (on unnis hcevd) (on lkldu unnis) (on-table trkzx) (clear lkldu) (holding ihqsr) | GOAL: (on hcevd trkzx) (on unnis hcevd) (on lkldu unnis) (on-table trkzx) (clear lkldu) (holding ihqsr)
STATE: (arm-empty) (on-table ihqsr) (on lkldu ihqsr) (on trkzx hcevd) (on unnis lkldu) (on hcevd unnis) (clear trkzx) | [
[
"unstack trkzx hcevd"
],
[
"put-down trkzx"
],
[
"unstack hcevd unnis"
],
[
"stack hcevd trkzx"
],
[
"unstack unnis lkldu"
],
[
"stack unnis hcevd"
],
[
"unstack lkldu ihqsr"
],
[
"stack lkldu unnis"
],
[
"pick-up ihqsr"
]
] | [
"(on-table ihqsr) (holding trkzx) (on hcevd unnis) (on unnis lkldu) (on lkldu ihqsr) (clear hcevd)",
"(arm-empty) (on-table ihqsr) (on-table trkzx) (on hcevd unnis) (clear trkzx) (on unnis lkldu) (on lkldu ihqsr) (clear hcevd)",
"(on-table ihqsr) (on-table trkzx) (on lkldu ihqsr) (on unnis lkldu) (holding hcevd) (clear unnis) (clear trkzx)",
"(on hcevd trkzx) (arm-empty) (on-table ihqsr) (on-table trkzx) (on unnis lkldu) (on lkldu ihqsr) (clear hcevd) (clear unnis)",
"(holding unnis) (on hcevd trkzx) (on-table ihqsr) (on-table trkzx) (clear lkldu) (on lkldu ihqsr) (clear hcevd)",
"(on hcevd trkzx) (on unnis hcevd) (arm-empty) (on-table ihqsr) (on-table trkzx) (clear lkldu) (on lkldu ihqsr) (clear unnis)",
"(on hcevd trkzx) (on unnis hcevd) (on-table ihqsr) (on-table trkzx) (clear ihqsr) (holding lkldu) (clear unnis)",
"(on hcevd trkzx) (on unnis hcevd) (on lkldu unnis) (on-table ihqsr) (on-table trkzx) (arm-empty) (clear lkldu) (clear ihqsr)",
"(on hcevd trkzx) (on unnis hcevd) (on lkldu unnis) (on-table trkzx) (clear lkldu) (holding ihqsr)"
] | file_143743 |
GOAL: (arm-empty) (on-table dukku) (clear iabju) (clear dukku) (on-table fniyb) (on iabju fatev) (clear fniyb) (on-table fatev) | GOAL: (arm-empty) (on-table dukku) (clear iabju) (clear dukku) (on-table fniyb) (on iabju fatev) (clear fniyb) (on-table fatev)
STATE: (arm-empty) (clear iabju) (on-table iabju) (on dukku fatev) (on fniyb dukku) (clear fniyb) (on-table fatev) | [
[
"unstack fniyb dukku"
],
[
"stack fniyb iabju"
],
[
"unstack dukku fatev"
],
[
"put-down dukku"
],
[
"unstack fniyb iabju"
],
[
"stack fniyb dukku"
],
[
"pick-up iabju"
],
[
"stack iabju fatev"
],
[
"unstack fniyb dukku"
],
[
"put-down fniyb"
]
] | [
"(clear iabju) (holding fniyb) (clear dukku) (on-table iabju) (on dukku fatev) (on-table fatev)",
"(clear dukku) (arm-empty) (on-table iabju) (on fniyb iabju) (on dukku fatev) (clear fniyb) (on-table fatev)",
"(on fniyb iabju) (on-table iabju) (holding dukku) (clear fatev) (clear fniyb) (on-table fatev)",
"(arm-empty) (on-table dukku) (clear dukku) (on-table iabju) (on fniyb iabju) (clear fatev) (clear fniyb) (on-table fatev)",
"(holding fniyb) (clear dukku) (on-table dukku) (clear iabju) (on-table iabju) (clear fatev) (on-table fatev)",
"(arm-empty) (on-table dukku) (clear iabju) (on-table iabju) (clear fatev) (on fniyb dukku) (clear fniyb) (on-table fatev)",
"(on-table dukku) (holding iabju) (clear fatev) (on fniyb dukku) (clear fniyb) (on-table fatev)",
"(arm-empty) (on-table dukku) (clear iabju) (on iabju fatev) (on fniyb dukku) (clear fniyb) (on-table fatev)",
"(on-table dukku) (clear iabju) (holding fniyb) (clear dukku) (on iabju fatev) (on-table fatev)",
"(arm-empty) (on-table dukku) (clear iabju) (clear dukku) (on-table fniyb) (on iabju fatev) (clear fniyb) (on-table fatev)"
] | file_106506 |
GOAL: (holding tdvtb) (on axljl dnxjg) (clear fubzu) (on fubzu axljl) (on-table dnxjg) | GOAL: (holding tdvtb) (on axljl dnxjg) (clear fubzu) (on fubzu axljl) (on-table dnxjg)
STATE: (on-table tdvtb) (clear axljl) (on axljl dnxjg) (holding fubzu) (on dnxjg tdvtb) | [
[
"put-down fubzu"
],
[
"unstack axljl dnxjg"
],
[
"stack axljl fubzu"
],
[
"unstack dnxjg tdvtb"
],
[
"put-down dnxjg"
],
[
"unstack axljl fubzu"
],
[
"stack axljl dnxjg"
],
[
"pick-up fubzu"
],
[
"stack fubzu axljl"
],
[
"pick-up tdvtb"
]
] | [
"(on axljl dnxjg) (on dnxjg tdvtb) (clear fubzu) (arm-empty) (on-table fubzu) (on-table tdvtb) (clear axljl)",
"(holding axljl) (clear fubzu) (on-table fubzu) (on dnxjg tdvtb) (clear dnxjg) (on-table tdvtb)",
"(on dnxjg tdvtb) (arm-empty) (clear axljl) (on-table fubzu) (on axljl fubzu) (clear dnxjg) (on-table tdvtb)",
"(on-table fubzu) (clear axljl) (on-table tdvtb) (on axljl fubzu) (holding dnxjg) (clear tdvtb)",
"(on axljl fubzu) (arm-empty) (on-table fubzu) (on-table tdvtb) (clear dnxjg) (clear axljl) (clear tdvtb) (on-table dnxjg)",
"(clear fubzu) (on-table fubzu) (on-table tdvtb) (holding axljl) (clear dnxjg) (clear tdvtb) (on-table dnxjg)",
"(arm-empty) (on-table fubzu) (clear axljl) (clear fubzu) (on-table tdvtb) (on axljl dnxjg) (clear tdvtb) (on-table dnxjg)",
"(on-table tdvtb) (clear axljl) (on axljl dnxjg) (holding fubzu) (clear tdvtb) (on-table dnxjg)",
"(clear fubzu) (arm-empty) (on-table tdvtb) (on axljl dnxjg) (on fubzu axljl) (clear tdvtb) (on-table dnxjg)",
"(holding tdvtb) (on axljl dnxjg) (clear fubzu) (on fubzu axljl) (on-table dnxjg)"
] | file_131158 |
GOAL: (on yoxsu wuqnb) (arm-empty) (on-table crvzx) (on scorb jbxnp) (on-table wuqnb) (on jbxnp crvzx) (clear yoxsu) (clear scorb) | GOAL: (on yoxsu wuqnb) (arm-empty) (on-table crvzx) (on scorb jbxnp) (on-table wuqnb) (on jbxnp crvzx) (clear yoxsu) (clear scorb)
STATE: (clear jbxnp) (on-table crvzx) (on wuqnb yoxsu) (holding scorb) (on jbxnp wuqnb) (clear crvzx) (on-table yoxsu) | [
[
"put-down scorb"
],
[
"unstack jbxnp wuqnb"
],
[
"stack jbxnp crvzx"
],
[
"pick-up scorb"
],
[
"stack scorb jbxnp"
],
[
"unstack wuqnb yoxsu"
],
[
"put-down wuqnb"
],
[
"pick-up yoxsu"
],
[
"stack yoxsu wuqnb"
]
] | [
"(arm-empty) (on-table scorb) (on jbxnp wuqnb) (clear scorb) (clear jbxnp) (on-table crvzx) (on wuqnb yoxsu) (clear crvzx) (on-table yoxsu)",
"(on-table scorb) (on-table crvzx) (clear wuqnb) (on wuqnb yoxsu) (holding jbxnp) (clear crvzx) (on-table yoxsu) (clear scorb)",
"(clear jbxnp) (arm-empty) (on-table scorb) (on-table crvzx) (clear wuqnb) (on wuqnb yoxsu) (on jbxnp crvzx) (on-table yoxsu) (clear scorb)",
"(clear jbxnp) (on-table crvzx) (clear wuqnb) (on wuqnb yoxsu) (holding scorb) (on jbxnp crvzx) (on-table yoxsu)",
"(arm-empty) (on-table crvzx) (on scorb jbxnp) (clear wuqnb) (on wuqnb yoxsu) (on jbxnp crvzx) (on-table yoxsu) (clear scorb)",
"(on-table crvzx) (holding wuqnb) (on scorb jbxnp) (on jbxnp crvzx) (clear yoxsu) (on-table yoxsu) (clear scorb)",
"(arm-empty) (on scorb jbxnp) (clear wuqnb) (on jbxnp crvzx) (clear scorb) (on-table crvzx) (on-table wuqnb) (clear yoxsu) (on-table yoxsu)",
"(on-table crvzx) (on scorb jbxnp) (clear wuqnb) (on-table wuqnb) (on jbxnp crvzx) (holding yoxsu) (clear scorb)",
"(on yoxsu wuqnb) (arm-empty) (on-table crvzx) (on scorb jbxnp) (on-table wuqnb) (on jbxnp crvzx) (clear yoxsu) (clear scorb)"
] | file_48314 |
GOAL: (clear rgmwr) (arm-empty) (on-table zyjvy) (on-table jvixk) (clear pkerf) (on-table pkerf) (on rgmwr zyjvy) (clear zyzhv) (clear jvixk) (on-table zyzhv) | GOAL: (clear rgmwr) (arm-empty) (on-table zyjvy) (on-table jvixk) (clear pkerf) (on-table pkerf) (on rgmwr zyjvy) (clear zyzhv) (clear jvixk) (on-table zyzhv)
STATE: (holding jvixk) (on-table zyjvy) (clear pkerf) (on pkerf rgmwr) (on rgmwr zyjvy) (clear zyzhv) (on-table zyzhv) | [
[
"put-down jvixk"
],
[
"unstack pkerf rgmwr"
],
[
"put-down pkerf"
]
] | [
"(arm-empty) (on-table zyjvy) (clear pkerf) (on rgmwr zyjvy) (on-table jvixk) (on pkerf rgmwr) (clear zyzhv) (clear jvixk) (on-table zyzhv)",
"(clear rgmwr) (on-table zyjvy) (on-table jvixk) (holding pkerf) (on rgmwr zyjvy) (clear zyzhv) (clear jvixk) (on-table zyzhv)",
"(clear rgmwr) (arm-empty) (on-table zyjvy) (on-table jvixk) (clear pkerf) (on-table pkerf) (on rgmwr zyjvy) (clear zyzhv) (clear jvixk) (on-table zyzhv)"
] | file_75065 |
GOAL: (on clctw kxmev) (on-table kxmev) (arm-empty) (on tvvxa clctw) (on afhtq tvvxa) (clear afhtq) | GOAL: (on clctw kxmev) (on-table kxmev) (arm-empty) (on tvvxa clctw) (on afhtq tvvxa) (clear afhtq)
STATE: (arm-empty) (on kxmev clctw) (on tvvxa kxmev) (on afhtq tvvxa) (clear afhtq) (on-table clctw) | [
[
"unstack afhtq tvvxa"
],
[
"put-down afhtq"
],
[
"unstack tvvxa kxmev"
],
[
"stack tvvxa afhtq"
],
[
"unstack kxmev clctw"
],
[
"put-down kxmev"
],
[
"pick-up clctw"
],
[
"stack clctw kxmev"
],
[
"unstack tvvxa afhtq"
],
[
"stack tvvxa clctw"
],
[
"pick-up afhtq"
],
[
"stack afhtq tvvxa"
]
] | [
"(holding afhtq) (on kxmev clctw) (clear tvvxa) (on tvvxa kxmev) (on-table clctw)",
"(on kxmev clctw) (clear tvvxa) (arm-empty) (on tvvxa kxmev) (on-table afhtq) (clear afhtq) (on-table clctw)",
"(clear kxmev) (on-table afhtq) (on kxmev clctw) (holding tvvxa) (clear afhtq) (on-table clctw)",
"(clear tvvxa) (arm-empty) (on-table afhtq) (clear kxmev) (on kxmev clctw) (on tvvxa afhtq) (on-table clctw)",
"(holding kxmev) (clear tvvxa) (on-table afhtq) (on tvvxa afhtq) (clear clctw) (on-table clctw)",
"(arm-empty) (clear kxmev) (on tvvxa afhtq) (clear tvvxa) (on-table afhtq) (on-table kxmev) (clear clctw) (on-table clctw)",
"(clear tvvxa) (on-table afhtq) (clear kxmev) (on-table kxmev) (on tvvxa afhtq) (holding clctw)",
"(on clctw kxmev) (clear tvvxa) (arm-empty) (on-table afhtq) (on-table kxmev) (on tvvxa afhtq) (clear clctw)",
"(on clctw kxmev) (on-table afhtq) (on-table kxmev) (holding tvvxa) (clear clctw) (clear afhtq)",
"(on clctw kxmev) (clear tvvxa) (arm-empty) (on-table afhtq) (on-table kxmev) (on tvvxa clctw) (clear afhtq)",
"(holding afhtq) (on clctw kxmev) (clear tvvxa) (on-table kxmev) (on tvvxa clctw)",
"(on clctw kxmev) (on-table kxmev) (arm-empty) (on tvvxa clctw) (on afhtq tvvxa) (clear afhtq)"
] | file_2594 |
GOAL: (on-table zmksy) (on rphnw zmksy) (on-table xdsds) (clear rphnw) (holding skifb) (clear yhisk) (clear xdsds) (on-table yhisk) | GOAL: (on-table zmksy) (on rphnw zmksy) (on-table xdsds) (clear rphnw) (holding skifb) (clear yhisk) (clear xdsds) (on-table yhisk)
STATE: (on-table xdsds) (on yhisk skifb) (clear rphnw) (on rphnw yhisk) (holding zmksy) (on skifb xdsds) | [
[
"put-down zmksy"
],
[
"unstack rphnw yhisk"
],
[
"stack rphnw zmksy"
],
[
"unstack yhisk skifb"
],
[
"stack yhisk rphnw"
],
[
"unstack skifb xdsds"
],
[
"put-down skifb"
],
[
"unstack yhisk rphnw"
],
[
"put-down yhisk"
],
[
"pick-up skifb"
]
] | [
"(arm-empty) (on-table zmksy) (clear rphnw) (on skifb xdsds) (clear zmksy) (on-table xdsds) (on yhisk skifb) (on rphnw yhisk)",
"(on-table zmksy) (on-table xdsds) (holding rphnw) (on yhisk skifb) (on skifb xdsds) (clear yhisk) (clear zmksy)",
"(arm-empty) (on rphnw zmksy) (on-table zmksy) (on-table xdsds) (on yhisk skifb) (clear rphnw) (on skifb xdsds) (clear yhisk)",
"(clear skifb) (on rphnw zmksy) (on-table zmksy) (on-table xdsds) (clear rphnw) (on skifb xdsds) (holding yhisk)",
"(on yhisk rphnw) (clear skifb) (arm-empty) (on-table zmksy) (on rphnw zmksy) (on-table xdsds) (on skifb xdsds) (clear yhisk)",
"(on yhisk rphnw) (on-table zmksy) (on rphnw zmksy) (on-table xdsds) (holding skifb) (clear yhisk) (clear xdsds)",
"(arm-empty) (on-table skifb) (on-table zmksy) (on rphnw zmksy) (on yhisk rphnw) (clear skifb) (on-table xdsds) (clear yhisk) (clear xdsds)",
"(clear skifb) (on-table skifb) (on-table zmksy) (on rphnw zmksy) (on-table xdsds) (clear rphnw) (holding yhisk) (clear xdsds)",
"(clear skifb) (arm-empty) (on-table skifb) (on-table zmksy) (on rphnw zmksy) (on-table xdsds) (clear rphnw) (clear yhisk) (clear xdsds) (on-table yhisk)",
"(on-table zmksy) (on rphnw zmksy) (on-table xdsds) (clear rphnw) (holding skifb) (clear yhisk) (clear xdsds) (on-table yhisk)"
] | file_183326 |
GOAL: (on-table qevjc) (clear pxueo) (on-table pxueo) (on meilp qevjc) (clear meilp) (holding aliqd) | GOAL: (on-table qevjc) (clear pxueo) (on-table pxueo) (on meilp qevjc) (clear meilp) (holding aliqd)
STATE: (on-table meilp) (clear pxueo) (on pxueo aliqd) (holding qevjc) (clear meilp) (on-table aliqd) | [
[
"put-down qevjc"
],
[
"pick-up meilp"
],
[
"stack meilp qevjc"
],
[
"unstack pxueo aliqd"
],
[
"put-down pxueo"
],
[
"pick-up aliqd"
]
] | [
"(arm-empty) (on-table qevjc) (clear pxueo) (clear qevjc) (on-table meilp) (on pxueo aliqd) (clear meilp) (on-table aliqd)",
"(holding meilp) (clear qevjc) (on-table qevjc) (clear pxueo) (on pxueo aliqd) (on-table aliqd)",
"(arm-empty) (on-table qevjc) (clear pxueo) (on pxueo aliqd) (on meilp qevjc) (clear meilp) (on-table aliqd)",
"(on-table qevjc) (holding pxueo) (on meilp qevjc) (clear aliqd) (clear meilp) (on-table aliqd)",
"(arm-empty) (on-table qevjc) (clear pxueo) (on meilp qevjc) (on-table pxueo) (clear aliqd) (clear meilp) (on-table aliqd)",
"(on-table qevjc) (clear pxueo) (on-table pxueo) (on meilp qevjc) (clear meilp) (holding aliqd)"
] | file_191297 |
GOAL: (on-table ntetq) (on igtdq ntetq) (on-table qnajx) (clear igtdq) (holding sywju) (clear odjgt) (clear qnajx) (on-table odjgt) | GOAL: (on-table ntetq) (on igtdq ntetq) (on-table qnajx) (clear igtdq) (holding sywju) (clear odjgt) (clear qnajx) (on-table odjgt)
STATE: (clear sywju) (on qnajx odjgt) (arm-empty) (on-table ntetq) (clear igtdq) (on-table igtdq) (on sywju qnajx) (on-table odjgt) (clear ntetq) | [
[
"pick-up igtdq"
],
[
"stack igtdq ntetq"
],
[
"unstack sywju qnajx"
],
[
"put-down sywju"
],
[
"unstack qnajx odjgt"
],
[
"put-down qnajx"
],
[
"pick-up sywju"
]
] | [
"(clear sywju) (on qnajx odjgt) (on-table ntetq) (holding igtdq) (on sywju qnajx) (on-table odjgt) (clear ntetq)",
"(clear sywju) (on qnajx odjgt) (arm-empty) (on igtdq ntetq) (on-table ntetq) (clear igtdq) (on sywju qnajx) (on-table odjgt)",
"(on qnajx odjgt) (on igtdq ntetq) (on-table ntetq) (clear igtdq) (holding sywju) (clear qnajx) (on-table odjgt)",
"(on qnajx odjgt) (arm-empty) (on-table sywju) (on-table ntetq) (on igtdq ntetq) (clear igtdq) (clear sywju) (clear qnajx) (on-table odjgt)",
"(holding qnajx) (clear sywju) (on-table sywju) (on-table ntetq) (on igtdq ntetq) (clear igtdq) (clear odjgt) (on-table odjgt)",
"(clear sywju) (arm-empty) (on-table sywju) (on-table ntetq) (on igtdq ntetq) (on-table qnajx) (clear igtdq) (clear odjgt) (clear qnajx) (on-table odjgt)",
"(on-table ntetq) (on igtdq ntetq) (on-table qnajx) (clear igtdq) (holding sywju) (clear odjgt) (clear qnajx) (on-table odjgt)"
] | file_101730 |
GOAL: (on czgsg iokba) (clear vyxgu) (on pulnu czgsg) (arm-empty) (on-table vyxgu) (on-table hpyms) (on iokba hpyms) (clear pulnu) | GOAL: (on czgsg iokba) (clear vyxgu) (on pulnu czgsg) (arm-empty) (on-table vyxgu) (on-table hpyms) (on iokba hpyms) (clear pulnu)
STATE: (on czgsg hpyms) (on iokba pulnu) (on hpyms iokba) (on-table vyxgu) (arm-empty) (clear czgsg) (on pulnu vyxgu) | [
[
"unstack czgsg hpyms"
],
[
"put-down czgsg"
],
[
"unstack hpyms iokba"
],
[
"put-down hpyms"
],
[
"unstack iokba pulnu"
],
[
"put-down iokba"
],
[
"pick-up czgsg"
],
[
"stack czgsg pulnu"
],
[
"pick-up iokba"
],
[
"stack iokba hpyms"
],
[
"unstack czgsg pulnu"
],
[
"stack czgsg iokba"
],
[
"unstack pulnu vyxgu"
],
[
"stack pulnu czgsg"
]
] | [
"(on iokba pulnu) (on hpyms iokba) (on-table vyxgu) (on pulnu vyxgu) (clear hpyms) (holding czgsg)",
"(on iokba pulnu) (on hpyms iokba) (on-table vyxgu) (arm-empty) (clear czgsg) (on pulnu vyxgu) (on-table czgsg) (clear hpyms)",
"(on iokba pulnu) (on-table vyxgu) (clear iokba) (holding hpyms) (clear czgsg) (on pulnu vyxgu) (on-table czgsg)",
"(on iokba pulnu) (arm-empty) (on-table vyxgu) (on-table hpyms) (clear iokba) (on pulnu vyxgu) (clear hpyms) (clear czgsg) (on-table czgsg)",
"(on-table vyxgu) (on-table hpyms) (holding iokba) (clear czgsg) (on pulnu vyxgu) (clear pulnu) (on-table czgsg) (clear hpyms)",
"(arm-empty) (on-table vyxgu) (on-table hpyms) (clear iokba) (on-table iokba) (clear czgsg) (on pulnu vyxgu) (clear pulnu) (on-table czgsg) (clear hpyms)",
"(on-table vyxgu) (on-table hpyms) (clear iokba) (on-table iokba) (on pulnu vyxgu) (clear pulnu) (holding czgsg) (clear hpyms)",
"(arm-empty) (on-table vyxgu) (on-table hpyms) (clear iokba) (on-table iokba) (on czgsg pulnu) (clear czgsg) (on pulnu vyxgu) (clear hpyms)",
"(on-table vyxgu) (on-table hpyms) (holding iokba) (on czgsg pulnu) (clear czgsg) (on pulnu vyxgu) (clear hpyms)",
"(arm-empty) (on-table vyxgu) (on-table hpyms) (on iokba hpyms) (clear iokba) (on czgsg pulnu) (clear czgsg) (on pulnu vyxgu)",
"(on-table vyxgu) (on-table hpyms) (on iokba hpyms) (clear iokba) (on pulnu vyxgu) (clear pulnu) (holding czgsg)",
"(on czgsg iokba) (arm-empty) (on-table vyxgu) (on-table hpyms) (on iokba hpyms) (clear czgsg) (on pulnu vyxgu) (clear pulnu)",
"(holding pulnu) (on czgsg iokba) (clear vyxgu) (on-table vyxgu) (on-table hpyms) (on iokba hpyms) (clear czgsg)",
"(on czgsg iokba) (clear vyxgu) (on pulnu czgsg) (arm-empty) (on-table vyxgu) (on-table hpyms) (on iokba hpyms) (clear pulnu)"
] | file_86202 |
GOAL: (on thwrj qsfwm) (clear xdqjg) (on qddui thwrj) (on-table xdqjg) (holding wamch) (on-table qsfwm) (clear qddui) | GOAL: (on thwrj qsfwm) (clear xdqjg) (on qddui thwrj) (on-table xdqjg) (holding wamch) (on-table qsfwm) (clear qddui)
STATE: (clear wamch) (on thwrj qsfwm) (arm-empty) (on-table wamch) (clear xdqjg) (on qddui thwrj) (on-table xdqjg) (on-table qsfwm) (clear qddui) | [
[
"pick-up wamch"
]
] | [
"(on thwrj qsfwm) (clear xdqjg) (on qddui thwrj) (on-table xdqjg) (holding wamch) (on-table qsfwm) (clear qddui)"
] | file_14407 |
GOAL: (clear lgbef) (on svwpo bvjbr) (on ynhen svwpo) (arm-empty) (on-table bvjbr) (on zphye ynhen) (on lgbef zphye) | GOAL: (clear lgbef) (on svwpo bvjbr) (on ynhen svwpo) (arm-empty) (on-table bvjbr) (on zphye ynhen) (on lgbef zphye)
STATE: (arm-empty) (on lgbef bvjbr) (on-table zphye) (on bvjbr svwpo) (on svwpo ynhen) (on ynhen zphye) (clear lgbef) | [
[
"unstack lgbef bvjbr"
],
[
"put-down lgbef"
],
[
"unstack bvjbr svwpo"
],
[
"put-down bvjbr"
],
[
"unstack svwpo ynhen"
],
[
"stack svwpo bvjbr"
],
[
"unstack ynhen zphye"
],
[
"stack ynhen svwpo"
],
[
"pick-up zphye"
],
[
"stack zphye ynhen"
],
[
"pick-up lgbef"
],
[
"stack lgbef zphye"
]
] | [
"(on bvjbr svwpo) (holding lgbef) (clear bvjbr) (on-table zphye) (on svwpo ynhen) (on ynhen zphye)",
"(arm-empty) (on-table zphye) (on-table lgbef) (clear bvjbr) (on svwpo ynhen) (on ynhen zphye) (clear lgbef) (on bvjbr svwpo)",
"(on-table zphye) (on-table lgbef) (holding bvjbr) (on svwpo ynhen) (clear svwpo) (on ynhen zphye) (clear lgbef)",
"(arm-empty) (on-table zphye) (on-table lgbef) (clear bvjbr) (on svwpo ynhen) (on ynhen zphye) (clear lgbef) (on-table bvjbr) (clear svwpo)",
"(on-table zphye) (on-table lgbef) (clear bvjbr) (on-table bvjbr) (on ynhen zphye) (clear ynhen) (holding svwpo) (clear lgbef)",
"(on svwpo bvjbr) (arm-empty) (on-table zphye) (on-table lgbef) (on-table bvjbr) (clear svwpo) (on ynhen zphye) (clear ynhen) (clear lgbef)",
"(holding ynhen) (on svwpo bvjbr) (clear zphye) (on-table zphye) (on-table lgbef) (on-table bvjbr) (clear svwpo) (clear lgbef)",
"(on svwpo bvjbr) (clear zphye) (on ynhen svwpo) (arm-empty) (on-table zphye) (on-table lgbef) (on-table bvjbr) (clear ynhen) (clear lgbef)",
"(on svwpo bvjbr) (on ynhen svwpo) (on-table lgbef) (on-table bvjbr) (holding zphye) (clear ynhen) (clear lgbef)",
"(on svwpo bvjbr) (clear zphye) (on ynhen svwpo) (arm-empty) (on-table lgbef) (on-table bvjbr) (on zphye ynhen) (clear lgbef)",
"(on svwpo bvjbr) (clear zphye) (on ynhen svwpo) (holding lgbef) (on-table bvjbr) (on zphye ynhen)",
"(clear lgbef) (on svwpo bvjbr) (on ynhen svwpo) (arm-empty) (on-table bvjbr) (on zphye ynhen) (on lgbef zphye)"
] | file_116931 |
GOAL: (clear ahvgg) (on beeno juiah) (on rfjsz rvefa) (on-table ahvgg) (on-table rvefa) (on-table juiah) (arm-empty) (clear beeno) (clear rfjsz) | GOAL: (clear ahvgg) (on beeno juiah) (on rfjsz rvefa) (on-table ahvgg) (on-table rvefa) (on-table juiah) (arm-empty) (clear beeno) (clear rfjsz)
STATE: (on-table ahvgg) (on-table rvefa) (holding beeno) (on-table juiah) (on rfjsz ahvgg) (clear rfjsz) (clear juiah) (clear rvefa) | [
[
"stack beeno juiah"
],
[
"unstack rfjsz ahvgg"
],
[
"stack rfjsz rvefa"
]
] | [
"(on beeno juiah) (arm-empty) (on-table ahvgg) (on-table rvefa) (on-table juiah) (on rfjsz ahvgg) (clear beeno) (clear rfjsz) (clear rvefa)",
"(clear ahvgg) (on beeno juiah) (on-table ahvgg) (on-table rvefa) (on-table juiah) (clear beeno) (holding rfjsz) (clear rvefa)",
"(clear ahvgg) (on beeno juiah) (on rfjsz rvefa) (on-table ahvgg) (on-table rvefa) (on-table juiah) (arm-empty) (clear beeno) (clear rfjsz)"
] | file_174711 |
GOAL: (on kdvph kdsqq) (on dzmfo kdvph) (clear dzmfo) (on kdsqq olznv) (holding pkrqs) (on-table olznv) | GOAL: (on kdvph kdsqq) (on dzmfo kdvph) (clear dzmfo) (on kdsqq olznv) (holding pkrqs) (on-table olznv)
STATE: (arm-empty) (on-table pkrqs) (clear dzmfo) (on kdsqq olznv) (on-table dzmfo) (on olznv kdvph) (on kdvph pkrqs) (clear kdsqq) | [
[
"unstack kdsqq olznv"
],
[
"stack kdsqq dzmfo"
],
[
"unstack olznv kdvph"
],
[
"put-down olznv"
],
[
"unstack kdsqq dzmfo"
],
[
"stack kdsqq olznv"
],
[
"unstack kdvph pkrqs"
],
[
"stack kdvph kdsqq"
],
[
"pick-up dzmfo"
],
[
"stack dzmfo kdvph"
],
[
"pick-up pkrqs"
]
] | [
"(on-table pkrqs) (clear dzmfo) (holding kdsqq) (on-table dzmfo) (on olznv kdvph) (clear olznv) (on kdvph pkrqs)",
"(arm-empty) (on kdsqq dzmfo) (on-table pkrqs) (on-table dzmfo) (on olznv kdvph) (clear olznv) (on kdvph pkrqs) (clear kdsqq)",
"(on kdsqq dzmfo) (on-table pkrqs) (on-table dzmfo) (on kdvph pkrqs) (clear kdvph) (holding olznv) (clear kdsqq)",
"(arm-empty) (on kdsqq dzmfo) (on-table pkrqs) (on kdvph pkrqs) (clear kdsqq) (on-table dzmfo) (clear olznv) (clear kdvph) (on-table olznv)",
"(on-table pkrqs) (clear dzmfo) (holding kdsqq) (on-table dzmfo) (clear olznv) (on kdvph pkrqs) (clear kdvph) (on-table olznv)",
"(arm-empty) (on-table pkrqs) (clear dzmfo) (on kdsqq olznv) (on-table dzmfo) (on kdvph pkrqs) (clear kdvph) (on-table olznv) (clear kdsqq)",
"(holding kdvph) (clear pkrqs) (on-table pkrqs) (clear dzmfo) (on kdsqq olznv) (on-table dzmfo) (on-table olznv) (clear kdsqq)",
"(on kdvph kdsqq) (clear pkrqs) (arm-empty) (on-table pkrqs) (clear dzmfo) (on kdsqq olznv) (on-table dzmfo) (clear kdvph) (on-table olznv)",
"(on kdvph kdsqq) (clear pkrqs) (on-table pkrqs) (holding dzmfo) (on kdsqq olznv) (clear kdvph) (on-table olznv)",
"(on kdvph kdsqq) (clear pkrqs) (on dzmfo kdvph) (arm-empty) (on-table pkrqs) (clear dzmfo) (on kdsqq olznv) (on-table olznv)",
"(on kdvph kdsqq) (on dzmfo kdvph) (clear dzmfo) (on kdsqq olznv) (holding pkrqs) (on-table olznv)"
] | file_143000 |
GOAL: (clear rwimp) (arm-empty) (on pydou yfhmf) (on-table rwimp) (on-table unreg) (on-table yfhmf) (on dgrdt unreg) (clear dgrdt) (clear pydou) | GOAL: (clear rwimp) (arm-empty) (on pydou yfhmf) (on-table rwimp) (on-table unreg) (on-table yfhmf) (on dgrdt unreg) (clear dgrdt) (clear pydou)
STATE: (on unreg dgrdt) (arm-empty) (on-table rwimp) (on-table pydou) (on dgrdt rwimp) (clear yfhmf) (on-table yfhmf) (clear unreg) (clear pydou) | [
[
"pick-up pydou"
],
[
"stack pydou yfhmf"
],
[
"unstack unreg dgrdt"
],
[
"put-down unreg"
],
[
"unstack dgrdt rwimp"
],
[
"stack dgrdt unreg"
]
] | [
"(on unreg dgrdt) (on-table rwimp) (on dgrdt rwimp) (clear yfhmf) (holding pydou) (on-table yfhmf) (clear unreg)",
"(on unreg dgrdt) (on pydou yfhmf) (on-table rwimp) (arm-empty) (on dgrdt rwimp) (on-table yfhmf) (clear unreg) (clear pydou)",
"(holding unreg) (on pydou yfhmf) (on-table rwimp) (on dgrdt rwimp) (on-table yfhmf) (clear dgrdt) (clear pydou)",
"(arm-empty) (on pydou yfhmf) (on-table rwimp) (clear pydou) (on-table unreg) (on dgrdt rwimp) (on-table yfhmf) (clear dgrdt) (clear unreg)",
"(clear rwimp) (on pydou yfhmf) (on-table rwimp) (on-table unreg) (on-table yfhmf) (holding dgrdt) (clear unreg) (clear pydou)",
"(clear rwimp) (arm-empty) (on pydou yfhmf) (on-table rwimp) (on-table unreg) (on-table yfhmf) (on dgrdt unreg) (clear dgrdt) (clear pydou)"
] | file_110781 |
GOAL: (clear gfwxn) (arm-empty) (on-table bqwcs) (on-table jbuls) (clear klluu) (on-table klluu) (on gfwxn jbuls) (clear xeobe) (on-table xeobe) (clear bqwcs) | GOAL: (clear gfwxn) (arm-empty) (on-table bqwcs) (on-table jbuls) (clear klluu) (on-table klluu) (on gfwxn jbuls) (clear xeobe) (on-table xeobe) (clear bqwcs)
STATE: (on xeobe bqwcs) (arm-empty) (on bqwcs klluu) (on-table klluu) (on gfwxn xeobe) (on jbuls gfwxn) (clear jbuls) | [
[
"unstack jbuls gfwxn"
],
[
"put-down jbuls"
],
[
"unstack gfwxn xeobe"
],
[
"put-down gfwxn"
],
[
"unstack xeobe bqwcs"
],
[
"put-down xeobe"
],
[
"pick-up gfwxn"
],
[
"stack gfwxn jbuls"
],
[
"unstack bqwcs klluu"
],
[
"put-down bqwcs"
]
] | [
"(on xeobe bqwcs) (on bqwcs klluu) (holding jbuls) (clear gfwxn) (on-table klluu) (on gfwxn xeobe)",
"(on xeobe bqwcs) (arm-empty) (on bqwcs klluu) (clear gfwxn) (on-table jbuls) (on-table klluu) (on gfwxn xeobe) (clear jbuls)",
"(on xeobe bqwcs) (on bqwcs klluu) (on-table jbuls) (on-table klluu) (holding gfwxn) (clear xeobe) (clear jbuls)",
"(on xeobe bqwcs) (arm-empty) (on bqwcs klluu) (on-table gfwxn) (clear gfwxn) (on-table jbuls) (on-table klluu) (clear xeobe) (clear jbuls)",
"(on bqwcs klluu) (on-table gfwxn) (clear gfwxn) (on-table jbuls) (on-table klluu) (holding xeobe) (clear jbuls) (clear bqwcs)",
"(clear gfwxn) (arm-empty) (on bqwcs klluu) (on-table gfwxn) (on-table jbuls) (on-table klluu) (clear xeobe) (clear jbuls) (on-table xeobe) (clear bqwcs)",
"(on bqwcs klluu) (on-table jbuls) (on-table klluu) (holding gfwxn) (clear xeobe) (clear jbuls) (on-table xeobe) (clear bqwcs)",
"(clear gfwxn) (arm-empty) (on bqwcs klluu) (on-table jbuls) (on-table klluu) (on gfwxn jbuls) (clear xeobe) (on-table xeobe) (clear bqwcs)",
"(clear gfwxn) (on-table jbuls) (clear klluu) (holding bqwcs) (on-table klluu) (on gfwxn jbuls) (clear xeobe) (on-table xeobe)",
"(clear gfwxn) (arm-empty) (on-table bqwcs) (on-table jbuls) (clear klluu) (on-table klluu) (on gfwxn jbuls) (clear xeobe) (on-table xeobe) (clear bqwcs)"
] | file_122264 |
GOAL: (arm-empty) (on-table tdewf) (on tkdho pumqe) (on rpgaa vcvwa) (on pumqe rpgaa) (clear tdewf) (on-table vcvwa) (clear tkdho) | GOAL: (arm-empty) (on-table tdewf) (on tkdho pumqe) (on rpgaa vcvwa) (on pumqe rpgaa) (clear tdewf) (on-table vcvwa) (clear tkdho)
STATE: (clear pumqe) (on-table pumqe) (on-table tdewf) (clear rpgaa) (on rpgaa vcvwa) (holding tkdho) (clear tdewf) (on-table vcvwa) | [
[
"put-down tkdho"
],
[
"pick-up tdewf"
],
[
"stack tdewf tkdho"
],
[
"pick-up pumqe"
],
[
"stack pumqe rpgaa"
],
[
"unstack tdewf tkdho"
],
[
"put-down tdewf"
],
[
"pick-up tkdho"
],
[
"stack tkdho pumqe"
]
] | [
"(clear pumqe) (arm-empty) (on-table pumqe) (on-table tkdho) (on-table tdewf) (clear rpgaa) (on rpgaa vcvwa) (clear tdewf) (on-table vcvwa) (clear tkdho)",
"(holding tdewf) (clear pumqe) (on-table pumqe) (on-table tkdho) (clear rpgaa) (on rpgaa vcvwa) (on-table vcvwa) (clear tkdho)",
"(on tdewf tkdho) (clear pumqe) (arm-empty) (on-table pumqe) (on-table tkdho) (clear rpgaa) (on rpgaa vcvwa) (clear tdewf) (on-table vcvwa)",
"(on tdewf tkdho) (on-table tkdho) (clear rpgaa) (on rpgaa vcvwa) (holding pumqe) (clear tdewf) (on-table vcvwa)",
"(on tdewf tkdho) (clear pumqe) (arm-empty) (on-table tkdho) (on rpgaa vcvwa) (on pumqe rpgaa) (clear tdewf) (on-table vcvwa)",
"(holding tdewf) (clear pumqe) (on-table tkdho) (on rpgaa vcvwa) (on pumqe rpgaa) (on-table vcvwa) (clear tkdho)",
"(arm-empty) (on-table tkdho) (on pumqe rpgaa) (clear tkdho) (clear pumqe) (on-table tdewf) (on rpgaa vcvwa) (clear tdewf) (on-table vcvwa)",
"(clear pumqe) (on-table tdewf) (on rpgaa vcvwa) (holding tkdho) (on pumqe rpgaa) (clear tdewf) (on-table vcvwa)",
"(arm-empty) (on-table tdewf) (on tkdho pumqe) (on rpgaa vcvwa) (on pumqe rpgaa) (clear tdewf) (on-table vcvwa) (clear tkdho)"
] | file_142659 |
GOAL: (on yphpy gpbuz) (arm-empty) (on bcwcy yphpy) (on xgkaa bcwcy) (clear xgkaa) (on-table gpbuz) | GOAL: (on yphpy gpbuz) (arm-empty) (on bcwcy yphpy) (on xgkaa bcwcy) (clear xgkaa) (on-table gpbuz)
STATE: (holding yphpy) (on-table xgkaa) (on gpbuz bcwcy) (on bcwcy xgkaa) (clear gpbuz) | [
[
"put-down yphpy"
],
[
"unstack gpbuz bcwcy"
],
[
"put-down gpbuz"
],
[
"pick-up yphpy"
],
[
"stack yphpy gpbuz"
],
[
"unstack bcwcy xgkaa"
],
[
"stack bcwcy yphpy"
],
[
"pick-up xgkaa"
],
[
"stack xgkaa bcwcy"
]
] | [
"(on-table yphpy) (arm-empty) (clear yphpy) (clear gpbuz) (on bcwcy xgkaa) (on gpbuz bcwcy) (on-table xgkaa)",
"(clear yphpy) (on bcwcy xgkaa) (clear bcwcy) (on-table xgkaa) (on-table yphpy) (holding gpbuz)",
"(clear bcwcy) (on-table yphpy) (arm-empty) (on-table xgkaa) (on bcwcy xgkaa) (clear gpbuz) (clear yphpy) (on-table gpbuz)",
"(clear bcwcy) (on-table xgkaa) (holding yphpy) (on bcwcy xgkaa) (clear gpbuz) (on-table gpbuz)",
"(on yphpy gpbuz) (clear bcwcy) (arm-empty) (on-table xgkaa) (on bcwcy xgkaa) (clear yphpy) (on-table gpbuz)",
"(clear yphpy) (on-table xgkaa) (on yphpy gpbuz) (holding bcwcy) (clear xgkaa) (on-table gpbuz)",
"(clear bcwcy) (arm-empty) (on-table xgkaa) (on yphpy gpbuz) (on bcwcy yphpy) (clear xgkaa) (on-table gpbuz)",
"(holding xgkaa) (on yphpy gpbuz) (clear bcwcy) (on bcwcy yphpy) (on-table gpbuz)",
"(on yphpy gpbuz) (arm-empty) (on bcwcy yphpy) (on xgkaa bcwcy) (clear xgkaa) (on-table gpbuz)"
] | file_156304 |
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