goal stringlengths 69 172 | input stringlengths 140 332 | actions listlengths 1 18 | next_states listlengths 1 18 | source_file stringlengths 6 11 |
|---|---|---|---|---|
GOAL: (arm-empty) (on pxqbr rrvdw) (clear zpkiv) (clear pxqbr) (on-table iqskp) (on-table zpkiv) (on rrvdw gsaqf) (clear iqskp) (on-table gsaqf) | GOAL: (arm-empty) (on pxqbr rrvdw) (clear zpkiv) (clear pxqbr) (on-table iqskp) (on-table zpkiv) (on rrvdw gsaqf) (clear iqskp) (on-table gsaqf)
STATE: (clear rrvdw) (arm-empty) (on pxqbr iqskp) (on-table zpkiv) (on iqskp zpkiv) (on rrvdw pxqbr) (clear gsaqf) (on-table gsaqf) | [
[
"unstack rrvdw pxqbr"
],
[
"stack rrvdw gsaqf"
],
[
"unstack pxqbr iqskp"
],
[
"stack pxqbr rrvdw"
],
[
"unstack iqskp zpkiv"
],
[
"put-down iqskp"
]
] | [
"(holding rrvdw) (on pxqbr iqskp) (on-table zpkiv) (on iqskp zpkiv) (clear gsaqf) (on-table gsaqf) (clear pxqbr)",
"(clear rrvdw) (arm-empty) (on pxqbr iqskp) (on-table zpkiv) (on iqskp zpkiv) (on rrvdw gsaqf) (on-table gsaqf) (clear pxqbr)",
"(clear rrvdw) (holding pxqbr) (on-table zpkiv) (on iqskp zpkiv) (on rrvdw gsaqf) (clear iqskp) (on-table gsaqf)",
"(arm-empty) (on pxqbr rrvdw) (on-table zpkiv) (on iqskp zpkiv) (on rrvdw gsaqf) (clear iqskp) (on-table gsaqf) (clear pxqbr)",
"(holding iqskp) (on pxqbr rrvdw) (clear zpkiv) (on-table zpkiv) (on rrvdw gsaqf) (on-table gsaqf) (clear pxqbr)",
"(arm-empty) (on pxqbr rrvdw) (clear zpkiv) (clear pxqbr) (on-table iqskp) (on-table zpkiv) (on rrvdw gsaqf) (clear iqskp) (on-table gsaqf)"
] | file_113275 |
GOAL: (holding zrnwx) (clear xtkiq) (on znkle ytztq) (on ytztq ynfqc) (on xtkiq znkle) (on-table ynfqc) | GOAL: (holding zrnwx) (clear xtkiq) (on znkle ytztq) (on ytztq ynfqc) (on xtkiq znkle) (on-table ynfqc)
STATE: (on znkle ytztq) (on-table zrnwx) (clear znkle) (on ytztq ynfqc) (holding xtkiq) (clear zrnwx) (on-table ynfqc) | [
[
"stack xtkiq znkle"
],
[
"pick-up zrnwx"
]
] | [
"(arm-empty) (on znkle ytztq) (on ytztq ynfqc) (on xtkiq znkle) (clear xtkiq) (on-table zrnwx) (clear zrnwx) (on-table ynfqc)",
"(holding zrnwx) (clear xtkiq) (on znkle ytztq) (on ytztq ynfqc) (on xtkiq znkle) (on-table ynfqc)"
] | file_213307 |
GOAL: (arm-empty) (on-table wqfzu) (on-table ifniq) (on ystep wqfzu) (clear bcciy) (on-table bcciy) (clear mphuc) (clear ifniq) (on-table mphuc) (clear ystep) | GOAL: (arm-empty) (on-table wqfzu) (on-table ifniq) (on ystep wqfzu) (clear bcciy) (on-table bcciy) (clear mphuc) (clear ifniq) (on-table mphuc) (clear ystep)
STATE: (clear wqfzu) (on-table ifniq) (on bcciy mphuc) (holding ystep) (on wqfzu bcciy) (clear ifniq) (on-table mphuc) | [
[
"stack ystep ifniq"
],
[
"unstack wqfzu bcciy"
],
[
"put-down wqfzu"
],
[
"unstack ystep ifniq"
],
[
"stack ystep wqfzu"
],
[
"unstack bcciy mphuc"
],
[
"put-down bcciy"
]
] | [
"(on bcciy mphuc) (on ystep ifniq) (clear wqfzu) (arm-empty) (on-table ifniq) (on wqfzu bcciy) (on-table mphuc) (clear ystep)",
"(on-table ifniq) (clear bcciy) (on bcciy mphuc) (on ystep ifniq) (holding wqfzu) (on-table mphuc) (clear ystep)",
"(arm-empty) (on-table wqfzu) (clear bcciy) (clear ystep) (clear wqfzu) (on-table ifniq) (on bcciy mphuc) (on ystep ifniq) (on-table mphuc)",
"(clear wqfzu) (on-table wqfzu) (on-table ifniq) (clear bcciy) (on bcciy mphuc) (holding ystep) (clear ifniq) (on-table mphuc)",
"(arm-empty) (on-table wqfzu) (on-table ifniq) (on ystep wqfzu) (clear bcciy) (on bcciy mphuc) (clear ifniq) (on-table mphuc) (clear ystep)",
"(on-table wqfzu) (on-table ifniq) (holding bcciy) (on ystep wqfzu) (clear mphuc) (clear ifniq) (on-table mphuc) (clear ystep)",
"(arm-empty) (on-table wqfzu) (on-table ifniq) (on ystep wqfzu) (clear bcciy) (on-table bcciy) (clear mphuc) (clear ifniq) (on-table mphuc) (clear ystep)"
] | file_48476 |
GOAL: (arm-empty) (on-table bcvcc) (on gcudr bcvcc) (on vyaoh txddz) (on hxbye gcudr) (on txddz hxbye) (clear vyaoh) | GOAL: (arm-empty) (on-table bcvcc) (on gcudr bcvcc) (on vyaoh txddz) (on hxbye gcudr) (on txddz hxbye) (clear vyaoh)
STATE: (clear txddz) (arm-empty) (on-table bcvcc) (on gcudr bcvcc) (on hxbye gcudr) (on vyaoh hxbye) (on txddz vyaoh) | [
[
"unstack txddz vyaoh"
],
[
"put-down txddz"
],
[
"unstack vyaoh hxbye"
],
[
"put-down vyaoh"
],
[
"pick-up txddz"
],
[
"stack txddz hxbye"
],
[
"pick-up vyaoh"
],
[
"stack vyaoh txddz"
]
] | [
"(on-table bcvcc) (on gcudr bcvcc) (on vyaoh hxbye) (on hxbye gcudr) (holding txddz) (clear vyaoh)",
"(clear txddz) (arm-empty) (on-table txddz) (on-table bcvcc) (on vyaoh hxbye) (on gcudr bcvcc) (clear vyaoh) (on hxbye gcudr)",
"(clear txddz) (on-table txddz) (on-table bcvcc) (on gcudr bcvcc) (on hxbye gcudr) (holding vyaoh) (clear hxbye)",
"(arm-empty) (on-table txddz) (on-table bcvcc) (on gcudr bcvcc) (clear txddz) (on hxbye gcudr) (clear vyaoh) (clear hxbye) (on-table vyaoh)",
"(on-table bcvcc) (on gcudr bcvcc) (holding txddz) (on hxbye gcudr) (clear vyaoh) (clear hxbye) (on-table vyaoh)",
"(arm-empty) (on-table bcvcc) (on gcudr bcvcc) (on txddz hxbye) (clear txddz) (on hxbye gcudr) (clear vyaoh) (on-table vyaoh)",
"(clear txddz) (on-table bcvcc) (on gcudr bcvcc) (on hxbye gcudr) (on txddz hxbye) (holding vyaoh)",
"(arm-empty) (on-table bcvcc) (on gcudr bcvcc) (on vyaoh txddz) (on hxbye gcudr) (on txddz hxbye) (clear vyaoh)"
] | file_137122 |
GOAL: (on hijva wqxdz) (arm-empty) (on-table hsouf) (on-table wqxdz) (on cfgto hsouf) (clear hijva) (clear eehiu) (on-table eehiu) (clear cfgto) | GOAL: (on hijva wqxdz) (arm-empty) (on-table hsouf) (on-table wqxdz) (on cfgto hsouf) (clear hijva) (clear eehiu) (on-table eehiu) (clear cfgto)
STATE: (on eehiu hijva) (arm-empty) (on-table hsouf) (on hijva cfgto) (on-table wqxdz) (on cfgto hsouf) (clear eehiu) (clear wqxdz) | [
[
"unstack eehiu hijva"
],
[
"put-down eehiu"
],
[
"unstack hijva cfgto"
],
[
"stack hijva wqxdz"
]
] | [
"(on-table hsouf) (on hijva cfgto) (on-table wqxdz) (on cfgto hsouf) (clear hijva) (holding eehiu) (clear wqxdz)",
"(arm-empty) (on-table hsouf) (on hijva cfgto) (on cfgto hsouf) (clear hijva) (on-table wqxdz) (clear eehiu) (clear wqxdz) (on-table eehiu)",
"(on-table hsouf) (on-table wqxdz) (holding hijva) (on cfgto hsouf) (clear eehiu) (clear wqxdz) (on-table eehiu) (clear cfgto)",
"(on hijva wqxdz) (arm-empty) (on-table hsouf) (on-table wqxdz) (on cfgto hsouf) (clear hijva) (clear eehiu) (on-table eehiu) (clear cfgto)"
] | file_188432 |
GOAL: (clear xqdbj) (arm-empty) (on-table xqdbj) (on zeeyk gofnv) (on-table zbhwh) (clear zeeyk) (on gofnv zbhwh) (clear lkjef) (on-table lkjef) | GOAL: (clear xqdbj) (arm-empty) (on-table xqdbj) (on zeeyk gofnv) (on-table zbhwh) (clear zeeyk) (on gofnv zbhwh) (clear lkjef) (on-table lkjef)
STATE: (on zbhwh gofnv) (on-table xqdbj) (on gofnv xqdbj) (clear zeeyk) (on-table zeeyk) (holding lkjef) (clear zbhwh) | [
[
"put-down lkjef"
],
[
"pick-up zeeyk"
],
[
"stack zeeyk lkjef"
],
[
"unstack zbhwh gofnv"
],
[
"put-down zbhwh"
],
[
"unstack gofnv xqdbj"
],
[
"stack gofnv zbhwh"
],
[
"unstack zeeyk lkjef"
],
[
"stack zeeyk gofnv"
]
] | [
"(on zbhwh gofnv) (arm-empty) (on-table xqdbj) (on gofnv xqdbj) (clear zeeyk) (on-table zeeyk) (clear lkjef) (clear zbhwh) (on-table lkjef)",
"(on zbhwh gofnv) (on-table xqdbj) (holding zeeyk) (on gofnv xqdbj) (clear lkjef) (clear zbhwh) (on-table lkjef)",
"(on zbhwh gofnv) (arm-empty) (on-table xqdbj) (on gofnv xqdbj) (clear zeeyk) (on zeeyk lkjef) (clear zbhwh) (on-table lkjef)",
"(holding zbhwh) (on-table xqdbj) (on gofnv xqdbj) (clear zeeyk) (on zeeyk lkjef) (on-table lkjef) (clear gofnv)",
"(arm-empty) (on-table xqdbj) (on gofnv xqdbj) (clear zeeyk) (clear gofnv) (on-table zbhwh) (on zeeyk lkjef) (clear zbhwh) (on-table lkjef)",
"(clear xqdbj) (on-table xqdbj) (on-table zbhwh) (clear zeeyk) (on zeeyk lkjef) (holding gofnv) (clear zbhwh) (on-table lkjef)",
"(clear xqdbj) (arm-empty) (on-table xqdbj) (on-table zbhwh) (clear zeeyk) (on zeeyk lkjef) (on gofnv zbhwh) (on-table lkjef) (clear gofnv)",
"(clear xqdbj) (on-table xqdbj) (on-table zbhwh) (holding zeeyk) (on gofnv zbhwh) (clear lkjef) (on-table lkjef) (clear gofnv)",
"(clear xqdbj) (arm-empty) (on-table xqdbj) (on zeeyk gofnv) (on-table zbhwh) (clear zeeyk) (on gofnv zbhwh) (clear lkjef) (on-table lkjef)"
] | file_157380 |
GOAL: (on jznof kswrn) (clear ndops) (arm-empty) (on ndops ckuzd) (on ckuzd jznof) (on-table kswrn) | GOAL: (on jznof kswrn) (clear ndops) (arm-empty) (on ndops ckuzd) (on ckuzd jznof) (on-table kswrn)
STATE: (on kswrn jznof) (clear ndops) (on ckuzd kswrn) (arm-empty) (on-table jznof) (on ndops ckuzd) | [
[
"unstack ndops ckuzd"
],
[
"put-down ndops"
],
[
"unstack ckuzd kswrn"
],
[
"stack ckuzd ndops"
],
[
"unstack kswrn jznof"
],
[
"put-down kswrn"
],
[
"pick-up jznof"
],
[
"stack jznof kswrn"
],
[
"unstack ckuzd ndops"
],
[
"stack ckuzd jznof"
],
[
"pick-up ndops"
],
[
"stack ndops ckuzd"
]
] | [
"(on kswrn jznof) (on ckuzd kswrn) (on-table jznof) (holding ndops) (clear ckuzd)",
"(on kswrn jznof) (on-table jznof) (on ckuzd kswrn) (clear ndops) (on-table ndops) (arm-empty) (clear ckuzd)",
"(on-table ndops) (holding ckuzd) (on kswrn jznof) (clear ndops) (on-table jznof) (clear kswrn)",
"(on kswrn jznof) (arm-empty) (on-table ndops) (on-table jznof) (clear kswrn) (on ckuzd ndops) (clear ckuzd)",
"(on-table ndops) (clear jznof) (on ckuzd ndops) (on-table jznof) (holding kswrn) (clear ckuzd)",
"(on-table jznof) (arm-empty) (on-table ndops) (clear kswrn) (clear jznof) (on ckuzd ndops) (on-table kswrn) (clear ckuzd)",
"(on-table ndops) (holding jznof) (clear kswrn) (on ckuzd ndops) (clear ckuzd) (on-table kswrn)",
"(arm-empty) (on-table ndops) (clear jznof) (on jznof kswrn) (on ckuzd ndops) (clear ckuzd) (on-table kswrn)",
"(on-table ndops) (clear jznof) (holding ckuzd) (clear ndops) (on jznof kswrn) (on-table kswrn)",
"(clear ndops) (arm-empty) (on-table ndops) (on jznof kswrn) (on ckuzd jznof) (clear ckuzd) (on-table kswrn)",
"(on jznof kswrn) (holding ndops) (on ckuzd jznof) (clear ckuzd) (on-table kswrn)",
"(on jznof kswrn) (clear ndops) (arm-empty) (on ndops ckuzd) (on ckuzd jznof) (on-table kswrn)"
] | file_51762 |
GOAL: (on tlpub fbtnk) (clear uzatt) (arm-empty) (on-table uzatt) (on-table tcatg) (on-table cigda) (on fbtnk tcatg) (clear tlpub) (clear cigda) | GOAL: (on tlpub fbtnk) (clear uzatt) (arm-empty) (on-table uzatt) (on-table tcatg) (on-table cigda) (on fbtnk tcatg) (clear tlpub) (clear cigda)
STATE: (holding cigda) (on-table uzatt) (on-table tcatg) (clear fbtnk) (on fbtnk uzatt) (clear tlpub) (on-table tlpub) (clear tcatg) | [
[
"put-down cigda"
],
[
"unstack fbtnk uzatt"
],
[
"stack fbtnk tcatg"
],
[
"pick-up tlpub"
],
[
"stack tlpub fbtnk"
]
] | [
"(arm-empty) (on-table uzatt) (on-table tcatg) (on-table cigda) (clear fbtnk) (on fbtnk uzatt) (clear tlpub) (clear cigda) (on-table tlpub) (clear tcatg)",
"(clear uzatt) (on-table uzatt) (on-table tcatg) (on-table cigda) (holding fbtnk) (clear tlpub) (clear cigda) (on-table tlpub) (clear tcatg)",
"(clear uzatt) (arm-empty) (on-table uzatt) (on-table tcatg) (on-table cigda) (on fbtnk tcatg) (clear fbtnk) (clear tlpub) (clear cigda) (on-table tlpub)",
"(clear uzatt) (on-table uzatt) (on-table tcatg) (on-table cigda) (on fbtnk tcatg) (clear fbtnk) (holding tlpub) (clear cigda)",
"(on tlpub fbtnk) (clear uzatt) (arm-empty) (on-table uzatt) (on-table tcatg) (on-table cigda) (on fbtnk tcatg) (clear tlpub) (clear cigda)"
] | file_217344 |
GOAL: (arm-empty) (on-table eqrrp) (on-table enjkf) (clear jvopc) (on jvopc ilwbw) (on totiw eqrrp) (clear totiw) (on-table ilwbw) (clear enjkf) | GOAL: (arm-empty) (on-table eqrrp) (on-table enjkf) (clear jvopc) (on jvopc ilwbw) (on totiw eqrrp) (clear totiw) (on-table ilwbw) (clear enjkf)
STATE: (arm-empty) (on-table totiw) (on enjkf eqrrp) (clear jvopc) (on-table jvopc) (on eqrrp totiw) (clear ilwbw) (on-table ilwbw) (clear enjkf) | [
[
"pick-up jvopc"
],
[
"stack jvopc ilwbw"
],
[
"unstack enjkf eqrrp"
],
[
"put-down enjkf"
],
[
"unstack eqrrp totiw"
],
[
"put-down eqrrp"
],
[
"pick-up totiw"
],
[
"stack totiw eqrrp"
]
] | [
"(on-table totiw) (holding jvopc) (on enjkf eqrrp) (on eqrrp totiw) (clear ilwbw) (on-table ilwbw) (clear enjkf)",
"(arm-empty) (on enjkf eqrrp) (clear jvopc) (on eqrrp totiw) (clear enjkf) (on-table totiw) (on jvopc ilwbw) (on-table ilwbw)",
"(clear eqrrp) (on-table totiw) (clear jvopc) (on jvopc ilwbw) (holding enjkf) (on eqrrp totiw) (on-table ilwbw)",
"(arm-empty) (on-table enjkf) (clear jvopc) (on eqrrp totiw) (clear enjkf) (clear eqrrp) (on-table totiw) (on jvopc ilwbw) (on-table ilwbw)",
"(on-table enjkf) (on-table totiw) (clear jvopc) (on jvopc ilwbw) (holding eqrrp) (clear totiw) (on-table ilwbw) (clear enjkf)",
"(clear eqrrp) (arm-empty) (on-table eqrrp) (on-table enjkf) (on-table totiw) (clear jvopc) (on jvopc ilwbw) (clear totiw) (on-table ilwbw) (clear enjkf)",
"(holding totiw) (clear eqrrp) (on-table eqrrp) (on-table enjkf) (clear jvopc) (on jvopc ilwbw) (on-table ilwbw) (clear enjkf)",
"(arm-empty) (on-table eqrrp) (on-table enjkf) (clear jvopc) (on jvopc ilwbw) (on totiw eqrrp) (clear totiw) (on-table ilwbw) (clear enjkf)"
] | file_196198 |
GOAL: (clear qckao) (arm-empty) (on-table jgtqx) (on-table xjvli) (clear fmfjx) (on fmfjx bspbq) (on qckao xjvli) (on-table bspbq) (clear jgtqx) | GOAL: (clear qckao) (arm-empty) (on-table jgtqx) (on-table xjvli) (clear fmfjx) (on fmfjx bspbq) (on qckao xjvli) (on-table bspbq) (clear jgtqx)
STATE: (clear qckao) (arm-empty) (on-table jgtqx) (on-table xjvli) (on fmfjx bspbq) (on qckao fmfjx) (clear xjvli) (on-table bspbq) (clear jgtqx) | [
[
"pick-up xjvli"
],
[
"stack xjvli jgtqx"
],
[
"unstack qckao fmfjx"
],
[
"put-down qckao"
],
[
"unstack xjvli jgtqx"
],
[
"put-down xjvli"
],
[
"pick-up qckao"
],
[
"stack qckao xjvli"
]
] | [
"(holding xjvli) (clear qckao) (on-table jgtqx) (on fmfjx bspbq) (on qckao fmfjx) (on-table bspbq) (clear jgtqx)",
"(on xjvli jgtqx) (clear qckao) (arm-empty) (on-table jgtqx) (on fmfjx bspbq) (on qckao fmfjx) (clear xjvli) (on-table bspbq)",
"(on xjvli jgtqx) (on-table jgtqx) (clear fmfjx) (on fmfjx bspbq) (holding qckao) (clear xjvli) (on-table bspbq)",
"(on xjvli jgtqx) (arm-empty) (on-table qckao) (on-table jgtqx) (clear fmfjx) (clear qckao) (on fmfjx bspbq) (clear xjvli) (on-table bspbq)",
"(holding xjvli) (clear qckao) (on-table qckao) (on-table jgtqx) (clear fmfjx) (on fmfjx bspbq) (on-table bspbq) (clear jgtqx)",
"(clear qckao) (arm-empty) (on-table qckao) (on-table jgtqx) (on-table xjvli) (clear fmfjx) (on fmfjx bspbq) (clear xjvli) (on-table bspbq) (clear jgtqx)",
"(on-table jgtqx) (on-table xjvli) (clear fmfjx) (on fmfjx bspbq) (holding qckao) (clear xjvli) (on-table bspbq) (clear jgtqx)",
"(clear qckao) (arm-empty) (on-table jgtqx) (on-table xjvli) (clear fmfjx) (on fmfjx bspbq) (on qckao xjvli) (on-table bspbq) (clear jgtqx)"
] | file_212723 |
GOAL: (on ctnpl ocfov) (arm-empty) (on-table cvrgf) (on bmyon ctnpl) (on-table ocfov) (on dztyu cvrgf) (clear dztyu) (clear bmyon) | GOAL: (on ctnpl ocfov) (arm-empty) (on-table cvrgf) (on bmyon ctnpl) (on-table ocfov) (on dztyu cvrgf) (clear dztyu) (clear bmyon)
STATE: (on ctnpl bmyon) (arm-empty) (on-table cvrgf) (clear ocfov) (on bmyon dztyu) (on ocfov ctnpl) (on dztyu cvrgf) | [
[
"unstack ocfov ctnpl"
],
[
"put-down ocfov"
],
[
"unstack ctnpl bmyon"
],
[
"stack ctnpl ocfov"
],
[
"unstack bmyon dztyu"
],
[
"stack bmyon ctnpl"
]
] | [
"(on ctnpl bmyon) (on-table cvrgf) (holding ocfov) (on dztyu cvrgf) (on bmyon dztyu) (clear ctnpl)",
"(on ctnpl bmyon) (arm-empty) (on-table cvrgf) (clear ocfov) (on dztyu cvrgf) (on bmyon dztyu) (on-table ocfov) (clear ctnpl)",
"(on-table cvrgf) (clear ocfov) (on bmyon dztyu) (on-table ocfov) (on dztyu cvrgf) (holding ctnpl) (clear bmyon)",
"(on ctnpl ocfov) (arm-empty) (on-table cvrgf) (on bmyon dztyu) (on-table ocfov) (clear ctnpl) (on dztyu cvrgf) (clear bmyon)",
"(on ctnpl ocfov) (on-table cvrgf) (holding bmyon) (on-table ocfov) (clear ctnpl) (on dztyu cvrgf) (clear dztyu)",
"(on ctnpl ocfov) (arm-empty) (on-table cvrgf) (on bmyon ctnpl) (on-table ocfov) (on dztyu cvrgf) (clear dztyu) (clear bmyon)"
] | file_59434 |
GOAL: (clear fsrot) (on wpefr kauxy) (on fyish wpefr) (arm-empty) (on-table kauxy) (on fsrot fyish) (clear mzpzf) (on-table mzpzf) | GOAL: (clear fsrot) (on wpefr kauxy) (on fyish wpefr) (arm-empty) (on-table kauxy) (on fsrot fyish) (clear mzpzf) (on-table mzpzf)
STATE: (clear fsrot) (on wpefr kauxy) (on-table fyish) (on-table kauxy) (on fsrot wpefr) (holding mzpzf) (clear fyish) | [
[
"put-down mzpzf"
],
[
"unstack fsrot wpefr"
],
[
"stack fsrot mzpzf"
],
[
"pick-up fyish"
],
[
"stack fyish wpefr"
],
[
"unstack fsrot mzpzf"
],
[
"stack fsrot fyish"
]
] | [
"(on wpefr kauxy) (arm-empty) (on-table fyish) (on fsrot wpefr) (clear fyish) (clear fsrot) (on-table kauxy) (clear mzpzf) (on-table mzpzf)",
"(on wpefr kauxy) (on-table fyish) (on-table kauxy) (clear wpefr) (holding fsrot) (clear mzpzf) (on-table mzpzf) (clear fyish)",
"(clear fsrot) (on wpefr kauxy) (arm-empty) (on-table fyish) (on-table kauxy) (clear wpefr) (on fsrot mzpzf) (on-table mzpzf) (clear fyish)",
"(clear fsrot) (on wpefr kauxy) (on-table kauxy) (clear wpefr) (holding fyish) (on fsrot mzpzf) (on-table mzpzf)",
"(clear fsrot) (on wpefr kauxy) (on fyish wpefr) (arm-empty) (on-table kauxy) (on fsrot mzpzf) (on-table mzpzf) (clear fyish)",
"(on wpefr kauxy) (on fyish wpefr) (on-table kauxy) (holding fsrot) (clear mzpzf) (on-table mzpzf) (clear fyish)",
"(clear fsrot) (on wpefr kauxy) (on fyish wpefr) (arm-empty) (on-table kauxy) (on fsrot fyish) (clear mzpzf) (on-table mzpzf)"
] | file_211212 |
GOAL: (on cszxf qnras) (on ngeon cszxf) (arm-empty) (on-table gqgvw) (on jfyfg gqgvw) (on-table qnras) (clear ngeon) (clear jfyfg) | GOAL: (on cszxf qnras) (on ngeon cszxf) (arm-empty) (on-table gqgvw) (on jfyfg gqgvw) (on-table qnras) (clear ngeon) (clear jfyfg)
STATE: (on-table ngeon) (on cszxf gqgvw) (clear qnras) (holding jfyfg) (on-table qnras) (on gqgvw ngeon) (clear cszxf) | [
[
"put-down jfyfg"
],
[
"unstack cszxf gqgvw"
],
[
"stack cszxf qnras"
],
[
"pick-up jfyfg"
],
[
"stack jfyfg cszxf"
],
[
"unstack gqgvw ngeon"
],
[
"put-down gqgvw"
],
[
"unstack jfyfg cszxf"
],
[
"stack jfyfg gqgvw"
],
[
"pick-up ngeon"
],
[
"stack ngeon cszxf"
]
] | [
"(arm-empty) (on-table jfyfg) (clear qnras) (on gqgvw ngeon) (clear jfyfg) (on-table ngeon) (on cszxf gqgvw) (on-table qnras) (clear cszxf)",
"(clear gqgvw) (on-table jfyfg) (on-table ngeon) (clear qnras) (on-table qnras) (on gqgvw ngeon) (holding cszxf) (clear jfyfg)",
"(on cszxf qnras) (clear gqgvw) (arm-empty) (on-table jfyfg) (on-table ngeon) (on-table qnras) (on gqgvw ngeon) (clear cszxf) (clear jfyfg)",
"(on cszxf qnras) (clear gqgvw) (on-table ngeon) (holding jfyfg) (on-table qnras) (on gqgvw ngeon) (clear cszxf)",
"(on cszxf qnras) (clear gqgvw) (arm-empty) (on-table ngeon) (on jfyfg cszxf) (on-table qnras) (on gqgvw ngeon) (clear jfyfg)",
"(on cszxf qnras) (on-table ngeon) (on jfyfg cszxf) (on-table qnras) (holding gqgvw) (clear ngeon) (clear jfyfg)",
"(arm-empty) (on-table gqgvw) (on jfyfg cszxf) (clear jfyfg) (on cszxf qnras) (clear gqgvw) (on-table ngeon) (on-table qnras) (clear ngeon)",
"(on cszxf qnras) (clear gqgvw) (on-table gqgvw) (on-table ngeon) (holding jfyfg) (on-table qnras) (clear cszxf) (clear ngeon)",
"(on cszxf qnras) (arm-empty) (on-table gqgvw) (on-table ngeon) (on jfyfg gqgvw) (on-table qnras) (clear cszxf) (clear ngeon) (clear jfyfg)",
"(holding ngeon) (on cszxf qnras) (on-table gqgvw) (on jfyfg gqgvw) (on-table qnras) (clear cszxf) (clear jfyfg)",
"(on cszxf qnras) (on ngeon cszxf) (arm-empty) (on-table gqgvw) (on jfyfg gqgvw) (on-table qnras) (clear ngeon) (clear jfyfg)"
] | file_112075 |
GOAL: (on melcc zjooc) (clear tkqlu) (arm-empty) (on zjooc hbxkk) (on-table tkqlu) (on-table hbxkk) (on qalcn melcc) (clear qalcn) | GOAL: (on melcc zjooc) (clear tkqlu) (arm-empty) (on zjooc hbxkk) (on-table tkqlu) (on-table hbxkk) (on qalcn melcc) (clear qalcn)
STATE: (on melcc qalcn) (arm-empty) (on-table tkqlu) (on qalcn tkqlu) (clear hbxkk) (on zjooc melcc) (on-table hbxkk) (clear zjooc) | [
[
"unstack zjooc melcc"
],
[
"stack zjooc hbxkk"
],
[
"unstack melcc qalcn"
],
[
"stack melcc zjooc"
],
[
"unstack qalcn tkqlu"
],
[
"stack qalcn melcc"
]
] | [
"(on melcc qalcn) (on-table tkqlu) (on qalcn tkqlu) (clear hbxkk) (holding zjooc) (on-table hbxkk) (clear melcc)",
"(on melcc qalcn) (on zjooc hbxkk) (on-table tkqlu) (arm-empty) (on qalcn tkqlu) (on-table hbxkk) (clear melcc) (clear zjooc)",
"(holding melcc) (on zjooc hbxkk) (on-table tkqlu) (on qalcn tkqlu) (on-table hbxkk) (clear qalcn) (clear zjooc)",
"(on melcc zjooc) (arm-empty) (on zjooc hbxkk) (on-table tkqlu) (on qalcn tkqlu) (on-table hbxkk) (clear qalcn) (clear melcc)",
"(on melcc zjooc) (clear tkqlu) (on zjooc hbxkk) (on-table tkqlu) (on-table hbxkk) (holding qalcn) (clear melcc)",
"(on melcc zjooc) (clear tkqlu) (arm-empty) (on zjooc hbxkk) (on-table tkqlu) (on-table hbxkk) (on qalcn melcc) (clear qalcn)"
] | file_204045 |
GOAL: (arm-empty) (on simyv vtrig) (clear hbxpm) (on vtrig lfjaz) (clear simyv) (on-table lfjaz) (on-table hbxpm) (clear whhqk) (on-table whhqk) | GOAL: (arm-empty) (on simyv vtrig) (clear hbxpm) (on vtrig lfjaz) (clear simyv) (on-table lfjaz) (on-table hbxpm) (clear whhqk) (on-table whhqk)
STATE: (on whhqk hbxpm) (clear vtrig) (arm-empty) (on-table vtrig) (on-table lfjaz) (on simyv whhqk) (on-table hbxpm) (clear lfjaz) (clear simyv) | [
[
"pick-up vtrig"
],
[
"stack vtrig lfjaz"
],
[
"unstack simyv whhqk"
],
[
"stack simyv vtrig"
],
[
"unstack whhqk hbxpm"
],
[
"put-down whhqk"
]
] | [
"(on whhqk hbxpm) (on-table lfjaz) (on simyv whhqk) (on-table hbxpm) (holding vtrig) (clear lfjaz) (clear simyv)",
"(on whhqk hbxpm) (clear vtrig) (arm-empty) (on-table lfjaz) (on simyv whhqk) (on-table hbxpm) (on vtrig lfjaz) (clear simyv)",
"(on whhqk hbxpm) (clear vtrig) (on-table lfjaz) (holding simyv) (on-table hbxpm) (on vtrig lfjaz) (clear whhqk)",
"(on whhqk hbxpm) (arm-empty) (on-table lfjaz) (on simyv vtrig) (on-table hbxpm) (on vtrig lfjaz) (clear whhqk) (clear simyv)",
"(on-table lfjaz) (on simyv vtrig) (clear hbxpm) (on-table hbxpm) (on vtrig lfjaz) (holding whhqk) (clear simyv)",
"(arm-empty) (on simyv vtrig) (clear hbxpm) (on vtrig lfjaz) (clear simyv) (on-table lfjaz) (on-table hbxpm) (clear whhqk) (on-table whhqk)"
] | file_32114 |
GOAL: (on pwwgz siixq) (clear pejtd) (on-table pejtd) (on-table vdvct) (holding fuisf) (on-table siixq) (clear pwwgz) (clear vdvct) | GOAL: (on pwwgz siixq) (clear pejtd) (on-table pejtd) (on-table vdvct) (holding fuisf) (on-table siixq) (clear pwwgz) (clear vdvct)
STATE: (holding vdvct) (on-table pejtd) (on siixq fuisf) (on fuisf pejtd) (clear siixq) (clear pwwgz) (on-table pwwgz) | [
[
"stack vdvct pwwgz"
],
[
"unstack siixq fuisf"
],
[
"put-down siixq"
],
[
"unstack vdvct pwwgz"
],
[
"put-down vdvct"
],
[
"pick-up pwwgz"
],
[
"stack pwwgz siixq"
],
[
"unstack fuisf pejtd"
]
] | [
"(on vdvct pwwgz) (arm-empty) (on-table pejtd) (on siixq fuisf) (on fuisf pejtd) (clear siixq) (clear vdvct) (on-table pwwgz)",
"(on vdvct pwwgz) (on-table pejtd) (holding siixq) (on fuisf pejtd) (clear vdvct) (on-table pwwgz) (clear fuisf)",
"(on vdvct pwwgz) (arm-empty) (on-table pejtd) (on fuisf pejtd) (clear siixq) (clear fuisf) (on-table siixq) (clear vdvct) (on-table pwwgz)",
"(holding vdvct) (on-table pejtd) (on fuisf pejtd) (clear siixq) (on-table siixq) (clear pwwgz) (on-table pwwgz) (clear fuisf)",
"(arm-empty) (on-table pejtd) (on-table vdvct) (on fuisf pejtd) (clear siixq) (on-table siixq) (clear pwwgz) (clear vdvct) (on-table pwwgz) (clear fuisf)",
"(on-table pejtd) (on-table vdvct) (on fuisf pejtd) (clear siixq) (on-table siixq) (holding pwwgz) (clear vdvct) (clear fuisf)",
"(on pwwgz siixq) (arm-empty) (on-table pejtd) (on-table vdvct) (on fuisf pejtd) (on-table siixq) (clear pwwgz) (clear vdvct) (clear fuisf)",
"(on pwwgz siixq) (clear pejtd) (on-table pejtd) (on-table vdvct) (holding fuisf) (on-table siixq) (clear pwwgz) (clear vdvct)"
] | file_192124 |
GOAL: (on-table drigo) (on-table robhs) (on vflzu drigo) (clear vflzu) (holding ogxuu) (on hpeyt robhs) (clear hpeyt) | GOAL: (on-table drigo) (on-table robhs) (on vflzu drigo) (clear vflzu) (holding ogxuu) (on hpeyt robhs) (clear hpeyt)
STATE: (clear drigo) (on-table drigo) (on-table ogxuu) (holding vflzu) (on-table robhs) (clear hpeyt) (clear robhs) (on-table hpeyt) (clear ogxuu) | [
[
"stack vflzu drigo"
],
[
"pick-up hpeyt"
],
[
"stack hpeyt robhs"
],
[
"pick-up ogxuu"
]
] | [
"(arm-empty) (on-table drigo) (on-table ogxuu) (on-table robhs) (clear vflzu) (on vflzu drigo) (clear hpeyt) (clear robhs) (on-table hpeyt) (clear ogxuu)",
"(on-table drigo) (on-table ogxuu) (on-table robhs) (clear vflzu) (on vflzu drigo) (holding hpeyt) (clear robhs) (clear ogxuu)",
"(arm-empty) (on-table drigo) (on-table ogxuu) (on-table robhs) (clear vflzu) (on hpeyt robhs) (on vflzu drigo) (clear hpeyt) (clear ogxuu)",
"(on-table drigo) (on-table robhs) (on vflzu drigo) (clear vflzu) (holding ogxuu) (on hpeyt robhs) (clear hpeyt)"
] | file_184351 |
GOAL: (on jjeak vqtrr) (arm-empty) (on-table ksjzj) (on vqtrr zodaj) (clear tupeu) (on-table tupeu) (on zodaj ksjzj) (clear jjeak) | GOAL: (on jjeak vqtrr) (arm-empty) (on-table ksjzj) (on vqtrr zodaj) (clear tupeu) (on-table tupeu) (on zodaj ksjzj) (clear jjeak)
STATE: (on jjeak ksjzj) (clear zodaj) (on tupeu jjeak) (on-table zodaj) (on-table ksjzj) (clear tupeu) (holding vqtrr) | [
[
"put-down vqtrr"
],
[
"pick-up zodaj"
],
[
"stack zodaj vqtrr"
],
[
"unstack tupeu jjeak"
],
[
"put-down tupeu"
],
[
"unstack jjeak ksjzj"
],
[
"stack jjeak tupeu"
],
[
"unstack zodaj vqtrr"
],
[
"stack zodaj ksjzj"
],
[
"pick-up vqtrr"
],
[
"stack vqtrr zodaj"
],
[
"unstack jjeak tupeu"
],
[
"stack jjeak vqtrr"
]
] | [
"(on jjeak ksjzj) (on tupeu jjeak) (arm-empty) (on-table zodaj) (on-table ksjzj) (clear tupeu) (clear zodaj) (clear vqtrr) (on-table vqtrr)",
"(on jjeak ksjzj) (on tupeu jjeak) (on-table ksjzj) (clear tupeu) (holding zodaj) (clear vqtrr) (on-table vqtrr)",
"(on jjeak ksjzj) (clear zodaj) (on tupeu jjeak) (arm-empty) (on-table ksjzj) (clear tupeu) (on zodaj vqtrr) (on-table vqtrr)",
"(on jjeak ksjzj) (clear zodaj) (on-table ksjzj) (holding tupeu) (on zodaj vqtrr) (clear jjeak) (on-table vqtrr)",
"(on jjeak ksjzj) (arm-empty) (on-table ksjzj) (clear tupeu) (clear zodaj) (on-table tupeu) (on zodaj vqtrr) (clear jjeak) (on-table vqtrr)",
"(holding jjeak) (clear zodaj) (on-table ksjzj) (clear tupeu) (on-table tupeu) (on zodaj vqtrr) (on-table vqtrr) (clear ksjzj)",
"(clear zodaj) (arm-empty) (on-table ksjzj) (on-table tupeu) (on jjeak tupeu) (on zodaj vqtrr) (clear jjeak) (on-table vqtrr) (clear ksjzj)",
"(on-table ksjzj) (holding zodaj) (on-table tupeu) (on jjeak tupeu) (clear vqtrr) (clear jjeak) (on-table vqtrr) (clear ksjzj)",
"(clear zodaj) (arm-empty) (on-table ksjzj) (on-table tupeu) (on zodaj ksjzj) (clear vqtrr) (on jjeak tupeu) (on-table vqtrr) (clear jjeak)",
"(clear zodaj) (on-table ksjzj) (on-table tupeu) (on jjeak tupeu) (on zodaj ksjzj) (holding vqtrr) (clear jjeak)",
"(arm-empty) (on-table ksjzj) (on vqtrr zodaj) (on-table tupeu) (on jjeak tupeu) (on zodaj ksjzj) (clear vqtrr) (clear jjeak)",
"(holding jjeak) (on-table ksjzj) (on vqtrr zodaj) (clear tupeu) (on-table tupeu) (on zodaj ksjzj) (clear vqtrr)",
"(on jjeak vqtrr) (arm-empty) (on-table ksjzj) (on vqtrr zodaj) (clear tupeu) (on-table tupeu) (on zodaj ksjzj) (clear jjeak)"
] | file_206273 |
GOAL: (clear yqwko) (on hcrcn wzitr) (on kyxoz hcrcn) (on-table yqwko) (on-table eqonq) (arm-empty) (clear kyxoz) (on-table wzitr) (clear eqonq) | GOAL: (clear yqwko) (on hcrcn wzitr) (on kyxoz hcrcn) (on-table yqwko) (on-table eqonq) (arm-empty) (clear kyxoz) (on-table wzitr) (clear eqonq)
STATE: (on hcrcn wzitr) (arm-empty) (on kyxoz eqonq) (on eqonq yqwko) (clear kyxoz) (on yqwko hcrcn) (on-table wzitr) | [
[
"unstack kyxoz eqonq"
],
[
"put-down kyxoz"
],
[
"unstack eqonq yqwko"
],
[
"put-down eqonq"
],
[
"unstack yqwko hcrcn"
],
[
"put-down yqwko"
],
[
"pick-up kyxoz"
],
[
"stack kyxoz hcrcn"
]
] | [
"(on hcrcn wzitr) (holding kyxoz) (on eqonq yqwko) (on yqwko hcrcn) (clear eqonq) (on-table wzitr)",
"(on hcrcn wzitr) (arm-empty) (on eqonq yqwko) (clear kyxoz) (on yqwko hcrcn) (clear eqonq) (on-table kyxoz) (on-table wzitr)",
"(clear yqwko) (on hcrcn wzitr) (clear kyxoz) (holding eqonq) (on-table kyxoz) (on yqwko hcrcn) (on-table wzitr)",
"(on hcrcn wzitr) (arm-empty) (on-table eqonq) (clear kyxoz) (on yqwko hcrcn) (clear eqonq) (clear yqwko) (on-table kyxoz) (on-table wzitr)",
"(on hcrcn wzitr) (on-table eqonq) (clear kyxoz) (on-table kyxoz) (holding yqwko) (clear hcrcn) (on-table wzitr) (clear eqonq)",
"(clear yqwko) (on hcrcn wzitr) (arm-empty) (on-table yqwko) (on-table eqonq) (clear kyxoz) (on-table kyxoz) (clear hcrcn) (on-table wzitr) (clear eqonq)",
"(clear yqwko) (on hcrcn wzitr) (on-table yqwko) (on-table eqonq) (holding kyxoz) (clear hcrcn) (on-table wzitr) (clear eqonq)",
"(clear yqwko) (on hcrcn wzitr) (on kyxoz hcrcn) (on-table yqwko) (on-table eqonq) (arm-empty) (clear kyxoz) (on-table wzitr) (clear eqonq)"
] | file_184993 |
GOAL: (holding livgz) (on aayja cvrnn) (on-table aszws) (on-table zeklp) (on cvrnn aszws) (clear aayja) (clear zeklp) | GOAL: (holding livgz) (on aayja cvrnn) (on-table aszws) (on-table zeklp) (on cvrnn aszws) (clear aayja) (clear zeklp)
STATE: (on aayja cvrnn) (clear aszws) (on livgz aayja) (arm-empty) (on-table aszws) (on-table zeklp) (on-table cvrnn) (clear livgz) (clear zeklp) | [
[
"unstack livgz aayja"
],
[
"stack livgz zeklp"
],
[
"unstack aayja cvrnn"
],
[
"put-down aayja"
],
[
"pick-up cvrnn"
],
[
"stack cvrnn aszws"
],
[
"pick-up aayja"
],
[
"stack aayja cvrnn"
],
[
"unstack livgz zeklp"
]
] | [
"(holding livgz) (on aayja cvrnn) (clear aszws) (on-table aszws) (on-table zeklp) (on-table cvrnn) (clear aayja) (clear zeklp)",
"(on aayja cvrnn) (clear aszws) (on livgz zeklp) (arm-empty) (on-table aszws) (on-table zeklp) (on-table cvrnn) (clear aayja) (clear livgz)",
"(clear aszws) (on livgz zeklp) (on-table aszws) (on-table zeklp) (clear cvrnn) (on-table cvrnn) (holding aayja) (clear livgz)",
"(on livgz zeklp) (clear aszws) (arm-empty) (on-table aszws) (on-table zeklp) (clear cvrnn) (on-table cvrnn) (clear aayja) (clear livgz) (on-table aayja)",
"(on livgz zeklp) (clear aszws) (on-table aszws) (on-table zeklp) (holding cvrnn) (clear aayja) (clear livgz) (on-table aayja)",
"(on livgz zeklp) (arm-empty) (on-table aszws) (on-table zeklp) (clear cvrnn) (on cvrnn aszws) (clear aayja) (clear livgz) (on-table aayja)",
"(on livgz zeklp) (on-table aszws) (on-table zeklp) (clear cvrnn) (on cvrnn aszws) (holding aayja) (clear livgz)",
"(on livgz zeklp) (on aayja cvrnn) (arm-empty) (on-table aszws) (on-table zeklp) (on cvrnn aszws) (clear aayja) (clear livgz)",
"(holding livgz) (on aayja cvrnn) (on-table aszws) (on-table zeklp) (on cvrnn aszws) (clear aayja) (clear zeklp)"
] | file_120567 |
GOAL: (on nzjsq nrcfa) (arm-empty) (on-table nrcfa) (on lmdkw cijqr) (clear nzjsq) (on cijqr xcsiz) (on-table xcsiz) (clear lmdkw) | GOAL: (on nzjsq nrcfa) (arm-empty) (on-table nrcfa) (on lmdkw cijqr) (clear nzjsq) (on cijqr xcsiz) (on-table xcsiz) (clear lmdkw)
STATE: (on-table lmdkw) (on-table nrcfa) (clear nzjsq) (on-table nzjsq) (holding cijqr) (clear xcsiz) (clear nrcfa) (on-table xcsiz) (clear lmdkw) | [
[
"stack cijqr lmdkw"
],
[
"pick-up nrcfa"
],
[
"stack nrcfa nzjsq"
],
[
"unstack cijqr lmdkw"
],
[
"stack cijqr xcsiz"
],
[
"unstack nrcfa nzjsq"
],
[
"put-down nrcfa"
],
[
"pick-up nzjsq"
],
[
"stack nzjsq nrcfa"
],
[
"pick-up lmdkw"
],
[
"stack lmdkw cijqr"
]
] | [
"(clear cijqr) (arm-empty) (on-table lmdkw) (on-table nrcfa) (clear nzjsq) (on-table nzjsq) (on cijqr lmdkw) (clear xcsiz) (clear nrcfa) (on-table xcsiz)",
"(holding nrcfa) (clear cijqr) (on-table lmdkw) (clear nzjsq) (on-table nzjsq) (on cijqr lmdkw) (clear xcsiz) (on-table xcsiz)",
"(clear cijqr) (arm-empty) (on-table lmdkw) (on-table nzjsq) (on nrcfa nzjsq) (on cijqr lmdkw) (clear xcsiz) (clear nrcfa) (on-table xcsiz)",
"(on-table lmdkw) (holding cijqr) (on-table nzjsq) (on nrcfa nzjsq) (clear xcsiz) (clear nrcfa) (on-table xcsiz) (clear lmdkw)",
"(clear cijqr) (arm-empty) (on-table lmdkw) (clear lmdkw) (on-table nzjsq) (on cijqr xcsiz) (on nrcfa nzjsq) (on-table xcsiz) (clear nrcfa)",
"(holding nrcfa) (clear cijqr) (on-table lmdkw) (clear nzjsq) (on-table nzjsq) (on cijqr xcsiz) (on-table xcsiz) (clear lmdkw)",
"(clear cijqr) (arm-empty) (on-table lmdkw) (on-table nrcfa) (clear nzjsq) (on-table nzjsq) (on cijqr xcsiz) (clear nrcfa) (on-table xcsiz) (clear lmdkw)",
"(clear cijqr) (on-table lmdkw) (on-table nrcfa) (holding nzjsq) (on cijqr xcsiz) (clear nrcfa) (on-table xcsiz) (clear lmdkw)",
"(clear cijqr) (on nzjsq nrcfa) (arm-empty) (on-table lmdkw) (on-table nrcfa) (clear nzjsq) (on cijqr xcsiz) (on-table xcsiz) (clear lmdkw)",
"(clear cijqr) (on nzjsq nrcfa) (on-table nrcfa) (clear nzjsq) (holding lmdkw) (on cijqr xcsiz) (on-table xcsiz)",
"(on nzjsq nrcfa) (arm-empty) (on-table nrcfa) (on lmdkw cijqr) (clear nzjsq) (on cijqr xcsiz) (on-table xcsiz) (clear lmdkw)"
] | file_91565 |
GOAL: (clear xprpt) (on emnmf fgbse) (on rgrci emnmf) (on-table xprpt) (clear rgrci) (holding ppvbd) (on-table fgbse) | GOAL: (clear xprpt) (on emnmf fgbse) (on rgrci emnmf) (on-table xprpt) (clear rgrci) (holding ppvbd) (on-table fgbse)
STATE: (on emnmf ppvbd) (clear xprpt) (arm-empty) (on ppvbd rgrci) (on-table rgrci) (on fgbse emnmf) (on xprpt fgbse) | [
[
"unstack xprpt fgbse"
],
[
"put-down xprpt"
],
[
"unstack fgbse emnmf"
],
[
"put-down fgbse"
],
[
"unstack emnmf ppvbd"
],
[
"stack emnmf fgbse"
],
[
"unstack ppvbd rgrci"
],
[
"put-down ppvbd"
],
[
"pick-up rgrci"
],
[
"stack rgrci emnmf"
],
[
"pick-up ppvbd"
]
] | [
"(on emnmf ppvbd) (on ppvbd rgrci) (on fgbse emnmf) (on-table rgrci) (holding xprpt) (clear fgbse)",
"(on emnmf ppvbd) (on-table rgrci) (clear xprpt) (on ppvbd rgrci) (on-table xprpt) (arm-empty) (on fgbse emnmf) (clear fgbse)",
"(on emnmf ppvbd) (clear xprpt) (on ppvbd rgrci) (on-table xprpt) (on-table rgrci) (holding fgbse) (clear emnmf)",
"(on emnmf ppvbd) (arm-empty) (on ppvbd rgrci) (on-table xprpt) (clear xprpt) (on-table rgrci) (clear fgbse) (clear emnmf) (on-table fgbse)",
"(holding emnmf) (clear xprpt) (on ppvbd rgrci) (on-table xprpt) (on-table rgrci) (clear fgbse) (on-table fgbse) (clear ppvbd)",
"(clear xprpt) (on emnmf fgbse) (on ppvbd rgrci) (on-table xprpt) (arm-empty) (on-table rgrci) (clear emnmf) (on-table fgbse) (clear ppvbd)",
"(clear xprpt) (on emnmf fgbse) (on-table xprpt) (clear rgrci) (holding ppvbd) (on-table rgrci) (clear emnmf) (on-table fgbse)",
"(clear xprpt) (on emnmf fgbse) (arm-empty) (on-table xprpt) (on-table ppvbd) (clear rgrci) (on-table rgrci) (clear emnmf) (on-table fgbse) (clear ppvbd)",
"(clear xprpt) (on emnmf fgbse) (on-table xprpt) (on-table ppvbd) (holding rgrci) (clear emnmf) (on-table fgbse) (clear ppvbd)",
"(clear xprpt) (on emnmf fgbse) (on rgrci emnmf) (on-table xprpt) (on-table ppvbd) (arm-empty) (clear rgrci) (on-table fgbse) (clear ppvbd)",
"(clear xprpt) (on emnmf fgbse) (on rgrci emnmf) (on-table xprpt) (clear rgrci) (holding ppvbd) (on-table fgbse)"
] | file_153348 |
GOAL: (clear xykgl) (arm-empty) (on pdlmg hykkd) (on-table eeyes) (clear pdlmg) (on hykkd eeyes) (on xykgl nazmi) (on-table nazmi) | GOAL: (clear xykgl) (arm-empty) (on pdlmg hykkd) (on-table eeyes) (clear pdlmg) (on hykkd eeyes) (on xykgl nazmi) (on-table nazmi)
STATE: (clear xykgl) (arm-empty) (on-table xykgl) (on pdlmg hykkd) (on-table eeyes) (clear pdlmg) (on hykkd eeyes) (clear nazmi) (on-table nazmi) | [
[
"pick-up xykgl"
],
[
"stack xykgl nazmi"
]
] | [
"(on pdlmg hykkd) (on-table eeyes) (clear pdlmg) (on hykkd eeyes) (holding xykgl) (clear nazmi) (on-table nazmi)",
"(clear xykgl) (arm-empty) (on pdlmg hykkd) (on-table eeyes) (clear pdlmg) (on hykkd eeyes) (on xykgl nazmi) (on-table nazmi)"
] | file_143401 |
GOAL: (clear fctbw) (arm-empty) (on yojgc kjksx) (on-table nzzxd) (on kjksx dcleg) (on dcleg nzzxd) (on fctbw yojgc) | GOAL: (clear fctbw) (arm-empty) (on yojgc kjksx) (on-table nzzxd) (on kjksx dcleg) (on dcleg nzzxd) (on fctbw yojgc)
STATE: (clear fctbw) (on-table fctbw) (on-table nzzxd) (clear kjksx) (on kjksx dcleg) (holding yojgc) (on dcleg nzzxd) | [
[
"stack yojgc kjksx"
],
[
"pick-up fctbw"
],
[
"stack fctbw yojgc"
]
] | [
"(clear fctbw) (arm-empty) (on yojgc kjksx) (on-table fctbw) (on-table nzzxd) (on kjksx dcleg) (on dcleg nzzxd) (clear yojgc)",
"(on yojgc kjksx) (on-table nzzxd) (on kjksx dcleg) (holding fctbw) (on dcleg nzzxd) (clear yojgc)",
"(clear fctbw) (arm-empty) (on yojgc kjksx) (on-table nzzxd) (on kjksx dcleg) (on dcleg nzzxd) (on fctbw yojgc)"
] | file_208507 |
GOAL: (on pfksn bdcuu) (on vsdea pfksn) (on kesov vsdea) (holding vrwih) (on-table bdcuu) (clear kesov) | GOAL: (on pfksn bdcuu) (on vsdea pfksn) (on kesov vsdea) (holding vrwih) (on-table bdcuu) (clear kesov)
STATE: (arm-empty) (on-table vrwih) (on vsdea kesov) (on-table pfksn) (on kesov vrwih) (clear vsdea) (clear bdcuu) (clear pfksn) (on-table bdcuu) | [
[
"pick-up pfksn"
],
[
"stack pfksn bdcuu"
],
[
"unstack vsdea kesov"
],
[
"stack vsdea pfksn"
],
[
"unstack kesov vrwih"
],
[
"stack kesov vsdea"
],
[
"pick-up vrwih"
]
] | [
"(holding pfksn) (on-table vrwih) (on vsdea kesov) (on kesov vrwih) (clear vsdea) (clear bdcuu) (on-table bdcuu)",
"(on pfksn bdcuu) (arm-empty) (on-table vrwih) (on vsdea kesov) (on kesov vrwih) (clear vsdea) (clear pfksn) (on-table bdcuu)",
"(on pfksn bdcuu) (on-table vrwih) (holding vsdea) (on kesov vrwih) (clear pfksn) (on-table bdcuu) (clear kesov)",
"(on pfksn bdcuu) (on vsdea pfksn) (on-table vrwih) (arm-empty) (on kesov vrwih) (clear vsdea) (on-table bdcuu) (clear kesov)",
"(clear vrwih) (on pfksn bdcuu) (on vsdea pfksn) (on-table vrwih) (clear vsdea) (holding kesov) (on-table bdcuu)",
"(clear vrwih) (on pfksn bdcuu) (on vsdea pfksn) (on-table vrwih) (on kesov vsdea) (arm-empty) (on-table bdcuu) (clear kesov)",
"(on pfksn bdcuu) (on vsdea pfksn) (on kesov vsdea) (holding vrwih) (on-table bdcuu) (clear kesov)"
] | file_23612 |
GOAL: (on ndmyw ahyvd) (arm-empty) (on-table uliop) (on dagtv sawqc) (on ahyvd uliop) (clear dagtv) (on sawqc ndmyw) | GOAL: (on ndmyw ahyvd) (arm-empty) (on-table uliop) (on dagtv sawqc) (on ahyvd uliop) (clear dagtv) (on sawqc ndmyw)
STATE: (clear uliop) (arm-empty) (on-table uliop) (on-table sawqc) (on-table dagtv) (on ndmyw dagtv) (clear ahyvd) (clear ndmyw) (on-table ahyvd) (clear sawqc) | [
[
"pick-up ahyvd"
],
[
"stack ahyvd uliop"
],
[
"unstack ndmyw dagtv"
],
[
"put-down ndmyw"
],
[
"pick-up sawqc"
],
[
"stack sawqc dagtv"
],
[
"pick-up ndmyw"
],
[
"stack ndmyw ahyvd"
],
[
"unstack sawqc dagtv"
],
[
"stack sawqc ndmyw"
],
[
"pick-up dagtv"
],
[
"stack dagtv sawqc"
]
] | [
"(clear uliop) (on-table uliop) (on-table sawqc) (on-table dagtv) (on ndmyw dagtv) (holding ahyvd) (clear ndmyw) (clear sawqc)",
"(arm-empty) (on-table uliop) (on-table sawqc) (on ahyvd uliop) (on-table dagtv) (on ndmyw dagtv) (clear ahyvd) (clear ndmyw) (clear sawqc)",
"(holding ndmyw) (on-table uliop) (on-table sawqc) (on ahyvd uliop) (clear dagtv) (on-table dagtv) (clear ahyvd) (clear sawqc)",
"(arm-empty) (on-table uliop) (on-table sawqc) (on-table ndmyw) (on ahyvd uliop) (clear dagtv) (on-table dagtv) (clear ahyvd) (clear ndmyw) (clear sawqc)",
"(on-table uliop) (on-table ndmyw) (on ahyvd uliop) (clear dagtv) (holding sawqc) (on-table dagtv) (clear ahyvd) (clear ndmyw)",
"(arm-empty) (on sawqc dagtv) (on-table uliop) (on-table ndmyw) (on ahyvd uliop) (on-table dagtv) (clear ahyvd) (clear ndmyw) (clear sawqc)",
"(holding ndmyw) (on sawqc dagtv) (on-table uliop) (on ahyvd uliop) (on-table dagtv) (clear ahyvd) (clear sawqc)",
"(on ndmyw ahyvd) (on sawqc dagtv) (on-table uliop) (arm-empty) (on ahyvd uliop) (on-table dagtv) (clear ndmyw) (clear sawqc)",
"(on ndmyw ahyvd) (on-table uliop) (on ahyvd uliop) (clear dagtv) (holding sawqc) (on-table dagtv) (clear ndmyw)",
"(on ndmyw ahyvd) (arm-empty) (on-table uliop) (on ahyvd uliop) (clear dagtv) (on sawqc ndmyw) (on-table dagtv) (clear sawqc)",
"(on ndmyw ahyvd) (on-table uliop) (holding dagtv) (on ahyvd uliop) (on sawqc ndmyw) (clear sawqc)",
"(on ndmyw ahyvd) (arm-empty) (on-table uliop) (on dagtv sawqc) (on ahyvd uliop) (clear dagtv) (on sawqc ndmyw)"
] | file_132473 |
GOAL: (clear unsxb) (arm-empty) (on-table unsxb) (on-table ckijz) (on-table vwxmq) (on emsrr vwxmq) (clear pxeyu) (clear emsrr) (on-table pxeyu) (clear ckijz) | GOAL: (clear unsxb) (arm-empty) (on-table unsxb) (on-table ckijz) (on-table vwxmq) (on emsrr vwxmq) (clear pxeyu) (clear emsrr) (on-table pxeyu) (clear ckijz)
STATE: (holding emsrr) (clear unsxb) (on pxeyu ckijz) (on-table unsxb) (on-table ckijz) (clear vwxmq) (on vwxmq pxeyu) | [
[
"stack emsrr unsxb"
],
[
"unstack vwxmq pxeyu"
],
[
"stack vwxmq emsrr"
],
[
"unstack pxeyu ckijz"
],
[
"put-down pxeyu"
],
[
"pick-up ckijz"
],
[
"stack ckijz pxeyu"
],
[
"unstack vwxmq emsrr"
],
[
"put-down vwxmq"
],
[
"unstack emsrr unsxb"
],
[
"stack emsrr vwxmq"
],
[
"unstack ckijz pxeyu"
],
[
"put-down ckijz"
]
] | [
"(on pxeyu ckijz) (arm-empty) (on-table unsxb) (on-table ckijz) (clear vwxmq) (on vwxmq pxeyu) (on emsrr unsxb) (clear emsrr)",
"(on pxeyu ckijz) (on-table unsxb) (on-table ckijz) (holding vwxmq) (clear pxeyu) (on emsrr unsxb) (clear emsrr)",
"(on pxeyu ckijz) (on vwxmq emsrr) (arm-empty) (on-table unsxb) (on-table ckijz) (clear vwxmq) (clear pxeyu) (on emsrr unsxb)",
"(on vwxmq emsrr) (on-table unsxb) (on-table ckijz) (clear vwxmq) (on emsrr unsxb) (holding pxeyu) (clear ckijz)",
"(on vwxmq emsrr) (arm-empty) (on-table unsxb) (on-table ckijz) (clear vwxmq) (on emsrr unsxb) (clear ckijz) (clear pxeyu) (on-table pxeyu)",
"(on vwxmq emsrr) (on-table unsxb) (clear vwxmq) (holding ckijz) (clear pxeyu) (on emsrr unsxb) (on-table pxeyu)",
"(on vwxmq emsrr) (arm-empty) (on-table unsxb) (clear vwxmq) (on ckijz pxeyu) (on emsrr unsxb) (on-table pxeyu) (clear ckijz)",
"(on-table unsxb) (holding vwxmq) (on ckijz pxeyu) (on emsrr unsxb) (clear emsrr) (on-table pxeyu) (clear ckijz)",
"(arm-empty) (on-table unsxb) (clear vwxmq) (on ckijz pxeyu) (on emsrr unsxb) (clear ckijz) (on-table vwxmq) (clear emsrr) (on-table pxeyu)",
"(holding emsrr) (clear unsxb) (on-table unsxb) (clear vwxmq) (on ckijz pxeyu) (on-table vwxmq) (on-table pxeyu) (clear ckijz)",
"(clear unsxb) (arm-empty) (on-table unsxb) (on ckijz pxeyu) (on-table vwxmq) (on emsrr vwxmq) (clear emsrr) (on-table pxeyu) (clear ckijz)",
"(clear unsxb) (on-table unsxb) (holding ckijz) (on-table vwxmq) (on emsrr vwxmq) (clear pxeyu) (clear emsrr) (on-table pxeyu)",
"(clear unsxb) (arm-empty) (on-table unsxb) (on-table ckijz) (on-table vwxmq) (on emsrr vwxmq) (clear pxeyu) (clear emsrr) (on-table pxeyu) (clear ckijz)"
] | file_25969 |
GOAL: (on itfgb svulo) (on svulo zlmms) (arm-empty) (on-table vvell) (on-table ipbqf) (clear itfgb) (on zlmms vvell) (clear ipbqf) | GOAL: (on itfgb svulo) (on svulo zlmms) (arm-empty) (on-table vvell) (on-table ipbqf) (clear itfgb) (on zlmms vvell) (clear ipbqf)
STATE: (holding zlmms) (clear vvell) (on-table vvell) (on-table ipbqf) (on svulo ipbqf) (clear svulo) (clear itfgb) (on-table itfgb) | [
[
"stack zlmms vvell"
],
[
"unstack svulo ipbqf"
],
[
"stack svulo zlmms"
],
[
"pick-up itfgb"
],
[
"stack itfgb svulo"
]
] | [
"(arm-empty) (on-table vvell) (on-table ipbqf) (on svulo ipbqf) (clear svulo) (clear itfgb) (on zlmms vvell) (clear zlmms) (on-table itfgb)",
"(on-table vvell) (on-table ipbqf) (holding svulo) (clear itfgb) (on zlmms vvell) (clear zlmms) (on-table itfgb) (clear ipbqf)",
"(on svulo zlmms) (arm-empty) (on-table vvell) (on-table ipbqf) (clear svulo) (clear itfgb) (on zlmms vvell) (on-table itfgb) (clear ipbqf)",
"(on svulo zlmms) (on-table vvell) (on-table ipbqf) (clear svulo) (on zlmms vvell) (holding itfgb) (clear ipbqf)",
"(on itfgb svulo) (on svulo zlmms) (arm-empty) (on-table vvell) (on-table ipbqf) (clear itfgb) (on zlmms vvell) (clear ipbqf)"
] | file_87590 |
GOAL: (clear ehsnb) (on uwwgn xovpp) (on-table xovpp) (on-table ehsnb) (holding uixep) (clear uwwgn) | GOAL: (clear ehsnb) (on uwwgn xovpp) (on-table xovpp) (on-table ehsnb) (holding uixep) (clear uwwgn)
STATE: (clear uixep) (on-table xovpp) (on-table ehsnb) (on uixep ehsnb) (holding uwwgn) (clear xovpp) | [
[
"stack uwwgn xovpp"
],
[
"unstack uixep ehsnb"
]
] | [
"(clear uixep) (arm-empty) (on-table xovpp) (on uixep ehsnb) (on-table ehsnb) (on uwwgn xovpp) (clear uwwgn)",
"(clear ehsnb) (on uwwgn xovpp) (on-table xovpp) (on-table ehsnb) (holding uixep) (clear uwwgn)"
] | file_149736 |
GOAL: (on uvnoq juzbf) (clear cirja) (holding erwgr) (on cirja pvnhs) (on pvnhs uvnoq) (on-table juzbf) | GOAL: (on uvnoq juzbf) (clear cirja) (holding erwgr) (on cirja pvnhs) (on pvnhs uvnoq) (on-table juzbf)
STATE: (clear pvnhs) (on uvnoq juzbf) (on-table pvnhs) (clear cirja) (holding erwgr) (on-table cirja) (clear uvnoq) (on-table juzbf) | [
[
"put-down erwgr"
],
[
"pick-up pvnhs"
],
[
"stack pvnhs uvnoq"
],
[
"pick-up cirja"
],
[
"stack cirja pvnhs"
],
[
"pick-up erwgr"
]
] | [
"(clear pvnhs) (on uvnoq juzbf) (arm-empty) (on-table pvnhs) (on-table erwgr) (clear cirja) (on-table cirja) (clear uvnoq) (on-table juzbf) (clear erwgr)",
"(on uvnoq juzbf) (on-table erwgr) (clear cirja) (on-table cirja) (holding pvnhs) (clear uvnoq) (on-table juzbf) (clear erwgr)",
"(clear pvnhs) (on uvnoq juzbf) (arm-empty) (on-table erwgr) (clear cirja) (on-table cirja) (on pvnhs uvnoq) (on-table juzbf) (clear erwgr)",
"(clear pvnhs) (on uvnoq juzbf) (on-table erwgr) (holding cirja) (on pvnhs uvnoq) (on-table juzbf) (clear erwgr)",
"(on uvnoq juzbf) (arm-empty) (on-table erwgr) (clear cirja) (on pvnhs uvnoq) (clear erwgr) (on cirja pvnhs) (on-table juzbf)",
"(on uvnoq juzbf) (clear cirja) (holding erwgr) (on cirja pvnhs) (on pvnhs uvnoq) (on-table juzbf)"
] | file_218313 |
GOAL: (clear zgcfo) (on dptmr pdgxz) (on axhwc dptmr) (arm-empty) (on-table pdgxz) (on jdsdp axhwc) (on zgcfo jdsdp) | GOAL: (clear zgcfo) (on dptmr pdgxz) (on axhwc dptmr) (arm-empty) (on-table pdgxz) (on jdsdp axhwc) (on zgcfo jdsdp)
STATE: (on-table zgcfo) (clear pdgxz) (on-table pdgxz) (on jdsdp zgcfo) (on axhwc jdsdp) (clear axhwc) (holding dptmr) | [
[
"stack dptmr pdgxz"
],
[
"unstack axhwc jdsdp"
],
[
"stack axhwc dptmr"
],
[
"unstack jdsdp zgcfo"
],
[
"stack jdsdp axhwc"
],
[
"pick-up zgcfo"
],
[
"stack zgcfo jdsdp"
]
] | [
"(on dptmr pdgxz) (arm-empty) (on-table zgcfo) (on-table pdgxz) (on jdsdp zgcfo) (clear dptmr) (on axhwc jdsdp) (clear axhwc)",
"(holding axhwc) (on dptmr pdgxz) (clear jdsdp) (on-table zgcfo) (on-table pdgxz) (on jdsdp zgcfo) (clear dptmr)",
"(on dptmr pdgxz) (clear jdsdp) (on axhwc dptmr) (arm-empty) (on-table zgcfo) (on-table pdgxz) (on jdsdp zgcfo) (clear axhwc)",
"(on dptmr pdgxz) (on axhwc dptmr) (on-table zgcfo) (on-table pdgxz) (holding jdsdp) (clear axhwc) (clear zgcfo)",
"(on dptmr pdgxz) (clear jdsdp) (on axhwc dptmr) (arm-empty) (on-table zgcfo) (on-table pdgxz) (on jdsdp axhwc) (clear zgcfo)",
"(on dptmr pdgxz) (clear jdsdp) (on axhwc dptmr) (holding zgcfo) (on-table pdgxz) (on jdsdp axhwc)",
"(clear zgcfo) (on dptmr pdgxz) (on axhwc dptmr) (arm-empty) (on-table pdgxz) (on jdsdp axhwc) (on zgcfo jdsdp)"
] | file_47704 |
GOAL: (clear npznk) (on dvkpj zimrf) (on gsfem dvkpj) (on-table npznk) (arm-empty) (clear gsfem) (on-table zimrf) | GOAL: (clear npznk) (on dvkpj zimrf) (on gsfem dvkpj) (on-table npznk) (arm-empty) (clear gsfem) (on-table zimrf)
STATE: (arm-empty) (on npznk gsfem) (on-table gsfem) (on zimrf dvkpj) (clear zimrf) (on dvkpj npznk) | [
[
"unstack zimrf dvkpj"
],
[
"put-down zimrf"
],
[
"unstack dvkpj npznk"
],
[
"stack dvkpj zimrf"
],
[
"unstack npznk gsfem"
],
[
"put-down npznk"
],
[
"pick-up gsfem"
],
[
"stack gsfem dvkpj"
]
] | [
"(on-table gsfem) (on npznk gsfem) (on dvkpj npznk) (clear dvkpj) (holding zimrf)",
"(on-table gsfem) (arm-empty) (on npznk gsfem) (clear zimrf) (on dvkpj npznk) (clear dvkpj) (on-table zimrf)",
"(on npznk gsfem) (holding dvkpj) (clear npznk) (on-table gsfem) (clear zimrf) (on-table zimrf)",
"(clear npznk) (on dvkpj zimrf) (arm-empty) (on-table gsfem) (on npznk gsfem) (clear dvkpj) (on-table zimrf)",
"(on dvkpj zimrf) (clear gsfem) (on-table gsfem) (holding npznk) (clear dvkpj) (on-table zimrf)",
"(on-table gsfem) (on dvkpj zimrf) (clear npznk) (on-table npznk) (arm-empty) (clear gsfem) (clear dvkpj) (on-table zimrf)",
"(clear npznk) (on dvkpj zimrf) (on-table npznk) (holding gsfem) (clear dvkpj) (on-table zimrf)",
"(clear npznk) (on dvkpj zimrf) (on gsfem dvkpj) (on-table npznk) (arm-empty) (clear gsfem) (on-table zimrf)"
] | file_31914 |
GOAL: (on-table mhkaw) (on-table xvwvo) (clear gjqxt) (on gjqxt ftjon) (on ftjon mhkaw) (holding cjayq) (clear xvwvo) | GOAL: (on-table mhkaw) (on-table xvwvo) (clear gjqxt) (on gjqxt ftjon) (on ftjon mhkaw) (holding cjayq) (clear xvwvo)
STATE: (arm-empty) (on mhkaw gjqxt) (on-table gjqxt) (on cjayq xvwvo) (on ftjon mhkaw) (clear cjayq) (on xvwvo ftjon) | [
[
"unstack cjayq xvwvo"
],
[
"put-down cjayq"
],
[
"unstack xvwvo ftjon"
],
[
"put-down xvwvo"
],
[
"pick-up cjayq"
],
[
"stack cjayq xvwvo"
],
[
"unstack ftjon mhkaw"
],
[
"put-down ftjon"
],
[
"unstack mhkaw gjqxt"
],
[
"put-down mhkaw"
],
[
"pick-up ftjon"
],
[
"stack ftjon mhkaw"
],
[
"pick-up gjqxt"
],
[
"stack gjqxt ftjon"
],
[
"unstack cjayq xvwvo"
]
] | [
"(on mhkaw gjqxt) (on ftjon mhkaw) (on xvwvo ftjon) (on-table gjqxt) (holding cjayq) (clear xvwvo)",
"(on-table gjqxt) (arm-empty) (on mhkaw gjqxt) (on ftjon mhkaw) (clear cjayq) (on xvwvo ftjon) (clear xvwvo) (on-table cjayq)",
"(holding xvwvo) (clear ftjon) (on mhkaw gjqxt) (on-table gjqxt) (on ftjon mhkaw) (clear cjayq) (on-table cjayq)",
"(arm-empty) (on mhkaw gjqxt) (on ftjon mhkaw) (clear ftjon) (on-table xvwvo) (on-table gjqxt) (clear cjayq) (clear xvwvo) (on-table cjayq)",
"(clear ftjon) (on mhkaw gjqxt) (on-table xvwvo) (on-table gjqxt) (on ftjon mhkaw) (holding cjayq) (clear xvwvo)",
"(clear ftjon) (arm-empty) (on mhkaw gjqxt) (on-table xvwvo) (on-table gjqxt) (on cjayq xvwvo) (on ftjon mhkaw) (clear cjayq)",
"(on mhkaw gjqxt) (on-table xvwvo) (on-table gjqxt) (holding ftjon) (on cjayq xvwvo) (clear cjayq) (clear mhkaw)",
"(arm-empty) (on mhkaw gjqxt) (on-table ftjon) (on cjayq xvwvo) (clear mhkaw) (clear ftjon) (on-table xvwvo) (on-table gjqxt) (clear cjayq)",
"(clear ftjon) (on-table ftjon) (on-table xvwvo) (clear gjqxt) (holding mhkaw) (on-table gjqxt) (on cjayq xvwvo) (clear cjayq)",
"(clear ftjon) (arm-empty) (on-table ftjon) (on-table mhkaw) (on-table xvwvo) (clear gjqxt) (on-table gjqxt) (on cjayq xvwvo) (clear cjayq) (clear mhkaw)",
"(on-table mhkaw) (on-table xvwvo) (clear gjqxt) (on-table gjqxt) (holding ftjon) (on cjayq xvwvo) (clear cjayq) (clear mhkaw)",
"(clear ftjon) (arm-empty) (on-table mhkaw) (on-table xvwvo) (clear gjqxt) (on-table gjqxt) (on cjayq xvwvo) (on ftjon mhkaw) (clear cjayq)",
"(clear ftjon) (on-table mhkaw) (on-table xvwvo) (holding gjqxt) (on cjayq xvwvo) (on ftjon mhkaw) (clear cjayq)",
"(arm-empty) (on-table mhkaw) (on-table xvwvo) (clear gjqxt) (on cjayq xvwvo) (on gjqxt ftjon) (on ftjon mhkaw) (clear cjayq)",
"(on-table mhkaw) (on-table xvwvo) (clear gjqxt) (on gjqxt ftjon) (on ftjon mhkaw) (holding cjayq) (clear xvwvo)"
] | file_176296 |
GOAL: (arm-empty) (on-table gersl) (clear nykxj) (on stkif zzcbr) (on zzcbr gersl) (on nykxj bulqf) (on bulqf stkif) | GOAL: (arm-empty) (on-table gersl) (clear nykxj) (on stkif zzcbr) (on zzcbr gersl) (on nykxj bulqf) (on bulqf stkif)
STATE: (arm-empty) (on-table bulqf) (on-table stkif) (on-table gersl) (on zzcbr bulqf) (clear nykxj) (on-table nykxj) (clear zzcbr) (clear gersl) (clear stkif) | [
[
"pick-up nykxj"
],
[
"stack nykxj stkif"
],
[
"unstack zzcbr bulqf"
],
[
"stack zzcbr gersl"
],
[
"unstack nykxj stkif"
],
[
"stack nykxj bulqf"
],
[
"pick-up stkif"
],
[
"stack stkif zzcbr"
],
[
"unstack nykxj bulqf"
],
[
"put-down nykxj"
],
[
"pick-up bulqf"
],
[
"stack bulqf stkif"
],
[
"pick-up nykxj"
],
[
"stack nykxj bulqf"
]
] | [
"(on-table bulqf) (on-table stkif) (on-table gersl) (holding nykxj) (on zzcbr bulqf) (clear zzcbr) (clear gersl) (clear stkif)",
"(arm-empty) (on-table bulqf) (on-table stkif) (on-table gersl) (on nykxj stkif) (on zzcbr bulqf) (clear nykxj) (clear zzcbr) (clear gersl)",
"(clear bulqf) (on-table bulqf) (on-table stkif) (on-table gersl) (on nykxj stkif) (clear nykxj) (holding zzcbr) (clear gersl)",
"(clear bulqf) (arm-empty) (on-table bulqf) (on-table stkif) (on-table gersl) (on nykxj stkif) (clear nykxj) (on zzcbr gersl) (clear zzcbr)",
"(clear bulqf) (on-table bulqf) (on-table stkif) (on-table gersl) (holding nykxj) (on zzcbr gersl) (clear zzcbr) (clear stkif)",
"(arm-empty) (on-table bulqf) (on-table stkif) (on-table gersl) (on nykxj bulqf) (clear nykxj) (on zzcbr gersl) (clear zzcbr) (clear stkif)",
"(on-table bulqf) (on-table gersl) (clear nykxj) (on zzcbr gersl) (holding stkif) (on nykxj bulqf) (clear zzcbr)",
"(arm-empty) (on-table bulqf) (on-table gersl) (clear nykxj) (on stkif zzcbr) (on zzcbr gersl) (on nykxj bulqf) (clear stkif)",
"(clear bulqf) (on-table bulqf) (on-table gersl) (holding nykxj) (on stkif zzcbr) (on zzcbr gersl) (clear stkif)",
"(arm-empty) (on-table bulqf) (clear nykxj) (on stkif zzcbr) (on zzcbr gersl) (clear stkif) (clear bulqf) (on-table gersl) (on-table nykxj)",
"(on-table gersl) (clear nykxj) (on stkif zzcbr) (on-table nykxj) (holding bulqf) (on zzcbr gersl) (clear stkif)",
"(clear bulqf) (arm-empty) (on-table gersl) (clear nykxj) (on stkif zzcbr) (on-table nykxj) (on zzcbr gersl) (on bulqf stkif)",
"(clear bulqf) (on-table gersl) (holding nykxj) (on stkif zzcbr) (on zzcbr gersl) (on bulqf stkif)",
"(arm-empty) (on-table gersl) (clear nykxj) (on stkif zzcbr) (on zzcbr gersl) (on nykxj bulqf) (on bulqf stkif)"
] | file_45671 |
GOAL: (on ozwwl xyupv) (on rlsvo ozwwl) (arm-empty) (clear rlsvo) (on-table gkpgh) (on xyupv gkpgh) | GOAL: (on ozwwl xyupv) (on rlsvo ozwwl) (arm-empty) (clear rlsvo) (on-table gkpgh) (on xyupv gkpgh)
STATE: (clear gkpgh) (on-table rlsvo) (on xyupv rlsvo) (on gkpgh xyupv) (holding ozwwl) | [
[
"put-down ozwwl"
],
[
"unstack gkpgh xyupv"
],
[
"put-down gkpgh"
],
[
"unstack xyupv rlsvo"
],
[
"stack xyupv gkpgh"
],
[
"pick-up ozwwl"
],
[
"stack ozwwl xyupv"
],
[
"pick-up rlsvo"
],
[
"stack rlsvo ozwwl"
]
] | [
"(clear gkpgh) (on-table rlsvo) (arm-empty) (on xyupv rlsvo) (on gkpgh xyupv) (clear ozwwl) (on-table ozwwl)",
"(on xyupv rlsvo) (on-table rlsvo) (holding gkpgh) (clear ozwwl) (clear xyupv) (on-table ozwwl)",
"(arm-empty) (on-table gkpgh) (clear gkpgh) (on-table rlsvo) (on xyupv rlsvo) (clear ozwwl) (clear xyupv) (on-table ozwwl)",
"(holding xyupv) (clear gkpgh) (on-table gkpgh) (clear rlsvo) (on-table rlsvo) (clear ozwwl) (on-table ozwwl)",
"(arm-empty) (on-table gkpgh) (clear rlsvo) (on-table rlsvo) (clear ozwwl) (on xyupv gkpgh) (clear xyupv) (on-table ozwwl)",
"(on-table gkpgh) (clear rlsvo) (on-table rlsvo) (on xyupv gkpgh) (clear xyupv) (holding ozwwl)",
"(arm-empty) (on-table gkpgh) (clear rlsvo) (on-table rlsvo) (on ozwwl xyupv) (clear ozwwl) (on xyupv gkpgh)",
"(holding rlsvo) (on-table gkpgh) (on ozwwl xyupv) (clear ozwwl) (on xyupv gkpgh)",
"(on ozwwl xyupv) (on rlsvo ozwwl) (arm-empty) (clear rlsvo) (on-table gkpgh) (on xyupv gkpgh)"
] | file_222428 |
GOAL: (on xjfls zzerf) (on-table koijs) (holding skntv) (on waepj koijs) (clear xjfls) (on-table zzerf) (clear waepj) | GOAL: (on xjfls zzerf) (on-table koijs) (holding skntv) (on waepj koijs) (clear xjfls) (on-table zzerf) (clear waepj)
STATE: (on xjfls waepj) (arm-empty) (on waepj koijs) (clear skntv) (on-table skntv) (on koijs zzerf) (clear xjfls) (on-table zzerf) | [
[
"unstack xjfls waepj"
],
[
"stack xjfls skntv"
],
[
"unstack waepj koijs"
],
[
"stack waepj xjfls"
],
[
"unstack koijs zzerf"
],
[
"put-down koijs"
],
[
"unstack waepj xjfls"
],
[
"stack waepj koijs"
],
[
"unstack xjfls skntv"
],
[
"stack xjfls zzerf"
],
[
"pick-up skntv"
]
] | [
"(holding xjfls) (on waepj koijs) (clear skntv) (on-table skntv) (on koijs zzerf) (on-table zzerf) (clear waepj)",
"(arm-empty) (on waepj koijs) (on-table skntv) (on xjfls skntv) (on koijs zzerf) (clear xjfls) (on-table zzerf) (clear waepj)",
"(clear koijs) (holding waepj) (on-table skntv) (on xjfls skntv) (on koijs zzerf) (clear xjfls) (on-table zzerf)",
"(clear koijs) (arm-empty) (on waepj xjfls) (on-table skntv) (on xjfls skntv) (on koijs zzerf) (on-table zzerf) (clear waepj)",
"(holding koijs) (on waepj xjfls) (on-table skntv) (on xjfls skntv) (clear zzerf) (on-table zzerf) (clear waepj)",
"(arm-empty) (on-table koijs) (clear waepj) (clear koijs) (on waepj xjfls) (on-table skntv) (on xjfls skntv) (clear zzerf) (on-table zzerf)",
"(clear koijs) (on-table koijs) (holding waepj) (on-table skntv) (on xjfls skntv) (clear zzerf) (clear xjfls) (on-table zzerf)",
"(arm-empty) (on-table koijs) (on waepj koijs) (on-table skntv) (on xjfls skntv) (clear zzerf) (clear xjfls) (on-table zzerf) (clear waepj)",
"(holding xjfls) (on-table koijs) (on waepj koijs) (clear skntv) (on-table skntv) (clear zzerf) (on-table zzerf) (clear waepj)",
"(on xjfls zzerf) (arm-empty) (on-table koijs) (on waepj koijs) (clear skntv) (on-table skntv) (clear xjfls) (on-table zzerf) (clear waepj)",
"(on xjfls zzerf) (on-table koijs) (holding skntv) (on waepj koijs) (clear xjfls) (on-table zzerf) (clear waepj)"
] | file_79867 |
GOAL: (on-table ueofb) (on-table qzaeo) (clear gwprh) (on gwprh iirot) (on iirot qzaeo) (holding iyeog) (clear ueofb) | GOAL: (on-table ueofb) (on-table qzaeo) (clear gwprh) (on gwprh iirot) (on iirot qzaeo) (holding iyeog) (clear ueofb)
STATE: (on gwprh ueofb) (on-table qzaeo) (on ueofb iirot) (clear gwprh) (on iirot qzaeo) (holding iyeog) | [
[
"put-down iyeog"
],
[
"unstack gwprh ueofb"
],
[
"stack gwprh iyeog"
],
[
"unstack ueofb iirot"
],
[
"put-down ueofb"
],
[
"unstack gwprh iyeog"
],
[
"stack gwprh iirot"
],
[
"pick-up iyeog"
]
] | [
"(arm-empty) (on gwprh ueofb) (on-table qzaeo) (on ueofb iirot) (clear iyeog) (clear gwprh) (on iirot qzaeo) (on-table iyeog)",
"(on-table qzaeo) (holding gwprh) (on ueofb iirot) (on iirot qzaeo) (clear iyeog) (on-table iyeog) (clear ueofb)",
"(arm-empty) (on ueofb iirot) (clear gwprh) (on iirot qzaeo) (clear ueofb) (on-table qzaeo) (on gwprh iyeog) (on-table iyeog)",
"(clear iirot) (on-table qzaeo) (clear gwprh) (on gwprh iyeog) (holding ueofb) (on iirot qzaeo) (on-table iyeog)",
"(arm-empty) (on-table ueofb) (clear gwprh) (on iirot qzaeo) (clear ueofb) (clear iirot) (on-table qzaeo) (on gwprh iyeog) (on-table iyeog)",
"(clear iirot) (on-table ueofb) (on-table qzaeo) (holding gwprh) (on iirot qzaeo) (clear iyeog) (on-table iyeog) (clear ueofb)",
"(arm-empty) (on-table ueofb) (on-table qzaeo) (clear gwprh) (on gwprh iirot) (on iirot qzaeo) (clear iyeog) (on-table iyeog) (clear ueofb)",
"(on-table ueofb) (on-table qzaeo) (clear gwprh) (on gwprh iirot) (on iirot qzaeo) (holding iyeog) (clear ueofb)"
] | file_169808 |
GOAL: (on-table cldme) (clear lypze) (on vvmjz vmnyp) (on-table lypze) (holding uphcp) (on vmnyp cldme) (clear vvmjz) | GOAL: (on-table cldme) (clear lypze) (on vvmjz vmnyp) (on-table lypze) (holding uphcp) (on vmnyp cldme) (clear vvmjz)
STATE: (clear uphcp) (arm-empty) (on-table uphcp) (on-table vvmjz) (on-table cldme) (clear lypze) (on-table lypze) (on vmnyp cldme) (clear vmnyp) (clear vvmjz) | [
[
"pick-up uphcp"
],
[
"stack uphcp lypze"
],
[
"pick-up vvmjz"
],
[
"stack vvmjz vmnyp"
],
[
"unstack uphcp lypze"
]
] | [
"(on-table vvmjz) (on-table cldme) (clear lypze) (on-table lypze) (holding uphcp) (on vmnyp cldme) (clear vmnyp) (clear vvmjz)",
"(clear uphcp) (arm-empty) (on-table vvmjz) (on-table cldme) (on uphcp lypze) (on-table lypze) (on vmnyp cldme) (clear vmnyp) (clear vvmjz)",
"(clear uphcp) (on-table cldme) (on vmnyp cldme) (holding vvmjz) (on-table lypze) (on uphcp lypze) (clear vmnyp)",
"(clear uphcp) (arm-empty) (on-table cldme) (on uphcp lypze) (on vvmjz vmnyp) (on-table lypze) (on vmnyp cldme) (clear vvmjz)",
"(on-table cldme) (clear lypze) (on vvmjz vmnyp) (on-table lypze) (holding uphcp) (on vmnyp cldme) (clear vvmjz)"
] | file_98138 |
GOAL: (clear asenj) (on dzhtx gxpwa) (on-table hrtgg) (on-table gxpwa) (on asenj dzhtx) (holding sxbks) (clear hrtgg) | GOAL: (clear asenj) (on dzhtx gxpwa) (on-table hrtgg) (on-table gxpwa) (on asenj dzhtx) (holding sxbks) (clear hrtgg)
STATE: (on dzhtx gxpwa) (on-table hrtgg) (on-table gxpwa) (clear dzhtx) (holding asenj) (clear sxbks) (on-table sxbks) (clear hrtgg) | [
[
"stack asenj dzhtx"
],
[
"pick-up sxbks"
]
] | [
"(clear asenj) (on dzhtx gxpwa) (arm-empty) (on-table hrtgg) (on-table gxpwa) (on asenj dzhtx) (clear sxbks) (on-table sxbks) (clear hrtgg)",
"(clear asenj) (on dzhtx gxpwa) (on-table hrtgg) (on-table gxpwa) (on asenj dzhtx) (holding sxbks) (clear hrtgg)"
] | file_190807 |
GOAL: (arm-empty) (on-table soxwz) (on-table npufz) (clear kewmz) (on kewmz uhmbl) (on uhmbl soxwz) (clear hinxf) (clear npufz) (on-table hinxf) | GOAL: (arm-empty) (on-table soxwz) (on-table npufz) (clear kewmz) (on kewmz uhmbl) (on uhmbl soxwz) (clear hinxf) (clear npufz) (on-table hinxf)
STATE: (on-table uhmbl) (on-table npufz) (on hinxf uhmbl) (clear kewmz) (holding soxwz) (on-table kewmz) (clear hinxf) (clear npufz) | [
[
"put-down soxwz"
],
[
"unstack hinxf uhmbl"
],
[
"put-down hinxf"
],
[
"pick-up uhmbl"
],
[
"stack uhmbl soxwz"
],
[
"pick-up kewmz"
],
[
"stack kewmz uhmbl"
]
] | [
"(arm-empty) (on-table uhmbl) (on-table soxwz) (on-table npufz) (on hinxf uhmbl) (clear kewmz) (on-table kewmz) (clear hinxf) (clear npufz) (clear soxwz)",
"(clear uhmbl) (on-table uhmbl) (on-table soxwz) (on-table npufz) (clear kewmz) (on-table kewmz) (holding hinxf) (clear npufz) (clear soxwz)",
"(clear uhmbl) (arm-empty) (on-table uhmbl) (on-table soxwz) (on-table npufz) (clear kewmz) (on-table kewmz) (clear hinxf) (clear npufz) (on-table hinxf) (clear soxwz)",
"(on-table soxwz) (on-table npufz) (clear kewmz) (on-table kewmz) (holding uhmbl) (clear hinxf) (clear npufz) (on-table hinxf) (clear soxwz)",
"(clear uhmbl) (arm-empty) (on-table soxwz) (on-table npufz) (clear kewmz) (on-table kewmz) (on uhmbl soxwz) (clear hinxf) (clear npufz) (on-table hinxf)",
"(clear uhmbl) (on-table soxwz) (on-table npufz) (holding kewmz) (on uhmbl soxwz) (clear hinxf) (clear npufz) (on-table hinxf)",
"(arm-empty) (on-table soxwz) (on-table npufz) (clear kewmz) (on kewmz uhmbl) (on uhmbl soxwz) (clear hinxf) (clear npufz) (on-table hinxf)"
] | file_152136 |
GOAL: (arm-empty) (on-table fyjsb) (clear wtesv) (on lbvgk fyjsb) (on wtesv twcnm) (on twcnm lbvgk) (clear zpgaj) (on-table zpgaj) | GOAL: (arm-empty) (on-table fyjsb) (clear wtesv) (on lbvgk fyjsb) (on wtesv twcnm) (on twcnm lbvgk) (clear zpgaj) (on-table zpgaj)
STATE: (clear twcnm) (arm-empty) (on lbvgk wtesv) (on-table twcnm) (on-table fyjsb) (on wtesv zpgaj) (clear fyjsb) (on-table zpgaj) (clear lbvgk) | [
[
"pick-up twcnm"
],
[
"stack twcnm fyjsb"
],
[
"unstack lbvgk wtesv"
],
[
"put-down lbvgk"
],
[
"unstack twcnm fyjsb"
],
[
"stack twcnm wtesv"
],
[
"pick-up lbvgk"
],
[
"stack lbvgk fyjsb"
],
[
"unstack twcnm wtesv"
],
[
"stack twcnm lbvgk"
],
[
"unstack wtesv zpgaj"
],
[
"stack wtesv twcnm"
]
] | [
"(on lbvgk wtesv) (on-table fyjsb) (on wtesv zpgaj) (holding twcnm) (clear fyjsb) (on-table zpgaj) (clear lbvgk)",
"(clear twcnm) (arm-empty) (on lbvgk wtesv) (on-table fyjsb) (on wtesv zpgaj) (on twcnm fyjsb) (on-table zpgaj) (clear lbvgk)",
"(clear twcnm) (on-table fyjsb) (clear wtesv) (on wtesv zpgaj) (holding lbvgk) (on twcnm fyjsb) (on-table zpgaj)",
"(arm-empty) (on-table lbvgk) (clear wtesv) (on twcnm fyjsb) (clear lbvgk) (clear twcnm) (on-table fyjsb) (on wtesv zpgaj) (on-table zpgaj)",
"(on-table lbvgk) (on-table fyjsb) (clear wtesv) (on wtesv zpgaj) (holding twcnm) (clear fyjsb) (on-table zpgaj) (clear lbvgk)",
"(clear twcnm) (arm-empty) (on-table lbvgk) (on-table fyjsb) (on wtesv zpgaj) (on twcnm wtesv) (clear fyjsb) (on-table zpgaj) (clear lbvgk)",
"(clear twcnm) (on-table fyjsb) (on wtesv zpgaj) (holding lbvgk) (on twcnm wtesv) (clear fyjsb) (on-table zpgaj)",
"(on wtesv zpgaj) (on lbvgk fyjsb) (clear twcnm) (arm-empty) (on-table fyjsb) (on twcnm wtesv) (on-table zpgaj) (clear lbvgk)",
"(on-table fyjsb) (clear wtesv) (on wtesv zpgaj) (on lbvgk fyjsb) (holding twcnm) (on-table zpgaj) (clear lbvgk)",
"(clear twcnm) (arm-empty) (on-table fyjsb) (clear wtesv) (on wtesv zpgaj) (on lbvgk fyjsb) (on twcnm lbvgk) (on-table zpgaj)",
"(clear twcnm) (on-table fyjsb) (holding wtesv) (on lbvgk fyjsb) (on twcnm lbvgk) (clear zpgaj) (on-table zpgaj)",
"(arm-empty) (on-table fyjsb) (clear wtesv) (on lbvgk fyjsb) (on wtesv twcnm) (on twcnm lbvgk) (clear zpgaj) (on-table zpgaj)"
] | file_76635 |
GOAL: (holding rpynl) (clear qqcff) (on-table qqcff) (clear mntik) (on sjomn gjuzn) (on-table mntik) (on-table gjuzn) (clear sjomn) | GOAL: (holding rpynl) (clear qqcff) (on-table qqcff) (clear mntik) (on sjomn gjuzn) (on-table mntik) (on-table gjuzn) (clear sjomn)
STATE: (on mntik rpynl) (arm-empty) (on-table qqcff) (on-table sjomn) (clear mntik) (clear gjuzn) (on rpynl qqcff) (on-table gjuzn) (clear sjomn) | [
[
"pick-up sjomn"
],
[
"stack sjomn gjuzn"
],
[
"unstack mntik rpynl"
],
[
"put-down mntik"
],
[
"unstack rpynl qqcff"
]
] | [
"(on mntik rpynl) (on-table qqcff) (clear mntik) (holding sjomn) (clear gjuzn) (on rpynl qqcff) (on-table gjuzn)",
"(on mntik rpynl) (arm-empty) (on-table qqcff) (clear mntik) (on sjomn gjuzn) (on rpynl qqcff) (on-table gjuzn) (clear sjomn)",
"(on-table qqcff) (holding mntik) (on sjomn gjuzn) (on rpynl qqcff) (clear rpynl) (on-table gjuzn) (clear sjomn)",
"(arm-empty) (on-table qqcff) (clear mntik) (on sjomn gjuzn) (on rpynl qqcff) (clear sjomn) (on-table mntik) (clear rpynl) (on-table gjuzn)",
"(holding rpynl) (clear qqcff) (on-table qqcff) (clear mntik) (on sjomn gjuzn) (on-table mntik) (on-table gjuzn) (clear sjomn)"
] | file_114725 |
GOAL: (arm-empty) (on-table tzdoq) (on-table ntqom) (on-table yuynd) (on xdgrl tzdoq) (clear xdgrl) (on vdbke yuynd) (clear vdbke) (clear ntqom) | GOAL: (arm-empty) (on-table tzdoq) (on-table ntqom) (on-table yuynd) (on xdgrl tzdoq) (clear xdgrl) (on vdbke yuynd) (clear vdbke) (clear ntqom)
STATE: (on-table ntqom) (on-table yuynd) (clear xdgrl) (on-table xdgrl) (holding tzdoq) (on vdbke yuynd) (clear vdbke) (clear ntqom) | [
[
"put-down tzdoq"
],
[
"pick-up xdgrl"
],
[
"stack xdgrl tzdoq"
]
] | [
"(clear tzdoq) (arm-empty) (on-table tzdoq) (on-table ntqom) (on-table yuynd) (clear xdgrl) (on-table xdgrl) (on vdbke yuynd) (clear vdbke) (clear ntqom)",
"(clear tzdoq) (on-table tzdoq) (on-table ntqom) (on-table yuynd) (holding xdgrl) (on vdbke yuynd) (clear vdbke) (clear ntqom)",
"(arm-empty) (on-table tzdoq) (on-table ntqom) (on-table yuynd) (on xdgrl tzdoq) (clear xdgrl) (on vdbke yuynd) (clear vdbke) (clear ntqom)"
] | file_203542 |
GOAL: (on egmri mznwk) (clear ripjf) (arm-empty) (on-table mznwk) (on ripjf dfskf) (on-table dfskf) (on fisua egmri) (clear fisua) | GOAL: (on egmri mznwk) (clear ripjf) (arm-empty) (on-table mznwk) (on ripjf dfskf) (on-table dfskf) (on fisua egmri) (clear fisua)
STATE: (on egmri mznwk) (clear ripjf) (on-table ripjf) (on-table mznwk) (holding dfskf) (clear fisua) (clear egmri) (on-table fisua) | [
[
"stack dfskf egmri"
],
[
"pick-up ripjf"
],
[
"stack ripjf fisua"
],
[
"unstack dfskf egmri"
],
[
"put-down dfskf"
],
[
"unstack ripjf fisua"
],
[
"stack ripjf dfskf"
],
[
"pick-up fisua"
],
[
"stack fisua egmri"
]
] | [
"(on egmri mznwk) (clear ripjf) (on dfskf egmri) (arm-empty) (on-table ripjf) (on-table mznwk) (clear dfskf) (clear fisua) (on-table fisua)",
"(on egmri mznwk) (on dfskf egmri) (on-table mznwk) (clear dfskf) (holding ripjf) (clear fisua) (on-table fisua)",
"(on egmri mznwk) (clear ripjf) (on dfskf egmri) (arm-empty) (on-table mznwk) (clear dfskf) (on ripjf fisua) (on-table fisua)",
"(on egmri mznwk) (clear ripjf) (on-table mznwk) (holding dfskf) (on ripjf fisua) (clear egmri) (on-table fisua)",
"(on egmri mznwk) (arm-empty) (on-table mznwk) (clear dfskf) (clear ripjf) (on-table dfskf) (on ripjf fisua) (clear egmri) (on-table fisua)",
"(on egmri mznwk) (on-table mznwk) (clear dfskf) (on-table dfskf) (holding ripjf) (clear fisua) (clear egmri) (on-table fisua)",
"(on egmri mznwk) (clear ripjf) (arm-empty) (on-table mznwk) (on-table dfskf) (on ripjf dfskf) (clear fisua) (clear egmri) (on-table fisua)",
"(on egmri mznwk) (clear ripjf) (on-table mznwk) (on-table dfskf) (on ripjf dfskf) (holding fisua) (clear egmri)",
"(on egmri mznwk) (clear ripjf) (arm-empty) (on-table mznwk) (on ripjf dfskf) (on-table dfskf) (on fisua egmri) (clear fisua)"
] | file_37343 |
GOAL: (holding krocq) (on ielxl nozrp) (on uttyy tyqqa) (on nozrp uttyy) (on-table tyqqa) (clear ielxl) | GOAL: (holding krocq) (on ielxl nozrp) (on uttyy tyqqa) (on nozrp uttyy) (on-table tyqqa) (clear ielxl)
STATE: (on-table uttyy) (clear krocq) (holding ielxl) (on-table krocq) (on tyqqa nozrp) (clear tyqqa) (on nozrp uttyy) | [
[
"stack ielxl krocq"
],
[
"unstack tyqqa nozrp"
],
[
"put-down tyqqa"
],
[
"unstack nozrp uttyy"
],
[
"stack nozrp ielxl"
],
[
"pick-up uttyy"
],
[
"stack uttyy tyqqa"
],
[
"unstack nozrp ielxl"
],
[
"stack nozrp uttyy"
],
[
"unstack ielxl krocq"
],
[
"stack ielxl nozrp"
],
[
"pick-up krocq"
]
] | [
"(arm-empty) (on ielxl krocq) (on-table uttyy) (on-table krocq) (on tyqqa nozrp) (clear tyqqa) (on nozrp uttyy) (clear ielxl)",
"(on ielxl krocq) (on-table uttyy) (on-table krocq) (on nozrp uttyy) (clear nozrp) (holding tyqqa) (clear ielxl)",
"(arm-empty) (on ielxl krocq) (on-table uttyy) (on nozrp uttyy) (clear ielxl) (on-table krocq) (clear tyqqa) (clear nozrp) (on-table tyqqa)",
"(holding nozrp) (clear uttyy) (on ielxl krocq) (on-table uttyy) (on-table krocq) (clear tyqqa) (on-table tyqqa) (clear ielxl)",
"(on nozrp ielxl) (clear uttyy) (arm-empty) (on ielxl krocq) (on-table uttyy) (on-table krocq) (clear tyqqa) (clear nozrp) (on-table tyqqa)",
"(on nozrp ielxl) (on ielxl krocq) (on-table krocq) (holding uttyy) (clear tyqqa) (clear nozrp) (on-table tyqqa)",
"(on nozrp ielxl) (clear uttyy) (arm-empty) (on ielxl krocq) (on-table krocq) (on uttyy tyqqa) (clear nozrp) (on-table tyqqa)",
"(holding nozrp) (clear uttyy) (on ielxl krocq) (on-table krocq) (on uttyy tyqqa) (on-table tyqqa) (clear ielxl)",
"(arm-empty) (on ielxl krocq) (on nozrp uttyy) (on-table krocq) (on uttyy tyqqa) (clear nozrp) (on-table tyqqa) (clear ielxl)",
"(clear krocq) (on nozrp uttyy) (holding ielxl) (on-table krocq) (on uttyy tyqqa) (clear nozrp) (on-table tyqqa)",
"(arm-empty) (clear krocq) (on nozrp uttyy) (clear ielxl) (on ielxl nozrp) (on-table krocq) (on uttyy tyqqa) (on-table tyqqa)",
"(holding krocq) (on ielxl nozrp) (on uttyy tyqqa) (on nozrp uttyy) (on-table tyqqa) (clear ielxl)"
] | file_83354 |
GOAL: (clear pwxfd) (on-table pwxfd) (on-table noxhe) (on-table mthem) (clear svbik) (on-table svbik) (holding yfgdz) (clear mthem) (clear noxhe) | GOAL: (clear pwxfd) (on-table pwxfd) (on-table noxhe) (on-table mthem) (clear svbik) (on-table svbik) (holding yfgdz) (clear mthem) (clear noxhe)
STATE: (on yfgdz noxhe) (on svbik mthem) (on noxhe svbik) (on-table pwxfd) (arm-empty) (clear yfgdz) (on mthem pwxfd) | [
[
"unstack yfgdz noxhe"
],
[
"put-down yfgdz"
],
[
"unstack noxhe svbik"
],
[
"put-down noxhe"
],
[
"unstack svbik mthem"
],
[
"stack svbik noxhe"
],
[
"unstack mthem pwxfd"
],
[
"stack mthem yfgdz"
],
[
"unstack svbik noxhe"
],
[
"put-down svbik"
],
[
"unstack mthem yfgdz"
],
[
"put-down mthem"
],
[
"pick-up yfgdz"
]
] | [
"(on svbik mthem) (on noxhe svbik) (on-table pwxfd) (on mthem pwxfd) (clear noxhe) (holding yfgdz)",
"(on svbik mthem) (on noxhe svbik) (on-table pwxfd) (arm-empty) (clear yfgdz) (on mthem pwxfd) (on-table yfgdz) (clear noxhe)",
"(on svbik mthem) (on-table pwxfd) (clear svbik) (holding noxhe) (clear yfgdz) (on mthem pwxfd) (on-table yfgdz)",
"(on svbik mthem) (arm-empty) (on-table pwxfd) (on-table noxhe) (clear svbik) (on mthem pwxfd) (clear noxhe) (clear yfgdz) (on-table yfgdz)",
"(on-table pwxfd) (on-table noxhe) (holding svbik) (clear yfgdz) (on mthem pwxfd) (clear mthem) (on-table yfgdz) (clear noxhe)",
"(arm-empty) (on-table pwxfd) (on-table noxhe) (on svbik noxhe) (clear svbik) (clear yfgdz) (on mthem pwxfd) (clear mthem) (on-table yfgdz)",
"(holding mthem) (clear pwxfd) (on-table pwxfd) (on-table noxhe) (on svbik noxhe) (clear svbik) (clear yfgdz) (on-table yfgdz)",
"(clear pwxfd) (on mthem yfgdz) (arm-empty) (on-table pwxfd) (on-table noxhe) (on svbik noxhe) (clear svbik) (clear mthem) (on-table yfgdz)",
"(clear pwxfd) (on mthem yfgdz) (on-table pwxfd) (on-table noxhe) (holding svbik) (clear mthem) (on-table yfgdz) (clear noxhe)",
"(clear pwxfd) (on mthem yfgdz) (arm-empty) (on-table pwxfd) (on-table noxhe) (clear svbik) (on-table svbik) (clear mthem) (on-table yfgdz) (clear noxhe)",
"(holding mthem) (clear pwxfd) (on-table pwxfd) (on-table noxhe) (clear svbik) (on-table svbik) (clear yfgdz) (on-table yfgdz) (clear noxhe)",
"(clear pwxfd) (arm-empty) (on-table pwxfd) (on-table noxhe) (on-table mthem) (clear svbik) (on-table svbik) (clear yfgdz) (clear mthem) (on-table yfgdz) (clear noxhe)",
"(clear pwxfd) (on-table pwxfd) (on-table noxhe) (on-table mthem) (clear svbik) (on-table svbik) (holding yfgdz) (clear mthem) (clear noxhe)"
] | file_86222 |
GOAL: (arm-empty) (on-table azlqy) (clear vtovv) (on rfoyj azlqy) (on vtovv fbgal) (on fbgal rfoyj) (clear wiglw) (on-table wiglw) | GOAL: (arm-empty) (on-table azlqy) (clear vtovv) (on rfoyj azlqy) (on vtovv fbgal) (on fbgal rfoyj) (clear wiglw) (on-table wiglw)
STATE: (clear fbgal) (on-table azlqy) (on vtovv wiglw) (holding rfoyj) (on fbgal vtovv) (clear azlqy) (on-table wiglw) | [
[
"stack rfoyj azlqy"
],
[
"unstack fbgal vtovv"
],
[
"stack fbgal rfoyj"
],
[
"unstack vtovv wiglw"
],
[
"stack vtovv fbgal"
]
] | [
"(on vtovv wiglw) (on rfoyj azlqy) (clear fbgal) (arm-empty) (on-table azlqy) (on fbgal vtovv) (on-table wiglw) (clear rfoyj)",
"(on-table azlqy) (clear vtovv) (on vtovv wiglw) (on rfoyj azlqy) (holding fbgal) (on-table wiglw) (clear rfoyj)",
"(clear fbgal) (arm-empty) (on-table azlqy) (clear vtovv) (on vtovv wiglw) (on rfoyj azlqy) (on fbgal rfoyj) (on-table wiglw)",
"(clear fbgal) (on-table azlqy) (holding vtovv) (on rfoyj azlqy) (on fbgal rfoyj) (clear wiglw) (on-table wiglw)",
"(arm-empty) (on-table azlqy) (clear vtovv) (on rfoyj azlqy) (on vtovv fbgal) (on fbgal rfoyj) (clear wiglw) (on-table wiglw)"
] | file_48331 |
GOAL: (on onmmh sangm) (on sbdoq onfji) (clear zealn) (arm-empty) (on onfji onmmh) (on-table sangm) (on zealn sbdoq) | GOAL: (on onmmh sangm) (on sbdoq onfji) (clear zealn) (arm-empty) (on onfji onmmh) (on-table sangm) (on zealn sbdoq)
STATE: (holding sbdoq) (on onmmh sangm) (clear zealn) (on-table zealn) (on-table onfji) (on-table sangm) (clear onmmh) (clear onfji) | [
[
"put-down sbdoq"
],
[
"pick-up onfji"
],
[
"stack onfji onmmh"
],
[
"pick-up sbdoq"
],
[
"stack sbdoq onfji"
],
[
"pick-up zealn"
],
[
"stack zealn sbdoq"
]
] | [
"(on onmmh sangm) (clear zealn) (arm-empty) (on-table zealn) (on-table onfji) (on-table sbdoq) (on-table sangm) (clear onmmh) (clear sbdoq) (clear onfji)",
"(on onmmh sangm) (clear zealn) (on-table zealn) (on-table sbdoq) (holding onfji) (on-table sangm) (clear onmmh) (clear sbdoq)",
"(on onmmh sangm) (clear zealn) (arm-empty) (on-table zealn) (on-table sbdoq) (on onfji onmmh) (on-table sangm) (clear sbdoq) (clear onfji)",
"(holding sbdoq) (on onmmh sangm) (clear zealn) (on-table zealn) (on onfji onmmh) (on-table sangm) (clear onfji)",
"(on onmmh sangm) (clear zealn) (on sbdoq onfji) (arm-empty) (on-table zealn) (on onfji onmmh) (on-table sangm) (clear sbdoq)",
"(on onmmh sangm) (on sbdoq onfji) (on onfji onmmh) (on-table sangm) (holding zealn) (clear sbdoq)",
"(on onmmh sangm) (on sbdoq onfji) (clear zealn) (arm-empty) (on onfji onmmh) (on-table sangm) (on zealn sbdoq)"
] | file_94884 |
GOAL: (arm-empty) (on-table xvzky) (on eyfgc xvzky) (clear eyfgc) (on dkrom mfqvw) (on bjkwi dkrom) (on-table mfqvw) (clear bjkwi) | GOAL: (arm-empty) (on-table xvzky) (on eyfgc xvzky) (clear eyfgc) (on dkrom mfqvw) (on bjkwi dkrom) (on-table mfqvw) (clear bjkwi)
STATE: (clear dkrom) (arm-empty) (on-table dkrom) (on-table xvzky) (on eyfgc xvzky) (on bjkwi eyfgc) (on mfqvw bjkwi) (clear mfqvw) | [
[
"unstack mfqvw bjkwi"
],
[
"put-down mfqvw"
],
[
"unstack bjkwi eyfgc"
],
[
"put-down bjkwi"
],
[
"pick-up dkrom"
],
[
"stack dkrom mfqvw"
],
[
"pick-up bjkwi"
],
[
"stack bjkwi dkrom"
]
] | [
"(clear dkrom) (on-table dkrom) (on-table xvzky) (on eyfgc xvzky) (on bjkwi eyfgc) (holding mfqvw) (clear bjkwi)",
"(arm-empty) (on-table dkrom) (on-table xvzky) (on eyfgc xvzky) (clear dkrom) (on bjkwi eyfgc) (clear mfqvw) (clear bjkwi) (on-table mfqvw)",
"(holding bjkwi) (clear dkrom) (on-table dkrom) (on-table xvzky) (on eyfgc xvzky) (clear eyfgc) (clear mfqvw) (on-table mfqvw)",
"(clear dkrom) (arm-empty) (on-table dkrom) (on-table xvzky) (on eyfgc xvzky) (on-table bjkwi) (clear eyfgc) (clear mfqvw) (clear bjkwi) (on-table mfqvw)",
"(on-table xvzky) (on eyfgc xvzky) (on-table bjkwi) (clear eyfgc) (holding dkrom) (clear mfqvw) (clear bjkwi) (on-table mfqvw)",
"(clear dkrom) (arm-empty) (on-table xvzky) (on eyfgc xvzky) (on-table bjkwi) (clear eyfgc) (on dkrom mfqvw) (clear bjkwi) (on-table mfqvw)",
"(holding bjkwi) (clear dkrom) (on-table xvzky) (on eyfgc xvzky) (clear eyfgc) (on dkrom mfqvw) (on-table mfqvw)",
"(arm-empty) (on-table xvzky) (on eyfgc xvzky) (clear eyfgc) (on dkrom mfqvw) (on bjkwi dkrom) (on-table mfqvw) (clear bjkwi)"
] | file_215868 |
GOAL: (clear cimyt) (arm-empty) (on-table ayihs) (on bwpqq sadvq) (on-table vnhqu) (on cimyt vnhqu) (clear ayihs) (on-table sadvq) (clear bwpqq) | GOAL: (clear cimyt) (arm-empty) (on-table ayihs) (on bwpqq sadvq) (on-table vnhqu) (on cimyt vnhqu) (clear ayihs) (on-table sadvq) (clear bwpqq)
STATE: (on sadvq bwpqq) (arm-empty) (on bwpqq cimyt) (on-table vnhqu) (on ayihs vnhqu) (on cimyt ayihs) (clear sadvq) | [
[
"unstack sadvq bwpqq"
],
[
"put-down sadvq"
],
[
"unstack bwpqq cimyt"
],
[
"stack bwpqq sadvq"
],
[
"unstack cimyt ayihs"
],
[
"put-down cimyt"
],
[
"unstack ayihs vnhqu"
],
[
"put-down ayihs"
],
[
"pick-up cimyt"
],
[
"stack cimyt vnhqu"
]
] | [
"(on bwpqq cimyt) (on cimyt ayihs) (clear bwpqq) (on-table vnhqu) (on ayihs vnhqu) (holding sadvq)",
"(arm-empty) (on bwpqq cimyt) (on cimyt ayihs) (clear bwpqq) (on-table vnhqu) (on ayihs vnhqu) (clear sadvq) (on-table sadvq)",
"(clear cimyt) (holding bwpqq) (on-table vnhqu) (on ayihs vnhqu) (on cimyt ayihs) (clear sadvq) (on-table sadvq)",
"(clear cimyt) (arm-empty) (on bwpqq sadvq) (on-table vnhqu) (on ayihs vnhqu) (on cimyt ayihs) (on-table sadvq) (clear bwpqq)",
"(holding cimyt) (on bwpqq sadvq) (on-table vnhqu) (on ayihs vnhqu) (clear ayihs) (on-table sadvq) (clear bwpqq)",
"(arm-empty) (on-table cimyt) (on bwpqq sadvq) (clear bwpqq) (clear cimyt) (on-table vnhqu) (on ayihs vnhqu) (clear ayihs) (on-table sadvq)",
"(holding ayihs) (clear cimyt) (on-table cimyt) (clear vnhqu) (on bwpqq sadvq) (on-table vnhqu) (on-table sadvq) (clear bwpqq)",
"(clear cimyt) (arm-empty) (on-table cimyt) (on-table ayihs) (clear vnhqu) (on bwpqq sadvq) (on-table vnhqu) (clear ayihs) (on-table sadvq) (clear bwpqq)",
"(on-table ayihs) (clear vnhqu) (on bwpqq sadvq) (on-table vnhqu) (holding cimyt) (clear ayihs) (on-table sadvq) (clear bwpqq)",
"(clear cimyt) (arm-empty) (on-table ayihs) (on bwpqq sadvq) (on-table vnhqu) (on cimyt vnhqu) (clear ayihs) (on-table sadvq) (clear bwpqq)"
] | file_66390 |
GOAL: (clear rsqhp) (on jfaca eipcq) (arm-empty) (on-table eipcq) (on-table eclef) (clear bnvca) (on-table bnvca) (on rsqhp eclef) (clear jfaca) | GOAL: (clear rsqhp) (on jfaca eipcq) (arm-empty) (on-table eipcq) (on-table eclef) (clear bnvca) (on-table bnvca) (on rsqhp eclef) (clear jfaca)
STATE: (holding eclef) (on jfaca bnvca) (clear rsqhp) (on-table rsqhp) (on-table eipcq) (on-table bnvca) (clear jfaca) (clear eipcq) | [
[
"put-down eclef"
],
[
"pick-up rsqhp"
],
[
"stack rsqhp eclef"
],
[
"unstack jfaca bnvca"
],
[
"stack jfaca eipcq"
]
] | [
"(on jfaca bnvca) (clear rsqhp) (arm-empty) (on-table rsqhp) (on-table eipcq) (on-table eclef) (on-table bnvca) (clear jfaca) (clear eclef) (clear eipcq)",
"(on jfaca bnvca) (on-table eipcq) (on-table eclef) (on-table bnvca) (holding rsqhp) (clear jfaca) (clear eclef) (clear eipcq)",
"(on jfaca bnvca) (clear rsqhp) (arm-empty) (on-table eipcq) (on-table eclef) (on-table bnvca) (on rsqhp eclef) (clear jfaca) (clear eipcq)",
"(clear rsqhp) (on-table eipcq) (on-table eclef) (clear bnvca) (on-table bnvca) (on rsqhp eclef) (holding jfaca) (clear eipcq)",
"(clear rsqhp) (on jfaca eipcq) (arm-empty) (on-table eipcq) (on-table eclef) (clear bnvca) (on-table bnvca) (on rsqhp eclef) (clear jfaca)"
] | file_95015 |
GOAL: (arm-empty) (clear zvdvu) (on mprbu kyalq) (clear cknpd) (on cknpd mprbu) (on-table zvdvu) (on kyalq trnts) (on-table trnts) | GOAL: (arm-empty) (clear zvdvu) (on mprbu kyalq) (clear cknpd) (on cknpd mprbu) (on-table zvdvu) (on kyalq trnts) (on-table trnts)
STATE: (clear kyalq) (on trnts cknpd) (arm-empty) (on cknpd zvdvu) (on-table mprbu) (on-table zvdvu) (on kyalq trnts) (clear mprbu) | [
[
"unstack kyalq trnts"
],
[
"put-down kyalq"
],
[
"unstack trnts cknpd"
],
[
"stack trnts kyalq"
],
[
"pick-up mprbu"
],
[
"stack mprbu cknpd"
],
[
"unstack trnts kyalq"
],
[
"put-down trnts"
],
[
"pick-up kyalq"
],
[
"stack kyalq trnts"
],
[
"unstack mprbu cknpd"
],
[
"stack mprbu kyalq"
],
[
"unstack cknpd zvdvu"
],
[
"stack cknpd mprbu"
]
] | [
"(on trnts cknpd) (on cknpd zvdvu) (on-table mprbu) (on-table zvdvu) (holding kyalq) (clear trnts) (clear mprbu)",
"(on trnts cknpd) (arm-empty) (on cknpd zvdvu) (on-table kyalq) (clear kyalq) (on-table mprbu) (on-table zvdvu) (clear trnts) (clear mprbu)",
"(on cknpd zvdvu) (on-table kyalq) (clear kyalq) (on-table mprbu) (on-table zvdvu) (holding trnts) (clear mprbu) (clear cknpd)",
"(arm-empty) (on cknpd zvdvu) (on-table kyalq) (on-table mprbu) (on trnts kyalq) (on-table zvdvu) (clear trnts) (clear mprbu) (clear cknpd)",
"(holding mprbu) (on cknpd zvdvu) (on-table kyalq) (on trnts kyalq) (on-table zvdvu) (clear trnts) (clear cknpd)",
"(on mprbu cknpd) (arm-empty) (on cknpd zvdvu) (on-table kyalq) (on trnts kyalq) (on-table zvdvu) (clear trnts) (clear mprbu)",
"(on mprbu cknpd) (clear kyalq) (on cknpd zvdvu) (on-table kyalq) (on-table zvdvu) (holding trnts) (clear mprbu)",
"(on mprbu cknpd) (arm-empty) (on cknpd zvdvu) (on-table kyalq) (clear kyalq) (on-table zvdvu) (clear trnts) (clear mprbu) (on-table trnts)",
"(on mprbu cknpd) (on cknpd zvdvu) (on-table zvdvu) (holding kyalq) (clear trnts) (clear mprbu) (on-table trnts)",
"(on mprbu cknpd) (clear kyalq) (arm-empty) (on cknpd zvdvu) (on-table zvdvu) (on kyalq trnts) (clear mprbu) (on-table trnts)",
"(holding mprbu) (clear kyalq) (on cknpd zvdvu) (on-table zvdvu) (on kyalq trnts) (on-table trnts) (clear cknpd)",
"(arm-empty) (on cknpd zvdvu) (on mprbu kyalq) (on-table zvdvu) (on kyalq trnts) (clear mprbu) (on-table trnts) (clear cknpd)",
"(clear zvdvu) (on mprbu kyalq) (holding cknpd) (on-table zvdvu) (on kyalq trnts) (clear mprbu) (on-table trnts)",
"(arm-empty) (clear zvdvu) (on mprbu kyalq) (clear cknpd) (on cknpd mprbu) (on-table zvdvu) (on kyalq trnts) (on-table trnts)"
] | file_198839 |
GOAL: (clear zhjmr) (on tteyj mhnaa) (arm-empty) (on-table mhnaa) (clear tteyj) (on zhjmr naxqz) (on-table naxqz) | GOAL: (clear zhjmr) (on tteyj mhnaa) (arm-empty) (on-table mhnaa) (clear tteyj) (on zhjmr naxqz) (on-table naxqz)
STATE: (on tteyj mhnaa) (on-table mhnaa) (clear tteyj) (holding zhjmr) (clear naxqz) (on-table naxqz) | [
[
"stack zhjmr naxqz"
]
] | [
"(clear zhjmr) (on tteyj mhnaa) (arm-empty) (on-table mhnaa) (clear tteyj) (on zhjmr naxqz) (on-table naxqz)"
] | file_63025 |
GOAL: (clear bacow) (on-table bacow) (on-table pafag) (clear hqbif) (holding dqlrc) (on-table hqbif) (on dqcpg pafag) (clear dqcpg) | GOAL: (clear bacow) (on-table bacow) (on-table pafag) (clear hqbif) (holding dqlrc) (on-table hqbif) (on dqcpg pafag) (clear dqcpg)
STATE: (on pafag dqlrc) (on-table dqlrc) (clear hqbif) (on hqbif bacow) (on bacow pafag) (holding dqcpg) | [
[
"put-down dqcpg"
],
[
"unstack hqbif bacow"
],
[
"stack hqbif dqcpg"
],
[
"unstack bacow pafag"
],
[
"put-down bacow"
],
[
"unstack hqbif dqcpg"
],
[
"put-down hqbif"
],
[
"unstack pafag dqlrc"
],
[
"put-down pafag"
],
[
"pick-up dqlrc"
],
[
"stack dqlrc hqbif"
],
[
"pick-up dqcpg"
],
[
"stack dqcpg pafag"
],
[
"unstack dqlrc hqbif"
]
] | [
"(on pafag dqlrc) (arm-empty) (on-table dqlrc) (on hqbif bacow) (on bacow pafag) (clear dqcpg) (clear hqbif) (on-table dqcpg)",
"(on pafag dqlrc) (clear bacow) (on-table dqlrc) (holding hqbif) (on bacow pafag) (clear dqcpg) (on-table dqcpg)",
"(on pafag dqlrc) (clear bacow) (arm-empty) (on-table dqlrc) (clear hqbif) (on hqbif dqcpg) (on bacow pafag) (on-table dqcpg)",
"(on pafag dqlrc) (on-table dqlrc) (clear hqbif) (on hqbif dqcpg) (holding bacow) (clear pafag) (on-table dqcpg)",
"(on pafag dqlrc) (arm-empty) (on-table bacow) (on-table dqlrc) (clear hqbif) (clear bacow) (on hqbif dqcpg) (clear pafag) (on-table dqcpg)",
"(on pafag dqlrc) (clear bacow) (on-table bacow) (on-table dqlrc) (holding hqbif) (clear dqcpg) (clear pafag) (on-table dqcpg)",
"(on pafag dqlrc) (clear bacow) (arm-empty) (on-table bacow) (on-table dqlrc) (clear hqbif) (on-table hqbif) (clear dqcpg) (clear pafag) (on-table dqcpg)",
"(holding pafag) (clear bacow) (on-table bacow) (on-table dqlrc) (clear hqbif) (on-table hqbif) (clear dqcpg) (on-table dqcpg) (clear dqlrc)",
"(clear bacow) (arm-empty) (on-table bacow) (on-table dqlrc) (on-table pafag) (clear hqbif) (on-table hqbif) (clear dqcpg) (clear pafag) (on-table dqcpg) (clear dqlrc)",
"(clear bacow) (on-table bacow) (on-table pafag) (clear hqbif) (holding dqlrc) (on-table hqbif) (clear dqcpg) (clear pafag) (on-table dqcpg)",
"(clear bacow) (arm-empty) (on dqlrc hqbif) (on-table bacow) (on-table pafag) (on-table hqbif) (clear dqcpg) (clear pafag) (on-table dqcpg) (clear dqlrc)",
"(clear bacow) (on dqlrc hqbif) (on-table bacow) (on-table pafag) (on-table hqbif) (holding dqcpg) (clear pafag) (clear dqlrc)",
"(clear bacow) (arm-empty) (on dqlrc hqbif) (on-table bacow) (on-table pafag) (on-table hqbif) (on dqcpg pafag) (clear dqcpg) (clear dqlrc)",
"(clear bacow) (on-table bacow) (on-table pafag) (clear hqbif) (holding dqlrc) (on-table hqbif) (on dqcpg pafag) (clear dqcpg)"
] | file_5270 |
GOAL: (arm-empty) (on-table vibkb) (clear ebsrf) (clear rlgad) (on-table yamib) (on rlgad yamib) (on ebsrf vibkb) (clear famkm) (on-table famkm) | GOAL: (arm-empty) (on-table vibkb) (clear ebsrf) (clear rlgad) (on-table yamib) (on rlgad yamib) (on ebsrf vibkb) (clear famkm) (on-table famkm)
STATE: (holding yamib) (on famkm ebsrf) (on-table vibkb) (on rlgad famkm) (on ebsrf vibkb) (clear rlgad) | [
[
"put-down yamib"
],
[
"unstack rlgad famkm"
],
[
"stack rlgad yamib"
],
[
"unstack famkm ebsrf"
],
[
"put-down famkm"
]
] | [
"(arm-empty) (on-table vibkb) (on rlgad famkm) (clear rlgad) (on famkm ebsrf) (on-table yamib) (on ebsrf vibkb) (clear yamib)",
"(on famkm ebsrf) (on-table vibkb) (on-table yamib) (holding rlgad) (on ebsrf vibkb) (clear famkm) (clear yamib)",
"(on famkm ebsrf) (arm-empty) (on-table vibkb) (on-table yamib) (on rlgad yamib) (on ebsrf vibkb) (clear famkm) (clear rlgad)",
"(on-table vibkb) (on-table yamib) (clear ebsrf) (on rlgad yamib) (on ebsrf vibkb) (holding famkm) (clear rlgad)",
"(arm-empty) (on-table vibkb) (clear ebsrf) (clear rlgad) (on-table yamib) (on rlgad yamib) (on ebsrf vibkb) (clear famkm) (on-table famkm)"
] | file_38709 |
GOAL: (on yppcd jwkzd) (clear mvmcy) (on kpzft yppcd) (on-table mvmcy) (holding tjiaf) (on-table jwkzd) (clear kpzft) | GOAL: (on yppcd jwkzd) (clear mvmcy) (on kpzft yppcd) (on-table mvmcy) (holding tjiaf) (on-table jwkzd) (clear kpzft)
STATE: (clear tjiaf) (on yppcd jwkzd) (on-table tjiaf) (on-table kpzft) (holding mvmcy) (clear yppcd) (on-table jwkzd) (clear kpzft) | [
[
"put-down mvmcy"
],
[
"pick-up kpzft"
],
[
"stack kpzft yppcd"
],
[
"pick-up tjiaf"
]
] | [
"(clear tjiaf) (on yppcd jwkzd) (arm-empty) (on-table tjiaf) (on-table kpzft) (clear mvmcy) (on-table mvmcy) (clear yppcd) (on-table jwkzd) (clear kpzft)",
"(clear tjiaf) (on yppcd jwkzd) (on-table tjiaf) (clear mvmcy) (holding kpzft) (on-table mvmcy) (clear yppcd) (on-table jwkzd)",
"(clear tjiaf) (on yppcd jwkzd) (arm-empty) (on-table tjiaf) (clear mvmcy) (on kpzft yppcd) (on-table mvmcy) (on-table jwkzd) (clear kpzft)",
"(on yppcd jwkzd) (clear mvmcy) (on kpzft yppcd) (on-table mvmcy) (holding tjiaf) (on-table jwkzd) (clear kpzft)"
] | file_58887 |
GOAL: (on umwqd profw) (arm-empty) (on-table ifbxg) (on edtny phlso) (on phlso ifbxg) (clear edtny) (clear umwqd) (on-table profw) | GOAL: (on umwqd profw) (arm-empty) (on-table ifbxg) (on edtny phlso) (on phlso ifbxg) (clear edtny) (clear umwqd) (on-table profw)
STATE: (on edtny umwqd) (on umwqd profw) (on phlso edtny) (on-table ifbxg) (arm-empty) (on profw ifbxg) (clear phlso) | [
[
"unstack phlso edtny"
],
[
"put-down phlso"
],
[
"unstack edtny umwqd"
],
[
"stack edtny phlso"
],
[
"unstack umwqd profw"
],
[
"stack umwqd edtny"
],
[
"unstack profw ifbxg"
],
[
"put-down profw"
],
[
"unstack umwqd edtny"
],
[
"stack umwqd profw"
],
[
"unstack edtny phlso"
],
[
"stack edtny umwqd"
],
[
"pick-up phlso"
],
[
"stack phlso ifbxg"
],
[
"unstack edtny umwqd"
],
[
"stack edtny phlso"
]
] | [
"(on edtny umwqd) (on umwqd profw) (on-table ifbxg) (clear edtny) (holding phlso) (on profw ifbxg)",
"(on edtny umwqd) (on umwqd profw) (on-table ifbxg) (on-table phlso) (arm-empty) (clear edtny) (clear phlso) (on profw ifbxg)",
"(on umwqd profw) (on-table ifbxg) (on-table phlso) (holding edtny) (on profw ifbxg) (clear umwqd) (clear phlso)",
"(on umwqd profw) (arm-empty) (on-table ifbxg) (on-table phlso) (on edtny phlso) (on profw ifbxg) (clear edtny) (clear umwqd)",
"(holding umwqd) (on-table ifbxg) (on-table phlso) (on edtny phlso) (on profw ifbxg) (clear edtny) (clear profw)",
"(arm-empty) (on-table ifbxg) (on-table phlso) (on edtny phlso) (on profw ifbxg) (on umwqd edtny) (clear profw) (clear umwqd)",
"(clear ifbxg) (on-table ifbxg) (on-table phlso) (on edtny phlso) (on umwqd edtny) (holding profw) (clear umwqd)",
"(arm-empty) (on-table ifbxg) (on-table phlso) (on edtny phlso) (clear ifbxg) (on umwqd edtny) (clear profw) (clear umwqd) (on-table profw)",
"(holding umwqd) (clear ifbxg) (on-table ifbxg) (on-table phlso) (on edtny phlso) (clear edtny) (clear profw) (on-table profw)",
"(clear ifbxg) (on umwqd profw) (arm-empty) (on-table ifbxg) (on-table phlso) (on edtny phlso) (clear edtny) (clear umwqd) (on-table profw)",
"(clear ifbxg) (on umwqd profw) (on-table ifbxg) (on-table phlso) (holding edtny) (clear umwqd) (on-table profw) (clear phlso)",
"(clear ifbxg) (on umwqd profw) (on edtny umwqd) (on-table ifbxg) (on-table phlso) (arm-empty) (clear edtny) (on-table profw) (clear phlso)",
"(clear ifbxg) (on umwqd profw) (on edtny umwqd) (on-table ifbxg) (clear edtny) (holding phlso) (on-table profw)",
"(on umwqd profw) (on edtny umwqd) (on-table ifbxg) (arm-empty) (on phlso ifbxg) (clear edtny) (on-table profw) (clear phlso)",
"(on umwqd profw) (on-table ifbxg) (holding edtny) (on phlso ifbxg) (clear umwqd) (on-table profw) (clear phlso)",
"(on umwqd profw) (arm-empty) (on-table ifbxg) (on edtny phlso) (on phlso ifbxg) (clear edtny) (clear umwqd) (on-table profw)"
] | file_89738 |
GOAL: (on jgzki dxbbc) (on-table nmrfv) (holding kdkfb) (on dxbbc rmvng) (on rmvng nmrfv) (clear jgzki) | GOAL: (on jgzki dxbbc) (on-table nmrfv) (holding kdkfb) (on dxbbc rmvng) (on rmvng nmrfv) (clear jgzki)
STATE: (clear rmvng) (arm-empty) (on kdkfb dxbbc) (on-table nmrfv) (on dxbbc jgzki) (on rmvng kdkfb) (clear nmrfv) (on-table jgzki) | [
[
"unstack rmvng kdkfb"
],
[
"stack rmvng nmrfv"
],
[
"unstack kdkfb dxbbc"
],
[
"put-down kdkfb"
],
[
"unstack dxbbc jgzki"
],
[
"stack dxbbc rmvng"
],
[
"pick-up jgzki"
],
[
"stack jgzki dxbbc"
],
[
"pick-up kdkfb"
]
] | [
"(on kdkfb dxbbc) (on-table nmrfv) (clear kdkfb) (on dxbbc jgzki) (holding rmvng) (clear nmrfv) (on-table jgzki)",
"(arm-empty) (on kdkfb dxbbc) (clear kdkfb) (on dxbbc jgzki) (on rmvng nmrfv) (clear rmvng) (on-table nmrfv) (on-table jgzki)",
"(clear rmvng) (on-table nmrfv) (holding kdkfb) (on dxbbc jgzki) (on rmvng nmrfv) (on-table jgzki) (clear dxbbc)",
"(arm-empty) (clear kdkfb) (on dxbbc jgzki) (on rmvng nmrfv) (clear dxbbc) (clear rmvng) (on-table nmrfv) (on-table kdkfb) (on-table jgzki)",
"(clear rmvng) (on-table nmrfv) (clear kdkfb) (holding dxbbc) (on-table kdkfb) (on rmvng nmrfv) (clear jgzki) (on-table jgzki)",
"(arm-empty) (on-table nmrfv) (on dxbbc rmvng) (clear kdkfb) (on-table kdkfb) (on rmvng nmrfv) (clear jgzki) (on-table jgzki) (clear dxbbc)",
"(on-table nmrfv) (on dxbbc rmvng) (clear kdkfb) (on-table kdkfb) (on rmvng nmrfv) (holding jgzki) (clear dxbbc)",
"(on jgzki dxbbc) (arm-empty) (on-table nmrfv) (on dxbbc rmvng) (clear kdkfb) (on-table kdkfb) (on rmvng nmrfv) (clear jgzki)",
"(on jgzki dxbbc) (on-table nmrfv) (holding kdkfb) (on dxbbc rmvng) (on rmvng nmrfv) (clear jgzki)"
] | file_83848 |
GOAL: (clear etizt) (on-table vpfga) (on-table rykyf) (on blilc rykyf) (on etizt blilc) (holding gribj) (clear vpfga) | GOAL: (clear etizt) (on-table vpfga) (on-table rykyf) (on blilc rykyf) (on etizt blilc) (holding gribj) (clear vpfga)
STATE: (holding blilc) (clear rykyf) (on vpfga gribj) (on rykyf etizt) (on etizt vpfga) (on-table gribj) | [
[
"put-down blilc"
],
[
"unstack rykyf etizt"
],
[
"put-down rykyf"
],
[
"pick-up blilc"
],
[
"stack blilc rykyf"
],
[
"unstack etizt vpfga"
],
[
"stack etizt blilc"
],
[
"unstack vpfga gribj"
],
[
"put-down vpfga"
],
[
"pick-up gribj"
]
] | [
"(arm-empty) (clear rykyf) (on vpfga gribj) (on etizt vpfga) (on-table blilc) (on rykyf etizt) (clear blilc) (on-table gribj)",
"(clear etizt) (on-table blilc) (holding rykyf) (on vpfga gribj) (on etizt vpfga) (clear blilc) (on-table gribj)",
"(arm-empty) (clear rykyf) (on vpfga gribj) (on etizt vpfga) (clear etizt) (on-table blilc) (on-table rykyf) (clear blilc) (on-table gribj)",
"(holding blilc) (clear etizt) (clear rykyf) (on vpfga gribj) (on-table rykyf) (on etizt vpfga) (on-table gribj)",
"(clear etizt) (arm-empty) (on vpfga gribj) (on-table rykyf) (on blilc rykyf) (on etizt vpfga) (clear blilc) (on-table gribj)",
"(holding etizt) (on vpfga gribj) (on-table rykyf) (on blilc rykyf) (clear blilc) (on-table gribj) (clear vpfga)",
"(clear etizt) (arm-empty) (on vpfga gribj) (on-table rykyf) (on blilc rykyf) (on etizt blilc) (on-table gribj) (clear vpfga)",
"(clear etizt) (holding vpfga) (on-table rykyf) (on blilc rykyf) (on etizt blilc) (clear gribj) (on-table gribj)",
"(arm-empty) (on-table vpfga) (on etizt blilc) (clear vpfga) (clear etizt) (on-table rykyf) (on blilc rykyf) (clear gribj) (on-table gribj)",
"(clear etizt) (on-table vpfga) (on-table rykyf) (on blilc rykyf) (on etizt blilc) (holding gribj) (clear vpfga)"
] | file_189842 |
GOAL: (on yygzy dydxo) (clear jlmff) (on uojbz yygzy) (arm-empty) (on-table dydxo) (clear uojbz) (on jlmff gszhd) (on-table gszhd) | GOAL: (on yygzy dydxo) (clear jlmff) (on uojbz yygzy) (arm-empty) (on-table dydxo) (clear uojbz) (on jlmff gszhd) (on-table gszhd)
STATE: (holding uojbz) (on-table yygzy) (on dydxo jlmff) (on jlmff gszhd) (clear yygzy) (on-table gszhd) (clear dydxo) | [
[
"stack uojbz yygzy"
],
[
"unstack dydxo jlmff"
],
[
"put-down dydxo"
],
[
"unstack uojbz yygzy"
],
[
"put-down uojbz"
],
[
"pick-up yygzy"
],
[
"stack yygzy dydxo"
],
[
"pick-up uojbz"
],
[
"stack uojbz yygzy"
]
] | [
"(on uojbz yygzy) (arm-empty) (on-table yygzy) (on dydxo jlmff) (clear uojbz) (on jlmff gszhd) (on-table gszhd) (clear dydxo)",
"(clear jlmff) (on uojbz yygzy) (on-table yygzy) (clear uojbz) (holding dydxo) (on jlmff gszhd) (on-table gszhd)",
"(on uojbz yygzy) (arm-empty) (on-table dydxo) (clear uojbz) (clear dydxo) (clear jlmff) (on-table yygzy) (on jlmff gszhd) (on-table gszhd)",
"(clear jlmff) (on-table dydxo) (on-table yygzy) (holding uojbz) (on jlmff gszhd) (clear yygzy) (on-table gszhd) (clear dydxo)",
"(clear jlmff) (arm-empty) (on-table dydxo) (on-table yygzy) (clear uojbz) (on-table uojbz) (on jlmff gszhd) (clear yygzy) (on-table gszhd) (clear dydxo)",
"(holding yygzy) (clear jlmff) (on-table dydxo) (clear uojbz) (on-table uojbz) (on jlmff gszhd) (on-table gszhd) (clear dydxo)",
"(on yygzy dydxo) (clear jlmff) (arm-empty) (on-table dydxo) (clear uojbz) (on-table uojbz) (on jlmff gszhd) (clear yygzy) (on-table gszhd)",
"(on yygzy dydxo) (clear jlmff) (on-table dydxo) (holding uojbz) (on jlmff gszhd) (clear yygzy) (on-table gszhd)",
"(on yygzy dydxo) (clear jlmff) (on uojbz yygzy) (arm-empty) (on-table dydxo) (clear uojbz) (on jlmff gszhd) (on-table gszhd)"
] | file_153638 |
GOAL: (clear rjbjd) (on-table qifmm) (holding ynwxm) (on kqbji hezff) (on rjbjd kqbji) (clear qifmm) (on-table hezff) | GOAL: (clear rjbjd) (on-table qifmm) (holding ynwxm) (on kqbji hezff) (on rjbjd kqbji) (clear qifmm) (on-table hezff)
STATE: (on-table kqbji) (on-table qifmm) (clear ynwxm) (on ynwxm rjbjd) (on rjbjd qifmm) (holding hezff) (clear kqbji) | [
[
"put-down hezff"
],
[
"pick-up kqbji"
],
[
"stack kqbji hezff"
],
[
"unstack ynwxm rjbjd"
],
[
"put-down ynwxm"
],
[
"unstack rjbjd qifmm"
],
[
"stack rjbjd kqbji"
],
[
"pick-up ynwxm"
]
] | [
"(arm-empty) (on-table kqbji) (clear ynwxm) (on rjbjd qifmm) (clear kqbji) (on-table qifmm) (on ynwxm rjbjd) (clear hezff) (on-table hezff)",
"(on-table qifmm) (clear ynwxm) (holding kqbji) (on ynwxm rjbjd) (on rjbjd qifmm) (clear hezff) (on-table hezff)",
"(arm-empty) (on-table qifmm) (clear ynwxm) (on kqbji hezff) (on ynwxm rjbjd) (on rjbjd qifmm) (on-table hezff) (clear kqbji)",
"(clear rjbjd) (on-table qifmm) (holding ynwxm) (on kqbji hezff) (on rjbjd qifmm) (on-table hezff) (clear kqbji)",
"(arm-empty) (clear ynwxm) (on kqbji hezff) (on rjbjd qifmm) (clear kqbji) (clear rjbjd) (on-table qifmm) (on-table ynwxm) (on-table hezff)",
"(on-table qifmm) (clear ynwxm) (on kqbji hezff) (on-table ynwxm) (holding rjbjd) (clear qifmm) (on-table hezff) (clear kqbji)",
"(clear rjbjd) (arm-empty) (on-table qifmm) (clear ynwxm) (on kqbji hezff) (on-table ynwxm) (on rjbjd kqbji) (clear qifmm) (on-table hezff)",
"(clear rjbjd) (on-table qifmm) (holding ynwxm) (on kqbji hezff) (on rjbjd kqbji) (clear qifmm) (on-table hezff)"
] | file_224729 |
GOAL: (arm-empty) (on-table usewl) (on-table sodkv) (clear fcohe) (on vfuuc ityjv) (clear sodkv) (clear usewl) (on-table ityjv) (on fcohe vfuuc) | GOAL: (arm-empty) (on-table usewl) (on-table sodkv) (clear fcohe) (on vfuuc ityjv) (clear sodkv) (clear usewl) (on-table ityjv) (on fcohe vfuuc)
STATE: (on-table ityjv) (clear fcohe) (on sodkv vfuuc) (on-table fcohe) (holding usewl) (on vfuuc ityjv) (clear sodkv) | [
[
"stack usewl fcohe"
],
[
"unstack sodkv vfuuc"
],
[
"put-down sodkv"
],
[
"unstack usewl fcohe"
],
[
"stack usewl sodkv"
],
[
"pick-up fcohe"
],
[
"stack fcohe vfuuc"
],
[
"unstack usewl sodkv"
],
[
"put-down usewl"
]
] | [
"(clear usewl) (arm-empty) (on-table ityjv) (on usewl fcohe) (on sodkv vfuuc) (on-table fcohe) (on vfuuc ityjv) (clear sodkv)",
"(clear usewl) (on-table ityjv) (on usewl fcohe) (holding sodkv) (on-table fcohe) (on vfuuc ityjv) (clear vfuuc)",
"(arm-empty) (on-table sodkv) (on vfuuc ityjv) (on usewl fcohe) (clear sodkv) (clear usewl) (on-table ityjv) (on-table fcohe) (clear vfuuc)",
"(on-table sodkv) (on-table ityjv) (clear fcohe) (on-table fcohe) (holding usewl) (on vfuuc ityjv) (clear vfuuc) (clear sodkv)",
"(clear usewl) (arm-empty) (on-table sodkv) (on-table ityjv) (clear fcohe) (on-table fcohe) (on vfuuc ityjv) (on usewl sodkv) (clear vfuuc)",
"(clear usewl) (on-table sodkv) (on-table ityjv) (holding fcohe) (on vfuuc ityjv) (on usewl sodkv) (clear vfuuc)",
"(arm-empty) (on-table sodkv) (clear fcohe) (on vfuuc ityjv) (on usewl sodkv) (clear usewl) (on-table ityjv) (on fcohe vfuuc)",
"(on-table sodkv) (on-table ityjv) (clear fcohe) (on fcohe vfuuc) (holding usewl) (on vfuuc ityjv) (clear sodkv)",
"(arm-empty) (on-table usewl) (on-table sodkv) (clear fcohe) (on vfuuc ityjv) (clear sodkv) (clear usewl) (on-table ityjv) (on fcohe vfuuc)"
] | file_171258 |
GOAL: (on tiixe mrnqp) (arm-empty) (on-table hzogl) (on-table mrnqp) (on vamgo pqrpp) (clear tiixe) (on pqrpp hzogl) (clear vamgo) | GOAL: (on tiixe mrnqp) (arm-empty) (on-table hzogl) (on-table mrnqp) (on vamgo pqrpp) (clear tiixe) (on pqrpp hzogl) (clear vamgo)
STATE: (holding mrnqp) (clear pqrpp) (on-table pqrpp) (clear tiixe) (on hzogl vamgo) (on-table tiixe) (on-table vamgo) (clear hzogl) | [
[
"put-down mrnqp"
],
[
"pick-up tiixe"
],
[
"stack tiixe mrnqp"
],
[
"pick-up pqrpp"
],
[
"stack pqrpp tiixe"
],
[
"unstack hzogl vamgo"
],
[
"put-down hzogl"
],
[
"unstack pqrpp tiixe"
],
[
"stack pqrpp hzogl"
],
[
"pick-up vamgo"
],
[
"stack vamgo pqrpp"
]
] | [
"(clear pqrpp) (arm-empty) (on-table pqrpp) (on-table mrnqp) (clear tiixe) (on hzogl vamgo) (on-table tiixe) (clear mrnqp) (on-table vamgo) (clear hzogl)",
"(clear pqrpp) (on-table pqrpp) (on-table mrnqp) (holding tiixe) (on hzogl vamgo) (clear mrnqp) (on-table vamgo) (clear hzogl)",
"(clear pqrpp) (on tiixe mrnqp) (arm-empty) (on-table pqrpp) (on-table mrnqp) (clear tiixe) (on hzogl vamgo) (on-table vamgo) (clear hzogl)",
"(on tiixe mrnqp) (on-table mrnqp) (clear tiixe) (on hzogl vamgo) (holding pqrpp) (on-table vamgo) (clear hzogl)",
"(clear pqrpp) (on tiixe mrnqp) (arm-empty) (on-table mrnqp) (on hzogl vamgo) (on pqrpp tiixe) (on-table vamgo) (clear hzogl)",
"(clear pqrpp) (on tiixe mrnqp) (on-table mrnqp) (holding hzogl) (on pqrpp tiixe) (clear vamgo) (on-table vamgo)",
"(on tiixe mrnqp) (arm-empty) (on-table hzogl) (on pqrpp tiixe) (clear hzogl) (clear pqrpp) (on-table mrnqp) (clear vamgo) (on-table vamgo)",
"(on tiixe mrnqp) (on-table hzogl) (on-table mrnqp) (clear tiixe) (holding pqrpp) (clear vamgo) (on-table vamgo) (clear hzogl)",
"(clear pqrpp) (on tiixe mrnqp) (arm-empty) (on-table hzogl) (on-table mrnqp) (clear tiixe) (on pqrpp hzogl) (clear vamgo) (on-table vamgo)",
"(clear pqrpp) (on tiixe mrnqp) (on-table hzogl) (on-table mrnqp) (clear tiixe) (on pqrpp hzogl) (holding vamgo)",
"(on tiixe mrnqp) (arm-empty) (on-table hzogl) (on-table mrnqp) (on vamgo pqrpp) (clear tiixe) (on pqrpp hzogl) (clear vamgo)"
] | file_219735 |
GOAL: (holding kuvkr) (on-table yyvwv) (clear exhnn) (on exhnn yyvwv) (clear kjmgv) (on-table kjmgv) | GOAL: (holding kuvkr) (on-table yyvwv) (clear exhnn) (on exhnn yyvwv) (clear kjmgv) (on-table kjmgv)
STATE: (holding kuvkr) (clear yyvwv) (on-table yyvwv) (clear exhnn) (on exhnn kjmgv) (on-table kjmgv) | [
[
"put-down kuvkr"
],
[
"unstack exhnn kjmgv"
],
[
"stack exhnn yyvwv"
],
[
"pick-up kuvkr"
]
] | [
"(arm-empty) (on-table yyvwv) (clear exhnn) (clear yyvwv) (on-table kuvkr) (on exhnn kjmgv) (clear kuvkr) (on-table kjmgv)",
"(clear yyvwv) (on-table yyvwv) (on-table kuvkr) (holding exhnn) (clear kjmgv) (clear kuvkr) (on-table kjmgv)",
"(arm-empty) (on-table yyvwv) (on-table kuvkr) (clear exhnn) (on exhnn yyvwv) (clear kjmgv) (clear kuvkr) (on-table kjmgv)",
"(holding kuvkr) (on-table yyvwv) (clear exhnn) (on exhnn yyvwv) (clear kjmgv) (on-table kjmgv)"
] | file_1 |
GOAL: (clear whkty) (on-table whkty) (on-table lxznp) (clear wirmy) (on wirmy gbrxh) (holding aanxt) (on gbrxh lxznp) | GOAL: (clear whkty) (on-table whkty) (on-table lxznp) (clear wirmy) (on wirmy gbrxh) (holding aanxt) (on gbrxh lxznp)
STATE: (clear whkty) (on gbrxh aanxt) (holding wirmy) (on-table lxznp) (on aanxt lxznp) (on whkty gbrxh) | [
[
"put-down wirmy"
],
[
"unstack whkty gbrxh"
],
[
"stack whkty wirmy"
],
[
"unstack gbrxh aanxt"
],
[
"put-down gbrxh"
],
[
"unstack aanxt lxznp"
],
[
"stack aanxt gbrxh"
],
[
"unstack whkty wirmy"
],
[
"put-down whkty"
],
[
"unstack aanxt gbrxh"
],
[
"stack aanxt whkty"
],
[
"pick-up gbrxh"
],
[
"stack gbrxh lxznp"
],
[
"pick-up wirmy"
],
[
"stack wirmy gbrxh"
],
[
"unstack aanxt whkty"
]
] | [
"(on aanxt lxznp) (clear whkty) (on gbrxh aanxt) (on-table wirmy) (on whkty gbrxh) (clear wirmy) (arm-empty) (on-table lxznp)",
"(on gbrxh aanxt) (on-table lxznp) (clear wirmy) (on aanxt lxznp) (on-table wirmy) (holding whkty) (clear gbrxh)",
"(on gbrxh aanxt) (clear whkty) (arm-empty) (on-table lxznp) (on aanxt lxznp) (on-table wirmy) (on whkty wirmy) (clear gbrxh)",
"(clear whkty) (on-table lxznp) (on aanxt lxznp) (on-table wirmy) (on whkty wirmy) (holding gbrxh) (clear aanxt)",
"(arm-empty) (on whkty wirmy) (clear aanxt) (clear whkty) (on-table lxznp) (on aanxt lxznp) (on-table wirmy) (clear gbrxh) (on-table gbrxh)",
"(clear whkty) (on-table lxznp) (holding aanxt) (on-table wirmy) (on whkty wirmy) (clear gbrxh) (clear lxznp) (on-table gbrxh)",
"(clear whkty) (arm-empty) (on-table lxznp) (on aanxt gbrxh) (on-table wirmy) (on whkty wirmy) (clear lxznp) (on-table gbrxh) (clear aanxt)",
"(on-table lxznp) (clear wirmy) (on aanxt gbrxh) (on-table wirmy) (holding whkty) (clear lxznp) (on-table gbrxh) (clear aanxt)",
"(clear whkty) (arm-empty) (on-table whkty) (on-table lxznp) (clear wirmy) (on aanxt gbrxh) (on-table wirmy) (clear lxznp) (on-table gbrxh) (clear aanxt)",
"(clear whkty) (on-table whkty) (on-table lxznp) (clear wirmy) (holding aanxt) (on-table wirmy) (clear gbrxh) (clear lxznp) (on-table gbrxh)",
"(arm-empty) (on-table whkty) (on-table lxznp) (on aanxt whkty) (clear wirmy) (on-table wirmy) (clear gbrxh) (clear lxznp) (on-table gbrxh) (clear aanxt)",
"(on-table whkty) (on-table lxznp) (on aanxt whkty) (clear wirmy) (on-table wirmy) (holding gbrxh) (clear lxznp) (clear aanxt)",
"(arm-empty) (on-table whkty) (on-table lxznp) (on aanxt whkty) (clear wirmy) (on-table wirmy) (on gbrxh lxznp) (clear gbrxh) (clear aanxt)",
"(on-table whkty) (on-table lxznp) (holding wirmy) (on aanxt whkty) (on gbrxh lxznp) (clear gbrxh) (clear aanxt)",
"(arm-empty) (on-table whkty) (on aanxt whkty) (clear wirmy) (on gbrxh lxznp) (clear aanxt) (on-table lxznp) (on wirmy gbrxh)",
"(clear whkty) (on-table whkty) (on-table lxznp) (clear wirmy) (on wirmy gbrxh) (holding aanxt) (on gbrxh lxznp)"
] | file_209399 |
GOAL: (on pvgsq naruj) (arm-empty) (on-table bwpvq) (clear aprsb) (on naruj yvdzg) (on-table aprsb) (clear pvgsq) (on yvdzg bwpvq) | GOAL: (on pvgsq naruj) (arm-empty) (on-table bwpvq) (clear aprsb) (on naruj yvdzg) (on-table aprsb) (clear pvgsq) (on yvdzg bwpvq)
STATE: (clear yvdzg) (on-table bwpvq) (on-table naruj) (clear aprsb) (on-table aprsb) (holding pvgsq) (on yvdzg bwpvq) (clear naruj) | [
[
"put-down pvgsq"
],
[
"pick-up naruj"
],
[
"stack naruj yvdzg"
],
[
"pick-up pvgsq"
],
[
"stack pvgsq naruj"
]
] | [
"(clear yvdzg) (arm-empty) (on-table bwpvq) (on-table naruj) (clear aprsb) (on-table aprsb) (clear pvgsq) (on yvdzg bwpvq) (on-table pvgsq) (clear naruj)",
"(on-table bwpvq) (clear aprsb) (holding naruj) (on-table aprsb) (clear pvgsq) (on yvdzg bwpvq) (clear yvdzg) (on-table pvgsq)",
"(arm-empty) (on-table bwpvq) (clear aprsb) (on naruj yvdzg) (on-table aprsb) (clear pvgsq) (on yvdzg bwpvq) (on-table pvgsq) (clear naruj)",
"(on-table bwpvq) (clear aprsb) (on naruj yvdzg) (on-table aprsb) (on yvdzg bwpvq) (holding pvgsq) (clear naruj)",
"(on pvgsq naruj) (arm-empty) (on-table bwpvq) (clear aprsb) (on naruj yvdzg) (on-table aprsb) (clear pvgsq) (on yvdzg bwpvq)"
] | file_17490 |
GOAL: (on wsdsg qnocu) (on qnocu inncj) (arm-empty) (on-table uvhwn) (on inncj zyvts) (clear wsdsg) (on zyvts uvhwn) | GOAL: (on wsdsg qnocu) (on qnocu inncj) (arm-empty) (on-table uvhwn) (on inncj zyvts) (clear wsdsg) (on zyvts uvhwn)
STATE: (holding uvhwn) (clear zyvts) (on-table inncj) (clear wsdsg) (on-table wsdsg) (on zyvts qnocu) (on-table qnocu) (clear inncj) | [
[
"put-down uvhwn"
],
[
"pick-up inncj"
],
[
"stack inncj wsdsg"
],
[
"unstack zyvts qnocu"
],
[
"stack zyvts uvhwn"
],
[
"unstack inncj wsdsg"
],
[
"stack inncj zyvts"
],
[
"pick-up qnocu"
],
[
"stack qnocu inncj"
],
[
"pick-up wsdsg"
],
[
"stack wsdsg qnocu"
]
] | [
"(clear zyvts) (arm-empty) (on-table inncj) (on-table uvhwn) (clear wsdsg) (on-table wsdsg) (on zyvts qnocu) (clear uvhwn) (on-table qnocu) (clear inncj)",
"(clear zyvts) (on-table uvhwn) (clear wsdsg) (holding inncj) (on-table wsdsg) (on zyvts qnocu) (clear uvhwn) (on-table qnocu)",
"(clear zyvts) (arm-empty) (on inncj wsdsg) (on-table uvhwn) (on-table wsdsg) (on zyvts qnocu) (clear uvhwn) (on-table qnocu) (clear inncj)",
"(on inncj wsdsg) (on-table uvhwn) (on-table wsdsg) (holding zyvts) (clear qnocu) (clear uvhwn) (on-table qnocu) (clear inncj)",
"(clear zyvts) (arm-empty) (on inncj wsdsg) (on-table uvhwn) (on-table wsdsg) (on zyvts uvhwn) (clear qnocu) (on-table qnocu) (clear inncj)",
"(clear zyvts) (on-table uvhwn) (clear wsdsg) (holding inncj) (on-table wsdsg) (on zyvts uvhwn) (clear qnocu) (on-table qnocu)",
"(arm-empty) (on-table uvhwn) (on inncj zyvts) (clear wsdsg) (on-table wsdsg) (on zyvts uvhwn) (clear qnocu) (on-table qnocu) (clear inncj)",
"(on-table uvhwn) (on inncj zyvts) (clear wsdsg) (on-table wsdsg) (on zyvts uvhwn) (holding qnocu) (clear inncj)",
"(on qnocu inncj) (arm-empty) (on-table uvhwn) (on inncj zyvts) (clear wsdsg) (on-table wsdsg) (on zyvts uvhwn) (clear qnocu)",
"(on qnocu inncj) (on-table uvhwn) (holding wsdsg) (on inncj zyvts) (on zyvts uvhwn) (clear qnocu)",
"(on wsdsg qnocu) (on qnocu inncj) (arm-empty) (on-table uvhwn) (on inncj zyvts) (clear wsdsg) (on zyvts uvhwn)"
] | file_182975 |
GOAL: (clear hqmmm) (on-table lpsqn) (on-table clcze) (clear oirdb) (on-table oirdb) (on hqmmm clcze) (holding xexhz) (clear lpsqn) | GOAL: (clear hqmmm) (on-table lpsqn) (on-table clcze) (clear oirdb) (on-table oirdb) (on hqmmm clcze) (holding xexhz) (clear lpsqn)
STATE: (holding clcze) (clear hqmmm) (on xexhz lpsqn) (on lpsqn oirdb) (on-table oirdb) (on hqmmm xexhz) | [
[
"put-down clcze"
],
[
"unstack hqmmm xexhz"
],
[
"stack hqmmm clcze"
],
[
"unstack xexhz lpsqn"
],
[
"stack xexhz hqmmm"
],
[
"unstack lpsqn oirdb"
],
[
"put-down lpsqn"
],
[
"unstack xexhz hqmmm"
]
] | [
"(on xexhz lpsqn) (arm-empty) (on lpsqn oirdb) (clear hqmmm) (on-table clcze) (on-table oirdb) (on hqmmm xexhz) (clear clcze)",
"(on xexhz lpsqn) (on lpsqn oirdb) (on-table clcze) (on-table oirdb) (holding hqmmm) (clear xexhz) (clear clcze)",
"(on xexhz lpsqn) (clear hqmmm) (on lpsqn oirdb) (arm-empty) (on-table clcze) (on-table oirdb) (on hqmmm clcze) (clear xexhz)",
"(clear hqmmm) (on lpsqn oirdb) (on-table clcze) (on-table oirdb) (on hqmmm clcze) (holding xexhz) (clear lpsqn)",
"(arm-empty) (on lpsqn oirdb) (on-table clcze) (on xexhz hqmmm) (on-table oirdb) (on hqmmm clcze) (clear xexhz) (clear lpsqn)",
"(on-table clcze) (on xexhz hqmmm) (clear oirdb) (holding lpsqn) (on-table oirdb) (on hqmmm clcze) (clear xexhz)",
"(arm-empty) (on-table lpsqn) (clear oirdb) (on hqmmm clcze) (clear lpsqn) (on-table clcze) (on xexhz hqmmm) (on-table oirdb) (clear xexhz)",
"(clear hqmmm) (on-table lpsqn) (on-table clcze) (clear oirdb) (on-table oirdb) (on hqmmm clcze) (holding xexhz) (clear lpsqn)"
] | file_91413 |
GOAL: (on czisa qdjam) (on enobw czisa) (arm-empty) (on-table bftrk) (on-table qdjam) (clear evrvr) (on evrvr bftrk) (clear enobw) | GOAL: (on czisa qdjam) (on enobw czisa) (arm-empty) (on-table bftrk) (on-table qdjam) (clear evrvr) (on evrvr bftrk) (clear enobw)
STATE: (clear bftrk) (on evrvr enobw) (on-table bftrk) (on-table qdjam) (on-table enobw) (clear evrvr) (holding czisa) (clear qdjam) | [
[
"stack czisa qdjam"
],
[
"unstack evrvr enobw"
],
[
"stack evrvr bftrk"
],
[
"pick-up enobw"
],
[
"stack enobw czisa"
]
] | [
"(clear bftrk) (on evrvr enobw) (on czisa qdjam) (on-table bftrk) (on-table qdjam) (on-table enobw) (arm-empty) (clear evrvr) (clear czisa)",
"(clear bftrk) (on czisa qdjam) (on-table bftrk) (on-table qdjam) (on-table enobw) (holding evrvr) (clear czisa) (clear enobw)",
"(on czisa qdjam) (arm-empty) (on-table bftrk) (on-table qdjam) (on-table enobw) (clear evrvr) (on evrvr bftrk) (clear czisa) (clear enobw)",
"(holding enobw) (on czisa qdjam) (on-table bftrk) (on-table qdjam) (clear evrvr) (on evrvr bftrk) (clear czisa)",
"(on czisa qdjam) (on enobw czisa) (arm-empty) (on-table bftrk) (on-table qdjam) (clear evrvr) (on evrvr bftrk) (clear enobw)"
] | file_74856 |
GOAL: (arm-empty) (on-table lggbs) (clear dsuvn) (on aucrq lggbs) (on-table ycncv) (on dsuvn aucrq) (clear ucngi) (clear ycncv) (on-table ucngi) | GOAL: (arm-empty) (on-table lggbs) (clear dsuvn) (on aucrq lggbs) (on-table ycncv) (on dsuvn aucrq) (clear ucngi) (clear ycncv) (on-table ucngi)
STATE: (clear aucrq) (on-table aucrq) (on-table lggbs) (holding dsuvn) (on-table ycncv) (on ucngi ycncv) (clear ucngi) (clear lggbs) | [
[
"stack dsuvn ucngi"
],
[
"pick-up aucrq"
],
[
"stack aucrq lggbs"
],
[
"unstack dsuvn ucngi"
],
[
"stack dsuvn aucrq"
],
[
"unstack ucngi ycncv"
],
[
"put-down ucngi"
]
] | [
"(clear aucrq) (arm-empty) (on-table aucrq) (on-table lggbs) (on-table ycncv) (clear dsuvn) (on dsuvn ucngi) (on ucngi ycncv) (clear lggbs)",
"(on-table lggbs) (on-table ycncv) (clear dsuvn) (on dsuvn ucngi) (holding aucrq) (on ucngi ycncv) (clear lggbs)",
"(clear aucrq) (arm-empty) (on-table lggbs) (on-table ycncv) (clear dsuvn) (on dsuvn ucngi) (on ucngi ycncv) (on aucrq lggbs)",
"(clear aucrq) (on-table lggbs) (on-table ycncv) (holding dsuvn) (on ucngi ycncv) (on aucrq lggbs) (clear ucngi)",
"(arm-empty) (on-table lggbs) (on-table ycncv) (clear dsuvn) (on ucngi ycncv) (on dsuvn aucrq) (on aucrq lggbs) (clear ucngi)",
"(on-table lggbs) (on-table ycncv) (clear dsuvn) (on dsuvn aucrq) (on aucrq lggbs) (holding ucngi) (clear ycncv)",
"(arm-empty) (on-table lggbs) (clear dsuvn) (on aucrq lggbs) (on-table ycncv) (on dsuvn aucrq) (clear ucngi) (clear ycncv) (on-table ucngi)"
] | file_216140 |
GOAL: (holding ghtvl) (on-table httms) (on ljfwh httms) (clear htayz) (on-table htayz) (clear zahzu) (on-table zahzu) (clear ljfwh) | GOAL: (holding ghtvl) (on-table httms) (on ljfwh httms) (clear htayz) (on-table htayz) (clear zahzu) (on-table zahzu) (clear ljfwh)
STATE: (clear httms) (on zahzu ljfwh) (arm-empty) (on-table ghtvl) (clear htayz) (on ljfwh ghtvl) (on-table htayz) (on httms zahzu) | [
[
"unstack httms zahzu"
],
[
"put-down httms"
],
[
"unstack zahzu ljfwh"
],
[
"put-down zahzu"
],
[
"unstack ljfwh ghtvl"
],
[
"stack ljfwh httms"
],
[
"pick-up ghtvl"
]
] | [
"(on zahzu ljfwh) (on-table ghtvl) (clear htayz) (on ljfwh ghtvl) (on-table htayz) (holding httms) (clear zahzu)",
"(on zahzu ljfwh) (arm-empty) (on-table httms) (clear htayz) (clear httms) (on-table ghtvl) (on ljfwh ghtvl) (on-table htayz) (clear zahzu)",
"(clear httms) (on-table httms) (on-table ghtvl) (clear htayz) (on ljfwh ghtvl) (on-table htayz) (holding zahzu) (clear ljfwh)",
"(clear httms) (arm-empty) (on-table httms) (on-table ghtvl) (clear htayz) (on ljfwh ghtvl) (on-table htayz) (clear zahzu) (on-table zahzu) (clear ljfwh)",
"(clear httms) (on-table httms) (on-table ghtvl) (clear htayz) (holding ljfwh) (on-table htayz) (clear zahzu) (clear ghtvl) (on-table zahzu)",
"(arm-empty) (on-table httms) (on-table ghtvl) (on ljfwh httms) (clear htayz) (on-table htayz) (clear zahzu) (clear ghtvl) (on-table zahzu) (clear ljfwh)",
"(holding ghtvl) (on-table httms) (on ljfwh httms) (clear htayz) (on-table htayz) (clear zahzu) (on-table zahzu) (clear ljfwh)"
] | file_127322 |
GOAL: (clear dqcmr) (on-table mdukl) (on-table qklpu) (holding wearg) (on vvemr qklpu) (on dqcmr mdukl) (clear vvemr) | GOAL: (clear dqcmr) (on-table mdukl) (on-table qklpu) (holding wearg) (on vvemr qklpu) (on dqcmr mdukl) (clear vvemr)
STATE: (clear dqcmr) (arm-empty) (on-table mdukl) (on-table qklpu) (clear wearg) (on-table wearg) (on dqcmr mdukl) (clear vvemr) (clear qklpu) (on-table vvemr) | [
[
"pick-up wearg"
],
[
"stack wearg dqcmr"
],
[
"pick-up vvemr"
],
[
"stack vvemr qklpu"
],
[
"unstack wearg dqcmr"
]
] | [
"(clear dqcmr) (on-table mdukl) (on-table qklpu) (holding wearg) (on dqcmr mdukl) (clear vvemr) (clear qklpu) (on-table vvemr)",
"(arm-empty) (on-table mdukl) (on-table qklpu) (clear wearg) (on wearg dqcmr) (on dqcmr mdukl) (clear vvemr) (clear qklpu) (on-table vvemr)",
"(on-table mdukl) (on-table qklpu) (clear wearg) (on wearg dqcmr) (on dqcmr mdukl) (holding vvemr) (clear qklpu)",
"(arm-empty) (on-table mdukl) (on-table qklpu) (clear wearg) (on vvemr qklpu) (on wearg dqcmr) (on dqcmr mdukl) (clear vvemr)",
"(clear dqcmr) (on-table mdukl) (on-table qklpu) (holding wearg) (on vvemr qklpu) (on dqcmr mdukl) (clear vvemr)"
] | file_181956 |
GOAL: (arm-empty) (on ybjoy snlvt) (clear ybjoy) (on snlvt dnain) (on qcrnx fkudt) (on dnain qcrnx) (on-table fkudt) | GOAL: (arm-empty) (on ybjoy snlvt) (clear ybjoy) (on snlvt dnain) (on qcrnx fkudt) (on dnain qcrnx) (on-table fkudt)
STATE: (holding dnain) (clear qcrnx) (on-table snlvt) (on-table ybjoy) (on qcrnx ybjoy) (clear fkudt) (on-table fkudt) (clear snlvt) | [
[
"put-down dnain"
],
[
"unstack qcrnx ybjoy"
],
[
"stack qcrnx fkudt"
],
[
"pick-up dnain"
],
[
"stack dnain qcrnx"
],
[
"pick-up snlvt"
],
[
"stack snlvt dnain"
],
[
"pick-up ybjoy"
],
[
"stack ybjoy snlvt"
]
] | [
"(clear qcrnx) (arm-empty) (on-table snlvt) (on-table dnain) (on-table ybjoy) (on qcrnx ybjoy) (clear fkudt) (clear dnain) (on-table fkudt) (clear snlvt)",
"(on-table snlvt) (on-table dnain) (clear ybjoy) (on-table ybjoy) (holding qcrnx) (clear fkudt) (clear dnain) (on-table fkudt) (clear snlvt)",
"(clear qcrnx) (arm-empty) (on-table snlvt) (on-table dnain) (clear ybjoy) (on-table ybjoy) (on qcrnx fkudt) (clear dnain) (on-table fkudt) (clear snlvt)",
"(holding dnain) (clear qcrnx) (on-table snlvt) (clear ybjoy) (on-table ybjoy) (on qcrnx fkudt) (on-table fkudt) (clear snlvt)",
"(clear dnain) (arm-empty) (on-table snlvt) (clear ybjoy) (on-table ybjoy) (on qcrnx fkudt) (on dnain qcrnx) (on-table fkudt) (clear snlvt)",
"(clear ybjoy) (on dnain qcrnx) (holding snlvt) (on-table ybjoy) (on qcrnx fkudt) (clear dnain) (on-table fkudt)",
"(arm-empty) (clear ybjoy) (on dnain qcrnx) (clear snlvt) (on snlvt dnain) (on-table ybjoy) (on qcrnx fkudt) (on-table fkudt)",
"(holding ybjoy) (on snlvt dnain) (on qcrnx fkudt) (on dnain qcrnx) (on-table fkudt) (clear snlvt)",
"(arm-empty) (on ybjoy snlvt) (clear ybjoy) (on snlvt dnain) (on qcrnx fkudt) (on dnain qcrnx) (on-table fkudt)"
] | file_165415 |
GOAL: (clear kvlfy) (on-table kvlfy) (on agjmm xvsug) (on-table crzab) (clear agjmm) (on xvsug crzab) (holding ygxbk) | GOAL: (clear kvlfy) (on-table kvlfy) (on agjmm xvsug) (on-table crzab) (clear agjmm) (on xvsug crzab) (holding ygxbk)
STATE: (holding crzab) (on xvsug agjmm) (on-table kvlfy) (on ygxbk kvlfy) (on agjmm ygxbk) (clear xvsug) | [
[
"put-down crzab"
],
[
"unstack xvsug agjmm"
],
[
"stack xvsug crzab"
],
[
"unstack agjmm ygxbk"
],
[
"stack agjmm xvsug"
],
[
"unstack ygxbk kvlfy"
]
] | [
"(arm-empty) (on xvsug agjmm) (on-table kvlfy) (clear xvsug) (on-table crzab) (on ygxbk kvlfy) (on agjmm ygxbk) (clear crzab)",
"(on-table kvlfy) (on-table crzab) (on ygxbk kvlfy) (clear agjmm) (on agjmm ygxbk) (holding xvsug) (clear crzab)",
"(arm-empty) (on-table kvlfy) (clear agjmm) (clear xvsug) (on-table crzab) (on ygxbk kvlfy) (on agjmm ygxbk) (on xvsug crzab)",
"(on-table kvlfy) (on-table crzab) (holding agjmm) (on ygxbk kvlfy) (on xvsug crzab) (clear ygxbk) (clear xvsug)",
"(arm-empty) (on-table kvlfy) (on agjmm xvsug) (on-table crzab) (on ygxbk kvlfy) (clear agjmm) (on xvsug crzab) (clear ygxbk)",
"(clear kvlfy) (on-table kvlfy) (on agjmm xvsug) (on-table crzab) (clear agjmm) (on xvsug crzab) (holding ygxbk)"
] | file_55000 |
GOAL: (on ynfdl lffxf) (on dchfd ynfdl) (arm-empty) (on-table sxsrj) (on lffxf bqems) (clear dchfd) (on bqems sxsrj) | GOAL: (on ynfdl lffxf) (on dchfd ynfdl) (arm-empty) (on-table sxsrj) (on lffxf bqems) (clear dchfd) (on bqems sxsrj)
STATE: (on ynfdl lffxf) (arm-empty) (on-table sxsrj) (on lffxf bqems) (clear dchfd) (on-table dchfd) (on bqems sxsrj) (clear ynfdl) | [
[
"pick-up dchfd"
],
[
"stack dchfd ynfdl"
]
] | [
"(on ynfdl lffxf) (on-table sxsrj) (holding dchfd) (on lffxf bqems) (on bqems sxsrj) (clear ynfdl)",
"(on ynfdl lffxf) (on dchfd ynfdl) (arm-empty) (on-table sxsrj) (on lffxf bqems) (clear dchfd) (on bqems sxsrj)"
] | file_129900 |
GOAL: (holding zmngj) (on bgycr upqrs) (clear rmeuw) (on-table rmeuw) (on upqrs uwdiq) (on-table uwdiq) (clear bgycr) | GOAL: (holding zmngj) (on bgycr upqrs) (clear rmeuw) (on-table rmeuw) (on upqrs uwdiq) (on-table uwdiq) (clear bgycr)
STATE: (on uwdiq rmeuw) (clear upqrs) (arm-empty) (on-table bgycr) (on rmeuw bgycr) (on-table zmngj) (on upqrs uwdiq) (clear zmngj) | [
[
"unstack upqrs uwdiq"
],
[
"stack upqrs zmngj"
],
[
"unstack uwdiq rmeuw"
],
[
"put-down uwdiq"
],
[
"unstack upqrs zmngj"
],
[
"stack upqrs uwdiq"
],
[
"pick-up zmngj"
],
[
"stack zmngj upqrs"
],
[
"unstack rmeuw bgycr"
],
[
"put-down rmeuw"
],
[
"unstack zmngj upqrs"
],
[
"stack zmngj rmeuw"
],
[
"pick-up bgycr"
],
[
"stack bgycr upqrs"
],
[
"unstack zmngj rmeuw"
]
] | [
"(on uwdiq rmeuw) (on-table bgycr) (on rmeuw bgycr) (on-table zmngj) (holding upqrs) (clear uwdiq) (clear zmngj)",
"(arm-empty) (on-table bgycr) (on rmeuw bgycr) (on upqrs zmngj) (on uwdiq rmeuw) (clear upqrs) (on-table zmngj) (clear uwdiq)",
"(clear upqrs) (on-table bgycr) (on rmeuw bgycr) (on-table zmngj) (clear rmeuw) (on upqrs zmngj) (holding uwdiq)",
"(arm-empty) (on-table bgycr) (on rmeuw bgycr) (clear rmeuw) (on upqrs zmngj) (clear upqrs) (on-table zmngj) (clear uwdiq) (on-table uwdiq)",
"(on-table bgycr) (on rmeuw bgycr) (on-table zmngj) (clear rmeuw) (holding upqrs) (clear uwdiq) (clear zmngj) (on-table uwdiq)",
"(clear upqrs) (arm-empty) (on-table bgycr) (on rmeuw bgycr) (on-table zmngj) (clear rmeuw) (on upqrs uwdiq) (clear zmngj) (on-table uwdiq)",
"(holding zmngj) (clear upqrs) (on-table bgycr) (on rmeuw bgycr) (clear rmeuw) (on upqrs uwdiq) (on-table uwdiq)",
"(arm-empty) (on-table bgycr) (on rmeuw bgycr) (clear rmeuw) (on upqrs uwdiq) (on zmngj upqrs) (on-table uwdiq) (clear zmngj)",
"(on-table bgycr) (holding rmeuw) (clear bgycr) (on upqrs uwdiq) (on zmngj upqrs) (on-table uwdiq) (clear zmngj)",
"(arm-empty) (on-table bgycr) (clear rmeuw) (on zmngj upqrs) (clear bgycr) (on-table rmeuw) (on upqrs uwdiq) (clear zmngj) (on-table uwdiq)",
"(holding zmngj) (clear upqrs) (on-table bgycr) (clear rmeuw) (on-table rmeuw) (on upqrs uwdiq) (on-table uwdiq) (clear bgycr)",
"(clear upqrs) (arm-empty) (on-table bgycr) (on-table rmeuw) (on zmngj rmeuw) (on upqrs uwdiq) (clear zmngj) (on-table uwdiq) (clear bgycr)",
"(clear upqrs) (holding bgycr) (on-table rmeuw) (on zmngj rmeuw) (on upqrs uwdiq) (clear zmngj) (on-table uwdiq)",
"(arm-empty) (on bgycr upqrs) (on-table rmeuw) (on zmngj rmeuw) (on upqrs uwdiq) (clear zmngj) (on-table uwdiq) (clear bgycr)",
"(holding zmngj) (on bgycr upqrs) (clear rmeuw) (on-table rmeuw) (on upqrs uwdiq) (on-table uwdiq) (clear bgycr)"
] | file_148610 |
GOAL: (on daraf tqviv) (on wzzpz daraf) (on tqviv ytghy) (on-table yrbqo) (arm-empty) (on ytghy yrbqo) (clear wzzpz) | GOAL: (on daraf tqviv) (on wzzpz daraf) (on tqviv ytghy) (on-table yrbqo) (arm-empty) (on ytghy yrbqo) (clear wzzpz)
STATE: (clear yrbqo) (arm-empty) (on-table yrbqo) (on-table wzzpz) (clear ytghy) (on tqviv daraf) (on-table ytghy) (on daraf wzzpz) (clear tqviv) | [
[
"pick-up ytghy"
],
[
"stack ytghy yrbqo"
],
[
"unstack tqviv daraf"
],
[
"stack tqviv ytghy"
],
[
"unstack daraf wzzpz"
],
[
"stack daraf tqviv"
],
[
"pick-up wzzpz"
],
[
"stack wzzpz daraf"
]
] | [
"(clear yrbqo) (on-table yrbqo) (on-table wzzpz) (holding ytghy) (on tqviv daraf) (on daraf wzzpz) (clear tqviv)",
"(arm-empty) (on-table yrbqo) (on-table wzzpz) (clear ytghy) (on tqviv daraf) (on daraf wzzpz) (on ytghy yrbqo) (clear tqviv)",
"(on-table yrbqo) (on-table wzzpz) (clear ytghy) (on daraf wzzpz) (holding tqviv) (on ytghy yrbqo) (clear daraf)",
"(arm-empty) (on tqviv ytghy) (on-table yrbqo) (on-table wzzpz) (on daraf wzzpz) (on ytghy yrbqo) (clear daraf) (clear tqviv)",
"(on tqviv ytghy) (on-table yrbqo) (on-table wzzpz) (on ytghy yrbqo) (holding daraf) (clear wzzpz) (clear tqviv)",
"(on daraf tqviv) (arm-empty) (on tqviv ytghy) (on-table yrbqo) (on-table wzzpz) (on ytghy yrbqo) (clear daraf) (clear wzzpz)",
"(holding wzzpz) (on daraf tqviv) (on tqviv ytghy) (on-table yrbqo) (on ytghy yrbqo) (clear daraf)",
"(on daraf tqviv) (on wzzpz daraf) (on tqviv ytghy) (on-table yrbqo) (arm-empty) (on ytghy yrbqo) (clear wzzpz)"
] | file_67841 |
GOAL: (arm-empty) (on-table gnytu) (on-table jtqhm) (clear xkptp) (on-table xkptp) (clear qvudu) (on sptqi gnytu) (clear sptqi) (on-table qvudu) (clear jtqhm) | GOAL: (arm-empty) (on-table gnytu) (on-table jtqhm) (clear xkptp) (on-table xkptp) (clear qvudu) (on sptqi gnytu) (clear sptqi) (on-table qvudu) (clear jtqhm)
STATE: (arm-empty) (on-table gnytu) (on xkptp jtqhm) (on qvudu gnytu) (on jtqhm qvudu) (on sptqi xkptp) (clear sptqi) | [
[
"unstack sptqi xkptp"
],
[
"put-down sptqi"
],
[
"unstack xkptp jtqhm"
],
[
"put-down xkptp"
],
[
"unstack jtqhm qvudu"
],
[
"put-down jtqhm"
],
[
"unstack qvudu gnytu"
],
[
"stack qvudu jtqhm"
],
[
"pick-up sptqi"
],
[
"stack sptqi gnytu"
],
[
"unstack qvudu jtqhm"
],
[
"put-down qvudu"
]
] | [
"(on-table gnytu) (on xkptp jtqhm) (clear xkptp) (on jtqhm qvudu) (holding sptqi) (on qvudu gnytu)",
"(arm-empty) (on-table gnytu) (on xkptp jtqhm) (clear xkptp) (on jtqhm qvudu) (on-table sptqi) (on qvudu gnytu) (clear sptqi)",
"(on-table gnytu) (on-table sptqi) (holding xkptp) (on qvudu gnytu) (on jtqhm qvudu) (clear sptqi) (clear jtqhm)",
"(arm-empty) (on-table gnytu) (clear xkptp) (on jtqhm qvudu) (clear jtqhm) (on-table sptqi) (on qvudu gnytu) (on-table xkptp) (clear sptqi)",
"(on-table gnytu) (on-table sptqi) (on qvudu gnytu) (clear xkptp) (holding jtqhm) (on-table xkptp) (clear qvudu) (clear sptqi)",
"(arm-empty) (on-table gnytu) (on-table jtqhm) (on-table sptqi) (on qvudu gnytu) (clear xkptp) (on-table xkptp) (clear qvudu) (clear sptqi) (clear jtqhm)",
"(clear gnytu) (on-table gnytu) (on-table jtqhm) (on-table sptqi) (clear xkptp) (on-table xkptp) (holding qvudu) (clear sptqi) (clear jtqhm)",
"(clear gnytu) (on qvudu jtqhm) (arm-empty) (on-table gnytu) (on-table jtqhm) (on-table sptqi) (clear xkptp) (on-table xkptp) (clear qvudu) (clear sptqi)",
"(holding sptqi) (clear gnytu) (on qvudu jtqhm) (on-table gnytu) (on-table jtqhm) (clear xkptp) (on-table xkptp) (clear qvudu)",
"(on qvudu jtqhm) (arm-empty) (on-table gnytu) (on-table jtqhm) (clear xkptp) (on-table xkptp) (clear qvudu) (on sptqi gnytu) (clear sptqi)",
"(on-table gnytu) (on-table jtqhm) (clear xkptp) (on-table xkptp) (on sptqi gnytu) (clear sptqi) (holding qvudu) (clear jtqhm)",
"(arm-empty) (on-table gnytu) (on-table jtqhm) (clear xkptp) (on-table xkptp) (clear qvudu) (on sptqi gnytu) (clear sptqi) (on-table qvudu) (clear jtqhm)"
] | file_24916 |
GOAL: (on rtfnw lojns) (clear svqsb) (arm-empty) (on-table svqsb) (on-table lojns) (on-table fqojv) (clear epcls) (on-table epcls) (clear rtfnw) (clear fqojv) | GOAL: (on rtfnw lojns) (clear svqsb) (arm-empty) (on-table svqsb) (on-table lojns) (on-table fqojv) (clear epcls) (on-table epcls) (clear rtfnw) (clear fqojv)
STATE: (clear svqsb) (on epcls fqojv) (arm-empty) (on-table lojns) (on-table fqojv) (on svqsb epcls) (clear rtfnw) (on-table rtfnw) (clear lojns) | [
[
"pick-up rtfnw"
],
[
"stack rtfnw lojns"
],
[
"unstack svqsb epcls"
],
[
"stack svqsb rtfnw"
],
[
"unstack epcls fqojv"
],
[
"put-down epcls"
],
[
"unstack svqsb rtfnw"
],
[
"put-down svqsb"
]
] | [
"(clear svqsb) (on epcls fqojv) (on-table lojns) (on-table fqojv) (on svqsb epcls) (holding rtfnw) (clear lojns)",
"(clear svqsb) (on epcls fqojv) (on rtfnw lojns) (arm-empty) (on-table lojns) (on-table fqojv) (on svqsb epcls) (clear rtfnw)",
"(on epcls fqojv) (on rtfnw lojns) (on-table lojns) (on-table fqojv) (clear epcls) (holding svqsb) (clear rtfnw)",
"(on rtfnw lojns) (on epcls fqojv) (clear svqsb) (arm-empty) (on-table lojns) (on-table fqojv) (clear epcls) (on svqsb rtfnw)",
"(on rtfnw lojns) (clear svqsb) (on-table lojns) (on-table fqojv) (holding epcls) (on svqsb rtfnw) (clear fqojv)",
"(on rtfnw lojns) (arm-empty) (on-table lojns) (clear epcls) (clear svqsb) (on-table fqojv) (on-table epcls) (on svqsb rtfnw) (clear fqojv)",
"(on rtfnw lojns) (on-table lojns) (on-table fqojv) (clear epcls) (on-table epcls) (holding svqsb) (clear rtfnw) (clear fqojv)",
"(on rtfnw lojns) (clear svqsb) (arm-empty) (on-table svqsb) (on-table lojns) (on-table fqojv) (clear epcls) (on-table epcls) (clear rtfnw) (clear fqojv)"
] | file_39529 |
GOAL: (clear ozpxz) (arm-empty) (on xwldx ojhqx) (on-table fdtlf) (on gpgnk fdtlf) (on ozpxz xwldx) (clear gpgnk) (on-table ojhqx) | GOAL: (clear ozpxz) (arm-empty) (on xwldx ojhqx) (on-table fdtlf) (on gpgnk fdtlf) (on ozpxz xwldx) (clear gpgnk) (on-table ojhqx)
STATE: (arm-empty) (on fdtlf ojhqx) (on xwldx gpgnk) (on ozpxz fdtlf) (on gpgnk ozpxz) (on-table ojhqx) (clear xwldx) | [
[
"unstack xwldx gpgnk"
],
[
"put-down xwldx"
],
[
"unstack gpgnk ozpxz"
],
[
"stack gpgnk xwldx"
],
[
"unstack ozpxz fdtlf"
],
[
"put-down ozpxz"
],
[
"unstack fdtlf ojhqx"
],
[
"put-down fdtlf"
],
[
"unstack gpgnk xwldx"
],
[
"stack gpgnk fdtlf"
],
[
"pick-up xwldx"
],
[
"stack xwldx ojhqx"
],
[
"pick-up ozpxz"
],
[
"stack ozpxz xwldx"
]
] | [
"(on fdtlf ojhqx) (holding xwldx) (on ozpxz fdtlf) (on gpgnk ozpxz) (clear gpgnk) (on-table ojhqx)",
"(arm-empty) (on-table xwldx) (on ozpxz fdtlf) (on gpgnk ozpxz) (clear xwldx) (on fdtlf ojhqx) (clear gpgnk) (on-table ojhqx)",
"(holding gpgnk) (clear ozpxz) (on-table xwldx) (on fdtlf ojhqx) (on ozpxz fdtlf) (on-table ojhqx) (clear xwldx)",
"(on gpgnk xwldx) (clear ozpxz) (arm-empty) (on-table xwldx) (on fdtlf ojhqx) (on ozpxz fdtlf) (clear gpgnk) (on-table ojhqx)",
"(on gpgnk xwldx) (on-table xwldx) (clear fdtlf) (on fdtlf ojhqx) (holding ozpxz) (clear gpgnk) (on-table ojhqx)",
"(on gpgnk xwldx) (arm-empty) (on-table ozpxz) (on-table xwldx) (clear fdtlf) (clear ozpxz) (on fdtlf ojhqx) (clear gpgnk) (on-table ojhqx)",
"(on gpgnk xwldx) (clear ozpxz) (on-table ozpxz) (on-table xwldx) (holding fdtlf) (clear ojhqx) (clear gpgnk) (on-table ojhqx)",
"(on gpgnk xwldx) (clear ozpxz) (arm-empty) (on-table ozpxz) (on-table xwldx) (clear fdtlf) (on-table fdtlf) (clear ojhqx) (clear gpgnk) (on-table ojhqx)",
"(holding gpgnk) (clear ozpxz) (on-table ozpxz) (on-table xwldx) (clear fdtlf) (on-table fdtlf) (clear ojhqx) (on-table ojhqx) (clear xwldx)",
"(clear ozpxz) (arm-empty) (on-table ozpxz) (on-table xwldx) (on-table fdtlf) (on gpgnk fdtlf) (clear ojhqx) (clear gpgnk) (on-table ojhqx) (clear xwldx)",
"(clear ozpxz) (on-table ozpxz) (holding xwldx) (on-table fdtlf) (on gpgnk fdtlf) (clear ojhqx) (clear gpgnk) (on-table ojhqx)",
"(clear ozpxz) (arm-empty) (on-table ozpxz) (on xwldx ojhqx) (on-table fdtlf) (on gpgnk fdtlf) (clear gpgnk) (on-table ojhqx) (clear xwldx)",
"(holding ozpxz) (on xwldx ojhqx) (on-table fdtlf) (on gpgnk fdtlf) (clear gpgnk) (on-table ojhqx) (clear xwldx)",
"(clear ozpxz) (arm-empty) (on xwldx ojhqx) (on-table fdtlf) (on gpgnk fdtlf) (on ozpxz xwldx) (clear gpgnk) (on-table ojhqx)"
] | file_84272 |
GOAL: (holding mxmfy) (clear ipiso) (on mhoun dtrpn) (on-table ipiso) (on dtrpn nhyyr) (on-table nhyyr) (clear mhoun) | GOAL: (holding mxmfy) (clear ipiso) (on mhoun dtrpn) (on-table ipiso) (on dtrpn nhyyr) (on-table nhyyr) (clear mhoun)
STATE: (arm-empty) (on-table ipiso) (on-table mhoun) (clear dtrpn) (on-table dtrpn) (clear nhyyr) (on mxmfy ipiso) (clear mxmfy) (on-table nhyyr) (clear mhoun) | [
[
"unstack mxmfy ipiso"
],
[
"stack mxmfy mhoun"
],
[
"pick-up dtrpn"
],
[
"stack dtrpn ipiso"
],
[
"unstack mxmfy mhoun"
],
[
"put-down mxmfy"
],
[
"unstack dtrpn ipiso"
],
[
"stack dtrpn nhyyr"
],
[
"pick-up mhoun"
],
[
"stack mhoun dtrpn"
],
[
"pick-up mxmfy"
]
] | [
"(holding mxmfy) (clear ipiso) (on-table ipiso) (on-table mhoun) (clear dtrpn) (on-table dtrpn) (clear nhyyr) (on-table nhyyr) (clear mhoun)",
"(on mxmfy mhoun) (clear ipiso) (arm-empty) (on-table ipiso) (on-table mhoun) (clear dtrpn) (on-table dtrpn) (clear nhyyr) (clear mxmfy) (on-table nhyyr)",
"(on mxmfy mhoun) (clear ipiso) (on-table ipiso) (on-table mhoun) (holding dtrpn) (clear nhyyr) (clear mxmfy) (on-table nhyyr)",
"(on mxmfy mhoun) (arm-empty) (on-table ipiso) (on-table mhoun) (clear dtrpn) (on dtrpn ipiso) (clear nhyyr) (clear mxmfy) (on-table nhyyr)",
"(holding mxmfy) (on-table ipiso) (on-table mhoun) (clear dtrpn) (on dtrpn ipiso) (clear nhyyr) (on-table nhyyr) (clear mhoun)",
"(arm-empty) (on-table ipiso) (on-table mhoun) (on-table mxmfy) (clear dtrpn) (on dtrpn ipiso) (clear nhyyr) (clear mxmfy) (on-table nhyyr) (clear mhoun)",
"(clear ipiso) (on-table ipiso) (on-table mhoun) (on-table mxmfy) (holding dtrpn) (clear nhyyr) (clear mxmfy) (on-table nhyyr) (clear mhoun)",
"(clear ipiso) (arm-empty) (on-table ipiso) (on-table mhoun) (on-table mxmfy) (clear dtrpn) (on dtrpn nhyyr) (clear mxmfy) (on-table nhyyr) (clear mhoun)",
"(clear ipiso) (on-table ipiso) (on-table mxmfy) (clear dtrpn) (on dtrpn nhyyr) (holding mhoun) (clear mxmfy) (on-table nhyyr)",
"(clear ipiso) (arm-empty) (on mhoun dtrpn) (on-table ipiso) (on-table mxmfy) (on dtrpn nhyyr) (clear mxmfy) (on-table nhyyr) (clear mhoun)",
"(holding mxmfy) (clear ipiso) (on mhoun dtrpn) (on-table ipiso) (on dtrpn nhyyr) (on-table nhyyr) (clear mhoun)"
] | file_7647 |
GOAL: (holding lhqje) (on tzgif fjrtz) (on-table mvxix) (on lljob mvxix) (clear lljob) (on-table fjrtz) (clear tzgif) | GOAL: (holding lhqje) (on tzgif fjrtz) (on-table mvxix) (on lljob mvxix) (clear lljob) (on-table fjrtz) (clear tzgif)
STATE: (clear lhqje) (holding mvxix) (on-table lljob) (on tzgif fjrtz) (on lhqje tzgif) (clear lljob) (on-table fjrtz) | [
[
"put-down mvxix"
],
[
"pick-up lljob"
],
[
"stack lljob mvxix"
],
[
"unstack lhqje tzgif"
]
] | [
"(arm-empty) (clear mvxix) (on tzgif fjrtz) (on lhqje tzgif) (clear lhqje) (on-table lljob) (on-table mvxix) (clear lljob) (on-table fjrtz)",
"(holding lljob) (clear lhqje) (clear mvxix) (on tzgif fjrtz) (on-table mvxix) (on lhqje tzgif) (on-table fjrtz)",
"(clear lhqje) (arm-empty) (on tzgif fjrtz) (on-table mvxix) (on lljob mvxix) (on lhqje tzgif) (clear lljob) (on-table fjrtz)",
"(holding lhqje) (on tzgif fjrtz) (on-table mvxix) (on lljob mvxix) (clear lljob) (on-table fjrtz) (clear tzgif)"
] | file_111672 |
GOAL: (arm-empty) (on-table apvww) (on bmvbe apvww) (on-table yhdud) (on vgltm yhdud) (clear bmvbe) (clear vgltm) | GOAL: (arm-empty) (on-table apvww) (on bmvbe apvww) (on-table yhdud) (on vgltm yhdud) (clear bmvbe) (clear vgltm)
STATE: (holding vgltm) (on-table apvww) (on bmvbe apvww) (clear yhdud) (on-table yhdud) (clear bmvbe) | [
[
"stack vgltm yhdud"
]
] | [
"(arm-empty) (on-table apvww) (on bmvbe apvww) (on-table yhdud) (on vgltm yhdud) (clear bmvbe) (clear vgltm)"
] | file_104431 |
GOAL: (arm-empty) (on-table toilf) (on pnmgj btfxn) (on-table bqquo) (on btfxn toilf) (clear pnmgj) (clear nybaz) (clear bqquo) (on-table nybaz) | GOAL: (arm-empty) (on-table toilf) (on pnmgj btfxn) (on-table bqquo) (on btfxn toilf) (clear pnmgj) (clear nybaz) (clear bqquo) (on-table nybaz)
STATE: (clear toilf) (on nybaz btfxn) (on pnmgj bqquo) (on btfxn pnmgj) (arm-empty) (on-table bqquo) (on toilf nybaz) | [
[
"unstack toilf nybaz"
],
[
"put-down toilf"
],
[
"unstack nybaz btfxn"
],
[
"stack nybaz toilf"
],
[
"unstack btfxn pnmgj"
],
[
"put-down btfxn"
],
[
"unstack nybaz toilf"
],
[
"put-down nybaz"
],
[
"pick-up btfxn"
],
[
"stack btfxn toilf"
],
[
"unstack pnmgj bqquo"
],
[
"stack pnmgj btfxn"
]
] | [
"(on nybaz btfxn) (on pnmgj bqquo) (on btfxn pnmgj) (on-table bqquo) (holding toilf) (clear nybaz)",
"(on nybaz btfxn) (on pnmgj bqquo) (on btfxn pnmgj) (on-table toilf) (clear toilf) (on-table bqquo) (arm-empty) (clear nybaz)",
"(on pnmgj bqquo) (on btfxn pnmgj) (on-table toilf) (clear toilf) (on-table bqquo) (holding nybaz) (clear btfxn)",
"(on pnmgj bqquo) (on btfxn pnmgj) (on-table toilf) (arm-empty) (on-table bqquo) (on nybaz toilf) (clear nybaz) (clear btfxn)",
"(on pnmgj bqquo) (on-table toilf) (on-table bqquo) (on nybaz toilf) (clear pnmgj) (holding btfxn) (clear nybaz)",
"(on pnmgj bqquo) (arm-empty) (on-table toilf) (on-table btfxn) (clear pnmgj) (clear btfxn) (on-table bqquo) (on nybaz toilf) (clear nybaz)",
"(clear toilf) (on pnmgj bqquo) (on-table toilf) (on-table btfxn) (on-table bqquo) (clear pnmgj) (holding nybaz) (clear btfxn)",
"(clear toilf) (on pnmgj bqquo) (arm-empty) (on-table toilf) (on-table btfxn) (on-table bqquo) (clear pnmgj) (clear nybaz) (on-table nybaz) (clear btfxn)",
"(clear toilf) (on pnmgj bqquo) (on-table toilf) (on-table bqquo) (clear pnmgj) (holding btfxn) (clear nybaz) (on-table nybaz)",
"(on pnmgj bqquo) (arm-empty) (on-table toilf) (on-table bqquo) (on btfxn toilf) (clear pnmgj) (clear nybaz) (on-table nybaz) (clear btfxn)",
"(on-table toilf) (on-table bqquo) (holding pnmgj) (on btfxn toilf) (clear nybaz) (clear bqquo) (on-table nybaz) (clear btfxn)",
"(arm-empty) (on-table toilf) (on pnmgj btfxn) (on-table bqquo) (on btfxn toilf) (clear pnmgj) (clear nybaz) (clear bqquo) (on-table nybaz)"
] | file_63852 |
GOAL: (on ezehq nqtmx) (arm-empty) (on-table ecckz) (on-table nqtmx) (on rckea ecckz) (clear lzmrl) (on-table lzmrl) (clear rckea) (clear ezehq) | GOAL: (on ezehq nqtmx) (arm-empty) (on-table ecckz) (on-table nqtmx) (on rckea ecckz) (clear lzmrl) (on-table lzmrl) (clear rckea) (clear ezehq)
STATE: (arm-empty) (on nqtmx ezehq) (on ezehq lzmrl) (on lzmrl ecckz) (on ecckz rckea) (on-table rckea) (clear nqtmx) | [
[
"unstack nqtmx ezehq"
],
[
"put-down nqtmx"
],
[
"unstack ezehq lzmrl"
],
[
"stack ezehq nqtmx"
],
[
"unstack lzmrl ecckz"
],
[
"put-down lzmrl"
],
[
"unstack ecckz rckea"
],
[
"put-down ecckz"
],
[
"pick-up rckea"
],
[
"stack rckea ecckz"
]
] | [
"(holding nqtmx) (on ezehq lzmrl) (on lzmrl ecckz) (on ecckz rckea) (clear ezehq) (on-table rckea)",
"(arm-empty) (on-table nqtmx) (clear nqtmx) (on ezehq lzmrl) (on lzmrl ecckz) (on ecckz rckea) (clear ezehq) (on-table rckea)",
"(holding ezehq) (on-table nqtmx) (clear lzmrl) (on lzmrl ecckz) (on ecckz rckea) (on-table rckea) (clear nqtmx)",
"(on ezehq nqtmx) (arm-empty) (on-table nqtmx) (clear lzmrl) (on lzmrl ecckz) (on ecckz rckea) (clear ezehq) (on-table rckea)",
"(on ezehq nqtmx) (clear ecckz) (on-table nqtmx) (holding lzmrl) (on ecckz rckea) (clear ezehq) (on-table rckea)",
"(on ezehq nqtmx) (arm-empty) (on-table nqtmx) (clear lzmrl) (clear ecckz) (on-table lzmrl) (on ecckz rckea) (clear ezehq) (on-table rckea)",
"(on ezehq nqtmx) (on-table nqtmx) (clear lzmrl) (on-table lzmrl) (holding ecckz) (clear rckea) (clear ezehq) (on-table rckea)",
"(on ezehq nqtmx) (clear ecckz) (arm-empty) (on-table ecckz) (on-table nqtmx) (clear lzmrl) (on-table lzmrl) (clear rckea) (clear ezehq) (on-table rckea)",
"(on ezehq nqtmx) (clear ecckz) (on-table ecckz) (on-table nqtmx) (clear lzmrl) (on-table lzmrl) (holding rckea) (clear ezehq)",
"(on ezehq nqtmx) (arm-empty) (on-table ecckz) (on-table nqtmx) (on rckea ecckz) (clear lzmrl) (on-table lzmrl) (clear rckea) (clear ezehq)"
] | file_88211 |
GOAL: (on olcux xrmxg) (on lvcfr infrl) (clear qhpfb) (arm-empty) (on infrl olcux) (on-table xrmxg) (on qhpfb lvcfr) | GOAL: (on olcux xrmxg) (on lvcfr infrl) (clear qhpfb) (arm-empty) (on infrl olcux) (on-table xrmxg) (on qhpfb lvcfr)
STATE: (holding xrmxg) (on-table lvcfr) (on olcux qhpfb) (on infrl lvcfr) (on qhpfb infrl) (clear olcux) | [
[
"put-down xrmxg"
],
[
"unstack olcux qhpfb"
],
[
"stack olcux xrmxg"
],
[
"unstack qhpfb infrl"
],
[
"put-down qhpfb"
],
[
"unstack infrl lvcfr"
],
[
"stack infrl olcux"
],
[
"pick-up lvcfr"
],
[
"stack lvcfr infrl"
],
[
"pick-up qhpfb"
],
[
"stack qhpfb lvcfr"
]
] | [
"(arm-empty) (clear xrmxg) (on qhpfb infrl) (on-table lvcfr) (on olcux qhpfb) (on infrl lvcfr) (on-table xrmxg) (clear olcux)",
"(clear qhpfb) (on-table lvcfr) (clear xrmxg) (on infrl lvcfr) (on-table xrmxg) (on qhpfb infrl) (holding olcux)",
"(on olcux xrmxg) (clear qhpfb) (arm-empty) (on-table lvcfr) (on infrl lvcfr) (on-table xrmxg) (on qhpfb infrl) (clear olcux)",
"(on olcux xrmxg) (on-table lvcfr) (on infrl lvcfr) (on-table xrmxg) (holding qhpfb) (clear olcux) (clear infrl)",
"(arm-empty) (on-table qhpfb) (clear infrl) (on olcux xrmxg) (clear qhpfb) (on-table lvcfr) (on infrl lvcfr) (on-table xrmxg) (clear olcux)",
"(on olcux xrmxg) (clear qhpfb) (on-table qhpfb) (on-table lvcfr) (holding infrl) (on-table xrmxg) (clear olcux) (clear lvcfr)",
"(on olcux xrmxg) (clear qhpfb) (arm-empty) (on-table qhpfb) (on-table lvcfr) (on infrl olcux) (on-table xrmxg) (clear lvcfr) (clear infrl)",
"(holding lvcfr) (on olcux xrmxg) (clear qhpfb) (on-table qhpfb) (on infrl olcux) (on-table xrmxg) (clear infrl)",
"(on olcux xrmxg) (clear qhpfb) (on lvcfr infrl) (arm-empty) (on-table qhpfb) (on infrl olcux) (on-table xrmxg) (clear lvcfr)",
"(on olcux xrmxg) (on lvcfr infrl) (on infrl olcux) (on-table xrmxg) (holding qhpfb) (clear lvcfr)",
"(on olcux xrmxg) (on lvcfr infrl) (clear qhpfb) (arm-empty) (on infrl olcux) (on-table xrmxg) (on qhpfb lvcfr)"
] | file_26981 |
GOAL: (clear ftsde) (arm-empty) (on-table ftsde) (on-table zxvzq) (clear ctfzn) (on ctfzn aaahd) (on aaahd zxvzq) | GOAL: (clear ftsde) (arm-empty) (on-table ftsde) (on-table zxvzq) (clear ctfzn) (on ctfzn aaahd) (on aaahd zxvzq)
STATE: (clear ftsde) (on ctfzn zxvzq) (on-table ftsde) (on-table zxvzq) (clear ctfzn) (holding aaahd) | [
[
"put-down aaahd"
],
[
"unstack ctfzn zxvzq"
],
[
"stack ctfzn ftsde"
],
[
"pick-up aaahd"
],
[
"stack aaahd zxvzq"
],
[
"unstack ctfzn ftsde"
],
[
"stack ctfzn aaahd"
]
] | [
"(clear ftsde) (on ctfzn zxvzq) (arm-empty) (on-table ftsde) (on-table zxvzq) (clear aaahd) (clear ctfzn) (on-table aaahd)",
"(clear ftsde) (on-table ftsde) (on-table zxvzq) (holding ctfzn) (clear aaahd) (clear zxvzq) (on-table aaahd)",
"(arm-empty) (on-table ftsde) (on-table zxvzq) (clear ctfzn) (on ctfzn ftsde) (clear aaahd) (clear zxvzq) (on-table aaahd)",
"(on-table ftsde) (on-table zxvzq) (clear ctfzn) (on ctfzn ftsde) (holding aaahd) (clear zxvzq)",
"(arm-empty) (on-table ftsde) (on-table zxvzq) (clear ctfzn) (on aaahd zxvzq) (on ctfzn ftsde) (clear aaahd)",
"(on-table ftsde) (holding ctfzn) (on aaahd zxvzq) (clear ftsde) (on-table zxvzq) (clear aaahd)",
"(clear ftsde) (arm-empty) (on-table ftsde) (on-table zxvzq) (clear ctfzn) (on ctfzn aaahd) (on aaahd zxvzq)"
] | file_130631 |
GOAL: (clear khlfa) (on-table khlfa) (on-table wwohi) (clear eklua) (on cfgch wwohi) (on-table eklua) (holding ovfsx) (clear cfgch) | GOAL: (clear khlfa) (on-table khlfa) (on-table wwohi) (clear eklua) (on cfgch wwohi) (on-table eklua) (holding ovfsx) (clear cfgch)
STATE: (clear khlfa) (on-table wwohi) (clear eklua) (on cfgch wwohi) (on-table eklua) (on khlfa cfgch) (holding ovfsx) | [
[
"stack ovfsx eklua"
],
[
"unstack khlfa cfgch"
],
[
"put-down khlfa"
],
[
"unstack ovfsx eklua"
]
] | [
"(on ovfsx eklua) (clear khlfa) (arm-empty) (on-table wwohi) (on cfgch wwohi) (on-table eklua) (on khlfa cfgch) (clear ovfsx)",
"(on ovfsx eklua) (on-table wwohi) (on cfgch wwohi) (on-table eklua) (holding khlfa) (clear ovfsx) (clear cfgch)",
"(arm-empty) (on-table khlfa) (clear cfgch) (on ovfsx eklua) (clear khlfa) (on-table wwohi) (on cfgch wwohi) (on-table eklua) (clear ovfsx)",
"(clear khlfa) (on-table khlfa) (on-table wwohi) (clear eklua) (on cfgch wwohi) (on-table eklua) (holding ovfsx) (clear cfgch)"
] | file_23034 |
GOAL: (on-table qllbm) (on-table elrdr) (clear lszat) (on lszat xzymq) (holding qhbqc) (clear elrdr) (on-table xzymq) (clear qllbm) | GOAL: (on-table qllbm) (on-table elrdr) (clear lszat) (on lszat xzymq) (holding qhbqc) (clear elrdr) (on-table xzymq) (clear qllbm)
STATE: (clear qhbqc) (arm-empty) (on-table qllbm) (on-table elrdr) (clear lszat) (on-table lszat) (on qhbqc qllbm) (clear xzymq) (clear elrdr) (on-table xzymq) | [
[
"pick-up lszat"
],
[
"stack lszat xzymq"
],
[
"unstack qhbqc qllbm"
]
] | [
"(clear qhbqc) (on-table qllbm) (on-table elrdr) (holding lszat) (on qhbqc qllbm) (clear xzymq) (clear elrdr) (on-table xzymq)",
"(clear qhbqc) (arm-empty) (on-table qllbm) (on-table elrdr) (clear lszat) (on lszat xzymq) (on qhbqc qllbm) (clear elrdr) (on-table xzymq)",
"(on-table qllbm) (on-table elrdr) (clear lszat) (on lszat xzymq) (holding qhbqc) (clear elrdr) (on-table xzymq) (clear qllbm)"
] | file_182049 |
GOAL: (on silrg tpykk) (clear afitn) (on lrtwy silrg) (on-table afitn) (on-table tpykk) (arm-empty) (clear kaiiq) (on-table kaiiq) (clear lrtwy) | GOAL: (on silrg tpykk) (clear afitn) (on lrtwy silrg) (on-table afitn) (on-table tpykk) (arm-empty) (clear kaiiq) (on-table kaiiq) (clear lrtwy)
STATE: (arm-empty) (on tpykk kaiiq) (on-table lrtwy) (on kaiiq afitn) (on afitn lrtwy) (clear silrg) (on-table silrg) (clear tpykk) | [
[
"unstack tpykk kaiiq"
],
[
"put-down tpykk"
],
[
"pick-up silrg"
],
[
"stack silrg tpykk"
],
[
"unstack kaiiq afitn"
],
[
"stack kaiiq silrg"
],
[
"unstack afitn lrtwy"
],
[
"put-down afitn"
],
[
"unstack kaiiq silrg"
],
[
"put-down kaiiq"
],
[
"pick-up lrtwy"
],
[
"stack lrtwy silrg"
]
] | [
"(on-table lrtwy) (clear kaiiq) (holding tpykk) (on kaiiq afitn) (on afitn lrtwy) (clear silrg) (on-table silrg)",
"(arm-empty) (on-table tpykk) (clear kaiiq) (on afitn lrtwy) (clear tpykk) (on-table lrtwy) (on kaiiq afitn) (clear silrg) (on-table silrg)",
"(on-table tpykk) (on-table lrtwy) (clear kaiiq) (on kaiiq afitn) (on afitn lrtwy) (holding silrg) (clear tpykk)",
"(on silrg tpykk) (arm-empty) (on-table tpykk) (on-table lrtwy) (clear kaiiq) (on kaiiq afitn) (on afitn lrtwy) (clear silrg)",
"(on silrg tpykk) (clear afitn) (on-table tpykk) (on-table lrtwy) (holding kaiiq) (on afitn lrtwy) (clear silrg)",
"(on silrg tpykk) (arm-empty) (on-table tpykk) (clear kaiiq) (on afitn lrtwy) (clear afitn) (on-table lrtwy) (on kaiiq silrg)",
"(on silrg tpykk) (on-table tpykk) (on-table lrtwy) (clear kaiiq) (on kaiiq silrg) (holding afitn) (clear lrtwy)",
"(on silrg tpykk) (arm-empty) (on-table afitn) (on-table tpykk) (clear kaiiq) (clear afitn) (on-table lrtwy) (on kaiiq silrg) (clear lrtwy)",
"(on silrg tpykk) (clear afitn) (on-table afitn) (on-table tpykk) (on-table lrtwy) (holding kaiiq) (clear silrg) (clear lrtwy)",
"(on silrg tpykk) (clear afitn) (arm-empty) (on-table afitn) (on-table tpykk) (on-table lrtwy) (clear kaiiq) (on-table kaiiq) (clear silrg) (clear lrtwy)",
"(holding lrtwy) (on silrg tpykk) (clear afitn) (on-table afitn) (on-table tpykk) (clear kaiiq) (on-table kaiiq) (clear silrg)",
"(on silrg tpykk) (clear afitn) (on lrtwy silrg) (on-table afitn) (on-table tpykk) (arm-empty) (clear kaiiq) (on-table kaiiq) (clear lrtwy)"
] | file_192394 |
GOAL: (on cmksj thmvk) (on jtesa cmksj) (on-table thmvk) (holding nvhtb) (clear ydaql) (on-table ydaql) (clear jtesa) | GOAL: (on cmksj thmvk) (on jtesa cmksj) (on-table thmvk) (holding nvhtb) (clear ydaql) (on-table ydaql) (clear jtesa)
STATE: (holding thmvk) (on-table nvhtb) (on ydaql nvhtb) (clear cmksj) (on jtesa ydaql) (on-table cmksj) (clear jtesa) | [
[
"put-down thmvk"
],
[
"pick-up cmksj"
],
[
"stack cmksj thmvk"
],
[
"unstack jtesa ydaql"
],
[
"put-down jtesa"
],
[
"unstack ydaql nvhtb"
],
[
"put-down ydaql"
],
[
"pick-up nvhtb"
],
[
"stack nvhtb ydaql"
],
[
"pick-up jtesa"
],
[
"stack jtesa cmksj"
],
[
"unstack nvhtb ydaql"
]
] | [
"(arm-empty) (on-table nvhtb) (clear cmksj) (on jtesa ydaql) (clear jtesa) (on-table thmvk) (on ydaql nvhtb) (on-table cmksj) (clear thmvk)",
"(on-table nvhtb) (on-table thmvk) (holding cmksj) (on ydaql nvhtb) (on jtesa ydaql) (clear thmvk) (clear jtesa)",
"(on cmksj thmvk) (arm-empty) (on-table nvhtb) (on-table thmvk) (on ydaql nvhtb) (clear cmksj) (on jtesa ydaql) (clear jtesa)",
"(on cmksj thmvk) (on-table nvhtb) (on-table thmvk) (on ydaql nvhtb) (clear cmksj) (holding jtesa) (clear ydaql)",
"(on cmksj thmvk) (arm-empty) (on-table nvhtb) (on-table jtesa) (clear cmksj) (clear jtesa) (on-table thmvk) (on ydaql nvhtb) (clear ydaql)",
"(clear nvhtb) (on cmksj thmvk) (on-table nvhtb) (on-table jtesa) (on-table thmvk) (clear cmksj) (holding ydaql) (clear jtesa)",
"(clear nvhtb) (on cmksj thmvk) (arm-empty) (on-table nvhtb) (on-table jtesa) (on-table thmvk) (clear cmksj) (clear ydaql) (on-table ydaql) (clear jtesa)",
"(on cmksj thmvk) (on-table jtesa) (on-table thmvk) (clear cmksj) (holding nvhtb) (clear ydaql) (on-table ydaql) (clear jtesa)",
"(clear nvhtb) (on cmksj thmvk) (arm-empty) (on-table jtesa) (on-table thmvk) (clear cmksj) (on nvhtb ydaql) (on-table ydaql) (clear jtesa)",
"(clear nvhtb) (on cmksj thmvk) (on-table thmvk) (clear cmksj) (holding jtesa) (on nvhtb ydaql) (on-table ydaql)",
"(clear nvhtb) (on cmksj thmvk) (on jtesa cmksj) (arm-empty) (on-table thmvk) (on nvhtb ydaql) (on-table ydaql) (clear jtesa)",
"(on cmksj thmvk) (on jtesa cmksj) (on-table thmvk) (holding nvhtb) (clear ydaql) (on-table ydaql) (clear jtesa)"
] | file_9944 |
GOAL: (on-table llgjm) (on sdhtj lxxjw) (on lxxjw accgx) (on accgx llgjm) (holding ynnvt) (clear sdhtj) | GOAL: (on-table llgjm) (on sdhtj lxxjw) (on lxxjw accgx) (on accgx llgjm) (holding ynnvt) (clear sdhtj)
STATE: (arm-empty) (on-table lxxjw) (on sdhtj llgjm) (on accgx ynnvt) (on llgjm accgx) (clear lxxjw) (on-table ynnvt) (clear sdhtj) | [
[
"unstack sdhtj llgjm"
],
[
"put-down sdhtj"
],
[
"pick-up lxxjw"
],
[
"stack lxxjw sdhtj"
],
[
"unstack llgjm accgx"
],
[
"put-down llgjm"
],
[
"unstack accgx ynnvt"
],
[
"stack accgx llgjm"
],
[
"unstack lxxjw sdhtj"
],
[
"stack lxxjw accgx"
],
[
"pick-up sdhtj"
],
[
"stack sdhtj lxxjw"
],
[
"pick-up ynnvt"
]
] | [
"(clear llgjm) (on-table lxxjw) (on accgx ynnvt) (holding sdhtj) (on llgjm accgx) (clear lxxjw) (on-table ynnvt)",
"(arm-empty) (on-table sdhtj) (on llgjm accgx) (clear sdhtj) (clear llgjm) (on-table lxxjw) (on accgx ynnvt) (clear lxxjw) (on-table ynnvt)",
"(holding lxxjw) (clear llgjm) (on-table sdhtj) (on accgx ynnvt) (on llgjm accgx) (on-table ynnvt) (clear sdhtj)",
"(on lxxjw sdhtj) (clear llgjm) (arm-empty) (on-table sdhtj) (on accgx ynnvt) (on llgjm accgx) (clear lxxjw) (on-table ynnvt)",
"(on lxxjw sdhtj) (on-table sdhtj) (clear accgx) (on accgx ynnvt) (holding llgjm) (clear lxxjw) (on-table ynnvt)",
"(on lxxjw sdhtj) (arm-empty) (on-table llgjm) (on-table sdhtj) (clear accgx) (clear llgjm) (on accgx ynnvt) (clear lxxjw) (on-table ynnvt)",
"(on lxxjw sdhtj) (clear llgjm) (on-table llgjm) (on-table sdhtj) (holding accgx) (clear ynnvt) (clear lxxjw) (on-table ynnvt)",
"(on lxxjw sdhtj) (arm-empty) (on-table llgjm) (on-table sdhtj) (clear accgx) (on accgx llgjm) (clear ynnvt) (clear lxxjw) (on-table ynnvt)",
"(holding lxxjw) (on-table llgjm) (on-table sdhtj) (clear accgx) (on accgx llgjm) (clear ynnvt) (on-table ynnvt) (clear sdhtj)",
"(arm-empty) (on-table llgjm) (on-table sdhtj) (on lxxjw accgx) (on accgx llgjm) (clear ynnvt) (clear lxxjw) (on-table ynnvt) (clear sdhtj)",
"(on-table llgjm) (holding sdhtj) (on lxxjw accgx) (on accgx llgjm) (clear ynnvt) (clear lxxjw) (on-table ynnvt)",
"(arm-empty) (on-table llgjm) (on sdhtj lxxjw) (on lxxjw accgx) (on accgx llgjm) (clear ynnvt) (on-table ynnvt) (clear sdhtj)",
"(on-table llgjm) (on sdhtj lxxjw) (on lxxjw accgx) (on accgx llgjm) (holding ynnvt) (clear sdhtj)"
] | file_200739 |
GOAL: (clear rbszp) (arm-empty) (on-table bbunq) (on gkbdd leafv) (on adner gkbdd) (on rbszp bbunq) (clear adner) (on-table leafv) | GOAL: (clear rbszp) (arm-empty) (on-table bbunq) (on gkbdd leafv) (on adner gkbdd) (on rbszp bbunq) (clear adner) (on-table leafv)
STATE: (on-table bbunq) (on adner gkbdd) (on gkbdd leafv) (holding rbszp) (clear adner) (on-table leafv) (clear bbunq) | [
[
"put-down rbszp"
],
[
"unstack adner gkbdd"
],
[
"put-down adner"
],
[
"pick-up rbszp"
],
[
"stack rbszp bbunq"
],
[
"pick-up adner"
],
[
"stack adner gkbdd"
]
] | [
"(arm-empty) (on-table rbszp) (on-table bbunq) (clear bbunq) (clear rbszp) (on gkbdd leafv) (on adner gkbdd) (clear adner) (on-table leafv)",
"(holding adner) (clear rbszp) (on-table rbszp) (on-table bbunq) (clear gkbdd) (on gkbdd leafv) (on-table leafv) (clear bbunq)",
"(clear rbszp) (arm-empty) (on-table rbszp) (on-table bbunq) (on-table adner) (clear gkbdd) (on gkbdd leafv) (clear adner) (on-table leafv) (clear bbunq)",
"(on-table bbunq) (on-table adner) (clear gkbdd) (on gkbdd leafv) (holding rbszp) (clear adner) (on-table leafv) (clear bbunq)",
"(clear rbszp) (arm-empty) (on-table bbunq) (on-table adner) (clear gkbdd) (on gkbdd leafv) (on rbszp bbunq) (clear adner) (on-table leafv)",
"(holding adner) (clear rbszp) (on-table bbunq) (clear gkbdd) (on gkbdd leafv) (on rbszp bbunq) (on-table leafv)",
"(clear rbszp) (arm-empty) (on-table bbunq) (on gkbdd leafv) (on adner gkbdd) (on rbszp bbunq) (clear adner) (on-table leafv)"
] | file_6886 |
GOAL: (clear zpaby) (on iatnz mhowm) (arm-empty) (on-table zpaby) (on-table mhowm) (clear iatnz) (on fqtqp lwrng) (on-table lwrng) (clear fqtqp) | GOAL: (clear zpaby) (on iatnz mhowm) (arm-empty) (on-table zpaby) (on-table mhowm) (clear iatnz) (on fqtqp lwrng) (on-table lwrng) (clear fqtqp)
STATE: (arm-empty) (on-table zpaby) (on-table fqtqp) (on-table mhowm) (clear iatnz) (on iatnz zpaby) (clear lwrng) (clear mhowm) (on-table lwrng) (clear fqtqp) | [
[
"pick-up fqtqp"
],
[
"stack fqtqp lwrng"
],
[
"unstack iatnz zpaby"
],
[
"stack iatnz mhowm"
]
] | [
"(on-table zpaby) (on-table mhowm) (clear iatnz) (holding fqtqp) (on iatnz zpaby) (clear lwrng) (clear mhowm) (on-table lwrng)",
"(arm-empty) (on-table zpaby) (on-table mhowm) (clear iatnz) (on fqtqp lwrng) (on iatnz zpaby) (clear mhowm) (on-table lwrng) (clear fqtqp)",
"(clear zpaby) (on-table zpaby) (on-table mhowm) (holding iatnz) (on fqtqp lwrng) (clear mhowm) (on-table lwrng) (clear fqtqp)",
"(clear zpaby) (on iatnz mhowm) (arm-empty) (on-table zpaby) (on-table mhowm) (clear iatnz) (on fqtqp lwrng) (on-table lwrng) (clear fqtqp)"
] | file_17741 |
GOAL: (on flkmh kfhge) (on boyis flkmh) (arm-empty) (on-table kfhge) (on zghzw yzonv) (on yzonv boyis) (clear zghzw) | GOAL: (on flkmh kfhge) (on boyis flkmh) (arm-empty) (on-table kfhge) (on zghzw yzonv) (on yzonv boyis) (clear zghzw)
STATE: (on flkmh kfhge) (on zghzw boyis) (on boyis flkmh) (arm-empty) (on-table kfhge) (clear yzonv) (on yzonv zghzw) | [
[
"unstack yzonv zghzw"
],
[
"put-down yzonv"
],
[
"unstack zghzw boyis"
],
[
"put-down zghzw"
],
[
"pick-up yzonv"
],
[
"stack yzonv boyis"
],
[
"pick-up zghzw"
],
[
"stack zghzw yzonv"
]
] | [
"(on flkmh kfhge) (on zghzw boyis) (on boyis flkmh) (on-table kfhge) (clear zghzw) (holding yzonv)",
"(on flkmh kfhge) (on zghzw boyis) (on boyis flkmh) (on-table yzonv) (on-table kfhge) (arm-empty) (clear zghzw) (clear yzonv)",
"(on flkmh kfhge) (on boyis flkmh) (on-table yzonv) (on-table kfhge) (clear yzonv) (holding zghzw) (clear boyis)",
"(on flkmh kfhge) (on boyis flkmh) (arm-empty) (on-table yzonv) (on-table kfhge) (clear zghzw) (clear yzonv) (on-table zghzw) (clear boyis)",
"(on flkmh kfhge) (on boyis flkmh) (on-table kfhge) (clear zghzw) (on-table zghzw) (holding yzonv) (clear boyis)",
"(on flkmh kfhge) (on boyis flkmh) (clear yzonv) (arm-empty) (on-table kfhge) (clear zghzw) (on-table zghzw) (on yzonv boyis)",
"(on flkmh kfhge) (on boyis flkmh) (clear yzonv) (on-table kfhge) (holding zghzw) (on yzonv boyis)",
"(on flkmh kfhge) (on boyis flkmh) (arm-empty) (on-table kfhge) (on zghzw yzonv) (on yzonv boyis) (clear zghzw)"
] | file_23103 |
GOAL: (clear tarmc) (arm-empty) (on-table tledn) (on cnvvz ntthm) (on-table hirmj) (on tarmc hirmj) (clear tledn) (on-table ntthm) (clear cnvvz) | GOAL: (clear tarmc) (arm-empty) (on-table tledn) (on cnvvz ntthm) (on-table hirmj) (on tarmc hirmj) (clear tledn) (on-table ntthm) (clear cnvvz)
STATE: (clear tarmc) (on-table tarmc) (holding hirmj) (on-table tledn) (on cnvvz tledn) (clear ntthm) (on-table ntthm) (clear cnvvz) | [
[
"put-down hirmj"
],
[
"pick-up tarmc"
],
[
"stack tarmc hirmj"
],
[
"unstack cnvvz tledn"
],
[
"stack cnvvz ntthm"
]
] | [
"(clear tarmc) (arm-empty) (on-table tarmc) (on-table tledn) (clear hirmj) (on cnvvz tledn) (on-table hirmj) (clear ntthm) (on-table ntthm) (clear cnvvz)",
"(on-table tledn) (clear hirmj) (on cnvvz tledn) (on-table hirmj) (holding tarmc) (clear ntthm) (on-table ntthm) (clear cnvvz)",
"(clear tarmc) (arm-empty) (on-table tledn) (on cnvvz tledn) (on-table hirmj) (on tarmc hirmj) (clear ntthm) (on-table ntthm) (clear cnvvz)",
"(clear tarmc) (on-table tledn) (holding cnvvz) (on-table hirmj) (on tarmc hirmj) (clear ntthm) (clear tledn) (on-table ntthm)",
"(clear tarmc) (arm-empty) (on-table tledn) (on cnvvz ntthm) (on-table hirmj) (on tarmc hirmj) (clear tledn) (on-table ntthm) (clear cnvvz)"
] | file_201296 |
GOAL: (holding qydhe) (clear kktim) (on-table bhftp) (on-table oqlja) (on kktim oqlja) (clear hvalz) (on-table hvalz) (clear bhftp) | GOAL: (holding qydhe) (clear kktim) (on-table bhftp) (on-table oqlja) (on kktim oqlja) (clear hvalz) (on-table hvalz) (clear bhftp)
STATE: (on qydhe bhftp) (clear kktim) (arm-empty) (clear oqlja) (on bhftp hvalz) (on-table oqlja) (on kktim qydhe) (on-table hvalz) | [
[
"unstack kktim qydhe"
],
[
"stack kktim oqlja"
],
[
"unstack qydhe bhftp"
],
[
"stack qydhe kktim"
],
[
"unstack bhftp hvalz"
],
[
"put-down bhftp"
],
[
"unstack qydhe kktim"
]
] | [
"(on qydhe bhftp) (clear oqlja) (on bhftp hvalz) (on-table oqlja) (holding kktim) (clear qydhe) (on-table hvalz)",
"(on qydhe bhftp) (clear kktim) (arm-empty) (on bhftp hvalz) (on-table oqlja) (on kktim oqlja) (clear qydhe) (on-table hvalz)",
"(holding qydhe) (clear kktim) (on bhftp hvalz) (on-table oqlja) (on kktim oqlja) (on-table hvalz) (clear bhftp)",
"(arm-empty) (on bhftp hvalz) (on-table oqlja) (on kktim oqlja) (on qydhe kktim) (clear qydhe) (on-table hvalz) (clear bhftp)",
"(holding bhftp) (on-table oqlja) (on kktim oqlja) (clear hvalz) (on qydhe kktim) (clear qydhe) (on-table hvalz)",
"(arm-empty) (on-table bhftp) (on kktim oqlja) (on qydhe kktim) (clear bhftp) (on-table oqlja) (clear hvalz) (clear qydhe) (on-table hvalz)",
"(holding qydhe) (clear kktim) (on-table bhftp) (on-table oqlja) (on kktim oqlja) (clear hvalz) (on-table hvalz) (clear bhftp)"
] | file_150333 |
GOAL: (on xsjkq cycge) (clear cvtpt) (arm-empty) (on cycge piczo) (on-table piczo) (on cvtpt xsjkq) | GOAL: (on xsjkq cycge) (clear cvtpt) (arm-empty) (on cycge piczo) (on-table piczo) (on cvtpt xsjkq)
STATE: (on cycge xsjkq) (clear cvtpt) (on xsjkq piczo) (arm-empty) (on-table piczo) (on cvtpt cycge) | [
[
"unstack cvtpt cycge"
],
[
"put-down cvtpt"
],
[
"unstack cycge xsjkq"
],
[
"put-down cycge"
],
[
"unstack xsjkq piczo"
],
[
"stack xsjkq cvtpt"
],
[
"pick-up cycge"
],
[
"stack cycge piczo"
],
[
"unstack xsjkq cvtpt"
],
[
"stack xsjkq cycge"
],
[
"pick-up cvtpt"
],
[
"stack cvtpt xsjkq"
]
] | [
"(on cycge xsjkq) (on xsjkq piczo) (holding cvtpt) (on-table piczo) (clear cycge)",
"(on cycge xsjkq) (clear cvtpt) (on xsjkq piczo) (arm-empty) (on-table cvtpt) (on-table piczo) (clear cycge)",
"(on xsjkq piczo) (on-table cvtpt) (clear xsjkq) (clear cvtpt) (on-table piczo) (holding cycge)",
"(clear cvtpt) (on xsjkq piczo) (arm-empty) (on-table cvtpt) (on-table piczo) (clear cycge) (clear xsjkq) (on-table cycge)",
"(clear cvtpt) (on-table cvtpt) (on-table piczo) (holding xsjkq) (clear cycge) (clear piczo) (on-table cycge)",
"(arm-empty) (on-table cvtpt) (on-table piczo) (clear xsjkq) (on xsjkq cvtpt) (clear cycge) (clear piczo) (on-table cycge)",
"(on-table cvtpt) (on-table piczo) (clear xsjkq) (on xsjkq cvtpt) (holding cycge) (clear piczo)",
"(arm-empty) (on-table cvtpt) (on-table piczo) (clear xsjkq) (on cycge piczo) (on xsjkq cvtpt) (clear cycge)",
"(on-table cvtpt) (holding xsjkq) (on cycge piczo) (clear cvtpt) (on-table piczo) (clear cycge)",
"(clear cvtpt) (arm-empty) (on-table cvtpt) (on-table piczo) (clear xsjkq) (on xsjkq cycge) (on cycge piczo)",
"(on xsjkq cycge) (on cycge piczo) (holding cvtpt) (on-table piczo) (clear xsjkq)",
"(on xsjkq cycge) (clear cvtpt) (arm-empty) (on cycge piczo) (on-table piczo) (on cvtpt xsjkq)"
] | file_76949 |
GOAL: (holding cwlrw) (clear qniaa) (on-table qniaa) (on-table qiyvt) (clear ufnop) (on-table ufnop) (clear xrnpj) (on-table xrnpj) (clear qiyvt) | GOAL: (holding cwlrw) (clear qniaa) (on-table qniaa) (on-table qiyvt) (clear ufnop) (on-table ufnop) (clear xrnpj) (on-table xrnpj) (clear qiyvt)
STATE: (holding cwlrw) (clear qniaa) (clear ufnop) (on qiyvt xrnpj) (on-table ufnop) (on qniaa qiyvt) (on-table xrnpj) | [
[
"stack cwlrw ufnop"
],
[
"unstack qniaa qiyvt"
],
[
"put-down qniaa"
],
[
"unstack cwlrw ufnop"
],
[
"stack cwlrw qniaa"
],
[
"unstack qiyvt xrnpj"
],
[
"put-down qiyvt"
],
[
"unstack cwlrw qniaa"
]
] | [
"(clear qniaa) (arm-empty) (on qiyvt xrnpj) (on-table ufnop) (on cwlrw ufnop) (on qniaa qiyvt) (clear cwlrw) (on-table xrnpj)",
"(holding qniaa) (on qiyvt xrnpj) (on-table ufnop) (on cwlrw ufnop) (clear cwlrw) (on-table xrnpj) (clear qiyvt)",
"(arm-empty) (on-table qniaa) (on qiyvt xrnpj) (clear qiyvt) (clear qniaa) (on-table ufnop) (on cwlrw ufnop) (clear cwlrw) (on-table xrnpj)",
"(holding cwlrw) (clear qniaa) (on-table qniaa) (clear ufnop) (on qiyvt xrnpj) (on-table ufnop) (on-table xrnpj) (clear qiyvt)",
"(arm-empty) (on-table qniaa) (clear ufnop) (on qiyvt xrnpj) (on-table ufnop) (on cwlrw qniaa) (clear cwlrw) (on-table xrnpj) (clear qiyvt)",
"(on-table qniaa) (clear ufnop) (holding qiyvt) (on-table ufnop) (clear xrnpj) (on cwlrw qniaa) (clear cwlrw) (on-table xrnpj)",
"(arm-empty) (on-table qniaa) (on-table qiyvt) (clear ufnop) (on-table ufnop) (clear xrnpj) (on cwlrw qniaa) (clear cwlrw) (on-table xrnpj) (clear qiyvt)",
"(holding cwlrw) (clear qniaa) (on-table qniaa) (on-table qiyvt) (clear ufnop) (on-table ufnop) (clear xrnpj) (on-table xrnpj) (clear qiyvt)"
] | file_90156 |
GOAL: (on dxuss vbazn) (clear eclrz) (arm-empty) (on-table eclrz) (on-table vbazn) (clear agnli) (on-table agnli) (clear cecgg) (clear dxuss) (on-table cecgg) | GOAL: (on dxuss vbazn) (clear eclrz) (arm-empty) (on-table eclrz) (on-table vbazn) (clear agnli) (on-table agnli) (clear cecgg) (clear dxuss) (on-table cecgg)
STATE: (clear eclrz) (on agnli dxuss) (on-table eclrz) (on-table dxuss) (clear agnli) (holding vbazn) (clear cecgg) (on-table cecgg) | [
[
"put-down vbazn"
],
[
"unstack agnli dxuss"
],
[
"stack agnli eclrz"
],
[
"pick-up dxuss"
],
[
"stack dxuss vbazn"
],
[
"unstack agnli eclrz"
],
[
"stack agnli dxuss"
],
[
"pick-up eclrz"
],
[
"stack eclrz cecgg"
],
[
"unstack agnli dxuss"
],
[
"put-down agnli"
],
[
"unstack eclrz cecgg"
],
[
"put-down eclrz"
]
] | [
"(clear eclrz) (on agnli dxuss) (arm-empty) (on-table eclrz) (on-table vbazn) (on-table dxuss) (clear agnli) (clear cecgg) (on-table cecgg) (clear vbazn)",
"(clear eclrz) (on-table eclrz) (on-table vbazn) (on-table dxuss) (holding agnli) (clear cecgg) (clear dxuss) (on-table cecgg) (clear vbazn)",
"(arm-empty) (on-table eclrz) (on-table vbazn) (on-table dxuss) (clear agnli) (on agnli eclrz) (clear cecgg) (clear dxuss) (on-table cecgg) (clear vbazn)",
"(holding dxuss) (on-table eclrz) (on-table vbazn) (clear agnli) (on agnli eclrz) (clear cecgg) (on-table cecgg) (clear vbazn)",
"(on dxuss vbazn) (arm-empty) (on-table eclrz) (on-table vbazn) (clear agnli) (on agnli eclrz) (clear cecgg) (clear dxuss) (on-table cecgg)",
"(on dxuss vbazn) (clear eclrz) (on-table eclrz) (on-table vbazn) (holding agnli) (clear cecgg) (clear dxuss) (on-table cecgg)",
"(on dxuss vbazn) (clear eclrz) (on agnli dxuss) (arm-empty) (on-table eclrz) (on-table vbazn) (clear agnli) (clear cecgg) (on-table cecgg)",
"(on dxuss vbazn) (on agnli dxuss) (on-table vbazn) (clear agnli) (holding eclrz) (clear cecgg) (on-table cecgg)",
"(on dxuss vbazn) (clear eclrz) (on agnli dxuss) (arm-empty) (on-table vbazn) (clear agnli) (on eclrz cecgg) (on-table cecgg)",
"(on dxuss vbazn) (clear eclrz) (on-table vbazn) (holding agnli) (on eclrz cecgg) (clear dxuss) (on-table cecgg)",
"(on dxuss vbazn) (arm-empty) (on-table vbazn) (clear agnli) (clear eclrz) (on-table agnli) (on eclrz cecgg) (clear dxuss) (on-table cecgg)",
"(on dxuss vbazn) (on-table vbazn) (clear agnli) (on-table agnli) (holding eclrz) (clear cecgg) (clear dxuss) (on-table cecgg)",
"(on dxuss vbazn) (clear eclrz) (arm-empty) (on-table eclrz) (on-table vbazn) (clear agnli) (on-table agnli) (clear cecgg) (clear dxuss) (on-table cecgg)"
] | file_181637 |
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