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-table jlidb) (on-table wucni) (clear nyyfe) (on nyyfe jlidb) (clear bruca) (clear wucni) (on-table bruca) | GOAL: (arm-empty) (on-table jlidb) (on-table wucni) (clear nyyfe) (on nyyfe jlidb) (clear bruca) (clear wucni) (on-table bruca)
STATE: (on wucni bruca) (arm-empty) (on-table jlidb) (on bruca jlidb) (clear nyyfe) (on-table nyyfe) (clear wucni) | [
[
"unstack wucni bruca"
],
[
"put-down wucni"
],
[
"unstack bruca jlidb"
],
[
"put-down bruca"
],
[
"pick-up nyyfe"
],
[
"stack nyyfe jlidb"
]
] | [
"(on-table jlidb) (clear nyyfe) (holding wucni) (on bruca jlidb) (on-table nyyfe) (clear bruca)",
"(arm-empty) (on-table jlidb) (clear nyyfe) (on-table wucni) (on bruca jlidb) (on-table nyyfe) (clear bruca) (clear wucni)",
"(clear jlidb) (on-table jlidb) (on-table wucni) (clear nyyfe) (on-table nyyfe) (holding bruca) (clear wucni)",
"(arm-empty) (on-table jlidb) (clear nyyfe) (clear jlidb) (on-table wucni) (on-table nyyfe) (clear bruca) (clear wucni) (on-table bruca)",
"(clear jlidb) (on-table jlidb) (on-table wucni) (holding nyyfe) (clear bruca) (clear wucni) (on-table bruca)",
"(arm-empty) (on-table jlidb) (on-table wucni) (clear nyyfe) (on nyyfe jlidb) (clear bruca) (clear wucni) (on-table bruca)"
] | file_225032 |
GOAL: (on aopvv fqflx) (clear cuxrw) (arm-empty) (on fqflx cydhh) (on-table cydhh) (on cuxrw vbgpn) (clear aopvv) (on-table vbgpn) | GOAL: (on aopvv fqflx) (clear cuxrw) (arm-empty) (on fqflx cydhh) (on-table cydhh) (on cuxrw vbgpn) (clear aopvv) (on-table vbgpn)
STATE: (holding cydhh) (on-table aopvv) (on vbgpn cuxrw) (on fqflx vbgpn) (on cuxrw aopvv) (clear fqflx) | [
[
"put-down cydhh"
],
[
"unstack fqflx vbgpn"
],
[
"stack fqflx cydhh"
],
[
"unstack vbgpn cuxrw"
],
[
"put-down vbgpn"
],
[
"unstack cuxrw aopvv"
],
[
"stack cuxrw vbgpn"
],
[
"pick-up aopvv"
],
[
"stack aopvv fqflx"
]
] | [
"(arm-empty) (clear cydhh) (on fqflx vbgpn) (on cuxrw aopvv) (clear fqflx) (on-table aopvv) (on vbgpn cuxrw) (on-table cydhh)",
"(on-table aopvv) (on vbgpn cuxrw) (clear cydhh) (holding fqflx) (on-table cydhh) (on cuxrw aopvv) (clear vbgpn)",
"(arm-empty) (on fqflx cydhh) (on-table aopvv) (on vbgpn cuxrw) (on-table cydhh) (on cuxrw aopvv) (clear vbgpn) (clear fqflx)",
"(clear cuxrw) (on fqflx cydhh) (on-table aopvv) (on-table cydhh) (on cuxrw aopvv) (holding vbgpn) (clear fqflx)",
"(arm-empty) (on fqflx cydhh) (on cuxrw aopvv) (clear fqflx) (clear cuxrw) (on-table aopvv) (on-table cydhh) (clear vbgpn) (on-table vbgpn)",
"(on fqflx cydhh) (on-table aopvv) (on-table cydhh) (holding cuxrw) (clear vbgpn) (clear aopvv) (on-table vbgpn) (clear fqflx)",
"(clear cuxrw) (arm-empty) (on fqflx cydhh) (on-table aopvv) (on-table cydhh) (on cuxrw vbgpn) (clear aopvv) (on-table vbgpn) (clear fqflx)",
"(holding aopvv) (clear cuxrw) (on fqflx cydhh) (on-table cydhh) (on cuxrw vbgpn) (on-table vbgpn) (clear fqflx)",
"(on aopvv fqflx) (clear cuxrw) (arm-empty) (on fqflx cydhh) (on-table cydhh) (on cuxrw vbgpn) (clear aopvv) (on-table vbgpn)"
] | file_82143 |
GOAL: (holding swdjl) (on qmwoz uuipq) (clear jamvh) (on-table jamvh) (on jekgp qmwoz) (on-table uuipq) (clear jekgp) | GOAL: (holding swdjl) (on qmwoz uuipq) (clear jamvh) (on-table jamvh) (on jekgp qmwoz) (on-table uuipq) (clear jekgp)
STATE: (on qmwoz uuipq) (on-table jekgp) (on-table swdjl) (on-table uuipq) (holding jamvh) (clear qmwoz) (clear swdjl) (clear jekgp) | [
[
"put-down jamvh"
],
[
"pick-up swdjl"
],
[
"stack swdjl jamvh"
],
[
"pick-up jekgp"
],
[
"stack jekgp qmwoz"
],
[
"unstack swdjl jamvh"
]
] | [
"(on qmwoz uuipq) (clear jamvh) (arm-empty) (on-table jamvh) (on-table jekgp) (on-table swdjl) (on-table uuipq) (clear qmwoz) (clear swdjl) (clear jekgp)",
"(holding swdjl) (on qmwoz uuipq) (clear jamvh) (on-table jamvh) (on-table jekgp) (on-table uuipq) (clear qmwoz) (clear jekgp)",
"(on qmwoz uuipq) (arm-empty) (on-table jamvh) (on-table jekgp) (on-table uuipq) (clear qmwoz) (on swdjl jamvh) (clear swdjl) (clear jekgp)",
"(on qmwoz uuipq) (on-table jamvh) (holding jekgp) (on-table uuipq) (clear qmwoz) (on swdjl jamvh) (clear swdjl)",
"(on qmwoz uuipq) (arm-empty) (on-table jamvh) (on jekgp qmwoz) (on-table uuipq) (on swdjl jamvh) (clear swdjl) (clear jekgp)",
"(holding swdjl) (on qmwoz uuipq) (clear jamvh) (on-table jamvh) (on jekgp qmwoz) (on-table uuipq) (clear jekgp)"
] | file_157020 |
GOAL: (clear ysbov) (on-table ysbov) (on-table dfnhd) (on-table owaiz) (holding bglgz) (on nxurg owaiz) (clear nxurg) (clear dfnhd) | GOAL: (clear ysbov) (on-table ysbov) (on-table dfnhd) (on-table owaiz) (holding bglgz) (on nxurg owaiz) (clear nxurg) (clear dfnhd)
STATE: (on nxurg bglgz) (on-table dfnhd) (on-table owaiz) (on bglgz dfnhd) (holding ysbov) (clear nxurg) (clear owaiz) | [
[
"put-down ysbov"
],
[
"unstack nxurg bglgz"
],
[
"put-down nxurg"
],
[
"unstack bglgz dfnhd"
],
[
"stack bglgz ysbov"
],
[
"pick-up nxurg"
],
[
"stack nxurg owaiz"
],
[
"unstack bglgz ysbov"
]
] | [
"(arm-empty) (on-table ysbov) (on-table dfnhd) (on bglgz dfnhd) (on nxurg bglgz) (clear ysbov) (on-table owaiz) (clear nxurg) (clear owaiz)",
"(clear ysbov) (on-table ysbov) (on-table dfnhd) (on bglgz dfnhd) (on-table owaiz) (clear bglgz) (holding nxurg) (clear owaiz)",
"(clear ysbov) (arm-empty) (on-table ysbov) (on-table dfnhd) (on bglgz dfnhd) (on-table owaiz) (clear bglgz) (clear nxurg) (clear owaiz) (on-table nxurg)",
"(clear ysbov) (on-table ysbov) (on-table dfnhd) (holding bglgz) (on-table owaiz) (clear nxurg) (clear owaiz) (on-table nxurg) (clear dfnhd)",
"(arm-empty) (on-table ysbov) (on-table dfnhd) (on-table owaiz) (clear bglgz) (on bglgz ysbov) (clear nxurg) (clear owaiz) (on-table nxurg) (clear dfnhd)",
"(on-table ysbov) (on-table dfnhd) (on-table owaiz) (clear bglgz) (on bglgz ysbov) (holding nxurg) (clear owaiz) (clear dfnhd)",
"(arm-empty) (on-table ysbov) (on-table dfnhd) (on-table owaiz) (clear bglgz) (on nxurg owaiz) (on bglgz ysbov) (clear nxurg) (clear dfnhd)",
"(clear ysbov) (on-table ysbov) (on-table dfnhd) (on-table owaiz) (holding bglgz) (on nxurg owaiz) (clear nxurg) (clear dfnhd)"
] | file_189151 |
GOAL: (on clxym vrcpn) (clear maihm) (arm-empty) (on-table mbqjg) (clear wbmja) (on vrcpn mbqjg) (on-table wbmja) (on maihm clxym) | GOAL: (on clxym vrcpn) (clear maihm) (arm-empty) (on-table mbqjg) (clear wbmja) (on vrcpn mbqjg) (on-table wbmja) (on maihm clxym)
STATE: (clear maihm) (on clxym vrcpn) (arm-empty) (on-table maihm) (on-table mbqjg) (clear wbmja) (on vrcpn mbqjg) (on wbmja clxym) | [
[
"unstack wbmja clxym"
],
[
"put-down wbmja"
],
[
"pick-up maihm"
],
[
"stack maihm clxym"
]
] | [
"(clear maihm) (on clxym vrcpn) (on-table maihm) (on-table mbqjg) (holding wbmja) (on vrcpn mbqjg) (clear clxym)",
"(on clxym vrcpn) (arm-empty) (on-table maihm) (clear wbmja) (clear maihm) (on-table mbqjg) (on vrcpn mbqjg) (on-table wbmja) (clear clxym)",
"(on clxym vrcpn) (on-table mbqjg) (clear wbmja) (on vrcpn mbqjg) (on-table wbmja) (holding maihm) (clear clxym)",
"(on clxym vrcpn) (clear maihm) (arm-empty) (on-table mbqjg) (clear wbmja) (on vrcpn mbqjg) (on-table wbmja) (on maihm clxym)"
] | file_37697 |
GOAL: (on iwtqo ocqbx) (arm-empty) (on-table tmqig) (on-table ocqbx) (clear iwtqo) (on zfkpu tmqig) (clear zfkpu) | GOAL: (on iwtqo ocqbx) (arm-empty) (on-table tmqig) (on-table ocqbx) (clear iwtqo) (on zfkpu tmqig) (clear zfkpu)
STATE: (on iwtqo ocqbx) (arm-empty) (on-table ocqbx) (on tmqig iwtqo) (on zfkpu tmqig) (clear zfkpu) | [
[
"unstack zfkpu tmqig"
],
[
"put-down zfkpu"
],
[
"unstack tmqig iwtqo"
],
[
"put-down tmqig"
],
[
"pick-up zfkpu"
],
[
"stack zfkpu tmqig"
]
] | [
"(holding zfkpu) (on iwtqo ocqbx) (on-table ocqbx) (clear tmqig) (on tmqig iwtqo)",
"(on iwtqo ocqbx) (on-table ocqbx) (clear tmqig) (arm-empty) (on-table zfkpu) (on tmqig iwtqo) (clear zfkpu)",
"(on iwtqo ocqbx) (on-table zfkpu) (on-table ocqbx) (holding tmqig) (clear iwtqo) (clear zfkpu)",
"(arm-empty) (on-table tmqig) (on iwtqo ocqbx) (clear tmqig) (on-table zfkpu) (on-table ocqbx) (clear iwtqo) (clear zfkpu)",
"(holding zfkpu) (on iwtqo ocqbx) (clear tmqig) (on-table tmqig) (on-table ocqbx) (clear iwtqo)",
"(on iwtqo ocqbx) (arm-empty) (on-table tmqig) (on-table ocqbx) (clear iwtqo) (on zfkpu tmqig) (clear zfkpu)"
] | file_221714 |
GOAL: (on-table qqdwn) (on-table hhzqf) (clear gqfvh) (on gqfvh bozqn) (on bozqn qqdwn) (holding rdvjp) (clear hhzqf) | GOAL: (on-table qqdwn) (on-table hhzqf) (clear gqfvh) (on gqfvh bozqn) (on bozqn qqdwn) (holding rdvjp) (clear hhzqf)
STATE: (on rdvjp gqfvh) (clear bozqn) (on hhzqf rdvjp) (arm-empty) (on-table bozqn) (on gqfvh qqdwn) (on-table qqdwn) (clear hhzqf) | [
[
"unstack hhzqf rdvjp"
],
[
"put-down hhzqf"
],
[
"unstack rdvjp gqfvh"
],
[
"stack rdvjp hhzqf"
],
[
"unstack gqfvh qqdwn"
],
[
"stack gqfvh rdvjp"
],
[
"pick-up bozqn"
],
[
"stack bozqn qqdwn"
],
[
"unstack gqfvh rdvjp"
],
[
"stack gqfvh bozqn"
],
[
"unstack rdvjp hhzqf"
]
] | [
"(holding hhzqf) (on rdvjp gqfvh) (clear bozqn) (on-table bozqn) (on gqfvh qqdwn) (on-table qqdwn) (clear rdvjp)",
"(arm-empty) (on-table bozqn) (on gqfvh qqdwn) (on-table qqdwn) (on rdvjp gqfvh) (clear bozqn) (on-table hhzqf) (clear rdvjp) (clear hhzqf)",
"(clear bozqn) (on-table bozqn) (on gqfvh qqdwn) (on-table qqdwn) (on-table hhzqf) (clear gqfvh) (holding rdvjp) (clear hhzqf)",
"(clear bozqn) (arm-empty) (on-table bozqn) (on gqfvh qqdwn) (on-table qqdwn) (on-table hhzqf) (clear gqfvh) (on rdvjp hhzqf) (clear rdvjp)",
"(clear bozqn) (on-table bozqn) (on-table qqdwn) (on-table hhzqf) (holding gqfvh) (on rdvjp hhzqf) (clear rdvjp) (clear qqdwn)",
"(clear bozqn) (arm-empty) (on-table bozqn) (on-table qqdwn) (on-table hhzqf) (clear gqfvh) (on gqfvh rdvjp) (on rdvjp hhzqf) (clear qqdwn)",
"(on-table qqdwn) (on-table hhzqf) (clear gqfvh) (on gqfvh rdvjp) (holding bozqn) (on rdvjp hhzqf) (clear qqdwn)",
"(clear bozqn) (arm-empty) (on-table qqdwn) (on-table hhzqf) (clear gqfvh) (on gqfvh rdvjp) (on rdvjp hhzqf) (on bozqn qqdwn)",
"(clear bozqn) (on-table qqdwn) (on-table hhzqf) (holding gqfvh) (on rdvjp hhzqf) (on bozqn qqdwn) (clear rdvjp)",
"(arm-empty) (on-table qqdwn) (on-table hhzqf) (clear gqfvh) (on rdvjp hhzqf) (on gqfvh bozqn) (on bozqn qqdwn) (clear rdvjp)",
"(on-table qqdwn) (on-table hhzqf) (clear gqfvh) (on gqfvh bozqn) (on bozqn qqdwn) (holding rdvjp) (clear hhzqf)"
] | file_177003 |
GOAL: (clear ufbch) (on bvbgi tnoug) (arm-empty) (on-table uzyao) (clear mlorp) (on-table mlorp) (on ufbch bvbgi) (on-table tnoug) (clear uzyao) | GOAL: (clear ufbch) (on bvbgi tnoug) (arm-empty) (on-table uzyao) (clear mlorp) (on-table mlorp) (on ufbch bvbgi) (on-table tnoug) (clear uzyao)
STATE: (clear ufbch) (on bvbgi tnoug) (arm-empty) (on-table ufbch) (on-table uzyao) (clear mlorp) (on-table mlorp) (clear bvbgi) (on-table tnoug) (clear uzyao) | [
[
"pick-up ufbch"
],
[
"stack ufbch bvbgi"
]
] | [
"(on bvbgi tnoug) (on-table uzyao) (clear mlorp) (on-table mlorp) (holding ufbch) (clear bvbgi) (on-table tnoug) (clear uzyao)",
"(clear ufbch) (on bvbgi tnoug) (arm-empty) (on-table uzyao) (clear mlorp) (on-table mlorp) (on ufbch bvbgi) (on-table tnoug) (clear uzyao)"
] | file_209750 |
GOAL: (on kozmp itdzv) (clear znsfw) (on orkgn kozmp) (arm-empty) (on-table aczjw) (on-table itdzv) (on znsfw orkgn) (clear aczjw) | GOAL: (on kozmp itdzv) (clear znsfw) (on orkgn kozmp) (arm-empty) (on-table aczjw) (on-table itdzv) (on znsfw orkgn) (clear aczjw)
STATE: (arm-empty) (on-table aczjw) (clear itdzv) (on-table itdzv) (on kozmp orkgn) (on znsfw aczjw) (clear kozmp) (on orkgn znsfw) | [
[
"unstack kozmp orkgn"
],
[
"stack kozmp itdzv"
],
[
"unstack orkgn znsfw"
],
[
"stack orkgn kozmp"
],
[
"unstack znsfw aczjw"
],
[
"stack znsfw orkgn"
]
] | [
"(on-table aczjw) (clear itdzv) (on-table itdzv) (on znsfw aczjw) (on orkgn znsfw) (clear orkgn) (holding kozmp)",
"(on kozmp itdzv) (arm-empty) (on-table aczjw) (on-table itdzv) (on znsfw aczjw) (clear kozmp) (on orkgn znsfw) (clear orkgn)",
"(holding orkgn) (on kozmp itdzv) (clear znsfw) (on-table aczjw) (on-table itdzv) (on znsfw aczjw) (clear kozmp)",
"(on kozmp itdzv) (clear znsfw) (on orkgn kozmp) (arm-empty) (on-table aczjw) (on-table itdzv) (on znsfw aczjw) (clear orkgn)",
"(on kozmp itdzv) (on orkgn kozmp) (on-table aczjw) (on-table itdzv) (holding znsfw) (clear orkgn) (clear aczjw)",
"(on kozmp itdzv) (clear znsfw) (on orkgn kozmp) (arm-empty) (on-table aczjw) (on-table itdzv) (on znsfw orkgn) (clear aczjw)"
] | file_205815 |
GOAL: (clear ccegl) (on wcxry tbaeu) (arm-empty) (on-table tbaeu) (on-table kfchq) (on vblyv kfchq) (on ccegl vblyv) (clear wcxry) | GOAL: (clear ccegl) (on wcxry tbaeu) (arm-empty) (on-table tbaeu) (on-table kfchq) (on vblyv kfchq) (on ccegl vblyv) (clear wcxry)
STATE: (holding ccegl) (on tbaeu vblyv) (on-table kfchq) (on vblyv kfchq) (clear wcxry) (on-table wcxry) (clear tbaeu) | [
[
"stack ccegl wcxry"
],
[
"unstack tbaeu vblyv"
],
[
"put-down tbaeu"
],
[
"unstack ccegl wcxry"
],
[
"stack ccegl vblyv"
],
[
"pick-up wcxry"
],
[
"stack wcxry tbaeu"
]
] | [
"(clear ccegl) (arm-empty) (on tbaeu vblyv) (on-table kfchq) (on vblyv kfchq) (on ccegl wcxry) (on-table wcxry) (clear tbaeu)",
"(clear ccegl) (holding tbaeu) (on-table kfchq) (on vblyv kfchq) (on ccegl wcxry) (clear vblyv) (on-table wcxry)",
"(arm-empty) (on-table tbaeu) (clear tbaeu) (clear ccegl) (on-table kfchq) (on vblyv kfchq) (on ccegl wcxry) (clear vblyv) (on-table wcxry)",
"(on-table tbaeu) (holding ccegl) (on-table kfchq) (on vblyv kfchq) (clear wcxry) (clear vblyv) (on-table wcxry) (clear tbaeu)",
"(clear ccegl) (arm-empty) (on-table tbaeu) (clear tbaeu) (on-table kfchq) (on ccegl vblyv) (clear wcxry) (on vblyv kfchq) (on-table wcxry)",
"(clear ccegl) (on-table tbaeu) (on-table kfchq) (on vblyv kfchq) (on ccegl vblyv) (holding wcxry) (clear tbaeu)",
"(clear ccegl) (on wcxry tbaeu) (arm-empty) (on-table tbaeu) (on-table kfchq) (on vblyv kfchq) (on ccegl vblyv) (clear wcxry)"
] | file_179149 |
GOAL: (clear tbyrt) (arm-empty) (on-table jyamh) (on uybfp jyamh) (on yizjc uybfp) (on tbyrt onirf) (clear yizjc) (on-table onirf) | GOAL: (clear tbyrt) (arm-empty) (on-table jyamh) (on uybfp jyamh) (on yizjc uybfp) (on tbyrt onirf) (clear yizjc) (on-table onirf)
STATE: (holding yizjc) (clear tbyrt) (on onirf jyamh) (on-table jyamh) (clear uybfp) (on-table uybfp) (on tbyrt onirf) | [
[
"put-down yizjc"
],
[
"unstack tbyrt onirf"
],
[
"stack tbyrt yizjc"
],
[
"unstack onirf jyamh"
],
[
"stack onirf tbyrt"
],
[
"pick-up uybfp"
],
[
"stack uybfp jyamh"
],
[
"unstack onirf tbyrt"
],
[
"put-down onirf"
],
[
"unstack tbyrt yizjc"
],
[
"stack tbyrt onirf"
],
[
"pick-up yizjc"
],
[
"stack yizjc uybfp"
]
] | [
"(on onirf jyamh) (arm-empty) (on-table jyamh) (clear uybfp) (clear tbyrt) (on-table yizjc) (on-table uybfp) (on tbyrt onirf) (clear yizjc)",
"(on onirf jyamh) (on-table jyamh) (on-table yizjc) (clear uybfp) (on-table uybfp) (holding tbyrt) (clear onirf) (clear yizjc)",
"(on onirf jyamh) (clear tbyrt) (arm-empty) (on-table jyamh) (on-table yizjc) (clear uybfp) (on-table uybfp) (on tbyrt yizjc) (clear onirf)",
"(clear tbyrt) (on-table jyamh) (on-table yizjc) (clear uybfp) (on-table uybfp) (on tbyrt yizjc) (holding onirf) (clear jyamh)",
"(arm-empty) (on-table jyamh) (on-table yizjc) (on onirf tbyrt) (clear uybfp) (on-table uybfp) (on tbyrt yizjc) (clear onirf) (clear jyamh)",
"(on-table jyamh) (on-table yizjc) (holding uybfp) (on onirf tbyrt) (on tbyrt yizjc) (clear onirf) (clear jyamh)",
"(arm-empty) (on uybfp jyamh) (on-table jyamh) (on-table yizjc) (on onirf tbyrt) (clear uybfp) (on tbyrt yizjc) (clear onirf)",
"(clear tbyrt) (on uybfp jyamh) (on-table jyamh) (on-table yizjc) (clear uybfp) (on tbyrt yizjc) (holding onirf)",
"(arm-empty) (on-table jyamh) (on uybfp jyamh) (clear uybfp) (on tbyrt yizjc) (clear tbyrt) (on-table yizjc) (clear onirf) (on-table onirf)",
"(on-table jyamh) (on uybfp jyamh) (on-table yizjc) (clear uybfp) (holding tbyrt) (clear onirf) (clear yizjc) (on-table onirf)",
"(clear tbyrt) (arm-empty) (on-table jyamh) (on uybfp jyamh) (on-table yizjc) (clear uybfp) (on tbyrt onirf) (clear yizjc) (on-table onirf)",
"(holding yizjc) (clear tbyrt) (on-table jyamh) (on uybfp jyamh) (clear uybfp) (on tbyrt onirf) (on-table onirf)",
"(clear tbyrt) (arm-empty) (on-table jyamh) (on uybfp jyamh) (on yizjc uybfp) (on tbyrt onirf) (clear yizjc) (on-table onirf)"
] | file_72951 |
GOAL: (on wlogh htpzx) (on htpzx ivyvs) (holding wkvlz) (on-table ivyvs) (clear wlogh) | GOAL: (on wlogh htpzx) (on htpzx ivyvs) (holding wkvlz) (on-table ivyvs) (clear wlogh)
STATE: (on htpzx wlogh) (clear wkvlz) (on wlogh ivyvs) (arm-empty) (on-table wkvlz) (on-table ivyvs) (clear htpzx) | [
[
"unstack htpzx wlogh"
],
[
"put-down htpzx"
],
[
"unstack wlogh ivyvs"
],
[
"stack wlogh wkvlz"
],
[
"pick-up htpzx"
],
[
"stack htpzx ivyvs"
],
[
"unstack wlogh wkvlz"
],
[
"stack wlogh htpzx"
],
[
"pick-up wkvlz"
]
] | [
"(on wlogh ivyvs) (on-table wkvlz) (clear wlogh) (clear wkvlz) (on-table ivyvs) (holding htpzx)",
"(clear wkvlz) (on wlogh ivyvs) (arm-empty) (on-table wkvlz) (on-table ivyvs) (clear htpzx) (clear wlogh) (on-table htpzx)",
"(clear wkvlz) (on-table wkvlz) (on-table ivyvs) (holding wlogh) (clear htpzx) (clear ivyvs) (on-table htpzx)",
"(arm-empty) (on-table wkvlz) (on-table ivyvs) (clear wlogh) (on wlogh wkvlz) (clear htpzx) (clear ivyvs) (on-table htpzx)",
"(on-table wkvlz) (on-table ivyvs) (clear wlogh) (on wlogh wkvlz) (holding htpzx) (clear ivyvs)",
"(arm-empty) (on-table wkvlz) (on-table ivyvs) (clear wlogh) (on htpzx ivyvs) (on wlogh wkvlz) (clear htpzx)",
"(on-table wkvlz) (holding wlogh) (on htpzx ivyvs) (clear wkvlz) (on-table ivyvs) (clear htpzx)",
"(clear wkvlz) (arm-empty) (on-table wkvlz) (on-table ivyvs) (clear wlogh) (on wlogh htpzx) (on htpzx ivyvs)",
"(on wlogh htpzx) (on htpzx ivyvs) (holding wkvlz) (on-table ivyvs) (clear wlogh)"
] | file_167573 |
GOAL: (arm-empty) (on odmwu etnvv) (on etnvv mdcoy) (clear odmwu) (on-table eechc) (on mdcoy yzamd) (clear eechc) (on-table yzamd) | GOAL: (arm-empty) (on odmwu etnvv) (on etnvv mdcoy) (clear odmwu) (on-table eechc) (on mdcoy yzamd) (clear eechc) (on-table yzamd)
STATE: (holding eechc) (on odmwu etnvv) (on mdcoy yzamd) (on etnvv mdcoy) (on-table yzamd) (clear odmwu) | [
[
"put-down eechc"
]
] | [
"(arm-empty) (on odmwu etnvv) (on etnvv mdcoy) (clear odmwu) (on-table eechc) (on mdcoy yzamd) (clear eechc) (on-table yzamd)"
] | file_202800 |
GOAL: (clear tefah) (arm-empty) (on swkow wvazf) (on hdilq prxof) (on prxof swkow) (on tefah hdilq) (on-table wvazf) | GOAL: (clear tefah) (arm-empty) (on swkow wvazf) (on hdilq prxof) (on prxof swkow) (on tefah hdilq) (on-table wvazf)
STATE: (on-table tefah) (on-table prxof) (on hdilq tefah) (clear swkow) (on-table swkow) (holding wvazf) (clear prxof) (clear hdilq) | [
[
"put-down wvazf"
],
[
"pick-up swkow"
],
[
"stack swkow wvazf"
],
[
"pick-up prxof"
],
[
"stack prxof swkow"
],
[
"unstack hdilq tefah"
],
[
"stack hdilq prxof"
],
[
"pick-up tefah"
],
[
"stack tefah hdilq"
]
] | [
"(arm-empty) (on-table tefah) (on-table prxof) (on hdilq tefah) (clear swkow) (on-table swkow) (clear wvazf) (clear prxof) (on-table wvazf) (clear hdilq)",
"(on-table tefah) (on-table prxof) (holding swkow) (on hdilq tefah) (clear wvazf) (clear prxof) (on-table wvazf) (clear hdilq)",
"(arm-empty) (on-table tefah) (on-table prxof) (on hdilq tefah) (clear swkow) (on swkow wvazf) (clear prxof) (on-table wvazf) (clear hdilq)",
"(holding prxof) (on-table tefah) (on hdilq tefah) (clear swkow) (on swkow wvazf) (on-table wvazf) (clear hdilq)",
"(arm-empty) (on-table tefah) (on hdilq tefah) (on swkow wvazf) (on prxof swkow) (clear prxof) (on-table wvazf) (clear hdilq)",
"(clear tefah) (on-table tefah) (on swkow wvazf) (holding hdilq) (on prxof swkow) (clear prxof) (on-table wvazf)",
"(arm-empty) (on-table tefah) (clear hdilq) (clear tefah) (on swkow wvazf) (on hdilq prxof) (on prxof swkow) (on-table wvazf)",
"(holding tefah) (on swkow wvazf) (on hdilq prxof) (on prxof swkow) (on-table wvazf) (clear hdilq)",
"(clear tefah) (arm-empty) (on swkow wvazf) (on hdilq prxof) (on prxof swkow) (on tefah hdilq) (on-table wvazf)"
] | file_32770 |
GOAL: (on eixbb jatce) (clear snwfq) (on jatce bdgkz) (on-table snwfq) (on ouvzf eixbb) (arm-empty) (on-table bdgkz) (clear ouvzf) | GOAL: (on eixbb jatce) (clear snwfq) (on jatce bdgkz) (on-table snwfq) (on ouvzf eixbb) (arm-empty) (on-table bdgkz) (clear ouvzf)
STATE: (arm-empty) (on-table snwfq) (on-table jatce) (clear bdgkz) (on-table bdgkz) (on eixbb ouvzf) (clear eixbb) (on ouvzf snwfq) (clear jatce) | [
[
"pick-up jatce"
],
[
"stack jatce bdgkz"
],
[
"unstack eixbb ouvzf"
],
[
"stack eixbb jatce"
],
[
"unstack ouvzf snwfq"
],
[
"stack ouvzf eixbb"
]
] | [
"(on-table snwfq) (clear bdgkz) (holding jatce) (on-table bdgkz) (on eixbb ouvzf) (clear eixbb) (on ouvzf snwfq)",
"(arm-empty) (on jatce bdgkz) (on-table snwfq) (on-table bdgkz) (on eixbb ouvzf) (clear eixbb) (on ouvzf snwfq) (clear jatce)",
"(on jatce bdgkz) (on-table snwfq) (on-table bdgkz) (on ouvzf snwfq) (clear ouvzf) (holding eixbb) (clear jatce)",
"(on eixbb jatce) (arm-empty) (on jatce bdgkz) (on-table snwfq) (on-table bdgkz) (clear eixbb) (on ouvzf snwfq) (clear ouvzf)",
"(holding ouvzf) (on eixbb jatce) (on jatce bdgkz) (on-table snwfq) (clear snwfq) (on-table bdgkz) (clear eixbb)",
"(on eixbb jatce) (clear snwfq) (on jatce bdgkz) (on-table snwfq) (on ouvzf eixbb) (arm-empty) (on-table bdgkz) (clear ouvzf)"
] | file_1647 |
GOAL: (holding djrqz) (on-table mpnmj) (on-table ngupv) (clear ozoky) (on ozoky mpnmj) (clear nuush) (on-table nuush) (clear ngupv) | GOAL: (holding djrqz) (on-table mpnmj) (on-table ngupv) (clear ozoky) (on ozoky mpnmj) (clear nuush) (on-table nuush) (clear ngupv)
STATE: (on-table mpnmj) (on ngupv djrqz) (on djrqz ozoky) (on ozoky mpnmj) (holding nuush) (clear ngupv) | [
[
"put-down nuush"
],
[
"unstack ngupv djrqz"
],
[
"put-down ngupv"
],
[
"unstack djrqz ozoky"
]
] | [
"(arm-empty) (on-table mpnmj) (clear ngupv) (on ngupv djrqz) (on djrqz ozoky) (on ozoky mpnmj) (clear nuush) (on-table nuush)",
"(on-table mpnmj) (holding ngupv) (on djrqz ozoky) (on ozoky mpnmj) (clear nuush) (clear djrqz) (on-table nuush)",
"(arm-empty) (on-table mpnmj) (on-table ngupv) (clear ngupv) (on djrqz ozoky) (on ozoky mpnmj) (clear nuush) (clear djrqz) (on-table nuush)",
"(holding djrqz) (on-table mpnmj) (on-table ngupv) (clear ozoky) (on ozoky mpnmj) (clear nuush) (on-table nuush) (clear ngupv)"
] | file_145620 |
GOAL: (on jmrnl pytgg) (on-table ksiso) (on-table pqqnd) (clear jmrnl) (on pytgg ksiso) (holding mninr) (clear pqqnd) | GOAL: (on jmrnl pytgg) (on-table ksiso) (on-table pqqnd) (clear jmrnl) (on pytgg ksiso) (holding mninr) (clear pqqnd)
STATE: (on mninr jmrnl) (arm-empty) (on pqqnd mninr) (on-table jmrnl) (on ksiso pqqnd) (on pytgg ksiso) (clear pytgg) | [
[
"unstack pytgg ksiso"
],
[
"put-down pytgg"
],
[
"unstack ksiso pqqnd"
],
[
"put-down ksiso"
],
[
"pick-up pytgg"
],
[
"stack pytgg ksiso"
],
[
"unstack pqqnd mninr"
],
[
"put-down pqqnd"
],
[
"unstack mninr jmrnl"
],
[
"stack mninr pqqnd"
],
[
"pick-up jmrnl"
],
[
"stack jmrnl pytgg"
],
[
"unstack mninr pqqnd"
]
] | [
"(on pqqnd mninr) (on ksiso pqqnd) (holding pytgg) (on mninr jmrnl) (clear ksiso) (on-table jmrnl)",
"(arm-empty) (on pqqnd mninr) (on ksiso pqqnd) (on mninr jmrnl) (clear ksiso) (on-table pytgg) (on-table jmrnl) (clear pytgg)",
"(on mninr jmrnl) (on-table pytgg) (on pqqnd mninr) (on-table jmrnl) (holding ksiso) (clear pytgg) (clear pqqnd)",
"(arm-empty) (on-table ksiso) (on pqqnd mninr) (clear pqqnd) (on mninr jmrnl) (clear ksiso) (on-table pytgg) (on-table jmrnl) (clear pytgg)",
"(holding pytgg) (on mninr jmrnl) (clear ksiso) (on-table ksiso) (on pqqnd mninr) (on-table jmrnl) (clear pqqnd)",
"(on mninr jmrnl) (arm-empty) (on-table ksiso) (on pqqnd mninr) (on-table jmrnl) (on pytgg ksiso) (clear pytgg) (clear pqqnd)",
"(on mninr jmrnl) (on-table ksiso) (holding pqqnd) (on-table jmrnl) (clear mninr) (on pytgg ksiso) (clear pytgg)",
"(arm-empty) (on-table ksiso) (on-table pqqnd) (on pytgg ksiso) (clear pqqnd) (on mninr jmrnl) (on-table jmrnl) (clear mninr) (clear pytgg)",
"(on-table ksiso) (on-table pqqnd) (clear jmrnl) (on-table jmrnl) (on pytgg ksiso) (clear pytgg) (holding mninr) (clear pqqnd)",
"(on mninr pqqnd) (arm-empty) (on-table ksiso) (on-table pqqnd) (clear jmrnl) (on-table jmrnl) (clear mninr) (on pytgg ksiso) (clear pytgg)",
"(on mninr pqqnd) (on-table ksiso) (on-table pqqnd) (holding jmrnl) (clear mninr) (on pytgg ksiso) (clear pytgg)",
"(on mninr pqqnd) (on jmrnl pytgg) (arm-empty) (on-table ksiso) (on-table pqqnd) (clear jmrnl) (clear mninr) (on pytgg ksiso)",
"(on jmrnl pytgg) (on-table ksiso) (on-table pqqnd) (clear jmrnl) (on pytgg ksiso) (holding mninr) (clear pqqnd)"
] | file_219205 |
GOAL: (on zovhe jfhkr) (clear otrxh) (arm-empty) (clear zovhe) (on-table otrxh) (on jfhkr evoee) (on-table evoee) | GOAL: (on zovhe jfhkr) (clear otrxh) (arm-empty) (clear zovhe) (on-table otrxh) (on jfhkr evoee) (on-table evoee)
STATE: (clear otrxh) (arm-empty) (on-table evoee) (on zovhe jfhkr) (on jfhkr evoee) (on otrxh zovhe) | [
[
"unstack otrxh zovhe"
],
[
"put-down otrxh"
]
] | [
"(on zovhe jfhkr) (on jfhkr evoee) (holding otrxh) (on-table evoee) (clear zovhe)",
"(on zovhe jfhkr) (clear otrxh) (arm-empty) (clear zovhe) (on-table otrxh) (on jfhkr evoee) (on-table evoee)"
] | file_109205 |
GOAL: (on pzooo kprjv) (on kprjv krwhh) (on-table sydbp) (on-table krwhh) (holding zyhcr) (clear pzooo) (clear sydbp) | GOAL: (on pzooo kprjv) (on kprjv krwhh) (on-table sydbp) (on-table krwhh) (holding zyhcr) (clear pzooo) (clear sydbp)
STATE: (on krwhh sydbp) (arm-empty) (on-table zyhcr) (on sydbp zyhcr) (clear kprjv) (on-table kprjv) (clear pzooo) (clear krwhh) (on-table pzooo) | [
[
"unstack krwhh sydbp"
],
[
"put-down krwhh"
],
[
"pick-up kprjv"
],
[
"stack kprjv krwhh"
],
[
"pick-up pzooo"
],
[
"stack pzooo kprjv"
],
[
"unstack sydbp zyhcr"
],
[
"put-down sydbp"
],
[
"pick-up zyhcr"
]
] | [
"(holding krwhh) (on-table zyhcr) (on sydbp zyhcr) (clear kprjv) (on-table kprjv) (clear pzooo) (on-table pzooo) (clear sydbp)",
"(arm-empty) (on-table zyhcr) (on-table krwhh) (on sydbp zyhcr) (clear kprjv) (on-table kprjv) (clear pzooo) (clear krwhh) (on-table pzooo) (clear sydbp)",
"(on-table zyhcr) (on-table krwhh) (holding kprjv) (on sydbp zyhcr) (clear pzooo) (clear krwhh) (on-table pzooo) (clear sydbp)",
"(on kprjv krwhh) (arm-empty) (on-table zyhcr) (on-table krwhh) (on sydbp zyhcr) (clear kprjv) (clear pzooo) (on-table pzooo) (clear sydbp)",
"(on kprjv krwhh) (on-table zyhcr) (on-table krwhh) (on sydbp zyhcr) (clear kprjv) (holding pzooo) (clear sydbp)",
"(on pzooo kprjv) (on kprjv krwhh) (arm-empty) (on-table zyhcr) (on-table krwhh) (on sydbp zyhcr) (clear pzooo) (clear sydbp)",
"(on pzooo kprjv) (clear zyhcr) (on kprjv krwhh) (on-table zyhcr) (on-table krwhh) (holding sydbp) (clear pzooo)",
"(on kprjv krwhh) (arm-empty) (on-table zyhcr) (on-table sydbp) (clear sydbp) (on pzooo kprjv) (clear zyhcr) (on-table krwhh) (clear pzooo)",
"(on pzooo kprjv) (on kprjv krwhh) (on-table sydbp) (on-table krwhh) (holding zyhcr) (clear pzooo) (clear sydbp)"
] | file_98599 |
GOAL: (clear psqxl) (on adcxo oqsoa) (holding rlari) (on junce adcxo) (on psqxl junce) (on-table oqsoa) | GOAL: (clear psqxl) (on adcxo oqsoa) (holding rlari) (on junce adcxo) (on psqxl junce) (on-table oqsoa)
STATE: (on junce rlari) (clear psqxl) (arm-empty) (on rlari adcxo) (on-table psqxl) (on-table adcxo) (on oqsoa junce) (clear oqsoa) | [
[
"unstack oqsoa junce"
],
[
"put-down oqsoa"
],
[
"unstack junce rlari"
],
[
"stack junce psqxl"
],
[
"unstack rlari adcxo"
],
[
"put-down rlari"
],
[
"pick-up adcxo"
],
[
"stack adcxo oqsoa"
],
[
"unstack junce psqxl"
],
[
"stack junce adcxo"
],
[
"pick-up psqxl"
],
[
"stack psqxl junce"
],
[
"pick-up rlari"
]
] | [
"(on junce rlari) (clear psqxl) (on rlari adcxo) (on-table psqxl) (on-table adcxo) (holding oqsoa) (clear junce)",
"(on junce rlari) (arm-empty) (on rlari adcxo) (on-table psqxl) (clear psqxl) (on-table adcxo) (clear oqsoa) (clear junce) (on-table oqsoa)",
"(holding junce) (clear psqxl) (on rlari adcxo) (on-table psqxl) (on-table adcxo) (clear oqsoa) (on-table oqsoa) (clear rlari)",
"(arm-empty) (on rlari adcxo) (on-table psqxl) (on-table adcxo) (clear oqsoa) (on junce psqxl) (clear junce) (on-table oqsoa) (clear rlari)",
"(on-table psqxl) (clear adcxo) (holding rlari) (on-table adcxo) (clear oqsoa) (on junce psqxl) (clear junce) (on-table oqsoa)",
"(arm-empty) (on-table psqxl) (on-table rlari) (clear adcxo) (on-table adcxo) (clear oqsoa) (on junce psqxl) (clear junce) (on-table oqsoa) (clear rlari)",
"(on-table psqxl) (on-table rlari) (holding adcxo) (clear oqsoa) (on junce psqxl) (clear junce) (on-table oqsoa) (clear rlari)",
"(arm-empty) (on-table psqxl) (on-table rlari) (clear adcxo) (on adcxo oqsoa) (on junce psqxl) (clear junce) (on-table oqsoa) (clear rlari)",
"(holding junce) (clear psqxl) (on-table psqxl) (on-table rlari) (clear adcxo) (on adcxo oqsoa) (on-table oqsoa) (clear rlari)",
"(clear psqxl) (arm-empty) (on-table psqxl) (on-table rlari) (on adcxo oqsoa) (on junce adcxo) (clear junce) (on-table oqsoa) (clear rlari)",
"(on-table rlari) (holding psqxl) (on adcxo oqsoa) (on junce adcxo) (clear junce) (on-table oqsoa) (clear rlari)",
"(arm-empty) (on-table rlari) (on psqxl junce) (clear rlari) (clear psqxl) (on adcxo oqsoa) (on junce adcxo) (on-table oqsoa)",
"(clear psqxl) (on adcxo oqsoa) (holding rlari) (on junce adcxo) (on psqxl junce) (on-table oqsoa)"
] | file_19212 |
GOAL: (arm-empty) (on-table alzns) (on kpmhe rowav) (on-table twfrk) (on jsmzc alzns) (clear kpmhe) (on rowav twfrk) (clear jsmzc) | GOAL: (arm-empty) (on-table alzns) (on kpmhe rowav) (on-table twfrk) (on jsmzc alzns) (clear kpmhe) (on rowav twfrk) (clear jsmzc)
STATE: (on jsmzc kpmhe) (clear alzns) (arm-empty) (on-table alzns) (on kpmhe rowav) (on-table twfrk) (on rowav twfrk) (clear jsmzc) | [
[
"unstack jsmzc kpmhe"
],
[
"stack jsmzc alzns"
]
] | [
"(clear alzns) (on-table alzns) (on kpmhe rowav) (on-table twfrk) (clear kpmhe) (on rowav twfrk) (holding jsmzc)",
"(arm-empty) (on-table alzns) (on kpmhe rowav) (on-table twfrk) (on jsmzc alzns) (clear kpmhe) (on rowav twfrk) (clear jsmzc)"
] | file_159315 |
GOAL: (on-table qybie) (holding llqpo) (on-table scqky) (on alhju scqky) (clear dumtw) (clear alhju) (on-table dumtw) (clear qybie) | GOAL: (on-table qybie) (holding llqpo) (on-table scqky) (on alhju scqky) (clear dumtw) (clear alhju) (on-table dumtw) (clear qybie)
STATE: (clear llqpo) (on-table llqpo) (on-table qybie) (on-table alhju) (clear scqky) (on-table scqky) (holding dumtw) (clear alhju) (clear qybie) | [
[
"put-down dumtw"
],
[
"pick-up alhju"
],
[
"stack alhju scqky"
],
[
"pick-up llqpo"
]
] | [
"(clear llqpo) (arm-empty) (on-table llqpo) (on-table qybie) (on-table alhju) (clear scqky) (on-table scqky) (clear dumtw) (clear alhju) (on-table dumtw) (clear qybie)",
"(holding alhju) (clear llqpo) (on-table llqpo) (on-table qybie) (clear scqky) (on-table scqky) (clear dumtw) (on-table dumtw) (clear qybie)",
"(clear llqpo) (arm-empty) (on-table llqpo) (on-table qybie) (on-table scqky) (on alhju scqky) (clear dumtw) (clear alhju) (on-table dumtw) (clear qybie)",
"(on-table qybie) (holding llqpo) (on-table scqky) (on alhju scqky) (clear dumtw) (clear alhju) (on-table dumtw) (clear qybie)"
] | file_116079 |
GOAL: (arm-empty) (on-table hukfy) (on-table zcgwy) (on-table wbuaj) (clear huqtk) (on huqtk hukfy) (clear zcqbd) (clear wbuaj) (on-table zcqbd) (clear zcgwy) | GOAL: (arm-empty) (on-table hukfy) (on-table zcgwy) (on-table wbuaj) (clear huqtk) (on huqtk hukfy) (clear zcqbd) (clear wbuaj) (on-table zcqbd) (clear zcgwy)
STATE: (on-table zcgwy) (on huqtk zcgwy) (on hukfy huqtk) (holding zcqbd) (on wbuaj hukfy) (clear wbuaj) | [
[
"put-down zcqbd"
],
[
"unstack wbuaj hukfy"
],
[
"stack wbuaj zcqbd"
],
[
"unstack hukfy huqtk"
],
[
"put-down hukfy"
],
[
"unstack wbuaj zcqbd"
],
[
"put-down wbuaj"
],
[
"unstack huqtk zcgwy"
],
[
"stack huqtk wbuaj"
],
[
"pick-up zcqbd"
],
[
"stack zcqbd zcgwy"
],
[
"unstack huqtk wbuaj"
],
[
"stack huqtk hukfy"
],
[
"unstack zcqbd zcgwy"
],
[
"put-down zcqbd"
]
] | [
"(arm-empty) (on-table zcgwy) (on huqtk zcgwy) (on hukfy huqtk) (on wbuaj hukfy) (clear zcqbd) (clear wbuaj) (on-table zcqbd)",
"(holding wbuaj) (clear hukfy) (on-table zcgwy) (on huqtk zcgwy) (on hukfy huqtk) (clear zcqbd) (on-table zcqbd)",
"(clear hukfy) (on wbuaj zcqbd) (arm-empty) (on-table zcgwy) (on huqtk zcgwy) (on hukfy huqtk) (clear wbuaj) (on-table zcqbd)",
"(on wbuaj zcqbd) (on-table zcgwy) (on huqtk zcgwy) (clear huqtk) (holding hukfy) (clear wbuaj) (on-table zcqbd)",
"(on wbuaj zcqbd) (arm-empty) (on-table hukfy) (on-table zcgwy) (on huqtk zcgwy) (clear huqtk) (clear hukfy) (clear wbuaj) (on-table zcqbd)",
"(holding wbuaj) (clear hukfy) (on-table hukfy) (on-table zcgwy) (on huqtk zcgwy) (clear huqtk) (clear zcqbd) (on-table zcqbd)",
"(clear hukfy) (arm-empty) (on-table hukfy) (on-table zcgwy) (on huqtk zcgwy) (on-table wbuaj) (clear huqtk) (clear zcqbd) (clear wbuaj) (on-table zcqbd)",
"(clear hukfy) (on-table hukfy) (on-table zcgwy) (holding huqtk) (on-table wbuaj) (clear zcqbd) (clear wbuaj) (on-table zcqbd) (clear zcgwy)",
"(clear hukfy) (on huqtk wbuaj) (arm-empty) (on-table hukfy) (on-table zcgwy) (on-table wbuaj) (clear huqtk) (clear zcqbd) (on-table zcqbd) (clear zcgwy)",
"(clear hukfy) (on huqtk wbuaj) (on-table hukfy) (on-table zcgwy) (on-table wbuaj) (clear huqtk) (holding zcqbd) (clear zcgwy)",
"(clear hukfy) (on huqtk wbuaj) (on zcqbd zcgwy) (on-table hukfy) (on-table zcgwy) (on-table wbuaj) (arm-empty) (clear huqtk) (clear zcqbd)",
"(clear hukfy) (on zcqbd zcgwy) (on-table hukfy) (on-table zcgwy) (on-table wbuaj) (holding huqtk) (clear zcqbd) (clear wbuaj)",
"(on zcqbd zcgwy) (arm-empty) (on-table hukfy) (on-table zcgwy) (on-table wbuaj) (clear huqtk) (on huqtk hukfy) (clear zcqbd) (clear wbuaj)",
"(on-table hukfy) (on-table zcgwy) (on-table wbuaj) (clear huqtk) (on huqtk hukfy) (holding zcqbd) (clear wbuaj) (clear zcgwy)",
"(arm-empty) (on-table hukfy) (on-table zcgwy) (on-table wbuaj) (clear huqtk) (on huqtk hukfy) (clear zcqbd) (clear wbuaj) (on-table zcqbd) (clear zcgwy)"
] | file_139150 |
GOAL: (on iapuz qznvh) (clear uxesv) (arm-empty) (on-table uxesv) (on-table sswyq) (on-table akitk) (on-table qznvh) (clear iapuz) (clear akitk) (clear sswyq) | GOAL: (on iapuz qznvh) (clear uxesv) (arm-empty) (on-table uxesv) (on-table sswyq) (on-table akitk) (on-table qznvh) (clear iapuz) (clear akitk) (clear sswyq)
STATE: (clear uxesv) (on-table sswyq) (holding qznvh) (on-table akitk) (on uxesv sswyq) (clear iapuz) (clear akitk) (on-table iapuz) | [
[
"stack qznvh uxesv"
],
[
"pick-up iapuz"
],
[
"stack iapuz akitk"
],
[
"unstack qznvh uxesv"
],
[
"put-down qznvh"
],
[
"unstack iapuz akitk"
],
[
"stack iapuz qznvh"
],
[
"unstack uxesv sswyq"
],
[
"put-down uxesv"
]
] | [
"(arm-empty) (on-table sswyq) (on-table akitk) (clear qznvh) (on qznvh uxesv) (on uxesv sswyq) (clear iapuz) (clear akitk) (on-table iapuz)",
"(on-table sswyq) (on-table akitk) (clear qznvh) (on qznvh uxesv) (on uxesv sswyq) (holding iapuz) (clear akitk)",
"(arm-empty) (on-table sswyq) (on-table akitk) (clear qznvh) (on iapuz akitk) (on qznvh uxesv) (on uxesv sswyq) (clear iapuz)",
"(clear uxesv) (on-table sswyq) (on-table akitk) (holding qznvh) (on iapuz akitk) (on uxesv sswyq) (clear iapuz)",
"(arm-empty) (on-table sswyq) (clear qznvh) (on iapuz akitk) (on uxesv sswyq) (clear uxesv) (on-table akitk) (on-table qznvh) (clear iapuz)",
"(clear uxesv) (on-table sswyq) (on-table akitk) (clear qznvh) (on-table qznvh) (on uxesv sswyq) (holding iapuz) (clear akitk)",
"(on iapuz qznvh) (clear uxesv) (arm-empty) (on-table sswyq) (on-table akitk) (on-table qznvh) (on uxesv sswyq) (clear iapuz) (clear akitk)",
"(on iapuz qznvh) (on-table sswyq) (on-table akitk) (on-table qznvh) (holding uxesv) (clear iapuz) (clear akitk) (clear sswyq)",
"(on iapuz qznvh) (clear uxesv) (arm-empty) (on-table uxesv) (on-table sswyq) (on-table akitk) (on-table qznvh) (clear iapuz) (clear akitk) (clear sswyq)"
] | file_86618 |
GOAL: (on ahkpx mgsiv) (on-table juitm) (on-table uwkct) (on mgsiv juitm) (holding etzht) (clear ahkpx) (clear uwkct) | GOAL: (on ahkpx mgsiv) (on-table juitm) (on-table uwkct) (on mgsiv juitm) (holding etzht) (clear ahkpx) (clear uwkct)
STATE: (clear etzht) (on-table juitm) (holding mgsiv) (on-table uwkct) (on etzht uwkct) (clear ahkpx) (on-table ahkpx) (clear juitm) | [
[
"stack mgsiv juitm"
],
[
"pick-up ahkpx"
],
[
"stack ahkpx mgsiv"
],
[
"unstack etzht uwkct"
]
] | [
"(clear etzht) (arm-empty) (on-table juitm) (on mgsiv juitm) (on-table uwkct) (clear mgsiv) (on etzht uwkct) (clear ahkpx) (on-table ahkpx)",
"(clear etzht) (on-table juitm) (on mgsiv juitm) (on-table uwkct) (clear mgsiv) (on etzht uwkct) (holding ahkpx)",
"(on ahkpx mgsiv) (clear etzht) (arm-empty) (on-table juitm) (on-table uwkct) (on mgsiv juitm) (on etzht uwkct) (clear ahkpx)",
"(on ahkpx mgsiv) (on-table juitm) (on-table uwkct) (on mgsiv juitm) (holding etzht) (clear ahkpx) (clear uwkct)"
] | file_157825 |
GOAL: (on lofrp ajyxj) (clear exyko) (arm-empty) (on-table wxaqw) (on exyko wxaqw) (clear lofrp) (on-table ajyxj) | GOAL: (on lofrp ajyxj) (clear exyko) (arm-empty) (on-table wxaqw) (on exyko wxaqw) (clear lofrp) (on-table ajyxj)
STATE: (arm-empty) (on-table wxaqw) (on ajyxj exyko) (clear lofrp) (on lofrp ajyxj) (on exyko wxaqw) | [
[
"unstack lofrp ajyxj"
],
[
"put-down lofrp"
],
[
"unstack ajyxj exyko"
],
[
"put-down ajyxj"
],
[
"pick-up lofrp"
],
[
"stack lofrp ajyxj"
]
] | [
"(holding lofrp) (clear ajyxj) (on-table wxaqw) (on exyko wxaqw) (on ajyxj exyko)",
"(on ajyxj exyko) (on-table lofrp) (arm-empty) (clear lofrp) (on exyko wxaqw) (clear ajyxj) (on-table wxaqw)",
"(clear lofrp) (on exyko wxaqw) (clear exyko) (on-table wxaqw) (on-table lofrp) (holding ajyxj)",
"(clear exyko) (on-table lofrp) (arm-empty) (on-table wxaqw) (on exyko wxaqw) (clear ajyxj) (clear lofrp) (on-table ajyxj)",
"(clear exyko) (on-table wxaqw) (holding lofrp) (on exyko wxaqw) (clear ajyxj) (on-table ajyxj)",
"(on lofrp ajyxj) (clear exyko) (arm-empty) (on-table wxaqw) (on exyko wxaqw) (clear lofrp) (on-table ajyxj)"
] | file_165078 |
GOAL: (arm-empty) (on-table nkrga) (clear stekf) (clear nkrga) (on-table neqmb) (on stekf anqym) (on anqym qobyt) (clear neqmb) (on-table qobyt) | GOAL: (arm-empty) (on-table nkrga) (clear stekf) (clear nkrga) (on-table neqmb) (on stekf anqym) (on anqym qobyt) (clear neqmb) (on-table qobyt)
STATE: (arm-empty) (on anqym stekf) (on nkrga qobyt) (on-table stekf) (on qobyt neqmb) (on neqmb anqym) (clear nkrga) | [
[
"unstack nkrga qobyt"
],
[
"put-down nkrga"
],
[
"unstack qobyt neqmb"
],
[
"put-down qobyt"
],
[
"unstack neqmb anqym"
],
[
"stack neqmb nkrga"
],
[
"unstack anqym stekf"
],
[
"stack anqym qobyt"
],
[
"pick-up stekf"
],
[
"stack stekf anqym"
],
[
"unstack neqmb nkrga"
],
[
"put-down neqmb"
]
] | [
"(holding nkrga) (on qobyt neqmb) (on anqym stekf) (on neqmb anqym) (on-table stekf) (clear qobyt)",
"(arm-empty) (on-table nkrga) (on qobyt neqmb) (on anqym stekf) (on neqmb anqym) (clear nkrga) (on-table stekf) (clear qobyt)",
"(on-table nkrga) (on anqym stekf) (on-table stekf) (on neqmb anqym) (clear neqmb) (holding qobyt) (clear nkrga)",
"(arm-empty) (on-table nkrga) (on anqym stekf) (on neqmb anqym) (clear nkrga) (on-table stekf) (clear qobyt) (clear neqmb) (on-table qobyt)",
"(holding neqmb) (clear anqym) (on-table nkrga) (on-table stekf) (on anqym stekf) (clear qobyt) (on-table qobyt) (clear nkrga)",
"(on neqmb nkrga) (clear anqym) (arm-empty) (on-table nkrga) (on-table stekf) (on anqym stekf) (clear qobyt) (clear neqmb) (on-table qobyt)",
"(on neqmb nkrga) (on-table nkrga) (clear stekf) (on-table stekf) (holding anqym) (clear qobyt) (clear neqmb) (on-table qobyt)",
"(on neqmb nkrga) (clear anqym) (arm-empty) (on-table nkrga) (clear stekf) (on-table stekf) (on anqym qobyt) (clear neqmb) (on-table qobyt)",
"(on neqmb nkrga) (clear anqym) (on-table nkrga) (holding stekf) (on anqym qobyt) (clear neqmb) (on-table qobyt)",
"(on neqmb nkrga) (arm-empty) (on-table nkrga) (clear stekf) (on stekf anqym) (on anqym qobyt) (clear neqmb) (on-table qobyt)",
"(holding neqmb) (on-table nkrga) (clear stekf) (on stekf anqym) (on anqym qobyt) (on-table qobyt) (clear nkrga)",
"(arm-empty) (on-table nkrga) (clear stekf) (clear nkrga) (on-table neqmb) (on stekf anqym) (on anqym qobyt) (clear neqmb) (on-table qobyt)"
] | file_48924 |
GOAL: (on vpegs paepy) (clear lvqgu) (on paepy hzwhe) (on-table lvqgu) (holding adpis) (clear vpegs) (on-table hzwhe) | GOAL: (on vpegs paepy) (clear lvqgu) (on paepy hzwhe) (on-table lvqgu) (holding adpis) (clear vpegs) (on-table hzwhe)
STATE: (holding vpegs) (clear adpis) (on-table paepy) (on-table lvqgu) (on adpis lvqgu) (clear hzwhe) (on-table hzwhe) (clear paepy) | [
[
"stack vpegs hzwhe"
],
[
"pick-up paepy"
],
[
"stack paepy adpis"
],
[
"unstack vpegs hzwhe"
],
[
"put-down vpegs"
],
[
"unstack paepy adpis"
],
[
"stack paepy hzwhe"
],
[
"pick-up vpegs"
],
[
"stack vpegs paepy"
],
[
"unstack adpis lvqgu"
]
] | [
"(clear adpis) (on vpegs hzwhe) (arm-empty) (on-table paepy) (on-table lvqgu) (on adpis lvqgu) (clear vpegs) (on-table hzwhe) (clear paepy)",
"(clear adpis) (on vpegs hzwhe) (holding paepy) (on-table lvqgu) (on adpis lvqgu) (clear vpegs) (on-table hzwhe)",
"(on vpegs hzwhe) (arm-empty) (on paepy adpis) (on-table lvqgu) (on adpis lvqgu) (clear vpegs) (on-table hzwhe) (clear paepy)",
"(holding vpegs) (on paepy adpis) (on-table lvqgu) (on adpis lvqgu) (clear hzwhe) (on-table hzwhe) (clear paepy)",
"(arm-empty) (on paepy adpis) (on adpis lvqgu) (clear paepy) (on-table vpegs) (on-table lvqgu) (clear hzwhe) (clear vpegs) (on-table hzwhe)",
"(clear adpis) (on-table vpegs) (holding paepy) (on-table lvqgu) (on adpis lvqgu) (clear hzwhe) (clear vpegs) (on-table hzwhe)",
"(clear adpis) (arm-empty) (on-table vpegs) (on paepy hzwhe) (on-table lvqgu) (on adpis lvqgu) (clear vpegs) (on-table hzwhe) (clear paepy)",
"(holding vpegs) (clear adpis) (on paepy hzwhe) (on-table lvqgu) (on adpis lvqgu) (on-table hzwhe) (clear paepy)",
"(on vpegs paepy) (clear adpis) (arm-empty) (on paepy hzwhe) (on-table lvqgu) (on adpis lvqgu) (clear vpegs) (on-table hzwhe)",
"(on vpegs paepy) (clear lvqgu) (on paepy hzwhe) (on-table lvqgu) (holding adpis) (clear vpegs) (on-table hzwhe)"
] | file_165463 |
GOAL: (clear zxdut) (arm-empty) (on-table zxdut) (on-table ktxdb) (on-table zxyvf) (clear anmci) (on anmci mjvat) (on mjvat zxyvf) (clear ktxdb) | GOAL: (clear zxdut) (arm-empty) (on-table zxdut) (on-table ktxdb) (on-table zxyvf) (clear anmci) (on anmci mjvat) (on mjvat zxyvf) (clear ktxdb)
STATE: (holding zxyvf) (on-table ktxdb) (on mjvat zxdut) (on-table anmci) (on zxdut anmci) (clear mjvat) (clear ktxdb) | [
[
"put-down zxyvf"
],
[
"unstack mjvat zxdut"
],
[
"stack mjvat zxyvf"
],
[
"unstack zxdut anmci"
],
[
"put-down zxdut"
],
[
"pick-up anmci"
],
[
"stack anmci mjvat"
]
] | [
"(arm-empty) (on-table ktxdb) (on zxdut anmci) (clear ktxdb) (on-table zxyvf) (on mjvat zxdut) (on-table anmci) (clear mjvat) (clear zxyvf)",
"(clear zxdut) (on-table ktxdb) (on-table zxyvf) (on-table anmci) (on zxdut anmci) (holding mjvat) (clear zxyvf) (clear ktxdb)",
"(clear zxdut) (arm-empty) (on-table ktxdb) (on-table zxyvf) (on mjvat zxyvf) (on-table anmci) (on zxdut anmci) (clear mjvat) (clear ktxdb)",
"(on-table ktxdb) (on-table zxyvf) (clear anmci) (on-table anmci) (holding zxdut) (on mjvat zxyvf) (clear mjvat) (clear ktxdb)",
"(clear zxdut) (arm-empty) (on-table zxdut) (on-table ktxdb) (on-table zxyvf) (clear anmci) (on-table anmci) (on mjvat zxyvf) (clear mjvat) (clear ktxdb)",
"(clear zxdut) (on-table zxdut) (on-table ktxdb) (on-table zxyvf) (holding anmci) (on mjvat zxyvf) (clear mjvat) (clear ktxdb)",
"(clear zxdut) (arm-empty) (on-table zxdut) (on-table ktxdb) (on-table zxyvf) (clear anmci) (on anmci mjvat) (on mjvat zxyvf) (clear ktxdb)"
] | file_56423 |
GOAL: (on flwfy lblwl) (on wbmhc gbrvx) (clear mtcgw) (arm-empty) (on-table lblwl) (on-table gbrvx) (on mtcgw wbmhc) (clear flwfy) | GOAL: (on flwfy lblwl) (on wbmhc gbrvx) (clear mtcgw) (arm-empty) (on-table lblwl) (on-table gbrvx) (on mtcgw wbmhc) (clear flwfy)
STATE: (holding flwfy) (clear mtcgw) (on-table lblwl) (on gbrvx wbmhc) (on mtcgw gbrvx) (on-table wbmhc) (clear lblwl) | [
[
"stack flwfy lblwl"
],
[
"unstack mtcgw gbrvx"
],
[
"stack mtcgw flwfy"
],
[
"unstack gbrvx wbmhc"
],
[
"put-down gbrvx"
],
[
"pick-up wbmhc"
],
[
"stack wbmhc gbrvx"
],
[
"unstack mtcgw flwfy"
],
[
"stack mtcgw wbmhc"
]
] | [
"(on flwfy lblwl) (clear mtcgw) (arm-empty) (on-table lblwl) (on gbrvx wbmhc) (on mtcgw gbrvx) (clear flwfy) (on-table wbmhc)",
"(on flwfy lblwl) (on-table lblwl) (clear gbrvx) (on gbrvx wbmhc) (holding mtcgw) (clear flwfy) (on-table wbmhc)",
"(on flwfy lblwl) (clear mtcgw) (arm-empty) (on-table lblwl) (clear gbrvx) (on gbrvx wbmhc) (on mtcgw flwfy) (on-table wbmhc)",
"(on flwfy lblwl) (clear mtcgw) (on-table lblwl) (holding gbrvx) (on mtcgw flwfy) (clear wbmhc) (on-table wbmhc)",
"(on flwfy lblwl) (arm-empty) (on-table lblwl) (clear gbrvx) (on mtcgw flwfy) (clear mtcgw) (on-table gbrvx) (clear wbmhc) (on-table wbmhc)",
"(on flwfy lblwl) (clear mtcgw) (on-table lblwl) (clear gbrvx) (on-table gbrvx) (on mtcgw flwfy) (holding wbmhc)",
"(on flwfy lblwl) (clear mtcgw) (on wbmhc gbrvx) (arm-empty) (on-table lblwl) (on-table gbrvx) (on mtcgw flwfy) (clear wbmhc)",
"(on flwfy lblwl) (on wbmhc gbrvx) (on-table lblwl) (on-table gbrvx) (holding mtcgw) (clear wbmhc) (clear flwfy)",
"(on flwfy lblwl) (on wbmhc gbrvx) (clear mtcgw) (arm-empty) (on-table lblwl) (on-table gbrvx) (on mtcgw wbmhc) (clear flwfy)"
] | file_134028 |
GOAL: (on-table zbcpd) (clear ntusx) (arm-empty) (on ijxfh zbcpd) (on wbisr ijxfh) (on ntusx wbisr) | GOAL: (on-table zbcpd) (clear ntusx) (arm-empty) (on ijxfh zbcpd) (on wbisr ijxfh) (on ntusx wbisr)
STATE: (arm-empty) (on-table ntusx) (on-table ijxfh) (on wbisr ntusx) (clear zbcpd) (on-table zbcpd) (clear wbisr) (clear ijxfh) | [
[
"pick-up ijxfh"
],
[
"stack ijxfh zbcpd"
],
[
"unstack wbisr ntusx"
],
[
"stack wbisr ijxfh"
],
[
"pick-up ntusx"
],
[
"stack ntusx wbisr"
]
] | [
"(holding ijxfh) (on-table ntusx) (on wbisr ntusx) (clear zbcpd) (on-table zbcpd) (clear wbisr)",
"(arm-empty) (on-table ntusx) (on wbisr ntusx) (on-table zbcpd) (on ijxfh zbcpd) (clear wbisr) (clear ijxfh)",
"(on-table ntusx) (clear ntusx) (on-table zbcpd) (on ijxfh zbcpd) (holding wbisr) (clear ijxfh)",
"(clear ntusx) (arm-empty) (on-table ntusx) (on-table zbcpd) (on ijxfh zbcpd) (on wbisr ijxfh) (clear wbisr)",
"(on-table zbcpd) (on ijxfh zbcpd) (on wbisr ijxfh) (clear wbisr) (holding ntusx)",
"(on-table zbcpd) (clear ntusx) (arm-empty) (on ijxfh zbcpd) (on wbisr ijxfh) (on ntusx wbisr)"
] | file_66604 |
GOAL: (on lyzyr ixagg) (clear mfmfy) (arm-empty) (on ubtvm vgfmf) (on-table ixagg) (on mfmfy ubtvm) (on vgfmf lyzyr) | GOAL: (on lyzyr ixagg) (clear mfmfy) (arm-empty) (on ubtvm vgfmf) (on-table ixagg) (on mfmfy ubtvm) (on vgfmf lyzyr)
STATE: (arm-empty) (on-table ixagg) (clear ubtvm) (on vgfmf lyzyr) (on lyzyr ixagg) (on ubtvm mfmfy) (on mfmfy vgfmf) | [
[
"unstack ubtvm mfmfy"
],
[
"put-down ubtvm"
],
[
"unstack mfmfy vgfmf"
],
[
"put-down mfmfy"
],
[
"pick-up ubtvm"
],
[
"stack ubtvm vgfmf"
],
[
"pick-up mfmfy"
],
[
"stack mfmfy ubtvm"
]
] | [
"(holding ubtvm) (on vgfmf lyzyr) (on lyzyr ixagg) (on mfmfy vgfmf) (clear mfmfy) (on-table ixagg)",
"(arm-empty) (clear ubtvm) (on vgfmf lyzyr) (on lyzyr ixagg) (on mfmfy vgfmf) (clear mfmfy) (on-table ixagg) (on-table ubtvm)",
"(on-table ixagg) (clear ubtvm) (on vgfmf lyzyr) (on-table ubtvm) (holding mfmfy) (on lyzyr ixagg) (clear vgfmf)",
"(arm-empty) (on-table mfmfy) (clear ubtvm) (on vgfmf lyzyr) (on lyzyr ixagg) (clear vgfmf) (clear mfmfy) (on-table ixagg) (on-table ubtvm)",
"(clear mfmfy) (on-table mfmfy) (on-table ixagg) (holding ubtvm) (on vgfmf lyzyr) (on lyzyr ixagg) (clear vgfmf)",
"(clear mfmfy) (arm-empty) (on-table mfmfy) (on ubtvm vgfmf) (on-table ixagg) (clear ubtvm) (on vgfmf lyzyr) (on lyzyr ixagg)",
"(on ubtvm vgfmf) (on-table ixagg) (clear ubtvm) (on vgfmf lyzyr) (holding mfmfy) (on lyzyr ixagg)",
"(on lyzyr ixagg) (clear mfmfy) (arm-empty) (on ubtvm vgfmf) (on-table ixagg) (on mfmfy ubtvm) (on vgfmf lyzyr)"
] | file_110146 |
GOAL: (on-table eyasc) (holding dekyj) (on pcwav khzli) (on khzli ciley) (clear eyasc) (on-table ciley) (clear pcwav) | GOAL: (on-table eyasc) (holding dekyj) (on pcwav khzli) (on khzli ciley) (clear eyasc) (on-table ciley) (clear pcwav)
STATE: (holding eyasc) (on dekyj pcwav) (on pcwav khzli) (clear dekyj) (on khzli ciley) (on-table ciley) | [
[
"put-down eyasc"
],
[
"unstack dekyj pcwav"
]
] | [
"(arm-empty) (on dekyj pcwav) (on pcwav khzli) (clear dekyj) (on-table eyasc) (on khzli ciley) (clear eyasc) (on-table ciley)",
"(on-table eyasc) (holding dekyj) (on pcwav khzli) (on khzli ciley) (clear eyasc) (on-table ciley) (clear pcwav)"
] | file_95715 |
GOAL: (on fisto akugp) (clear obtpk) (arm-empty) (on akugp fcvwl) (on-table fcvwl) (on obtpk fisto) (clear wdrau) (on-table wdrau) | GOAL: (on fisto akugp) (clear obtpk) (arm-empty) (on akugp fcvwl) (on-table fcvwl) (on obtpk fisto) (clear wdrau) (on-table wdrau)
STATE: (arm-empty) (on fcvwl akugp) (clear fcvwl) (on akugp fisto) (on obtpk wdrau) (on fisto obtpk) (on-table wdrau) | [
[
"unstack fcvwl akugp"
],
[
"put-down fcvwl"
],
[
"unstack akugp fisto"
],
[
"stack akugp fcvwl"
],
[
"unstack fisto obtpk"
],
[
"stack fisto akugp"
],
[
"unstack obtpk wdrau"
],
[
"stack obtpk fisto"
]
] | [
"(holding fcvwl) (on fisto obtpk) (clear akugp) (on akugp fisto) (on obtpk wdrau) (on-table wdrau)",
"(arm-empty) (clear fcvwl) (on fisto obtpk) (clear akugp) (on akugp fisto) (on-table fcvwl) (on obtpk wdrau) (on-table wdrau)",
"(clear fcvwl) (holding akugp) (on-table fcvwl) (on obtpk wdrau) (on fisto obtpk) (clear fisto) (on-table wdrau)",
"(clear fisto) (arm-empty) (on akugp fcvwl) (on-table fcvwl) (on obtpk wdrau) (on fisto obtpk) (on-table wdrau) (clear akugp)",
"(holding fisto) (clear obtpk) (on akugp fcvwl) (on-table fcvwl) (on obtpk wdrau) (on-table wdrau) (clear akugp)",
"(on fisto akugp) (clear obtpk) (arm-empty) (on akugp fcvwl) (on-table fcvwl) (on obtpk wdrau) (clear fisto) (on-table wdrau)",
"(on fisto akugp) (on akugp fcvwl) (on-table fcvwl) (holding obtpk) (clear wdrau) (clear fisto) (on-table wdrau)",
"(on fisto akugp) (clear obtpk) (arm-empty) (on akugp fcvwl) (on-table fcvwl) (on obtpk fisto) (clear wdrau) (on-table wdrau)"
] | file_99115 |
GOAL: (on-table sdwjl) (on-table zcinb) (clear yjgtp) (on yjgtp hppcj) (holding ctdbj) (on hppcj zcinb) (clear sdwjl) | GOAL: (on-table sdwjl) (on-table zcinb) (clear yjgtp) (on yjgtp hppcj) (holding ctdbj) (on hppcj zcinb) (clear sdwjl)
STATE: (clear ctdbj) (arm-empty) (on-table sdwjl) (on-table zcinb) (on-table yjgtp) (on ctdbj yjgtp) (clear hppcj) (clear zcinb) (on-table hppcj) (clear sdwjl) | [
[
"pick-up hppcj"
],
[
"stack hppcj zcinb"
],
[
"unstack ctdbj yjgtp"
],
[
"stack ctdbj sdwjl"
],
[
"pick-up yjgtp"
],
[
"stack yjgtp hppcj"
],
[
"unstack ctdbj sdwjl"
]
] | [
"(clear ctdbj) (on-table sdwjl) (on-table zcinb) (on-table yjgtp) (on ctdbj yjgtp) (holding hppcj) (clear zcinb) (clear sdwjl)",
"(clear ctdbj) (arm-empty) (on-table sdwjl) (on-table zcinb) (on hppcj zcinb) (on-table yjgtp) (on ctdbj yjgtp) (clear hppcj) (clear sdwjl)",
"(on-table sdwjl) (on-table zcinb) (clear yjgtp) (on-table yjgtp) (holding ctdbj) (on hppcj zcinb) (clear hppcj) (clear sdwjl)",
"(clear ctdbj) (arm-empty) (on-table sdwjl) (on-table zcinb) (clear yjgtp) (on-table yjgtp) (on hppcj zcinb) (on ctdbj sdwjl) (clear hppcj)",
"(clear ctdbj) (on-table sdwjl) (on-table zcinb) (holding yjgtp) (on hppcj zcinb) (on ctdbj sdwjl) (clear hppcj)",
"(arm-empty) (on-table sdwjl) (clear yjgtp) (on hppcj zcinb) (on ctdbj sdwjl) (clear ctdbj) (on-table zcinb) (on yjgtp hppcj)",
"(on-table sdwjl) (on-table zcinb) (clear yjgtp) (on yjgtp hppcj) (holding ctdbj) (on hppcj zcinb) (clear sdwjl)"
] | file_113424 |
GOAL: (holding jimvf) (clear haprz) (on rnfax lytob) (on-table haprz) (on-table lytob) (clear yrgtx) (on-table yrgtx) (clear rnfax) | GOAL: (holding jimvf) (clear haprz) (on rnfax lytob) (on-table haprz) (on-table lytob) (clear yrgtx) (on-table yrgtx) (clear rnfax)
STATE: (clear haprz) (arm-empty) (on-table lytob) (on-table jimvf) (clear yrgtx) (on-table yrgtx) (on rnfax jimvf) (on haprz rnfax) (clear lytob) | [
[
"unstack haprz rnfax"
],
[
"put-down haprz"
],
[
"unstack rnfax jimvf"
],
[
"stack rnfax lytob"
],
[
"pick-up jimvf"
]
] | [
"(on-table lytob) (on-table jimvf) (clear yrgtx) (on-table yrgtx) (holding haprz) (on rnfax jimvf) (clear rnfax) (clear lytob)",
"(clear haprz) (arm-empty) (on-table haprz) (on-table lytob) (on-table jimvf) (clear yrgtx) (on-table yrgtx) (on rnfax jimvf) (clear rnfax) (clear lytob)",
"(clear haprz) (on-table haprz) (on-table lytob) (on-table jimvf) (clear yrgtx) (on-table yrgtx) (holding rnfax) (clear jimvf) (clear lytob)",
"(clear haprz) (on rnfax lytob) (arm-empty) (on-table haprz) (on-table lytob) (on-table jimvf) (clear yrgtx) (on-table yrgtx) (clear rnfax) (clear jimvf)",
"(holding jimvf) (clear haprz) (on rnfax lytob) (on-table haprz) (on-table lytob) (clear yrgtx) (on-table yrgtx) (clear rnfax)"
] | file_10806 |
GOAL: (clear wheju) (on bojje dzine) (on-table lakqy) (holding jdqid) (on wheju lakqy) (clear bojje) (on-table dzine) | GOAL: (clear wheju) (on bojje dzine) (on-table lakqy) (holding jdqid) (on wheju lakqy) (clear bojje) (on-table dzine)
STATE: (clear wheju) (on bojje dzine) (on-table lakqy) (holding jdqid) (on wheju bojje) (on-table dzine) (clear lakqy) | [
[
"put-down jdqid"
],
[
"unstack wheju bojje"
],
[
"stack wheju lakqy"
],
[
"pick-up jdqid"
]
] | [
"(on bojje dzine) (arm-empty) (on-table lakqy) (clear jdqid) (on wheju bojje) (clear lakqy) (clear wheju) (on-table jdqid) (on-table dzine)",
"(on bojje dzine) (on-table lakqy) (clear jdqid) (on-table jdqid) (holding wheju) (clear bojje) (on-table dzine) (clear lakqy)",
"(clear wheju) (on bojje dzine) (arm-empty) (on-table lakqy) (clear jdqid) (on-table jdqid) (on wheju lakqy) (clear bojje) (on-table dzine)",
"(clear wheju) (on bojje dzine) (on-table lakqy) (holding jdqid) (on wheju lakqy) (clear bojje) (on-table dzine)"
] | file_183252 |
GOAL: (arm-empty) (on-table gkymn) (clear roqgn) (on dekqw gbuzs) (on fgvwb gkymn) (clear fgvwb) (on-table gbuzs) (on roqgn dekqw) | GOAL: (arm-empty) (on-table gkymn) (clear roqgn) (on dekqw gbuzs) (on fgvwb gkymn) (clear fgvwb) (on-table gbuzs) (on roqgn dekqw)
STATE: (on gbuzs dekqw) (on roqgn gbuzs) (on-table gkymn) (clear roqgn) (holding fgvwb) (on-table dekqw) (clear gkymn) | [
[
"put-down fgvwb"
],
[
"unstack roqgn gbuzs"
],
[
"stack roqgn gkymn"
],
[
"unstack gbuzs dekqw"
],
[
"put-down gbuzs"
],
[
"unstack roqgn gkymn"
],
[
"stack roqgn gbuzs"
],
[
"pick-up fgvwb"
],
[
"stack fgvwb gkymn"
],
[
"unstack roqgn gbuzs"
],
[
"put-down roqgn"
],
[
"pick-up dekqw"
],
[
"stack dekqw gbuzs"
],
[
"pick-up roqgn"
],
[
"stack roqgn dekqw"
]
] | [
"(on gbuzs dekqw) (on roqgn gbuzs) (on-table fgvwb) (on-table gkymn) (arm-empty) (clear roqgn) (clear gkymn) (clear fgvwb) (on-table dekqw)",
"(clear fgvwb) (on gbuzs dekqw) (on-table fgvwb) (on-table gkymn) (holding roqgn) (clear gbuzs) (on-table dekqw) (clear gkymn)",
"(clear fgvwb) (on gbuzs dekqw) (arm-empty) (on-table fgvwb) (on-table gkymn) (on roqgn gkymn) (clear roqgn) (clear gbuzs) (on-table dekqw)",
"(holding gbuzs) (clear fgvwb) (on-table fgvwb) (on-table gkymn) (on roqgn gkymn) (clear roqgn) (clear dekqw) (on-table dekqw)",
"(clear fgvwb) (arm-empty) (on-table fgvwb) (on-table gkymn) (on roqgn gkymn) (on-table gbuzs) (clear roqgn) (clear dekqw) (clear gbuzs) (on-table dekqw)",
"(clear fgvwb) (on-table fgvwb) (on-table gkymn) (holding roqgn) (on-table gbuzs) (clear dekqw) (clear gbuzs) (on-table dekqw) (clear gkymn)",
"(clear fgvwb) (on roqgn gbuzs) (arm-empty) (on-table fgvwb) (on-table gkymn) (on-table gbuzs) (clear roqgn) (clear dekqw) (on-table dekqw) (clear gkymn)",
"(on roqgn gbuzs) (on-table gkymn) (on-table gbuzs) (clear roqgn) (holding fgvwb) (clear dekqw) (on-table dekqw) (clear gkymn)",
"(clear fgvwb) (on roqgn gbuzs) (arm-empty) (on-table gkymn) (on-table gbuzs) (clear roqgn) (on fgvwb gkymn) (clear dekqw) (on-table dekqw)",
"(clear fgvwb) (on-table gkymn) (on-table gbuzs) (holding roqgn) (on fgvwb gkymn) (clear dekqw) (clear gbuzs) (on-table dekqw)",
"(clear fgvwb) (arm-empty) (on-table gkymn) (on-table gbuzs) (clear roqgn) (on-table roqgn) (on fgvwb gkymn) (clear dekqw) (clear gbuzs) (on-table dekqw)",
"(clear fgvwb) (on-table gkymn) (on-table gbuzs) (clear roqgn) (on-table roqgn) (on fgvwb gkymn) (holding dekqw) (clear gbuzs)",
"(clear fgvwb) (arm-empty) (on-table gkymn) (on-table gbuzs) (clear roqgn) (on-table roqgn) (on dekqw gbuzs) (on fgvwb gkymn) (clear dekqw)",
"(clear fgvwb) (on-table gkymn) (on-table gbuzs) (holding roqgn) (on dekqw gbuzs) (on fgvwb gkymn) (clear dekqw)",
"(arm-empty) (on-table gkymn) (clear roqgn) (on dekqw gbuzs) (on fgvwb gkymn) (clear fgvwb) (on-table gbuzs) (on roqgn dekqw)"
] | file_57597 |
GOAL: (on-table yemzp) (on-table avbgb) (clear fzonu) (on fzonu tfmei) (holding dtska) (clear avbgb) (on-table tfmei) (clear yemzp) | GOAL: (on-table yemzp) (on-table avbgb) (clear fzonu) (on fzonu tfmei) (holding dtska) (clear avbgb) (on-table tfmei) (clear yemzp)
STATE: (clear dtska) (arm-empty) (on-table avbgb) (clear fzonu) (on yemzp tfmei) (on-table fzonu) (on dtska yemzp) (clear avbgb) (on-table tfmei) | [
[
"unstack dtska yemzp"
],
[
"put-down dtska"
],
[
"unstack yemzp tfmei"
],
[
"put-down yemzp"
],
[
"pick-up fzonu"
],
[
"stack fzonu tfmei"
],
[
"pick-up dtska"
]
] | [
"(on-table avbgb) (clear fzonu) (on yemzp tfmei) (on-table fzonu) (holding dtska) (clear avbgb) (on-table tfmei) (clear yemzp)",
"(clear dtska) (arm-empty) (on-table dtska) (on-table avbgb) (clear fzonu) (on yemzp tfmei) (on-table fzonu) (clear avbgb) (on-table tfmei) (clear yemzp)",
"(clear dtska) (on-table dtska) (on-table avbgb) (clear fzonu) (holding yemzp) (on-table fzonu) (clear tfmei) (clear avbgb) (on-table tfmei)",
"(clear dtska) (arm-empty) (on-table dtska) (on-table yemzp) (on-table avbgb) (clear fzonu) (on-table fzonu) (clear tfmei) (clear avbgb) (on-table tfmei) (clear yemzp)",
"(clear dtska) (on-table dtska) (on-table yemzp) (on-table avbgb) (holding fzonu) (clear tfmei) (clear avbgb) (on-table tfmei) (clear yemzp)",
"(clear dtska) (arm-empty) (on-table dtska) (on-table yemzp) (on-table avbgb) (clear fzonu) (on fzonu tfmei) (clear avbgb) (on-table tfmei) (clear yemzp)",
"(on-table yemzp) (on-table avbgb) (clear fzonu) (on fzonu tfmei) (holding dtska) (clear avbgb) (on-table tfmei) (clear yemzp)"
] | file_172957 |
GOAL: (clear kcdnt) (on-table kcdnt) (on-table jsnhe) (clear qncqb) (on qncqb gfsuw) (holding djftm) (clear jsnhe) (on-table gfsuw) | GOAL: (clear kcdnt) (on-table kcdnt) (on-table jsnhe) (clear qncqb) (on qncqb gfsuw) (holding djftm) (clear jsnhe) (on-table gfsuw)
STATE: (clear kcdnt) (holding qncqb) (on-table jsnhe) (on djftm jsnhe) (on kcdnt djftm) (clear gfsuw) (on-table gfsuw) | [
[
"stack qncqb gfsuw"
],
[
"unstack kcdnt djftm"
],
[
"put-down kcdnt"
],
[
"unstack djftm jsnhe"
]
] | [
"(clear kcdnt) (arm-empty) (on-table jsnhe) (clear qncqb) (on djftm jsnhe) (on qncqb gfsuw) (on kcdnt djftm) (on-table gfsuw)",
"(on-table jsnhe) (clear qncqb) (on djftm jsnhe) (on qncqb gfsuw) (holding kcdnt) (on-table gfsuw) (clear djftm)",
"(arm-empty) (on-table kcdnt) (clear qncqb) (clear djftm) (clear kcdnt) (on-table jsnhe) (on djftm jsnhe) (on qncqb gfsuw) (on-table gfsuw)",
"(clear kcdnt) (on-table kcdnt) (on-table jsnhe) (clear qncqb) (on qncqb gfsuw) (holding djftm) (clear jsnhe) (on-table gfsuw)"
] | file_109833 |
GOAL: (on-table vfsvc) (on ysxgf eybcu) (clear ysxgf) (on eybcu txagi) (on txagi vfsvc) (holding liqrk) | GOAL: (on-table vfsvc) (on ysxgf eybcu) (clear ysxgf) (on eybcu txagi) (on txagi vfsvc) (holding liqrk)
STATE: (on-table vfsvc) (on-table txagi) (on liqrk vfsvc) (clear ysxgf) (holding eybcu) (on-table ysxgf) (clear liqrk) (clear txagi) | [
[
"stack eybcu txagi"
],
[
"unstack liqrk vfsvc"
],
[
"put-down liqrk"
],
[
"unstack eybcu txagi"
],
[
"stack eybcu liqrk"
],
[
"pick-up txagi"
],
[
"stack txagi vfsvc"
],
[
"unstack eybcu liqrk"
],
[
"stack eybcu txagi"
],
[
"pick-up ysxgf"
],
[
"stack ysxgf eybcu"
],
[
"pick-up liqrk"
]
] | [
"(arm-empty) (on-table vfsvc) (on-table txagi) (on liqrk vfsvc) (clear ysxgf) (on eybcu txagi) (on-table ysxgf) (clear liqrk) (clear eybcu)",
"(clear vfsvc) (on-table vfsvc) (on-table txagi) (clear ysxgf) (on eybcu txagi) (on-table ysxgf) (holding liqrk) (clear eybcu)",
"(clear vfsvc) (arm-empty) (on-table vfsvc) (on-table txagi) (clear ysxgf) (on eybcu txagi) (on-table ysxgf) (clear liqrk) (on-table liqrk) (clear eybcu)",
"(clear vfsvc) (on-table vfsvc) (on-table txagi) (clear ysxgf) (holding eybcu) (on-table ysxgf) (clear liqrk) (clear txagi) (on-table liqrk)",
"(clear vfsvc) (arm-empty) (on-table vfsvc) (on-table txagi) (clear ysxgf) (on eybcu liqrk) (on-table ysxgf) (clear txagi) (on-table liqrk) (clear eybcu)",
"(holding txagi) (clear vfsvc) (on-table vfsvc) (clear ysxgf) (on eybcu liqrk) (on-table ysxgf) (on-table liqrk) (clear eybcu)",
"(arm-empty) (on-table vfsvc) (clear ysxgf) (on eybcu liqrk) (on-table ysxgf) (on txagi vfsvc) (clear txagi) (on-table liqrk) (clear eybcu)",
"(on-table vfsvc) (clear ysxgf) (holding eybcu) (on-table ysxgf) (clear liqrk) (on txagi vfsvc) (clear txagi) (on-table liqrk)",
"(arm-empty) (on-table vfsvc) (clear ysxgf) (on eybcu txagi) (on-table ysxgf) (clear liqrk) (on txagi vfsvc) (on-table liqrk) (clear eybcu)",
"(on-table vfsvc) (holding ysxgf) (on eybcu txagi) (clear liqrk) (on txagi vfsvc) (on-table liqrk) (clear eybcu)",
"(arm-empty) (on-table vfsvc) (on ysxgf eybcu) (clear ysxgf) (on eybcu txagi) (clear liqrk) (on txagi vfsvc) (on-table liqrk)",
"(on-table vfsvc) (on ysxgf eybcu) (clear ysxgf) (on eybcu txagi) (on txagi vfsvc) (holding liqrk)"
] | file_152326 |
GOAL: (on jinwr wxvza) (on toflf jinwr) (arm-empty) (on-table rmmpc) (on wxvza ruaqy) (on ruaqy rmmpc) (clear toflf) | GOAL: (on jinwr wxvza) (on toflf jinwr) (arm-empty) (on-table rmmpc) (on wxvza ruaqy) (on ruaqy rmmpc) (clear toflf)
STATE: (holding toflf) (on-table rmmpc) (clear wxvza) (on wxvza ruaqy) (on ruaqy rmmpc) (clear jinwr) (on-table jinwr) | [
[
"put-down toflf"
],
[
"pick-up jinwr"
],
[
"stack jinwr wxvza"
],
[
"pick-up toflf"
],
[
"stack toflf jinwr"
]
] | [
"(arm-empty) (on-table rmmpc) (clear wxvza) (on ruaqy rmmpc) (on-table toflf) (on wxvza ruaqy) (clear jinwr) (clear toflf) (on-table jinwr)",
"(on-table rmmpc) (on-table toflf) (clear wxvza) (on wxvza ruaqy) (on ruaqy rmmpc) (holding jinwr) (clear toflf)",
"(on jinwr wxvza) (arm-empty) (on-table rmmpc) (on-table toflf) (on wxvza ruaqy) (on ruaqy rmmpc) (clear jinwr) (clear toflf)",
"(holding toflf) (on jinwr wxvza) (on-table rmmpc) (on wxvza ruaqy) (on ruaqy rmmpc) (clear jinwr)",
"(on jinwr wxvza) (on toflf jinwr) (arm-empty) (on-table rmmpc) (on wxvza ruaqy) (on ruaqy rmmpc) (clear toflf)"
] | file_75103 |
GOAL: (clear vvcjh) (on fkatt wwmte) (on cucuk fkatt) (on-table vvcjh) (on-table jufdy) (arm-empty) (clear cucuk) (on-table wwmte) (clear jufdy) | GOAL: (clear vvcjh) (on fkatt wwmte) (on cucuk fkatt) (on-table vvcjh) (on-table jufdy) (arm-empty) (clear cucuk) (on-table wwmte) (clear jufdy)
STATE: (clear vvcjh) (arm-empty) (on-table vvcjh) (on-table jufdy) (on cucuk jufdy) (on fkatt cucuk) (on wwmte fkatt) (clear wwmte) | [
[
"unstack wwmte fkatt"
],
[
"put-down wwmte"
],
[
"unstack fkatt cucuk"
],
[
"stack fkatt wwmte"
],
[
"unstack cucuk jufdy"
],
[
"stack cucuk fkatt"
]
] | [
"(clear vvcjh) (on-table vvcjh) (on-table jufdy) (on cucuk jufdy) (on fkatt cucuk) (holding wwmte) (clear fkatt)",
"(arm-empty) (on-table vvcjh) (on-table jufdy) (on cucuk jufdy) (clear vvcjh) (on fkatt cucuk) (clear wwmte) (clear fkatt) (on-table wwmte)",
"(holding fkatt) (clear vvcjh) (on-table vvcjh) (on-table jufdy) (on cucuk jufdy) (clear cucuk) (clear wwmte) (on-table wwmte)",
"(clear vvcjh) (on fkatt wwmte) (arm-empty) (on-table vvcjh) (on-table jufdy) (on cucuk jufdy) (clear cucuk) (clear fkatt) (on-table wwmte)",
"(clear vvcjh) (on fkatt wwmte) (on-table vvcjh) (on-table jufdy) (holding cucuk) (clear fkatt) (on-table wwmte) (clear jufdy)",
"(clear vvcjh) (on fkatt wwmte) (on cucuk fkatt) (on-table vvcjh) (on-table jufdy) (arm-empty) (clear cucuk) (on-table wwmte) (clear jufdy)"
] | file_215812 |
GOAL: (arm-empty) (on tmvmb lfeqd) (on-table rxxtq) (on ngqgd rxxtq) (on lfeqd qufvo) (on qufvo ngqgd) (clear tmvmb) | GOAL: (arm-empty) (on tmvmb lfeqd) (on-table rxxtq) (on ngqgd rxxtq) (on lfeqd qufvo) (on qufvo ngqgd) (clear tmvmb)
STATE: (clear qufvo) (on-table qufvo) (holding lfeqd) (on-table rxxtq) (on tmvmb ngqgd) (on ngqgd rxxtq) (clear tmvmb) | [
[
"put-down lfeqd"
],
[
"unstack tmvmb ngqgd"
],
[
"stack tmvmb lfeqd"
],
[
"pick-up qufvo"
],
[
"stack qufvo ngqgd"
],
[
"unstack tmvmb lfeqd"
],
[
"put-down tmvmb"
],
[
"pick-up lfeqd"
],
[
"stack lfeqd qufvo"
],
[
"pick-up tmvmb"
],
[
"stack tmvmb lfeqd"
]
] | [
"(arm-empty) (on-table qufvo) (clear lfeqd) (on tmvmb ngqgd) (on ngqgd rxxtq) (clear tmvmb) (clear qufvo) (on-table rxxtq) (on-table lfeqd)",
"(clear qufvo) (on-table qufvo) (on-table rxxtq) (clear lfeqd) (holding tmvmb) (on-table lfeqd) (on ngqgd rxxtq) (clear ngqgd)",
"(clear qufvo) (arm-empty) (on tmvmb lfeqd) (on-table qufvo) (on-table rxxtq) (on-table lfeqd) (on ngqgd rxxtq) (clear ngqgd) (clear tmvmb)",
"(on tmvmb lfeqd) (on-table rxxtq) (on-table lfeqd) (holding qufvo) (on ngqgd rxxtq) (clear ngqgd) (clear tmvmb)",
"(clear qufvo) (arm-empty) (on tmvmb lfeqd) (on-table rxxtq) (on-table lfeqd) (on ngqgd rxxtq) (on qufvo ngqgd) (clear tmvmb)",
"(clear qufvo) (on-table rxxtq) (clear lfeqd) (holding tmvmb) (on-table lfeqd) (on ngqgd rxxtq) (on qufvo ngqgd)",
"(arm-empty) (on-table tmvmb) (clear lfeqd) (on ngqgd rxxtq) (clear tmvmb) (clear qufvo) (on-table rxxtq) (on-table lfeqd) (on qufvo ngqgd)",
"(clear qufvo) (on-table tmvmb) (on-table rxxtq) (holding lfeqd) (on ngqgd rxxtq) (on qufvo ngqgd) (clear tmvmb)",
"(arm-empty) (on-table tmvmb) (on-table rxxtq) (clear lfeqd) (on ngqgd rxxtq) (on lfeqd qufvo) (on qufvo ngqgd) (clear tmvmb)",
"(on-table rxxtq) (clear lfeqd) (on ngqgd rxxtq) (holding tmvmb) (on lfeqd qufvo) (on qufvo ngqgd)",
"(arm-empty) (on tmvmb lfeqd) (on-table rxxtq) (on ngqgd rxxtq) (on lfeqd qufvo) (on qufvo ngqgd) (clear tmvmb)"
] | file_30480 |
GOAL: (on opjmd ifnto) (on-table wccca) (holding hpvrr) (on-table ifnto) (clear opjmd) (on ypeag wccca) (clear ypeag) | GOAL: (on opjmd ifnto) (on-table wccca) (holding hpvrr) (on-table ifnto) (clear opjmd) (on ypeag wccca) (clear ypeag)
STATE: (on ypeag opjmd) (arm-empty) (on-table wccca) (on opjmd wccca) (clear ifnto) (on hpvrr ypeag) (on-table ifnto) (clear hpvrr) | [
[
"unstack hpvrr ypeag"
],
[
"put-down hpvrr"
],
[
"unstack ypeag opjmd"
],
[
"put-down ypeag"
],
[
"unstack opjmd wccca"
],
[
"stack opjmd hpvrr"
],
[
"pick-up ypeag"
],
[
"stack ypeag wccca"
],
[
"unstack opjmd hpvrr"
],
[
"stack opjmd ifnto"
],
[
"pick-up hpvrr"
]
] | [
"(on ypeag opjmd) (on-table wccca) (on opjmd wccca) (clear ifnto) (holding hpvrr) (on-table ifnto) (clear ypeag)",
"(on ypeag opjmd) (arm-empty) (on-table wccca) (on-table hpvrr) (clear ifnto) (clear hpvrr) (on opjmd wccca) (on-table ifnto) (clear ypeag)",
"(holding ypeag) (on-table wccca) (on-table hpvrr) (on opjmd wccca) (clear ifnto) (on-table ifnto) (clear opjmd) (clear hpvrr)",
"(arm-empty) (on-table wccca) (on-table hpvrr) (on-table ypeag) (on opjmd wccca) (clear ifnto) (on-table ifnto) (clear opjmd) (clear ypeag) (clear hpvrr)",
"(clear wccca) (on-table wccca) (on-table hpvrr) (on-table ypeag) (clear ifnto) (on-table ifnto) (holding opjmd) (clear ypeag) (clear hpvrr)",
"(clear wccca) (on opjmd hpvrr) (arm-empty) (on-table wccca) (on-table hpvrr) (on-table ypeag) (clear ifnto) (on-table ifnto) (clear opjmd) (clear ypeag)",
"(holding ypeag) (clear wccca) (on opjmd hpvrr) (on-table wccca) (on-table hpvrr) (clear ifnto) (on-table ifnto) (clear opjmd)",
"(on opjmd hpvrr) (arm-empty) (on-table wccca) (on-table hpvrr) (clear ifnto) (on-table ifnto) (clear opjmd) (on ypeag wccca) (clear ypeag)",
"(on-table wccca) (on-table hpvrr) (clear ifnto) (on-table ifnto) (on ypeag wccca) (clear ypeag) (holding opjmd) (clear hpvrr)",
"(on opjmd ifnto) (arm-empty) (on-table wccca) (on-table hpvrr) (on-table ifnto) (clear opjmd) (on ypeag wccca) (clear ypeag) (clear hpvrr)",
"(on opjmd ifnto) (on-table wccca) (holding hpvrr) (on-table ifnto) (clear opjmd) (on ypeag wccca) (clear ypeag)"
] | file_204162 |
GOAL: (on idwov ehlox) (arm-empty) (on-table yceip) (clear hddyp) (on hddyp rblfl) (on rblfl yceip) (clear idwov) (on-table ehlox) | GOAL: (on idwov ehlox) (arm-empty) (on-table yceip) (clear hddyp) (on hddyp rblfl) (on rblfl yceip) (clear idwov) (on-table ehlox)
STATE: (clear rblfl) (on-table idwov) (clear hddyp) (holding yceip) (on-table hddyp) (on ehlox idwov) (on rblfl ehlox) | [
[
"put-down yceip"
],
[
"unstack rblfl ehlox"
],
[
"stack rblfl yceip"
],
[
"pick-up hddyp"
],
[
"stack hddyp rblfl"
],
[
"unstack ehlox idwov"
],
[
"put-down ehlox"
],
[
"pick-up idwov"
],
[
"stack idwov ehlox"
]
] | [
"(arm-empty) (on-table yceip) (clear hddyp) (on ehlox idwov) (clear yceip) (clear rblfl) (on-table idwov) (on-table hddyp) (on rblfl ehlox)",
"(on-table yceip) (on-table idwov) (clear hddyp) (on-table hddyp) (holding rblfl) (on ehlox idwov) (clear ehlox) (clear yceip)",
"(clear rblfl) (arm-empty) (on-table yceip) (on-table idwov) (clear hddyp) (on-table hddyp) (on ehlox idwov) (on rblfl yceip) (clear ehlox)",
"(clear rblfl) (on-table yceip) (on-table idwov) (holding hddyp) (on ehlox idwov) (on rblfl yceip) (clear ehlox)",
"(arm-empty) (on-table yceip) (on-table idwov) (clear hddyp) (on ehlox idwov) (on hddyp rblfl) (on rblfl yceip) (clear ehlox)",
"(on-table yceip) (on-table idwov) (clear hddyp) (on hddyp rblfl) (on rblfl yceip) (holding ehlox) (clear idwov)",
"(arm-empty) (on-table yceip) (clear hddyp) (on rblfl yceip) (on-table idwov) (on hddyp rblfl) (clear ehlox) (clear idwov) (on-table ehlox)",
"(holding idwov) (on-table yceip) (clear hddyp) (on hddyp rblfl) (on rblfl yceip) (clear ehlox) (on-table ehlox)",
"(on idwov ehlox) (arm-empty) (on-table yceip) (clear hddyp) (on hddyp rblfl) (on rblfl yceip) (clear idwov) (on-table ehlox)"
] | file_112237 |
GOAL: (on qyqek cfuhe) (on-table cfuhe) (clear qyqek) (on lxnhj iiaoz) (holding bnlhl) (on-table iiaoz) (clear lxnhj) | GOAL: (on qyqek cfuhe) (on-table cfuhe) (clear qyqek) (on lxnhj iiaoz) (holding bnlhl) (on-table iiaoz) (clear lxnhj)
STATE: (arm-empty) (on lxnhj qyqek) (on-table bnlhl) (on-table cfuhe) (on qyqek bnlhl) (clear iiaoz) (clear cfuhe) (on-table iiaoz) (clear lxnhj) | [
[
"unstack lxnhj qyqek"
],
[
"stack lxnhj iiaoz"
],
[
"pick-up cfuhe"
],
[
"stack cfuhe qyqek"
],
[
"unstack lxnhj iiaoz"
],
[
"put-down lxnhj"
],
[
"unstack cfuhe qyqek"
],
[
"put-down cfuhe"
],
[
"unstack qyqek bnlhl"
],
[
"stack qyqek cfuhe"
],
[
"pick-up bnlhl"
],
[
"stack bnlhl qyqek"
],
[
"pick-up lxnhj"
],
[
"stack lxnhj iiaoz"
],
[
"unstack bnlhl qyqek"
]
] | [
"(on-table bnlhl) (on-table cfuhe) (clear qyqek) (holding lxnhj) (on qyqek bnlhl) (clear iiaoz) (clear cfuhe) (on-table iiaoz)",
"(arm-empty) (on-table bnlhl) (on-table cfuhe) (clear qyqek) (on lxnhj iiaoz) (on qyqek bnlhl) (clear cfuhe) (on-table iiaoz) (clear lxnhj)",
"(holding cfuhe) (on-table bnlhl) (clear qyqek) (on lxnhj iiaoz) (on qyqek bnlhl) (on-table iiaoz) (clear lxnhj)",
"(arm-empty) (on-table bnlhl) (on lxnhj iiaoz) (on cfuhe qyqek) (on qyqek bnlhl) (clear cfuhe) (on-table iiaoz) (clear lxnhj)",
"(on-table bnlhl) (holding lxnhj) (on cfuhe qyqek) (on qyqek bnlhl) (clear iiaoz) (clear cfuhe) (on-table iiaoz)",
"(arm-empty) (on-table bnlhl) (on-table lxnhj) (clear lxnhj) (on cfuhe qyqek) (on qyqek bnlhl) (clear iiaoz) (clear cfuhe) (on-table iiaoz)",
"(holding cfuhe) (on-table bnlhl) (on-table lxnhj) (clear qyqek) (on qyqek bnlhl) (clear iiaoz) (on-table iiaoz) (clear lxnhj)",
"(arm-empty) (on-table bnlhl) (on-table lxnhj) (on-table cfuhe) (clear qyqek) (on qyqek bnlhl) (clear iiaoz) (clear cfuhe) (on-table iiaoz) (clear lxnhj)",
"(clear bnlhl) (on-table bnlhl) (on-table lxnhj) (on-table cfuhe) (holding qyqek) (clear iiaoz) (clear cfuhe) (on-table iiaoz) (clear lxnhj)",
"(clear bnlhl) (on qyqek cfuhe) (arm-empty) (on-table bnlhl) (on-table lxnhj) (on-table cfuhe) (clear qyqek) (clear iiaoz) (on-table iiaoz) (clear lxnhj)",
"(on qyqek cfuhe) (on-table lxnhj) (on-table cfuhe) (clear qyqek) (holding bnlhl) (clear iiaoz) (on-table iiaoz) (clear lxnhj)",
"(clear bnlhl) (on qyqek cfuhe) (arm-empty) (on-table lxnhj) (on-table cfuhe) (on bnlhl qyqek) (clear iiaoz) (on-table iiaoz) (clear lxnhj)",
"(clear bnlhl) (on qyqek cfuhe) (on-table cfuhe) (holding lxnhj) (on bnlhl qyqek) (clear iiaoz) (on-table iiaoz)",
"(clear bnlhl) (on qyqek cfuhe) (arm-empty) (on-table cfuhe) (on lxnhj iiaoz) (on bnlhl qyqek) (on-table iiaoz) (clear lxnhj)",
"(on qyqek cfuhe) (on-table cfuhe) (clear qyqek) (on lxnhj iiaoz) (holding bnlhl) (on-table iiaoz) (clear lxnhj)"
] | file_155711 |
GOAL: (clear mhhvu) (on bxcvm ymsuk) (on jzefx uwkjo) (arm-empty) (on-table uwkjo) (on mhhvu jzefx) (clear bxcvm) (on-table ymsuk) | GOAL: (clear mhhvu) (on bxcvm ymsuk) (on jzefx uwkjo) (arm-empty) (on-table uwkjo) (on mhhvu jzefx) (clear bxcvm) (on-table ymsuk)
STATE: (clear mhhvu) (on-table mhhvu) (on-table bxcvm) (clear uwkjo) (holding jzefx) (on-table uwkjo) (on ymsuk bxcvm) (clear ymsuk) | [
[
"stack jzefx uwkjo"
],
[
"pick-up mhhvu"
],
[
"stack mhhvu jzefx"
],
[
"unstack ymsuk bxcvm"
],
[
"put-down ymsuk"
],
[
"pick-up bxcvm"
],
[
"stack bxcvm ymsuk"
]
] | [
"(clear mhhvu) (arm-empty) (on jzefx uwkjo) (on-table mhhvu) (on-table bxcvm) (on-table uwkjo) (on ymsuk bxcvm) (clear ymsuk) (clear jzefx)",
"(on jzefx uwkjo) (on-table bxcvm) (on-table uwkjo) (holding mhhvu) (on ymsuk bxcvm) (clear ymsuk) (clear jzefx)",
"(clear mhhvu) (arm-empty) (on jzefx uwkjo) (on-table bxcvm) (on-table uwkjo) (on ymsuk bxcvm) (on mhhvu jzefx) (clear ymsuk)",
"(clear mhhvu) (on jzefx uwkjo) (on-table bxcvm) (on-table uwkjo) (on mhhvu jzefx) (holding ymsuk) (clear bxcvm)",
"(arm-empty) (on jzefx uwkjo) (on mhhvu jzefx) (clear mhhvu) (on-table bxcvm) (on-table uwkjo) (clear ymsuk) (clear bxcvm) (on-table ymsuk)",
"(holding bxcvm) (clear mhhvu) (on jzefx uwkjo) (on-table uwkjo) (on mhhvu jzefx) (clear ymsuk) (on-table ymsuk)",
"(clear mhhvu) (on bxcvm ymsuk) (on jzefx uwkjo) (arm-empty) (on-table uwkjo) (on mhhvu jzefx) (clear bxcvm) (on-table ymsuk)"
] | file_9298 |
GOAL: (arm-empty) (on-table vufpz) (on qgjoh gunol) (clear vufpz) (clear qgjoh) (on-table ttvtj) (on gunol ttvtj) (clear foujw) (on-table foujw) | GOAL: (arm-empty) (on-table vufpz) (on qgjoh gunol) (clear vufpz) (clear qgjoh) (on-table ttvtj) (on gunol ttvtj) (clear foujw) (on-table foujw)
STATE: (arm-empty) (clear ttvtj) (on vufpz foujw) (on-table ttvtj) (on qgjoh vufpz) (on gunol qgjoh) (clear gunol) (on-table foujw) | [
[
"unstack gunol qgjoh"
],
[
"stack gunol ttvtj"
],
[
"unstack qgjoh vufpz"
],
[
"stack qgjoh gunol"
],
[
"unstack vufpz foujw"
],
[
"put-down vufpz"
]
] | [
"(holding gunol) (clear qgjoh) (clear ttvtj) (on vufpz foujw) (on-table ttvtj) (on qgjoh vufpz) (on-table foujw)",
"(clear qgjoh) (arm-empty) (on vufpz foujw) (on-table ttvtj) (on gunol ttvtj) (on qgjoh vufpz) (clear gunol) (on-table foujw)",
"(holding qgjoh) (on vufpz foujw) (on-table ttvtj) (on gunol ttvtj) (clear gunol) (on-table foujw) (clear vufpz)",
"(clear qgjoh) (arm-empty) (on vufpz foujw) (on-table ttvtj) (on gunol ttvtj) (on qgjoh gunol) (on-table foujw) (clear vufpz)",
"(clear qgjoh) (holding vufpz) (on-table ttvtj) (on gunol ttvtj) (on qgjoh gunol) (clear foujw) (on-table foujw)",
"(arm-empty) (on-table vufpz) (on qgjoh gunol) (clear vufpz) (clear qgjoh) (on-table ttvtj) (on gunol ttvtj) (clear foujw) (on-table foujw)"
] | file_130305 |
GOAL: (on btowv bxcsa) (on dtexy btowv) (on-table uaibj) (on-table bxcsa) (holding apyvg) (clear dtexy) (clear uaibj) | GOAL: (on btowv bxcsa) (on dtexy btowv) (on-table uaibj) (on-table bxcsa) (holding apyvg) (clear dtexy) (clear uaibj)
STATE: (on-table uaibj) (on-table bxcsa) (holding apyvg) (on btowv dtexy) (clear btowv) (on dtexy bxcsa) (clear uaibj) | [
[
"put-down apyvg"
],
[
"unstack btowv dtexy"
],
[
"stack btowv apyvg"
],
[
"unstack dtexy bxcsa"
],
[
"put-down dtexy"
],
[
"unstack btowv apyvg"
],
[
"stack btowv bxcsa"
],
[
"pick-up uaibj"
],
[
"stack uaibj apyvg"
],
[
"pick-up dtexy"
],
[
"stack dtexy btowv"
],
[
"unstack uaibj apyvg"
],
[
"put-down uaibj"
],
[
"pick-up apyvg"
]
] | [
"(arm-empty) (on-table apyvg) (on-table uaibj) (on btowv dtexy) (clear uaibj) (clear apyvg) (on-table bxcsa) (on dtexy bxcsa) (clear btowv)",
"(clear apyvg) (on-table apyvg) (on-table uaibj) (on-table bxcsa) (on dtexy bxcsa) (holding btowv) (clear dtexy) (clear uaibj)",
"(arm-empty) (on-table apyvg) (on-table uaibj) (on btowv apyvg) (on-table bxcsa) (on dtexy bxcsa) (clear btowv) (clear dtexy) (clear uaibj)",
"(holding dtexy) (on-table apyvg) (on-table uaibj) (on btowv apyvg) (clear bxcsa) (on-table bxcsa) (clear btowv) (clear uaibj)",
"(arm-empty) (on-table apyvg) (on-table uaibj) (on-table dtexy) (on btowv apyvg) (clear bxcsa) (on-table bxcsa) (clear btowv) (clear dtexy) (clear uaibj)",
"(clear apyvg) (on-table apyvg) (on-table uaibj) (on-table dtexy) (clear bxcsa) (on-table bxcsa) (holding btowv) (clear dtexy) (clear uaibj)",
"(on btowv bxcsa) (clear apyvg) (arm-empty) (on-table apyvg) (on-table uaibj) (on-table dtexy) (on-table bxcsa) (clear btowv) (clear dtexy) (clear uaibj)",
"(on btowv bxcsa) (clear apyvg) (on-table apyvg) (on-table dtexy) (holding uaibj) (on-table bxcsa) (clear btowv) (clear dtexy)",
"(on btowv bxcsa) (arm-empty) (on-table apyvg) (on-table dtexy) (on uaibj apyvg) (on-table bxcsa) (clear btowv) (clear dtexy) (clear uaibj)",
"(holding dtexy) (on btowv bxcsa) (on-table apyvg) (on uaibj apyvg) (on-table bxcsa) (clear btowv) (clear uaibj)",
"(on btowv bxcsa) (on dtexy btowv) (arm-empty) (on-table apyvg) (on uaibj apyvg) (on-table bxcsa) (clear dtexy) (clear uaibj)",
"(on btowv bxcsa) (clear apyvg) (on dtexy btowv) (on-table apyvg) (holding uaibj) (on-table bxcsa) (clear dtexy)",
"(on dtexy btowv) (arm-empty) (on-table apyvg) (on-table uaibj) (clear uaibj) (on btowv bxcsa) (clear apyvg) (on-table bxcsa) (clear dtexy)",
"(on btowv bxcsa) (on dtexy btowv) (on-table uaibj) (on-table bxcsa) (holding apyvg) (clear dtexy) (clear uaibj)"
] | file_49224 |
GOAL: (arm-empty) (on-table icyyh) (clear fatpj) (on bmfau icyyh) (on-table iwbqi) (on dronk bmfau) (on fatpj dronk) (clear iwbqi) | GOAL: (arm-empty) (on-table icyyh) (clear fatpj) (on bmfau icyyh) (on-table iwbqi) (on dronk bmfau) (on fatpj dronk) (clear iwbqi)
STATE: (clear bmfau) (arm-empty) (on-table bmfau) (on-table icyyh) (on-table iwbqi) (clear fatpj) (on fatpj dronk) (on dronk iwbqi) (clear icyyh) | [
[
"pick-up bmfau"
],
[
"stack bmfau icyyh"
],
[
"unstack fatpj dronk"
],
[
"put-down fatpj"
],
[
"unstack dronk iwbqi"
],
[
"stack dronk bmfau"
],
[
"pick-up fatpj"
],
[
"stack fatpj dronk"
]
] | [
"(on-table icyyh) (on-table iwbqi) (clear fatpj) (on fatpj dronk) (holding bmfau) (on dronk iwbqi) (clear icyyh)",
"(clear bmfau) (arm-empty) (on-table icyyh) (on-table iwbqi) (clear fatpj) (on fatpj dronk) (on dronk iwbqi) (on bmfau icyyh)",
"(clear bmfau) (on-table icyyh) (on-table iwbqi) (holding fatpj) (on dronk iwbqi) (on bmfau icyyh) (clear dronk)",
"(arm-empty) (on-table icyyh) (clear fatpj) (on dronk iwbqi) (on bmfau icyyh) (clear bmfau) (on-table iwbqi) (on-table fatpj) (clear dronk)",
"(clear bmfau) (on-table icyyh) (on-table iwbqi) (clear fatpj) (on-table fatpj) (on bmfau icyyh) (holding dronk) (clear iwbqi)",
"(arm-empty) (on-table icyyh) (on-table iwbqi) (on dronk bmfau) (clear fatpj) (on-table fatpj) (on bmfau icyyh) (clear dronk) (clear iwbqi)",
"(on-table icyyh) (on-table iwbqi) (holding fatpj) (on dronk bmfau) (on bmfau icyyh) (clear dronk) (clear iwbqi)",
"(arm-empty) (on-table icyyh) (clear fatpj) (on bmfau icyyh) (on-table iwbqi) (on dronk bmfau) (on fatpj dronk) (clear iwbqi)"
] | file_197846 |
GOAL: (holding nqexa) (on kibwl xobgk) (clear ayupg) (on-table xobgk) (clear hqqse) (on-table hqqse) (on ayupg kibwl) | GOAL: (holding nqexa) (on kibwl xobgk) (clear ayupg) (on-table xobgk) (clear hqqse) (on-table hqqse) (on ayupg kibwl)
STATE: (on kibwl xobgk) (on-table xobgk) (on-table nqexa) (clear hqqse) (on-table hqqse) (holding ayupg) (clear kibwl) (clear nqexa) | [
[
"stack ayupg kibwl"
],
[
"pick-up nqexa"
]
] | [
"(on kibwl xobgk) (clear ayupg) (arm-empty) (on-table xobgk) (on-table nqexa) (clear hqqse) (on-table hqqse) (on ayupg kibwl) (clear nqexa)",
"(holding nqexa) (on kibwl xobgk) (clear ayupg) (on-table xobgk) (clear hqqse) (on-table hqqse) (on ayupg kibwl)"
] | file_85272 |
GOAL: (arm-empty) (on gmnyu hwvso) (on-table ekxxk) (on hwvso eimmd) (on eimmd jpmbv) (on jpmbv ekxxk) (clear gmnyu) | GOAL: (arm-empty) (on gmnyu hwvso) (on-table ekxxk) (on hwvso eimmd) (on eimmd jpmbv) (on jpmbv ekxxk) (clear gmnyu)
STATE: (arm-empty) (on-table ekxxk) (clear hwvso) (on gmnyu eimmd) (on-table hwvso) (on eimmd jpmbv) (on jpmbv ekxxk) (clear gmnyu) | [
[
"unstack gmnyu eimmd"
],
[
"put-down gmnyu"
],
[
"pick-up hwvso"
],
[
"stack hwvso eimmd"
],
[
"pick-up gmnyu"
],
[
"stack gmnyu hwvso"
]
] | [
"(on-table ekxxk) (clear hwvso) (holding gmnyu) (on-table hwvso) (on eimmd jpmbv) (clear eimmd) (on jpmbv ekxxk)",
"(arm-empty) (on-table ekxxk) (on-table gmnyu) (clear hwvso) (on eimmd jpmbv) (on jpmbv ekxxk) (clear gmnyu) (on-table hwvso) (clear eimmd)",
"(on-table ekxxk) (on-table gmnyu) (holding hwvso) (on eimmd jpmbv) (clear eimmd) (on jpmbv ekxxk) (clear gmnyu)",
"(arm-empty) (on-table ekxxk) (on-table gmnyu) (clear hwvso) (on hwvso eimmd) (on eimmd jpmbv) (on jpmbv ekxxk) (clear gmnyu)",
"(on-table ekxxk) (clear hwvso) (on hwvso eimmd) (holding gmnyu) (on eimmd jpmbv) (on jpmbv ekxxk)",
"(arm-empty) (on gmnyu hwvso) (on-table ekxxk) (on hwvso eimmd) (on eimmd jpmbv) (on jpmbv ekxxk) (clear gmnyu)"
] | file_142801 |
GOAL: (clear iaixq) (arm-empty) (on-table iaixq) (on-table lycqm) (on-table msafa) (on rbhvi msafa) (clear juxwf) (clear rbhvi) (on-table juxwf) (clear lycqm) | GOAL: (clear iaixq) (arm-empty) (on-table iaixq) (on-table lycqm) (on-table msafa) (on rbhvi msafa) (clear juxwf) (clear rbhvi) (on-table juxwf) (clear lycqm)
STATE: (on rbhvi lycqm) (on-table lycqm) (clear msafa) (on-table msafa) (holding iaixq) (on juxwf rbhvi) (clear juxwf) | [
[
"stack iaixq msafa"
],
[
"unstack juxwf rbhvi"
],
[
"stack juxwf iaixq"
],
[
"unstack rbhvi lycqm"
],
[
"put-down rbhvi"
],
[
"unstack juxwf iaixq"
],
[
"stack juxwf rbhvi"
],
[
"unstack iaixq msafa"
],
[
"stack iaixq lycqm"
],
[
"unstack juxwf rbhvi"
],
[
"put-down juxwf"
],
[
"unstack iaixq lycqm"
],
[
"put-down iaixq"
],
[
"pick-up rbhvi"
],
[
"stack rbhvi msafa"
]
] | [
"(on rbhvi lycqm) (arm-empty) (on-table lycqm) (on juxwf rbhvi) (on iaixq msafa) (clear iaixq) (on-table msafa) (clear juxwf)",
"(on rbhvi lycqm) (clear iaixq) (on-table lycqm) (on iaixq msafa) (on-table msafa) (holding juxwf) (clear rbhvi)",
"(on rbhvi lycqm) (arm-empty) (on-table lycqm) (on juxwf iaixq) (on-table msafa) (on iaixq msafa) (clear juxwf) (clear rbhvi)",
"(holding rbhvi) (on-table lycqm) (on juxwf iaixq) (on-table msafa) (on iaixq msafa) (clear juxwf) (clear lycqm)",
"(arm-empty) (on-table lycqm) (on iaixq msafa) (clear lycqm) (on-table rbhvi) (on juxwf iaixq) (on-table msafa) (clear juxwf) (clear rbhvi)",
"(clear iaixq) (on-table lycqm) (on-table rbhvi) (on-table msafa) (on iaixq msafa) (holding juxwf) (clear rbhvi) (clear lycqm)",
"(clear iaixq) (arm-empty) (on-table lycqm) (on-table rbhvi) (on juxwf rbhvi) (on-table msafa) (on iaixq msafa) (clear juxwf) (clear lycqm)",
"(on-table lycqm) (on-table rbhvi) (clear msafa) (on-table msafa) (holding iaixq) (on juxwf rbhvi) (clear juxwf) (clear lycqm)",
"(clear iaixq) (arm-empty) (on-table lycqm) (on-table rbhvi) (clear msafa) (on-table msafa) (on juxwf rbhvi) (on iaixq lycqm) (clear juxwf)",
"(clear iaixq) (on-table lycqm) (on-table rbhvi) (clear msafa) (on-table msafa) (on iaixq lycqm) (holding juxwf) (clear rbhvi)",
"(clear iaixq) (arm-empty) (on-table lycqm) (on-table rbhvi) (clear msafa) (on-table msafa) (on iaixq lycqm) (clear juxwf) (clear rbhvi) (on-table juxwf)",
"(on-table lycqm) (on-table rbhvi) (clear msafa) (on-table msafa) (holding iaixq) (clear juxwf) (clear rbhvi) (on-table juxwf) (clear lycqm)",
"(clear iaixq) (arm-empty) (on-table iaixq) (on-table lycqm) (on-table rbhvi) (clear msafa) (on-table msafa) (clear juxwf) (clear rbhvi) (on-table juxwf) (clear lycqm)",
"(holding rbhvi) (clear iaixq) (on-table iaixq) (on-table lycqm) (clear msafa) (on-table msafa) (clear juxwf) (on-table juxwf) (clear lycqm)",
"(clear iaixq) (arm-empty) (on-table iaixq) (on-table lycqm) (on-table msafa) (on rbhvi msafa) (clear juxwf) (clear rbhvi) (on-table juxwf) (clear lycqm)"
] | file_210195 |
GOAL: (on skylo awxqv) (on juiuh gzcho) (arm-empty) (on ehhpf skylo) (on gzcho ehhpf) (on-table awxqv) (clear juiuh) | GOAL: (on skylo awxqv) (on juiuh gzcho) (arm-empty) (on ehhpf skylo) (on gzcho ehhpf) (on-table awxqv) (clear juiuh)
STATE: (clear ehhpf) (on awxqv juiuh) (arm-empty) (on-table ehhpf) (on-table juiuh) (on skylo awxqv) (on gzcho skylo) (clear gzcho) | [
[
"unstack gzcho skylo"
],
[
"stack gzcho ehhpf"
],
[
"unstack skylo awxqv"
],
[
"put-down skylo"
],
[
"unstack awxqv juiuh"
],
[
"put-down awxqv"
],
[
"unstack gzcho ehhpf"
],
[
"stack gzcho juiuh"
],
[
"pick-up skylo"
],
[
"stack skylo awxqv"
],
[
"pick-up ehhpf"
],
[
"stack ehhpf skylo"
],
[
"unstack gzcho juiuh"
],
[
"stack gzcho ehhpf"
],
[
"pick-up juiuh"
],
[
"stack juiuh gzcho"
]
] | [
"(holding gzcho) (clear ehhpf) (on awxqv juiuh) (on-table ehhpf) (on-table juiuh) (clear skylo) (on skylo awxqv)",
"(on awxqv juiuh) (arm-empty) (on-table ehhpf) (on-table juiuh) (clear skylo) (on skylo awxqv) (on gzcho ehhpf) (clear gzcho)",
"(on awxqv juiuh) (on-table ehhpf) (on-table juiuh) (holding skylo) (clear awxqv) (on gzcho ehhpf) (clear gzcho)",
"(on awxqv juiuh) (arm-empty) (on-table ehhpf) (on-table juiuh) (clear skylo) (on gzcho ehhpf) (on-table skylo) (clear awxqv) (clear gzcho)",
"(on-table ehhpf) (on-table juiuh) (clear skylo) (on-table skylo) (on gzcho ehhpf) (clear gzcho) (holding awxqv) (clear juiuh)",
"(arm-empty) (on-table ehhpf) (on-table juiuh) (clear skylo) (on-table skylo) (clear awxqv) (on gzcho ehhpf) (clear gzcho) (on-table awxqv) (clear juiuh)",
"(holding gzcho) (clear ehhpf) (on-table ehhpf) (on-table juiuh) (clear skylo) (on-table skylo) (clear awxqv) (on-table awxqv) (clear juiuh)",
"(on gzcho juiuh) (clear ehhpf) (arm-empty) (on-table ehhpf) (on-table juiuh) (clear skylo) (on-table skylo) (clear awxqv) (clear gzcho) (on-table awxqv)",
"(on gzcho juiuh) (clear ehhpf) (on-table ehhpf) (on-table juiuh) (holding skylo) (clear awxqv) (clear gzcho) (on-table awxqv)",
"(on gzcho juiuh) (clear ehhpf) (arm-empty) (on-table ehhpf) (on-table juiuh) (clear skylo) (on skylo awxqv) (clear gzcho) (on-table awxqv)",
"(on gzcho juiuh) (on-table juiuh) (clear skylo) (on skylo awxqv) (holding ehhpf) (clear gzcho) (on-table awxqv)",
"(on gzcho juiuh) (clear ehhpf) (arm-empty) (on-table juiuh) (on skylo awxqv) (on ehhpf skylo) (clear gzcho) (on-table awxqv)",
"(holding gzcho) (clear ehhpf) (on-table juiuh) (on skylo awxqv) (on ehhpf skylo) (on-table awxqv) (clear juiuh)",
"(arm-empty) (on-table juiuh) (on skylo awxqv) (on ehhpf skylo) (on gzcho ehhpf) (clear gzcho) (on-table awxqv) (clear juiuh)",
"(on skylo awxqv) (holding juiuh) (on ehhpf skylo) (on gzcho ehhpf) (clear gzcho) (on-table awxqv)",
"(on skylo awxqv) (on juiuh gzcho) (arm-empty) (on ehhpf skylo) (on gzcho ehhpf) (on-table awxqv) (clear juiuh)"
] | file_60781 |
GOAL: (clear ubvoa) (arm-empty) (on-table ubvoa) (on-table colsm) (on jhzdi vfmxi) (on ozlqz jhzdi) (clear ozlqz) (on-table vfmxi) (clear colsm) | GOAL: (clear ubvoa) (arm-empty) (on-table ubvoa) (on-table colsm) (on jhzdi vfmxi) (on ozlqz jhzdi) (clear ozlqz) (on-table vfmxi) (clear colsm)
STATE: (on ozlqz colsm) (on vfmxi jhzdi) (arm-empty) (on-table colsm) (on jhzdi ubvoa) (on ubvoa ozlqz) (clear vfmxi) | [
[
"unstack vfmxi jhzdi"
],
[
"put-down vfmxi"
],
[
"unstack jhzdi ubvoa"
],
[
"stack jhzdi vfmxi"
],
[
"unstack ubvoa ozlqz"
],
[
"put-down ubvoa"
],
[
"unstack ozlqz colsm"
],
[
"stack ozlqz jhzdi"
]
] | [
"(on ozlqz colsm) (on-table colsm) (clear jhzdi) (on ubvoa ozlqz) (on jhzdi ubvoa) (holding vfmxi)",
"(on ozlqz colsm) (arm-empty) (on-table colsm) (on jhzdi ubvoa) (on ubvoa ozlqz) (clear vfmxi) (clear jhzdi) (on-table vfmxi)",
"(on ozlqz colsm) (clear ubvoa) (on-table colsm) (holding jhzdi) (on ubvoa ozlqz) (clear vfmxi) (on-table vfmxi)",
"(on ozlqz colsm) (clear ubvoa) (arm-empty) (on-table colsm) (clear jhzdi) (on jhzdi vfmxi) (on ubvoa ozlqz) (on-table vfmxi)",
"(on ozlqz colsm) (on-table colsm) (clear jhzdi) (on jhzdi vfmxi) (holding ubvoa) (clear ozlqz) (on-table vfmxi)",
"(on ozlqz colsm) (arm-empty) (on-table ubvoa) (on-table colsm) (clear jhzdi) (clear ubvoa) (on jhzdi vfmxi) (clear ozlqz) (on-table vfmxi)",
"(holding ozlqz) (clear ubvoa) (on-table ubvoa) (on-table colsm) (clear jhzdi) (on jhzdi vfmxi) (on-table vfmxi) (clear colsm)",
"(clear ubvoa) (arm-empty) (on-table ubvoa) (on-table colsm) (on jhzdi vfmxi) (on ozlqz jhzdi) (clear ozlqz) (on-table vfmxi) (clear colsm)"
] | file_39122 |
GOAL: (clear taxzq) (on earge yoslf) (on-table taxzq) (clear wrguj) (holding tvcqc) (on-table wrguj) (clear earge) (on-table yoslf) | GOAL: (clear taxzq) (on earge yoslf) (on-table taxzq) (clear wrguj) (holding tvcqc) (on-table wrguj) (clear earge) (on-table yoslf)
STATE: (on earge yoslf) (on-table tvcqc) (clear wrguj) (on-table wrguj) (holding taxzq) (clear earge) (on-table yoslf) (clear tvcqc) | [
[
"put-down taxzq"
],
[
"pick-up tvcqc"
]
] | [
"(clear taxzq) (on earge yoslf) (arm-empty) (on-table taxzq) (on-table tvcqc) (clear wrguj) (on-table wrguj) (clear earge) (on-table yoslf) (clear tvcqc)",
"(clear taxzq) (on earge yoslf) (on-table taxzq) (clear wrguj) (holding tvcqc) (on-table wrguj) (clear earge) (on-table yoslf)"
] | file_122914 |
GOAL: (arm-empty) (on-table dpepv) (clear jdbpg) (on flplb dpepv) (on jdbpg tqulo) (on tqulo flplb) (clear vqjyz) (on-table vqjyz) | GOAL: (arm-empty) (on-table dpepv) (clear jdbpg) (on flplb dpepv) (on jdbpg tqulo) (on tqulo flplb) (clear vqjyz) (on-table vqjyz)
STATE: (on dpepv flplb) (clear tqulo) (on-table tqulo) (on-table flplb) (holding jdbpg) (clear vqjyz) (clear dpepv) (on-table vqjyz) | [
[
"stack jdbpg vqjyz"
],
[
"unstack dpepv flplb"
],
[
"put-down dpepv"
],
[
"pick-up tqulo"
],
[
"stack tqulo jdbpg"
],
[
"pick-up flplb"
],
[
"stack flplb dpepv"
],
[
"unstack tqulo jdbpg"
],
[
"stack tqulo flplb"
],
[
"unstack jdbpg vqjyz"
],
[
"stack jdbpg tqulo"
]
] | [
"(on dpepv flplb) (clear tqulo) (arm-empty) (on-table tqulo) (on-table flplb) (clear jdbpg) (on jdbpg vqjyz) (clear dpepv) (on-table vqjyz)",
"(holding dpepv) (clear tqulo) (on-table tqulo) (on-table flplb) (clear jdbpg) (on jdbpg vqjyz) (on-table vqjyz) (clear flplb)",
"(clear tqulo) (arm-empty) (on-table tqulo) (on-table flplb) (on-table dpepv) (clear jdbpg) (on jdbpg vqjyz) (clear dpepv) (on-table vqjyz) (clear flplb)",
"(on-table flplb) (on-table dpepv) (clear jdbpg) (on jdbpg vqjyz) (holding tqulo) (clear dpepv) (on-table vqjyz) (clear flplb)",
"(clear tqulo) (arm-empty) (on-table flplb) (on-table dpepv) (on jdbpg vqjyz) (on tqulo jdbpg) (clear dpepv) (on-table vqjyz) (clear flplb)",
"(clear tqulo) (on-table dpepv) (on jdbpg vqjyz) (holding flplb) (on tqulo jdbpg) (clear dpepv) (on-table vqjyz)",
"(on jdbpg vqjyz) (on flplb dpepv) (clear tqulo) (arm-empty) (on-table dpepv) (on tqulo jdbpg) (on-table vqjyz) (clear flplb)",
"(on-table dpepv) (clear jdbpg) (on jdbpg vqjyz) (on flplb dpepv) (holding tqulo) (on-table vqjyz) (clear flplb)",
"(clear tqulo) (arm-empty) (on-table dpepv) (clear jdbpg) (on jdbpg vqjyz) (on flplb dpepv) (on tqulo flplb) (on-table vqjyz)",
"(clear tqulo) (on-table dpepv) (holding jdbpg) (on flplb dpepv) (on tqulo flplb) (clear vqjyz) (on-table vqjyz)",
"(arm-empty) (on-table dpepv) (clear jdbpg) (on flplb dpepv) (on jdbpg tqulo) (on tqulo flplb) (clear vqjyz) (on-table vqjyz)"
] | file_37298 |
GOAL: (on slrrq nuzub) (clear suwsx) (on girng slrrq) (arm-empty) (on-table nuzub) (on suwsx girng) (clear zrkiq) (on-table zrkiq) | GOAL: (on slrrq nuzub) (clear suwsx) (on girng slrrq) (arm-empty) (on-table nuzub) (on suwsx girng) (clear zrkiq) (on-table zrkiq)
STATE: (arm-empty) (on-table suwsx) (on-table nuzub) (on zrkiq suwsx) (on girng zrkiq) (on slrrq girng) (clear slrrq) (clear nuzub) | [
[
"unstack slrrq girng"
],
[
"stack slrrq nuzub"
],
[
"unstack girng zrkiq"
],
[
"stack girng slrrq"
],
[
"unstack zrkiq suwsx"
],
[
"put-down zrkiq"
],
[
"pick-up suwsx"
],
[
"stack suwsx girng"
]
] | [
"(holding slrrq) (on-table suwsx) (on-table nuzub) (on zrkiq suwsx) (clear girng) (on girng zrkiq) (clear nuzub)",
"(on slrrq nuzub) (arm-empty) (on-table suwsx) (on-table nuzub) (on zrkiq suwsx) (clear girng) (on girng zrkiq) (clear slrrq)",
"(on slrrq nuzub) (on-table suwsx) (on-table nuzub) (holding girng) (on zrkiq suwsx) (clear zrkiq) (clear slrrq)",
"(on slrrq nuzub) (on girng slrrq) (arm-empty) (on-table suwsx) (on-table nuzub) (on zrkiq suwsx) (clear girng) (clear zrkiq)",
"(on slrrq nuzub) (clear suwsx) (on girng slrrq) (on-table suwsx) (on-table nuzub) (clear girng) (holding zrkiq)",
"(on slrrq nuzub) (on girng slrrq) (arm-empty) (on-table suwsx) (on-table nuzub) (clear girng) (clear suwsx) (clear zrkiq) (on-table zrkiq)",
"(on slrrq nuzub) (on girng slrrq) (on-table nuzub) (clear girng) (holding suwsx) (clear zrkiq) (on-table zrkiq)",
"(on slrrq nuzub) (clear suwsx) (on girng slrrq) (arm-empty) (on-table nuzub) (on suwsx girng) (clear zrkiq) (on-table zrkiq)"
] | file_16129 |
GOAL: (arm-empty) (on-table xzaqt) (on-table runrm) (on ekyef exlup) (clear juwez) (on-table juwez) (on exlup runrm) (clear ekyef) (clear xzaqt) | GOAL: (arm-empty) (on-table xzaqt) (on-table runrm) (on ekyef exlup) (clear juwez) (on-table juwez) (on exlup runrm) (clear ekyef) (clear xzaqt)
STATE: (on ekyef xzaqt) (arm-empty) (on-table runrm) (on xzaqt exlup) (clear juwez) (on juwez ekyef) (on exlup runrm) | [
[
"unstack juwez ekyef"
],
[
"put-down juwez"
],
[
"unstack ekyef xzaqt"
],
[
"put-down ekyef"
],
[
"unstack xzaqt exlup"
],
[
"put-down xzaqt"
],
[
"pick-up ekyef"
],
[
"stack ekyef exlup"
]
] | [
"(holding juwez) (on ekyef xzaqt) (on-table runrm) (on xzaqt exlup) (clear ekyef) (on exlup runrm)",
"(on ekyef xzaqt) (arm-empty) (on xzaqt exlup) (clear juwez) (on exlup runrm) (on-table runrm) (on-table juwez) (clear ekyef)",
"(on-table runrm) (on xzaqt exlup) (clear juwez) (on-table juwez) (on exlup runrm) (holding ekyef) (clear xzaqt)",
"(arm-empty) (on xzaqt exlup) (clear juwez) (on exlup runrm) (clear xzaqt) (on-table runrm) (on-table juwez) (clear ekyef) (on-table ekyef)",
"(clear exlup) (on-table runrm) (clear juwez) (holding xzaqt) (on-table juwez) (on exlup runrm) (clear ekyef) (on-table ekyef)",
"(clear exlup) (arm-empty) (on-table xzaqt) (on-table runrm) (clear juwez) (on-table juwez) (on exlup runrm) (clear ekyef) (on-table ekyef) (clear xzaqt)",
"(clear exlup) (on-table xzaqt) (on-table runrm) (clear juwez) (on-table juwez) (on exlup runrm) (holding ekyef) (clear xzaqt)",
"(arm-empty) (on-table xzaqt) (on-table runrm) (on ekyef exlup) (clear juwez) (on-table juwez) (on exlup runrm) (clear ekyef) (clear xzaqt)"
] | file_92161 |
GOAL: (on dmwle qhvhz) (on-table nasav) (on-table rhmhw) (holding vhnjp) (on qhvhz nasav) (clear dmwle) (clear rhmhw) | GOAL: (on dmwle qhvhz) (on-table nasav) (on-table rhmhw) (holding vhnjp) (on qhvhz nasav) (clear dmwle) (clear rhmhw)
STATE: (arm-empty) (on-table vhnjp) (on dmwle nasav) (on-table qhvhz) (on rhmhw qhvhz) (on nasav rhmhw) (clear dmwle) (clear vhnjp) | [
[
"unstack dmwle nasav"
],
[
"stack dmwle vhnjp"
],
[
"unstack nasav rhmhw"
],
[
"put-down nasav"
],
[
"unstack rhmhw qhvhz"
],
[
"stack rhmhw dmwle"
],
[
"pick-up qhvhz"
],
[
"stack qhvhz nasav"
],
[
"unstack rhmhw dmwle"
],
[
"put-down rhmhw"
],
[
"unstack dmwle vhnjp"
],
[
"stack dmwle qhvhz"
],
[
"pick-up vhnjp"
]
] | [
"(clear nasav) (on-table vhnjp) (on-table qhvhz) (on rhmhw qhvhz) (on nasav rhmhw) (holding dmwle) (clear vhnjp)",
"(clear nasav) (on dmwle vhnjp) (arm-empty) (on-table vhnjp) (on-table qhvhz) (on rhmhw qhvhz) (on nasav rhmhw) (clear dmwle)",
"(on dmwle vhnjp) (on-table vhnjp) (holding nasav) (on-table qhvhz) (on rhmhw qhvhz) (clear dmwle) (clear rhmhw)",
"(on dmwle vhnjp) (arm-empty) (on-table nasav) (on-table vhnjp) (clear nasav) (on-table qhvhz) (on rhmhw qhvhz) (clear dmwle) (clear rhmhw)",
"(holding rhmhw) (on dmwle vhnjp) (clear nasav) (on-table nasav) (on-table vhnjp) (clear qhvhz) (on-table qhvhz) (clear dmwle)",
"(on dmwle vhnjp) (clear nasav) (on rhmhw dmwle) (on-table nasav) (on-table vhnjp) (arm-empty) (clear qhvhz) (on-table qhvhz) (clear rhmhw)",
"(on dmwle vhnjp) (clear nasav) (on rhmhw dmwle) (on-table nasav) (on-table vhnjp) (holding qhvhz) (clear rhmhw)",
"(on dmwle vhnjp) (arm-empty) (on rhmhw dmwle) (on-table nasav) (on-table vhnjp) (on qhvhz nasav) (clear qhvhz) (clear rhmhw)",
"(holding rhmhw) (on dmwle vhnjp) (on-table nasav) (on-table vhnjp) (clear qhvhz) (on qhvhz nasav) (clear dmwle)",
"(on dmwle vhnjp) (arm-empty) (on-table nasav) (on-table vhnjp) (clear qhvhz) (on-table rhmhw) (on qhvhz nasav) (clear dmwle) (clear rhmhw)",
"(on-table nasav) (on-table vhnjp) (on-table rhmhw) (clear qhvhz) (on qhvhz nasav) (holding dmwle) (clear rhmhw) (clear vhnjp)",
"(on dmwle qhvhz) (arm-empty) (on-table nasav) (on-table vhnjp) (on-table rhmhw) (on qhvhz nasav) (clear dmwle) (clear rhmhw) (clear vhnjp)",
"(on dmwle qhvhz) (on-table nasav) (on-table rhmhw) (holding vhnjp) (on qhvhz nasav) (clear dmwle) (clear rhmhw)"
] | file_43905 |
GOAL: (arm-empty) (on-table knzeo) (on slxyl knzeo) (on kuueu wpsss) (on wdany kuueu) (clear wdany) (on-table wpsss) (clear slxyl) | GOAL: (arm-empty) (on-table knzeo) (on slxyl knzeo) (on kuueu wpsss) (on wdany kuueu) (clear wdany) (on-table wpsss) (clear slxyl)
STATE: (on-table slxyl) (on wdany kuueu) (on kuueu wpsss) (holding knzeo) (clear wdany) (on-table wpsss) (clear slxyl) | [
[
"put-down knzeo"
],
[
"pick-up slxyl"
],
[
"stack slxyl knzeo"
]
] | [
"(arm-empty) (on-table knzeo) (on-table slxyl) (clear slxyl) (clear knzeo) (on kuueu wpsss) (on wdany kuueu) (clear wdany) (on-table wpsss)",
"(clear knzeo) (on-table knzeo) (on kuueu wpsss) (holding slxyl) (on wdany kuueu) (clear wdany) (on-table wpsss)",
"(arm-empty) (on-table knzeo) (on slxyl knzeo) (on kuueu wpsss) (on wdany kuueu) (clear wdany) (on-table wpsss) (clear slxyl)"
] | file_6679 |
GOAL: (on nissp rclej) (arm-empty) (on-table fpbhb) (on rclej fsica) (on-table kkiri) (on fsica fpbhb) (clear nissp) (clear kkiri) | GOAL: (on nissp rclej) (arm-empty) (on-table fpbhb) (on rclej fsica) (on-table kkiri) (on fsica fpbhb) (clear nissp) (clear kkiri)
STATE: (clear fpbhb) (on-table fpbhb) (holding rclej) (on-table kkiri) (on fsica nissp) (on nissp kkiri) (clear fsica) | [
[
"put-down rclej"
],
[
"unstack fsica nissp"
],
[
"stack fsica fpbhb"
],
[
"pick-up rclej"
],
[
"stack rclej fsica"
],
[
"unstack nissp kkiri"
],
[
"stack nissp rclej"
]
] | [
"(arm-empty) (on-table fpbhb) (clear rclej) (on fsica nissp) (on nissp kkiri) (clear fsica) (clear fpbhb) (on-table kkiri) (on-table rclej)",
"(clear fpbhb) (on-table fpbhb) (on-table kkiri) (clear rclej) (holding fsica) (on-table rclej) (on nissp kkiri) (clear nissp)",
"(arm-empty) (on-table fpbhb) (on-table kkiri) (on fsica fpbhb) (clear rclej) (on-table rclej) (on nissp kkiri) (clear nissp) (clear fsica)",
"(on-table fpbhb) (on-table kkiri) (holding rclej) (on fsica fpbhb) (on nissp kkiri) (clear nissp) (clear fsica)",
"(arm-empty) (on-table fpbhb) (on rclej fsica) (on-table kkiri) (on fsica fpbhb) (clear rclej) (on nissp kkiri) (clear nissp)",
"(on-table fpbhb) (on rclej fsica) (on-table kkiri) (on fsica fpbhb) (clear rclej) (holding nissp) (clear kkiri)",
"(on nissp rclej) (arm-empty) (on-table fpbhb) (on rclej fsica) (on-table kkiri) (on fsica fpbhb) (clear nissp) (clear kkiri)"
] | file_30379 |
GOAL: (clear rebas) (arm-empty) (on-table rebas) (on kxreh cmxca) (on-table vnaod) (clear kxreh) (on cmxca vnaod) (clear tlggx) (on-table tlggx) | GOAL: (clear rebas) (arm-empty) (on-table rebas) (on kxreh cmxca) (on-table vnaod) (clear kxreh) (on cmxca vnaod) (clear tlggx) (on-table tlggx)
STATE: (on-table rebas) (holding kxreh) (on cmxca vnaod) (clear tlggx) (on vnaod rebas) (on-table tlggx) (clear cmxca) | [
[
"stack kxreh tlggx"
],
[
"unstack cmxca vnaod"
],
[
"stack cmxca kxreh"
],
[
"unstack vnaod rebas"
],
[
"put-down vnaod"
],
[
"unstack cmxca kxreh"
],
[
"stack cmxca vnaod"
],
[
"unstack kxreh tlggx"
],
[
"stack kxreh cmxca"
]
] | [
"(arm-empty) (on-table rebas) (clear kxreh) (on cmxca vnaod) (on kxreh tlggx) (on vnaod rebas) (on-table tlggx) (clear cmxca)",
"(on-table rebas) (clear kxreh) (on kxreh tlggx) (holding cmxca) (on vnaod rebas) (clear vnaod) (on-table tlggx)",
"(arm-empty) (on cmxca kxreh) (on-table rebas) (on kxreh tlggx) (on vnaod rebas) (clear vnaod) (on-table tlggx) (clear cmxca)",
"(holding vnaod) (clear rebas) (on cmxca kxreh) (on-table rebas) (on kxreh tlggx) (on-table tlggx) (clear cmxca)",
"(arm-empty) (on cmxca kxreh) (on-table rebas) (clear cmxca) (clear rebas) (on-table vnaod) (on kxreh tlggx) (clear vnaod) (on-table tlggx)",
"(clear rebas) (on-table rebas) (on-table vnaod) (clear kxreh) (on kxreh tlggx) (holding cmxca) (clear vnaod) (on-table tlggx)",
"(clear rebas) (arm-empty) (on-table rebas) (on-table vnaod) (clear kxreh) (on kxreh tlggx) (on cmxca vnaod) (on-table tlggx) (clear cmxca)",
"(clear rebas) (on-table rebas) (on-table vnaod) (holding kxreh) (on cmxca vnaod) (clear tlggx) (on-table tlggx) (clear cmxca)",
"(clear rebas) (arm-empty) (on-table rebas) (on kxreh cmxca) (on-table vnaod) (clear kxreh) (on cmxca vnaod) (clear tlggx) (on-table tlggx)"
] | file_218042 |
GOAL: (on nripi tvush) (clear ilsqq) (on tvush npnae) (arm-empty) (on-table ilsqq) (on-table npnae) (clear nripi) | GOAL: (on nripi tvush) (clear ilsqq) (on tvush npnae) (arm-empty) (on-table ilsqq) (on-table npnae) (clear nripi)
STATE: (arm-empty) (on-table npnae) (clear tvush) (on nripi npnae) (on tvush ilsqq) (on ilsqq nripi) | [
[
"unstack tvush ilsqq"
],
[
"put-down tvush"
],
[
"unstack ilsqq nripi"
],
[
"put-down ilsqq"
],
[
"unstack nripi npnae"
],
[
"stack nripi ilsqq"
],
[
"pick-up tvush"
],
[
"stack tvush npnae"
],
[
"unstack nripi ilsqq"
],
[
"stack nripi tvush"
]
] | [
"(on nripi npnae) (holding tvush) (clear ilsqq) (on ilsqq nripi) (on-table npnae)",
"(on-table npnae) (clear ilsqq) (on-table tvush) (clear tvush) (arm-empty) (on nripi npnae) (on ilsqq nripi)",
"(clear tvush) (on nripi npnae) (on-table npnae) (on-table tvush) (holding ilsqq) (clear nripi)",
"(arm-empty) (on-table ilsqq) (clear tvush) (on nripi npnae) (clear ilsqq) (on-table npnae) (on-table tvush) (clear nripi)",
"(clear ilsqq) (on-table ilsqq) (on-table npnae) (clear tvush) (on-table tvush) (holding nripi) (clear npnae)",
"(arm-empty) (on-table ilsqq) (on-table npnae) (on nripi ilsqq) (clear tvush) (on-table tvush) (clear nripi) (clear npnae)",
"(on-table ilsqq) (on-table npnae) (holding tvush) (on nripi ilsqq) (clear nripi) (clear npnae)",
"(on tvush npnae) (arm-empty) (on-table ilsqq) (on-table npnae) (on nripi ilsqq) (clear tvush) (clear nripi)",
"(on tvush npnae) (on-table ilsqq) (clear tvush) (clear ilsqq) (on-table npnae) (holding nripi)",
"(on nripi tvush) (clear ilsqq) (on tvush npnae) (arm-empty) (on-table ilsqq) (on-table npnae) (clear nripi)"
] | file_116313 |
GOAL: (on gjnwr wnfni) (arm-empty) (on zvyct gjnwr) (on krloi zvyct) (clear krloi) (on-table wnfni) | GOAL: (on gjnwr wnfni) (arm-empty) (on zvyct gjnwr) (on krloi zvyct) (clear krloi) (on-table wnfni)
STATE: (clear zvyct) (arm-empty) (on-table zvyct) (on gjnwr wnfni) (on krloi gjnwr) (clear krloi) (on-table wnfni) | [
[
"unstack krloi gjnwr"
],
[
"put-down krloi"
],
[
"pick-up zvyct"
],
[
"stack zvyct gjnwr"
],
[
"pick-up krloi"
],
[
"stack krloi zvyct"
]
] | [
"(on-table zvyct) (clear gjnwr) (holding krloi) (clear zvyct) (on gjnwr wnfni) (on-table wnfni)",
"(arm-empty) (on-table zvyct) (clear gjnwr) (clear zvyct) (on-table krloi) (on gjnwr wnfni) (clear krloi) (on-table wnfni)",
"(on-table krloi) (clear gjnwr) (on gjnwr wnfni) (holding zvyct) (clear krloi) (on-table wnfni)",
"(clear zvyct) (arm-empty) (on-table krloi) (on gjnwr wnfni) (on zvyct gjnwr) (clear krloi) (on-table wnfni)",
"(holding krloi) (on gjnwr wnfni) (clear zvyct) (on zvyct gjnwr) (on-table wnfni)",
"(on gjnwr wnfni) (arm-empty) (on zvyct gjnwr) (on krloi zvyct) (clear krloi) (on-table wnfni)"
] | file_12903 |
GOAL: (clear ktcbh) (arm-empty) (on-table krhwd) (on hdqlj krhwd) (on lecec hdqlj) (on klwlk lecec) (on ktcbh klwlk) | GOAL: (clear ktcbh) (arm-empty) (on-table krhwd) (on hdqlj krhwd) (on lecec hdqlj) (on klwlk lecec) (on ktcbh klwlk)
STATE: (on hdqlj lecec) (on lecec klwlk) (on-table ktcbh) (on-table krhwd) (arm-empty) (on klwlk ktcbh) (clear hdqlj) (clear krhwd) | [
[
"unstack hdqlj lecec"
],
[
"stack hdqlj krhwd"
],
[
"unstack lecec klwlk"
],
[
"stack lecec hdqlj"
],
[
"unstack klwlk ktcbh"
],
[
"stack klwlk lecec"
],
[
"pick-up ktcbh"
],
[
"stack ktcbh klwlk"
]
] | [
"(on lecec klwlk) (on-table ktcbh) (on-table krhwd) (holding hdqlj) (on klwlk ktcbh) (clear lecec) (clear krhwd)",
"(on lecec klwlk) (arm-empty) (on-table ktcbh) (on-table krhwd) (on hdqlj krhwd) (on klwlk ktcbh) (clear hdqlj) (clear lecec)",
"(holding lecec) (on-table ktcbh) (on-table krhwd) (on hdqlj krhwd) (on klwlk ktcbh) (clear hdqlj) (clear klwlk)",
"(arm-empty) (on-table ktcbh) (on-table krhwd) (on hdqlj krhwd) (on klwlk ktcbh) (on lecec hdqlj) (clear klwlk) (clear lecec)",
"(clear ktcbh) (on-table ktcbh) (on-table krhwd) (on hdqlj krhwd) (on lecec hdqlj) (holding klwlk) (clear lecec)",
"(clear ktcbh) (arm-empty) (on-table ktcbh) (on-table krhwd) (on hdqlj krhwd) (on lecec hdqlj) (on klwlk lecec) (clear klwlk)",
"(on-table krhwd) (on hdqlj krhwd) (holding ktcbh) (on lecec hdqlj) (on klwlk lecec) (clear klwlk)",
"(clear ktcbh) (arm-empty) (on-table krhwd) (on hdqlj krhwd) (on lecec hdqlj) (on klwlk lecec) (on ktcbh klwlk)"
] | file_15608 |
GOAL: (on ylojw uxpok) (on ezftt upybd) (arm-empty) (on-table veodx) (on upybd veodx) (on-table uxpok) (clear ylojw) (clear ezftt) | GOAL: (on ylojw uxpok) (on ezftt upybd) (arm-empty) (on-table veodx) (on upybd veodx) (on-table uxpok) (clear ylojw) (clear ezftt)
STATE: (clear veodx) (arm-empty) (on-table veodx) (on-table upybd) (on-table ezftt) (clear uxpok) (on uxpok ylojw) (clear ezftt) (on-table ylojw) (clear upybd) | [
[
"pick-up upybd"
],
[
"stack upybd veodx"
],
[
"unstack uxpok ylojw"
],
[
"put-down uxpok"
],
[
"pick-up ylojw"
],
[
"stack ylojw uxpok"
],
[
"pick-up ezftt"
],
[
"stack ezftt upybd"
]
] | [
"(clear veodx) (on-table veodx) (on-table ezftt) (clear uxpok) (on uxpok ylojw) (holding upybd) (clear ezftt) (on-table ylojw)",
"(arm-empty) (on-table veodx) (on-table ezftt) (on upybd veodx) (clear uxpok) (on uxpok ylojw) (clear ezftt) (on-table ylojw) (clear upybd)",
"(on-table veodx) (on-table ezftt) (holding uxpok) (on upybd veodx) (clear ylojw) (clear ezftt) (on-table ylojw) (clear upybd)",
"(arm-empty) (on-table veodx) (on-table ezftt) (on upybd veodx) (clear uxpok) (on-table uxpok) (clear ylojw) (clear ezftt) (on-table ylojw) (clear upybd)",
"(on-table veodx) (on-table ezftt) (on upybd veodx) (clear uxpok) (on-table uxpok) (holding ylojw) (clear ezftt) (clear upybd)",
"(on ylojw uxpok) (arm-empty) (on-table veodx) (on-table ezftt) (on upybd veodx) (on-table uxpok) (clear ylojw) (clear ezftt) (clear upybd)",
"(holding ezftt) (on ylojw uxpok) (on-table veodx) (on upybd veodx) (on-table uxpok) (clear ylojw) (clear upybd)",
"(on ylojw uxpok) (on ezftt upybd) (arm-empty) (on-table veodx) (on upybd veodx) (on-table uxpok) (clear ylojw) (clear ezftt)"
] | file_194206 |
GOAL: (arm-empty) (on-table trbnx) (on-table ubxkc) (clear rcnog) (on ymbul ubxkc) (on rcnog trbnx) (clear pyylb) (on-table pyylb) (clear ymbul) | GOAL: (arm-empty) (on-table trbnx) (on-table ubxkc) (clear rcnog) (on ymbul ubxkc) (on rcnog trbnx) (clear pyylb) (on-table pyylb) (clear ymbul)
STATE: (clear trbnx) (on-table trbnx) (holding rcnog) (on-table ubxkc) (on ymbul pyylb) (clear ubxkc) (on-table pyylb) (clear ymbul) | [
[
"stack rcnog trbnx"
],
[
"unstack ymbul pyylb"
],
[
"stack ymbul ubxkc"
]
] | [
"(arm-empty) (on-table trbnx) (on-table ubxkc) (clear rcnog) (on ymbul pyylb) (on rcnog trbnx) (clear ubxkc) (on-table pyylb) (clear ymbul)",
"(on-table trbnx) (on-table ubxkc) (clear rcnog) (holding ymbul) (on rcnog trbnx) (clear pyylb) (clear ubxkc) (on-table pyylb)",
"(arm-empty) (on-table trbnx) (on-table ubxkc) (clear rcnog) (on ymbul ubxkc) (on rcnog trbnx) (clear pyylb) (on-table pyylb) (clear ymbul)"
] | file_144952 |
GOAL: (clear uraot) (arm-empty) (on-table iteqh) (on-table oeupd) (on otvxr opfby) (on uraot otvxr) (clear oeupd) (on-table opfby) (clear iteqh) | GOAL: (clear uraot) (arm-empty) (on-table iteqh) (on-table oeupd) (on otvxr opfby) (on uraot otvxr) (clear oeupd) (on-table opfby) (clear iteqh)
STATE: (clear uraot) (on-table iteqh) (holding otvxr) (on-table oeupd) (on uraot iteqh) (clear opfby) (clear oeupd) (on-table opfby) | [
[
"stack otvxr opfby"
],
[
"unstack uraot iteqh"
],
[
"stack uraot otvxr"
]
] | [
"(clear uraot) (arm-empty) (on-table iteqh) (on-table oeupd) (clear otvxr) (on otvxr opfby) (on uraot iteqh) (clear oeupd) (on-table opfby)",
"(on-table iteqh) (on-table oeupd) (clear otvxr) (on otvxr opfby) (holding uraot) (clear oeupd) (on-table opfby) (clear iteqh)",
"(clear uraot) (arm-empty) (on-table iteqh) (on-table oeupd) (on otvxr opfby) (on uraot otvxr) (clear oeupd) (on-table opfby) (clear iteqh)"
] | file_86410 |
GOAL: (clear phyft) (on-table phyft) (on hivsf txlef) (on-table hejxn) (clear hivsf) (on txlef hejxn) (holding zpvym) | GOAL: (clear phyft) (on-table phyft) (on hivsf txlef) (on-table hejxn) (clear hivsf) (on txlef hejxn) (holding zpvym)
STATE: (arm-empty) (on-table hejxn) (on txlef phyft) (on hivsf zpvym) (on phyft hivsf) (clear hejxn) (on-table zpvym) (clear txlef) | [
[
"unstack txlef phyft"
],
[
"stack txlef hejxn"
],
[
"unstack phyft hivsf"
],
[
"put-down phyft"
],
[
"unstack hivsf zpvym"
],
[
"stack hivsf txlef"
],
[
"pick-up zpvym"
]
] | [
"(clear phyft) (on-table hejxn) (on hivsf zpvym) (holding txlef) (on phyft hivsf) (clear hejxn) (on-table zpvym)",
"(on hivsf zpvym) (on txlef hejxn) (clear phyft) (arm-empty) (on-table hejxn) (on phyft hivsf) (on-table zpvym) (clear txlef)",
"(on-table hejxn) (clear hivsf) (on hivsf zpvym) (on txlef hejxn) (holding phyft) (on-table zpvym) (clear txlef)",
"(arm-empty) (on-table phyft) (clear hivsf) (clear txlef) (clear phyft) (on-table hejxn) (on hivsf zpvym) (on txlef hejxn) (on-table zpvym)",
"(clear phyft) (on-table phyft) (on-table hejxn) (holding hivsf) (on txlef hejxn) (clear zpvym) (on-table zpvym) (clear txlef)",
"(clear phyft) (arm-empty) (on-table phyft) (on hivsf txlef) (on-table hejxn) (clear hivsf) (on txlef hejxn) (clear zpvym) (on-table zpvym)",
"(clear phyft) (on-table phyft) (on hivsf txlef) (on-table hejxn) (clear hivsf) (on txlef hejxn) (holding zpvym)"
] | file_200876 |
GOAL: (clear lmudb) (on-table lmudb) (holding ocgsv) (on-table vtuse) (on xuzif vtuse) (on pxndn xuzif) (clear pxndn) | GOAL: (clear lmudb) (on-table lmudb) (holding ocgsv) (on-table vtuse) (on xuzif vtuse) (on pxndn xuzif) (clear pxndn)
STATE: (on pxndn ocgsv) (on xuzif pxndn) (on-table lmudb) (holding vtuse) (on ocgsv lmudb) (clear xuzif) | [
[
"put-down vtuse"
],
[
"unstack xuzif pxndn"
],
[
"stack xuzif vtuse"
],
[
"unstack pxndn ocgsv"
],
[
"stack pxndn xuzif"
],
[
"unstack ocgsv lmudb"
]
] | [
"(on pxndn ocgsv) (on xuzif pxndn) (arm-empty) (on-table lmudb) (on ocgsv lmudb) (clear vtuse) (on-table vtuse) (clear xuzif)",
"(holding xuzif) (on pxndn ocgsv) (on-table lmudb) (on ocgsv lmudb) (clear vtuse) (on-table vtuse) (clear pxndn)",
"(on pxndn ocgsv) (arm-empty) (on-table lmudb) (on ocgsv lmudb) (on-table vtuse) (on xuzif vtuse) (clear pxndn) (clear xuzif)",
"(on-table lmudb) (on ocgsv lmudb) (on-table vtuse) (on xuzif vtuse) (holding pxndn) (clear xuzif) (clear ocgsv)",
"(arm-empty) (on-table lmudb) (on ocgsv lmudb) (on-table vtuse) (on xuzif vtuse) (on pxndn xuzif) (clear pxndn) (clear ocgsv)",
"(clear lmudb) (on-table lmudb) (holding ocgsv) (on-table vtuse) (on xuzif vtuse) (on pxndn xuzif) (clear pxndn)"
] | file_174115 |
GOAL: (on edvak onqro) (arm-empty) (on-table xdgrv) (on umeqg mnotv) (on mnotv xdgrv) (on onqro umeqg) (clear edvak) | GOAL: (on edvak onqro) (arm-empty) (on-table xdgrv) (on umeqg mnotv) (on mnotv xdgrv) (on onqro umeqg) (clear edvak)
STATE: (holding edvak) (clear umeqg) (on-table xdgrv) (clear mnotv) (on-table mnotv) (on umeqg onqro) (on-table onqro) (clear xdgrv) | [
[
"put-down edvak"
],
[
"pick-up mnotv"
],
[
"stack mnotv xdgrv"
],
[
"unstack umeqg onqro"
],
[
"stack umeqg mnotv"
],
[
"pick-up onqro"
],
[
"stack onqro umeqg"
],
[
"pick-up edvak"
],
[
"stack edvak onqro"
]
] | [
"(clear umeqg) (arm-empty) (on-table xdgrv) (on-table edvak) (clear mnotv) (on-table mnotv) (on umeqg onqro) (clear edvak) (on-table onqro) (clear xdgrv)",
"(clear umeqg) (on-table xdgrv) (on-table edvak) (holding mnotv) (on umeqg onqro) (clear edvak) (on-table onqro) (clear xdgrv)",
"(clear umeqg) (arm-empty) (on-table xdgrv) (on-table edvak) (on mnotv xdgrv) (clear mnotv) (on umeqg onqro) (clear edvak) (on-table onqro)",
"(on-table xdgrv) (on-table edvak) (on mnotv xdgrv) (clear mnotv) (holding umeqg) (clear onqro) (clear edvak) (on-table onqro)",
"(clear umeqg) (arm-empty) (on-table xdgrv) (on-table edvak) (on mnotv xdgrv) (on umeqg mnotv) (clear onqro) (clear edvak) (on-table onqro)",
"(clear umeqg) (on-table xdgrv) (on-table edvak) (on mnotv xdgrv) (on umeqg mnotv) (holding onqro) (clear edvak)",
"(arm-empty) (on-table xdgrv) (on-table edvak) (on mnotv xdgrv) (on onqro umeqg) (on umeqg mnotv) (clear onqro) (clear edvak)",
"(holding edvak) (on-table xdgrv) (on mnotv xdgrv) (on onqro umeqg) (on umeqg mnotv) (clear onqro)",
"(on edvak onqro) (arm-empty) (on-table xdgrv) (on umeqg mnotv) (on mnotv xdgrv) (on onqro umeqg) (clear edvak)"
] | file_182712 |
GOAL: (on ujhrw iouhw) (arm-empty) (on-table ovsrl) (on-table iouhw) (on-table egyny) (clear nqsnm) (on nqsnm ovsrl) (clear ujhrw) (clear egyny) | GOAL: (on ujhrw iouhw) (arm-empty) (on-table ovsrl) (on-table iouhw) (on-table egyny) (clear nqsnm) (on nqsnm ovsrl) (clear ujhrw) (clear egyny)
STATE: (on ujhrw nqsnm) (on egyny iouhw) (arm-empty) (on-table ovsrl) (on iouhw ujhrw) (on nqsnm ovsrl) (clear egyny) | [
[
"unstack egyny iouhw"
],
[
"put-down egyny"
],
[
"unstack iouhw ujhrw"
],
[
"put-down iouhw"
],
[
"unstack ujhrw nqsnm"
],
[
"stack ujhrw iouhw"
]
] | [
"(on-table ovsrl) (on iouhw ujhrw) (clear iouhw) (holding egyny) (on ujhrw nqsnm) (on nqsnm ovsrl)",
"(arm-empty) (on-table ovsrl) (on iouhw ujhrw) (clear iouhw) (on ujhrw nqsnm) (on-table egyny) (on nqsnm ovsrl) (clear egyny)",
"(on ujhrw nqsnm) (on-table ovsrl) (on-table egyny) (holding iouhw) (on nqsnm ovsrl) (clear ujhrw) (clear egyny)",
"(arm-empty) (on-table ovsrl) (on-table iouhw) (clear iouhw) (on ujhrw nqsnm) (on-table egyny) (on nqsnm ovsrl) (clear ujhrw) (clear egyny)",
"(on-table ovsrl) (on-table iouhw) (on-table egyny) (clear nqsnm) (on nqsnm ovsrl) (holding ujhrw) (clear egyny) (clear iouhw)",
"(on ujhrw iouhw) (arm-empty) (on-table ovsrl) (on-table iouhw) (on-table egyny) (clear nqsnm) (on nqsnm ovsrl) (clear ujhrw) (clear egyny)"
] | file_123294 |
GOAL: (on zcshx raiam) (on-table mbkml) (on lrpbw mbkml) (on-table raiam) (holding pjvkh) (clear zcshx) (clear lrpbw) | GOAL: (on zcshx raiam) (on-table mbkml) (on lrpbw mbkml) (on-table raiam) (holding pjvkh) (clear zcshx) (clear lrpbw)
STATE: (clear pjvkh) (on zcshx lrpbw) (arm-empty) (on-table mbkml) (clear raiam) (on lrpbw mbkml) (on-table raiam) (on pjvkh zcshx) | [
[
"unstack pjvkh zcshx"
],
[
"put-down pjvkh"
],
[
"unstack zcshx lrpbw"
],
[
"stack zcshx raiam"
],
[
"pick-up pjvkh"
]
] | [
"(on zcshx lrpbw) (on-table mbkml) (clear raiam) (on lrpbw mbkml) (on-table raiam) (holding pjvkh) (clear zcshx)",
"(on zcshx lrpbw) (arm-empty) (on-table pjvkh) (clear raiam) (clear pjvkh) (on-table mbkml) (on lrpbw mbkml) (on-table raiam) (clear zcshx)",
"(clear pjvkh) (on-table pjvkh) (on-table mbkml) (clear raiam) (on lrpbw mbkml) (on-table raiam) (holding zcshx) (clear lrpbw)",
"(on zcshx raiam) (clear pjvkh) (arm-empty) (on-table pjvkh) (on-table mbkml) (on lrpbw mbkml) (on-table raiam) (clear zcshx) (clear lrpbw)",
"(on zcshx raiam) (on-table mbkml) (on lrpbw mbkml) (on-table raiam) (holding pjvkh) (clear zcshx) (clear lrpbw)"
] | file_127297 |
GOAL: (on noljz xoqzh) (arm-empty) (on-table fhtqc) (on-table envmc) (on tlhnz envmc) (on xoqzh fhtqc) (clear noljz) (clear tlhnz) | GOAL: (on noljz xoqzh) (arm-empty) (on-table fhtqc) (on-table envmc) (on tlhnz envmc) (on xoqzh fhtqc) (clear noljz) (clear tlhnz)
STATE: (clear fhtqc) (on noljz tlhnz) (holding xoqzh) (on-table envmc) (on tlhnz envmc) (on fhtqc noljz) | [
[
"put-down xoqzh"
],
[
"unstack fhtqc noljz"
],
[
"put-down fhtqc"
],
[
"pick-up xoqzh"
],
[
"stack xoqzh fhtqc"
],
[
"unstack noljz tlhnz"
],
[
"stack noljz xoqzh"
]
] | [
"(on tlhnz envmc) (clear fhtqc) (on noljz tlhnz) (on-table xoqzh) (on fhtqc noljz) (clear xoqzh) (arm-empty) (on-table envmc)",
"(on noljz tlhnz) (on-table envmc) (clear xoqzh) (on tlhnz envmc) (on-table xoqzh) (holding fhtqc) (clear noljz)",
"(on noljz tlhnz) (arm-empty) (on-table fhtqc) (clear xoqzh) (clear fhtqc) (on-table envmc) (on tlhnz envmc) (on-table xoqzh) (clear noljz)",
"(on noljz tlhnz) (clear fhtqc) (on-table fhtqc) (on-table envmc) (holding xoqzh) (on tlhnz envmc) (clear noljz)",
"(on noljz tlhnz) (arm-empty) (on-table fhtqc) (on-table envmc) (clear xoqzh) (on tlhnz envmc) (on xoqzh fhtqc) (clear noljz)",
"(on-table fhtqc) (on-table envmc) (clear xoqzh) (on tlhnz envmc) (on xoqzh fhtqc) (holding noljz) (clear tlhnz)",
"(on noljz xoqzh) (arm-empty) (on-table fhtqc) (on-table envmc) (on tlhnz envmc) (on xoqzh fhtqc) (clear noljz) (clear tlhnz)"
] | file_209190 |
GOAL: (clear jvjdr) (arm-empty) (on-table ukjpb) (clear mgfeq) (on-table mgfeq) (on jvjdr rtoxk) (clear ukjpb) (on-table rtoxk) | GOAL: (clear jvjdr) (arm-empty) (on-table ukjpb) (clear mgfeq) (on-table mgfeq) (on jvjdr rtoxk) (clear ukjpb) (on-table rtoxk)
STATE: (clear jvjdr) (on-table ukjpb) (clear mgfeq) (on-table mgfeq) (on jvjdr ukjpb) (holding rtoxk) | [
[
"put-down rtoxk"
],
[
"unstack jvjdr ukjpb"
],
[
"stack jvjdr rtoxk"
]
] | [
"(clear jvjdr) (on-table mgfeq) (arm-empty) (on-table ukjpb) (on jvjdr ukjpb) (clear rtoxk) (clear mgfeq) (on-table rtoxk)",
"(on-table ukjpb) (clear mgfeq) (on-table mgfeq) (holding jvjdr) (clear rtoxk) (clear ukjpb) (on-table rtoxk)",
"(clear jvjdr) (arm-empty) (on-table ukjpb) (clear mgfeq) (on-table mgfeq) (on jvjdr rtoxk) (clear ukjpb) (on-table rtoxk)"
] | file_44928 |
GOAL: (holding hwsbl) (clear dcqmh) (on qsral xpehw) (on xpehw qwdpi) (on dcqmh qsral) (on-table qwdpi) | GOAL: (holding hwsbl) (clear dcqmh) (on qsral xpehw) (on xpehw qwdpi) (on dcqmh qsral) (on-table qwdpi)
STATE: (clear dcqmh) (arm-empty) (on xpehw qsral) (on-table hwsbl) (on qsral hwsbl) (on dcqmh xpehw) (clear qwdpi) (on-table qwdpi) | [
[
"unstack dcqmh xpehw"
],
[
"put-down dcqmh"
],
[
"unstack xpehw qsral"
],
[
"stack xpehw qwdpi"
],
[
"unstack qsral hwsbl"
],
[
"stack qsral xpehw"
],
[
"pick-up dcqmh"
],
[
"stack dcqmh qsral"
],
[
"pick-up hwsbl"
]
] | [
"(on xpehw qsral) (on-table hwsbl) (clear xpehw) (on qsral hwsbl) (holding dcqmh) (clear qwdpi) (on-table qwdpi)",
"(arm-empty) (on-table dcqmh) (on xpehw qsral) (clear xpehw) (clear dcqmh) (on-table hwsbl) (on qsral hwsbl) (clear qwdpi) (on-table qwdpi)",
"(clear dcqmh) (on-table dcqmh) (on-table hwsbl) (holding xpehw) (on qsral hwsbl) (clear qwdpi) (on-table qwdpi) (clear qsral)",
"(clear dcqmh) (arm-empty) (on-table dcqmh) (on-table hwsbl) (clear xpehw) (on qsral hwsbl) (on xpehw qwdpi) (on-table qwdpi) (clear qsral)",
"(clear dcqmh) (on-table dcqmh) (on-table hwsbl) (clear xpehw) (on xpehw qwdpi) (holding qsral) (clear hwsbl) (on-table qwdpi)",
"(clear dcqmh) (arm-empty) (on qsral xpehw) (on-table dcqmh) (on-table hwsbl) (on xpehw qwdpi) (clear hwsbl) (on-table qwdpi) (clear qsral)",
"(on qsral xpehw) (on-table hwsbl) (on xpehw qwdpi) (holding dcqmh) (clear hwsbl) (on-table qwdpi) (clear qsral)",
"(clear dcqmh) (arm-empty) (on qsral xpehw) (on-table hwsbl) (on xpehw qwdpi) (on dcqmh qsral) (clear hwsbl) (on-table qwdpi)",
"(holding hwsbl) (clear dcqmh) (on qsral xpehw) (on xpehw qwdpi) (on dcqmh qsral) (on-table qwdpi)"
] | file_98722 |
GOAL: (holding ofbrz) (on gyzyq uqmyc) (on-table akogj) (on uqmyc akogj) (clear uyxsz) (on-table uyxsz) (clear gyzyq) | GOAL: (holding ofbrz) (on gyzyq uqmyc) (on-table akogj) (on uqmyc akogj) (clear uyxsz) (on-table uyxsz) (clear gyzyq)
STATE: (on ofbrz gyzyq) (on-table uqmyc) (holding uyxsz) (on gyzyq akogj) (on akogj uqmyc) (clear ofbrz) | [
[
"put-down uyxsz"
],
[
"unstack ofbrz gyzyq"
],
[
"stack ofbrz uyxsz"
],
[
"unstack gyzyq akogj"
],
[
"stack gyzyq ofbrz"
],
[
"unstack akogj uqmyc"
],
[
"put-down akogj"
],
[
"pick-up uqmyc"
],
[
"stack uqmyc akogj"
],
[
"unstack gyzyq ofbrz"
],
[
"stack gyzyq uqmyc"
],
[
"unstack ofbrz uyxsz"
]
] | [
"(on ofbrz gyzyq) (arm-empty) (on-table uqmyc) (clear uyxsz) (on akogj uqmyc) (on gyzyq akogj) (on-table uyxsz) (clear ofbrz)",
"(holding ofbrz) (on-table uqmyc) (on gyzyq akogj) (clear uyxsz) (on-table uyxsz) (on akogj uqmyc) (clear gyzyq)",
"(arm-empty) (on-table uqmyc) (on gyzyq akogj) (on-table uyxsz) (on ofbrz uyxsz) (on akogj uqmyc) (clear gyzyq) (clear ofbrz)",
"(clear akogj) (on-table uqmyc) (on-table uyxsz) (on ofbrz uyxsz) (on akogj uqmyc) (holding gyzyq) (clear ofbrz)",
"(clear akogj) (arm-empty) (on-table uqmyc) (on-table uyxsz) (on ofbrz uyxsz) (on gyzyq ofbrz) (on akogj uqmyc) (clear gyzyq)",
"(on-table uqmyc) (holding akogj) (on-table uyxsz) (on ofbrz uyxsz) (on gyzyq ofbrz) (clear gyzyq) (clear uqmyc)",
"(arm-empty) (on-table akogj) (on-table uqmyc) (on gyzyq ofbrz) (clear uqmyc) (clear akogj) (on-table uyxsz) (on ofbrz uyxsz) (clear gyzyq)",
"(clear akogj) (on-table akogj) (holding uqmyc) (on-table uyxsz) (on ofbrz uyxsz) (on gyzyq ofbrz) (clear gyzyq)",
"(arm-empty) (on-table akogj) (on uqmyc akogj) (on-table uyxsz) (on ofbrz uyxsz) (on gyzyq ofbrz) (clear gyzyq) (clear uqmyc)",
"(on-table akogj) (on uqmyc akogj) (on-table uyxsz) (on ofbrz uyxsz) (holding gyzyq) (clear ofbrz) (clear uqmyc)",
"(on gyzyq uqmyc) (arm-empty) (on-table akogj) (on uqmyc akogj) (on-table uyxsz) (on ofbrz uyxsz) (clear gyzyq) (clear ofbrz)",
"(holding ofbrz) (on gyzyq uqmyc) (on-table akogj) (on uqmyc akogj) (clear uyxsz) (on-table uyxsz) (clear gyzyq)"
] | file_58716 |
GOAL: (arm-empty) (on-table kuqxe) (on lyyqf fhjwc) (clear kuqxe) (on wjeza tnyio) (clear lyyqf) (on-table fhjwc) (on-table tnyio) (clear wjeza) | GOAL: (arm-empty) (on-table kuqxe) (on lyyqf fhjwc) (clear kuqxe) (on wjeza tnyio) (clear lyyqf) (on-table fhjwc) (on-table tnyio) (clear wjeza)
STATE: (on wjeza tnyio) (arm-empty) (on kuqxe wjeza) (on-table tnyio) (on lyyqf kuqxe) (on fhjwc lyyqf) (clear fhjwc) | [
[
"unstack fhjwc lyyqf"
],
[
"put-down fhjwc"
],
[
"unstack lyyqf kuqxe"
],
[
"stack lyyqf fhjwc"
],
[
"unstack kuqxe wjeza"
],
[
"put-down kuqxe"
]
] | [
"(on kuqxe wjeza) (on lyyqf kuqxe) (holding fhjwc) (on wjeza tnyio) (clear lyyqf) (on-table tnyio)",
"(arm-empty) (on kuqxe wjeza) (on lyyqf kuqxe) (on wjeza tnyio) (clear lyyqf) (on-table fhjwc) (on-table tnyio) (clear fhjwc)",
"(on wjeza tnyio) (on-table fhjwc) (on kuqxe wjeza) (on-table tnyio) (holding lyyqf) (clear fhjwc) (clear kuqxe)",
"(on wjeza tnyio) (clear lyyqf) (arm-empty) (on-table fhjwc) (on kuqxe wjeza) (on-table tnyio) (on lyyqf fhjwc) (clear kuqxe)",
"(on wjeza tnyio) (clear lyyqf) (on-table fhjwc) (holding kuqxe) (on-table tnyio) (on lyyqf fhjwc) (clear wjeza)",
"(arm-empty) (on-table kuqxe) (on lyyqf fhjwc) (clear kuqxe) (on wjeza tnyio) (clear lyyqf) (on-table fhjwc) (on-table tnyio) (clear wjeza)"
] | file_219109 |
GOAL: (holding uqxqm) (on hcudq quyat) (on-table ijtfo) (on hrzaz ijtfo) (on-table quyat) (clear hcudq) (clear hrzaz) | GOAL: (holding uqxqm) (on hcudq quyat) (on-table ijtfo) (on hrzaz ijtfo) (on-table quyat) (clear hcudq) (clear hrzaz)
STATE: (on hcudq quyat) (arm-empty) (on-table ijtfo) (on quyat hrzaz) (on-table uqxqm) (on hrzaz ijtfo) (clear hcudq) (clear uqxqm) | [
[
"unstack hcudq quyat"
],
[
"stack hcudq uqxqm"
],
[
"unstack quyat hrzaz"
],
[
"put-down quyat"
],
[
"unstack hcudq uqxqm"
],
[
"stack hcudq quyat"
],
[
"pick-up uqxqm"
]
] | [
"(on-table ijtfo) (on quyat hrzaz) (on-table uqxqm) (on hrzaz ijtfo) (clear quyat) (holding hcudq) (clear uqxqm)",
"(arm-empty) (on-table ijtfo) (on quyat hrzaz) (on-table uqxqm) (on hrzaz ijtfo) (clear quyat) (on hcudq uqxqm) (clear hcudq)",
"(on-table ijtfo) (on-table uqxqm) (holding quyat) (on hrzaz ijtfo) (on hcudq uqxqm) (clear hcudq) (clear hrzaz)",
"(arm-empty) (on-table ijtfo) (on hrzaz ijtfo) (clear quyat) (on hcudq uqxqm) (clear hrzaz) (on-table uqxqm) (on-table quyat) (clear hcudq)",
"(on-table ijtfo) (on-table uqxqm) (on hrzaz ijtfo) (clear quyat) (on-table quyat) (holding hcudq) (clear uqxqm) (clear hrzaz)",
"(on hcudq quyat) (arm-empty) (on-table ijtfo) (on-table uqxqm) (on hrzaz ijtfo) (on-table quyat) (clear hcudq) (clear uqxqm) (clear hrzaz)",
"(holding uqxqm) (on hcudq quyat) (on-table ijtfo) (on hrzaz ijtfo) (on-table quyat) (clear hcudq) (clear hrzaz)"
] | file_188440 |
GOAL: (on imyuy wbamn) (on uidxj imyuy) (arm-empty) (clear uidxj) (on wbamn dfqxh) (on-table dfqxh) | GOAL: (on imyuy wbamn) (on uidxj imyuy) (arm-empty) (clear uidxj) (on wbamn dfqxh) (on-table dfqxh)
STATE: (arm-empty) (on-table dfqxh) (clear uidxj) (on uidxj wbamn) (on wbamn dfqxh) (clear imyuy) (on-table imyuy) | [
[
"unstack uidxj wbamn"
],
[
"put-down uidxj"
],
[
"pick-up imyuy"
],
[
"stack imyuy wbamn"
],
[
"pick-up uidxj"
],
[
"stack uidxj imyuy"
]
] | [
"(holding uidxj) (on wbamn dfqxh) (clear wbamn) (on-table dfqxh) (clear imyuy) (on-table imyuy)",
"(arm-empty) (clear uidxj) (on wbamn dfqxh) (clear wbamn) (on-table dfqxh) (on-table uidxj) (clear imyuy) (on-table imyuy)",
"(clear wbamn) (on-table dfqxh) (clear uidxj) (on-table uidxj) (on wbamn dfqxh) (holding imyuy)",
"(arm-empty) (on-table dfqxh) (on imyuy wbamn) (clear uidxj) (on-table uidxj) (on wbamn dfqxh) (clear imyuy)",
"(holding uidxj) (clear imyuy) (on-table dfqxh) (on wbamn dfqxh) (on imyuy wbamn)",
"(on imyuy wbamn) (on uidxj imyuy) (arm-empty) (clear uidxj) (on wbamn dfqxh) (on-table dfqxh)"
] | file_79065 |
GOAL: (on kyhvf gftnt) (arm-empty) (on-table gftnt) (on zplsx uavnt) (clear ceqyh) (on ceqyh zplsx) (on uavnt kyhvf) | GOAL: (on kyhvf gftnt) (arm-empty) (on-table gftnt) (on zplsx uavnt) (clear ceqyh) (on ceqyh zplsx) (on uavnt kyhvf)
STATE: (on ceqyh kyhvf) (clear ceqyh) (holding gftnt) (on uavnt zplsx) (on kyhvf uavnt) (on-table zplsx) | [
[
"put-down gftnt"
],
[
"unstack ceqyh kyhvf"
],
[
"put-down ceqyh"
],
[
"unstack kyhvf uavnt"
],
[
"stack kyhvf gftnt"
],
[
"unstack uavnt zplsx"
],
[
"stack uavnt kyhvf"
],
[
"pick-up zplsx"
],
[
"stack zplsx uavnt"
],
[
"pick-up ceqyh"
],
[
"stack ceqyh zplsx"
]
] | [
"(on ceqyh kyhvf) (arm-empty) (on-table gftnt) (clear ceqyh) (on kyhvf uavnt) (clear gftnt) (on uavnt zplsx) (on-table zplsx)",
"(on-table gftnt) (holding ceqyh) (on uavnt zplsx) (on kyhvf uavnt) (clear kyhvf) (on-table zplsx) (clear gftnt)",
"(arm-empty) (on-table gftnt) (clear ceqyh) (on kyhvf uavnt) (clear gftnt) (on-table ceqyh) (on uavnt zplsx) (clear kyhvf) (on-table zplsx)",
"(holding kyhvf) (clear uavnt) (on-table gftnt) (clear ceqyh) (on-table ceqyh) (on uavnt zplsx) (on-table zplsx) (clear gftnt)",
"(on kyhvf gftnt) (clear uavnt) (arm-empty) (on-table gftnt) (clear ceqyh) (on-table ceqyh) (on uavnt zplsx) (clear kyhvf) (on-table zplsx)",
"(on kyhvf gftnt) (on-table gftnt) (clear ceqyh) (on-table ceqyh) (holding uavnt) (clear zplsx) (clear kyhvf) (on-table zplsx)",
"(on kyhvf gftnt) (clear uavnt) (arm-empty) (on-table gftnt) (clear ceqyh) (on-table ceqyh) (on uavnt kyhvf) (clear zplsx) (on-table zplsx)",
"(on kyhvf gftnt) (clear uavnt) (on-table gftnt) (clear ceqyh) (on-table ceqyh) (on uavnt kyhvf) (holding zplsx)",
"(on kyhvf gftnt) (arm-empty) (on-table gftnt) (on zplsx uavnt) (clear ceqyh) (on-table ceqyh) (on uavnt kyhvf) (clear zplsx)",
"(on kyhvf gftnt) (on-table gftnt) (holding ceqyh) (on zplsx uavnt) (on uavnt kyhvf) (clear zplsx)",
"(on kyhvf gftnt) (arm-empty) (on-table gftnt) (on zplsx uavnt) (clear ceqyh) (on ceqyh zplsx) (on uavnt kyhvf)"
] | file_171703 |
GOAL: (on kftfr koopu) (arm-empty) (on-table koopu) (clear ywijm) (on criek kftfr) (clear mhgxa) (on-table ywijm) (on mhgxa criek) | GOAL: (on kftfr koopu) (arm-empty) (on-table koopu) (clear ywijm) (on criek kftfr) (clear mhgxa) (on-table ywijm) (on mhgxa criek)
STATE: (on kftfr koopu) (arm-empty) (on-table koopu) (clear ywijm) (on criek kftfr) (on ywijm mhgxa) (on mhgxa criek) | [
[
"unstack ywijm mhgxa"
],
[
"put-down ywijm"
]
] | [
"(on kftfr koopu) (on-table koopu) (holding ywijm) (on criek kftfr) (clear mhgxa) (on mhgxa criek)",
"(on kftfr koopu) (arm-empty) (on-table koopu) (clear ywijm) (on criek kftfr) (clear mhgxa) (on-table ywijm) (on mhgxa criek)"
] | file_61801 |
GOAL: (on nfubi lyrlb) (on-table zwole) (holding pknke) (on lyrlb zwole) (clear alqik) (clear nfubi) (on-table alqik) | GOAL: (on nfubi lyrlb) (on-table zwole) (holding pknke) (on lyrlb zwole) (clear alqik) (clear nfubi) (on-table alqik)
STATE: (on lyrlb pknke) (on-table nfubi) (on pknke alqik) (holding zwole) (clear nfubi) (on-table alqik) (clear lyrlb) | [
[
"put-down zwole"
],
[
"unstack lyrlb pknke"
],
[
"stack lyrlb zwole"
],
[
"pick-up nfubi"
],
[
"stack nfubi lyrlb"
],
[
"unstack pknke alqik"
]
] | [
"(arm-empty) (on lyrlb pknke) (on-table zwole) (clear lyrlb) (clear zwole) (on-table nfubi) (on pknke alqik) (clear nfubi) (on-table alqik)",
"(clear zwole) (on-table zwole) (on-table nfubi) (clear pknke) (on pknke alqik) (holding lyrlb) (clear nfubi) (on-table alqik)",
"(arm-empty) (on-table zwole) (on-table nfubi) (on lyrlb zwole) (clear pknke) (on pknke alqik) (clear nfubi) (on-table alqik) (clear lyrlb)",
"(holding nfubi) (on-table zwole) (on lyrlb zwole) (clear pknke) (on pknke alqik) (on-table alqik) (clear lyrlb)",
"(on nfubi lyrlb) (arm-empty) (on-table zwole) (on lyrlb zwole) (clear pknke) (on pknke alqik) (clear nfubi) (on-table alqik)",
"(on nfubi lyrlb) (on-table zwole) (holding pknke) (on lyrlb zwole) (clear alqik) (clear nfubi) (on-table alqik)"
] | file_181428 |
GOAL: (on zvcfa yfzmu) (clear ljyte) (on-table ljyte) (on-table kanug) (holding pyhmy) (on-table yfzmu) (clear zvcfa) (clear kanug) | GOAL: (on zvcfa yfzmu) (clear ljyte) (on-table ljyte) (on-table kanug) (holding pyhmy) (on-table yfzmu) (clear zvcfa) (clear kanug)
STATE: (holding kanug) (on-table ljyte) (on yfzmu pyhmy) (on zvcfa ljyte) (clear yfzmu) (on pyhmy zvcfa) | [
[
"put-down kanug"
],
[
"unstack yfzmu pyhmy"
],
[
"put-down yfzmu"
],
[
"unstack pyhmy zvcfa"
],
[
"put-down pyhmy"
],
[
"unstack zvcfa ljyte"
],
[
"stack zvcfa yfzmu"
],
[
"pick-up pyhmy"
]
] | [
"(arm-empty) (on-table ljyte) (on yfzmu pyhmy) (clear yfzmu) (on pyhmy zvcfa) (on-table kanug) (on zvcfa ljyte) (clear kanug)",
"(on-table ljyte) (on-table kanug) (holding yfzmu) (on zvcfa ljyte) (on pyhmy zvcfa) (clear kanug) (clear pyhmy)",
"(arm-empty) (on-table ljyte) (clear yfzmu) (on pyhmy zvcfa) (clear pyhmy) (on-table kanug) (on zvcfa ljyte) (on-table yfzmu) (clear kanug)",
"(on-table ljyte) (on-table kanug) (on zvcfa ljyte) (clear yfzmu) (holding pyhmy) (on-table yfzmu) (clear zvcfa) (clear kanug)",
"(arm-empty) (on-table ljyte) (on-table pyhmy) (on-table kanug) (on zvcfa ljyte) (clear yfzmu) (on-table yfzmu) (clear zvcfa) (clear kanug) (clear pyhmy)",
"(clear ljyte) (on-table ljyte) (on-table pyhmy) (on-table kanug) (clear yfzmu) (on-table yfzmu) (holding zvcfa) (clear kanug) (clear pyhmy)",
"(on zvcfa yfzmu) (clear ljyte) (arm-empty) (on-table ljyte) (on-table pyhmy) (on-table kanug) (on-table yfzmu) (clear zvcfa) (clear kanug) (clear pyhmy)",
"(on zvcfa yfzmu) (clear ljyte) (on-table ljyte) (on-table kanug) (holding pyhmy) (on-table yfzmu) (clear zvcfa) (clear kanug)"
] | file_201476 |
GOAL: (on kqyhv erdwp) (arm-empty) (on erdwp ftymp) (on dntms btims) (on ftymp dntms) (clear kqyhv) (on-table btims) | GOAL: (on kqyhv erdwp) (arm-empty) (on erdwp ftymp) (on dntms btims) (on ftymp dntms) (clear kqyhv) (on-table btims)
STATE: (holding ftymp) (on dntms btims) (on erdwp kqyhv) (on kqyhv dntms) (on-table btims) (clear erdwp) | [
[
"put-down ftymp"
],
[
"unstack erdwp kqyhv"
],
[
"put-down erdwp"
],
[
"unstack kqyhv dntms"
],
[
"put-down kqyhv"
],
[
"pick-up erdwp"
],
[
"stack erdwp kqyhv"
],
[
"pick-up ftymp"
],
[
"stack ftymp dntms"
],
[
"unstack erdwp kqyhv"
],
[
"stack erdwp ftymp"
],
[
"pick-up kqyhv"
],
[
"stack kqyhv erdwp"
]
] | [
"(arm-empty) (on-table ftymp) (clear erdwp) (clear ftymp) (on dntms btims) (on erdwp kqyhv) (on kqyhv dntms) (on-table btims)",
"(clear ftymp) (on-table ftymp) (on dntms btims) (holding erdwp) (on kqyhv dntms) (clear kqyhv) (on-table btims)",
"(arm-empty) (on-table ftymp) (on-table erdwp) (clear erdwp) (clear ftymp) (on dntms btims) (on kqyhv dntms) (clear kqyhv) (on-table btims)",
"(holding kqyhv) (clear ftymp) (on-table ftymp) (on-table erdwp) (clear dntms) (on dntms btims) (on-table btims) (clear erdwp)",
"(clear ftymp) (arm-empty) (on-table ftymp) (on-table erdwp) (on-table kqyhv) (clear dntms) (on dntms btims) (clear kqyhv) (on-table btims) (clear erdwp)",
"(clear ftymp) (on-table ftymp) (on-table kqyhv) (clear dntms) (on dntms btims) (holding erdwp) (clear kqyhv) (on-table btims)",
"(clear ftymp) (arm-empty) (on-table ftymp) (on-table kqyhv) (clear dntms) (on dntms btims) (on erdwp kqyhv) (on-table btims) (clear erdwp)",
"(on-table kqyhv) (clear dntms) (on dntms btims) (on erdwp kqyhv) (holding ftymp) (on-table btims) (clear erdwp)",
"(clear ftymp) (arm-empty) (on-table kqyhv) (on dntms btims) (on erdwp kqyhv) (on ftymp dntms) (on-table btims) (clear erdwp)",
"(clear ftymp) (on-table kqyhv) (on dntms btims) (holding erdwp) (on ftymp dntms) (clear kqyhv) (on-table btims)",
"(arm-empty) (on-table kqyhv) (on erdwp ftymp) (on dntms btims) (on ftymp dntms) (clear kqyhv) (on-table btims) (clear erdwp)",
"(holding kqyhv) (on erdwp ftymp) (on dntms btims) (on ftymp dntms) (on-table btims) (clear erdwp)",
"(on kqyhv erdwp) (arm-empty) (on erdwp ftymp) (on dntms btims) (on ftymp dntms) (clear kqyhv) (on-table btims)"
] | file_199700 |
GOAL: (on qefbh tlypw) (arm-empty) (on-table knfqd) (on-table youya) (on-table tlypw) (on gtnkw knfqd) (clear qefbh) (clear gtnkw) (clear youya) | GOAL: (on qefbh tlypw) (arm-empty) (on-table knfqd) (on-table youya) (on-table tlypw) (on gtnkw knfqd) (clear qefbh) (clear gtnkw) (clear youya)
STATE: (on gtnkw qefbh) (clear knfqd) (arm-empty) (on-table knfqd) (on qefbh youya) (on-table youya) (on-table tlypw) (clear gtnkw) (clear tlypw) | [
[
"unstack gtnkw qefbh"
],
[
"stack gtnkw knfqd"
],
[
"unstack qefbh youya"
],
[
"stack qefbh tlypw"
]
] | [
"(clear knfqd) (on-table knfqd) (on qefbh youya) (on-table youya) (on-table tlypw) (clear qefbh) (holding gtnkw) (clear tlypw)",
"(arm-empty) (on-table knfqd) (on qefbh youya) (on-table youya) (on-table tlypw) (on gtnkw knfqd) (clear qefbh) (clear gtnkw) (clear tlypw)",
"(on-table knfqd) (on-table youya) (on-table tlypw) (holding qefbh) (on gtnkw knfqd) (clear gtnkw) (clear tlypw) (clear youya)",
"(on qefbh tlypw) (arm-empty) (on-table knfqd) (on-table youya) (on-table tlypw) (on gtnkw knfqd) (clear qefbh) (clear gtnkw) (clear youya)"
] | file_176440 |
GOAL: (on gdtja zmqib) (on lpdms qiknm) (clear zspyc) (arm-empty) (on qiknm gdtja) (on-table zmqib) (on zspyc lpdms) | GOAL: (on gdtja zmqib) (on lpdms qiknm) (clear zspyc) (arm-empty) (on qiknm gdtja) (on-table zmqib) (on zspyc lpdms)
STATE: (on-table qiknm) (on-table lpdms) (clear zmqib) (on-table zmqib) (holding zspyc) (clear gdtja) (clear lpdms) (on-table gdtja) (clear qiknm) | [
[
"put-down zspyc"
],
[
"pick-up gdtja"
],
[
"stack gdtja zmqib"
],
[
"pick-up qiknm"
],
[
"stack qiknm gdtja"
],
[
"pick-up lpdms"
],
[
"stack lpdms qiknm"
],
[
"pick-up zspyc"
],
[
"stack zspyc lpdms"
]
] | [
"(clear zspyc) (arm-empty) (on-table zspyc) (on-table qiknm) (on-table lpdms) (clear zmqib) (on-table zmqib) (clear gdtja) (clear lpdms) (on-table gdtja) (clear qiknm)",
"(clear zspyc) (on-table zspyc) (on-table qiknm) (on-table lpdms) (clear zmqib) (on-table zmqib) (holding gdtja) (clear lpdms) (clear qiknm)",
"(on gdtja zmqib) (clear zspyc) (arm-empty) (on-table zspyc) (on-table qiknm) (on-table lpdms) (on-table zmqib) (clear gdtja) (clear lpdms) (clear qiknm)",
"(on gdtja zmqib) (clear zspyc) (on-table zspyc) (on-table lpdms) (holding qiknm) (on-table zmqib) (clear gdtja) (clear lpdms)",
"(on gdtja zmqib) (clear zspyc) (arm-empty) (on-table zspyc) (on-table lpdms) (on qiknm gdtja) (on-table zmqib) (clear lpdms) (clear qiknm)",
"(holding lpdms) (on gdtja zmqib) (clear zspyc) (on-table zspyc) (on qiknm gdtja) (on-table zmqib) (clear qiknm)",
"(on gdtja zmqib) (clear zspyc) (on lpdms qiknm) (arm-empty) (on-table zspyc) (on qiknm gdtja) (on-table zmqib) (clear lpdms)",
"(on gdtja zmqib) (on lpdms qiknm) (on qiknm gdtja) (on-table zmqib) (holding zspyc) (clear lpdms)",
"(on gdtja zmqib) (on lpdms qiknm) (clear zspyc) (arm-empty) (on qiknm gdtja) (on-table zmqib) (on zspyc lpdms)"
] | file_91621 |
GOAL: (arm-empty) (on-table mnhep) (on quoss hgrop) (on hgrop uwfuq) (on-table uwfuq) (on nltlx mnhep) (clear nltlx) (clear quoss) | GOAL: (arm-empty) (on-table mnhep) (on quoss hgrop) (on hgrop uwfuq) (on-table uwfuq) (on nltlx mnhep) (clear nltlx) (clear quoss)
STATE: (on nltlx uwfuq) (on mnhep nltlx) (arm-empty) (on quoss hgrop) (on-table uwfuq) (on hgrop mnhep) (clear quoss) | [
[
"unstack quoss hgrop"
],
[
"put-down quoss"
],
[
"unstack hgrop mnhep"
],
[
"stack hgrop quoss"
],
[
"unstack mnhep nltlx"
],
[
"put-down mnhep"
],
[
"unstack nltlx uwfuq"
],
[
"put-down nltlx"
],
[
"unstack hgrop quoss"
],
[
"stack hgrop uwfuq"
],
[
"pick-up nltlx"
],
[
"stack nltlx mnhep"
],
[
"pick-up quoss"
],
[
"stack quoss hgrop"
]
] | [
"(on mnhep nltlx) (holding quoss) (on hgrop mnhep) (on nltlx uwfuq) (clear hgrop) (on-table uwfuq)",
"(on mnhep nltlx) (arm-empty) (on-table quoss) (on hgrop mnhep) (clear quoss) (on nltlx uwfuq) (clear hgrop) (on-table uwfuq)",
"(on nltlx uwfuq) (on mnhep nltlx) (on-table quoss) (on-table uwfuq) (holding hgrop) (clear mnhep) (clear quoss)",
"(on nltlx uwfuq) (clear hgrop) (on mnhep nltlx) (arm-empty) (on-table quoss) (on-table uwfuq) (on hgrop quoss) (clear mnhep)",
"(holding mnhep) (on nltlx uwfuq) (clear hgrop) (on-table quoss) (on-table uwfuq) (on hgrop quoss) (clear nltlx)",
"(arm-empty) (on-table quoss) (on hgrop quoss) (on nltlx uwfuq) (clear hgrop) (on-table mnhep) (on-table uwfuq) (clear nltlx) (clear mnhep)",
"(clear hgrop) (on-table quoss) (on-table mnhep) (clear uwfuq) (on-table uwfuq) (on hgrop quoss) (holding nltlx) (clear mnhep)",
"(clear hgrop) (arm-empty) (on-table quoss) (on-table mnhep) (clear uwfuq) (on-table uwfuq) (on hgrop quoss) (clear nltlx) (clear mnhep) (on-table nltlx)",
"(on-table quoss) (on-table mnhep) (clear uwfuq) (on-table uwfuq) (holding hgrop) (clear nltlx) (clear mnhep) (on-table nltlx) (clear quoss)",
"(clear hgrop) (arm-empty) (on-table quoss) (on-table mnhep) (on-table uwfuq) (on hgrop uwfuq) (clear nltlx) (clear mnhep) (on-table nltlx) (clear quoss)",
"(clear hgrop) (on-table quoss) (on-table mnhep) (on-table uwfuq) (on hgrop uwfuq) (holding nltlx) (clear mnhep) (clear quoss)",
"(clear hgrop) (arm-empty) (on-table quoss) (on-table mnhep) (on nltlx mnhep) (on-table uwfuq) (on hgrop uwfuq) (clear nltlx) (clear quoss)",
"(clear hgrop) (on-table mnhep) (on hgrop uwfuq) (holding quoss) (on-table uwfuq) (on nltlx mnhep) (clear nltlx)",
"(arm-empty) (on-table mnhep) (on quoss hgrop) (on hgrop uwfuq) (on-table uwfuq) (on nltlx mnhep) (clear nltlx) (clear quoss)"
] | file_28867 |
GOAL: (arm-empty) (on-table mfrrt) (on dyqop mfrrt) (on-table gulkw) (on iuxuf gulkw) (clear dyqop) (clear iuxuf) | GOAL: (arm-empty) (on-table mfrrt) (on dyqop mfrrt) (on-table gulkw) (on iuxuf gulkw) (clear dyqop) (clear iuxuf)
STATE: (clear mfrrt) (on-table gulkw) (on iuxuf gulkw) (on mfrrt iuxuf) (holding dyqop) | [
[
"put-down dyqop"
],
[
"unstack mfrrt iuxuf"
],
[
"put-down mfrrt"
],
[
"pick-up dyqop"
],
[
"stack dyqop mfrrt"
]
] | [
"(clear mfrrt) (on-table gulkw) (arm-empty) (on iuxuf gulkw) (on mfrrt iuxuf) (clear dyqop) (on-table dyqop)",
"(on iuxuf gulkw) (on-table gulkw) (holding mfrrt) (clear dyqop) (clear iuxuf) (on-table dyqop)",
"(arm-empty) (on-table mfrrt) (clear mfrrt) (on-table gulkw) (on iuxuf gulkw) (clear dyqop) (clear iuxuf) (on-table dyqop)",
"(clear mfrrt) (on-table mfrrt) (on-table gulkw) (on iuxuf gulkw) (holding dyqop) (clear iuxuf)",
"(arm-empty) (on-table mfrrt) (on dyqop mfrrt) (on-table gulkw) (on iuxuf gulkw) (clear dyqop) (clear iuxuf)"
] | file_222395 |
GOAL: (arm-empty) (on-table tehbx) (on adpuc tehbx) (on iyhlj vgcuh) (clear iyhlj) (on vgcuh adpuc) (clear hniuc) (on-table hniuc) | GOAL: (arm-empty) (on-table tehbx) (on adpuc tehbx) (on iyhlj vgcuh) (clear iyhlj) (on vgcuh adpuc) (clear hniuc) (on-table hniuc)
STATE: (on hniuc adpuc) (on vgcuh hniuc) (arm-empty) (on-table iyhlj) (on adpuc tehbx) (on tehbx iyhlj) (clear vgcuh) | [
[
"unstack vgcuh hniuc"
],
[
"put-down vgcuh"
],
[
"unstack hniuc adpuc"
],
[
"put-down hniuc"
],
[
"unstack adpuc tehbx"
],
[
"stack adpuc hniuc"
],
[
"unstack tehbx iyhlj"
],
[
"put-down tehbx"
],
[
"unstack adpuc hniuc"
],
[
"stack adpuc tehbx"
],
[
"pick-up iyhlj"
],
[
"stack iyhlj hniuc"
],
[
"pick-up vgcuh"
],
[
"stack vgcuh adpuc"
],
[
"unstack iyhlj hniuc"
],
[
"stack iyhlj vgcuh"
]
] | [
"(on-table iyhlj) (on adpuc tehbx) (on tehbx iyhlj) (holding vgcuh) (on hniuc adpuc) (clear hniuc)",
"(arm-empty) (on-table iyhlj) (on adpuc tehbx) (on tehbx iyhlj) (on hniuc adpuc) (on-table vgcuh) (clear hniuc) (clear vgcuh)",
"(on-table iyhlj) (on adpuc tehbx) (on-table vgcuh) (on tehbx iyhlj) (clear adpuc) (holding hniuc) (clear vgcuh)",
"(arm-empty) (on-table iyhlj) (on adpuc tehbx) (on tehbx iyhlj) (clear adpuc) (on-table vgcuh) (clear hniuc) (clear vgcuh) (on-table hniuc)",
"(on-table iyhlj) (on-table vgcuh) (holding adpuc) (on tehbx iyhlj) (clear hniuc) (clear vgcuh) (on-table hniuc) (clear tehbx)",
"(arm-empty) (on-table iyhlj) (on-table vgcuh) (on tehbx iyhlj) (clear adpuc) (on adpuc hniuc) (clear vgcuh) (on-table hniuc) (clear tehbx)",
"(clear iyhlj) (on-table iyhlj) (on-table vgcuh) (clear adpuc) (on adpuc hniuc) (holding tehbx) (clear vgcuh) (on-table hniuc)",
"(clear iyhlj) (arm-empty) (on-table iyhlj) (on-table tehbx) (on-table vgcuh) (clear adpuc) (on adpuc hniuc) (clear vgcuh) (on-table hniuc) (clear tehbx)",
"(clear iyhlj) (on-table iyhlj) (on-table tehbx) (on-table vgcuh) (holding adpuc) (clear hniuc) (clear vgcuh) (on-table hniuc) (clear tehbx)",
"(clear iyhlj) (arm-empty) (on-table iyhlj) (on-table tehbx) (on-table vgcuh) (on adpuc tehbx) (clear adpuc) (clear hniuc) (clear vgcuh) (on-table hniuc)",
"(on-table tehbx) (on-table vgcuh) (on adpuc tehbx) (clear adpuc) (holding iyhlj) (clear hniuc) (clear vgcuh) (on-table hniuc)",
"(clear iyhlj) (arm-empty) (on-table tehbx) (on-table vgcuh) (on adpuc tehbx) (clear adpuc) (on iyhlj hniuc) (clear vgcuh) (on-table hniuc)",
"(holding vgcuh) (clear iyhlj) (on-table tehbx) (on adpuc tehbx) (clear adpuc) (on iyhlj hniuc) (on-table hniuc)",
"(clear iyhlj) (arm-empty) (on-table tehbx) (on adpuc tehbx) (on vgcuh adpuc) (on iyhlj hniuc) (clear vgcuh) (on-table hniuc)",
"(on-table tehbx) (on adpuc tehbx) (holding iyhlj) (on vgcuh adpuc) (clear hniuc) (clear vgcuh) (on-table hniuc)",
"(arm-empty) (on-table tehbx) (on adpuc tehbx) (on iyhlj vgcuh) (clear iyhlj) (on vgcuh adpuc) (clear hniuc) (on-table hniuc)"
] | file_189961 |
GOAL: (on thpez gcvrh) (clear mwrkp) (arm-empty) (on-table lcfad) (on-table nlasz) (on-table gcvrh) (on mwrkp thpez) (clear nlasz) (clear lcfad) | GOAL: (on thpez gcvrh) (clear mwrkp) (arm-empty) (on-table lcfad) (on-table nlasz) (on-table gcvrh) (on mwrkp thpez) (clear nlasz) (clear lcfad)
STATE: (clear mwrkp) (arm-empty) (on-table mwrkp) (on-table nlasz) (clear gcvrh) (on lcfad nlasz) (on-table gcvrh) (clear thpez) (on-table thpez) (clear lcfad) | [
[
"unstack lcfad nlasz"
],
[
"put-down lcfad"
],
[
"pick-up thpez"
],
[
"stack thpez gcvrh"
],
[
"pick-up mwrkp"
],
[
"stack mwrkp thpez"
]
] | [
"(clear mwrkp) (on-table mwrkp) (on-table nlasz) (clear gcvrh) (holding lcfad) (on-table gcvrh) (clear thpez) (clear nlasz) (on-table thpez)",
"(clear mwrkp) (arm-empty) (on-table mwrkp) (on-table lcfad) (on-table nlasz) (clear gcvrh) (on-table gcvrh) (clear thpez) (clear nlasz) (on-table thpez) (clear lcfad)",
"(clear mwrkp) (on-table mwrkp) (on-table lcfad) (on-table nlasz) (clear gcvrh) (on-table gcvrh) (holding thpez) (clear nlasz) (clear lcfad)",
"(on thpez gcvrh) (clear mwrkp) (arm-empty) (on-table mwrkp) (on-table lcfad) (on-table nlasz) (on-table gcvrh) (clear thpez) (clear nlasz) (clear lcfad)",
"(on thpez gcvrh) (on-table lcfad) (on-table nlasz) (on-table gcvrh) (holding mwrkp) (clear thpez) (clear nlasz) (clear lcfad)",
"(on thpez gcvrh) (clear mwrkp) (arm-empty) (on-table lcfad) (on-table nlasz) (on-table gcvrh) (on mwrkp thpez) (clear nlasz) (clear lcfad)"
] | file_108473 |
GOAL: (on-table sfzjx) (clear ixcwj) (on rrhtq qcuxu) (on-table ixcwj) (holding mujzu) (clear sfzjx) (on-table qcuxu) (clear rrhtq) | GOAL: (on-table sfzjx) (clear ixcwj) (on rrhtq qcuxu) (on-table ixcwj) (holding mujzu) (clear sfzjx) (on-table qcuxu) (clear rrhtq)
STATE: (arm-empty) (on rrhtq qcuxu) (on sfzjx ixcwj) (on ixcwj mujzu) (on mujzu rrhtq) (clear sfzjx) (on-table qcuxu) | [
[
"unstack sfzjx ixcwj"
],
[
"put-down sfzjx"
],
[
"unstack ixcwj mujzu"
],
[
"put-down ixcwj"
],
[
"unstack mujzu rrhtq"
]
] | [
"(clear ixcwj) (on rrhtq qcuxu) (on mujzu rrhtq) (holding sfzjx) (on ixcwj mujzu) (on-table qcuxu)",
"(arm-empty) (clear ixcwj) (on rrhtq qcuxu) (on mujzu rrhtq) (on-table sfzjx) (on ixcwj mujzu) (clear sfzjx) (on-table qcuxu)",
"(clear mujzu) (on-table sfzjx) (holding ixcwj) (on rrhtq qcuxu) (on mujzu rrhtq) (clear sfzjx) (on-table qcuxu)",
"(arm-empty) (clear ixcwj) (on rrhtq qcuxu) (on mujzu rrhtq) (clear mujzu) (on-table sfzjx) (on-table ixcwj) (clear sfzjx) (on-table qcuxu)",
"(on-table sfzjx) (clear ixcwj) (on rrhtq qcuxu) (on-table ixcwj) (holding mujzu) (clear sfzjx) (on-table qcuxu) (clear rrhtq)"
] | file_175227 |
GOAL: (on-table uljvc) (on-table uanfr) (holding ujnsp) (on uaqtx uljvc) (on tdknk uanfr) (clear tdknk) (clear uaqtx) | GOAL: (on-table uljvc) (on-table uanfr) (holding ujnsp) (on uaqtx uljvc) (on tdknk uanfr) (clear tdknk) (clear uaqtx)
STATE: (on tdknk ujnsp) (arm-empty) (on uaqtx tdknk) (on-table ujnsp) (on uljvc uaqtx) (on uanfr uljvc) (clear uanfr) | [
[
"unstack uanfr uljvc"
],
[
"put-down uanfr"
],
[
"unstack uljvc uaqtx"
],
[
"put-down uljvc"
],
[
"unstack uaqtx tdknk"
],
[
"stack uaqtx uljvc"
],
[
"unstack tdknk ujnsp"
],
[
"stack tdknk uanfr"
],
[
"pick-up ujnsp"
]
] | [
"(on uaqtx tdknk) (on uljvc uaqtx) (holding uanfr) (on tdknk ujnsp) (clear uljvc) (on-table ujnsp)",
"(arm-empty) (on uaqtx tdknk) (on uljvc uaqtx) (on tdknk ujnsp) (clear uljvc) (on-table uanfr) (on-table ujnsp) (clear uanfr)",
"(on tdknk ujnsp) (on-table uanfr) (on uaqtx tdknk) (on-table ujnsp) (holding uljvc) (clear uanfr) (clear uaqtx)",
"(arm-empty) (on-table uljvc) (on uaqtx tdknk) (clear uaqtx) (on tdknk ujnsp) (clear uljvc) (on-table uanfr) (on-table ujnsp) (clear uanfr)",
"(on tdknk ujnsp) (clear uljvc) (on-table uljvc) (on-table uanfr) (holding uaqtx) (on-table ujnsp) (clear tdknk) (clear uanfr)",
"(on tdknk ujnsp) (arm-empty) (on-table uljvc) (on-table uanfr) (on uaqtx uljvc) (on-table ujnsp) (clear tdknk) (clear uanfr) (clear uaqtx)",
"(on-table uljvc) (on-table uanfr) (on uaqtx uljvc) (clear ujnsp) (on-table ujnsp) (holding tdknk) (clear uanfr) (clear uaqtx)",
"(arm-empty) (on-table uljvc) (on-table uanfr) (on uaqtx uljvc) (clear ujnsp) (on-table ujnsp) (on tdknk uanfr) (clear tdknk) (clear uaqtx)",
"(on-table uljvc) (on-table uanfr) (holding ujnsp) (on uaqtx uljvc) (on tdknk uanfr) (clear tdknk) (clear uaqtx)"
] | file_219189 |
GOAL: (on tzmtl kpszr) (on cqowd tzmtl) (arm-empty) (on-table fsvrq) (on-table kpszr) (clear cqowd) (clear fsvrq) (clear unmdr) (on-table unmdr) | GOAL: (on tzmtl kpszr) (on cqowd tzmtl) (arm-empty) (on-table fsvrq) (on-table kpszr) (clear cqowd) (clear fsvrq) (clear unmdr) (on-table unmdr)
STATE: (clear fsvrq) (arm-empty) (on-table kpszr) (on-table cqowd) (on tzmtl cqowd) (on fsvrq tzmtl) (clear unmdr) (on-table unmdr) (clear kpszr) | [
[
"pick-up kpszr"
],
[
"stack kpszr unmdr"
],
[
"unstack fsvrq tzmtl"
],
[
"put-down fsvrq"
],
[
"unstack kpszr unmdr"
],
[
"stack kpszr tzmtl"
],
[
"pick-up fsvrq"
],
[
"stack fsvrq unmdr"
],
[
"unstack kpszr tzmtl"
],
[
"put-down kpszr"
],
[
"unstack tzmtl cqowd"
],
[
"stack tzmtl kpszr"
],
[
"pick-up cqowd"
],
[
"stack cqowd tzmtl"
],
[
"unstack fsvrq unmdr"
],
[
"put-down fsvrq"
]
] | [
"(clear fsvrq) (holding kpszr) (on-table cqowd) (on tzmtl cqowd) (on fsvrq tzmtl) (clear unmdr) (on-table unmdr)",
"(clear fsvrq) (arm-empty) (on kpszr unmdr) (on-table cqowd) (on tzmtl cqowd) (on fsvrq tzmtl) (on-table unmdr) (clear kpszr)",
"(holding fsvrq) (on kpszr unmdr) (on-table cqowd) (on tzmtl cqowd) (clear tzmtl) (on-table unmdr) (clear kpszr)",
"(arm-empty) (on-table fsvrq) (on kpszr unmdr) (clear kpszr) (clear fsvrq) (on-table cqowd) (on tzmtl cqowd) (clear tzmtl) (on-table unmdr)",
"(clear fsvrq) (on-table fsvrq) (holding kpszr) (on-table cqowd) (on tzmtl cqowd) (clear unmdr) (clear tzmtl) (on-table unmdr)",
"(clear fsvrq) (arm-empty) (on-table fsvrq) (on kpszr tzmtl) (on-table cqowd) (on tzmtl cqowd) (clear unmdr) (on-table unmdr) (clear kpszr)",
"(holding fsvrq) (on kpszr tzmtl) (on-table cqowd) (on tzmtl cqowd) (clear unmdr) (on-table unmdr) (clear kpszr)",
"(clear fsvrq) (arm-empty) (on kpszr tzmtl) (on-table cqowd) (on tzmtl cqowd) (on fsvrq unmdr) (on-table unmdr) (clear kpszr)",
"(clear fsvrq) (holding kpszr) (on-table cqowd) (on tzmtl cqowd) (on fsvrq unmdr) (clear tzmtl) (on-table unmdr)",
"(arm-empty) (on-table kpszr) (clear kpszr) (clear fsvrq) (on-table cqowd) (on tzmtl cqowd) (on fsvrq unmdr) (clear tzmtl) (on-table unmdr)",
"(holding tzmtl) (clear fsvrq) (on-table kpszr) (clear cqowd) (on-table cqowd) (on fsvrq unmdr) (on-table unmdr) (clear kpszr)",
"(on tzmtl kpszr) (clear fsvrq) (arm-empty) (on-table kpszr) (clear cqowd) (on-table cqowd) (on fsvrq unmdr) (clear tzmtl) (on-table unmdr)",
"(on tzmtl kpszr) (clear fsvrq) (on-table kpszr) (holding cqowd) (on fsvrq unmdr) (clear tzmtl) (on-table unmdr)",
"(on tzmtl kpszr) (clear fsvrq) (on cqowd tzmtl) (arm-empty) (on-table kpszr) (clear cqowd) (on fsvrq unmdr) (on-table unmdr)",
"(on tzmtl kpszr) (on cqowd tzmtl) (on-table kpszr) (clear cqowd) (holding fsvrq) (clear unmdr) (on-table unmdr)",
"(on tzmtl kpszr) (on cqowd tzmtl) (arm-empty) (on-table fsvrq) (on-table kpszr) (clear cqowd) (clear fsvrq) (clear unmdr) (on-table unmdr)"
] | file_82980 |
GOAL: (arm-empty) (on-table ugivd) (on hekna mwvqd) (clear hekna) (on mwvqd lllph) (on lllph eikbz) (on eikbz ugivd) | GOAL: (arm-empty) (on-table ugivd) (on hekna mwvqd) (clear hekna) (on mwvqd lllph) (on lllph eikbz) (on eikbz ugivd)
STATE: (arm-empty) (on-table ugivd) (on-table mwvqd) (clear hekna) (on hekna lllph) (on lllph eikbz) (on eikbz ugivd) (clear mwvqd) | [
[
"unstack hekna lllph"
],
[
"put-down hekna"
],
[
"pick-up mwvqd"
],
[
"stack mwvqd lllph"
],
[
"pick-up hekna"
],
[
"stack hekna mwvqd"
]
] | [
"(on-table ugivd) (on-table mwvqd) (holding hekna) (on lllph eikbz) (clear lllph) (on eikbz ugivd) (clear mwvqd)",
"(arm-empty) (on-table ugivd) (on-table mwvqd) (clear hekna) (on lllph eikbz) (on eikbz ugivd) (clear mwvqd) (on-table hekna) (clear lllph)",
"(on-table ugivd) (clear hekna) (holding mwvqd) (on-table hekna) (on lllph eikbz) (clear lllph) (on eikbz ugivd)",
"(arm-empty) (on-table ugivd) (clear hekna) (on mwvqd lllph) (on-table hekna) (on lllph eikbz) (on eikbz ugivd) (clear mwvqd)",
"(on-table ugivd) (holding hekna) (on mwvqd lllph) (on lllph eikbz) (on eikbz ugivd) (clear mwvqd)",
"(arm-empty) (on-table ugivd) (on hekna mwvqd) (clear hekna) (on mwvqd lllph) (on lllph eikbz) (on eikbz ugivd)"
] | file_169204 |
GOAL: (clear ecghc) (on ozxzm ldngt) (on aeiam njvfd) (arm-empty) (on-table njvfd) (on ecghc ozxzm) (on-table ldngt) (clear aeiam) | GOAL: (clear ecghc) (on ozxzm ldngt) (on aeiam njvfd) (arm-empty) (on-table njvfd) (on ecghc ozxzm) (on-table ldngt) (clear aeiam)
STATE: (on ozxzm aeiam) (clear ecghc) (on aeiam njvfd) (on-table ecghc) (on-table njvfd) (holding ldngt) (clear ozxzm) | [
[
"put-down ldngt"
],
[
"unstack ozxzm aeiam"
],
[
"stack ozxzm ldngt"
],
[
"pick-up ecghc"
],
[
"stack ecghc ozxzm"
]
] | [
"(on ozxzm aeiam) (arm-empty) (on aeiam njvfd) (on-table ecghc) (clear ecghc) (on-table njvfd) (clear ldngt) (clear ozxzm) (on-table ldngt)",
"(holding ozxzm) (clear ecghc) (on aeiam njvfd) (on-table ecghc) (on-table njvfd) (clear ldngt) (on-table ldngt) (clear aeiam)",
"(clear ecghc) (on ozxzm ldngt) (on aeiam njvfd) (on-table ecghc) (arm-empty) (on-table njvfd) (clear ozxzm) (on-table ldngt) (clear aeiam)",
"(on ozxzm ldngt) (on aeiam njvfd) (on-table njvfd) (holding ecghc) (clear ozxzm) (on-table ldngt) (clear aeiam)",
"(clear ecghc) (on ozxzm ldngt) (on aeiam njvfd) (arm-empty) (on-table njvfd) (on ecghc ozxzm) (on-table ldngt) (clear aeiam)"
] | file_74216 |
GOAL: (on epomr jgslr) (on yjvzn mvpom) (on-table jgslr) (on-table mvpom) (clear yjvzn) (holding ftoow) (clear epomr) | GOAL: (on epomr jgslr) (on yjvzn mvpom) (on-table jgslr) (on-table mvpom) (clear yjvzn) (holding ftoow) (clear epomr)
STATE: (clear ftoow) (on-table jgslr) (on-table mvpom) (clear yjvzn) (on-table yjvzn) (on ftoow mvpom) (holding epomr) (clear jgslr) | [
[
"stack epomr jgslr"
],
[
"unstack ftoow mvpom"
],
[
"stack ftoow epomr"
],
[
"pick-up yjvzn"
],
[
"stack yjvzn mvpom"
],
[
"unstack ftoow epomr"
]
] | [
"(clear ftoow) (on epomr jgslr) (arm-empty) (on-table jgslr) (on-table mvpom) (clear yjvzn) (on-table yjvzn) (on ftoow mvpom) (clear epomr)",
"(on epomr jgslr) (on-table jgslr) (on-table mvpom) (clear yjvzn) (on-table yjvzn) (holding ftoow) (clear epomr) (clear mvpom)",
"(on epomr jgslr) (clear ftoow) (arm-empty) (on-table jgslr) (on-table mvpom) (clear yjvzn) (on-table yjvzn) (on ftoow epomr) (clear mvpom)",
"(on epomr jgslr) (clear ftoow) (on-table jgslr) (on-table mvpom) (holding yjvzn) (on ftoow epomr) (clear mvpom)",
"(on epomr jgslr) (clear ftoow) (on yjvzn mvpom) (arm-empty) (on-table jgslr) (on-table mvpom) (clear yjvzn) (on ftoow epomr)",
"(on epomr jgslr) (on yjvzn mvpom) (on-table jgslr) (on-table mvpom) (clear yjvzn) (holding ftoow) (clear epomr)"
] | file_71836 |
GOAL: (on jfanl dqynd) (clear lbznk) (on dqynd hxirx) (on-table hxirx) (holding ncmqf) (on lbznk jfanl) | GOAL: (on jfanl dqynd) (clear lbznk) (on dqynd hxirx) (on-table hxirx) (holding ncmqf) (on lbznk jfanl)
STATE: (on jfanl dqynd) (on dqynd hxirx) (on-table hxirx) (on ncmqf jfanl) (holding lbznk) (clear ncmqf) | [
[
"put-down lbznk"
],
[
"unstack ncmqf jfanl"
],
[
"put-down ncmqf"
],
[
"pick-up lbznk"
],
[
"stack lbznk jfanl"
],
[
"pick-up ncmqf"
]
] | [
"(on dqynd hxirx) (arm-empty) (on-table lbznk) (on ncmqf jfanl) (clear ncmqf) (on jfanl dqynd) (clear lbznk) (on-table hxirx)",
"(on jfanl dqynd) (clear lbznk) (on dqynd hxirx) (on-table lbznk) (on-table hxirx) (holding ncmqf) (clear jfanl)",
"(on dqynd hxirx) (arm-empty) (on-table lbznk) (on-table ncmqf) (clear ncmqf) (on jfanl dqynd) (clear lbznk) (on-table hxirx) (clear jfanl)",
"(on jfanl dqynd) (on dqynd hxirx) (on-table ncmqf) (on-table hxirx) (holding lbznk) (clear jfanl) (clear ncmqf)",
"(on jfanl dqynd) (clear lbznk) (on dqynd hxirx) (arm-empty) (on-table ncmqf) (on-table hxirx) (on lbznk jfanl) (clear ncmqf)",
"(on jfanl dqynd) (clear lbznk) (on dqynd hxirx) (on-table hxirx) (holding ncmqf) (on lbznk jfanl)"
] | file_195303 |
Subsets and Splits
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