goal stringlengths 69 172 | input stringlengths 140 332 | actions listlengths 1 18 | next_states listlengths 1 18 | source_file stringlengths 6 11 |
|---|---|---|---|---|
GOAL: (clear ssxzi) (on ezvhl agnfp) (arm-empty) (on-table hcxvd) (on ercez hcxvd) (on ssxzi ercez) (clear ezvhl) (on-table agnfp) | GOAL: (clear ssxzi) (on ezvhl agnfp) (arm-empty) (on-table hcxvd) (on ercez hcxvd) (on ssxzi ercez) (clear ezvhl) (on-table agnfp)
STATE: (arm-empty) (on-table hcxvd) (on-table ezvhl) (clear ercez) (on ercez ssxzi) (on ssxzi ezvhl) (clear agnfp) (on-table agnfp) (clear hcxvd) | [
[
"unstack ercez ssxzi"
],
[
"stack ercez hcxvd"
],
[
"unstack ssxzi ezvhl"
],
[
"stack ssxzi ercez"
],
[
"pick-up ezvhl"
],
[
"stack ezvhl agnfp"
]
] | [
"(clear ssxzi) (on-table hcxvd) (on-table ezvhl) (holding ercez) (on ssxzi ezvhl) (clear agnfp) (on-table agnfp) (clear hcxvd)",
"(clear ssxzi) (arm-empty) (on-table hcxvd) (on-table ezvhl) (on ercez hcxvd) (clear ercez) (on ssxzi ezvhl) (clear agnfp) (on-table agnfp)",
"(on-table hcxvd) (on-table ezvhl) (on ercez hcxvd) (clear ercez) (holding ssxzi) (clear agnfp) (clear ezvhl) (on-table agnfp)",
"(clear ssxzi) (arm-empty) (on-table hcxvd) (on-table ezvhl) (on ercez hcxvd) (on ssxzi ercez) (clear agnfp) (clear ezvhl) (on-table agnfp)",
"(holding ezvhl) (clear ssxzi) (on-table hcxvd) (on ercez hcxvd) (on ssxzi ercez) (clear agnfp) (on-table agnfp)",
"(clear ssxzi) (on ezvhl agnfp) (arm-empty) (on-table hcxvd) (on ercez hcxvd) (on ssxzi ercez) (clear ezvhl) (on-table agnfp)"
] | file_141292 |
GOAL: (on-table zjmzj) (on-table ytviz) (on naakt ytviz) (clear naakt) (on uttss zjmzj) (clear uttss) (holding miqvd) | GOAL: (on-table zjmzj) (on-table ytviz) (on naakt ytviz) (clear naakt) (on uttss zjmzj) (clear uttss) (holding miqvd)
STATE: (clear zjmzj) (on miqvd ytviz) (arm-empty) (on-table zjmzj) (on-table uttss) (clear naakt) (on ytviz uttss) (on-table naakt) (clear miqvd) | [
[
"unstack miqvd ytviz"
],
[
"stack miqvd zjmzj"
],
[
"unstack ytviz uttss"
],
[
"put-down ytviz"
],
[
"pick-up naakt"
],
[
"stack naakt ytviz"
],
[
"pick-up uttss"
],
[
"stack uttss naakt"
],
[
"unstack miqvd zjmzj"
],
[
"put-down miqvd"
],
[
"unstack uttss naakt"
],
[
"stack uttss zjmzj"
],
[
"pick-up miqvd"
]
] | [
"(clear zjmzj) (on-table zjmzj) (on-table uttss) (clear naakt) (on ytviz uttss) (on-table naakt) (holding miqvd) (clear ytviz)",
"(arm-empty) (on-table zjmzj) (on-table uttss) (on miqvd zjmzj) (clear naakt) (on ytviz uttss) (on-table naakt) (clear miqvd) (clear ytviz)",
"(on-table zjmzj) (on-table uttss) (on miqvd zjmzj) (clear naakt) (holding ytviz) (on-table naakt) (clear miqvd) (clear uttss)",
"(arm-empty) (on-table zjmzj) (on-table ytviz) (on-table uttss) (on miqvd zjmzj) (clear naakt) (on-table naakt) (clear miqvd) (clear uttss) (clear ytviz)",
"(on-table zjmzj) (on-table ytviz) (on-table uttss) (holding naakt) (on miqvd zjmzj) (clear miqvd) (clear uttss) (clear ytviz)",
"(arm-empty) (on-table zjmzj) (on-table ytviz) (on-table uttss) (on naakt ytviz) (on miqvd zjmzj) (clear naakt) (clear miqvd) (clear uttss)",
"(holding uttss) (on-table zjmzj) (on-table ytviz) (on naakt ytviz) (on miqvd zjmzj) (clear naakt) (clear miqvd)",
"(arm-empty) (on-table zjmzj) (on-table ytviz) (on naakt ytviz) (on miqvd zjmzj) (on uttss naakt) (clear miqvd) (clear uttss)",
"(clear zjmzj) (on-table zjmzj) (on-table ytviz) (on naakt ytviz) (on uttss naakt) (holding miqvd) (clear uttss)",
"(arm-empty) (on-table zjmzj) (on-table ytviz) (on naakt ytviz) (clear zjmzj) (on uttss naakt) (clear miqvd) (clear uttss) (on-table miqvd)",
"(holding uttss) (clear zjmzj) (on-table zjmzj) (on-table ytviz) (on naakt ytviz) (clear naakt) (clear miqvd) (on-table miqvd)",
"(arm-empty) (on-table zjmzj) (on-table ytviz) (on naakt ytviz) (clear naakt) (clear miqvd) (on uttss zjmzj) (clear uttss) (on-table miqvd)",
"(on-table zjmzj) (on-table ytviz) (on naakt ytviz) (clear naakt) (on uttss zjmzj) (clear uttss) (holding miqvd)"
] | file_102417 |
GOAL: (on itjyg cqnbe) (on qtnaj itjyg) (arm-empty) (on mvuxw numsz) (on numsz qtnaj) (on-table cqnbe) (clear mvuxw) | GOAL: (on itjyg cqnbe) (on qtnaj itjyg) (arm-empty) (on mvuxw numsz) (on numsz qtnaj) (on-table cqnbe) (clear mvuxw)
STATE: (holding itjyg) (clear numsz) (on-table mvuxw) (on-table qtnaj) (on numsz qtnaj) (clear cqnbe) (on-table cqnbe) (clear mvuxw) | [
[
"stack itjyg cqnbe"
],
[
"unstack numsz qtnaj"
],
[
"stack numsz itjyg"
],
[
"pick-up qtnaj"
],
[
"stack qtnaj mvuxw"
],
[
"unstack numsz itjyg"
],
[
"put-down numsz"
],
[
"unstack qtnaj mvuxw"
],
[
"stack qtnaj itjyg"
],
[
"pick-up numsz"
],
[
"stack numsz qtnaj"
],
[
"pick-up mvuxw"
],
[
"stack mvuxw numsz"
]
] | [
"(clear numsz) (on itjyg cqnbe) (arm-empty) (on-table mvuxw) (on-table qtnaj) (on numsz qtnaj) (clear itjyg) (on-table cqnbe) (clear mvuxw)",
"(on itjyg cqnbe) (on-table mvuxw) (clear qtnaj) (on-table qtnaj) (holding numsz) (clear itjyg) (on-table cqnbe) (clear mvuxw)",
"(clear numsz) (on itjyg cqnbe) (arm-empty) (on-table mvuxw) (clear qtnaj) (on-table qtnaj) (on numsz itjyg) (on-table cqnbe) (clear mvuxw)",
"(clear numsz) (on itjyg cqnbe) (on-table mvuxw) (holding qtnaj) (on numsz itjyg) (on-table cqnbe) (clear mvuxw)",
"(clear numsz) (on itjyg cqnbe) (arm-empty) (on qtnaj mvuxw) (on-table mvuxw) (clear qtnaj) (on numsz itjyg) (on-table cqnbe)",
"(on itjyg cqnbe) (on qtnaj mvuxw) (on-table mvuxw) (clear qtnaj) (holding numsz) (clear itjyg) (on-table cqnbe)",
"(on itjyg cqnbe) (arm-empty) (on-table numsz) (on-table mvuxw) (on qtnaj mvuxw) (clear qtnaj) (clear numsz) (clear itjyg) (on-table cqnbe)",
"(clear numsz) (on itjyg cqnbe) (on-table numsz) (on-table mvuxw) (holding qtnaj) (clear itjyg) (on-table cqnbe) (clear mvuxw)",
"(clear numsz) (on itjyg cqnbe) (on qtnaj itjyg) (on-table numsz) (on-table mvuxw) (arm-empty) (clear qtnaj) (on-table cqnbe) (clear mvuxw)",
"(on itjyg cqnbe) (on qtnaj itjyg) (on-table mvuxw) (clear qtnaj) (holding numsz) (on-table cqnbe) (clear mvuxw)",
"(clear numsz) (on itjyg cqnbe) (on qtnaj itjyg) (arm-empty) (on-table mvuxw) (on numsz qtnaj) (on-table cqnbe) (clear mvuxw)",
"(clear numsz) (on itjyg cqnbe) (on qtnaj itjyg) (holding mvuxw) (on numsz qtnaj) (on-table cqnbe)",
"(on itjyg cqnbe) (on qtnaj itjyg) (arm-empty) (on mvuxw numsz) (on numsz qtnaj) (on-table cqnbe) (clear mvuxw)"
] | file_165494 |
GOAL: (arm-empty) (clear hlisz) (on xjqbr niksi) (on fuacu xjqbr) (on tcfjm fuacu) (on-table hlisz) (clear tcfjm) (on-table niksi) | GOAL: (arm-empty) (clear hlisz) (on xjqbr niksi) (on fuacu xjqbr) (on tcfjm fuacu) (on-table hlisz) (clear tcfjm) (on-table niksi)
STATE: (holding hlisz) (on xjqbr niksi) (on fuacu xjqbr) (on tcfjm fuacu) (clear tcfjm) (on-table niksi) | [
[
"put-down hlisz"
]
] | [
"(arm-empty) (clear hlisz) (on xjqbr niksi) (on fuacu xjqbr) (on tcfjm fuacu) (on-table hlisz) (clear tcfjm) (on-table niksi)"
] | file_102917 |
GOAL: (holding fzaye) (clear gyecb) (on qgfca fnhsl) (on-table uyope) (on gyecb uyope) (on-table fnhsl) (clear qgfca) | GOAL: (holding fzaye) (clear gyecb) (on qgfca fnhsl) (on-table uyope) (on gyecb uyope) (on-table fnhsl) (clear qgfca)
STATE: (on fzaye fnhsl) (on-table qgfca) (clear uyope) (on-table uyope) (holding gyecb) (clear fzaye) (on-table fnhsl) (clear qgfca) | [
[
"stack gyecb uyope"
],
[
"unstack fzaye fnhsl"
],
[
"stack fzaye gyecb"
],
[
"pick-up qgfca"
],
[
"stack qgfca fnhsl"
],
[
"unstack fzaye gyecb"
]
] | [
"(clear gyecb) (on fzaye fnhsl) (arm-empty) (on-table qgfca) (on-table uyope) (on gyecb uyope) (clear fzaye) (on-table fnhsl) (clear qgfca)",
"(holding fzaye) (clear gyecb) (on-table qgfca) (on-table uyope) (on gyecb uyope) (clear fnhsl) (on-table fnhsl) (clear qgfca)",
"(arm-empty) (on-table qgfca) (on-table uyope) (on gyecb uyope) (clear fnhsl) (on fzaye gyecb) (clear fzaye) (on-table fnhsl) (clear qgfca)",
"(holding qgfca) (on-table uyope) (on gyecb uyope) (clear fnhsl) (on fzaye gyecb) (clear fzaye) (on-table fnhsl)",
"(arm-empty) (on qgfca fnhsl) (on-table uyope) (on gyecb uyope) (on fzaye gyecb) (clear fzaye) (on-table fnhsl) (clear qgfca)",
"(holding fzaye) (clear gyecb) (on qgfca fnhsl) (on-table uyope) (on gyecb uyope) (on-table fnhsl) (clear qgfca)"
] | file_122708 |
GOAL: (holding cjisc) (clear pjlve) (on-table pjlve) (clear lufdc) (on-table lufdc) (clear skjvg) (on-table skjvg) | GOAL: (holding cjisc) (clear pjlve) (on-table pjlve) (clear lufdc) (on-table lufdc) (clear skjvg) (on-table skjvg)
STATE: (clear pjlve) (on-table cjisc) (clear lufdc) (on-table lufdc) (on pjlve cjisc) (holding skjvg) | [
[
"put-down skjvg"
],
[
"unstack pjlve cjisc"
],
[
"put-down pjlve"
],
[
"pick-up cjisc"
]
] | [
"(clear pjlve) (on-table lufdc) (arm-empty) (on-table cjisc) (on pjlve cjisc) (clear skjvg) (clear lufdc) (on-table skjvg)",
"(on-table cjisc) (clear lufdc) (on-table lufdc) (holding pjlve) (clear skjvg) (clear cjisc) (on-table skjvg)",
"(arm-empty) (on-table pjlve) (clear lufdc) (clear pjlve) (on-table cjisc) (on-table lufdc) (clear skjvg) (clear cjisc) (on-table skjvg)",
"(holding cjisc) (clear pjlve) (on-table pjlve) (clear lufdc) (on-table lufdc) (clear skjvg) (on-table skjvg)"
] | file_44860 |
GOAL: (clear mnpmm) (on-table txsht) (holding smepj) (on mnpmm txsht) (clear drwat) (on-table drwat) | GOAL: (clear mnpmm) (on-table txsht) (holding smepj) (on mnpmm txsht) (clear drwat) (on-table drwat)
STATE: (arm-empty) (on-table txsht) (clear smepj) (on drwat txsht) (on smepj mnpmm) (on mnpmm drwat) | [
[
"unstack smepj mnpmm"
],
[
"put-down smepj"
],
[
"unstack mnpmm drwat"
],
[
"put-down mnpmm"
],
[
"unstack drwat txsht"
],
[
"stack drwat smepj"
],
[
"pick-up mnpmm"
],
[
"stack mnpmm txsht"
],
[
"unstack drwat smepj"
],
[
"put-down drwat"
],
[
"pick-up smepj"
]
] | [
"(on drwat txsht) (holding smepj) (clear mnpmm) (on mnpmm drwat) (on-table txsht)",
"(on-table txsht) (clear mnpmm) (on-table smepj) (clear smepj) (arm-empty) (on drwat txsht) (on mnpmm drwat)",
"(clear smepj) (on drwat txsht) (on-table txsht) (on-table smepj) (holding mnpmm) (clear drwat)",
"(arm-empty) (on-table mnpmm) (clear smepj) (on drwat txsht) (clear mnpmm) (on-table txsht) (on-table smepj) (clear drwat)",
"(clear mnpmm) (on-table mnpmm) (on-table txsht) (clear smepj) (on-table smepj) (holding drwat) (clear txsht)",
"(on drwat smepj) (clear mnpmm) (arm-empty) (on-table mnpmm) (on-table txsht) (on-table smepj) (clear drwat) (clear txsht)",
"(on drwat smepj) (on-table txsht) (on-table smepj) (holding mnpmm) (clear drwat) (clear txsht)",
"(on drwat smepj) (clear mnpmm) (arm-empty) (on-table txsht) (on-table smepj) (on mnpmm txsht) (clear drwat)",
"(clear smepj) (on mnpmm txsht) (clear mnpmm) (on-table txsht) (on-table smepj) (holding drwat)",
"(clear mnpmm) (on-table smepj) (arm-empty) (on-table txsht) (on mnpmm txsht) (clear drwat) (clear smepj) (on-table drwat)",
"(clear mnpmm) (on-table txsht) (holding smepj) (on mnpmm txsht) (clear drwat) (on-table drwat)"
] | file_116102 |
GOAL: (on suvkc uuejd) (on-table ikidb) (clear mjxmj) (arm-empty) (on uuejd ikidb) (on mjxmj suvkc) | GOAL: (on suvkc uuejd) (on-table ikidb) (clear mjxmj) (arm-empty) (on uuejd ikidb) (on mjxmj suvkc)
STATE: (holding mjxmj) (on-table suvkc) (on ikidb suvkc) (clear uuejd) (clear ikidb) (on-table uuejd) | [
[
"put-down mjxmj"
],
[
"unstack ikidb suvkc"
],
[
"put-down ikidb"
],
[
"pick-up uuejd"
],
[
"stack uuejd ikidb"
],
[
"pick-up suvkc"
],
[
"stack suvkc uuejd"
],
[
"pick-up mjxmj"
],
[
"stack mjxmj suvkc"
]
] | [
"(arm-empty) (on-table mjxmj) (clear mjxmj) (on-table suvkc) (on ikidb suvkc) (clear uuejd) (clear ikidb) (on-table uuejd)",
"(holding ikidb) (clear mjxmj) (on-table mjxmj) (clear suvkc) (on-table suvkc) (clear uuejd) (on-table uuejd)",
"(arm-empty) (on-table mjxmj) (clear suvkc) (clear mjxmj) (on-table ikidb) (on-table suvkc) (clear uuejd) (clear ikidb) (on-table uuejd)",
"(clear mjxmj) (on-table mjxmj) (on-table ikidb) (clear suvkc) (on-table suvkc) (holding uuejd) (clear ikidb)",
"(clear mjxmj) (arm-empty) (on-table mjxmj) (on-table ikidb) (clear suvkc) (on-table suvkc) (on uuejd ikidb) (clear uuejd)",
"(clear mjxmj) (on-table mjxmj) (on-table ikidb) (holding suvkc) (on uuejd ikidb) (clear uuejd)",
"(on suvkc uuejd) (on uuejd ikidb) (clear mjxmj) (arm-empty) (on-table mjxmj) (on-table ikidb) (clear suvkc)",
"(on suvkc uuejd) (clear suvkc) (holding mjxmj) (on uuejd ikidb) (on-table ikidb)",
"(on suvkc uuejd) (on-table ikidb) (clear mjxmj) (arm-empty) (on uuejd ikidb) (on mjxmj suvkc)"
] | file_80713 |
GOAL: (on nygpg vhzlv) (on tudfj iusqg) (arm-empty) (on iusqg lazrl) (on-table vhzlv) (on lazrl nygpg) (clear tudfj) | GOAL: (on nygpg vhzlv) (on tudfj iusqg) (arm-empty) (on iusqg lazrl) (on-table vhzlv) (on lazrl nygpg) (clear tudfj)
STATE: (holding tudfj) (on-table lazrl) (on-table iusqg) (on nygpg lazrl) (clear vhzlv) (on-table vhzlv) (clear nygpg) (clear iusqg) | [
[
"put-down tudfj"
],
[
"unstack nygpg lazrl"
],
[
"stack nygpg vhzlv"
],
[
"pick-up iusqg"
],
[
"stack iusqg tudfj"
],
[
"pick-up lazrl"
],
[
"stack lazrl nygpg"
],
[
"unstack iusqg tudfj"
],
[
"stack iusqg lazrl"
],
[
"pick-up tudfj"
],
[
"stack tudfj iusqg"
]
] | [
"(arm-empty) (on-table lazrl) (on-table iusqg) (on-table tudfj) (on nygpg lazrl) (clear vhzlv) (on-table vhzlv) (clear nygpg) (clear tudfj) (clear iusqg)",
"(clear lazrl) (on-table lazrl) (on-table iusqg) (on-table tudfj) (clear vhzlv) (on-table vhzlv) (holding nygpg) (clear tudfj) (clear iusqg)",
"(on nygpg vhzlv) (clear lazrl) (arm-empty) (on-table lazrl) (on-table iusqg) (on-table tudfj) (on-table vhzlv) (clear nygpg) (clear tudfj) (clear iusqg)",
"(on nygpg vhzlv) (clear lazrl) (on-table lazrl) (on-table tudfj) (holding iusqg) (on-table vhzlv) (clear nygpg) (clear tudfj)",
"(on nygpg vhzlv) (clear lazrl) (arm-empty) (on-table lazrl) (on-table tudfj) (on iusqg tudfj) (on-table vhzlv) (clear nygpg) (clear iusqg)",
"(on nygpg vhzlv) (on-table tudfj) (on iusqg tudfj) (on-table vhzlv) (holding lazrl) (clear nygpg) (clear iusqg)",
"(on nygpg vhzlv) (clear lazrl) (arm-empty) (on-table tudfj) (on iusqg tudfj) (on-table vhzlv) (on lazrl nygpg) (clear iusqg)",
"(on nygpg vhzlv) (clear lazrl) (on-table tudfj) (holding iusqg) (on-table vhzlv) (on lazrl nygpg) (clear tudfj)",
"(on nygpg vhzlv) (arm-empty) (on-table tudfj) (on iusqg lazrl) (on-table vhzlv) (on lazrl nygpg) (clear tudfj) (clear iusqg)",
"(holding tudfj) (on nygpg vhzlv) (on iusqg lazrl) (on-table vhzlv) (on lazrl nygpg) (clear iusqg)",
"(on nygpg vhzlv) (on tudfj iusqg) (arm-empty) (on iusqg lazrl) (on-table vhzlv) (on lazrl nygpg) (clear tudfj)"
] | file_191593 |
GOAL: (arm-empty) (on-table xuvqr) (clear psttm) (on eydme hqewu) (on-table psttm) (on hpoia xuvqr) (clear hpoia) (on-table hqewu) (clear eydme) | GOAL: (arm-empty) (on-table xuvqr) (clear psttm) (on eydme hqewu) (on-table psttm) (on hpoia xuvqr) (clear hpoia) (on-table hqewu) (clear eydme)
STATE: (on psttm hpoia) (on eydme psttm) (arm-empty) (on xuvqr hqewu) (on hpoia xuvqr) (on-table hqewu) (clear eydme) | [
[
"unstack eydme psttm"
],
[
"put-down eydme"
],
[
"unstack psttm hpoia"
],
[
"put-down psttm"
],
[
"unstack hpoia xuvqr"
],
[
"stack hpoia psttm"
],
[
"pick-up eydme"
],
[
"stack eydme hpoia"
],
[
"unstack xuvqr hqewu"
],
[
"put-down xuvqr"
],
[
"unstack eydme hpoia"
],
[
"stack eydme hqewu"
],
[
"unstack hpoia psttm"
],
[
"stack hpoia xuvqr"
]
] | [
"(holding eydme) (on psttm hpoia) (clear psttm) (on xuvqr hqewu) (on hpoia xuvqr) (on-table hqewu)",
"(on psttm hpoia) (arm-empty) (on-table eydme) (clear psttm) (on hpoia xuvqr) (clear eydme) (on xuvqr hqewu) (on-table hqewu)",
"(on-table eydme) (holding psttm) (on xuvqr hqewu) (on hpoia xuvqr) (clear hpoia) (on-table hqewu) (clear eydme)",
"(arm-empty) (on-table eydme) (clear psttm) (on hpoia xuvqr) (clear eydme) (on-table psttm) (on xuvqr hqewu) (clear hpoia) (on-table hqewu)",
"(holding hpoia) (clear xuvqr) (on-table eydme) (clear psttm) (on-table psttm) (on xuvqr hqewu) (on-table hqewu) (clear eydme)",
"(clear xuvqr) (arm-empty) (on-table eydme) (on-table psttm) (on hpoia psttm) (on xuvqr hqewu) (clear hpoia) (on-table hqewu) (clear eydme)",
"(clear xuvqr) (holding eydme) (on-table psttm) (on hpoia psttm) (on xuvqr hqewu) (clear hpoia) (on-table hqewu)",
"(clear xuvqr) (arm-empty) (on eydme hpoia) (on-table psttm) (on hpoia psttm) (on xuvqr hqewu) (on-table hqewu) (clear eydme)",
"(holding xuvqr) (on eydme hpoia) (on-table psttm) (on hpoia psttm) (clear hqewu) (on-table hqewu) (clear eydme)",
"(arm-empty) (on-table xuvqr) (clear eydme) (clear xuvqr) (on eydme hpoia) (on-table psttm) (on hpoia psttm) (clear hqewu) (on-table hqewu)",
"(clear xuvqr) (on-table xuvqr) (holding eydme) (on-table psttm) (on hpoia psttm) (clear hqewu) (clear hpoia) (on-table hqewu)",
"(clear xuvqr) (arm-empty) (on-table xuvqr) (on eydme hqewu) (on-table psttm) (on hpoia psttm) (clear hpoia) (on-table hqewu) (clear eydme)",
"(holding hpoia) (clear xuvqr) (on-table xuvqr) (clear psttm) (on eydme hqewu) (on-table psttm) (on-table hqewu) (clear eydme)",
"(arm-empty) (on-table xuvqr) (clear psttm) (on eydme hqewu) (on-table psttm) (on hpoia xuvqr) (clear hpoia) (on-table hqewu) (clear eydme)"
] | file_64333 |
GOAL: (on mbewf tfgtu) (arm-empty) (on-table ecbgg) (clear ohjru) (clear ecbgg) (on-table pehcm) (on ohjru mbewf) (on tfgtu pehcm) | GOAL: (on mbewf tfgtu) (arm-empty) (on-table ecbgg) (clear ohjru) (clear ecbgg) (on-table pehcm) (on ohjru mbewf) (on tfgtu pehcm)
STATE: (holding pehcm) (clear ecbgg) (on tfgtu ohjru) (on-table ecbgg) (on-table ohjru) (clear mbewf) (on-table mbewf) (clear tfgtu) | [
[
"put-down pehcm"
],
[
"unstack tfgtu ohjru"
],
[
"stack tfgtu pehcm"
],
[
"pick-up ohjru"
],
[
"stack ohjru tfgtu"
],
[
"pick-up mbewf"
],
[
"stack mbewf ecbgg"
],
[
"unstack ohjru tfgtu"
],
[
"put-down ohjru"
],
[
"unstack mbewf ecbgg"
],
[
"stack mbewf tfgtu"
],
[
"pick-up ohjru"
],
[
"stack ohjru mbewf"
]
] | [
"(clear ecbgg) (arm-empty) (on tfgtu ohjru) (on-table ecbgg) (on-table pehcm) (on-table ohjru) (clear mbewf) (clear pehcm) (on-table mbewf) (clear tfgtu)",
"(clear ecbgg) (on-table ecbgg) (on-table pehcm) (clear ohjru) (holding tfgtu) (on-table ohjru) (clear mbewf) (clear pehcm) (on-table mbewf)",
"(clear ecbgg) (arm-empty) (on-table ecbgg) (on-table pehcm) (clear ohjru) (on tfgtu pehcm) (on-table ohjru) (clear mbewf) (on-table mbewf) (clear tfgtu)",
"(clear ecbgg) (on-table ecbgg) (on-table pehcm) (holding ohjru) (on tfgtu pehcm) (clear mbewf) (on-table mbewf) (clear tfgtu)",
"(clear ecbgg) (arm-empty) (on-table ecbgg) (on ohjru tfgtu) (on-table pehcm) (clear ohjru) (on tfgtu pehcm) (clear mbewf) (on-table mbewf)",
"(clear ecbgg) (on-table ecbgg) (on ohjru tfgtu) (on-table pehcm) (clear ohjru) (on tfgtu pehcm) (holding mbewf)",
"(arm-empty) (on-table ecbgg) (on ohjru tfgtu) (on-table pehcm) (on mbewf ecbgg) (clear ohjru) (on tfgtu pehcm) (clear mbewf)",
"(on-table ecbgg) (on-table pehcm) (holding ohjru) (on mbewf ecbgg) (on tfgtu pehcm) (clear mbewf) (clear tfgtu)",
"(arm-empty) (on-table ecbgg) (clear ohjru) (clear tfgtu) (on-table pehcm) (on mbewf ecbgg) (on tfgtu pehcm) (on-table ohjru) (clear mbewf)",
"(clear ecbgg) (on-table ecbgg) (on-table pehcm) (clear ohjru) (on tfgtu pehcm) (on-table ohjru) (holding mbewf) (clear tfgtu)",
"(clear ecbgg) (on mbewf tfgtu) (arm-empty) (on-table ecbgg) (on-table pehcm) (clear ohjru) (on tfgtu pehcm) (on-table ohjru) (clear mbewf)",
"(clear ecbgg) (on mbewf tfgtu) (on-table ecbgg) (on-table pehcm) (holding ohjru) (on tfgtu pehcm) (clear mbewf)",
"(on mbewf tfgtu) (arm-empty) (on-table ecbgg) (clear ohjru) (clear ecbgg) (on-table pehcm) (on ohjru mbewf) (on tfgtu pehcm)"
] | file_76385 |
GOAL: (on ryvfv zxofx) (clear hapgj) (arm-empty) (on-table hapgj) (on-table zxofx) (clear pwxbr) (on-table pwxbr) (on elpli ryvfv) (clear elpli) | GOAL: (on ryvfv zxofx) (clear hapgj) (arm-empty) (on-table hapgj) (on-table zxofx) (clear pwxbr) (on-table pwxbr) (on elpli ryvfv) (clear elpli)
STATE: (clear hapgj) (on elpli zxofx) (arm-empty) (on zxofx pwxbr) (on-table hapgj) (on-table ryvfv) (on-table pwxbr) (clear elpli) (clear ryvfv) | [
[
"unstack elpli zxofx"
],
[
"stack elpli hapgj"
],
[
"unstack zxofx pwxbr"
],
[
"put-down zxofx"
],
[
"pick-up ryvfv"
],
[
"stack ryvfv pwxbr"
],
[
"pick-up zxofx"
],
[
"stack zxofx ryvfv"
],
[
"unstack elpli hapgj"
],
[
"put-down elpli"
],
[
"unstack zxofx ryvfv"
],
[
"put-down zxofx"
],
[
"unstack ryvfv pwxbr"
],
[
"stack ryvfv zxofx"
],
[
"pick-up elpli"
],
[
"stack elpli ryvfv"
]
] | [
"(clear hapgj) (on zxofx pwxbr) (on-table hapgj) (on-table ryvfv) (on-table pwxbr) (holding elpli) (clear ryvfv) (clear zxofx)",
"(arm-empty) (on zxofx pwxbr) (on-table hapgj) (on-table ryvfv) (on elpli hapgj) (on-table pwxbr) (clear elpli) (clear ryvfv) (clear zxofx)",
"(on-table hapgj) (on-table ryvfv) (on elpli hapgj) (clear pwxbr) (holding zxofx) (on-table pwxbr) (clear elpli) (clear ryvfv)",
"(arm-empty) (on-table hapgj) (on-table zxofx) (on-table ryvfv) (on elpli hapgj) (clear pwxbr) (on-table pwxbr) (clear elpli) (clear ryvfv) (clear zxofx)",
"(holding ryvfv) (on-table hapgj) (on-table zxofx) (on elpli hapgj) (clear pwxbr) (on-table pwxbr) (clear elpli) (clear zxofx)",
"(arm-empty) (on-table hapgj) (on-table zxofx) (on elpli hapgj) (on-table pwxbr) (on ryvfv pwxbr) (clear elpli) (clear ryvfv) (clear zxofx)",
"(on-table hapgj) (on elpli hapgj) (holding zxofx) (on-table pwxbr) (on ryvfv pwxbr) (clear elpli) (clear ryvfv)",
"(arm-empty) (on-table hapgj) (on elpli hapgj) (on zxofx ryvfv) (on-table pwxbr) (on ryvfv pwxbr) (clear elpli) (clear zxofx)",
"(clear hapgj) (on-table hapgj) (on zxofx ryvfv) (on-table pwxbr) (on ryvfv pwxbr) (holding elpli) (clear zxofx)",
"(arm-empty) (on-table hapgj) (clear zxofx) (clear hapgj) (on zxofx ryvfv) (on-table pwxbr) (on ryvfv pwxbr) (clear elpli) (on-table elpli)",
"(clear hapgj) (on-table hapgj) (holding zxofx) (on-table pwxbr) (on ryvfv pwxbr) (clear elpli) (clear ryvfv) (on-table elpli)",
"(clear hapgj) (arm-empty) (on-table hapgj) (on-table zxofx) (on-table pwxbr) (on ryvfv pwxbr) (clear elpli) (clear ryvfv) (on-table elpli) (clear zxofx)",
"(holding ryvfv) (clear hapgj) (on-table hapgj) (on-table zxofx) (clear pwxbr) (on-table pwxbr) (clear elpli) (on-table elpli) (clear zxofx)",
"(on ryvfv zxofx) (clear hapgj) (arm-empty) (on-table hapgj) (on-table zxofx) (clear pwxbr) (on-table pwxbr) (clear elpli) (clear ryvfv) (on-table elpli)",
"(on ryvfv zxofx) (clear hapgj) (on-table hapgj) (on-table zxofx) (clear pwxbr) (on-table pwxbr) (holding elpli) (clear ryvfv)",
"(on ryvfv zxofx) (clear hapgj) (arm-empty) (on-table hapgj) (on-table zxofx) (clear pwxbr) (on-table pwxbr) (on elpli ryvfv) (clear elpli)"
] | file_121809 |
GOAL: (clear jppwt) (arm-empty) (on-table jppwt) (on-table bhgzf) (on-table vjond) (clear xkmvg) (on xkmvg bhlxu) (clear vjond) (on-table bhlxu) (clear bhgzf) | GOAL: (clear jppwt) (arm-empty) (on-table jppwt) (on-table bhgzf) (on-table vjond) (clear xkmvg) (on xkmvg bhlxu) (clear vjond) (on-table bhlxu) (clear bhgzf)
STATE: (clear jppwt) (arm-empty) (on-table jppwt) (on-table bhgzf) (on xkmvg bhgzf) (on vjond xkmvg) (clear bhlxu) (clear vjond) (on-table bhlxu) | [
[
"unstack vjond xkmvg"
],
[
"put-down vjond"
],
[
"unstack xkmvg bhgzf"
],
[
"stack xkmvg bhlxu"
]
] | [
"(holding vjond) (clear jppwt) (on-table jppwt) (on-table bhgzf) (on xkmvg bhgzf) (clear xkmvg) (clear bhlxu) (on-table bhlxu)",
"(clear jppwt) (arm-empty) (on-table jppwt) (on-table bhgzf) (on xkmvg bhgzf) (on-table vjond) (clear xkmvg) (clear bhlxu) (clear vjond) (on-table bhlxu)",
"(clear jppwt) (on-table jppwt) (on-table bhgzf) (holding xkmvg) (on-table vjond) (clear bhlxu) (clear vjond) (on-table bhlxu) (clear bhgzf)",
"(clear jppwt) (arm-empty) (on-table jppwt) (on-table bhgzf) (on-table vjond) (clear xkmvg) (on xkmvg bhlxu) (clear vjond) (on-table bhlxu) (clear bhgzf)"
] | file_228021 |
GOAL: (on dxhgo fgbyb) (arm-empty) (on-table fgbyb) (clear fuxja) (on-table fuxja) (on ukxep dxhgo) (on fxjrs ukxep) (clear fxjrs) | GOAL: (on dxhgo fgbyb) (arm-empty) (on-table fgbyb) (clear fuxja) (on-table fuxja) (on ukxep dxhgo) (on fxjrs ukxep) (clear fxjrs)
STATE: (clear ukxep) (arm-empty) (on-table fgbyb) (on-table fxjrs) (clear fuxja) (on-table fuxja) (on ukxep fxjrs) (clear dxhgo) (on-table dxhgo) (clear fgbyb) | [
[
"pick-up dxhgo"
],
[
"stack dxhgo fgbyb"
],
[
"unstack ukxep fxjrs"
],
[
"stack ukxep dxhgo"
],
[
"pick-up fxjrs"
],
[
"stack fxjrs ukxep"
]
] | [
"(clear ukxep) (on-table fgbyb) (on-table fxjrs) (clear fuxja) (on-table fuxja) (on ukxep fxjrs) (holding dxhgo) (clear fgbyb)",
"(clear ukxep) (on dxhgo fgbyb) (arm-empty) (on-table fgbyb) (on-table fxjrs) (clear fuxja) (on-table fuxja) (on ukxep fxjrs) (clear dxhgo)",
"(on dxhgo fgbyb) (on-table fgbyb) (on-table fxjrs) (clear fuxja) (on-table fuxja) (holding ukxep) (clear dxhgo) (clear fxjrs)",
"(on dxhgo fgbyb) (clear ukxep) (arm-empty) (on-table fgbyb) (on-table fxjrs) (clear fuxja) (on-table fuxja) (on ukxep dxhgo) (clear fxjrs)",
"(holding fxjrs) (on dxhgo fgbyb) (clear ukxep) (on-table fgbyb) (clear fuxja) (on-table fuxja) (on ukxep dxhgo)",
"(on dxhgo fgbyb) (arm-empty) (on-table fgbyb) (clear fuxja) (on-table fuxja) (on ukxep dxhgo) (on fxjrs ukxep) (clear fxjrs)"
] | file_62158 |
GOAL: (on-table zthzc) (on-table qmjuy) (holding juzrb) (on ttnfo zthzc) (clear gkkiy) (clear qmjuy) (on-table gkkiy) (clear ttnfo) | GOAL: (on-table zthzc) (on-table qmjuy) (holding juzrb) (on ttnfo zthzc) (clear gkkiy) (clear qmjuy) (on-table gkkiy) (clear ttnfo)
STATE: (clear zthzc) (arm-empty) (on-table zthzc) (on-table qmjuy) (clear juzrb) (on ttnfo gkkiy) (on-table juzrb) (clear qmjuy) (on-table gkkiy) (clear ttnfo) | [
[
"unstack ttnfo gkkiy"
],
[
"stack ttnfo zthzc"
],
[
"pick-up juzrb"
]
] | [
"(clear zthzc) (on-table zthzc) (on-table qmjuy) (clear juzrb) (holding ttnfo) (on-table juzrb) (clear gkkiy) (clear qmjuy) (on-table gkkiy)",
"(arm-empty) (on-table zthzc) (on-table qmjuy) (on ttnfo zthzc) (clear juzrb) (on-table juzrb) (clear gkkiy) (clear qmjuy) (on-table gkkiy) (clear ttnfo)",
"(on-table zthzc) (on-table qmjuy) (holding juzrb) (on ttnfo zthzc) (clear gkkiy) (clear qmjuy) (on-table gkkiy) (clear ttnfo)"
] | file_118549 |
GOAL: (holding dupcq) (clear vmjrk) (on jbzed qweuk) (on-table vmjrk) (on-table qweuk) (clear lvrdi) (on-table lvrdi) (clear jbzed) | GOAL: (holding dupcq) (clear vmjrk) (on jbzed qweuk) (on-table vmjrk) (on-table qweuk) (clear lvrdi) (on-table lvrdi) (clear jbzed)
STATE: (clear vmjrk) (on dupcq lvrdi) (arm-empty) (on-table vmjrk) (clear qweuk) (on jbzed dupcq) (on-table qweuk) (on-table lvrdi) (clear jbzed) | [
[
"unstack jbzed dupcq"
],
[
"stack jbzed qweuk"
],
[
"unstack dupcq lvrdi"
]
] | [
"(clear vmjrk) (on dupcq lvrdi) (on-table vmjrk) (clear qweuk) (holding jbzed) (on-table qweuk) (clear dupcq) (on-table lvrdi)",
"(clear vmjrk) (on dupcq lvrdi) (on jbzed qweuk) (on-table vmjrk) (arm-empty) (on-table qweuk) (clear dupcq) (on-table lvrdi) (clear jbzed)",
"(holding dupcq) (clear vmjrk) (on jbzed qweuk) (on-table vmjrk) (on-table qweuk) (clear lvrdi) (on-table lvrdi) (clear jbzed)"
] | file_14504 |
GOAL: (on dhxsb kclum) (clear ncmhc) (on kclum uhcev) (on-table ncmhc) (on qyxjb dhxsb) (arm-empty) (on-table uhcev) (clear qyxjb) | GOAL: (on dhxsb kclum) (clear ncmhc) (on kclum uhcev) (on-table ncmhc) (on qyxjb dhxsb) (arm-empty) (on-table uhcev) (clear qyxjb)
STATE: (holding qyxjb) (clear ncmhc) (on kclum uhcev) (on-table uhcev) (on ncmhc kclum) (clear dhxsb) (on-table dhxsb) | [
[
"put-down qyxjb"
],
[
"unstack ncmhc kclum"
],
[
"stack ncmhc qyxjb"
],
[
"unstack kclum uhcev"
],
[
"put-down kclum"
],
[
"pick-up dhxsb"
],
[
"stack dhxsb ncmhc"
],
[
"pick-up kclum"
],
[
"stack kclum uhcev"
],
[
"unstack dhxsb ncmhc"
],
[
"stack dhxsb kclum"
],
[
"unstack ncmhc qyxjb"
],
[
"put-down ncmhc"
],
[
"pick-up qyxjb"
],
[
"stack qyxjb dhxsb"
]
] | [
"(arm-empty) (on kclum uhcev) (on ncmhc kclum) (clear ncmhc) (on-table qyxjb) (on-table uhcev) (clear dhxsb) (clear qyxjb) (on-table dhxsb)",
"(on kclum uhcev) (on-table qyxjb) (on-table uhcev) (holding ncmhc) (clear dhxsb) (clear qyxjb) (on-table dhxsb) (clear kclum)",
"(clear ncmhc) (arm-empty) (on kclum uhcev) (on-table qyxjb) (on-table uhcev) (on ncmhc qyxjb) (clear dhxsb) (on-table dhxsb) (clear kclum)",
"(clear ncmhc) (on-table qyxjb) (clear uhcev) (holding kclum) (on-table uhcev) (on ncmhc qyxjb) (clear dhxsb) (on-table dhxsb)",
"(clear ncmhc) (arm-empty) (on-table kclum) (on-table qyxjb) (clear uhcev) (on-table uhcev) (on ncmhc qyxjb) (clear dhxsb) (on-table dhxsb) (clear kclum)",
"(clear ncmhc) (on-table kclum) (on-table qyxjb) (clear uhcev) (on-table uhcev) (on ncmhc qyxjb) (holding dhxsb) (clear kclum)",
"(arm-empty) (on-table kclum) (on-table qyxjb) (on dhxsb ncmhc) (clear uhcev) (on-table uhcev) (on ncmhc qyxjb) (clear dhxsb) (clear kclum)",
"(on-table qyxjb) (on dhxsb ncmhc) (clear uhcev) (holding kclum) (on-table uhcev) (on ncmhc qyxjb) (clear dhxsb)",
"(arm-empty) (on kclum uhcev) (on-table qyxjb) (on dhxsb ncmhc) (on-table uhcev) (on ncmhc qyxjb) (clear dhxsb) (clear kclum)",
"(clear ncmhc) (on kclum uhcev) (on-table qyxjb) (on-table uhcev) (on ncmhc qyxjb) (holding dhxsb) (clear kclum)",
"(clear ncmhc) (on dhxsb kclum) (on kclum uhcev) (arm-empty) (on-table qyxjb) (on-table uhcev) (on ncmhc qyxjb) (clear dhxsb)",
"(on dhxsb kclum) (on kclum uhcev) (on-table qyxjb) (on-table uhcev) (holding ncmhc) (clear dhxsb) (clear qyxjb)",
"(on dhxsb kclum) (arm-empty) (on kclum uhcev) (on-table ncmhc) (clear ncmhc) (on-table qyxjb) (on-table uhcev) (clear dhxsb) (clear qyxjb)",
"(holding qyxjb) (on dhxsb kclum) (on kclum uhcev) (on-table ncmhc) (clear ncmhc) (on-table uhcev) (clear dhxsb)",
"(on dhxsb kclum) (clear ncmhc) (on kclum uhcev) (on-table ncmhc) (on qyxjb dhxsb) (arm-empty) (on-table uhcev) (clear qyxjb)"
] | file_187178 |
GOAL: (on xqytw vbqtc) (clear qlpim) (on vbqtc edyno) (arm-empty) (on-table edyno) (on sglwu xqytw) (on qlpim sglwu) | GOAL: (on xqytw vbqtc) (clear qlpim) (on vbqtc edyno) (arm-empty) (on-table edyno) (on sglwu xqytw) (on qlpim sglwu)
STATE: (holding edyno) (on xqytw vbqtc) (on-table qlpim) (on vbqtc sglwu) (on sglwu qlpim) (clear xqytw) | [
[
"put-down edyno"
],
[
"unstack xqytw vbqtc"
],
[
"put-down xqytw"
],
[
"unstack vbqtc sglwu"
],
[
"stack vbqtc edyno"
],
[
"pick-up xqytw"
],
[
"stack xqytw vbqtc"
],
[
"unstack sglwu qlpim"
],
[
"stack sglwu xqytw"
],
[
"pick-up qlpim"
],
[
"stack qlpim sglwu"
]
] | [
"(arm-empty) (on-table qlpim) (on vbqtc sglwu) (on sglwu qlpim) (on xqytw vbqtc) (on-table edyno) (clear xqytw) (clear edyno)",
"(on-table qlpim) (on vbqtc sglwu) (on-table edyno) (on sglwu qlpim) (clear vbqtc) (holding xqytw) (clear edyno)",
"(arm-empty) (on-table qlpim) (on vbqtc sglwu) (on sglwu qlpim) (clear vbqtc) (on-table edyno) (clear xqytw) (clear edyno) (on-table xqytw)",
"(on-table qlpim) (on-table edyno) (holding vbqtc) (on sglwu qlpim) (clear xqytw) (clear edyno) (on-table xqytw) (clear sglwu)",
"(on vbqtc edyno) (arm-empty) (on-table qlpim) (on-table edyno) (on sglwu qlpim) (clear vbqtc) (clear xqytw) (on-table xqytw) (clear sglwu)",
"(on vbqtc edyno) (on-table qlpim) (on-table edyno) (on sglwu qlpim) (clear vbqtc) (holding xqytw) (clear sglwu)",
"(on xqytw vbqtc) (on vbqtc edyno) (arm-empty) (on-table qlpim) (on-table edyno) (on sglwu qlpim) (clear xqytw) (clear sglwu)",
"(on xqytw vbqtc) (clear qlpim) (on vbqtc edyno) (on-table qlpim) (on-table edyno) (holding sglwu) (clear xqytw)",
"(on xqytw vbqtc) (clear qlpim) (on vbqtc edyno) (arm-empty) (on-table qlpim) (on-table edyno) (on sglwu xqytw) (clear sglwu)",
"(on xqytw vbqtc) (on vbqtc edyno) (on-table edyno) (on sglwu xqytw) (holding qlpim) (clear sglwu)",
"(on xqytw vbqtc) (clear qlpim) (on vbqtc edyno) (arm-empty) (on-table edyno) (on sglwu xqytw) (on qlpim sglwu)"
] | file_101508 |
GOAL: (on utmxx mttha) (on mttha xmgpo) (on-table moeaf) (on-table xmgpo) (holding cnrdu) (clear utmxx) (clear moeaf) | GOAL: (on utmxx mttha) (on mttha xmgpo) (on-table moeaf) (on-table xmgpo) (holding cnrdu) (clear utmxx) (clear moeaf)
STATE: (clear cnrdu) (on-table moeaf) (on-table xmgpo) (clear mttha) (on-table mttha) (on cnrdu moeaf) (holding utmxx) (clear xmgpo) | [
[
"stack utmxx cnrdu"
],
[
"pick-up mttha"
],
[
"stack mttha xmgpo"
],
[
"unstack utmxx cnrdu"
],
[
"stack utmxx mttha"
],
[
"unstack cnrdu moeaf"
]
] | [
"(arm-empty) (on-table moeaf) (on-table xmgpo) (on utmxx cnrdu) (clear mttha) (on-table mttha) (on cnrdu moeaf) (clear utmxx) (clear xmgpo)",
"(on-table moeaf) (on-table xmgpo) (holding mttha) (on utmxx cnrdu) (on cnrdu moeaf) (clear utmxx) (clear xmgpo)",
"(on mttha xmgpo) (arm-empty) (on-table moeaf) (on-table xmgpo) (on utmxx cnrdu) (clear mttha) (on cnrdu moeaf) (clear utmxx)",
"(clear cnrdu) (on mttha xmgpo) (on-table moeaf) (on-table xmgpo) (clear mttha) (on cnrdu moeaf) (holding utmxx)",
"(on utmxx mttha) (clear cnrdu) (on mttha xmgpo) (arm-empty) (on-table moeaf) (on-table xmgpo) (on cnrdu moeaf) (clear utmxx)",
"(on utmxx mttha) (on mttha xmgpo) (on-table moeaf) (on-table xmgpo) (holding cnrdu) (clear utmxx) (clear moeaf)"
] | file_121572 |
GOAL: (clear tvrlz) (on jsokn atklh) (on-table tvrlz) (on-table nnmnh) (on-table atklh) (clear jsokn) (holding tkwve) (clear nnmnh) | GOAL: (clear tvrlz) (on jsokn atklh) (on-table tvrlz) (on-table nnmnh) (on-table atklh) (clear jsokn) (holding tkwve) (clear nnmnh)
STATE: (on tkwve jsokn) (on jsokn atklh) (arm-empty) (on-table tvrlz) (on-table nnmnh) (clear tkwve) (on atklh tvrlz) (clear nnmnh) | [
[
"unstack tkwve jsokn"
],
[
"stack tkwve nnmnh"
],
[
"unstack jsokn atklh"
],
[
"stack jsokn tkwve"
],
[
"unstack atklh tvrlz"
],
[
"put-down atklh"
],
[
"unstack jsokn tkwve"
],
[
"stack jsokn atklh"
],
[
"unstack tkwve nnmnh"
]
] | [
"(on jsokn atklh) (on-table tvrlz) (on-table nnmnh) (clear jsokn) (on atklh tvrlz) (holding tkwve) (clear nnmnh)",
"(on tkwve nnmnh) (on jsokn atklh) (arm-empty) (on-table tvrlz) (on-table nnmnh) (clear jsokn) (clear tkwve) (on atklh tvrlz)",
"(on tkwve nnmnh) (on-table tvrlz) (on-table nnmnh) (holding jsokn) (clear tkwve) (on atklh tvrlz) (clear atklh)",
"(on tkwve nnmnh) (arm-empty) (on-table tvrlz) (on-table nnmnh) (clear jsokn) (on jsokn tkwve) (on atklh tvrlz) (clear atklh)",
"(holding atklh) (on tkwve nnmnh) (clear tvrlz) (on-table tvrlz) (on-table nnmnh) (clear jsokn) (on jsokn tkwve)",
"(on tkwve nnmnh) (arm-empty) (on-table tvrlz) (on-table nnmnh) (clear jsokn) (clear tvrlz) (on-table atklh) (on jsokn tkwve) (clear atklh)",
"(on tkwve nnmnh) (clear tvrlz) (on-table tvrlz) (on-table nnmnh) (on-table atklh) (holding jsokn) (clear tkwve) (clear atklh)",
"(on tkwve nnmnh) (clear tvrlz) (on jsokn atklh) (on-table tvrlz) (on-table nnmnh) (on-table atklh) (arm-empty) (clear jsokn) (clear tkwve)",
"(clear tvrlz) (on jsokn atklh) (on-table tvrlz) (on-table nnmnh) (on-table atklh) (clear jsokn) (holding tkwve) (clear nnmnh)"
] | file_84368 |
GOAL: (on pqqmq xlyvt) (on xlyvt cpwjv) (arm-empty) (on-table wxigv) (on-table cpwjv) (on ahsyf wxigv) (clear pqqmq) (clear ahsyf) | GOAL: (on pqqmq xlyvt) (on xlyvt cpwjv) (arm-empty) (on-table wxigv) (on-table cpwjv) (on ahsyf wxigv) (clear pqqmq) (clear ahsyf)
STATE: (arm-empty) (on-table wxigv) (on-table cpwjv) (on ahsyf wxigv) (clear xlyvt) (on-table xlyvt) (clear pqqmq) (clear cpwjv) (on-table pqqmq) (clear ahsyf) | [
[
"pick-up xlyvt"
],
[
"stack xlyvt cpwjv"
],
[
"pick-up pqqmq"
],
[
"stack pqqmq xlyvt"
]
] | [
"(on-table wxigv) (on-table cpwjv) (holding xlyvt) (on ahsyf wxigv) (clear pqqmq) (clear cpwjv) (on-table pqqmq) (clear ahsyf)",
"(on xlyvt cpwjv) (arm-empty) (on-table wxigv) (on-table cpwjv) (on ahsyf wxigv) (clear xlyvt) (clear pqqmq) (on-table pqqmq) (clear ahsyf)",
"(on xlyvt cpwjv) (on-table wxigv) (on-table cpwjv) (on ahsyf wxigv) (clear xlyvt) (holding pqqmq) (clear ahsyf)",
"(on pqqmq xlyvt) (on xlyvt cpwjv) (arm-empty) (on-table wxigv) (on-table cpwjv) (on ahsyf wxigv) (clear pqqmq) (clear ahsyf)"
] | file_70701 |
GOAL: (holding hjsvg) (clear jcuva) (on-table jcuva) (on-table esjnr) (clear citdj) (on citdj jcdec) (on-table jcdec) (clear esjnr) | GOAL: (holding hjsvg) (clear jcuva) (on-table jcuva) (on-table esjnr) (clear citdj) (on citdj jcdec) (on-table jcdec) (clear esjnr)
STATE: (on hjsvg esjnr) (clear jcuva) (arm-empty) (on esjnr citdj) (on-table jcuva) (on citdj jcdec) (clear hjsvg) (on-table jcdec) | [
[
"unstack hjsvg esjnr"
],
[
"stack hjsvg jcuva"
],
[
"unstack esjnr citdj"
],
[
"put-down esjnr"
],
[
"unstack hjsvg jcuva"
]
] | [
"(holding hjsvg) (clear jcuva) (on esjnr citdj) (on-table jcuva) (on citdj jcdec) (on-table jcdec) (clear esjnr)",
"(arm-empty) (on esjnr citdj) (on-table jcuva) (on citdj jcdec) (on hjsvg jcuva) (clear hjsvg) (on-table jcdec) (clear esjnr)",
"(on-table jcuva) (clear citdj) (on citdj jcdec) (holding esjnr) (on hjsvg jcuva) (clear hjsvg) (on-table jcdec)",
"(arm-empty) (on-table jcuva) (on-table esjnr) (clear citdj) (on hjsvg jcuva) (clear esjnr) (on citdj jcdec) (clear hjsvg) (on-table jcdec)",
"(holding hjsvg) (clear jcuva) (on-table jcuva) (on-table esjnr) (clear citdj) (on citdj jcdec) (on-table jcdec) (clear esjnr)"
] | file_61358 |
GOAL: (arm-empty) (on-table kkfqj) (clear iguih) (on dkzno wmujk) (on wmujk kkfqj) (on iguih qkfxv) (on qkfxv dkzno) | GOAL: (arm-empty) (on-table kkfqj) (clear iguih) (on dkzno wmujk) (on wmujk kkfqj) (on iguih qkfxv) (on qkfxv dkzno)
STATE: (holding kkfqj) (on wmujk dkzno) (on-table qkfxv) (on dkzno qkfxv) (clear iguih) (on-table iguih) (clear wmujk) | [
[
"put-down kkfqj"
],
[
"unstack wmujk dkzno"
],
[
"stack wmujk kkfqj"
],
[
"pick-up iguih"
],
[
"stack iguih wmujk"
],
[
"unstack dkzno qkfxv"
],
[
"put-down dkzno"
],
[
"unstack iguih wmujk"
],
[
"put-down iguih"
],
[
"pick-up dkzno"
],
[
"stack dkzno wmujk"
],
[
"pick-up qkfxv"
],
[
"stack qkfxv dkzno"
],
[
"pick-up iguih"
],
[
"stack iguih qkfxv"
]
] | [
"(on wmujk dkzno) (arm-empty) (on-table qkfxv) (on dkzno qkfxv) (clear iguih) (on-table kkfqj) (on-table iguih) (clear wmujk) (clear kkfqj)",
"(on-table qkfxv) (on-table kkfqj) (on dkzno qkfxv) (clear iguih) (on-table iguih) (holding wmujk) (clear kkfqj) (clear dkzno)",
"(arm-empty) (on-table qkfxv) (on-table kkfqj) (on dkzno qkfxv) (clear iguih) (on-table iguih) (on wmujk kkfqj) (clear wmujk) (clear dkzno)",
"(on-table qkfxv) (on-table kkfqj) (holding iguih) (on dkzno qkfxv) (on wmujk kkfqj) (clear wmujk) (clear dkzno)",
"(arm-empty) (on-table qkfxv) (on dkzno qkfxv) (clear iguih) (on wmujk kkfqj) (clear dkzno) (on-table kkfqj) (on iguih wmujk)",
"(clear qkfxv) (on-table qkfxv) (on-table kkfqj) (clear iguih) (on iguih wmujk) (holding dkzno) (on wmujk kkfqj)",
"(arm-empty) (on-table qkfxv) (on-table dkzno) (clear iguih) (on wmujk kkfqj) (clear dkzno) (clear qkfxv) (on-table kkfqj) (on iguih wmujk)",
"(clear qkfxv) (on-table qkfxv) (on-table dkzno) (on-table kkfqj) (holding iguih) (on wmujk kkfqj) (clear wmujk) (clear dkzno)",
"(clear qkfxv) (arm-empty) (on-table qkfxv) (on-table dkzno) (on-table kkfqj) (clear iguih) (on-table iguih) (on wmujk kkfqj) (clear wmujk) (clear dkzno)",
"(clear qkfxv) (on-table qkfxv) (on-table kkfqj) (clear iguih) (holding dkzno) (on-table iguih) (on wmujk kkfqj) (clear wmujk)",
"(clear qkfxv) (arm-empty) (on-table qkfxv) (on-table kkfqj) (clear iguih) (on dkzno wmujk) (on-table iguih) (on wmujk kkfqj) (clear dkzno)",
"(on-table kkfqj) (clear iguih) (on dkzno wmujk) (on-table iguih) (holding qkfxv) (on wmujk kkfqj) (clear dkzno)",
"(clear qkfxv) (arm-empty) (on-table kkfqj) (clear iguih) (on dkzno wmujk) (on-table iguih) (on wmujk kkfqj) (on qkfxv dkzno)",
"(clear qkfxv) (on-table kkfqj) (holding iguih) (on dkzno wmujk) (on wmujk kkfqj) (on qkfxv dkzno)",
"(arm-empty) (on-table kkfqj) (clear iguih) (on dkzno wmujk) (on wmujk kkfqj) (on iguih qkfxv) (on qkfxv dkzno)"
] | file_207949 |
GOAL: (on-table wrdxq) (on-table cmuzi) (holding eapan) (on mjipd wrdxq) (clear bkcuv) (clear cmuzi) (on-table bkcuv) (clear mjipd) | GOAL: (on-table wrdxq) (on-table cmuzi) (holding eapan) (on mjipd wrdxq) (clear bkcuv) (clear cmuzi) (on-table bkcuv) (clear mjipd)
STATE: (holding cmuzi) (clear wrdxq) (on mjipd eapan) (on-table wrdxq) (on eapan bkcuv) (on-table bkcuv) (clear mjipd) | [
[
"put-down cmuzi"
],
[
"unstack mjipd eapan"
],
[
"stack mjipd wrdxq"
],
[
"unstack eapan bkcuv"
]
] | [
"(arm-empty) (on mjipd eapan) (on-table wrdxq) (clear mjipd) (clear wrdxq) (on-table cmuzi) (on eapan bkcuv) (clear cmuzi) (on-table bkcuv)",
"(clear wrdxq) (on-table wrdxq) (on-table cmuzi) (clear eapan) (on eapan bkcuv) (holding mjipd) (clear cmuzi) (on-table bkcuv)",
"(arm-empty) (on-table wrdxq) (on-table cmuzi) (on mjipd wrdxq) (clear eapan) (on eapan bkcuv) (clear cmuzi) (on-table bkcuv) (clear mjipd)",
"(on-table wrdxq) (on-table cmuzi) (holding eapan) (on mjipd wrdxq) (clear bkcuv) (clear cmuzi) (on-table bkcuv) (clear mjipd)"
] | file_138675 |
GOAL: (on qcbes isvdr) (on mrdoa qcbes) (on ngndu mrdoa) (on-table isvdr) (holding sjkjy) (clear ngndu) | GOAL: (on qcbes isvdr) (on mrdoa qcbes) (on ngndu mrdoa) (on-table isvdr) (holding sjkjy) (clear ngndu)
STATE: (on qcbes isvdr) (clear sjkjy) (on mrdoa qcbes) (arm-empty) (on-table ngndu) (on-table isvdr) (on sjkjy mrdoa) (clear ngndu) | [
[
"unstack sjkjy mrdoa"
],
[
"put-down sjkjy"
],
[
"pick-up ngndu"
],
[
"stack ngndu mrdoa"
],
[
"pick-up sjkjy"
]
] | [
"(on qcbes isvdr) (on mrdoa qcbes) (on-table ngndu) (on-table isvdr) (holding sjkjy) (clear mrdoa) (clear ngndu)",
"(on mrdoa qcbes) (arm-empty) (on-table sjkjy) (on-table ngndu) (clear ngndu) (on qcbes isvdr) (clear sjkjy) (on-table isvdr) (clear mrdoa)",
"(on qcbes isvdr) (clear sjkjy) (on mrdoa qcbes) (on-table sjkjy) (holding ngndu) (on-table isvdr) (clear mrdoa)",
"(on qcbes isvdr) (clear sjkjy) (on mrdoa qcbes) (arm-empty) (on-table sjkjy) (on ngndu mrdoa) (on-table isvdr) (clear ngndu)",
"(on qcbes isvdr) (on mrdoa qcbes) (on ngndu mrdoa) (on-table isvdr) (holding sjkjy) (clear ngndu)"
] | file_131611 |
GOAL: (arm-empty) (on-table ehcuw) (on-table ihnyy) (on lvaid ehcuw) (clear swxng) (on-table swxng) (clear lvaid) (clear ihnyy) | GOAL: (arm-empty) (on-table ehcuw) (on-table ihnyy) (on lvaid ehcuw) (clear swxng) (on-table swxng) (clear lvaid) (clear ihnyy)
STATE: (clear ehcuw) (on swxng ihnyy) (on-table ihnyy) (on ehcuw swxng) (holding lvaid) | [
[
"put-down lvaid"
],
[
"unstack ehcuw swxng"
],
[
"put-down ehcuw"
],
[
"unstack swxng ihnyy"
],
[
"put-down swxng"
],
[
"pick-up lvaid"
],
[
"stack lvaid ehcuw"
]
] | [
"(clear ehcuw) (on swxng ihnyy) (arm-empty) (on-table ihnyy) (clear lvaid) (on ehcuw swxng) (on-table lvaid)",
"(on swxng ihnyy) (clear swxng) (on-table ihnyy) (holding ehcuw) (clear lvaid) (on-table lvaid)",
"(on swxng ihnyy) (arm-empty) (on-table ehcuw) (clear swxng) (clear ehcuw) (on-table ihnyy) (clear lvaid) (on-table lvaid)",
"(clear ehcuw) (on-table ehcuw) (on-table ihnyy) (holding swxng) (clear lvaid) (clear ihnyy) (on-table lvaid)",
"(arm-empty) (on-table ehcuw) (clear swxng) (clear ehcuw) (on-table ihnyy) (on-table swxng) (clear lvaid) (clear ihnyy) (on-table lvaid)",
"(clear ehcuw) (on-table ehcuw) (on-table ihnyy) (clear swxng) (on-table swxng) (holding lvaid) (clear ihnyy)",
"(arm-empty) (on-table ehcuw) (on-table ihnyy) (on lvaid ehcuw) (clear swxng) (on-table swxng) (clear lvaid) (clear ihnyy)"
] | file_18874 |
GOAL: (on xohfn zvkto) (on lknkq hvzqh) (on-table hqced) (arm-empty) (on hvzqh hqced) (clear xohfn) (on-table zvkto) (clear lknkq) | GOAL: (on xohfn zvkto) (on lknkq hvzqh) (on-table hqced) (arm-empty) (on hvzqh hqced) (clear xohfn) (on-table zvkto) (clear lknkq)
STATE: (clear hqced) (arm-empty) (on-table xohfn) (clear hvzqh) (on lknkq xohfn) (on-table hvzqh) (on hqced lknkq) (clear zvkto) (on-table zvkto) | [
[
"unstack hqced lknkq"
],
[
"stack hqced hvzqh"
],
[
"unstack lknkq xohfn"
],
[
"stack lknkq hqced"
],
[
"pick-up xohfn"
],
[
"stack xohfn zvkto"
],
[
"unstack lknkq hqced"
],
[
"stack lknkq xohfn"
],
[
"unstack hqced hvzqh"
],
[
"put-down hqced"
],
[
"pick-up hvzqh"
],
[
"stack hvzqh hqced"
],
[
"unstack lknkq xohfn"
],
[
"stack lknkq hvzqh"
]
] | [
"(on-table xohfn) (clear hvzqh) (on lknkq xohfn) (on-table hvzqh) (holding hqced) (clear zvkto) (on-table zvkto) (clear lknkq)",
"(clear hqced) (arm-empty) (on-table xohfn) (on lknkq xohfn) (on-table hvzqh) (on hqced hvzqh) (clear zvkto) (on-table zvkto) (clear lknkq)",
"(clear hqced) (on-table xohfn) (holding lknkq) (on-table hvzqh) (on hqced hvzqh) (clear zvkto) (clear xohfn) (on-table zvkto)",
"(arm-empty) (on-table xohfn) (on lknkq hqced) (on-table hvzqh) (on hqced hvzqh) (clear zvkto) (clear xohfn) (on-table zvkto) (clear lknkq)",
"(holding xohfn) (on lknkq hqced) (on-table hvzqh) (on hqced hvzqh) (clear zvkto) (on-table zvkto) (clear lknkq)",
"(on xohfn zvkto) (arm-empty) (on lknkq hqced) (on-table hvzqh) (on hqced hvzqh) (clear xohfn) (on-table zvkto) (clear lknkq)",
"(clear hqced) (on xohfn zvkto) (holding lknkq) (on-table hvzqh) (on hqced hvzqh) (clear xohfn) (on-table zvkto)",
"(clear hqced) (on xohfn zvkto) (arm-empty) (on lknkq xohfn) (on-table hvzqh) (on hqced hvzqh) (on-table zvkto) (clear lknkq)",
"(on xohfn zvkto) (clear hvzqh) (on lknkq xohfn) (on-table hvzqh) (holding hqced) (on-table zvkto) (clear lknkq)",
"(on xohfn zvkto) (arm-empty) (on-table hqced) (clear hvzqh) (clear lknkq) (clear hqced) (on lknkq xohfn) (on-table hvzqh) (on-table zvkto)",
"(clear hqced) (on xohfn zvkto) (on-table hqced) (holding hvzqh) (on lknkq xohfn) (on-table zvkto) (clear lknkq)",
"(on xohfn zvkto) (arm-empty) (on-table hqced) (clear hvzqh) (clear lknkq) (on lknkq xohfn) (on hvzqh hqced) (on-table zvkto)",
"(on xohfn zvkto) (on-table hqced) (clear hvzqh) (holding lknkq) (on hvzqh hqced) (clear xohfn) (on-table zvkto)",
"(on xohfn zvkto) (on lknkq hvzqh) (on-table hqced) (arm-empty) (on hvzqh hqced) (clear xohfn) (on-table zvkto) (clear lknkq)"
] | file_170346 |
GOAL: (holding zugzr) (clear goboe) (on vzrpw ekttf) (on goboe flghl) (on flghl vzrpw) (on-table ekttf) | GOAL: (holding zugzr) (clear goboe) (on vzrpw ekttf) (on goboe flghl) (on flghl vzrpw) (on-table ekttf)
STATE: (on goboe zugzr) (on-table zugzr) (on vzrpw flghl) (on flghl goboe) (holding ekttf) (clear vzrpw) | [
[
"put-down ekttf"
],
[
"unstack vzrpw flghl"
],
[
"stack vzrpw ekttf"
],
[
"unstack flghl goboe"
],
[
"stack flghl vzrpw"
],
[
"unstack goboe zugzr"
],
[
"stack goboe flghl"
],
[
"pick-up zugzr"
]
] | [
"(on goboe zugzr) (arm-empty) (on vzrpw flghl) (on flghl goboe) (clear vzrpw) (on-table zugzr) (clear ekttf) (on-table ekttf)",
"(clear flghl) (on goboe zugzr) (on-table zugzr) (holding vzrpw) (on flghl goboe) (clear ekttf) (on-table ekttf)",
"(clear flghl) (on goboe zugzr) (arm-empty) (on-table zugzr) (on vzrpw ekttf) (on flghl goboe) (on-table ekttf) (clear vzrpw)",
"(on goboe zugzr) (on-table zugzr) (clear goboe) (on vzrpw ekttf) (holding flghl) (on-table ekttf) (clear vzrpw)",
"(clear flghl) (on goboe zugzr) (arm-empty) (on-table zugzr) (clear goboe) (on vzrpw ekttf) (on flghl vzrpw) (on-table ekttf)",
"(clear flghl) (on-table zugzr) (holding goboe) (on vzrpw ekttf) (on flghl vzrpw) (clear zugzr) (on-table ekttf)",
"(arm-empty) (on-table zugzr) (clear goboe) (on vzrpw ekttf) (on goboe flghl) (on flghl vzrpw) (clear zugzr) (on-table ekttf)",
"(holding zugzr) (clear goboe) (on vzrpw ekttf) (on goboe flghl) (on flghl vzrpw) (on-table ekttf)"
] | file_113817 |
GOAL: (arm-empty) (on-table mwkjx) (on tjtqv urlie) (clear phagc) (on gafxp mwkjx) (on-table phagc) (on urlie gafxp) (clear tjtqv) | GOAL: (arm-empty) (on-table mwkjx) (on tjtqv urlie) (clear phagc) (on gafxp mwkjx) (on-table phagc) (on urlie gafxp) (clear tjtqv)
STATE: (clear urlie) (on mwkjx tjtqv) (clear phagc) (holding gafxp) (on-table phagc) (on urlie mwkjx) (on-table tjtqv) | [
[
"stack gafxp phagc"
],
[
"unstack urlie mwkjx"
],
[
"stack urlie gafxp"
],
[
"unstack mwkjx tjtqv"
],
[
"put-down mwkjx"
],
[
"unstack urlie gafxp"
],
[
"put-down urlie"
],
[
"unstack gafxp phagc"
],
[
"stack gafxp mwkjx"
],
[
"pick-up tjtqv"
],
[
"stack tjtqv phagc"
],
[
"pick-up urlie"
],
[
"stack urlie gafxp"
],
[
"unstack tjtqv phagc"
],
[
"stack tjtqv urlie"
]
] | [
"(clear urlie) (on mwkjx tjtqv) (on gafxp phagc) (arm-empty) (on-table phagc) (on urlie mwkjx) (on-table tjtqv) (clear gafxp)",
"(on mwkjx tjtqv) (on gafxp phagc) (on-table phagc) (holding urlie) (clear mwkjx) (on-table tjtqv) (clear gafxp)",
"(clear urlie) (on mwkjx tjtqv) (on gafxp phagc) (arm-empty) (on-table phagc) (on urlie gafxp) (clear mwkjx) (on-table tjtqv)",
"(holding mwkjx) (clear urlie) (on gafxp phagc) (on-table phagc) (on urlie gafxp) (clear tjtqv) (on-table tjtqv)",
"(arm-empty) (on gafxp phagc) (on urlie gafxp) (clear urlie) (on-table mwkjx) (on-table phagc) (clear tjtqv) (clear mwkjx) (on-table tjtqv)",
"(on gafxp phagc) (on-table mwkjx) (on-table phagc) (holding urlie) (clear tjtqv) (clear mwkjx) (on-table tjtqv) (clear gafxp)",
"(clear urlie) (arm-empty) (on gafxp phagc) (on-table urlie) (on-table mwkjx) (on-table phagc) (clear tjtqv) (clear mwkjx) (on-table tjtqv) (clear gafxp)",
"(clear urlie) (on-table urlie) (on-table mwkjx) (clear phagc) (holding gafxp) (on-table phagc) (clear tjtqv) (clear mwkjx) (on-table tjtqv)",
"(clear urlie) (arm-empty) (on-table urlie) (on-table mwkjx) (clear phagc) (on gafxp mwkjx) (on-table phagc) (clear tjtqv) (on-table tjtqv) (clear gafxp)",
"(clear urlie) (on-table urlie) (on-table mwkjx) (clear phagc) (on gafxp mwkjx) (on-table phagc) (holding tjtqv) (clear gafxp)",
"(on tjtqv phagc) (clear urlie) (arm-empty) (on-table urlie) (on-table mwkjx) (on gafxp mwkjx) (on-table phagc) (clear tjtqv) (clear gafxp)",
"(on tjtqv phagc) (on-table mwkjx) (on gafxp mwkjx) (on-table phagc) (holding urlie) (clear tjtqv) (clear gafxp)",
"(on tjtqv phagc) (clear urlie) (arm-empty) (on-table mwkjx) (on gafxp mwkjx) (on-table phagc) (on urlie gafxp) (clear tjtqv)",
"(clear urlie) (on-table mwkjx) (clear phagc) (on gafxp mwkjx) (on-table phagc) (on urlie gafxp) (holding tjtqv)",
"(arm-empty) (on-table mwkjx) (on tjtqv urlie) (clear phagc) (on gafxp mwkjx) (on-table phagc) (on urlie gafxp) (clear tjtqv)"
] | file_109718 |
GOAL: (on ygypf yyazd) (arm-empty) (clear ygypf) (on uoefh ahvts) (on eatma uoefh) (on yyazd eatma) (on-table ahvts) | GOAL: (on ygypf yyazd) (arm-empty) (clear ygypf) (on uoefh ahvts) (on eatma uoefh) (on yyazd eatma) (on-table ahvts)
STATE: (clear eatma) (on-table eatma) (holding uoefh) (on-table ygypf) (on yyazd ygypf) (clear ahvts) (clear yyazd) (on-table ahvts) | [
[
"stack uoefh ahvts"
],
[
"pick-up eatma"
],
[
"stack eatma uoefh"
],
[
"unstack yyazd ygypf"
],
[
"stack yyazd eatma"
],
[
"pick-up ygypf"
],
[
"stack ygypf yyazd"
]
] | [
"(clear eatma) (arm-empty) (on-table eatma) (on uoefh ahvts) (on-table ygypf) (on yyazd ygypf) (clear yyazd) (on-table ahvts) (clear uoefh)",
"(holding eatma) (on uoefh ahvts) (on-table ygypf) (on yyazd ygypf) (clear yyazd) (on-table ahvts) (clear uoefh)",
"(clear eatma) (arm-empty) (on uoefh ahvts) (on-table ygypf) (on yyazd ygypf) (on eatma uoefh) (clear yyazd) (on-table ahvts)",
"(holding yyazd) (clear eatma) (clear ygypf) (on uoefh ahvts) (on-table ygypf) (on eatma uoefh) (on-table ahvts)",
"(arm-empty) (clear ygypf) (on uoefh ahvts) (on-table ygypf) (on eatma uoefh) (on yyazd eatma) (clear yyazd) (on-table ahvts)",
"(holding ygypf) (on uoefh ahvts) (on eatma uoefh) (on yyazd eatma) (clear yyazd) (on-table ahvts)",
"(on ygypf yyazd) (arm-empty) (clear ygypf) (on uoefh ahvts) (on eatma uoefh) (on yyazd eatma) (on-table ahvts)"
] | file_12398 |
GOAL: (on lilcw uvyle) (clear vfjfn) (on-table vfjfn) (holding hvxag) (on uvyle pdxsr) (clear lilcw) (on-table pdxsr) | GOAL: (on lilcw uvyle) (clear vfjfn) (on-table vfjfn) (holding hvxag) (on uvyle pdxsr) (clear lilcw) (on-table pdxsr)
STATE: (on lilcw uvyle) (on hvxag lilcw) (clear hvxag) (on uvyle pdxsr) (holding vfjfn) (on-table pdxsr) | [
[
"put-down vfjfn"
],
[
"unstack hvxag lilcw"
]
] | [
"(on lilcw uvyle) (on hvxag lilcw) (arm-empty) (on-table vfjfn) (clear hvxag) (on uvyle pdxsr) (clear vfjfn) (on-table pdxsr)",
"(on lilcw uvyle) (clear vfjfn) (on-table vfjfn) (holding hvxag) (on uvyle pdxsr) (clear lilcw) (on-table pdxsr)"
] | file_174305 |
GOAL: (arm-empty) (on-table wskuk) (clear kyoik) (on mqxte wskuk) (on-table yqhhc) (on kyoik mqxte) (clear esfjy) (clear yqhhc) (on-table esfjy) | GOAL: (arm-empty) (on-table wskuk) (clear kyoik) (on mqxte wskuk) (on-table yqhhc) (on kyoik mqxte) (clear esfjy) (clear yqhhc) (on-table esfjy)
STATE: (arm-empty) (on-table yqhhc) (on wskuk mqxte) (clear kyoik) (on-table kyoik) (on esfjy yqhhc) (on mqxte esfjy) (clear wskuk) | [
[
"unstack wskuk mqxte"
],
[
"put-down wskuk"
],
[
"pick-up kyoik"
],
[
"stack kyoik wskuk"
],
[
"unstack mqxte esfjy"
],
[
"put-down mqxte"
],
[
"unstack kyoik wskuk"
],
[
"stack kyoik esfjy"
],
[
"pick-up mqxte"
],
[
"stack mqxte wskuk"
],
[
"unstack kyoik esfjy"
],
[
"stack kyoik mqxte"
],
[
"unstack esfjy yqhhc"
],
[
"put-down esfjy"
]
] | [
"(clear mqxte) (on-table yqhhc) (clear kyoik) (holding wskuk) (on-table kyoik) (on esfjy yqhhc) (on mqxte esfjy)",
"(arm-empty) (on-table wskuk) (clear kyoik) (on esfjy yqhhc) (clear wskuk) (clear mqxte) (on-table yqhhc) (on-table kyoik) (on mqxte esfjy)",
"(clear mqxte) (on-table wskuk) (on-table yqhhc) (holding kyoik) (on esfjy yqhhc) (on mqxte esfjy) (clear wskuk)",
"(clear mqxte) (arm-empty) (on-table wskuk) (on-table yqhhc) (on kyoik wskuk) (clear kyoik) (on esfjy yqhhc) (on mqxte esfjy)",
"(on-table wskuk) (on-table yqhhc) (on kyoik wskuk) (clear kyoik) (holding mqxte) (on esfjy yqhhc) (clear esfjy)",
"(arm-empty) (on-table mqxte) (on-table wskuk) (on kyoik wskuk) (clear kyoik) (on esfjy yqhhc) (clear mqxte) (on-table yqhhc) (clear esfjy)",
"(clear mqxte) (on-table mqxte) (on-table wskuk) (holding kyoik) (on-table yqhhc) (on esfjy yqhhc) (clear esfjy) (clear wskuk)",
"(clear mqxte) (arm-empty) (on-table mqxte) (on-table wskuk) (on-table yqhhc) (clear kyoik) (on kyoik esfjy) (on esfjy yqhhc) (clear wskuk)",
"(on-table wskuk) (on-table yqhhc) (clear kyoik) (on kyoik esfjy) (holding mqxte) (on esfjy yqhhc) (clear wskuk)",
"(clear mqxte) (arm-empty) (on-table wskuk) (on-table yqhhc) (clear kyoik) (on kyoik esfjy) (on esfjy yqhhc) (on mqxte wskuk)",
"(clear mqxte) (on-table wskuk) (on-table yqhhc) (holding kyoik) (on esfjy yqhhc) (on mqxte wskuk) (clear esfjy)",
"(arm-empty) (on-table wskuk) (on-table yqhhc) (clear kyoik) (on esfjy yqhhc) (on kyoik mqxte) (on mqxte wskuk) (clear esfjy)",
"(on-table wskuk) (on-table yqhhc) (clear kyoik) (on kyoik mqxte) (on mqxte wskuk) (holding esfjy) (clear yqhhc)",
"(arm-empty) (on-table wskuk) (clear kyoik) (on mqxte wskuk) (on-table yqhhc) (on kyoik mqxte) (clear esfjy) (clear yqhhc) (on-table esfjy)"
] | file_24638 |
GOAL: (on nblaz verjg) (clear mqpys) (arm-empty) (on-table mqpys) (on-table fqaht) (on-table verjg) (clear nblaz) (clear fqaht) | GOAL: (on nblaz verjg) (clear mqpys) (arm-empty) (on-table mqpys) (on-table fqaht) (on-table verjg) (clear nblaz) (clear fqaht)
STATE: (clear mqpys) (arm-empty) (on-table fqaht) (on verjg nblaz) (on nblaz fqaht) (on mqpys verjg) | [
[
"unstack mqpys verjg"
],
[
"put-down mqpys"
],
[
"unstack verjg nblaz"
],
[
"put-down verjg"
],
[
"pick-up mqpys"
],
[
"stack mqpys verjg"
],
[
"unstack nblaz fqaht"
],
[
"put-down nblaz"
],
[
"unstack mqpys verjg"
],
[
"put-down mqpys"
],
[
"pick-up nblaz"
],
[
"stack nblaz verjg"
]
] | [
"(on verjg nblaz) (on nblaz fqaht) (holding mqpys) (on-table fqaht) (clear verjg)",
"(on verjg nblaz) (clear mqpys) (arm-empty) (clear verjg) (on-table mqpys) (on nblaz fqaht) (on-table fqaht)",
"(holding verjg) (on-table fqaht) (clear mqpys) (on-table mqpys) (on nblaz fqaht) (clear nblaz)",
"(arm-empty) (on-table mqpys) (clear verjg) (on nblaz fqaht) (clear mqpys) (on-table fqaht) (on-table verjg) (clear nblaz)",
"(on-table fqaht) (clear verjg) (on-table verjg) (holding mqpys) (on nblaz fqaht) (clear nblaz)",
"(clear mqpys) (arm-empty) (on-table fqaht) (on mqpys verjg) (on-table verjg) (on nblaz fqaht) (clear nblaz)",
"(on mqpys verjg) (clear mqpys) (on-table fqaht) (on-table verjg) (holding nblaz) (clear fqaht)",
"(clear mqpys) (on-table verjg) (arm-empty) (on mqpys verjg) (clear nblaz) (on-table fqaht) (clear fqaht) (on-table nblaz)",
"(on-table fqaht) (clear verjg) (on-table verjg) (holding mqpys) (clear nblaz) (clear fqaht) (on-table nblaz)",
"(arm-empty) (on-table mqpys) (clear verjg) (clear mqpys) (on-table fqaht) (on-table verjg) (clear nblaz) (clear fqaht) (on-table nblaz)",
"(clear mqpys) (on-table mqpys) (on-table fqaht) (clear verjg) (on-table verjg) (holding nblaz) (clear fqaht)",
"(on nblaz verjg) (clear mqpys) (arm-empty) (on-table mqpys) (on-table fqaht) (on-table verjg) (clear nblaz) (clear fqaht)"
] | file_109440 |
GOAL: (clear nauuu) (arm-empty) (on-table zafhh) (on qrdgv zafhh) (on-table ejipv) (on nauuu ejipv) (clear uygbq) (on-table uygbq) (clear qrdgv) | GOAL: (clear nauuu) (arm-empty) (on-table zafhh) (on qrdgv zafhh) (on-table ejipv) (on nauuu ejipv) (clear uygbq) (on-table uygbq) (clear qrdgv)
STATE: (on-table qrdgv) (on-table zafhh) (clear ejipv) (on-table ejipv) (holding nauuu) (clear uygbq) (clear zafhh) (on-table uygbq) (clear qrdgv) | [
[
"stack nauuu ejipv"
],
[
"pick-up qrdgv"
],
[
"stack qrdgv zafhh"
]
] | [
"(clear nauuu) (arm-empty) (on-table qrdgv) (on-table zafhh) (on-table ejipv) (on nauuu ejipv) (clear uygbq) (clear zafhh) (on-table uygbq) (clear qrdgv)",
"(clear nauuu) (on-table zafhh) (holding qrdgv) (on-table ejipv) (on nauuu ejipv) (clear uygbq) (clear zafhh) (on-table uygbq)",
"(clear nauuu) (arm-empty) (on-table zafhh) (on qrdgv zafhh) (on-table ejipv) (on nauuu ejipv) (clear uygbq) (on-table uygbq) (clear qrdgv)"
] | file_91597 |
GOAL: (clear plfwv) (arm-empty) (on-table jcrrl) (clear nkxiv) (on negpb fgjzh) (on-table nkxiv) (on plfwv jcrrl) (on-table fgjzh) (clear negpb) | GOAL: (clear plfwv) (arm-empty) (on-table jcrrl) (clear nkxiv) (on negpb fgjzh) (on-table nkxiv) (on plfwv jcrrl) (on-table fgjzh) (clear negpb)
STATE: (on negpb nkxiv) (on-table jcrrl) (on-table nkxiv) (holding plfwv) (clear fgjzh) (clear jcrrl) (on-table fgjzh) (clear negpb) | [
[
"stack plfwv jcrrl"
],
[
"unstack negpb nkxiv"
],
[
"stack negpb fgjzh"
]
] | [
"(clear plfwv) (arm-empty) (on negpb nkxiv) (on-table jcrrl) (on-table nkxiv) (on plfwv jcrrl) (clear fgjzh) (on-table fgjzh) (clear negpb)",
"(clear plfwv) (on-table jcrrl) (clear nkxiv) (holding negpb) (on-table nkxiv) (on plfwv jcrrl) (clear fgjzh) (on-table fgjzh)",
"(clear plfwv) (arm-empty) (on-table jcrrl) (clear nkxiv) (on negpb fgjzh) (on-table nkxiv) (on plfwv jcrrl) (on-table fgjzh) (clear negpb)"
] | file_34220 |
GOAL: (clear uxxti) (on vogkb levuu) (on-table ffddr) (on-table levuu) (clear vogkb) (on uxxti ffddr) (holding xwmmf) | GOAL: (clear uxxti) (on vogkb levuu) (on-table ffddr) (on-table levuu) (clear vogkb) (on uxxti ffddr) (holding xwmmf)
STATE: (on xwmmf vogkb) (clear uxxti) (on vogkb levuu) (on-table uxxti) (on-table levuu) (holding ffddr) (clear xwmmf) | [
[
"put-down ffddr"
],
[
"pick-up uxxti"
],
[
"stack uxxti ffddr"
],
[
"unstack xwmmf vogkb"
]
] | [
"(on vogkb levuu) (arm-empty) (on-table uxxti) (on-table ffddr) (clear ffddr) (on xwmmf vogkb) (clear uxxti) (on-table levuu) (clear xwmmf)",
"(on xwmmf vogkb) (on vogkb levuu) (on-table ffddr) (on-table levuu) (holding uxxti) (clear xwmmf) (clear ffddr)",
"(on xwmmf vogkb) (clear uxxti) (on vogkb levuu) (arm-empty) (on-table ffddr) (on-table levuu) (on uxxti ffddr) (clear xwmmf)",
"(clear uxxti) (on vogkb levuu) (on-table ffddr) (on-table levuu) (clear vogkb) (on uxxti ffddr) (holding xwmmf)"
] | file_227783 |
GOAL: (on zveoh kqzbf) (clear vlppv) (arm-empty) (on-table dffjg) (on xxdei dffjg) (on-table kqzbf) (on vlppv xxdei) (clear zveoh) | GOAL: (on zveoh kqzbf) (clear vlppv) (arm-empty) (on-table dffjg) (on xxdei dffjg) (on-table kqzbf) (on vlppv xxdei) (clear zveoh)
STATE: (on zveoh kqzbf) (arm-empty) (on-table dffjg) (on xxdei vlppv) (on-table kqzbf) (on vlppv zveoh) (clear dffjg) (clear xxdei) | [
[
"unstack xxdei vlppv"
],
[
"stack xxdei dffjg"
],
[
"unstack vlppv zveoh"
],
[
"stack vlppv xxdei"
]
] | [
"(on zveoh kqzbf) (clear vlppv) (on-table dffjg) (holding xxdei) (on-table kqzbf) (on vlppv zveoh) (clear dffjg)",
"(on zveoh kqzbf) (clear vlppv) (arm-empty) (on-table dffjg) (on xxdei dffjg) (on-table kqzbf) (on vlppv zveoh) (clear xxdei)",
"(on zveoh kqzbf) (on-table dffjg) (on xxdei dffjg) (on-table kqzbf) (holding vlppv) (clear zveoh) (clear xxdei)",
"(on zveoh kqzbf) (clear vlppv) (arm-empty) (on-table dffjg) (on xxdei dffjg) (on-table kqzbf) (on vlppv xxdei) (clear zveoh)"
] | file_103822 |
GOAL: (on fwedy eeckh) (arm-empty) (on eeckh xsxlk) (on-table ulkna) (on hhbow ulkna) (on-table xsxlk) (clear hhbow) (clear fwedy) | GOAL: (on fwedy eeckh) (arm-empty) (on eeckh xsxlk) (on-table ulkna) (on hhbow ulkna) (on-table xsxlk) (clear hhbow) (clear fwedy)
STATE: (clear ulkna) (on hhbow eeckh) (arm-empty) (on-table ulkna) (on-table fwedy) (clear xsxlk) (on eeckh fwedy) (on xsxlk hhbow) | [
[
"unstack xsxlk hhbow"
],
[
"put-down xsxlk"
],
[
"unstack hhbow eeckh"
],
[
"stack hhbow ulkna"
],
[
"unstack eeckh fwedy"
],
[
"stack eeckh xsxlk"
],
[
"pick-up fwedy"
],
[
"stack fwedy eeckh"
]
] | [
"(clear ulkna) (on hhbow eeckh) (on-table ulkna) (on-table fwedy) (holding xsxlk) (on eeckh fwedy) (clear hhbow)",
"(on hhbow eeckh) (arm-empty) (on-table ulkna) (clear xsxlk) (clear ulkna) (on-table fwedy) (on eeckh fwedy) (on-table xsxlk) (clear hhbow)",
"(clear ulkna) (on-table ulkna) (on-table fwedy) (clear xsxlk) (on eeckh fwedy) (on-table xsxlk) (holding hhbow) (clear eeckh)",
"(arm-empty) (on-table ulkna) (on-table fwedy) (on hhbow ulkna) (clear xsxlk) (on eeckh fwedy) (on-table xsxlk) (clear hhbow) (clear eeckh)",
"(on-table ulkna) (on-table fwedy) (on hhbow ulkna) (clear xsxlk) (holding eeckh) (on-table xsxlk) (clear hhbow) (clear fwedy)",
"(arm-empty) (on eeckh xsxlk) (on-table ulkna) (on-table fwedy) (on hhbow ulkna) (on-table xsxlk) (clear hhbow) (clear fwedy) (clear eeckh)",
"(holding fwedy) (on eeckh xsxlk) (on-table ulkna) (on hhbow ulkna) (on-table xsxlk) (clear hhbow) (clear eeckh)",
"(on fwedy eeckh) (arm-empty) (on eeckh xsxlk) (on-table ulkna) (on hhbow ulkna) (on-table xsxlk) (clear hhbow) (clear fwedy)"
] | file_37663 |
GOAL: (clear uxkya) (on-table osmky) (arm-empty) (on uxkya osmky) (clear okumn) (on-table xvvps) (clear xvvps) (on-table okumn) | GOAL: (clear uxkya) (on-table osmky) (arm-empty) (on uxkya osmky) (clear okumn) (on-table xvvps) (clear xvvps) (on-table okumn)
STATE: (clear uxkya) (holding osmky) (on-table xvvps) (on okumn xvvps) (on uxkya okumn) | [
[
"put-down osmky"
],
[
"unstack uxkya okumn"
],
[
"stack uxkya osmky"
],
[
"unstack okumn xvvps"
],
[
"put-down okumn"
]
] | [
"(on okumn xvvps) (clear uxkya) (on-table osmky) (clear osmky) (on uxkya okumn) (arm-empty) (on-table xvvps)",
"(clear osmky) (on okumn xvvps) (on-table xvvps) (on-table osmky) (holding uxkya) (clear okumn)",
"(clear uxkya) (arm-empty) (on-table xvvps) (on uxkya osmky) (on-table osmky) (on okumn xvvps) (clear okumn)",
"(on uxkya osmky) (clear uxkya) (on-table xvvps) (on-table osmky) (holding okumn) (clear xvvps)",
"(clear uxkya) (on-table osmky) (arm-empty) (on uxkya osmky) (clear okumn) (on-table xvvps) (clear xvvps) (on-table okumn)"
] | file_100258 |
GOAL: (clear fqhwl) (arm-empty) (on-table xyehd) (on uular xyehd) (on asamu uular) (on fqhwl jiatc) (clear asamu) (on-table jiatc) | GOAL: (clear fqhwl) (arm-empty) (on-table xyehd) (on uular xyehd) (on asamu uular) (on fqhwl jiatc) (clear asamu) (on-table jiatc)
STATE: (holding asamu) (clear fqhwl) (on-table xyehd) (clear uular) (on-table uular) (on fqhwl xyehd) (clear jiatc) (on-table jiatc) | [
[
"put-down asamu"
],
[
"pick-up jiatc"
],
[
"stack jiatc asamu"
],
[
"unstack fqhwl xyehd"
],
[
"put-down fqhwl"
],
[
"pick-up uular"
],
[
"stack uular xyehd"
],
[
"unstack jiatc asamu"
],
[
"put-down jiatc"
],
[
"pick-up fqhwl"
],
[
"stack fqhwl jiatc"
],
[
"pick-up asamu"
],
[
"stack asamu uular"
]
] | [
"(clear fqhwl) (arm-empty) (on-table xyehd) (on-table asamu) (clear uular) (on-table uular) (on fqhwl xyehd) (clear jiatc) (clear asamu) (on-table jiatc)",
"(clear fqhwl) (on-table xyehd) (on-table asamu) (clear uular) (on-table uular) (on fqhwl xyehd) (holding jiatc) (clear asamu)",
"(clear fqhwl) (arm-empty) (on-table xyehd) (on-table asamu) (clear uular) (on-table uular) (on jiatc asamu) (on fqhwl xyehd) (clear jiatc)",
"(on-table xyehd) (on-table asamu) (clear uular) (on-table uular) (holding fqhwl) (on jiatc asamu) (clear jiatc) (clear xyehd)",
"(clear fqhwl) (arm-empty) (on-table fqhwl) (on-table xyehd) (on-table asamu) (clear uular) (on-table uular) (on jiatc asamu) (clear jiatc) (clear xyehd)",
"(clear fqhwl) (on-table fqhwl) (on-table xyehd) (on-table asamu) (holding uular) (on jiatc asamu) (clear jiatc) (clear xyehd)",
"(clear fqhwl) (arm-empty) (on-table fqhwl) (on-table xyehd) (on-table asamu) (on uular xyehd) (clear uular) (on jiatc asamu) (clear jiatc)",
"(clear fqhwl) (on-table fqhwl) (on-table xyehd) (on-table asamu) (on uular xyehd) (clear uular) (holding jiatc) (clear asamu)",
"(clear fqhwl) (arm-empty) (on-table fqhwl) (on-table xyehd) (on-table asamu) (on uular xyehd) (clear uular) (clear jiatc) (clear asamu) (on-table jiatc)",
"(on-table xyehd) (on-table asamu) (on uular xyehd) (clear uular) (holding fqhwl) (clear jiatc) (clear asamu) (on-table jiatc)",
"(clear fqhwl) (arm-empty) (on-table xyehd) (on-table asamu) (on uular xyehd) (clear uular) (on fqhwl jiatc) (clear asamu) (on-table jiatc)",
"(holding asamu) (clear fqhwl) (on-table xyehd) (on uular xyehd) (clear uular) (on fqhwl jiatc) (on-table jiatc)",
"(clear fqhwl) (arm-empty) (on-table xyehd) (on uular xyehd) (on asamu uular) (on fqhwl jiatc) (clear asamu) (on-table jiatc)"
] | file_109093 |
GOAL: (on owedi cypfu) (on-table cypfu) (clear safoy) (on safoy utlka) (on utlka owedi) (holding kuqfx) | GOAL: (on owedi cypfu) (on-table cypfu) (clear safoy) (on safoy utlka) (on utlka owedi) (holding kuqfx)
STATE: (on owedi cypfu) (clear utlka) (arm-empty) (on-table utlka) (on-table cypfu) (clear safoy) (on-table safoy) (clear kuqfx) (clear owedi) (on-table kuqfx) | [
[
"pick-up kuqfx"
],
[
"stack kuqfx owedi"
],
[
"pick-up safoy"
],
[
"stack safoy utlka"
],
[
"unstack kuqfx owedi"
],
[
"put-down kuqfx"
],
[
"unstack safoy utlka"
],
[
"stack safoy kuqfx"
],
[
"pick-up utlka"
],
[
"stack utlka owedi"
],
[
"unstack safoy kuqfx"
],
[
"stack safoy utlka"
],
[
"pick-up kuqfx"
]
] | [
"(on owedi cypfu) (clear utlka) (on-table utlka) (on-table cypfu) (clear safoy) (on-table safoy) (holding kuqfx) (clear owedi)",
"(on owedi cypfu) (clear utlka) (arm-empty) (on-table utlka) (on-table cypfu) (clear safoy) (on-table safoy) (on kuqfx owedi) (clear kuqfx)",
"(on owedi cypfu) (clear utlka) (on-table utlka) (on-table cypfu) (holding safoy) (on kuqfx owedi) (clear kuqfx)",
"(on owedi cypfu) (arm-empty) (on-table utlka) (on-table cypfu) (clear safoy) (on kuqfx owedi) (on safoy utlka) (clear kuqfx)",
"(on owedi cypfu) (on-table utlka) (on-table cypfu) (on safoy utlka) (clear safoy) (holding kuqfx) (clear owedi)",
"(on owedi cypfu) (arm-empty) (on-table utlka) (on-table cypfu) (clear safoy) (on safoy utlka) (clear kuqfx) (clear owedi) (on-table kuqfx)",
"(on owedi cypfu) (clear utlka) (on-table utlka) (on-table cypfu) (holding safoy) (clear kuqfx) (clear owedi) (on-table kuqfx)",
"(on owedi cypfu) (clear utlka) (arm-empty) (on-table utlka) (on-table cypfu) (clear safoy) (on safoy kuqfx) (clear owedi) (on-table kuqfx)",
"(on owedi cypfu) (on-table cypfu) (clear safoy) (on safoy kuqfx) (holding utlka) (clear owedi) (on-table kuqfx)",
"(on owedi cypfu) (clear utlka) (arm-empty) (on-table cypfu) (clear safoy) (on safoy kuqfx) (on utlka owedi) (on-table kuqfx)",
"(on owedi cypfu) (clear utlka) (on-table cypfu) (holding safoy) (on utlka owedi) (clear kuqfx) (on-table kuqfx)",
"(on owedi cypfu) (arm-empty) (on-table cypfu) (clear safoy) (on utlka owedi) (on safoy utlka) (clear kuqfx) (on-table kuqfx)",
"(on owedi cypfu) (on-table cypfu) (clear safoy) (on safoy utlka) (on utlka owedi) (holding kuqfx)"
] | file_181023 |
GOAL: (on jygfb jbyar) (arm-empty) (on-table leuyx) (on gqqli wjxkd) (on wjxkd leuyx) (on jbyar gqqli) (clear jygfb) | GOAL: (on jygfb jbyar) (arm-empty) (on-table leuyx) (on gqqli wjxkd) (on wjxkd leuyx) (on jbyar gqqli) (clear jygfb)
STATE: (clear gqqli) (on-table gqqli) (on-table leuyx) (holding wjxkd) (on-table jygfb) (on jbyar jygfb) (clear jbyar) (clear leuyx) | [
[
"stack wjxkd leuyx"
],
[
"pick-up gqqli"
],
[
"stack gqqli wjxkd"
],
[
"unstack jbyar jygfb"
],
[
"stack jbyar gqqli"
],
[
"pick-up jygfb"
],
[
"stack jygfb jbyar"
]
] | [
"(clear gqqli) (arm-empty) (on-table gqqli) (on-table leuyx) (on wjxkd leuyx) (on-table jygfb) (clear wjxkd) (on jbyar jygfb) (clear jbyar)",
"(on-table leuyx) (on wjxkd leuyx) (on-table jygfb) (clear wjxkd) (holding gqqli) (on jbyar jygfb) (clear jbyar)",
"(arm-empty) (on-table leuyx) (on wjxkd leuyx) (on jbyar jygfb) (on gqqli wjxkd) (clear gqqli) (on-table jygfb) (clear jbyar)",
"(clear gqqli) (on-table leuyx) (on wjxkd leuyx) (on-table jygfb) (on gqqli wjxkd) (holding jbyar) (clear jygfb)",
"(arm-empty) (on-table leuyx) (on-table jygfb) (on wjxkd leuyx) (on jbyar gqqli) (on gqqli wjxkd) (clear jbyar) (clear jygfb)",
"(holding jygfb) (on-table leuyx) (on wjxkd leuyx) (on jbyar gqqli) (on gqqli wjxkd) (clear jbyar)",
"(on jygfb jbyar) (arm-empty) (on-table leuyx) (on gqqli wjxkd) (on wjxkd leuyx) (on jbyar gqqli) (clear jygfb)"
] | file_216253 |
GOAL: (on feyqj conwf) (arm-empty) (on-table zjrlo) (clear feyqj) (on csjta clhij) (on conwf csjta) (on-table clhij) (clear zjrlo) | GOAL: (on feyqj conwf) (arm-empty) (on-table zjrlo) (clear feyqj) (on csjta clhij) (on conwf csjta) (on-table clhij) (clear zjrlo)
STATE: (holding conwf) (on zjrlo csjta) (clear feyqj) (on-table feyqj) (on csjta clhij) (on-table clhij) (clear zjrlo) | [
[
"stack conwf feyqj"
],
[
"unstack zjrlo csjta"
],
[
"put-down zjrlo"
],
[
"unstack conwf feyqj"
],
[
"put-down conwf"
],
[
"pick-up feyqj"
],
[
"stack feyqj zjrlo"
],
[
"pick-up conwf"
],
[
"stack conwf csjta"
],
[
"unstack feyqj zjrlo"
],
[
"stack feyqj conwf"
]
] | [
"(arm-empty) (on zjrlo csjta) (on-table feyqj) (on conwf feyqj) (on csjta clhij) (clear conwf) (on-table clhij) (clear zjrlo)",
"(clear csjta) (holding zjrlo) (on-table feyqj) (on conwf feyqj) (on csjta clhij) (clear conwf) (on-table clhij)",
"(arm-empty) (on-table zjrlo) (clear zjrlo) (clear csjta) (on-table feyqj) (on conwf feyqj) (on csjta clhij) (clear conwf) (on-table clhij)",
"(holding conwf) (clear csjta) (on-table zjrlo) (clear feyqj) (on-table feyqj) (on csjta clhij) (on-table clhij) (clear zjrlo)",
"(clear csjta) (arm-empty) (on-table zjrlo) (on-table conwf) (clear feyqj) (on-table feyqj) (on csjta clhij) (clear conwf) (on-table clhij) (clear zjrlo)",
"(clear csjta) (on-table zjrlo) (on-table conwf) (holding feyqj) (on csjta clhij) (clear conwf) (on-table clhij) (clear zjrlo)",
"(clear csjta) (arm-empty) (on-table zjrlo) (on-table conwf) (on feyqj zjrlo) (clear feyqj) (on csjta clhij) (clear conwf) (on-table clhij)",
"(holding conwf) (clear csjta) (on-table zjrlo) (on feyqj zjrlo) (clear feyqj) (on csjta clhij) (on-table clhij)",
"(arm-empty) (on-table zjrlo) (on feyqj zjrlo) (clear feyqj) (on csjta clhij) (on conwf csjta) (on-table clhij) (clear conwf)",
"(on-table zjrlo) (holding feyqj) (clear zjrlo) (on csjta clhij) (on conwf csjta) (on-table clhij) (clear conwf)",
"(on feyqj conwf) (arm-empty) (on-table zjrlo) (clear feyqj) (on csjta clhij) (on conwf csjta) (on-table clhij) (clear zjrlo)"
] | file_182135 |
GOAL: (on-table nxnco) (on aiutm xsokz) (clear sdodp) (on-table sdodp) (on xsokz nxnco) (holding qlwtu) (clear aiutm) | GOAL: (on-table nxnco) (on aiutm xsokz) (clear sdodp) (on-table sdodp) (on xsokz nxnco) (holding qlwtu) (clear aiutm)
STATE: (clear xsokz) (arm-empty) (on-table xsokz) (on-table aiutm) (on-table nxnco) (clear sdodp) (on-table sdodp) (clear qlwtu) (clear nxnco) (on-table qlwtu) (clear aiutm) | [
[
"pick-up xsokz"
],
[
"stack xsokz nxnco"
],
[
"pick-up aiutm"
],
[
"stack aiutm xsokz"
],
[
"pick-up qlwtu"
]
] | [
"(on-table aiutm) (on-table nxnco) (clear sdodp) (on-table sdodp) (holding xsokz) (clear qlwtu) (clear nxnco) (on-table qlwtu) (clear aiutm)",
"(clear xsokz) (arm-empty) (on-table aiutm) (on-table nxnco) (clear sdodp) (on-table sdodp) (on xsokz nxnco) (clear qlwtu) (on-table qlwtu) (clear aiutm)",
"(clear xsokz) (on-table nxnco) (clear sdodp) (holding aiutm) (on-table sdodp) (on xsokz nxnco) (clear qlwtu) (on-table qlwtu)",
"(arm-empty) (on-table nxnco) (on aiutm xsokz) (clear sdodp) (on-table sdodp) (on xsokz nxnco) (clear qlwtu) (on-table qlwtu) (clear aiutm)",
"(on-table nxnco) (on aiutm xsokz) (clear sdodp) (on-table sdodp) (on xsokz nxnco) (holding qlwtu) (clear aiutm)"
] | file_20935 |
GOAL: (clear gcumr) (holding geedx) (on-table lcakv) (on izlef lcakv) (on gcumr gnrkf) (clear izlef) (on-table gnrkf) | GOAL: (clear gcumr) (holding geedx) (on-table lcakv) (on izlef lcakv) (on gcumr gnrkf) (clear izlef) (on-table gnrkf)
STATE: (clear gcumr) (on-table gcumr) (on-table geedx) (on-table izlef) (clear lcakv) (on-table lcakv) (holding gnrkf) (clear izlef) (clear geedx) | [
[
"put-down gnrkf"
],
[
"pick-up geedx"
],
[
"stack geedx izlef"
],
[
"pick-up gcumr"
],
[
"stack gcumr gnrkf"
],
[
"pick-up lcakv"
],
[
"stack lcakv gcumr"
],
[
"unstack geedx izlef"
],
[
"put-down geedx"
],
[
"unstack lcakv gcumr"
],
[
"put-down lcakv"
],
[
"pick-up izlef"
],
[
"stack izlef lcakv"
],
[
"pick-up geedx"
]
] | [
"(clear gcumr) (arm-empty) (on-table gcumr) (on-table geedx) (on-table izlef) (clear lcakv) (on-table lcakv) (clear gnrkf) (clear izlef) (on-table gnrkf) (clear geedx)",
"(clear gcumr) (on-table gcumr) (on-table izlef) (clear lcakv) (holding geedx) (on-table lcakv) (clear gnrkf) (clear izlef) (on-table gnrkf)",
"(clear gcumr) (arm-empty) (on-table gcumr) (on-table izlef) (clear lcakv) (on geedx izlef) (on-table lcakv) (clear gnrkf) (on-table gnrkf) (clear geedx)",
"(on-table izlef) (clear lcakv) (on geedx izlef) (on-table lcakv) (holding gcumr) (clear gnrkf) (on-table gnrkf) (clear geedx)",
"(clear gcumr) (arm-empty) (on-table izlef) (clear lcakv) (on geedx izlef) (on-table lcakv) (on gcumr gnrkf) (on-table gnrkf) (clear geedx)",
"(clear gcumr) (on-table izlef) (holding lcakv) (on geedx izlef) (on gcumr gnrkf) (on-table gnrkf) (clear geedx)",
"(arm-empty) (on-table izlef) (clear lcakv) (on geedx izlef) (on lcakv gcumr) (on gcumr gnrkf) (on-table gnrkf) (clear geedx)",
"(on-table izlef) (clear lcakv) (holding geedx) (on lcakv gcumr) (on gcumr gnrkf) (clear izlef) (on-table gnrkf)",
"(arm-empty) (on-table geedx) (clear lcakv) (clear geedx) (on-table izlef) (on lcakv gcumr) (on gcumr gnrkf) (clear izlef) (on-table gnrkf)",
"(clear gcumr) (on-table geedx) (on-table izlef) (holding lcakv) (on gcumr gnrkf) (clear izlef) (on-table gnrkf) (clear geedx)",
"(clear gcumr) (arm-empty) (on-table geedx) (on-table izlef) (clear lcakv) (on-table lcakv) (on gcumr gnrkf) (clear izlef) (on-table gnrkf) (clear geedx)",
"(holding izlef) (clear gcumr) (on-table geedx) (clear lcakv) (on-table lcakv) (on gcumr gnrkf) (on-table gnrkf) (clear geedx)",
"(clear gcumr) (arm-empty) (on-table geedx) (on-table lcakv) (on izlef lcakv) (on gcumr gnrkf) (clear izlef) (on-table gnrkf) (clear geedx)",
"(clear gcumr) (holding geedx) (on-table lcakv) (on izlef lcakv) (on gcumr gnrkf) (clear izlef) (on-table gnrkf)"
] | file_115811 |
GOAL: (on kjrar rjoyi) (arm-empty) (on-table bxxaw) (on-table fpcme) (clear kjrar) (clear vmbtr) (on rjoyi bxxaw) (on-table vmbtr) (clear fpcme) | GOAL: (on kjrar rjoyi) (arm-empty) (on-table bxxaw) (on-table fpcme) (clear kjrar) (clear vmbtr) (on rjoyi bxxaw) (on-table vmbtr) (clear fpcme)
STATE: (arm-empty) (on fpcme rjoyi) (on-table kjrar) (on bxxaw kjrar) (clear vmbtr) (on rjoyi bxxaw) (on-table vmbtr) (clear fpcme) | [
[
"unstack fpcme rjoyi"
],
[
"put-down fpcme"
],
[
"unstack rjoyi bxxaw"
],
[
"stack rjoyi fpcme"
],
[
"unstack bxxaw kjrar"
],
[
"stack bxxaw rjoyi"
],
[
"pick-up kjrar"
],
[
"stack kjrar vmbtr"
],
[
"unstack bxxaw rjoyi"
],
[
"put-down bxxaw"
],
[
"unstack rjoyi fpcme"
],
[
"stack rjoyi bxxaw"
],
[
"unstack kjrar vmbtr"
],
[
"stack kjrar rjoyi"
]
] | [
"(holding fpcme) (on-table kjrar) (on bxxaw kjrar) (clear vmbtr) (on rjoyi bxxaw) (clear rjoyi) (on-table vmbtr)",
"(arm-empty) (on-table fpcme) (on bxxaw kjrar) (on rjoyi bxxaw) (clear fpcme) (on-table kjrar) (clear vmbtr) (clear rjoyi) (on-table vmbtr)",
"(holding rjoyi) (clear bxxaw) (on-table fpcme) (on-table kjrar) (on bxxaw kjrar) (clear vmbtr) (on-table vmbtr) (clear fpcme)",
"(on rjoyi fpcme) (clear bxxaw) (arm-empty) (on-table fpcme) (on-table kjrar) (on bxxaw kjrar) (clear vmbtr) (clear rjoyi) (on-table vmbtr)",
"(on rjoyi fpcme) (on-table fpcme) (clear kjrar) (on-table kjrar) (holding bxxaw) (clear vmbtr) (clear rjoyi) (on-table vmbtr)",
"(on rjoyi fpcme) (clear bxxaw) (arm-empty) (on-table fpcme) (clear kjrar) (on-table kjrar) (on bxxaw rjoyi) (clear vmbtr) (on-table vmbtr)",
"(on rjoyi fpcme) (clear bxxaw) (on-table fpcme) (holding kjrar) (on bxxaw rjoyi) (clear vmbtr) (on-table vmbtr)",
"(on rjoyi fpcme) (clear bxxaw) (arm-empty) (on-table fpcme) (clear kjrar) (on kjrar vmbtr) (on bxxaw rjoyi) (on-table vmbtr)",
"(on rjoyi fpcme) (on-table fpcme) (clear kjrar) (on kjrar vmbtr) (holding bxxaw) (clear rjoyi) (on-table vmbtr)",
"(on rjoyi fpcme) (arm-empty) (on-table bxxaw) (on-table fpcme) (clear kjrar) (clear bxxaw) (on kjrar vmbtr) (clear rjoyi) (on-table vmbtr)",
"(holding rjoyi) (clear bxxaw) (on-table bxxaw) (on-table fpcme) (clear kjrar) (on kjrar vmbtr) (on-table vmbtr) (clear fpcme)",
"(arm-empty) (on-table bxxaw) (on-table fpcme) (clear kjrar) (on kjrar vmbtr) (on rjoyi bxxaw) (clear rjoyi) (on-table vmbtr) (clear fpcme)",
"(on-table bxxaw) (on-table fpcme) (holding kjrar) (clear vmbtr) (on rjoyi bxxaw) (clear rjoyi) (on-table vmbtr) (clear fpcme)",
"(on kjrar rjoyi) (arm-empty) (on-table bxxaw) (on-table fpcme) (clear kjrar) (clear vmbtr) (on rjoyi bxxaw) (on-table vmbtr) (clear fpcme)"
] | file_218780 |
GOAL: (arm-empty) (on-table haleo) (on-table qdmrx) (on wppgj haleo) (clear qdmrx) (on bebhc zhhbt) (on-table zhhbt) (clear bebhc) (clear wppgj) | GOAL: (arm-empty) (on-table haleo) (on-table qdmrx) (on wppgj haleo) (clear qdmrx) (on bebhc zhhbt) (on-table zhhbt) (clear bebhc) (clear wppgj)
STATE: (arm-empty) (on-table haleo) (clear zhhbt) (on qdmrx wppgj) (on-table zhhbt) (clear bebhc) (on wppgj haleo) (on-table bebhc) (clear qdmrx) | [
[
"pick-up bebhc"
],
[
"stack bebhc zhhbt"
],
[
"unstack qdmrx wppgj"
],
[
"put-down qdmrx"
]
] | [
"(on-table haleo) (clear zhhbt) (on qdmrx wppgj) (on-table zhhbt) (on wppgj haleo) (holding bebhc) (clear qdmrx)",
"(on bebhc zhhbt) (arm-empty) (on-table haleo) (on qdmrx wppgj) (on-table zhhbt) (clear bebhc) (on wppgj haleo) (clear qdmrx)",
"(on bebhc zhhbt) (on-table haleo) (holding qdmrx) (on-table zhhbt) (clear bebhc) (on wppgj haleo) (clear wppgj)",
"(arm-empty) (on-table haleo) (on-table qdmrx) (on wppgj haleo) (clear qdmrx) (on bebhc zhhbt) (on-table zhhbt) (clear bebhc) (clear wppgj)"
] | file_159122 |
GOAL: (clear vsehh) (on-table nloug) (clear etvra) (holding mxqvf) (on-table etvra) (on vsehh lvzgt) (clear nloug) (on-table lvzgt) | GOAL: (clear vsehh) (on-table nloug) (clear etvra) (holding mxqvf) (on-table etvra) (on vsehh lvzgt) (clear nloug) (on-table lvzgt)
STATE: (holding nloug) (clear vsehh) (on-table mxqvf) (on-table etvra) (on vsehh etvra) (clear lvzgt) (on-table lvzgt) (clear mxqvf) | [
[
"stack nloug lvzgt"
],
[
"pick-up mxqvf"
],
[
"stack mxqvf nloug"
],
[
"unstack vsehh etvra"
],
[
"put-down vsehh"
],
[
"unstack mxqvf nloug"
],
[
"stack mxqvf etvra"
],
[
"unstack nloug lvzgt"
],
[
"stack nloug mxqvf"
],
[
"pick-up vsehh"
],
[
"stack vsehh lvzgt"
],
[
"unstack nloug mxqvf"
],
[
"put-down nloug"
],
[
"unstack mxqvf etvra"
]
] | [
"(clear vsehh) (on nloug lvzgt) (arm-empty) (on-table mxqvf) (on-table etvra) (on vsehh etvra) (clear nloug) (on-table lvzgt) (clear mxqvf)",
"(clear vsehh) (on nloug lvzgt) (holding mxqvf) (on-table etvra) (on vsehh etvra) (clear nloug) (on-table lvzgt)",
"(clear vsehh) (on nloug lvzgt) (arm-empty) (on mxqvf nloug) (on-table etvra) (on vsehh etvra) (on-table lvzgt) (clear mxqvf)",
"(on nloug lvzgt) (clear etvra) (on mxqvf nloug) (on-table etvra) (holding vsehh) (on-table lvzgt) (clear mxqvf)",
"(on nloug lvzgt) (arm-empty) (on-table vsehh) (clear etvra) (clear mxqvf) (clear vsehh) (on mxqvf nloug) (on-table etvra) (on-table lvzgt)",
"(clear vsehh) (on nloug lvzgt) (on-table vsehh) (clear etvra) (holding mxqvf) (on-table etvra) (clear nloug) (on-table lvzgt)",
"(clear vsehh) (on nloug lvzgt) (on mxqvf etvra) (on-table vsehh) (arm-empty) (on-table etvra) (clear nloug) (on-table lvzgt) (clear mxqvf)",
"(holding nloug) (clear vsehh) (on mxqvf etvra) (on-table vsehh) (on-table etvra) (clear lvzgt) (on-table lvzgt) (clear mxqvf)",
"(on nloug mxqvf) (clear vsehh) (arm-empty) (on mxqvf etvra) (on-table vsehh) (on-table etvra) (clear lvzgt) (clear nloug) (on-table lvzgt)",
"(on nloug mxqvf) (on mxqvf etvra) (on-table etvra) (holding vsehh) (clear lvzgt) (clear nloug) (on-table lvzgt)",
"(on nloug mxqvf) (clear vsehh) (arm-empty) (on mxqvf etvra) (on-table etvra) (on vsehh lvzgt) (clear nloug) (on-table lvzgt)",
"(holding nloug) (clear vsehh) (on mxqvf etvra) (on-table etvra) (on vsehh lvzgt) (on-table lvzgt) (clear mxqvf)",
"(arm-empty) (on mxqvf etvra) (clear mxqvf) (clear vsehh) (on-table nloug) (on-table etvra) (on vsehh lvzgt) (clear nloug) (on-table lvzgt)",
"(clear vsehh) (on-table nloug) (clear etvra) (holding mxqvf) (on-table etvra) (on vsehh lvzgt) (clear nloug) (on-table lvzgt)"
] | file_165578 |
GOAL: (on nfaim mnwsu) (clear gbbtr) (arm-empty) (on mnwsu rgvlq) (on rgvlq qbpij) (on gbbtr nfaim) (on-table qbpij) | GOAL: (on nfaim mnwsu) (clear gbbtr) (arm-empty) (on mnwsu rgvlq) (on rgvlq qbpij) (on gbbtr nfaim) (on-table qbpij)
STATE: (on qbpij rgvlq) (arm-empty) (on-table gbbtr) (on-table mnwsu) (on-table nfaim) (on rgvlq gbbtr) (clear qbpij) (clear nfaim) (clear mnwsu) | [
[
"unstack qbpij rgvlq"
],
[
"put-down qbpij"
],
[
"unstack rgvlq gbbtr"
],
[
"stack rgvlq qbpij"
],
[
"pick-up nfaim"
],
[
"stack nfaim gbbtr"
],
[
"pick-up mnwsu"
],
[
"stack mnwsu rgvlq"
],
[
"unstack nfaim gbbtr"
],
[
"stack nfaim mnwsu"
],
[
"pick-up gbbtr"
],
[
"stack gbbtr nfaim"
]
] | [
"(on-table gbbtr) (on-table mnwsu) (on-table nfaim) (clear rgvlq) (on rgvlq gbbtr) (holding qbpij) (clear nfaim) (clear mnwsu)",
"(arm-empty) (on-table gbbtr) (on-table mnwsu) (on-table nfaim) (clear rgvlq) (on rgvlq gbbtr) (clear qbpij) (clear nfaim) (on-table qbpij) (clear mnwsu)",
"(clear gbbtr) (on-table gbbtr) (on-table mnwsu) (on-table nfaim) (holding rgvlq) (clear qbpij) (clear nfaim) (on-table qbpij) (clear mnwsu)",
"(clear gbbtr) (arm-empty) (on-table gbbtr) (on-table mnwsu) (on-table nfaim) (clear rgvlq) (on rgvlq qbpij) (clear nfaim) (on-table qbpij) (clear mnwsu)",
"(holding nfaim) (clear gbbtr) (on-table gbbtr) (on-table mnwsu) (clear rgvlq) (on rgvlq qbpij) (on-table qbpij) (clear mnwsu)",
"(arm-empty) (on-table gbbtr) (on-table mnwsu) (clear rgvlq) (on rgvlq qbpij) (on nfaim gbbtr) (clear nfaim) (on-table qbpij) (clear mnwsu)",
"(on-table gbbtr) (clear rgvlq) (on rgvlq qbpij) (holding mnwsu) (on nfaim gbbtr) (clear nfaim) (on-table qbpij)",
"(arm-empty) (on mnwsu rgvlq) (on-table gbbtr) (on rgvlq qbpij) (on nfaim gbbtr) (clear nfaim) (on-table qbpij) (clear mnwsu)",
"(holding nfaim) (clear gbbtr) (on mnwsu rgvlq) (on-table gbbtr) (on rgvlq qbpij) (on-table qbpij) (clear mnwsu)",
"(on nfaim mnwsu) (clear gbbtr) (arm-empty) (on mnwsu rgvlq) (on-table gbbtr) (on rgvlq qbpij) (clear nfaim) (on-table qbpij)",
"(on nfaim mnwsu) (on mnwsu rgvlq) (on rgvlq qbpij) (holding gbbtr) (clear nfaim) (on-table qbpij)",
"(on nfaim mnwsu) (clear gbbtr) (arm-empty) (on mnwsu rgvlq) (on rgvlq qbpij) (on gbbtr nfaim) (on-table qbpij)"
] | file_221269 |
GOAL: (holding bntju) (clear fhfcl) (on moiri wtuov) (on-table fhfcl) (on-table wtuov) (clear mphnm) (on-table mphnm) (clear moiri) | GOAL: (holding bntju) (clear fhfcl) (on moiri wtuov) (on-table fhfcl) (on-table wtuov) (clear mphnm) (on-table mphnm) (clear moiri)
STATE: (on moiri mphnm) (clear fhfcl) (arm-empty) (on-table fhfcl) (on-table wtuov) (on-table bntju) (on-table mphnm) (clear moiri) (clear bntju) (clear wtuov) | [
[
"pick-up fhfcl"
],
[
"stack fhfcl wtuov"
],
[
"pick-up bntju"
],
[
"stack bntju fhfcl"
],
[
"unstack moiri mphnm"
],
[
"put-down moiri"
],
[
"unstack bntju fhfcl"
],
[
"stack bntju mphnm"
],
[
"unstack fhfcl wtuov"
],
[
"put-down fhfcl"
],
[
"pick-up moiri"
],
[
"stack moiri wtuov"
],
[
"unstack bntju mphnm"
]
] | [
"(on moiri mphnm) (on-table wtuov) (on-table bntju) (on-table mphnm) (holding fhfcl) (clear moiri) (clear bntju) (clear wtuov)",
"(on moiri mphnm) (clear fhfcl) (arm-empty) (on-table wtuov) (on-table bntju) (on-table mphnm) (on fhfcl wtuov) (clear moiri) (clear bntju)",
"(holding bntju) (on moiri mphnm) (clear fhfcl) (on-table wtuov) (on-table mphnm) (on fhfcl wtuov) (clear moiri)",
"(on moiri mphnm) (arm-empty) (on-table wtuov) (on-table mphnm) (on fhfcl wtuov) (clear moiri) (on bntju fhfcl) (clear bntju)",
"(on-table wtuov) (clear mphnm) (on-table mphnm) (on fhfcl wtuov) (on bntju fhfcl) (clear bntju) (holding moiri)",
"(arm-empty) (on-table wtuov) (clear mphnm) (on fhfcl wtuov) (on bntju fhfcl) (on-table mphnm) (clear moiri) (clear bntju) (on-table moiri)",
"(holding bntju) (clear fhfcl) (on-table wtuov) (clear mphnm) (on-table mphnm) (on fhfcl wtuov) (clear moiri) (on-table moiri)",
"(clear fhfcl) (arm-empty) (on-table wtuov) (on-table mphnm) (on bntju mphnm) (on fhfcl wtuov) (clear moiri) (clear bntju) (on-table moiri)",
"(on-table wtuov) (holding fhfcl) (on-table mphnm) (on bntju mphnm) (clear moiri) (clear bntju) (on-table moiri) (clear wtuov)",
"(clear fhfcl) (arm-empty) (on-table fhfcl) (on-table wtuov) (clear wtuov) (on-table mphnm) (clear moiri) (on bntju mphnm) (on-table moiri) (clear bntju)",
"(clear fhfcl) (on-table fhfcl) (on-table wtuov) (on-table mphnm) (on bntju mphnm) (holding moiri) (clear bntju) (clear wtuov)",
"(clear fhfcl) (on moiri wtuov) (arm-empty) (on-table fhfcl) (on-table wtuov) (on-table mphnm) (on bntju mphnm) (clear moiri) (clear bntju)",
"(holding bntju) (clear fhfcl) (on moiri wtuov) (on-table fhfcl) (on-table wtuov) (clear mphnm) (on-table mphnm) (clear moiri)"
] | file_141667 |
GOAL: (arm-empty) (on-table uumrv) (on-table lpqbg) (clear pqbyo) (on-table pqbyo) (clear tjgvh) (on hehhc uumrv) (clear hehhc) (on-table tjgvh) (clear lpqbg) | GOAL: (arm-empty) (on-table uumrv) (on-table lpqbg) (clear pqbyo) (on-table pqbyo) (clear tjgvh) (on hehhc uumrv) (clear hehhc) (on-table tjgvh) (clear lpqbg)
STATE: (clear uumrv) (on pqbyo hehhc) (arm-empty) (on-table lpqbg) (on-table hehhc) (on uumrv pqbyo) (clear tjgvh) (on-table tjgvh) (clear lpqbg) | [
[
"unstack uumrv pqbyo"
],
[
"put-down uumrv"
],
[
"unstack pqbyo hehhc"
],
[
"put-down pqbyo"
],
[
"pick-up hehhc"
],
[
"stack hehhc uumrv"
]
] | [
"(on pqbyo hehhc) (on-table lpqbg) (on-table hehhc) (clear pqbyo) (holding uumrv) (clear tjgvh) (on-table tjgvh) (clear lpqbg)",
"(clear uumrv) (on pqbyo hehhc) (arm-empty) (on-table uumrv) (on-table lpqbg) (on-table hehhc) (clear pqbyo) (clear tjgvh) (on-table tjgvh) (clear lpqbg)",
"(clear uumrv) (on-table uumrv) (on-table lpqbg) (on-table hehhc) (holding pqbyo) (clear tjgvh) (clear hehhc) (on-table tjgvh) (clear lpqbg)",
"(clear uumrv) (arm-empty) (on-table uumrv) (on-table lpqbg) (on-table hehhc) (clear pqbyo) (on-table pqbyo) (clear tjgvh) (clear hehhc) (on-table tjgvh) (clear lpqbg)",
"(holding hehhc) (clear uumrv) (on-table uumrv) (on-table lpqbg) (clear pqbyo) (on-table pqbyo) (clear tjgvh) (on-table tjgvh) (clear lpqbg)",
"(arm-empty) (on-table uumrv) (on-table lpqbg) (clear pqbyo) (on-table pqbyo) (clear tjgvh) (on hehhc uumrv) (clear hehhc) (on-table tjgvh) (clear lpqbg)"
] | file_39359 |
GOAL: (clear cuqpm) (on-table rwdeq) (clear knlsz) (holding symyi) (on-table knlsz) (on cuqpm rwdeq) (clear bikls) (on-table bikls) | GOAL: (clear cuqpm) (on-table rwdeq) (clear knlsz) (holding symyi) (on-table knlsz) (on cuqpm rwdeq) (clear bikls) (on-table bikls)
STATE: (clear cuqpm) (on-table cuqpm) (on-table symyi) (holding knlsz) (on-table rwdeq) (clear bikls) (clear rwdeq) (on-table bikls) (clear symyi) | [
[
"stack knlsz bikls"
],
[
"pick-up cuqpm"
],
[
"stack cuqpm rwdeq"
],
[
"unstack knlsz bikls"
],
[
"put-down knlsz"
],
[
"pick-up symyi"
]
] | [
"(clear cuqpm) (arm-empty) (on-table cuqpm) (on-table symyi) (on-table rwdeq) (clear knlsz) (on knlsz bikls) (clear rwdeq) (on-table bikls) (clear symyi)",
"(on-table symyi) (on-table rwdeq) (clear knlsz) (on knlsz bikls) (holding cuqpm) (clear rwdeq) (on-table bikls) (clear symyi)",
"(clear cuqpm) (arm-empty) (on-table symyi) (on-table rwdeq) (clear knlsz) (on knlsz bikls) (on cuqpm rwdeq) (on-table bikls) (clear symyi)",
"(clear cuqpm) (on-table symyi) (on-table rwdeq) (holding knlsz) (on cuqpm rwdeq) (clear bikls) (on-table bikls) (clear symyi)",
"(clear cuqpm) (arm-empty) (on-table symyi) (on-table rwdeq) (clear knlsz) (on-table knlsz) (on cuqpm rwdeq) (clear bikls) (on-table bikls) (clear symyi)",
"(clear cuqpm) (on-table rwdeq) (clear knlsz) (holding symyi) (on-table knlsz) (on cuqpm rwdeq) (clear bikls) (on-table bikls)"
] | file_184204 |
GOAL: (on phznu hmcje) (arm-empty) (on-table wmlpb) (on-table lfbmd) (clear wtnwz) (on hmcje lfbmd) (on wtnwz wmlpb) (clear phznu) | GOAL: (on phznu hmcje) (arm-empty) (on-table wmlpb) (on-table lfbmd) (clear wtnwz) (on hmcje lfbmd) (on wtnwz wmlpb) (clear phznu)
STATE: (on phznu wtnwz) (on lfbmd phznu) (arm-empty) (on-table wmlpb) (on hmcje lfbmd) (on wtnwz wmlpb) (clear hmcje) | [
[
"unstack hmcje lfbmd"
],
[
"put-down hmcje"
],
[
"unstack lfbmd phznu"
],
[
"put-down lfbmd"
],
[
"pick-up hmcje"
],
[
"stack hmcje lfbmd"
],
[
"unstack phznu wtnwz"
],
[
"stack phznu hmcje"
]
] | [
"(on lfbmd phznu) (on-table wmlpb) (holding hmcje) (on phznu wtnwz) (on wtnwz wmlpb) (clear lfbmd)",
"(on lfbmd phznu) (arm-empty) (on-table wmlpb) (on-table hmcje) (clear hmcje) (on phznu wtnwz) (on wtnwz wmlpb) (clear lfbmd)",
"(holding lfbmd) (on phznu wtnwz) (on-table wmlpb) (on-table hmcje) (on wtnwz wmlpb) (clear phznu) (clear hmcje)",
"(arm-empty) (on-table wmlpb) (on-table hmcje) (clear hmcje) (on phznu wtnwz) (on-table lfbmd) (on wtnwz wmlpb) (clear phznu) (clear lfbmd)",
"(on phznu wtnwz) (on-table wmlpb) (on-table lfbmd) (holding hmcje) (on wtnwz wmlpb) (clear phznu) (clear lfbmd)",
"(on phznu wtnwz) (arm-empty) (on-table wmlpb) (on-table lfbmd) (on hmcje lfbmd) (on wtnwz wmlpb) (clear phznu) (clear hmcje)",
"(on-table wmlpb) (on-table lfbmd) (clear wtnwz) (on hmcje lfbmd) (on wtnwz wmlpb) (holding phznu) (clear hmcje)",
"(on phznu hmcje) (arm-empty) (on-table wmlpb) (on-table lfbmd) (clear wtnwz) (on hmcje lfbmd) (on wtnwz wmlpb) (clear phznu)"
] | file_191708 |
GOAL: (on-table jusbj) (on ctnry bohcx) (on bohcx aqplw) (on aqplw jusbj) (holding uvcll) (clear ctnry) | GOAL: (on-table jusbj) (on ctnry bohcx) (on bohcx aqplw) (on aqplw jusbj) (holding uvcll) (clear ctnry)
STATE: (holding ctnry) (on-table jusbj) (clear bohcx) (on bohcx aqplw) (on aqplw jusbj) (clear uvcll) (on-table uvcll) | [
[
"stack ctnry bohcx"
],
[
"pick-up uvcll"
]
] | [
"(arm-empty) (on-table jusbj) (on ctnry bohcx) (on bohcx aqplw) (on aqplw jusbj) (clear uvcll) (clear ctnry) (on-table uvcll)",
"(on-table jusbj) (on ctnry bohcx) (on bohcx aqplw) (on aqplw jusbj) (holding uvcll) (clear ctnry)"
] | file_75067 |
GOAL: (arm-empty) (on-table vnjea) (clear mxecz) (on mxecz huynn) (on ejarm vnjea) (clear ejarm) (on-table huynn) | GOAL: (arm-empty) (on-table vnjea) (clear mxecz) (on mxecz huynn) (on ejarm vnjea) (clear ejarm) (on-table huynn)
STATE: (clear vnjea) (holding mxecz) (on-table ejarm) (on vnjea huynn) (clear ejarm) (on-table huynn) | [
[
"stack mxecz ejarm"
],
[
"unstack vnjea huynn"
],
[
"put-down vnjea"
],
[
"unstack mxecz ejarm"
],
[
"stack mxecz huynn"
],
[
"pick-up ejarm"
],
[
"stack ejarm vnjea"
]
] | [
"(clear vnjea) (on mxecz ejarm) (arm-empty) (on-table ejarm) (clear mxecz) (on vnjea huynn) (on-table huynn)",
"(on mxecz ejarm) (clear mxecz) (on-table ejarm) (holding vnjea) (clear huynn) (on-table huynn)",
"(on mxecz ejarm) (arm-empty) (on-table vnjea) (clear mxecz) (clear vnjea) (on-table ejarm) (clear huynn) (on-table huynn)",
"(clear vnjea) (on-table vnjea) (on-table ejarm) (holding mxecz) (clear huynn) (clear ejarm) (on-table huynn)",
"(arm-empty) (on-table vnjea) (clear mxecz) (clear vnjea) (on-table ejarm) (on mxecz huynn) (clear ejarm) (on-table huynn)",
"(holding ejarm) (clear vnjea) (on-table vnjea) (clear mxecz) (on mxecz huynn) (on-table huynn)",
"(arm-empty) (on-table vnjea) (clear mxecz) (on mxecz huynn) (on ejarm vnjea) (clear ejarm) (on-table huynn)"
] | file_108134 |
GOAL: (on hzvgi aopfe) (clear rphlz) (arm-empty) (on-table gzpic) (on-table aopfe) (on rphlz gzpic) (clear hzvgi) | GOAL: (on hzvgi aopfe) (clear rphlz) (arm-empty) (on-table gzpic) (on-table aopfe) (on rphlz gzpic) (clear hzvgi)
STATE: (on-table rphlz) (clear aopfe) (on-table aopfe) (on gzpic rphlz) (clear gzpic) (holding hzvgi) | [
[
"stack hzvgi aopfe"
],
[
"unstack gzpic rphlz"
],
[
"put-down gzpic"
],
[
"pick-up rphlz"
],
[
"stack rphlz gzpic"
]
] | [
"(on hzvgi aopfe) (arm-empty) (on-table rphlz) (on-table aopfe) (clear hzvgi) (on gzpic rphlz) (clear gzpic)",
"(on-table rphlz) (holding gzpic) (on hzvgi aopfe) (clear rphlz) (on-table aopfe) (clear hzvgi)",
"(arm-empty) (on-table rphlz) (on hzvgi aopfe) (clear rphlz) (on-table gzpic) (on-table aopfe) (clear hzvgi) (clear gzpic)",
"(on hzvgi aopfe) (on-table gzpic) (on-table aopfe) (holding rphlz) (clear hzvgi) (clear gzpic)",
"(on hzvgi aopfe) (clear rphlz) (arm-empty) (on-table gzpic) (on-table aopfe) (on rphlz gzpic) (clear hzvgi)"
] | file_212228 |
GOAL: (arm-empty) (on-table qfjqw) (clear eajku) (on-table cqrka) (on eajku qfjqw) (clear czuvm) (clear cqrka) (on-table czuvm) | GOAL: (arm-empty) (on-table qfjqw) (clear eajku) (on-table cqrka) (on eajku qfjqw) (clear czuvm) (clear cqrka) (on-table czuvm)
STATE: (clear qfjqw) (on cqrka czuvm) (holding eajku) (on qfjqw cqrka) (on-table czuvm) | [
[
"put-down eajku"
],
[
"unstack qfjqw cqrka"
],
[
"put-down qfjqw"
],
[
"pick-up eajku"
],
[
"stack eajku qfjqw"
],
[
"unstack cqrka czuvm"
],
[
"put-down cqrka"
]
] | [
"(clear qfjqw) (on cqrka czuvm) (on-table eajku) (arm-empty) (on qfjqw cqrka) (clear eajku) (on-table czuvm)",
"(on cqrka czuvm) (clear eajku) (on-table eajku) (holding qfjqw) (clear cqrka) (on-table czuvm)",
"(on-table eajku) (on cqrka czuvm) (clear qfjqw) (on-table qfjqw) (arm-empty) (clear eajku) (clear cqrka) (on-table czuvm)",
"(clear qfjqw) (on cqrka czuvm) (on-table qfjqw) (holding eajku) (clear cqrka) (on-table czuvm)",
"(on cqrka czuvm) (arm-empty) (on-table qfjqw) (on eajku qfjqw) (clear eajku) (clear cqrka) (on-table czuvm)",
"(on-table qfjqw) (clear eajku) (holding cqrka) (on eajku qfjqw) (clear czuvm) (on-table czuvm)",
"(arm-empty) (on-table qfjqw) (clear eajku) (on-table cqrka) (on eajku qfjqw) (clear czuvm) (clear cqrka) (on-table czuvm)"
] | file_15054 |
GOAL: (arm-empty) (on-table tlwxb) (clear avvsk) (on-table avvsk) (on kncdc egmpj) (on folwq tlwxb) (clear kncdc) (on egmpj folwq) | GOAL: (arm-empty) (on-table tlwxb) (clear avvsk) (on-table avvsk) (on kncdc egmpj) (on folwq tlwxb) (clear kncdc) (on egmpj folwq)
STATE: (on kncdc avvsk) (clear folwq) (on-table egmpj) (holding tlwxb) (on-table avvsk) (on folwq kncdc) (clear egmpj) | [
[
"put-down tlwxb"
],
[
"unstack folwq kncdc"
],
[
"stack folwq tlwxb"
],
[
"pick-up egmpj"
],
[
"stack egmpj folwq"
],
[
"unstack kncdc avvsk"
],
[
"stack kncdc egmpj"
]
] | [
"(arm-empty) (on-table tlwxb) (clear tlwxb) (on kncdc avvsk) (clear folwq) (on-table egmpj) (on-table avvsk) (on folwq kncdc) (clear egmpj)",
"(on kncdc avvsk) (on-table tlwxb) (on-table egmpj) (on-table avvsk) (holding folwq) (clear kncdc) (clear egmpj) (clear tlwxb)",
"(on kncdc avvsk) (clear folwq) (arm-empty) (on-table tlwxb) (on-table egmpj) (on-table avvsk) (on folwq tlwxb) (clear kncdc) (clear egmpj)",
"(holding egmpj) (on kncdc avvsk) (clear folwq) (on-table tlwxb) (on-table avvsk) (on folwq tlwxb) (clear kncdc)",
"(on kncdc avvsk) (arm-empty) (on-table tlwxb) (on-table avvsk) (on folwq tlwxb) (clear kncdc) (on egmpj folwq) (clear egmpj)",
"(on-table tlwxb) (clear avvsk) (on-table avvsk) (on folwq tlwxb) (on egmpj folwq) (clear egmpj) (holding kncdc)",
"(arm-empty) (on-table tlwxb) (clear avvsk) (on-table avvsk) (on kncdc egmpj) (on folwq tlwxb) (clear kncdc) (on egmpj folwq)"
] | file_125759 |
GOAL: (on zgmfx hvbiv) (arm-empty) (on-table kgtac) (on hvbiv kgtac) (on xhfgl zgmfx) (on svhst xhfgl) (clear svhst) | GOAL: (on zgmfx hvbiv) (arm-empty) (on-table kgtac) (on hvbiv kgtac) (on xhfgl zgmfx) (on svhst xhfgl) (clear svhst)
STATE: (on hvbiv xhfgl) (on-table svhst) (on-table xhfgl) (holding kgtac) (clear zgmfx) (clear svhst) (on-table zgmfx) (clear hvbiv) | [
[
"put-down kgtac"
],
[
"unstack hvbiv xhfgl"
],
[
"stack hvbiv kgtac"
],
[
"pick-up zgmfx"
],
[
"stack zgmfx hvbiv"
],
[
"pick-up xhfgl"
],
[
"stack xhfgl zgmfx"
],
[
"pick-up svhst"
],
[
"stack svhst xhfgl"
]
] | [
"(clear kgtac) (arm-empty) (on hvbiv xhfgl) (on-table kgtac) (on-table svhst) (on-table xhfgl) (clear zgmfx) (clear svhst) (on-table zgmfx) (clear hvbiv)",
"(clear kgtac) (on-table kgtac) (on-table svhst) (clear xhfgl) (holding hvbiv) (on-table xhfgl) (clear zgmfx) (clear svhst) (on-table zgmfx)",
"(arm-empty) (on-table kgtac) (on-table svhst) (on hvbiv kgtac) (clear xhfgl) (on-table xhfgl) (clear zgmfx) (clear svhst) (on-table zgmfx) (clear hvbiv)",
"(on-table kgtac) (on-table svhst) (on hvbiv kgtac) (clear xhfgl) (on-table xhfgl) (holding zgmfx) (clear svhst) (clear hvbiv)",
"(on zgmfx hvbiv) (arm-empty) (on-table kgtac) (on-table svhst) (on hvbiv kgtac) (clear xhfgl) (on-table xhfgl) (clear zgmfx) (clear svhst)",
"(on zgmfx hvbiv) (on-table kgtac) (on-table svhst) (holding xhfgl) (on hvbiv kgtac) (clear zgmfx) (clear svhst)",
"(on zgmfx hvbiv) (arm-empty) (on-table kgtac) (on hvbiv kgtac) (clear xhfgl) (on-table svhst) (on xhfgl zgmfx) (clear svhst)",
"(holding svhst) (on zgmfx hvbiv) (on-table kgtac) (on hvbiv kgtac) (clear xhfgl) (on xhfgl zgmfx)",
"(on zgmfx hvbiv) (arm-empty) (on-table kgtac) (on hvbiv kgtac) (on xhfgl zgmfx) (on svhst xhfgl) (clear svhst)"
] | file_34363 |
GOAL: (arm-empty) (on-table nnyea) (on-table xzhoi) (clear xzhoi) (on qwqgn ddpds) (on ddpds nnyea) (clear xlucc) (clear qwqgn) (on-table xlucc) | GOAL: (arm-empty) (on-table nnyea) (on-table xzhoi) (clear xzhoi) (on qwqgn ddpds) (on ddpds nnyea) (clear xlucc) (clear qwqgn) (on-table xlucc)
STATE: (on-table nnyea) (holding xzhoi) (on qwqgn ddpds) (on ddpds nnyea) (clear xlucc) (clear qwqgn) (on-table xlucc) | [
[
"put-down xzhoi"
]
] | [
"(arm-empty) (on-table nnyea) (on-table xzhoi) (clear xzhoi) (on qwqgn ddpds) (on ddpds nnyea) (clear xlucc) (clear qwqgn) (on-table xlucc)"
] | file_145277 |
GOAL: (arm-empty) (on-table ihubh) (on-table wpyzi) (on-table sjlap) (clear wbgck) (on wbgck ihubh) (clear cuxvi) (clear sjlap) (on-table cuxvi) (clear wpyzi) | GOAL: (arm-empty) (on-table ihubh) (on-table wpyzi) (on-table sjlap) (clear wbgck) (on wbgck ihubh) (clear cuxvi) (clear sjlap) (on-table cuxvi) (clear wpyzi)
STATE: (clear ihubh) (on-table ihubh) (holding wbgck) (on-table sjlap) (on wpyzi cuxvi) (on cuxvi sjlap) (clear wpyzi) | [
[
"stack wbgck ihubh"
],
[
"unstack wpyzi cuxvi"
],
[
"put-down wpyzi"
],
[
"unstack cuxvi sjlap"
],
[
"put-down cuxvi"
]
] | [
"(arm-empty) (on-table ihubh) (clear wbgck) (on wpyzi cuxvi) (on cuxvi sjlap) (clear wpyzi) (on-table sjlap) (on wbgck ihubh)",
"(on-table ihubh) (on-table sjlap) (on wbgck ihubh) (clear wbgck) (holding wpyzi) (on cuxvi sjlap) (clear cuxvi)",
"(arm-empty) (on-table ihubh) (on-table wpyzi) (clear wbgck) (on cuxvi sjlap) (clear wpyzi) (on-table sjlap) (on wbgck ihubh) (clear cuxvi)",
"(on-table ihubh) (on-table wpyzi) (on-table sjlap) (on wbgck ihubh) (clear wbgck) (holding cuxvi) (clear sjlap) (clear wpyzi)",
"(arm-empty) (on-table ihubh) (on-table wpyzi) (on-table sjlap) (clear wbgck) (on wbgck ihubh) (clear cuxvi) (clear sjlap) (on-table cuxvi) (clear wpyzi)"
] | file_30343 |
GOAL: (on-table yogqe) (on dhgcd yogqe) (on-table euakh) (clear dhgcd) (holding pwbnh) (clear rntql) (clear euakh) (on-table rntql) | GOAL: (on-table yogqe) (on dhgcd yogqe) (on-table euakh) (clear dhgcd) (holding pwbnh) (clear rntql) (clear euakh) (on-table rntql)
STATE: (clear pwbnh) (on-table yogqe) (holding dhgcd) (on-table euakh) (on pwbnh euakh) (clear rntql) (on-table rntql) (clear yogqe) | [
[
"stack dhgcd yogqe"
],
[
"unstack pwbnh euakh"
]
] | [
"(clear pwbnh) (arm-empty) (on-table yogqe) (on dhgcd yogqe) (on-table euakh) (clear dhgcd) (on pwbnh euakh) (clear rntql) (on-table rntql)",
"(on-table yogqe) (on dhgcd yogqe) (on-table euakh) (clear dhgcd) (holding pwbnh) (clear rntql) (clear euakh) (on-table rntql)"
] | file_157851 |
GOAL: (clear zcdau) (on yocgl yflxs) (on-table zcdau) (on-table otueb) (on-table yflxs) (holding xbgeu) (clear otueb) (clear yocgl) | GOAL: (clear zcdau) (on yocgl yflxs) (on-table zcdau) (on-table otueb) (on-table yflxs) (holding xbgeu) (clear otueb) (clear yocgl)
STATE: (holding otueb) (on xbgeu yflxs) (on-table zcdau) (on yflxs yocgl) (on yocgl zcdau) (clear xbgeu) | [
[
"put-down otueb"
],
[
"unstack xbgeu yflxs"
],
[
"stack xbgeu otueb"
],
[
"unstack yflxs yocgl"
],
[
"put-down yflxs"
],
[
"unstack xbgeu otueb"
],
[
"put-down xbgeu"
],
[
"unstack yocgl zcdau"
],
[
"stack yocgl yflxs"
],
[
"pick-up xbgeu"
]
] | [
"(arm-empty) (on-table zcdau) (on yflxs yocgl) (on yocgl zcdau) (on xbgeu yflxs) (on-table otueb) (clear xbgeu) (clear otueb)",
"(on-table zcdau) (on yflxs yocgl) (on-table otueb) (on yocgl zcdau) (clear yflxs) (holding xbgeu) (clear otueb)",
"(arm-empty) (on-table zcdau) (on yflxs yocgl) (on-table otueb) (on yocgl zcdau) (clear yflxs) (on xbgeu otueb) (clear xbgeu)",
"(on-table zcdau) (on-table otueb) (holding yflxs) (on yocgl zcdau) (on xbgeu otueb) (clear xbgeu) (clear yocgl)",
"(arm-empty) (on-table zcdau) (on yocgl zcdau) (clear yflxs) (on xbgeu otueb) (clear yocgl) (on-table otueb) (on-table yflxs) (clear xbgeu)",
"(on-table zcdau) (on-table otueb) (on yocgl zcdau) (clear yflxs) (on-table yflxs) (holding xbgeu) (clear otueb) (clear yocgl)",
"(arm-empty) (on-table zcdau) (on-table otueb) (on yocgl zcdau) (clear yflxs) (on-table yflxs) (clear xbgeu) (clear otueb) (on-table xbgeu) (clear yocgl)",
"(clear zcdau) (on-table zcdau) (on-table otueb) (clear yflxs) (holding yocgl) (on-table yflxs) (clear xbgeu) (clear otueb) (on-table xbgeu)",
"(clear zcdau) (arm-empty) (on yocgl yflxs) (on-table zcdau) (on-table otueb) (on-table yflxs) (clear xbgeu) (clear otueb) (on-table xbgeu) (clear yocgl)",
"(clear zcdau) (on yocgl yflxs) (on-table zcdau) (on-table otueb) (on-table yflxs) (holding xbgeu) (clear otueb) (clear yocgl)"
] | file_101449 |
GOAL: (holding kbouu) (on eprjt xrnsm) (on-table firms) (on xmcic firms) (clear xmcic) (on-table xrnsm) (clear eprjt) | GOAL: (holding kbouu) (on eprjt xrnsm) (on-table firms) (on xmcic firms) (clear xmcic) (on-table xrnsm) (clear eprjt)
STATE: (arm-empty) (on eprjt kbouu) (on-table firms) (on xmcic firms) (on kbouu xmcic) (clear xrnsm) (on-table xrnsm) (clear eprjt) | [
[
"unstack eprjt kbouu"
],
[
"stack eprjt xrnsm"
],
[
"unstack kbouu xmcic"
]
] | [
"(clear kbouu) (holding eprjt) (on-table firms) (on xmcic firms) (on kbouu xmcic) (clear xrnsm) (on-table xrnsm)",
"(clear kbouu) (arm-empty) (on eprjt xrnsm) (on-table firms) (on xmcic firms) (on kbouu xmcic) (on-table xrnsm) (clear eprjt)",
"(holding kbouu) (on eprjt xrnsm) (on-table firms) (on xmcic firms) (clear xmcic) (on-table xrnsm) (clear eprjt)"
] | file_185112 |
GOAL: (arm-empty) (on-table hyuni) (on asqsu tkpwb) (on tkpwb zfcjg) (on-table zfcjg) (on azazc hyuni) (clear azazc) (clear asqsu) | GOAL: (arm-empty) (on-table hyuni) (on asqsu tkpwb) (on tkpwb zfcjg) (on-table zfcjg) (on azazc hyuni) (clear azazc) (clear asqsu)
STATE: (clear tkpwb) (arm-empty) (on-table asqsu) (on-table hyuni) (clear zfcjg) (on-table zfcjg) (on azazc hyuni) (on tkpwb azazc) (clear asqsu) | [
[
"pick-up asqsu"
],
[
"stack asqsu zfcjg"
],
[
"unstack tkpwb azazc"
],
[
"put-down tkpwb"
],
[
"unstack asqsu zfcjg"
],
[
"stack asqsu azazc"
],
[
"pick-up tkpwb"
],
[
"stack tkpwb zfcjg"
],
[
"unstack asqsu azazc"
],
[
"put-down asqsu"
],
[
"unstack azazc hyuni"
],
[
"put-down azazc"
],
[
"pick-up asqsu"
],
[
"stack asqsu tkpwb"
],
[
"pick-up azazc"
],
[
"stack azazc hyuni"
]
] | [
"(clear tkpwb) (on-table hyuni) (clear zfcjg) (holding asqsu) (on-table zfcjg) (on azazc hyuni) (on tkpwb azazc)",
"(clear tkpwb) (arm-empty) (on asqsu zfcjg) (on-table hyuni) (on-table zfcjg) (on azazc hyuni) (on tkpwb azazc) (clear asqsu)",
"(on asqsu zfcjg) (on-table hyuni) (on-table zfcjg) (holding tkpwb) (on azazc hyuni) (clear azazc) (clear asqsu)",
"(arm-empty) (on asqsu zfcjg) (on-table tkpwb) (on azazc hyuni) (clear asqsu) (clear tkpwb) (on-table hyuni) (on-table zfcjg) (clear azazc)",
"(clear tkpwb) (on-table tkpwb) (on-table hyuni) (clear zfcjg) (holding asqsu) (on-table zfcjg) (on azazc hyuni) (clear azazc)",
"(clear tkpwb) (arm-empty) (on-table tkpwb) (on-table hyuni) (clear zfcjg) (on asqsu azazc) (on-table zfcjg) (on azazc hyuni) (clear asqsu)",
"(on-table hyuni) (clear zfcjg) (on asqsu azazc) (on-table zfcjg) (holding tkpwb) (on azazc hyuni) (clear asqsu)",
"(clear tkpwb) (arm-empty) (on-table hyuni) (on tkpwb zfcjg) (on asqsu azazc) (on-table zfcjg) (on azazc hyuni) (clear asqsu)",
"(clear tkpwb) (on-table hyuni) (on tkpwb zfcjg) (holding asqsu) (on-table zfcjg) (on azazc hyuni) (clear azazc)",
"(arm-empty) (on-table asqsu) (on azazc hyuni) (on tkpwb zfcjg) (clear asqsu) (clear tkpwb) (on-table hyuni) (on-table zfcjg) (clear azazc)",
"(clear tkpwb) (on-table asqsu) (on-table hyuni) (on tkpwb zfcjg) (on-table zfcjg) (holding azazc) (clear hyuni) (clear asqsu)",
"(clear tkpwb) (arm-empty) (on-table asqsu) (on-table hyuni) (on-table zfcjg) (on tkpwb zfcjg) (clear azazc) (clear hyuni) (on-table azazc) (clear asqsu)",
"(clear tkpwb) (on-table hyuni) (holding asqsu) (on-table zfcjg) (on tkpwb zfcjg) (clear azazc) (clear hyuni) (on-table azazc)",
"(arm-empty) (on-table hyuni) (on asqsu tkpwb) (on-table zfcjg) (on tkpwb zfcjg) (clear azazc) (clear hyuni) (on-table azazc) (clear asqsu)",
"(on-table hyuni) (on asqsu tkpwb) (on-table zfcjg) (on tkpwb zfcjg) (holding azazc) (clear hyuni) (clear asqsu)",
"(arm-empty) (on-table hyuni) (on asqsu tkpwb) (on tkpwb zfcjg) (on-table zfcjg) (on azazc hyuni) (clear azazc) (clear asqsu)"
] | file_11092 |
GOAL: (arm-empty) (on-table avzgx) (on odlzd mykun) (clear odlzd) (on mykun gglqq) (on gglqq wzbgz) (on wzbgz avzgx) | GOAL: (arm-empty) (on-table avzgx) (on odlzd mykun) (clear odlzd) (on mykun gglqq) (on gglqq wzbgz) (on wzbgz avzgx)
STATE: (on gglqq odlzd) (clear avzgx) (on wzbgz gglqq) (arm-empty) (on-table avzgx) (on mykun wzbgz) (on-table odlzd) (clear mykun) | [
[
"unstack mykun wzbgz"
],
[
"put-down mykun"
],
[
"unstack wzbgz gglqq"
],
[
"stack wzbgz avzgx"
],
[
"unstack gglqq odlzd"
],
[
"stack gglqq wzbgz"
],
[
"pick-up mykun"
],
[
"stack mykun gglqq"
],
[
"pick-up odlzd"
],
[
"stack odlzd mykun"
]
] | [
"(on gglqq odlzd) (clear avzgx) (on wzbgz gglqq) (on-table avzgx) (holding mykun) (on-table odlzd) (clear wzbgz)",
"(on wzbgz gglqq) (arm-empty) (on-table avzgx) (on-table mykun) (clear mykun) (on gglqq odlzd) (clear avzgx) (on-table odlzd) (clear wzbgz)",
"(holding wzbgz) (on gglqq odlzd) (clear avzgx) (on-table avzgx) (on-table mykun) (on-table odlzd) (clear gglqq) (clear mykun)",
"(on gglqq odlzd) (arm-empty) (on-table avzgx) (on-table mykun) (on-table odlzd) (clear gglqq) (on wzbgz avzgx) (clear wzbgz) (clear mykun)",
"(on-table avzgx) (on-table mykun) (clear odlzd) (on-table odlzd) (on wzbgz avzgx) (clear wzbgz) (holding gglqq) (clear mykun)",
"(arm-empty) (on-table avzgx) (on-table mykun) (clear odlzd) (on-table odlzd) (on gglqq wzbgz) (clear gglqq) (on wzbgz avzgx) (clear mykun)",
"(on-table avzgx) (clear odlzd) (holding mykun) (on-table odlzd) (on gglqq wzbgz) (clear gglqq) (on wzbgz avzgx)",
"(arm-empty) (on-table avzgx) (clear odlzd) (on mykun gglqq) (on-table odlzd) (on gglqq wzbgz) (on wzbgz avzgx) (clear mykun)",
"(on-table avzgx) (holding odlzd) (on mykun gglqq) (on gglqq wzbgz) (on wzbgz avzgx) (clear mykun)",
"(arm-empty) (on-table avzgx) (on odlzd mykun) (clear odlzd) (on mykun gglqq) (on gglqq wzbgz) (on wzbgz avzgx)"
] | file_3733 |
GOAL: (clear vpkyo) (on-table iugax) (on vpkyo rvhfx) (holding npeyp) (clear iugax) (on-table rvhfx) | GOAL: (clear vpkyo) (on-table iugax) (on vpkyo rvhfx) (holding npeyp) (clear iugax) (on-table rvhfx)
STATE: (clear npeyp) (on-table iugax) (clear vpkyo) (on-table vpkyo) (on npeyp iugax) (holding rvhfx) | [
[
"put-down rvhfx"
],
[
"pick-up vpkyo"
],
[
"stack vpkyo rvhfx"
],
[
"unstack npeyp iugax"
]
] | [
"(clear npeyp) (on-table vpkyo) (arm-empty) (on-table iugax) (on npeyp iugax) (clear rvhfx) (clear vpkyo) (on-table rvhfx)",
"(clear npeyp) (on-table iugax) (holding vpkyo) (on npeyp iugax) (clear rvhfx) (on-table rvhfx)",
"(on vpkyo rvhfx) (clear npeyp) (arm-empty) (on-table iugax) (on npeyp iugax) (clear vpkyo) (on-table rvhfx)",
"(clear vpkyo) (on-table iugax) (on vpkyo rvhfx) (holding npeyp) (clear iugax) (on-table rvhfx)"
] | file_44940 |
GOAL: (clear dsysc) (arm-empty) (on hdmwn vjktx) (on-table gkojt) (on vjktx yychm) (on dsysc gkojt) (on-table yychm) (clear hdmwn) | GOAL: (clear dsysc) (arm-empty) (on hdmwn vjktx) (on-table gkojt) (on vjktx yychm) (on dsysc gkojt) (on-table yychm) (clear hdmwn)
STATE: (on-table hdmwn) (on-table gkojt) (on vjktx hdmwn) (clear vjktx) (holding dsysc) (clear yychm) (clear gkojt) (on-table yychm) | [
[
"stack dsysc gkojt"
],
[
"unstack vjktx hdmwn"
],
[
"stack vjktx yychm"
],
[
"pick-up hdmwn"
],
[
"stack hdmwn vjktx"
]
] | [
"(clear dsysc) (arm-empty) (on-table hdmwn) (on-table gkojt) (on vjktx hdmwn) (clear vjktx) (on dsysc gkojt) (clear yychm) (on-table yychm)",
"(clear dsysc) (on-table hdmwn) (on-table gkojt) (holding vjktx) (on dsysc gkojt) (clear yychm) (on-table yychm) (clear hdmwn)",
"(clear dsysc) (arm-empty) (on-table hdmwn) (on-table gkojt) (clear vjktx) (on vjktx yychm) (on dsysc gkojt) (on-table yychm) (clear hdmwn)",
"(clear dsysc) (on-table gkojt) (clear vjktx) (on vjktx yychm) (holding hdmwn) (on dsysc gkojt) (on-table yychm)",
"(clear dsysc) (arm-empty) (on hdmwn vjktx) (on-table gkojt) (on vjktx yychm) (on dsysc gkojt) (on-table yychm) (clear hdmwn)"
] | file_33163 |
GOAL: (on hoxkv awiar) (on dfahx gcyyn) (on-table uierb) (arm-empty) (on awiar uierb) (on-table gcyyn) (clear hoxkv) (clear dfahx) | GOAL: (on hoxkv awiar) (on dfahx gcyyn) (on-table uierb) (arm-empty) (on awiar uierb) (on-table gcyyn) (clear hoxkv) (clear dfahx)
STATE: (on hoxkv dfahx) (clear uierb) (arm-empty) (on dfahx gcyyn) (on-table gcyyn) (on uierb hoxkv) (clear awiar) (on-table awiar) | [
[
"unstack uierb hoxkv"
],
[
"stack uierb awiar"
],
[
"unstack hoxkv dfahx"
],
[
"put-down hoxkv"
],
[
"unstack uierb awiar"
],
[
"put-down uierb"
],
[
"pick-up awiar"
],
[
"stack awiar uierb"
],
[
"pick-up hoxkv"
],
[
"stack hoxkv awiar"
]
] | [
"(on hoxkv dfahx) (on dfahx gcyyn) (on-table gcyyn) (holding uierb) (clear awiar) (clear hoxkv) (on-table awiar)",
"(on hoxkv dfahx) (clear uierb) (arm-empty) (on dfahx gcyyn) (on-table gcyyn) (on uierb awiar) (clear hoxkv) (on-table awiar)",
"(holding hoxkv) (clear uierb) (on dfahx gcyyn) (on-table gcyyn) (on uierb awiar) (on-table awiar) (clear dfahx)",
"(arm-empty) (on dfahx gcyyn) (clear dfahx) (clear uierb) (on-table hoxkv) (on-table gcyyn) (on uierb awiar) (clear hoxkv) (on-table awiar)",
"(on dfahx gcyyn) (on-table hoxkv) (on-table gcyyn) (holding uierb) (clear awiar) (clear hoxkv) (on-table awiar) (clear dfahx)",
"(clear uierb) (arm-empty) (on dfahx gcyyn) (on-table uierb) (on-table hoxkv) (on-table gcyyn) (clear awiar) (clear hoxkv) (on-table awiar) (clear dfahx)",
"(clear uierb) (on dfahx gcyyn) (on-table uierb) (on-table hoxkv) (on-table gcyyn) (holding awiar) (clear hoxkv) (clear dfahx)",
"(arm-empty) (on dfahx gcyyn) (on-table uierb) (on-table hoxkv) (on awiar uierb) (on-table gcyyn) (clear awiar) (clear hoxkv) (clear dfahx)",
"(holding hoxkv) (on dfahx gcyyn) (on-table uierb) (on awiar uierb) (on-table gcyyn) (clear awiar) (clear dfahx)",
"(on hoxkv awiar) (on dfahx gcyyn) (on-table uierb) (arm-empty) (on awiar uierb) (on-table gcyyn) (clear hoxkv) (clear dfahx)"
] | file_54059 |
GOAL: (on-table clsqh) (clear twrjv) (on-table twrjv) (holding diydm) (clear kfpgi) (clear clsqh) (on-table kfpgi) | GOAL: (on-table clsqh) (clear twrjv) (on-table twrjv) (holding diydm) (clear kfpgi) (clear clsqh) (on-table kfpgi)
STATE: (on-table clsqh) (clear twrjv) (on twrjv kfpgi) (holding diydm) (clear clsqh) (on-table kfpgi) | [
[
"stack diydm clsqh"
],
[
"unstack twrjv kfpgi"
],
[
"put-down twrjv"
],
[
"unstack diydm clsqh"
]
] | [
"(clear diydm) (arm-empty) (on-table clsqh) (clear twrjv) (on twrjv kfpgi) (on diydm clsqh) (on-table kfpgi)",
"(holding twrjv) (clear diydm) (on-table clsqh) (on diydm clsqh) (clear kfpgi) (on-table kfpgi)",
"(arm-empty) (clear twrjv) (on diydm clsqh) (clear diydm) (on-table clsqh) (on-table twrjv) (clear kfpgi) (on-table kfpgi)",
"(on-table clsqh) (clear twrjv) (on-table twrjv) (holding diydm) (clear kfpgi) (clear clsqh) (on-table kfpgi)"
] | file_191219 |
GOAL: (on chxof hlnej) (arm-empty) (on-table hohqo) (clear gnqmf) (on hlnej ynyke) (on-table gnqmf) (clear chxof) (on ynyke hohqo) | GOAL: (on chxof hlnej) (arm-empty) (on-table hohqo) (clear gnqmf) (on hlnej ynyke) (on-table gnqmf) (clear chxof) (on ynyke hohqo)
STATE: (on chxof gnqmf) (clear hohqo) (arm-empty) (on ynyke hlnej) (on-table hohqo) (on hlnej chxof) (on-table gnqmf) (clear ynyke) | [
[
"unstack ynyke hlnej"
],
[
"stack ynyke hohqo"
],
[
"unstack hlnej chxof"
],
[
"stack hlnej ynyke"
],
[
"unstack chxof gnqmf"
],
[
"stack chxof hlnej"
]
] | [
"(holding ynyke) (on chxof gnqmf) (clear hohqo) (on-table hohqo) (on hlnej chxof) (on-table gnqmf) (clear hlnej)",
"(on chxof gnqmf) (arm-empty) (on-table hohqo) (on hlnej chxof) (on-table gnqmf) (on ynyke hohqo) (clear ynyke) (clear hlnej)",
"(on chxof gnqmf) (on-table hohqo) (holding hlnej) (on-table gnqmf) (clear chxof) (on ynyke hohqo) (clear ynyke)",
"(on chxof gnqmf) (arm-empty) (on-table hohqo) (on hlnej ynyke) (on-table gnqmf) (clear chxof) (on ynyke hohqo) (clear hlnej)",
"(on-table hohqo) (clear gnqmf) (on hlnej ynyke) (on-table gnqmf) (on ynyke hohqo) (holding chxof) (clear hlnej)",
"(on chxof hlnej) (arm-empty) (on-table hohqo) (clear gnqmf) (on hlnej ynyke) (on-table gnqmf) (clear chxof) (on ynyke hohqo)"
] | file_64562 |
GOAL: (arm-empty) (on ppmkr cafto) (on-table iztfu) (on enymu iztfu) (on cafto laplz) (on laplz enymu) (clear ppmkr) | GOAL: (arm-empty) (on ppmkr cafto) (on-table iztfu) (on enymu iztfu) (on cafto laplz) (on laplz enymu) (clear ppmkr)
STATE: (holding iztfu) (on ppmkr cafto) (on enymu laplz) (on-table cafto) (on laplz ppmkr) (clear enymu) | [
[
"put-down iztfu"
],
[
"unstack enymu laplz"
],
[
"stack enymu iztfu"
],
[
"unstack laplz ppmkr"
],
[
"stack laplz enymu"
],
[
"unstack ppmkr cafto"
],
[
"put-down ppmkr"
],
[
"pick-up cafto"
],
[
"stack cafto laplz"
],
[
"pick-up ppmkr"
],
[
"stack ppmkr cafto"
]
] | [
"(arm-empty) (on ppmkr cafto) (on laplz ppmkr) (on-table iztfu) (on enymu laplz) (on-table cafto) (clear enymu) (clear iztfu)",
"(clear laplz) (on ppmkr cafto) (on-table iztfu) (on-table cafto) (on laplz ppmkr) (holding enymu) (clear iztfu)",
"(clear laplz) (arm-empty) (on ppmkr cafto) (on-table iztfu) (on-table cafto) (on enymu iztfu) (on laplz ppmkr) (clear enymu)",
"(on ppmkr cafto) (on-table iztfu) (on-table cafto) (holding laplz) (on enymu iztfu) (clear enymu) (clear ppmkr)",
"(clear laplz) (arm-empty) (on ppmkr cafto) (on-table iztfu) (on-table cafto) (on enymu iztfu) (on laplz enymu) (clear ppmkr)",
"(clear laplz) (on-table iztfu) (clear cafto) (holding ppmkr) (on-table cafto) (on enymu iztfu) (on laplz enymu)",
"(arm-empty) (on-table ppmkr) (clear cafto) (on enymu iztfu) (clear ppmkr) (clear laplz) (on-table iztfu) (on-table cafto) (on laplz enymu)",
"(clear laplz) (on-table ppmkr) (on-table iztfu) (holding cafto) (on enymu iztfu) (on laplz enymu) (clear ppmkr)",
"(arm-empty) (on-table ppmkr) (on-table iztfu) (clear cafto) (on enymu iztfu) (on cafto laplz) (on laplz enymu) (clear ppmkr)",
"(on-table iztfu) (clear cafto) (on enymu iztfu) (holding ppmkr) (on cafto laplz) (on laplz enymu)",
"(arm-empty) (on ppmkr cafto) (on-table iztfu) (on enymu iztfu) (on cafto laplz) (on laplz enymu) (clear ppmkr)"
] | file_40604 |
GOAL: (on xtzcv rwttv) (on hhvxf xtzcv) (on-table jxgdl) (on rwttv jxgdl) (clear hhvxf) (holding rdoyb) | GOAL: (on xtzcv rwttv) (on hhvxf xtzcv) (on-table jxgdl) (on rwttv jxgdl) (clear hhvxf) (holding rdoyb)
STATE: (clear jxgdl) (arm-empty) (on-table rdoyb) (on hhvxf rdoyb) (on xtzcv hhvxf) (on rwttv xtzcv) (on jxgdl rwttv) | [
[
"unstack jxgdl rwttv"
],
[
"put-down jxgdl"
],
[
"unstack rwttv xtzcv"
],
[
"stack rwttv jxgdl"
],
[
"unstack xtzcv hhvxf"
],
[
"stack xtzcv rwttv"
],
[
"unstack hhvxf rdoyb"
],
[
"stack hhvxf xtzcv"
],
[
"pick-up rdoyb"
]
] | [
"(on-table rdoyb) (on hhvxf rdoyb) (on rwttv xtzcv) (on xtzcv hhvxf) (holding jxgdl) (clear rwttv)",
"(clear jxgdl) (arm-empty) (on-table jxgdl) (on-table rdoyb) (on rwttv xtzcv) (on hhvxf rdoyb) (clear rwttv) (on xtzcv hhvxf)",
"(clear jxgdl) (on-table jxgdl) (on-table rdoyb) (on hhvxf rdoyb) (on xtzcv hhvxf) (holding rwttv) (clear xtzcv)",
"(arm-empty) (on-table jxgdl) (on-table rdoyb) (on hhvxf rdoyb) (on rwttv jxgdl) (on xtzcv hhvxf) (clear rwttv) (clear xtzcv)",
"(holding xtzcv) (on-table jxgdl) (on-table rdoyb) (on hhvxf rdoyb) (on rwttv jxgdl) (clear hhvxf) (clear rwttv)",
"(on xtzcv rwttv) (arm-empty) (on-table jxgdl) (on-table rdoyb) (on hhvxf rdoyb) (on rwttv jxgdl) (clear hhvxf) (clear xtzcv)",
"(on xtzcv rwttv) (on-table jxgdl) (on-table rdoyb) (holding hhvxf) (on rwttv jxgdl) (clear xtzcv) (clear rdoyb)",
"(on xtzcv rwttv) (on hhvxf xtzcv) (on-table jxgdl) (on-table rdoyb) (arm-empty) (on rwttv jxgdl) (clear hhvxf) (clear rdoyb)",
"(on xtzcv rwttv) (on hhvxf xtzcv) (on-table jxgdl) (on rwttv jxgdl) (clear hhvxf) (holding rdoyb)"
] | file_137158 |
GOAL: (on qtkfu zewlx) (arm-empty) (on-table wojyf) (on hkghw wojyf) (clear tayvf) (on zewlx hkghw) (on-table tayvf) (clear qtkfu) | GOAL: (on qtkfu zewlx) (arm-empty) (on-table wojyf) (on hkghw wojyf) (clear tayvf) (on zewlx hkghw) (on-table tayvf) (clear qtkfu)
STATE: (arm-empty) (on-table wojyf) (on tayvf zewlx) (on hkghw wojyf) (on zewlx hkghw) (on qtkfu tayvf) (clear qtkfu) | [
[
"unstack qtkfu tayvf"
],
[
"put-down qtkfu"
],
[
"unstack tayvf zewlx"
],
[
"put-down tayvf"
],
[
"pick-up qtkfu"
],
[
"stack qtkfu zewlx"
]
] | [
"(on-table wojyf) (on tayvf zewlx) (clear tayvf) (on zewlx hkghw) (holding qtkfu) (on hkghw wojyf)",
"(arm-empty) (on-table wojyf) (on tayvf zewlx) (clear tayvf) (on zewlx hkghw) (on-table qtkfu) (on hkghw wojyf) (clear qtkfu)",
"(on-table wojyf) (on-table qtkfu) (holding tayvf) (on hkghw wojyf) (on zewlx hkghw) (clear qtkfu) (clear zewlx)",
"(arm-empty) (on-table wojyf) (clear tayvf) (on zewlx hkghw) (clear zewlx) (on-table qtkfu) (on hkghw wojyf) (on-table tayvf) (clear qtkfu)",
"(holding qtkfu) (on-table wojyf) (on hkghw wojyf) (clear tayvf) (on zewlx hkghw) (on-table tayvf) (clear zewlx)",
"(on qtkfu zewlx) (arm-empty) (on-table wojyf) (on hkghw wojyf) (clear tayvf) (on zewlx hkghw) (on-table tayvf) (clear qtkfu)"
] | file_25016 |
GOAL: (on-table illrf) (clear kpgcv) (arm-empty) (on thepp illrf) (on dakkz thepp) (on kpgcv dakkz) | GOAL: (on-table illrf) (clear kpgcv) (arm-empty) (on thepp illrf) (on dakkz thepp) (on kpgcv dakkz)
STATE: (on illrf thepp) (on-table thepp) (clear illrf) (holding kpgcv) (clear dakkz) (on-table dakkz) | [
[
"put-down kpgcv"
],
[
"pick-up dakkz"
],
[
"stack dakkz kpgcv"
],
[
"unstack illrf thepp"
],
[
"put-down illrf"
],
[
"pick-up thepp"
],
[
"stack thepp illrf"
],
[
"unstack dakkz kpgcv"
],
[
"stack dakkz thepp"
],
[
"pick-up kpgcv"
],
[
"stack kpgcv dakkz"
]
] | [
"(on illrf thepp) (arm-empty) (on-table kpgcv) (clear illrf) (clear kpgcv) (on-table thepp) (clear dakkz) (on-table dakkz)",
"(clear kpgcv) (on illrf thepp) (on-table kpgcv) (on-table thepp) (clear illrf) (holding dakkz)",
"(on illrf thepp) (arm-empty) (on-table kpgcv) (on-table thepp) (on dakkz kpgcv) (clear illrf) (clear dakkz)",
"(on-table kpgcv) (holding illrf) (on-table thepp) (on dakkz kpgcv) (clear dakkz) (clear thepp)",
"(arm-empty) (on-table kpgcv) (clear illrf) (on-table thepp) (on dakkz kpgcv) (on-table illrf) (clear dakkz) (clear thepp)",
"(holding thepp) (on-table kpgcv) (on dakkz kpgcv) (clear illrf) (on-table illrf) (clear dakkz)",
"(arm-empty) (on-table kpgcv) (on dakkz kpgcv) (on-table illrf) (on thepp illrf) (clear dakkz) (clear thepp)",
"(on-table kpgcv) (clear kpgcv) (on-table illrf) (on thepp illrf) (holding dakkz) (clear thepp)",
"(clear kpgcv) (arm-empty) (on-table kpgcv) (on-table illrf) (on thepp illrf) (on dakkz thepp) (clear dakkz)",
"(on-table illrf) (on thepp illrf) (on dakkz thepp) (clear dakkz) (holding kpgcv)",
"(on-table illrf) (clear kpgcv) (arm-empty) (on thepp illrf) (on dakkz thepp) (on kpgcv dakkz)"
] | file_63204 |
GOAL: (on zwudr buxgc) (on ltvyq zwudr) (arm-empty) (on wtlsj cocfn) (on cocfn ltvyq) (on-table buxgc) (clear wtlsj) | GOAL: (on zwudr buxgc) (on ltvyq zwudr) (arm-empty) (on wtlsj cocfn) (on cocfn ltvyq) (on-table buxgc) (clear wtlsj)
STATE: (on buxgc ltvyq) (arm-empty) (on-table wtlsj) (on-table zwudr) (on ltvyq cocfn) (on cocfn wtlsj) (clear buxgc) (clear zwudr) | [
[
"unstack buxgc ltvyq"
],
[
"put-down buxgc"
],
[
"pick-up zwudr"
],
[
"stack zwudr buxgc"
],
[
"unstack ltvyq cocfn"
],
[
"stack ltvyq zwudr"
],
[
"unstack cocfn wtlsj"
],
[
"stack cocfn ltvyq"
],
[
"pick-up wtlsj"
],
[
"stack wtlsj cocfn"
]
] | [
"(on-table wtlsj) (on-table zwudr) (clear ltvyq) (on ltvyq cocfn) (on cocfn wtlsj) (holding buxgc) (clear zwudr)",
"(arm-empty) (on-table wtlsj) (clear ltvyq) (on cocfn wtlsj) (on-table zwudr) (on ltvyq cocfn) (clear buxgc) (clear zwudr) (on-table buxgc)",
"(holding zwudr) (on-table wtlsj) (clear ltvyq) (on ltvyq cocfn) (on cocfn wtlsj) (clear buxgc) (on-table buxgc)",
"(on zwudr buxgc) (arm-empty) (on-table wtlsj) (clear ltvyq) (on ltvyq cocfn) (on cocfn wtlsj) (clear zwudr) (on-table buxgc)",
"(clear cocfn) (on zwudr buxgc) (on-table wtlsj) (holding ltvyq) (on cocfn wtlsj) (clear zwudr) (on-table buxgc)",
"(clear cocfn) (on zwudr buxgc) (on ltvyq zwudr) (arm-empty) (on-table wtlsj) (clear ltvyq) (on cocfn wtlsj) (on-table buxgc)",
"(on zwudr buxgc) (on ltvyq zwudr) (on-table wtlsj) (clear ltvyq) (holding cocfn) (on-table buxgc) (clear wtlsj)",
"(clear cocfn) (on zwudr buxgc) (on ltvyq zwudr) (arm-empty) (on-table wtlsj) (on cocfn ltvyq) (on-table buxgc) (clear wtlsj)",
"(clear cocfn) (on zwudr buxgc) (on ltvyq zwudr) (holding wtlsj) (on cocfn ltvyq) (on-table buxgc)",
"(on zwudr buxgc) (on ltvyq zwudr) (arm-empty) (on wtlsj cocfn) (on cocfn ltvyq) (on-table buxgc) (clear wtlsj)"
] | file_215090 |
GOAL: (holding qqagv) (clear ehnxj) (on-table rnoqm) (clear zlhwb) (on zlhwb kvrgl) (on ehnxj rnoqm) (on-table kvrgl) | GOAL: (holding qqagv) (clear ehnxj) (on-table rnoqm) (clear zlhwb) (on zlhwb kvrgl) (on ehnxj rnoqm) (on-table kvrgl)
STATE: (arm-empty) (on-table rnoqm) (on qqagv zlhwb) (on zlhwb ehnxj) (on ehnxj rnoqm) (clear kvrgl) (clear qqagv) (on-table kvrgl) | [
[
"unstack qqagv zlhwb"
],
[
"put-down qqagv"
],
[
"unstack zlhwb ehnxj"
],
[
"stack zlhwb kvrgl"
],
[
"pick-up qqagv"
]
] | [
"(holding qqagv) (on-table rnoqm) (clear zlhwb) (on zlhwb ehnxj) (on ehnxj rnoqm) (clear kvrgl) (on-table kvrgl)",
"(arm-empty) (on-table rnoqm) (clear zlhwb) (on ehnxj rnoqm) (on-table qqagv) (on zlhwb ehnxj) (clear kvrgl) (clear qqagv) (on-table kvrgl)",
"(clear ehnxj) (on-table rnoqm) (on-table qqagv) (holding zlhwb) (on ehnxj rnoqm) (clear kvrgl) (clear qqagv) (on-table kvrgl)",
"(clear ehnxj) (arm-empty) (on-table rnoqm) (on-table qqagv) (clear zlhwb) (on zlhwb kvrgl) (on ehnxj rnoqm) (clear qqagv) (on-table kvrgl)",
"(holding qqagv) (clear ehnxj) (on-table rnoqm) (clear zlhwb) (on zlhwb kvrgl) (on ehnxj rnoqm) (on-table kvrgl)"
] | file_72741 |
GOAL: (clear hzfum) (arm-empty) (on-table ssczx) (on xoolc ssczx) (on fahdj xoolc) (on hzfum xomeh) (clear fahdj) (on-table xomeh) | GOAL: (clear hzfum) (arm-empty) (on-table ssczx) (on xoolc ssczx) (on fahdj xoolc) (on hzfum xomeh) (clear fahdj) (on-table xomeh)
STATE: (on fahdj xomeh) (on ssczx xoolc) (arm-empty) (on xoolc hzfum) (on hzfum fahdj) (on-table xomeh) (clear ssczx) | [
[
"unstack ssczx xoolc"
],
[
"put-down ssczx"
],
[
"unstack xoolc hzfum"
],
[
"stack xoolc ssczx"
],
[
"unstack hzfum fahdj"
],
[
"put-down hzfum"
],
[
"unstack fahdj xomeh"
],
[
"stack fahdj xoolc"
],
[
"pick-up hzfum"
],
[
"stack hzfum xomeh"
]
] | [
"(on fahdj xomeh) (clear xoolc) (holding ssczx) (on hzfum fahdj) (on xoolc hzfum) (on-table xomeh)",
"(on fahdj xomeh) (arm-empty) (on-table ssczx) (clear xoolc) (on hzfum fahdj) (clear ssczx) (on xoolc hzfum) (on-table xomeh)",
"(clear hzfum) (on fahdj xomeh) (on-table ssczx) (holding xoolc) (on hzfum fahdj) (on-table xomeh) (clear ssczx)",
"(clear hzfum) (on fahdj xomeh) (arm-empty) (on xoolc ssczx) (on-table ssczx) (clear xoolc) (on hzfum fahdj) (on-table xomeh)",
"(on fahdj xomeh) (on xoolc ssczx) (on-table ssczx) (clear xoolc) (holding hzfum) (clear fahdj) (on-table xomeh)",
"(on fahdj xomeh) (arm-empty) (on-table hzfum) (on-table ssczx) (on xoolc ssczx) (clear xoolc) (clear hzfum) (clear fahdj) (on-table xomeh)",
"(holding fahdj) (clear hzfum) (on-table hzfum) (on-table ssczx) (on xoolc ssczx) (clear xoolc) (clear xomeh) (on-table xomeh)",
"(clear hzfum) (arm-empty) (on-table hzfum) (on-table ssczx) (on xoolc ssczx) (on fahdj xoolc) (clear xomeh) (clear fahdj) (on-table xomeh)",
"(on-table ssczx) (on xoolc ssczx) (holding hzfum) (on fahdj xoolc) (clear xomeh) (clear fahdj) (on-table xomeh)",
"(clear hzfum) (arm-empty) (on-table ssczx) (on xoolc ssczx) (on fahdj xoolc) (on hzfum xomeh) (clear fahdj) (on-table xomeh)"
] | file_54738 |
GOAL: (on hjjaa crhqz) (arm-empty) (on-table kelzm) (on-table zuhvt) (clear zuhvt) (on crhqz drifq) (clear kelzm) (on-table drifq) (clear hjjaa) | GOAL: (on hjjaa crhqz) (arm-empty) (on-table kelzm) (on-table zuhvt) (clear zuhvt) (on crhqz drifq) (clear kelzm) (on-table drifq) (clear hjjaa)
STATE: (on crhqz drifq) (on-table hjjaa) (on zuhvt crhqz) (on-table drifq) (holding kelzm) (clear hjjaa) (clear zuhvt) | [
[
"put-down kelzm"
],
[
"unstack zuhvt crhqz"
],
[
"stack zuhvt kelzm"
],
[
"pick-up hjjaa"
],
[
"stack hjjaa crhqz"
],
[
"unstack zuhvt kelzm"
],
[
"put-down zuhvt"
]
] | [
"(arm-empty) (on-table kelzm) (on zuhvt crhqz) (clear zuhvt) (on crhqz drifq) (clear kelzm) (on-table hjjaa) (on-table drifq) (clear hjjaa)",
"(on crhqz drifq) (clear kelzm) (on-table kelzm) (on-table hjjaa) (holding zuhvt) (on-table drifq) (clear crhqz) (clear hjjaa)",
"(on crhqz drifq) (arm-empty) (on-table kelzm) (on-table hjjaa) (on zuhvt kelzm) (on-table drifq) (clear crhqz) (clear hjjaa) (clear zuhvt)",
"(holding hjjaa) (on crhqz drifq) (on-table kelzm) (on zuhvt kelzm) (on-table drifq) (clear crhqz) (clear zuhvt)",
"(on crhqz drifq) (on hjjaa crhqz) (arm-empty) (on-table kelzm) (on zuhvt kelzm) (on-table drifq) (clear hjjaa) (clear zuhvt)",
"(on crhqz drifq) (clear kelzm) (on hjjaa crhqz) (on-table kelzm) (holding zuhvt) (on-table drifq) (clear hjjaa)",
"(on hjjaa crhqz) (arm-empty) (on-table kelzm) (on-table zuhvt) (clear zuhvt) (on crhqz drifq) (clear kelzm) (on-table drifq) (clear hjjaa)"
] | file_42430 |
GOAL: (on jgjsz bjvfb) (clear dlgcu) (arm-empty) (on-table kqylg) (on-table pwvku) (on-table bjvfb) (on dlgcu pwvku) (clear jgjsz) (clear kqylg) | GOAL: (on jgjsz bjvfb) (clear dlgcu) (arm-empty) (on-table kqylg) (on-table pwvku) (on-table bjvfb) (on dlgcu pwvku) (clear jgjsz) (clear kqylg)
STATE: (clear dlgcu) (on-table dlgcu) (on-table kqylg) (on-table pwvku) (clear bjvfb) (on-table bjvfb) (holding jgjsz) (clear pwvku) (clear kqylg) | [
[
"stack jgjsz bjvfb"
],
[
"pick-up pwvku"
],
[
"stack pwvku jgjsz"
],
[
"pick-up dlgcu"
],
[
"stack dlgcu kqylg"
],
[
"unstack pwvku jgjsz"
],
[
"put-down pwvku"
],
[
"unstack dlgcu kqylg"
],
[
"stack dlgcu pwvku"
]
] | [
"(on jgjsz bjvfb) (clear dlgcu) (arm-empty) (on-table dlgcu) (on-table kqylg) (on-table pwvku) (on-table bjvfb) (clear jgjsz) (clear pwvku) (clear kqylg)",
"(holding pwvku) (on jgjsz bjvfb) (clear dlgcu) (on-table dlgcu) (on-table kqylg) (on-table bjvfb) (clear jgjsz) (clear kqylg)",
"(on jgjsz bjvfb) (clear dlgcu) (on pwvku jgjsz) (arm-empty) (on-table dlgcu) (on-table kqylg) (on-table bjvfb) (clear pwvku) (clear kqylg)",
"(on jgjsz bjvfb) (on pwvku jgjsz) (on-table kqylg) (on-table bjvfb) (holding dlgcu) (clear pwvku) (clear kqylg)",
"(on jgjsz bjvfb) (clear dlgcu) (on pwvku jgjsz) (arm-empty) (on-table kqylg) (on-table bjvfb) (on dlgcu kqylg) (clear pwvku)",
"(holding pwvku) (on jgjsz bjvfb) (clear dlgcu) (on-table kqylg) (on-table bjvfb) (on dlgcu kqylg) (clear jgjsz)",
"(arm-empty) (on-table kqylg) (on dlgcu kqylg) (on jgjsz bjvfb) (clear dlgcu) (on-table pwvku) (on-table bjvfb) (clear jgjsz) (clear pwvku)",
"(on jgjsz bjvfb) (on-table kqylg) (on-table pwvku) (on-table bjvfb) (holding dlgcu) (clear jgjsz) (clear pwvku) (clear kqylg)",
"(on jgjsz bjvfb) (clear dlgcu) (arm-empty) (on-table kqylg) (on-table pwvku) (on-table bjvfb) (on dlgcu pwvku) (clear jgjsz) (clear kqylg)"
] | file_115859 |
GOAL: (holding pzttc) (on hezme bckvb) (clear khjgg) (on-table bckvb) (clear rheci) (on-table rheci) (on khjgg hezme) | GOAL: (holding pzttc) (on hezme bckvb) (clear khjgg) (on-table bckvb) (clear rheci) (on-table rheci) (on khjgg hezme)
STATE: (arm-empty) (on-table bckvb) (on-table pzttc) (on hezme khjgg) (clear rheci) (on-table rheci) (on khjgg pzttc) (clear hezme) (clear bckvb) | [
[
"unstack hezme khjgg"
],
[
"put-down hezme"
],
[
"unstack khjgg pzttc"
],
[
"stack khjgg rheci"
],
[
"pick-up hezme"
],
[
"stack hezme bckvb"
],
[
"unstack khjgg rheci"
],
[
"stack khjgg hezme"
],
[
"pick-up pzttc"
]
] | [
"(clear khjgg) (on-table bckvb) (on-table pzttc) (clear rheci) (on-table rheci) (on khjgg pzttc) (holding hezme) (clear bckvb)",
"(clear khjgg) (arm-empty) (on-table bckvb) (on-table pzttc) (clear rheci) (on-table rheci) (on khjgg pzttc) (clear hezme) (on-table hezme) (clear bckvb)",
"(on-table bckvb) (on-table pzttc) (clear rheci) (on-table rheci) (holding khjgg) (clear hezme) (clear pzttc) (on-table hezme) (clear bckvb)",
"(clear khjgg) (arm-empty) (on-table bckvb) (on-table pzttc) (on-table rheci) (on khjgg rheci) (clear hezme) (clear pzttc) (on-table hezme) (clear bckvb)",
"(clear khjgg) (on-table bckvb) (on-table pzttc) (on-table rheci) (on khjgg rheci) (holding hezme) (clear pzttc) (clear bckvb)",
"(clear khjgg) (on hezme bckvb) (arm-empty) (on-table bckvb) (on-table pzttc) (on-table rheci) (on khjgg rheci) (clear hezme) (clear pzttc)",
"(on hezme bckvb) (on-table bckvb) (on-table pzttc) (clear rheci) (on-table rheci) (holding khjgg) (clear hezme) (clear pzttc)",
"(on hezme bckvb) (clear khjgg) (arm-empty) (on-table bckvb) (on-table pzttc) (clear rheci) (on-table rheci) (on khjgg hezme) (clear pzttc)",
"(holding pzttc) (on hezme bckvb) (clear khjgg) (on-table bckvb) (clear rheci) (on-table rheci) (on khjgg hezme)"
] | file_10504 |
GOAL: (on tmfiy kyfpb) (clear soubo) (arm-empty) (on-table soubo) (on-table qpofc) (on-table xinfl) (on-table kyfpb) (clear tmfiy) (clear xinfl) (clear qpofc) | GOAL: (on tmfiy kyfpb) (clear soubo) (arm-empty) (on-table soubo) (on-table qpofc) (on-table xinfl) (on-table kyfpb) (clear tmfiy) (clear xinfl) (clear qpofc)
STATE: (on tmfiy kyfpb) (clear soubo) (on xinfl tmfiy) (holding qpofc) (on-table kyfpb) (on soubo xinfl) | [
[
"put-down qpofc"
],
[
"unstack soubo xinfl"
],
[
"put-down soubo"
],
[
"unstack xinfl tmfiy"
],
[
"put-down xinfl"
]
] | [
"(on tmfiy kyfpb) (clear soubo) (on xinfl tmfiy) (arm-empty) (on-table kyfpb) (on-table qpofc) (on soubo xinfl) (clear qpofc)",
"(on tmfiy kyfpb) (on xinfl tmfiy) (on-table qpofc) (on-table kyfpb) (holding soubo) (clear xinfl) (clear qpofc)",
"(on xinfl tmfiy) (arm-empty) (on-table soubo) (on-table qpofc) (clear qpofc) (on tmfiy kyfpb) (clear soubo) (on-table kyfpb) (clear xinfl)",
"(holding xinfl) (on tmfiy kyfpb) (clear soubo) (on-table soubo) (on-table qpofc) (on-table kyfpb) (clear tmfiy) (clear qpofc)",
"(on tmfiy kyfpb) (clear soubo) (arm-empty) (on-table soubo) (on-table qpofc) (on-table xinfl) (on-table kyfpb) (clear tmfiy) (clear xinfl) (clear qpofc)"
] | file_135203 |
GOAL: (on-table lclxw) (on kgzkx lydsl) (clear uiuvz) (holding cnges) (on-table uiuvz) (on lydsl lclxw) (clear kgzkx) | GOAL: (on-table lclxw) (on kgzkx lydsl) (clear uiuvz) (holding cnges) (on-table uiuvz) (on lydsl lclxw) (clear kgzkx)
STATE: (clear lydsl) (on-table cnges) (on-table lclxw) (clear uiuvz) (on-table uiuvz) (on lydsl lclxw) (holding kgzkx) (clear cnges) | [
[
"stack kgzkx lydsl"
],
[
"pick-up cnges"
]
] | [
"(arm-empty) (on-table cnges) (on-table lclxw) (on kgzkx lydsl) (clear uiuvz) (on-table uiuvz) (on lydsl lclxw) (clear kgzkx) (clear cnges)",
"(on-table lclxw) (on kgzkx lydsl) (clear uiuvz) (holding cnges) (on-table uiuvz) (on lydsl lclxw) (clear kgzkx)"
] | file_71712 |
GOAL: (arm-empty) (on-table nuugb) (clear gmopo) (on gmopo bzatn) (on bzatn nuugb) (clear bqrnr) (on-table bqrnr) | GOAL: (arm-empty) (on-table nuugb) (clear gmopo) (on gmopo bzatn) (on bzatn nuugb) (clear bqrnr) (on-table bqrnr)
STATE: (on nuugb bqrnr) (arm-empty) (on-table bzatn) (on bqrnr bzatn) (clear gmopo) (on-table gmopo) (clear nuugb) | [
[
"unstack nuugb bqrnr"
],
[
"put-down nuugb"
],
[
"pick-up gmopo"
],
[
"stack gmopo nuugb"
],
[
"unstack bqrnr bzatn"
],
[
"put-down bqrnr"
],
[
"pick-up bzatn"
],
[
"stack bzatn bqrnr"
],
[
"unstack gmopo nuugb"
],
[
"put-down gmopo"
],
[
"unstack bzatn bqrnr"
],
[
"stack bzatn nuugb"
],
[
"pick-up gmopo"
],
[
"stack gmopo bzatn"
]
] | [
"(on-table bzatn) (clear gmopo) (holding nuugb) (on bqrnr bzatn) (on-table gmopo) (clear bqrnr)",
"(arm-empty) (on-table bzatn) (clear gmopo) (on-table nuugb) (on bqrnr bzatn) (on-table gmopo) (clear bqrnr) (clear nuugb)",
"(on-table bzatn) (on-table nuugb) (holding gmopo) (on bqrnr bzatn) (clear bqrnr) (clear nuugb)",
"(on gmopo nuugb) (arm-empty) (on-table bzatn) (on-table nuugb) (on bqrnr bzatn) (clear gmopo) (clear bqrnr)",
"(on gmopo nuugb) (on-table bzatn) (clear gmopo) (clear bzatn) (on-table nuugb) (holding bqrnr)",
"(clear bzatn) (on gmopo nuugb) (arm-empty) (on-table bzatn) (on-table nuugb) (clear bqrnr) (clear gmopo) (on-table bqrnr)",
"(on gmopo nuugb) (on-table nuugb) (clear gmopo) (holding bzatn) (clear bqrnr) (on-table bqrnr)",
"(clear bzatn) (on gmopo nuugb) (arm-empty) (on-table nuugb) (clear gmopo) (on bzatn bqrnr) (on-table bqrnr)",
"(holding gmopo) (clear bzatn) (on-table nuugb) (on bzatn bqrnr) (clear nuugb) (on-table bqrnr)",
"(arm-empty) (clear gmopo) (clear bzatn) (on-table nuugb) (on-table gmopo) (on bzatn bqrnr) (clear nuugb) (on-table bqrnr)",
"(on-table nuugb) (clear gmopo) (on-table gmopo) (holding bzatn) (clear bqrnr) (clear nuugb) (on-table bqrnr)",
"(clear bzatn) (arm-empty) (on-table nuugb) (clear gmopo) (on-table gmopo) (on bzatn nuugb) (clear bqrnr) (on-table bqrnr)",
"(clear bzatn) (on-table nuugb) (holding gmopo) (on bzatn nuugb) (clear bqrnr) (on-table bqrnr)",
"(arm-empty) (on-table nuugb) (clear gmopo) (on gmopo bzatn) (on bzatn nuugb) (clear bqrnr) (on-table bqrnr)"
] | file_225182 |
GOAL: (on zkzbs gmajc) (on pdwwn zkzbs) (arm-empty) (clear pdwwn) (on-table mgrhu) (on gmajc mgrhu) | GOAL: (on zkzbs gmajc) (on pdwwn zkzbs) (arm-empty) (clear pdwwn) (on-table mgrhu) (on gmajc mgrhu)
STATE: (arm-empty) (on-table mgrhu) (on-table gmajc) (on zkzbs mgrhu) (clear pdwwn) (on-table pdwwn) (clear zkzbs) (clear gmajc) | [
[
"unstack zkzbs mgrhu"
],
[
"stack zkzbs pdwwn"
],
[
"pick-up gmajc"
],
[
"stack gmajc mgrhu"
],
[
"unstack zkzbs pdwwn"
],
[
"stack zkzbs gmajc"
],
[
"pick-up pdwwn"
],
[
"stack pdwwn zkzbs"
]
] | [
"(clear mgrhu) (on-table mgrhu) (on-table gmajc) (clear pdwwn) (on-table pdwwn) (holding zkzbs) (clear gmajc)",
"(on zkzbs pdwwn) (clear mgrhu) (arm-empty) (on-table mgrhu) (on-table gmajc) (on-table pdwwn) (clear zkzbs) (clear gmajc)",
"(holding gmajc) (on zkzbs pdwwn) (clear mgrhu) (on-table mgrhu) (on-table pdwwn) (clear zkzbs)",
"(on zkzbs pdwwn) (arm-empty) (on-table mgrhu) (on-table pdwwn) (clear zkzbs) (on gmajc mgrhu) (clear gmajc)",
"(on-table mgrhu) (clear pdwwn) (on gmajc mgrhu) (on-table pdwwn) (holding zkzbs) (clear gmajc)",
"(arm-empty) (on-table mgrhu) (clear pdwwn) (on-table pdwwn) (on zkzbs gmajc) (clear zkzbs) (on gmajc mgrhu)",
"(holding pdwwn) (on-table mgrhu) (on zkzbs gmajc) (clear zkzbs) (on gmajc mgrhu)",
"(on zkzbs gmajc) (on pdwwn zkzbs) (arm-empty) (clear pdwwn) (on-table mgrhu) (on gmajc mgrhu)"
] | file_66615 |
GOAL: (clear rlbep) (on izoih zdvnb) (on sfino izoih) (arm-empty) (on rlbep sfino) (on-table zdvnb) | GOAL: (clear rlbep) (on izoih zdvnb) (on sfino izoih) (arm-empty) (on rlbep sfino) (on-table zdvnb)
STATE: (clear rlbep) (arm-empty) (on-table izoih) (on sfino zdvnb) (on zdvnb izoih) (on rlbep sfino) | [
[
"unstack rlbep sfino"
],
[
"put-down rlbep"
],
[
"unstack sfino zdvnb"
],
[
"stack sfino rlbep"
],
[
"unstack zdvnb izoih"
],
[
"put-down zdvnb"
],
[
"pick-up izoih"
],
[
"stack izoih zdvnb"
],
[
"unstack sfino rlbep"
],
[
"stack sfino izoih"
],
[
"pick-up rlbep"
],
[
"stack rlbep sfino"
]
] | [
"(on sfino zdvnb) (on zdvnb izoih) (holding rlbep) (on-table izoih) (clear sfino)",
"(on sfino zdvnb) (clear rlbep) (arm-empty) (clear sfino) (on-table rlbep) (on zdvnb izoih) (on-table izoih)",
"(holding sfino) (on-table izoih) (clear rlbep) (on-table rlbep) (on zdvnb izoih) (clear zdvnb)",
"(on zdvnb izoih) (arm-empty) (clear sfino) (on-table rlbep) (on sfino rlbep) (clear zdvnb) (on-table izoih)",
"(on-table rlbep) (clear sfino) (on-table izoih) (on sfino rlbep) (holding zdvnb) (clear izoih)",
"(on sfino rlbep) (arm-empty) (on-table rlbep) (on-table izoih) (clear zdvnb) (clear sfino) (clear izoih) (on-table zdvnb)",
"(holding izoih) (on-table rlbep) (clear sfino) (on sfino rlbep) (clear zdvnb) (on-table zdvnb)",
"(on izoih zdvnb) (arm-empty) (on-table rlbep) (clear sfino) (on sfino rlbep) (clear izoih) (on-table zdvnb)",
"(clear rlbep) (on izoih zdvnb) (on-table rlbep) (holding sfino) (clear izoih) (on-table zdvnb)",
"(clear rlbep) (on izoih zdvnb) (on sfino izoih) (on-table rlbep) (arm-empty) (clear sfino) (on-table zdvnb)",
"(on izoih zdvnb) (on sfino izoih) (clear sfino) (holding rlbep) (on-table zdvnb)",
"(clear rlbep) (on izoih zdvnb) (on sfino izoih) (arm-empty) (on rlbep sfino) (on-table zdvnb)"
] | file_109270 |
GOAL: (clear sdwon) (on-table bsupo) (holding vrofq) (on waczv bsupo) (on sdwon nwvio) (on-table nwvio) (clear waczv) | GOAL: (clear sdwon) (on-table bsupo) (holding vrofq) (on waczv bsupo) (on sdwon nwvio) (on-table nwvio) (clear waczv)
STATE: (clear sdwon) (on-table bsupo) (clear vrofq) (on waczv bsupo) (on-table vrofq) (on sdwon waczv) (holding nwvio) | [
[
"put-down nwvio"
],
[
"unstack sdwon waczv"
],
[
"stack sdwon nwvio"
],
[
"pick-up vrofq"
]
] | [
"(arm-empty) (clear vrofq) (on sdwon waczv) (clear sdwon) (on-table bsupo) (on waczv bsupo) (on-table vrofq) (clear nwvio) (on-table nwvio)",
"(on-table bsupo) (clear vrofq) (on waczv bsupo) (on-table vrofq) (holding sdwon) (clear nwvio) (on-table nwvio) (clear waczv)",
"(clear sdwon) (arm-empty) (on-table bsupo) (clear vrofq) (on waczv bsupo) (on-table vrofq) (on sdwon nwvio) (on-table nwvio) (clear waczv)",
"(clear sdwon) (on-table bsupo) (holding vrofq) (on waczv bsupo) (on sdwon nwvio) (on-table nwvio) (clear waczv)"
] | file_22976 |
GOAL: (holding gthpk) (on gmhst ewfxn) (on ewfxn tsxkn) (on-table qrgao) (on tsxkn qrgao) (clear gmhst) | GOAL: (holding gthpk) (on gmhst ewfxn) (on ewfxn tsxkn) (on-table qrgao) (on tsxkn qrgao) (clear gmhst)
STATE: (clear qrgao) (on-table qrgao) (holding tsxkn) (on-table gthpk) (on ewfxn gmhst) (clear gthpk) (on-table gmhst) (clear ewfxn) | [
[
"stack tsxkn qrgao"
],
[
"unstack ewfxn gmhst"
],
[
"stack ewfxn tsxkn"
],
[
"pick-up gmhst"
],
[
"stack gmhst ewfxn"
],
[
"pick-up gthpk"
]
] | [
"(arm-empty) (on-table qrgao) (on-table gthpk) (clear tsxkn) (on ewfxn gmhst) (on tsxkn qrgao) (clear gthpk) (on-table gmhst) (clear ewfxn)",
"(on-table qrgao) (on-table gthpk) (clear tsxkn) (holding ewfxn) (on tsxkn qrgao) (clear gmhst) (clear gthpk) (on-table gmhst)",
"(arm-empty) (on ewfxn tsxkn) (on-table qrgao) (on-table gthpk) (on tsxkn qrgao) (clear gmhst) (clear gthpk) (on-table gmhst) (clear ewfxn)",
"(on ewfxn tsxkn) (on-table qrgao) (on-table gthpk) (on tsxkn qrgao) (holding gmhst) (clear gthpk) (clear ewfxn)",
"(on gmhst ewfxn) (arm-empty) (on ewfxn tsxkn) (on-table qrgao) (on-table gthpk) (on tsxkn qrgao) (clear gmhst) (clear gthpk)",
"(holding gthpk) (on gmhst ewfxn) (on ewfxn tsxkn) (on-table qrgao) (on tsxkn qrgao) (clear gmhst)"
] | file_145098 |
GOAL: (clear pkogi) (arm-empty) (on-table mfnjk) (clear txdus) (on bdjvz mfnjk) (on-table txdus) (on pkogi bdjvz) (clear lfclo) (on-table lfclo) | GOAL: (clear pkogi) (arm-empty) (on-table mfnjk) (clear txdus) (on bdjvz mfnjk) (on-table txdus) (on pkogi bdjvz) (clear lfclo) (on-table lfclo)
STATE: (arm-empty) (on-table pkogi) (on-table mfnjk) (on bdjvz pkogi) (clear txdus) (on-table txdus) (clear lfclo) (clear mfnjk) (on-table lfclo) (clear bdjvz) | [
[
"pick-up lfclo"
],
[
"stack lfclo mfnjk"
],
[
"unstack bdjvz pkogi"
],
[
"stack bdjvz txdus"
],
[
"pick-up pkogi"
],
[
"stack pkogi bdjvz"
],
[
"unstack lfclo mfnjk"
],
[
"put-down lfclo"
],
[
"unstack pkogi bdjvz"
],
[
"stack pkogi lfclo"
],
[
"unstack bdjvz txdus"
],
[
"stack bdjvz mfnjk"
],
[
"unstack pkogi lfclo"
],
[
"stack pkogi bdjvz"
]
] | [
"(on-table pkogi) (on-table mfnjk) (on bdjvz pkogi) (clear txdus) (on-table txdus) (holding lfclo) (clear mfnjk) (clear bdjvz)",
"(arm-empty) (on-table pkogi) (on-table mfnjk) (on bdjvz pkogi) (clear txdus) (on-table txdus) (on lfclo mfnjk) (clear lfclo) (clear bdjvz)",
"(clear pkogi) (on-table pkogi) (on-table mfnjk) (clear txdus) (holding bdjvz) (on-table txdus) (on lfclo mfnjk) (clear lfclo)",
"(clear pkogi) (arm-empty) (on bdjvz txdus) (on-table pkogi) (on-table mfnjk) (on-table txdus) (on lfclo mfnjk) (clear lfclo) (clear bdjvz)",
"(on bdjvz txdus) (on-table mfnjk) (on-table txdus) (holding pkogi) (on lfclo mfnjk) (clear lfclo) (clear bdjvz)",
"(clear pkogi) (arm-empty) (on bdjvz txdus) (on-table mfnjk) (on-table txdus) (on lfclo mfnjk) (on pkogi bdjvz) (clear lfclo)",
"(clear pkogi) (on bdjvz txdus) (on-table mfnjk) (on-table txdus) (on pkogi bdjvz) (holding lfclo) (clear mfnjk)",
"(arm-empty) (on bdjvz txdus) (on pkogi bdjvz) (clear pkogi) (on-table mfnjk) (on-table txdus) (clear lfclo) (clear mfnjk) (on-table lfclo)",
"(on bdjvz txdus) (on-table mfnjk) (on-table txdus) (holding pkogi) (clear lfclo) (clear mfnjk) (on-table lfclo) (clear bdjvz)",
"(clear pkogi) (arm-empty) (on bdjvz txdus) (on-table mfnjk) (on-table txdus) (on pkogi lfclo) (clear mfnjk) (on-table lfclo) (clear bdjvz)",
"(clear pkogi) (on-table mfnjk) (clear txdus) (holding bdjvz) (on-table txdus) (on pkogi lfclo) (clear mfnjk) (on-table lfclo)",
"(clear pkogi) (arm-empty) (on-table mfnjk) (clear txdus) (on bdjvz mfnjk) (on-table txdus) (on pkogi lfclo) (on-table lfclo) (clear bdjvz)",
"(on-table mfnjk) (clear txdus) (on bdjvz mfnjk) (on-table txdus) (holding pkogi) (clear lfclo) (on-table lfclo) (clear bdjvz)",
"(clear pkogi) (arm-empty) (on-table mfnjk) (clear txdus) (on bdjvz mfnjk) (on-table txdus) (on pkogi bdjvz) (clear lfclo) (on-table lfclo)"
] | file_70730 |
GOAL: (holding zrosg) (on vbmsy iqvsk) (clear fhqjm) (on-table fhqjm) (on-table pwcrz) (on iqvsk pwcrz) (clear vbmsy) | GOAL: (holding zrosg) (on vbmsy iqvsk) (clear fhqjm) (on-table fhqjm) (on-table pwcrz) (on iqvsk pwcrz) (clear vbmsy)
STATE: (on-table pwcrz) (on-table zrosg) (clear iqvsk) (on iqvsk vbmsy) (holding fhqjm) (clear zrosg) (on-table vbmsy) (clear pwcrz) | [
[
"stack fhqjm iqvsk"
],
[
"pick-up zrosg"
],
[
"stack zrosg pwcrz"
],
[
"unstack fhqjm iqvsk"
],
[
"put-down fhqjm"
],
[
"unstack zrosg pwcrz"
],
[
"stack zrosg fhqjm"
],
[
"unstack iqvsk vbmsy"
],
[
"stack iqvsk pwcrz"
],
[
"pick-up vbmsy"
],
[
"stack vbmsy iqvsk"
],
[
"unstack zrosg fhqjm"
]
] | [
"(clear fhqjm) (arm-empty) (on-table pwcrz) (on-table zrosg) (on iqvsk vbmsy) (on fhqjm iqvsk) (clear zrosg) (on-table vbmsy) (clear pwcrz)",
"(holding zrosg) (clear fhqjm) (on-table pwcrz) (on iqvsk vbmsy) (on fhqjm iqvsk) (on-table vbmsy) (clear pwcrz)",
"(on zrosg pwcrz) (clear fhqjm) (arm-empty) (on-table pwcrz) (on iqvsk vbmsy) (on fhqjm iqvsk) (clear zrosg) (on-table vbmsy)",
"(on zrosg pwcrz) (on-table pwcrz) (clear iqvsk) (on iqvsk vbmsy) (holding fhqjm) (clear zrosg) (on-table vbmsy)",
"(on zrosg pwcrz) (arm-empty) (on-table fhqjm) (on-table pwcrz) (clear iqvsk) (clear fhqjm) (on iqvsk vbmsy) (clear zrosg) (on-table vbmsy)",
"(holding zrosg) (clear fhqjm) (on-table fhqjm) (on-table pwcrz) (clear iqvsk) (on iqvsk vbmsy) (on-table vbmsy) (clear pwcrz)",
"(arm-empty) (on-table fhqjm) (on-table pwcrz) (clear iqvsk) (on iqvsk vbmsy) (on zrosg fhqjm) (clear zrosg) (on-table vbmsy) (clear pwcrz)",
"(on-table fhqjm) (on-table pwcrz) (holding iqvsk) (clear vbmsy) (on zrosg fhqjm) (clear zrosg) (on-table vbmsy) (clear pwcrz)",
"(arm-empty) (on-table fhqjm) (on-table pwcrz) (on iqvsk pwcrz) (clear iqvsk) (clear vbmsy) (on zrosg fhqjm) (clear zrosg) (on-table vbmsy)",
"(on-table fhqjm) (on-table pwcrz) (on iqvsk pwcrz) (clear iqvsk) (on zrosg fhqjm) (clear zrosg) (holding vbmsy)",
"(on vbmsy iqvsk) (arm-empty) (on-table fhqjm) (on-table pwcrz) (on iqvsk pwcrz) (clear vbmsy) (on zrosg fhqjm) (clear zrosg)",
"(holding zrosg) (on vbmsy iqvsk) (clear fhqjm) (on-table fhqjm) (on-table pwcrz) (on iqvsk pwcrz) (clear vbmsy)"
] | file_104751 |
GOAL: (arm-empty) (on-table ocglp) (on-table fkwtj) (on-table ukhqm) (clear ajehi) (on ajehi ocglp) (clear jtexi) (clear ukhqm) (on-table jtexi) (clear fkwtj) | GOAL: (arm-empty) (on-table ocglp) (on-table fkwtj) (on-table ukhqm) (clear ajehi) (on ajehi ocglp) (clear jtexi) (clear ukhqm) (on-table jtexi) (clear fkwtj)
STATE: (arm-empty) (on-table ocglp) (on-table fkwtj) (on ukhqm ajehi) (on ajehi ocglp) (clear jtexi) (clear ukhqm) (on-table jtexi) (clear fkwtj) | [
[
"pick-up jtexi"
],
[
"stack jtexi fkwtj"
],
[
"unstack ukhqm ajehi"
],
[
"put-down ukhqm"
],
[
"unstack jtexi fkwtj"
],
[
"put-down jtexi"
]
] | [
"(on-table ocglp) (on-table fkwtj) (on ukhqm ajehi) (on ajehi ocglp) (holding jtexi) (clear ukhqm) (clear fkwtj)",
"(on jtexi fkwtj) (arm-empty) (on-table ocglp) (on-table fkwtj) (on ukhqm ajehi) (on ajehi ocglp) (clear jtexi) (clear ukhqm)",
"(holding ukhqm) (on jtexi fkwtj) (on-table ocglp) (on-table fkwtj) (clear ajehi) (on ajehi ocglp) (clear jtexi)",
"(on jtexi fkwtj) (arm-empty) (on-table ocglp) (on-table fkwtj) (clear ajehi) (on-table ukhqm) (on ajehi ocglp) (clear jtexi) (clear ukhqm)",
"(on-table ocglp) (on-table fkwtj) (on-table ukhqm) (clear ajehi) (on ajehi ocglp) (holding jtexi) (clear ukhqm) (clear fkwtj)",
"(arm-empty) (on-table ocglp) (on-table fkwtj) (on-table ukhqm) (clear ajehi) (on ajehi ocglp) (clear jtexi) (clear ukhqm) (on-table jtexi) (clear fkwtj)"
] | file_168672 |
GOAL: (on dmojc hfuhd) (clear zlyhk) (on-table hfuhd) (holding amusl) (on zlyhk mekoq) (clear dmojc) (on-table mekoq) | GOAL: (on dmojc hfuhd) (clear zlyhk) (on-table hfuhd) (holding amusl) (on zlyhk mekoq) (clear dmojc) (on-table mekoq)
STATE: (on amusl dmojc) (on hfuhd amusl) (arm-empty) (on zlyhk mekoq) (on dmojc zlyhk) (on-table mekoq) (clear hfuhd) | [
[
"unstack hfuhd amusl"
],
[
"put-down hfuhd"
],
[
"unstack amusl dmojc"
],
[
"put-down amusl"
],
[
"unstack dmojc zlyhk"
],
[
"stack dmojc hfuhd"
],
[
"pick-up amusl"
]
] | [
"(holding hfuhd) (on amusl dmojc) (clear amusl) (on zlyhk mekoq) (on dmojc zlyhk) (on-table mekoq)",
"(on amusl dmojc) (arm-empty) (on-table hfuhd) (clear amusl) (on dmojc zlyhk) (clear hfuhd) (on zlyhk mekoq) (on-table mekoq)",
"(on-table hfuhd) (holding amusl) (on zlyhk mekoq) (on dmojc zlyhk) (clear dmojc) (on-table mekoq) (clear hfuhd)",
"(arm-empty) (on-table hfuhd) (clear amusl) (on dmojc zlyhk) (clear hfuhd) (on-table amusl) (on zlyhk mekoq) (clear dmojc) (on-table mekoq)",
"(holding dmojc) (clear zlyhk) (on-table hfuhd) (clear amusl) (on-table amusl) (on zlyhk mekoq) (on-table mekoq) (clear hfuhd)",
"(on dmojc hfuhd) (clear zlyhk) (arm-empty) (on-table hfuhd) (clear amusl) (on-table amusl) (on zlyhk mekoq) (clear dmojc) (on-table mekoq)",
"(on dmojc hfuhd) (clear zlyhk) (on-table hfuhd) (holding amusl) (on zlyhk mekoq) (clear dmojc) (on-table mekoq)"
] | file_64256 |
GOAL: (clear qxeij) (on lddml volky) (holding kbzsy) (on daokc lddml) (on qxeij daokc) (on-table volky) | GOAL: (clear qxeij) (on lddml volky) (holding kbzsy) (on daokc lddml) (on qxeij daokc) (on-table volky)
STATE: (on daokc kbzsy) (clear qxeij) (arm-empty) (on-table kbzsy) (on lddml volky) (on volky daokc) (on qxeij lddml) | [
[
"unstack qxeij lddml"
],
[
"put-down qxeij"
],
[
"unstack lddml volky"
],
[
"stack lddml qxeij"
],
[
"unstack volky daokc"
],
[
"put-down volky"
],
[
"unstack daokc kbzsy"
],
[
"put-down daokc"
],
[
"unstack lddml qxeij"
],
[
"stack lddml volky"
],
[
"pick-up daokc"
],
[
"stack daokc lddml"
],
[
"pick-up qxeij"
],
[
"stack qxeij daokc"
],
[
"pick-up kbzsy"
]
] | [
"(on lddml volky) (on daokc kbzsy) (on-table kbzsy) (on volky daokc) (clear lddml) (holding qxeij)",
"(on daokc kbzsy) (arm-empty) (on-table qxeij) (on-table kbzsy) (clear lddml) (on volky daokc) (clear qxeij) (on lddml volky)",
"(on daokc kbzsy) (clear qxeij) (on-table qxeij) (on-table kbzsy) (holding lddml) (on volky daokc) (clear volky)",
"(on daokc kbzsy) (arm-empty) (on-table qxeij) (on-table kbzsy) (clear lddml) (on volky daokc) (on lddml qxeij) (clear volky)",
"(on daokc kbzsy) (on-table qxeij) (on-table kbzsy) (on lddml qxeij) (clear lddml) (holding volky) (clear daokc)",
"(on daokc kbzsy) (arm-empty) (on-table qxeij) (on-table kbzsy) (clear lddml) (on lddml qxeij) (clear volky) (clear daokc) (on-table volky)",
"(holding daokc) (on-table qxeij) (on-table kbzsy) (clear lddml) (on lddml qxeij) (clear volky) (on-table volky) (clear kbzsy)",
"(arm-empty) (on-table qxeij) (on-table kbzsy) (on-table daokc) (clear lddml) (on lddml qxeij) (clear volky) (clear daokc) (on-table volky) (clear kbzsy)",
"(clear qxeij) (on-table qxeij) (on-table kbzsy) (on-table daokc) (holding lddml) (clear volky) (clear daokc) (on-table volky) (clear kbzsy)",
"(clear qxeij) (arm-empty) (on-table qxeij) (on-table kbzsy) (on-table daokc) (clear lddml) (on lddml volky) (clear daokc) (on-table volky) (clear kbzsy)",
"(holding daokc) (clear qxeij) (on-table qxeij) (on-table kbzsy) (clear lddml) (on lddml volky) (on-table volky) (clear kbzsy)",
"(clear qxeij) (arm-empty) (on-table qxeij) (on-table kbzsy) (on lddml volky) (on daokc lddml) (clear daokc) (on-table volky) (clear kbzsy)",
"(on-table kbzsy) (holding qxeij) (on lddml volky) (on daokc lddml) (clear daokc) (on-table volky) (clear kbzsy)",
"(arm-empty) (on-table kbzsy) (on qxeij daokc) (clear kbzsy) (clear qxeij) (on lddml volky) (on daokc lddml) (on-table volky)",
"(clear qxeij) (on lddml volky) (holding kbzsy) (on daokc lddml) (on qxeij daokc) (on-table volky)"
] | file_90384 |
GOAL: (holding msgln) (on iehci kwzzx) (on cpbcl xtxly) (on xtxly iehci) (on-table kwzzx) (clear cpbcl) | GOAL: (holding msgln) (on iehci kwzzx) (on cpbcl xtxly) (on xtxly iehci) (on-table kwzzx) (clear cpbcl)
STATE: (on xtxly cpbcl) (arm-empty) (on-table cpbcl) (on kwzzx msgln) (clear iehci) (on-table iehci) (on msgln xtxly) (clear kwzzx) | [
[
"unstack kwzzx msgln"
],
[
"put-down kwzzx"
],
[
"pick-up iehci"
],
[
"stack iehci kwzzx"
],
[
"unstack msgln xtxly"
],
[
"put-down msgln"
],
[
"unstack xtxly cpbcl"
],
[
"stack xtxly iehci"
],
[
"pick-up cpbcl"
],
[
"stack cpbcl xtxly"
],
[
"pick-up msgln"
]
] | [
"(on xtxly cpbcl) (clear msgln) (on-table cpbcl) (clear iehci) (on-table iehci) (on msgln xtxly) (holding kwzzx)",
"(on xtxly cpbcl) (arm-empty) (on-table cpbcl) (clear iehci) (on msgln xtxly) (clear msgln) (on-table iehci) (clear kwzzx) (on-table kwzzx)",
"(on xtxly cpbcl) (clear msgln) (on-table cpbcl) (holding iehci) (on msgln xtxly) (clear kwzzx) (on-table kwzzx)",
"(on xtxly cpbcl) (clear msgln) (arm-empty) (on-table cpbcl) (clear iehci) (on iehci kwzzx) (on msgln xtxly) (on-table kwzzx)",
"(on xtxly cpbcl) (on-table cpbcl) (clear iehci) (on iehci kwzzx) (holding msgln) (clear xtxly) (on-table kwzzx)",
"(on xtxly cpbcl) (arm-empty) (on-table msgln) (on-table cpbcl) (clear iehci) (clear msgln) (on iehci kwzzx) (clear xtxly) (on-table kwzzx)",
"(holding xtxly) (clear msgln) (on-table msgln) (on-table cpbcl) (clear iehci) (on iehci kwzzx) (on-table kwzzx) (clear cpbcl)",
"(clear msgln) (arm-empty) (on-table msgln) (on-table cpbcl) (on iehci kwzzx) (on xtxly iehci) (clear xtxly) (on-table kwzzx) (clear cpbcl)",
"(clear msgln) (on-table msgln) (on iehci kwzzx) (holding cpbcl) (on xtxly iehci) (clear xtxly) (on-table kwzzx)",
"(arm-empty) (on-table msgln) (clear cpbcl) (clear msgln) (on iehci kwzzx) (on cpbcl xtxly) (on xtxly iehci) (on-table kwzzx)",
"(holding msgln) (on iehci kwzzx) (on cpbcl xtxly) (on xtxly iehci) (on-table kwzzx) (clear cpbcl)"
] | file_214035 |
GOAL: (on yufsu tvrmz) (clear rgimc) (arm-empty) (on-table lfrkk) (on xhdwv yufsu) (on tvrmz lfrkk) (on rgimc xhdwv) | GOAL: (on yufsu tvrmz) (clear rgimc) (arm-empty) (on-table lfrkk) (on xhdwv yufsu) (on tvrmz lfrkk) (on rgimc xhdwv)
STATE: (clear rgimc) (on-table rgimc) (on xhdwv tvrmz) (on-table lfrkk) (clear xhdwv) (on tvrmz lfrkk) (holding yufsu) | [
[
"put-down yufsu"
],
[
"unstack xhdwv tvrmz"
],
[
"stack xhdwv rgimc"
],
[
"pick-up yufsu"
],
[
"stack yufsu tvrmz"
],
[
"unstack xhdwv rgimc"
],
[
"stack xhdwv yufsu"
],
[
"pick-up rgimc"
],
[
"stack rgimc xhdwv"
]
] | [
"(arm-empty) (on-table rgimc) (on xhdwv tvrmz) (clear xhdwv) (clear rgimc) (on-table lfrkk) (on tvrmz lfrkk) (clear yufsu) (on-table yufsu)",
"(clear rgimc) (on-table rgimc) (on-table lfrkk) (holding xhdwv) (on tvrmz lfrkk) (clear yufsu) (on-table yufsu) (clear tvrmz)",
"(arm-empty) (on-table rgimc) (on-table lfrkk) (clear xhdwv) (on tvrmz lfrkk) (on xhdwv rgimc) (clear yufsu) (on-table yufsu) (clear tvrmz)",
"(on-table rgimc) (on-table lfrkk) (clear xhdwv) (on tvrmz lfrkk) (on xhdwv rgimc) (holding yufsu) (clear tvrmz)",
"(on yufsu tvrmz) (arm-empty) (on-table rgimc) (on-table lfrkk) (clear xhdwv) (on tvrmz lfrkk) (on xhdwv rgimc) (clear yufsu)",
"(on yufsu tvrmz) (clear rgimc) (on-table rgimc) (on-table lfrkk) (holding xhdwv) (on tvrmz lfrkk) (clear yufsu)",
"(on yufsu tvrmz) (arm-empty) (on-table rgimc) (clear xhdwv) (clear rgimc) (on-table lfrkk) (on xhdwv yufsu) (on tvrmz lfrkk)",
"(on yufsu tvrmz) (on-table lfrkk) (clear xhdwv) (on xhdwv yufsu) (on tvrmz lfrkk) (holding rgimc)",
"(on yufsu tvrmz) (clear rgimc) (arm-empty) (on-table lfrkk) (on xhdwv yufsu) (on tvrmz lfrkk) (on rgimc xhdwv)"
] | file_175809 |
GOAL: (clear myfkn) (on-table myfkn) (on-table unbtr) (on etuxm unbtr) (on ztnal etuxm) (holding dmhye) (clear ztnal) | GOAL: (clear myfkn) (on-table myfkn) (on-table unbtr) (on etuxm unbtr) (on ztnal etuxm) (holding dmhye) (clear ztnal)
STATE: (clear myfkn) (on ztnal dmhye) (on etuxm ztnal) (on-table myfkn) (clear etuxm) (holding unbtr) (on-table dmhye) | [
[
"put-down unbtr"
],
[
"unstack etuxm ztnal"
],
[
"stack etuxm unbtr"
],
[
"unstack ztnal dmhye"
],
[
"stack ztnal etuxm"
],
[
"pick-up dmhye"
]
] | [
"(on ztnal dmhye) (on etuxm ztnal) (on-table myfkn) (on-table unbtr) (arm-empty) (clear etuxm) (clear unbtr) (clear myfkn) (on-table dmhye)",
"(clear myfkn) (on ztnal dmhye) (on-table myfkn) (on-table unbtr) (holding etuxm) (clear ztnal) (on-table dmhye) (clear unbtr)",
"(clear myfkn) (on ztnal dmhye) (arm-empty) (on-table myfkn) (on-table unbtr) (on etuxm unbtr) (clear etuxm) (clear ztnal) (on-table dmhye)",
"(holding ztnal) (clear myfkn) (on-table myfkn) (on-table unbtr) (on etuxm unbtr) (clear etuxm) (clear dmhye) (on-table dmhye)",
"(clear myfkn) (arm-empty) (on-table myfkn) (on-table unbtr) (on etuxm unbtr) (on ztnal etuxm) (clear dmhye) (clear ztnal) (on-table dmhye)",
"(clear myfkn) (on-table myfkn) (on-table unbtr) (on etuxm unbtr) (on ztnal etuxm) (holding dmhye) (clear ztnal)"
] | file_204688 |
GOAL: (clear ykboe) (on kilcx mwcam) (arm-empty) (on-table mwcam) (clear kilcx) (on flplr ldjaa) (on ykboe flplr) (on-table ldjaa) | GOAL: (clear ykboe) (on kilcx mwcam) (arm-empty) (on-table mwcam) (clear kilcx) (on flplr ldjaa) (on ykboe flplr) (on-table ldjaa)
STATE: (on-table mwcam) (clear kilcx) (on flplr ldjaa) (on-table kilcx) (holding ykboe) (clear mwcam) (on-table ldjaa) (clear flplr) | [
[
"stack ykboe flplr"
],
[
"pick-up kilcx"
],
[
"stack kilcx mwcam"
]
] | [
"(clear ykboe) (arm-empty) (on-table mwcam) (clear kilcx) (on flplr ldjaa) (on-table kilcx) (on ykboe flplr) (clear mwcam) (on-table ldjaa)",
"(clear ykboe) (on-table mwcam) (holding kilcx) (on flplr ldjaa) (on ykboe flplr) (clear mwcam) (on-table ldjaa)",
"(clear ykboe) (on kilcx mwcam) (arm-empty) (on-table mwcam) (clear kilcx) (on flplr ldjaa) (on ykboe flplr) (on-table ldjaa)"
] | file_178934 |
GOAL: (on shfuv auqfl) (clear oajap) (arm-empty) (on-table kptca) (on zayvy shfuv) (on-table auqfl) (on oajap zayvy) (clear kptca) | GOAL: (on shfuv auqfl) (clear oajap) (arm-empty) (on-table kptca) (on zayvy shfuv) (on-table auqfl) (on oajap zayvy) (clear kptca)
STATE: (arm-empty) (on-table kptca) (on shfuv oajap) (clear auqfl) (on zayvy kptca) (on auqfl shfuv) (on oajap zayvy) | [
[
"unstack auqfl shfuv"
],
[
"put-down auqfl"
],
[
"unstack shfuv oajap"
],
[
"stack shfuv auqfl"
],
[
"unstack oajap zayvy"
],
[
"put-down oajap"
],
[
"unstack zayvy kptca"
],
[
"stack zayvy shfuv"
],
[
"pick-up oajap"
],
[
"stack oajap zayvy"
]
] | [
"(on zayvy kptca) (holding auqfl) (clear shfuv) (on-table kptca) (on oajap zayvy) (on shfuv oajap)",
"(arm-empty) (clear auqfl) (on oajap zayvy) (on-table kptca) (on shfuv oajap) (on zayvy kptca) (on-table auqfl) (clear shfuv)",
"(clear oajap) (on-table kptca) (clear auqfl) (on zayvy kptca) (on-table auqfl) (on oajap zayvy) (holding shfuv)",
"(on shfuv auqfl) (clear oajap) (arm-empty) (on-table kptca) (on zayvy kptca) (on-table auqfl) (on oajap zayvy) (clear shfuv)",
"(on shfuv auqfl) (on-table kptca) (on zayvy kptca) (on-table auqfl) (holding oajap) (clear shfuv) (clear zayvy)",
"(arm-empty) (on-table oajap) (clear zayvy) (on shfuv auqfl) (clear oajap) (on-table kptca) (on zayvy kptca) (on-table auqfl) (clear shfuv)",
"(on shfuv auqfl) (clear oajap) (on-table oajap) (on-table kptca) (holding zayvy) (on-table auqfl) (clear shfuv) (clear kptca)",
"(on shfuv auqfl) (clear oajap) (arm-empty) (on-table oajap) (on-table kptca) (on zayvy shfuv) (on-table auqfl) (clear kptca) (clear zayvy)",
"(on shfuv auqfl) (on-table kptca) (on zayvy shfuv) (on-table auqfl) (holding oajap) (clear kptca) (clear zayvy)",
"(on shfuv auqfl) (clear oajap) (arm-empty) (on-table kptca) (on zayvy shfuv) (on-table auqfl) (on oajap zayvy) (clear kptca)"
] | file_215388 |
GOAL: (on rmyfa hgnpj) (on-table qkkcu) (holding dogrb) (on-table hgnpj) (clear rmyfa) (on msyez qkkcu) (clear msyez) | GOAL: (on rmyfa hgnpj) (on-table qkkcu) (holding dogrb) (on-table hgnpj) (clear rmyfa) (on msyez qkkcu) (clear msyez)
STATE: (holding msyez) (on rmyfa hgnpj) (on dogrb qkkcu) (on-table hgnpj) (on qkkcu rmyfa) (clear dogrb) | [
[
"put-down msyez"
],
[
"unstack dogrb qkkcu"
],
[
"put-down dogrb"
],
[
"pick-up msyez"
],
[
"stack msyez dogrb"
],
[
"unstack qkkcu rmyfa"
],
[
"put-down qkkcu"
],
[
"unstack msyez dogrb"
],
[
"stack msyez qkkcu"
],
[
"pick-up dogrb"
]
] | [
"(arm-empty) (on dogrb qkkcu) (clear dogrb) (on rmyfa hgnpj) (on-table msyez) (on-table hgnpj) (on qkkcu rmyfa) (clear msyez)",
"(on rmyfa hgnpj) (clear qkkcu) (on-table msyez) (holding dogrb) (on-table hgnpj) (on qkkcu rmyfa) (clear msyez)",
"(arm-empty) (on-table dogrb) (clear dogrb) (on rmyfa hgnpj) (clear qkkcu) (on-table msyez) (on-table hgnpj) (on qkkcu rmyfa) (clear msyez)",
"(holding msyez) (on rmyfa hgnpj) (clear qkkcu) (on-table dogrb) (on-table hgnpj) (on qkkcu rmyfa) (clear dogrb)",
"(on rmyfa hgnpj) (clear qkkcu) (on msyez dogrb) (arm-empty) (on-table dogrb) (on-table hgnpj) (on qkkcu rmyfa) (clear msyez)",
"(on rmyfa hgnpj) (on msyez dogrb) (on-table dogrb) (on-table hgnpj) (holding qkkcu) (clear rmyfa) (clear msyez)",
"(on msyez dogrb) (arm-empty) (on-table qkkcu) (on-table dogrb) (on rmyfa hgnpj) (clear qkkcu) (on-table hgnpj) (clear rmyfa) (clear msyez)",
"(holding msyez) (on rmyfa hgnpj) (clear qkkcu) (on-table qkkcu) (on-table dogrb) (on-table hgnpj) (clear rmyfa) (clear dogrb)",
"(on rmyfa hgnpj) (arm-empty) (on-table qkkcu) (on-table dogrb) (on-table hgnpj) (clear rmyfa) (on msyez qkkcu) (clear msyez) (clear dogrb)",
"(on rmyfa hgnpj) (on-table qkkcu) (holding dogrb) (on-table hgnpj) (clear rmyfa) (on msyez qkkcu) (clear msyez)"
] | file_207409 |
GOAL: (holding qpoor) (on zwbie mlsdy) (clear lviph) (on-table lviph) (on-table mlsdy) (clear aqzyr) (on-table aqzyr) (clear zwbie) | GOAL: (holding qpoor) (on zwbie mlsdy) (clear lviph) (on-table lviph) (on-table mlsdy) (clear aqzyr) (on-table aqzyr) (clear zwbie)
STATE: (clear lviph) (arm-empty) (on-table mlsdy) (on-table qpoor) (on aqzyr mlsdy) (on lviph aqzyr) (clear zwbie) (clear qpoor) (on-table zwbie) | [
[
"unstack lviph aqzyr"
],
[
"stack lviph qpoor"
],
[
"pick-up zwbie"
],
[
"stack zwbie lviph"
],
[
"unstack aqzyr mlsdy"
],
[
"put-down aqzyr"
],
[
"unstack zwbie lviph"
],
[
"stack zwbie mlsdy"
],
[
"unstack lviph qpoor"
],
[
"put-down lviph"
],
[
"pick-up qpoor"
]
] | [
"(on-table mlsdy) (on-table qpoor) (on aqzyr mlsdy) (clear aqzyr) (holding lviph) (clear zwbie) (clear qpoor) (on-table zwbie)",
"(clear lviph) (arm-empty) (on-table mlsdy) (on-table qpoor) (on aqzyr mlsdy) (clear aqzyr) (on lviph qpoor) (clear zwbie) (on-table zwbie)",
"(clear lviph) (on-table mlsdy) (on-table qpoor) (on aqzyr mlsdy) (clear aqzyr) (on lviph qpoor) (holding zwbie)",
"(arm-empty) (on-table mlsdy) (on-table qpoor) (on aqzyr mlsdy) (on zwbie lviph) (clear aqzyr) (on lviph qpoor) (clear zwbie)",
"(on-table mlsdy) (on-table qpoor) (holding aqzyr) (on zwbie lviph) (on lviph qpoor) (clear zwbie) (clear mlsdy)",
"(arm-empty) (on-table mlsdy) (clear aqzyr) (on lviph qpoor) (clear mlsdy) (on-table qpoor) (on zwbie lviph) (on-table aqzyr) (clear zwbie)",
"(clear lviph) (on-table mlsdy) (on-table qpoor) (clear aqzyr) (on-table aqzyr) (on lviph qpoor) (holding zwbie) (clear mlsdy)",
"(clear lviph) (on zwbie mlsdy) (arm-empty) (on-table mlsdy) (on-table qpoor) (clear aqzyr) (on-table aqzyr) (on lviph qpoor) (clear zwbie)",
"(on zwbie mlsdy) (on-table mlsdy) (on-table qpoor) (clear aqzyr) (on-table aqzyr) (holding lviph) (clear zwbie) (clear qpoor)",
"(on zwbie mlsdy) (clear lviph) (arm-empty) (on-table lviph) (on-table mlsdy) (on-table qpoor) (clear aqzyr) (on-table aqzyr) (clear zwbie) (clear qpoor)",
"(holding qpoor) (on zwbie mlsdy) (clear lviph) (on-table lviph) (on-table mlsdy) (clear aqzyr) (on-table aqzyr) (clear zwbie)"
] | file_137440 |
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