goal stringlengths 69 172 | input stringlengths 140 332 | actions listlengths 1 18 | next_states listlengths 1 18 | source_file stringlengths 6 11 |
|---|---|---|---|---|
GOAL: (clear xcsnk) (on egldz bvtqr) (on-table xcsnk) (on-table odngv) (holding zgpio) (clear egldz) (on-table bvtqr) (clear odngv) | GOAL: (clear xcsnk) (on egldz bvtqr) (on-table xcsnk) (on-table odngv) (holding zgpio) (clear egldz) (on-table bvtqr) (clear odngv)
STATE: (arm-empty) (on-table odngv) (on egldz zgpio) (on zgpio xcsnk) (on xcsnk odngv) (clear bvtqr) (clear egldz) (on-table bvtqr) | [
[
"unstack egldz zgpio"
],
[
"stack egldz bvtqr"
],
[
"unstack zgpio xcsnk"
],
[
"put-down zgpio"
],
[
"unstack xcsnk odngv"
],
[
"put-down xcsnk"
],
[
"pick-up zgpio"
]
] | [
"(holding egldz) (on-table odngv) (clear zgpio) (on zgpio xcsnk) (on xcsnk odngv) (clear bvtqr) (on-table bvtqr)",
"(on egldz bvtqr) (arm-empty) (on-table odngv) (clear zgpio) (on zgpio xcsnk) (on xcsnk odngv) (clear egldz) (on-table bvtqr)",
"(clear xcsnk) (on egldz bvtqr) (on-table odngv) (holding zgpio) (on xcsnk odngv) (clear egldz) (on-table bvtqr)",
"(on egldz bvtqr) (arm-empty) (on-table odngv) (clear zgpio) (on xcsnk odngv) (clear xcsnk) (on-table zgpio) (clear egldz) (on-table bvtqr)",
"(on egldz bvtqr) (on-table odngv) (clear zgpio) (on-table zgpio) (holding xcsnk) (clear egldz) (on-table bvtqr) (clear odngv)",
"(clear xcsnk) (on egldz bvtqr) (arm-empty) (on-table xcsnk) (on-table odngv) (clear zgpio) (on-table zgpio) (clear egldz) (on-table bvtqr) (clear odngv)",
"(clear xcsnk) (on egldz bvtqr) (on-table xcsnk) (on-table odngv) (holding zgpio) (clear egldz) (on-table bvtqr) (clear odngv)"
] | file_72615 |
GOAL: (on rckcu srerw) (clear dkdef) (holding ukqff) (on srerw fplir) (on dkdef rckcu) (on-table fplir) | GOAL: (on rckcu srerw) (clear dkdef) (holding ukqff) (on srerw fplir) (on dkdef rckcu) (on-table fplir)
STATE: (holding rckcu) (clear dkdef) (on-table dkdef) (clear ukqff) (on srerw fplir) (on-table ukqff) (on-table fplir) (clear srerw) | [
[
"stack rckcu srerw"
],
[
"pick-up dkdef"
],
[
"stack dkdef rckcu"
],
[
"pick-up ukqff"
]
] | [
"(on rckcu srerw) (clear dkdef) (arm-empty) (on-table dkdef) (clear ukqff) (on srerw fplir) (on-table ukqff) (clear rckcu) (on-table fplir)",
"(on rckcu srerw) (clear ukqff) (on srerw fplir) (on-table ukqff) (holding dkdef) (clear rckcu) (on-table fplir)",
"(on rckcu srerw) (arm-empty) (clear ukqff) (on srerw fplir) (on dkdef rckcu) (clear dkdef) (on-table ukqff) (on-table fplir)",
"(on rckcu srerw) (clear dkdef) (holding ukqff) (on srerw fplir) (on dkdef rckcu) (on-table fplir)"
] | file_219605 |
GOAL: (holding dffed) (clear mcanc) (on-table ovscn) (clear rjjpf) (on-table rjjpf) (on mcanc litrb) (on-table litrb) (clear ovscn) | GOAL: (holding dffed) (clear mcanc) (on-table ovscn) (clear rjjpf) (on-table rjjpf) (on mcanc litrb) (on-table litrb) (clear ovscn)
STATE: (clear dffed) (on-table ovscn) (on-table rjjpf) (on mcanc rjjpf) (holding litrb) (on dffed mcanc) (clear ovscn) | [
[
"stack litrb ovscn"
],
[
"unstack dffed mcanc"
],
[
"put-down dffed"
],
[
"unstack litrb ovscn"
],
[
"put-down litrb"
],
[
"unstack mcanc rjjpf"
],
[
"stack mcanc litrb"
],
[
"pick-up dffed"
]
] | [
"(on litrb ovscn) (arm-empty) (on-table ovscn) (on-table rjjpf) (on mcanc rjjpf) (clear litrb) (on dffed mcanc) (clear dffed)",
"(holding dffed) (on litrb ovscn) (clear mcanc) (on-table ovscn) (on-table rjjpf) (on mcanc rjjpf) (clear litrb)",
"(on litrb ovscn) (arm-empty) (on-table ovscn) (on mcanc rjjpf) (clear mcanc) (on-table dffed) (on-table rjjpf) (clear litrb) (clear dffed)",
"(clear mcanc) (on-table ovscn) (on-table dffed) (on-table rjjpf) (on mcanc rjjpf) (holding litrb) (clear dffed) (clear ovscn)",
"(clear mcanc) (arm-empty) (on-table ovscn) (on-table dffed) (on-table rjjpf) (on mcanc rjjpf) (clear litrb) (clear dffed) (on-table litrb) (clear ovscn)",
"(on-table ovscn) (on-table dffed) (clear rjjpf) (on-table rjjpf) (holding mcanc) (clear litrb) (clear dffed) (on-table litrb) (clear ovscn)",
"(clear mcanc) (arm-empty) (on-table ovscn) (on-table dffed) (clear rjjpf) (on-table rjjpf) (on mcanc litrb) (clear dffed) (on-table litrb) (clear ovscn)",
"(holding dffed) (clear mcanc) (on-table ovscn) (clear rjjpf) (on-table rjjpf) (on mcanc litrb) (on-table litrb) (clear ovscn)"
] | file_108621 |
GOAL: (on hhcub lwtzg) (clear mluit) (arm-empty) (on-table lwtzg) (on-table lczjv) (on-table bbncj) (on mluit bbncj) (clear hhcub) (clear lczjv) | GOAL: (on hhcub lwtzg) (clear mluit) (arm-empty) (on-table lwtzg) (on-table lczjv) (on-table bbncj) (on mluit bbncj) (clear hhcub) (clear lczjv)
STATE: (on bbncj lczjv) (on-table lwtzg) (on-table lczjv) (clear bbncj) (holding mluit) (clear hhcub) (on-table hhcub) (clear lwtzg) | [
[
"stack mluit bbncj"
],
[
"pick-up hhcub"
],
[
"stack hhcub lwtzg"
],
[
"unstack mluit bbncj"
],
[
"put-down mluit"
],
[
"unstack bbncj lczjv"
],
[
"stack bbncj hhcub"
],
[
"pick-up mluit"
],
[
"stack mluit lczjv"
],
[
"unstack bbncj hhcub"
],
[
"put-down bbncj"
],
[
"unstack mluit lczjv"
],
[
"stack mluit bbncj"
]
] | [
"(clear mluit) (on bbncj lczjv) (arm-empty) (on-table lwtzg) (on-table lczjv) (on mluit bbncj) (clear hhcub) (on-table hhcub) (clear lwtzg)",
"(clear mluit) (on bbncj lczjv) (on-table lwtzg) (on-table lczjv) (on mluit bbncj) (holding hhcub) (clear lwtzg)",
"(clear mluit) (on bbncj lczjv) (on hhcub lwtzg) (arm-empty) (on-table lwtzg) (on-table lczjv) (on mluit bbncj) (clear hhcub)",
"(on bbncj lczjv) (on hhcub lwtzg) (on-table lwtzg) (on-table lczjv) (clear bbncj) (holding mluit) (clear hhcub)",
"(on hhcub lwtzg) (on bbncj lczjv) (arm-empty) (on-table mluit) (on-table lwtzg) (clear bbncj) (clear mluit) (on-table lczjv) (clear hhcub)",
"(on hhcub lwtzg) (on-table mluit) (on-table lwtzg) (clear mluit) (on-table lczjv) (holding bbncj) (clear hhcub) (clear lczjv)",
"(on hhcub lwtzg) (clear mluit) (arm-empty) (on-table mluit) (on-table lwtzg) (on-table lczjv) (clear bbncj) (on bbncj hhcub) (clear lczjv)",
"(on hhcub lwtzg) (on-table lwtzg) (on-table lczjv) (clear bbncj) (on bbncj hhcub) (holding mluit) (clear lczjv)",
"(on hhcub lwtzg) (clear mluit) (arm-empty) (on-table lwtzg) (on-table lczjv) (clear bbncj) (on bbncj hhcub) (on mluit lczjv)",
"(on hhcub lwtzg) (clear mluit) (on-table lwtzg) (on-table lczjv) (holding bbncj) (on mluit lczjv) (clear hhcub)",
"(on hhcub lwtzg) (arm-empty) (on-table lwtzg) (clear bbncj) (on mluit lczjv) (clear mluit) (on-table lczjv) (on-table bbncj) (clear hhcub)",
"(on hhcub lwtzg) (on-table lwtzg) (on-table lczjv) (clear bbncj) (on-table bbncj) (holding mluit) (clear hhcub) (clear lczjv)",
"(on hhcub lwtzg) (clear mluit) (arm-empty) (on-table lwtzg) (on-table lczjv) (on-table bbncj) (on mluit bbncj) (clear hhcub) (clear lczjv)"
] | file_190841 |
GOAL: (arm-empty) (on-table zklyh) (on-table dyata) (on djeuu zklyh) (clear bwdwr) (on-table bwdwr) (clear djeuu) (clear dyata) | GOAL: (arm-empty) (on-table zklyh) (on-table dyata) (on djeuu zklyh) (clear bwdwr) (on-table bwdwr) (clear djeuu) (clear dyata)
STATE: (clear zklyh) (on-table dyata) (on-table bwdwr) (on zklyh bwdwr) (holding djeuu) (clear dyata) | [
[
"stack djeuu dyata"
],
[
"unstack zklyh bwdwr"
],
[
"put-down zklyh"
],
[
"unstack djeuu dyata"
],
[
"stack djeuu zklyh"
]
] | [
"(clear zklyh) (arm-empty) (on-table dyata) (on zklyh bwdwr) (on-table bwdwr) (on djeuu dyata) (clear djeuu)",
"(clear bwdwr) (on djeuu dyata) (on-table dyata) (on-table bwdwr) (holding zklyh) (clear djeuu)",
"(arm-empty) (on-table zklyh) (clear bwdwr) (on djeuu dyata) (clear zklyh) (on-table dyata) (on-table bwdwr) (clear djeuu)",
"(clear zklyh) (on-table zklyh) (on-table dyata) (clear bwdwr) (on-table bwdwr) (holding djeuu) (clear dyata)",
"(arm-empty) (on-table zklyh) (on-table dyata) (on djeuu zklyh) (clear bwdwr) (on-table bwdwr) (clear djeuu) (clear dyata)"
] | file_149720 |
GOAL: (on kznsk csukk) (clear pkwhl) (arm-empty) (on csukk efnwu) (on-table pkwhl) (on-table efnwu) (on gxbjz kznsk) (clear gxbjz) | GOAL: (on kznsk csukk) (clear pkwhl) (arm-empty) (on csukk efnwu) (on-table pkwhl) (on-table efnwu) (on gxbjz kznsk) (clear gxbjz)
STATE: (clear pkwhl) (arm-empty) (on-table pkwhl) (on-table kznsk) (clear efnwu) (on csukk gxbjz) (on-table efnwu) (on gxbjz kznsk) (clear csukk) | [
[
"unstack csukk gxbjz"
],
[
"stack csukk efnwu"
],
[
"unstack gxbjz kznsk"
],
[
"stack gxbjz pkwhl"
],
[
"pick-up kznsk"
],
[
"stack kznsk csukk"
],
[
"unstack gxbjz pkwhl"
],
[
"stack gxbjz kznsk"
]
] | [
"(clear pkwhl) (on-table pkwhl) (on-table kznsk) (clear efnwu) (holding csukk) (on-table efnwu) (on gxbjz kznsk) (clear gxbjz)",
"(clear pkwhl) (arm-empty) (on csukk efnwu) (on-table pkwhl) (on-table kznsk) (on-table efnwu) (on gxbjz kznsk) (clear gxbjz) (clear csukk)",
"(clear pkwhl) (on csukk efnwu) (on-table pkwhl) (on-table kznsk) (on-table efnwu) (holding gxbjz) (clear kznsk) (clear csukk)",
"(arm-empty) (on csukk efnwu) (on-table pkwhl) (on-table kznsk) (on gxbjz pkwhl) (on-table efnwu) (clear gxbjz) (clear kznsk) (clear csukk)",
"(holding kznsk) (on csukk efnwu) (on-table pkwhl) (on gxbjz pkwhl) (on-table efnwu) (clear gxbjz) (clear csukk)",
"(on kznsk csukk) (arm-empty) (on csukk efnwu) (on-table pkwhl) (on gxbjz pkwhl) (on-table efnwu) (clear gxbjz) (clear kznsk)",
"(on kznsk csukk) (clear pkwhl) (on csukk efnwu) (on-table pkwhl) (on-table efnwu) (holding gxbjz) (clear kznsk)",
"(on kznsk csukk) (clear pkwhl) (arm-empty) (on csukk efnwu) (on-table pkwhl) (on-table efnwu) (on gxbjz kznsk) (clear gxbjz)"
] | file_67938 |
GOAL: (arm-empty) (on mfaez fyect) (on-table zweag) (on fyect afzwn) (on afzwn zweag) (clear thszl) (on-table thszl) (clear mfaez) | GOAL: (arm-empty) (on mfaez fyect) (on-table zweag) (on fyect afzwn) (on afzwn zweag) (clear thszl) (on-table thszl) (clear mfaez)
STATE: (arm-empty) (on-table mfaez) (on afzwn fyect) (on-table fyect) (on thszl zweag) (clear thszl) (on zweag afzwn) (clear mfaez) | [
[
"unstack thszl zweag"
],
[
"put-down thszl"
],
[
"unstack zweag afzwn"
],
[
"put-down zweag"
],
[
"unstack afzwn fyect"
],
[
"stack afzwn zweag"
],
[
"pick-up thszl"
],
[
"stack thszl afzwn"
],
[
"pick-up fyect"
],
[
"stack fyect mfaez"
],
[
"unstack thszl afzwn"
],
[
"put-down thszl"
],
[
"unstack fyect mfaez"
],
[
"stack fyect afzwn"
],
[
"pick-up mfaez"
],
[
"stack mfaez fyect"
]
] | [
"(on-table mfaez) (on afzwn fyect) (on-table fyect) (on zweag afzwn) (clear zweag) (holding thszl) (clear mfaez)",
"(arm-empty) (on-table mfaez) (on afzwn fyect) (on zweag afzwn) (clear mfaez) (on-table fyect) (clear thszl) (clear zweag) (on-table thszl)",
"(holding zweag) (clear afzwn) (on-table mfaez) (on-table fyect) (on afzwn fyect) (clear thszl) (on-table thszl) (clear mfaez)",
"(clear afzwn) (arm-empty) (on-table mfaez) (on-table zweag) (on-table fyect) (on afzwn fyect) (clear thszl) (clear zweag) (on-table thszl) (clear mfaez)",
"(on-table mfaez) (on-table zweag) (clear fyect) (on-table fyect) (holding afzwn) (clear thszl) (clear zweag) (on-table thszl) (clear mfaez)",
"(clear afzwn) (arm-empty) (on-table mfaez) (on-table zweag) (clear fyect) (on-table fyect) (on afzwn zweag) (clear thszl) (on-table thszl) (clear mfaez)",
"(clear afzwn) (on-table mfaez) (on-table zweag) (clear fyect) (on-table fyect) (on afzwn zweag) (holding thszl) (clear mfaez)",
"(arm-empty) (on-table mfaez) (on-table zweag) (on thszl afzwn) (clear fyect) (on-table fyect) (on afzwn zweag) (clear thszl) (clear mfaez)",
"(on-table mfaez) (on-table zweag) (holding fyect) (on thszl afzwn) (on afzwn zweag) (clear thszl) (clear mfaez)",
"(arm-empty) (on fyect mfaez) (on-table mfaez) (on-table zweag) (on thszl afzwn) (clear fyect) (on afzwn zweag) (clear thszl)",
"(clear afzwn) (on fyect mfaez) (on-table mfaez) (on-table zweag) (clear fyect) (on afzwn zweag) (holding thszl)",
"(arm-empty) (on-table mfaez) (on fyect mfaez) (clear fyect) (on afzwn zweag) (clear afzwn) (on-table zweag) (clear thszl) (on-table thszl)",
"(clear afzwn) (on-table mfaez) (holding fyect) (on-table zweag) (on afzwn zweag) (clear thszl) (on-table thszl) (clear mfaez)",
"(arm-empty) (on-table mfaez) (on-table zweag) (clear fyect) (on fyect afzwn) (on afzwn zweag) (clear thszl) (on-table thszl) (clear mfaez)",
"(on-table zweag) (clear fyect) (holding mfaez) (on fyect afzwn) (on afzwn zweag) (clear thszl) (on-table thszl)",
"(arm-empty) (on mfaez fyect) (on-table zweag) (on fyect afzwn) (on afzwn zweag) (clear thszl) (on-table thszl) (clear mfaez)"
] | file_198482 |
GOAL: (clear tpoqs) (on rbdeg awcxv) (arm-empty) (on-table lysyk) (on tpoqs lysyk) (clear rbdeg) (on-table awcxv) | GOAL: (clear tpoqs) (on rbdeg awcxv) (arm-empty) (on-table lysyk) (on tpoqs lysyk) (clear rbdeg) (on-table awcxv)
STATE: (arm-empty) (clear lysyk) (on-table lysyk) (on tpoqs awcxv) (on rbdeg tpoqs) (clear rbdeg) (on-table awcxv) | [
[
"unstack rbdeg tpoqs"
],
[
"put-down rbdeg"
],
[
"unstack tpoqs awcxv"
],
[
"stack tpoqs lysyk"
],
[
"pick-up rbdeg"
],
[
"stack rbdeg awcxv"
]
] | [
"(clear lysyk) (holding rbdeg) (clear tpoqs) (on-table lysyk) (on tpoqs awcxv) (on-table awcxv)",
"(arm-empty) (clear lysyk) (clear tpoqs) (on-table rbdeg) (on-table lysyk) (on tpoqs awcxv) (clear rbdeg) (on-table awcxv)",
"(on-table rbdeg) (clear lysyk) (on-table lysyk) (holding tpoqs) (clear awcxv) (clear rbdeg) (on-table awcxv)",
"(clear tpoqs) (arm-empty) (on-table rbdeg) (on-table lysyk) (on tpoqs lysyk) (clear awcxv) (clear rbdeg) (on-table awcxv)",
"(holding rbdeg) (clear tpoqs) (on-table lysyk) (on tpoqs lysyk) (clear awcxv) (on-table awcxv)",
"(clear tpoqs) (on rbdeg awcxv) (arm-empty) (on-table lysyk) (on tpoqs lysyk) (clear rbdeg) (on-table awcxv)"
] | file_106780 |
GOAL: (holding fxgid) (clear fqwpb) (on usxwe oyhqf) (on-table oyhqf) (on fqwpb usxwe) (clear lmvcj) (on-table lmvcj) | GOAL: (holding fxgid) (clear fqwpb) (on usxwe oyhqf) (on-table oyhqf) (on fqwpb usxwe) (clear lmvcj) (on-table lmvcj)
STATE: (clear fqwpb) (on lmvcj usxwe) (arm-empty) (on usxwe oyhqf) (on-table fqwpb) (on-table fxgid) (on-table oyhqf) (clear lmvcj) (clear fxgid) | [
[
"unstack lmvcj usxwe"
],
[
"put-down lmvcj"
],
[
"pick-up fqwpb"
],
[
"stack fqwpb usxwe"
],
[
"pick-up fxgid"
]
] | [
"(clear fqwpb) (on usxwe oyhqf) (on-table fqwpb) (on-table fxgid) (on-table oyhqf) (holding lmvcj) (clear fxgid) (clear usxwe)",
"(clear fqwpb) (arm-empty) (on usxwe oyhqf) (on-table fqwpb) (on-table fxgid) (on-table oyhqf) (clear lmvcj) (clear fxgid) (on-table lmvcj) (clear usxwe)",
"(on usxwe oyhqf) (on-table fxgid) (on-table oyhqf) (holding fqwpb) (clear lmvcj) (clear fxgid) (on-table lmvcj) (clear usxwe)",
"(clear fqwpb) (arm-empty) (on usxwe oyhqf) (on-table fxgid) (on-table oyhqf) (on fqwpb usxwe) (clear lmvcj) (clear fxgid) (on-table lmvcj)",
"(holding fxgid) (clear fqwpb) (on usxwe oyhqf) (on-table oyhqf) (on fqwpb usxwe) (clear lmvcj) (on-table lmvcj)"
] | file_122045 |
GOAL: (on-table hcbdy) (on-table jabwe) (clear mabtl) (holding bbdqu) (on mabtl hcbdy) (clear uktek) (clear jabwe) (on-table uktek) | GOAL: (on-table hcbdy) (on-table jabwe) (clear mabtl) (holding bbdqu) (on mabtl hcbdy) (clear uktek) (clear jabwe) (on-table uktek)
STATE: (on uktek mabtl) (on mabtl bbdqu) (on-table jabwe) (on bbdqu jabwe) (holding hcbdy) (clear uktek) | [
[
"put-down hcbdy"
],
[
"unstack uktek mabtl"
],
[
"put-down uktek"
],
[
"unstack mabtl bbdqu"
],
[
"stack mabtl hcbdy"
],
[
"unstack bbdqu jabwe"
]
] | [
"(arm-empty) (on-table hcbdy) (on mabtl bbdqu) (on uktek mabtl) (clear hcbdy) (on-table jabwe) (on bbdqu jabwe) (clear uktek)",
"(clear hcbdy) (on-table hcbdy) (on mabtl bbdqu) (on-table jabwe) (clear mabtl) (on bbdqu jabwe) (holding uktek)",
"(arm-empty) (on-table hcbdy) (on mabtl bbdqu) (clear mabtl) (clear hcbdy) (on-table jabwe) (on bbdqu jabwe) (clear uktek) (on-table uktek)",
"(clear hcbdy) (on-table hcbdy) (on-table jabwe) (holding mabtl) (on bbdqu jabwe) (clear uktek) (on-table uktek) (clear bbdqu)",
"(arm-empty) (on-table hcbdy) (on-table jabwe) (clear mabtl) (on bbdqu jabwe) (on mabtl hcbdy) (clear uktek) (on-table uktek) (clear bbdqu)",
"(on-table hcbdy) (on-table jabwe) (clear mabtl) (holding bbdqu) (on mabtl hcbdy) (clear uktek) (clear jabwe) (on-table uktek)"
] | file_39904 |
GOAL: (holding pklhk) (clear hftkw) (on-table hftkw) (on sfsns kjxnq) (clear sfsns) (on kjxnq evhkw) (on-table evhkw) | GOAL: (holding pklhk) (clear hftkw) (on-table hftkw) (on sfsns kjxnq) (clear sfsns) (on kjxnq evhkw) (on-table evhkw)
STATE: (on hftkw sfsns) (holding kjxnq) (on-table sfsns) (on evhkw pklhk) (clear evhkw) (on pklhk hftkw) | [
[
"put-down kjxnq"
],
[
"unstack evhkw pklhk"
],
[
"put-down evhkw"
],
[
"pick-up kjxnq"
],
[
"stack kjxnq evhkw"
],
[
"unstack pklhk hftkw"
],
[
"put-down pklhk"
],
[
"unstack hftkw sfsns"
],
[
"put-down hftkw"
],
[
"pick-up sfsns"
],
[
"stack sfsns kjxnq"
],
[
"pick-up pklhk"
]
] | [
"(arm-empty) (on-table kjxnq) (on evhkw pklhk) (on hftkw sfsns) (on pklhk hftkw) (clear kjxnq) (on-table sfsns) (clear evhkw)",
"(on-table kjxnq) (on hftkw sfsns) (on-table sfsns) (on pklhk hftkw) (clear pklhk) (holding evhkw) (clear kjxnq)",
"(arm-empty) (on-table kjxnq) (on hftkw sfsns) (on pklhk hftkw) (clear kjxnq) (on-table sfsns) (clear evhkw) (clear pklhk) (on-table evhkw)",
"(holding kjxnq) (on-table sfsns) (on hftkw sfsns) (clear evhkw) (on pklhk hftkw) (clear pklhk) (on-table evhkw)",
"(arm-empty) (on kjxnq evhkw) (on-table sfsns) (on hftkw sfsns) (on pklhk hftkw) (clear pklhk) (on-table evhkw) (clear kjxnq)",
"(holding pklhk) (clear hftkw) (on kjxnq evhkw) (on-table sfsns) (on hftkw sfsns) (on-table evhkw) (clear kjxnq)",
"(arm-empty) (on kjxnq evhkw) (on hftkw sfsns) (clear kjxnq) (clear hftkw) (on-table pklhk) (on-table sfsns) (clear pklhk) (on-table evhkw)",
"(on-table pklhk) (clear sfsns) (on kjxnq evhkw) (on-table sfsns) (holding hftkw) (clear pklhk) (on-table evhkw) (clear kjxnq)",
"(clear hftkw) (arm-empty) (on-table hftkw) (on-table pklhk) (clear sfsns) (on kjxnq evhkw) (on-table sfsns) (clear pklhk) (on-table evhkw) (clear kjxnq)",
"(clear hftkw) (on-table hftkw) (on-table pklhk) (holding sfsns) (on kjxnq evhkw) (clear pklhk) (on-table evhkw) (clear kjxnq)",
"(clear hftkw) (arm-empty) (on-table hftkw) (on sfsns kjxnq) (on-table pklhk) (clear sfsns) (on kjxnq evhkw) (clear pklhk) (on-table evhkw)",
"(holding pklhk) (clear hftkw) (on-table hftkw) (on sfsns kjxnq) (clear sfsns) (on kjxnq evhkw) (on-table evhkw)"
] | file_51229 |
GOAL: (holding vkhdf) (clear rlgvr) (on-table rlgvr) (on wdojt nrtiv) (clear wdojt) (on nrtiv sjscp) (on-table sjscp) | GOAL: (holding vkhdf) (clear rlgvr) (on-table rlgvr) (on wdojt nrtiv) (clear wdojt) (on nrtiv sjscp) (on-table sjscp)
STATE: (holding vkhdf) (clear rlgvr) (on-table nrtiv) (on wdojt sjscp) (on rlgvr wdojt) (on-table sjscp) (clear nrtiv) | [
[
"stack vkhdf nrtiv"
],
[
"unstack rlgvr wdojt"
],
[
"put-down rlgvr"
],
[
"unstack vkhdf nrtiv"
],
[
"put-down vkhdf"
],
[
"unstack wdojt sjscp"
],
[
"put-down wdojt"
],
[
"pick-up nrtiv"
],
[
"stack nrtiv sjscp"
],
[
"pick-up vkhdf"
],
[
"stack vkhdf rlgvr"
],
[
"pick-up wdojt"
],
[
"stack wdojt nrtiv"
],
[
"unstack vkhdf rlgvr"
]
] | [
"(on vkhdf nrtiv) (clear rlgvr) (arm-empty) (on-table nrtiv) (on wdojt sjscp) (on rlgvr wdojt) (clear vkhdf) (on-table sjscp)",
"(on vkhdf nrtiv) (on-table nrtiv) (clear wdojt) (on wdojt sjscp) (holding rlgvr) (clear vkhdf) (on-table sjscp)",
"(on vkhdf nrtiv) (arm-empty) (on-table rlgvr) (on-table nrtiv) (clear wdojt) (clear rlgvr) (on wdojt sjscp) (clear vkhdf) (on-table sjscp)",
"(holding vkhdf) (clear rlgvr) (on-table rlgvr) (on-table nrtiv) (clear wdojt) (on wdojt sjscp) (on-table sjscp) (clear nrtiv)",
"(clear rlgvr) (arm-empty) (on-table rlgvr) (on-table nrtiv) (on-table vkhdf) (clear wdojt) (on wdojt sjscp) (clear vkhdf) (on-table sjscp) (clear nrtiv)",
"(clear rlgvr) (on-table rlgvr) (on-table nrtiv) (on-table vkhdf) (holding wdojt) (clear sjscp) (clear vkhdf) (on-table sjscp) (clear nrtiv)",
"(clear rlgvr) (arm-empty) (on-table rlgvr) (on-table nrtiv) (on-table vkhdf) (clear wdojt) (on-table wdojt) (clear sjscp) (clear vkhdf) (on-table sjscp) (clear nrtiv)",
"(clear rlgvr) (on-table rlgvr) (on-table vkhdf) (clear wdojt) (holding nrtiv) (on-table wdojt) (clear sjscp) (clear vkhdf) (on-table sjscp)",
"(clear rlgvr) (arm-empty) (on-table rlgvr) (on-table vkhdf) (clear wdojt) (on nrtiv sjscp) (on-table wdojt) (clear vkhdf) (on-table sjscp) (clear nrtiv)",
"(holding vkhdf) (clear rlgvr) (on-table rlgvr) (clear wdojt) (on nrtiv sjscp) (on-table wdojt) (on-table sjscp) (clear nrtiv)",
"(arm-empty) (on-table rlgvr) (clear wdojt) (on nrtiv sjscp) (on-table wdojt) (on vkhdf rlgvr) (clear vkhdf) (on-table sjscp) (clear nrtiv)",
"(on-table rlgvr) (holding wdojt) (on nrtiv sjscp) (on vkhdf rlgvr) (clear vkhdf) (on-table sjscp) (clear nrtiv)",
"(arm-empty) (on-table rlgvr) (on wdojt nrtiv) (clear wdojt) (on nrtiv sjscp) (on vkhdf rlgvr) (clear vkhdf) (on-table sjscp)",
"(holding vkhdf) (clear rlgvr) (on-table rlgvr) (on wdojt nrtiv) (clear wdojt) (on nrtiv sjscp) (on-table sjscp)"
] | file_134077 |
GOAL: (on gtazw rvgxt) (holding tiqmx) (on-table wslsd) (on pzgsa wslsd) (on rvgxt pzgsa) (clear gtazw) | GOAL: (on gtazw rvgxt) (holding tiqmx) (on-table wslsd) (on pzgsa wslsd) (on rvgxt pzgsa) (clear gtazw)
STATE: (clear rvgxt) (arm-empty) (on-table rvgxt) (on wslsd tiqmx) (on-table pzgsa) (on-table tiqmx) (clear wslsd) (clear gtazw) (clear pzgsa) (on-table gtazw) | [
[
"pick-up rvgxt"
],
[
"stack rvgxt gtazw"
],
[
"unstack wslsd tiqmx"
],
[
"put-down wslsd"
],
[
"pick-up pzgsa"
],
[
"stack pzgsa wslsd"
],
[
"unstack rvgxt gtazw"
],
[
"stack rvgxt pzgsa"
],
[
"pick-up gtazw"
],
[
"stack gtazw rvgxt"
],
[
"pick-up tiqmx"
]
] | [
"(on wslsd tiqmx) (on-table pzgsa) (on-table tiqmx) (clear wslsd) (holding rvgxt) (clear gtazw) (clear pzgsa) (on-table gtazw)",
"(clear rvgxt) (arm-empty) (on wslsd tiqmx) (on-table pzgsa) (on-table tiqmx) (clear wslsd) (on rvgxt gtazw) (clear pzgsa) (on-table gtazw)",
"(clear rvgxt) (on-table pzgsa) (on-table tiqmx) (holding wslsd) (on rvgxt gtazw) (clear pzgsa) (on-table gtazw) (clear tiqmx)",
"(clear rvgxt) (arm-empty) (on-table tiqmx) (on-table pzgsa) (clear wslsd) (on-table wslsd) (on rvgxt gtazw) (clear pzgsa) (on-table gtazw) (clear tiqmx)",
"(holding pzgsa) (clear rvgxt) (on-table tiqmx) (clear wslsd) (on-table wslsd) (on rvgxt gtazw) (on-table gtazw) (clear tiqmx)",
"(clear rvgxt) (arm-empty) (on-table tiqmx) (on-table wslsd) (on pzgsa wslsd) (on rvgxt gtazw) (clear pzgsa) (on-table gtazw) (clear tiqmx)",
"(on-table tiqmx) (holding rvgxt) (on-table wslsd) (on pzgsa wslsd) (clear gtazw) (clear pzgsa) (on-table gtazw) (clear tiqmx)",
"(clear rvgxt) (arm-empty) (on-table tiqmx) (clear tiqmx) (on-table wslsd) (on rvgxt pzgsa) (clear gtazw) (on pzgsa wslsd) (on-table gtazw)",
"(clear rvgxt) (on-table tiqmx) (on-table wslsd) (on pzgsa wslsd) (on rvgxt pzgsa) (holding gtazw) (clear tiqmx)",
"(arm-empty) (on-table tiqmx) (on gtazw rvgxt) (on-table wslsd) (on pzgsa wslsd) (on rvgxt pzgsa) (clear gtazw) (clear tiqmx)",
"(on gtazw rvgxt) (holding tiqmx) (on-table wslsd) (on pzgsa wslsd) (on rvgxt pzgsa) (clear gtazw)"
] | file_21337 |
GOAL: (on oarve ahhuz) (arm-empty) (on-table ahhuz) (on avklg iphkf) (on-table haxtm) (on iphkf haxtm) (clear avklg) (clear oarve) | GOAL: (on oarve ahhuz) (arm-empty) (on-table ahhuz) (on avklg iphkf) (on-table haxtm) (on iphkf haxtm) (clear avklg) (clear oarve)
STATE: (on avklg haxtm) (on oarve avklg) (on-table iphkf) (holding ahhuz) (on haxtm iphkf) (clear oarve) | [
[
"put-down ahhuz"
],
[
"unstack oarve avklg"
],
[
"stack oarve ahhuz"
],
[
"unstack avklg haxtm"
],
[
"put-down avklg"
],
[
"unstack haxtm iphkf"
],
[
"stack haxtm oarve"
],
[
"pick-up avklg"
],
[
"stack avklg iphkf"
],
[
"unstack haxtm oarve"
],
[
"put-down haxtm"
],
[
"unstack avklg iphkf"
],
[
"stack avklg oarve"
],
[
"pick-up iphkf"
],
[
"stack iphkf haxtm"
],
[
"unstack avklg oarve"
],
[
"stack avklg iphkf"
]
] | [
"(on oarve avklg) (arm-empty) (on-table iphkf) (on-table ahhuz) (clear ahhuz) (on avklg haxtm) (on haxtm iphkf) (clear oarve)",
"(holding oarve) (on avklg haxtm) (on-table iphkf) (on-table ahhuz) (on haxtm iphkf) (clear avklg) (clear ahhuz)",
"(on avklg haxtm) (on oarve ahhuz) (arm-empty) (on-table iphkf) (on-table ahhuz) (on haxtm iphkf) (clear avklg) (clear oarve)",
"(on oarve ahhuz) (on-table iphkf) (on-table ahhuz) (clear haxtm) (on haxtm iphkf) (holding avklg) (clear oarve)",
"(on oarve ahhuz) (arm-empty) (on-table iphkf) (on-table ahhuz) (clear haxtm) (on haxtm iphkf) (clear avklg) (clear oarve) (on-table avklg)",
"(on oarve ahhuz) (clear iphkf) (on-table iphkf) (on-table ahhuz) (holding haxtm) (clear avklg) (clear oarve) (on-table avklg)",
"(on oarve ahhuz) (clear iphkf) (on haxtm oarve) (arm-empty) (on-table iphkf) (on-table ahhuz) (clear haxtm) (clear avklg) (on-table avklg)",
"(on oarve ahhuz) (clear iphkf) (on haxtm oarve) (on-table iphkf) (on-table ahhuz) (clear haxtm) (holding avklg)",
"(on oarve ahhuz) (on haxtm oarve) (arm-empty) (on-table iphkf) (on-table ahhuz) (on avklg iphkf) (clear haxtm) (clear avklg)",
"(on oarve ahhuz) (on-table iphkf) (on-table ahhuz) (holding haxtm) (on avklg iphkf) (clear avklg) (clear oarve)",
"(on oarve ahhuz) (arm-empty) (on-table iphkf) (on-table ahhuz) (clear haxtm) (on avklg iphkf) (on-table haxtm) (clear avklg) (clear oarve)",
"(on oarve ahhuz) (clear iphkf) (on-table iphkf) (on-table ahhuz) (clear haxtm) (on-table haxtm) (holding avklg) (clear oarve)",
"(on oarve ahhuz) (clear iphkf) (arm-empty) (on-table iphkf) (on-table ahhuz) (clear haxtm) (on-table haxtm) (on avklg oarve) (clear avklg)",
"(on oarve ahhuz) (on-table ahhuz) (clear haxtm) (on-table haxtm) (holding iphkf) (on avklg oarve) (clear avklg)",
"(on oarve ahhuz) (arm-empty) (on-table ahhuz) (on avklg oarve) (on iphkf haxtm) (clear iphkf) (on-table haxtm) (clear avklg)",
"(on oarve ahhuz) (clear iphkf) (on-table ahhuz) (on iphkf haxtm) (on-table haxtm) (holding avklg) (clear oarve)",
"(on oarve ahhuz) (arm-empty) (on-table ahhuz) (on avklg iphkf) (on-table haxtm) (on iphkf haxtm) (clear avklg) (clear oarve)"
] | file_85503 |
GOAL: (holding cbmxv) (clear hgmfb) (on-table bnsok) (on hgmfb moqrg) (clear bnsok) (on-table moqrg) | GOAL: (holding cbmxv) (clear hgmfb) (on-table bnsok) (on hgmfb moqrg) (clear bnsok) (on-table moqrg)
STATE: (on-table bnsok) (clear cbmxv) (on-table cbmxv) (holding hgmfb) (clear moqrg) (clear bnsok) (on-table moqrg) | [
[
"stack hgmfb bnsok"
],
[
"pick-up cbmxv"
],
[
"stack cbmxv moqrg"
],
[
"unstack hgmfb bnsok"
],
[
"put-down hgmfb"
],
[
"unstack cbmxv moqrg"
],
[
"stack cbmxv bnsok"
],
[
"pick-up hgmfb"
],
[
"stack hgmfb moqrg"
],
[
"unstack cbmxv bnsok"
]
] | [
"(clear hgmfb) (arm-empty) (on-table bnsok) (clear cbmxv) (on-table cbmxv) (on hgmfb bnsok) (clear moqrg) (on-table moqrg)",
"(clear hgmfb) (on-table bnsok) (holding cbmxv) (on hgmfb bnsok) (clear moqrg) (on-table moqrg)",
"(on cbmxv moqrg) (clear hgmfb) (arm-empty) (on-table bnsok) (on hgmfb bnsok) (clear cbmxv) (on-table moqrg)",
"(clear cbmxv) (on-table bnsok) (on cbmxv moqrg) (holding hgmfb) (clear bnsok) (on-table moqrg)",
"(arm-empty) (on-table hgmfb) (clear cbmxv) (clear hgmfb) (on-table bnsok) (on cbmxv moqrg) (clear bnsok) (on-table moqrg)",
"(clear hgmfb) (on-table hgmfb) (on-table bnsok) (holding cbmxv) (clear moqrg) (clear bnsok) (on-table moqrg)",
"(clear hgmfb) (on cbmxv bnsok) (arm-empty) (on-table hgmfb) (on-table bnsok) (clear cbmxv) (clear moqrg) (on-table moqrg)",
"(on cbmxv bnsok) (on-table bnsok) (clear cbmxv) (holding hgmfb) (clear moqrg) (on-table moqrg)",
"(clear hgmfb) (on cbmxv bnsok) (arm-empty) (on-table bnsok) (clear cbmxv) (on hgmfb moqrg) (on-table moqrg)",
"(holding cbmxv) (clear hgmfb) (on-table bnsok) (on hgmfb moqrg) (clear bnsok) (on-table moqrg)"
] | file_187838 |
GOAL: (holding jtjma) (clear sixin) (on xdjjz dvmly) (on-table dvmly) (on sixin xdjjz) (clear wxatg) (on-table wxatg) | GOAL: (holding jtjma) (clear sixin) (on xdjjz dvmly) (on-table dvmly) (on sixin xdjjz) (clear wxatg) (on-table wxatg)
STATE: (on jtjma xdjjz) (clear sixin) (on xdjjz dvmly) (on-table dvmly) (on sixin jtjma) (holding wxatg) | [
[
"put-down wxatg"
],
[
"unstack sixin jtjma"
],
[
"put-down sixin"
],
[
"unstack jtjma xdjjz"
],
[
"stack jtjma wxatg"
],
[
"pick-up sixin"
],
[
"stack sixin xdjjz"
],
[
"unstack jtjma wxatg"
]
] | [
"(on jtjma xdjjz) (arm-empty) (on xdjjz dvmly) (on sixin jtjma) (clear sixin) (on-table dvmly) (clear wxatg) (on-table wxatg)",
"(on jtjma xdjjz) (on xdjjz dvmly) (on-table dvmly) (holding sixin) (clear wxatg) (clear jtjma) (on-table wxatg)",
"(on jtjma xdjjz) (arm-empty) (on xdjjz dvmly) (on-table sixin) (clear sixin) (on-table dvmly) (clear wxatg) (clear jtjma) (on-table wxatg)",
"(holding jtjma) (clear sixin) (on xdjjz dvmly) (on-table sixin) (on-table dvmly) (clear wxatg) (on-table wxatg) (clear xdjjz)",
"(clear sixin) (on jtjma wxatg) (on xdjjz dvmly) (on-table sixin) (arm-empty) (on-table dvmly) (clear jtjma) (on-table wxatg) (clear xdjjz)",
"(on jtjma wxatg) (on xdjjz dvmly) (on-table dvmly) (holding sixin) (clear jtjma) (on-table wxatg) (clear xdjjz)",
"(clear sixin) (on jtjma wxatg) (on xdjjz dvmly) (arm-empty) (on-table dvmly) (on sixin xdjjz) (clear jtjma) (on-table wxatg)",
"(holding jtjma) (clear sixin) (on xdjjz dvmly) (on-table dvmly) (on sixin xdjjz) (clear wxatg) (on-table wxatg)"
] | file_111351 |
GOAL: (clear pusqb) (on xfmya gieov) (on-table pusqb) (on-table gieov) (clear xfmya) (holding owizb) (clear tzemt) (on-table tzemt) | GOAL: (clear pusqb) (on xfmya gieov) (on-table pusqb) (on-table gieov) (clear xfmya) (holding owizb) (clear tzemt) (on-table tzemt)
STATE: (on xfmya gieov) (arm-empty) (on-table owizb) (on-table gieov) (on tzemt pusqb) (on pusqb xfmya) (clear tzemt) (clear owizb) | [
[
"unstack tzemt pusqb"
],
[
"put-down tzemt"
],
[
"unstack pusqb xfmya"
],
[
"put-down pusqb"
],
[
"pick-up owizb"
]
] | [
"(clear pusqb) (on xfmya gieov) (on-table owizb) (on-table gieov) (on pusqb xfmya) (holding tzemt) (clear owizb)",
"(on xfmya gieov) (arm-empty) (on-table owizb) (on pusqb xfmya) (clear owizb) (clear pusqb) (on-table gieov) (clear tzemt) (on-table tzemt)",
"(on xfmya gieov) (on-table owizb) (on-table gieov) (clear xfmya) (holding pusqb) (clear tzemt) (on-table tzemt) (clear owizb)",
"(clear pusqb) (on xfmya gieov) (arm-empty) (on-table pusqb) (on-table owizb) (on-table gieov) (clear xfmya) (clear tzemt) (on-table tzemt) (clear owizb)",
"(clear pusqb) (on xfmya gieov) (on-table pusqb) (on-table gieov) (clear xfmya) (holding owizb) (clear tzemt) (on-table tzemt)"
] | file_126877 |
GOAL: (holding insag) (clear pawdf) (on-table pawdf) (clear iyjza) (on iyjza tmjlf) (on-table tmjlf) | GOAL: (holding insag) (clear pawdf) (on-table pawdf) (clear iyjza) (on iyjza tmjlf) (on-table tmjlf)
STATE: (holding insag) (clear pawdf) (on iyjza tmjlf) (on pawdf iyjza) (on-table tmjlf) | [
[
"put-down insag"
],
[
"unstack pawdf iyjza"
],
[
"put-down pawdf"
],
[
"pick-up insag"
]
] | [
"(on iyjza tmjlf) (clear pawdf) (arm-empty) (on pawdf iyjza) (on-table insag) (clear insag) (on-table tmjlf)",
"(clear iyjza) (on-table insag) (on iyjza tmjlf) (holding pawdf) (clear insag) (on-table tmjlf)",
"(arm-empty) (on-table pawdf) (clear iyjza) (clear pawdf) (on-table insag) (on iyjza tmjlf) (clear insag) (on-table tmjlf)",
"(holding insag) (clear pawdf) (on-table pawdf) (clear iyjza) (on iyjza tmjlf) (on-table tmjlf)"
] | file_97873 |
GOAL: (holding qnxrt) (on qeook ljpea) (on-table ublxe) (on xghje ublxe) (on-table ljpea) (clear qeook) (clear xghje) | GOAL: (holding qnxrt) (on qeook ljpea) (on-table ublxe) (on xghje ublxe) (on-table ljpea) (clear qeook) (clear xghje)
STATE: (on qnxrt xghje) (on ljpea qnxrt) (arm-empty) (on-table ublxe) (on xghje ublxe) (clear ljpea) (clear qeook) (on-table qeook) | [
[
"unstack ljpea qnxrt"
],
[
"put-down ljpea"
],
[
"pick-up qeook"
],
[
"stack qeook ljpea"
],
[
"unstack qnxrt xghje"
]
] | [
"(on qnxrt xghje) (on-table ublxe) (holding ljpea) (on xghje ublxe) (clear qeook) (clear qnxrt) (on-table qeook)",
"(on qnxrt xghje) (arm-empty) (on-table ublxe) (on xghje ublxe) (clear ljpea) (on-table ljpea) (clear qeook) (clear qnxrt) (on-table qeook)",
"(on qnxrt xghje) (on-table ublxe) (on xghje ublxe) (clear ljpea) (on-table ljpea) (holding qeook) (clear qnxrt)",
"(on qnxrt xghje) (on qeook ljpea) (arm-empty) (on-table ublxe) (on xghje ublxe) (on-table ljpea) (clear qeook) (clear qnxrt)",
"(holding qnxrt) (on qeook ljpea) (on-table ublxe) (on xghje ublxe) (on-table ljpea) (clear qeook) (clear xghje)"
] | file_1365 |
GOAL: (clear gekln) (arm-empty) (on-table rqnlf) (clear sbsia) (on rvexg pnvpn) (on-table sbsia) (on gekln rvexg) (clear rqnlf) (on-table pnvpn) | GOAL: (clear gekln) (arm-empty) (on-table rqnlf) (clear sbsia) (on rvexg pnvpn) (on-table sbsia) (on gekln rvexg) (clear rqnlf) (on-table pnvpn)
STATE: (clear gekln) (arm-empty) (on-table rvexg) (on sbsia rvexg) (on rqnlf sbsia) (on gekln rqnlf) (clear pnvpn) (on-table pnvpn) | [
[
"unstack gekln rqnlf"
],
[
"stack gekln pnvpn"
],
[
"unstack rqnlf sbsia"
],
[
"put-down rqnlf"
],
[
"unstack sbsia rvexg"
],
[
"put-down sbsia"
],
[
"unstack gekln pnvpn"
],
[
"stack gekln sbsia"
],
[
"pick-up rqnlf"
],
[
"stack rqnlf gekln"
],
[
"pick-up rvexg"
],
[
"stack rvexg pnvpn"
],
[
"unstack rqnlf gekln"
],
[
"put-down rqnlf"
],
[
"unstack gekln sbsia"
],
[
"stack gekln rvexg"
]
] | [
"(on-table rvexg) (on sbsia rvexg) (holding gekln) (on rqnlf sbsia) (clear pnvpn) (clear rqnlf) (on-table pnvpn)",
"(clear gekln) (arm-empty) (on-table rvexg) (on sbsia rvexg) (on rqnlf sbsia) (on gekln pnvpn) (clear rqnlf) (on-table pnvpn)",
"(holding rqnlf) (clear gekln) (on-table rvexg) (on sbsia rvexg) (clear sbsia) (on gekln pnvpn) (on-table pnvpn)",
"(arm-empty) (on-table rvexg) (on sbsia rvexg) (clear sbsia) (clear gekln) (on-table rqnlf) (on gekln pnvpn) (clear rqnlf) (on-table pnvpn)",
"(clear gekln) (on-table rvexg) (holding sbsia) (on-table rqnlf) (on gekln pnvpn) (clear rqnlf) (on-table pnvpn) (clear rvexg)",
"(clear gekln) (arm-empty) (on-table rvexg) (on-table rqnlf) (clear sbsia) (on-table sbsia) (on gekln pnvpn) (clear rqnlf) (on-table pnvpn) (clear rvexg)",
"(on-table rvexg) (on-table rqnlf) (clear sbsia) (on-table sbsia) (holding gekln) (clear pnvpn) (clear rqnlf) (on-table pnvpn) (clear rvexg)",
"(clear gekln) (arm-empty) (on-table rvexg) (on-table rqnlf) (on-table sbsia) (on gekln sbsia) (clear pnvpn) (clear rqnlf) (on-table pnvpn) (clear rvexg)",
"(holding rqnlf) (clear gekln) (on-table rvexg) (on-table sbsia) (on gekln sbsia) (clear pnvpn) (on-table pnvpn) (clear rvexg)",
"(arm-empty) (on-table rvexg) (on-table sbsia) (on gekln sbsia) (clear pnvpn) (on rqnlf gekln) (clear rqnlf) (on-table pnvpn) (clear rvexg)",
"(holding rvexg) (on-table sbsia) (on gekln sbsia) (clear pnvpn) (on rqnlf gekln) (clear rqnlf) (on-table pnvpn)",
"(arm-empty) (on rvexg pnvpn) (on-table sbsia) (on gekln sbsia) (on rqnlf gekln) (clear rqnlf) (on-table pnvpn) (clear rvexg)",
"(holding rqnlf) (clear gekln) (on rvexg pnvpn) (on-table sbsia) (on gekln sbsia) (on-table pnvpn) (clear rvexg)",
"(arm-empty) (on rvexg pnvpn) (on gekln sbsia) (clear rvexg) (clear gekln) (on-table rqnlf) (on-table sbsia) (clear rqnlf) (on-table pnvpn)",
"(on-table rqnlf) (clear sbsia) (on rvexg pnvpn) (on-table sbsia) (holding gekln) (clear rqnlf) (on-table pnvpn) (clear rvexg)",
"(clear gekln) (arm-empty) (on-table rqnlf) (clear sbsia) (on rvexg pnvpn) (on-table sbsia) (on gekln rvexg) (clear rqnlf) (on-table pnvpn)"
] | file_45208 |
GOAL: (clear pjcfl) (arm-empty) (on-table swggl) (on-table ceqcw) (on pjcfl ksdgx) (on-table ksdgx) (on gwvyx ceqcw) (clear gwvyx) (clear swggl) | GOAL: (clear pjcfl) (arm-empty) (on-table swggl) (on-table ceqcw) (on pjcfl ksdgx) (on-table ksdgx) (on gwvyx ceqcw) (clear gwvyx) (clear swggl)
STATE: (clear pjcfl) (on-table ceqcw) (clear ksdgx) (on swggl ceqcw) (on-table ksdgx) (on pjcfl swggl) (holding gwvyx) | [
[
"stack gwvyx ksdgx"
],
[
"unstack pjcfl swggl"
],
[
"stack pjcfl gwvyx"
],
[
"unstack swggl ceqcw"
],
[
"put-down swggl"
],
[
"unstack pjcfl gwvyx"
],
[
"stack pjcfl swggl"
],
[
"unstack gwvyx ksdgx"
],
[
"stack gwvyx ceqcw"
],
[
"unstack pjcfl swggl"
],
[
"stack pjcfl ksdgx"
]
] | [
"(on gwvyx ksdgx) (clear pjcfl) (arm-empty) (on-table ceqcw) (on swggl ceqcw) (on-table ksdgx) (on pjcfl swggl) (clear gwvyx)",
"(on gwvyx ksdgx) (on-table ceqcw) (on swggl ceqcw) (on-table ksdgx) (holding pjcfl) (clear gwvyx) (clear swggl)",
"(on gwvyx ksdgx) (clear pjcfl) (arm-empty) (on-table ceqcw) (on swggl ceqcw) (on-table ksdgx) (on pjcfl gwvyx) (clear swggl)",
"(on gwvyx ksdgx) (clear pjcfl) (on-table ceqcw) (holding swggl) (on-table ksdgx) (on pjcfl gwvyx) (clear ceqcw)",
"(arm-empty) (on-table swggl) (clear swggl) (on gwvyx ksdgx) (clear pjcfl) (on-table ceqcw) (on-table ksdgx) (on pjcfl gwvyx) (clear ceqcw)",
"(on gwvyx ksdgx) (on-table swggl) (on-table ceqcw) (on-table ksdgx) (holding pjcfl) (clear gwvyx) (clear ceqcw) (clear swggl)",
"(on gwvyx ksdgx) (clear pjcfl) (arm-empty) (on-table swggl) (on-table ceqcw) (on-table ksdgx) (on pjcfl swggl) (clear gwvyx) (clear ceqcw)",
"(clear pjcfl) (on-table swggl) (on-table ceqcw) (clear ksdgx) (on-table ksdgx) (on pjcfl swggl) (holding gwvyx) (clear ceqcw)",
"(clear pjcfl) (arm-empty) (on-table swggl) (on-table ceqcw) (clear ksdgx) (on-table ksdgx) (on gwvyx ceqcw) (on pjcfl swggl) (clear gwvyx)",
"(on-table swggl) (on-table ceqcw) (clear ksdgx) (on-table ksdgx) (holding pjcfl) (on gwvyx ceqcw) (clear gwvyx) (clear swggl)",
"(clear pjcfl) (arm-empty) (on-table swggl) (on-table ceqcw) (on pjcfl ksdgx) (on-table ksdgx) (on gwvyx ceqcw) (clear gwvyx) (clear swggl)"
] | file_23094 |
GOAL: (clear fuqet) (on pkbad ceimy) (on-table fuqet) (holding buied) (clear pkbad) (on-table ceimy) | GOAL: (clear fuqet) (on pkbad ceimy) (on-table fuqet) (holding buied) (clear pkbad) (on-table ceimy)
STATE: (on-table pkbad) (clear buied) (on buied ceimy) (holding fuqet) (clear pkbad) (on-table ceimy) | [
[
"put-down fuqet"
],
[
"unstack buied ceimy"
],
[
"put-down buied"
],
[
"pick-up pkbad"
],
[
"stack pkbad ceimy"
],
[
"pick-up buied"
]
] | [
"(arm-empty) (on-table fuqet) (clear buied) (clear fuqet) (on-table pkbad) (on buied ceimy) (clear pkbad) (on-table ceimy)",
"(clear fuqet) (on-table fuqet) (on-table pkbad) (holding buied) (clear ceimy) (clear pkbad) (on-table ceimy)",
"(arm-empty) (on-table fuqet) (clear buied) (clear fuqet) (on-table pkbad) (on-table buied) (clear ceimy) (clear pkbad) (on-table ceimy)",
"(holding pkbad) (clear fuqet) (on-table fuqet) (clear buied) (on-table buied) (clear ceimy) (on-table ceimy)",
"(clear fuqet) (on pkbad ceimy) (arm-empty) (on-table fuqet) (clear buied) (on-table buied) (clear pkbad) (on-table ceimy)",
"(clear fuqet) (on pkbad ceimy) (on-table fuqet) (holding buied) (clear pkbad) (on-table ceimy)"
] | file_191302 |
GOAL: (arm-empty) (on-table fuyqr) (on ggicm fuyqr) (on asjmt stoco) (on-table achtz) (on stoco achtz) (clear ggicm) (clear asjmt) | GOAL: (arm-empty) (on-table fuyqr) (on ggicm fuyqr) (on asjmt stoco) (on-table achtz) (on stoco achtz) (clear ggicm) (clear asjmt)
STATE: (clear fuyqr) (on-table fuyqr) (on asjmt stoco) (on-table achtz) (on stoco achtz) (holding ggicm) (clear asjmt) | [
[
"stack ggicm fuyqr"
]
] | [
"(arm-empty) (on-table fuyqr) (on ggicm fuyqr) (on asjmt stoco) (on-table achtz) (on stoco achtz) (clear ggicm) (clear asjmt)"
] | file_65434 |
GOAL: (clear ceqtc) (on njojb fjfzw) (arm-empty) (on-table ceqtc) (on-table phfug) (on-table fjfzw) (clear njojb) (clear dkwvt) (on-table dkwvt) (clear phfug) | GOAL: (clear ceqtc) (on njojb fjfzw) (arm-empty) (on-table ceqtc) (on-table phfug) (on-table fjfzw) (clear njojb) (clear dkwvt) (on-table dkwvt) (clear phfug)
STATE: (clear ceqtc) (on njojb fjfzw) (on phfug njojb) (arm-empty) (on-table fjfzw) (on ceqtc phfug) (clear dkwvt) (on-table dkwvt) | [
[
"unstack ceqtc phfug"
],
[
"put-down ceqtc"
],
[
"unstack phfug njojb"
],
[
"put-down phfug"
]
] | [
"(on njojb fjfzw) (on phfug njojb) (on-table fjfzw) (holding ceqtc) (clear dkwvt) (on-table dkwvt) (clear phfug)",
"(on njojb fjfzw) (on phfug njojb) (on-table ceqtc) (arm-empty) (clear phfug) (clear ceqtc) (on-table fjfzw) (clear dkwvt) (on-table dkwvt)",
"(clear ceqtc) (on njojb fjfzw) (on-table ceqtc) (on-table fjfzw) (clear njojb) (holding phfug) (clear dkwvt) (on-table dkwvt)",
"(clear ceqtc) (on njojb fjfzw) (arm-empty) (on-table ceqtc) (on-table phfug) (on-table fjfzw) (clear njojb) (clear dkwvt) (on-table dkwvt) (clear phfug)"
] | file_132640 |
GOAL: (clear ntynh) (on juoqh ofrxd) (arm-empty) (on-table ntynh) (on-table ofrxd) (clear juoqh) (on odpwa zsucr) (on-table zsucr) (clear odpwa) | GOAL: (clear ntynh) (on juoqh ofrxd) (arm-empty) (on-table ntynh) (on-table ofrxd) (clear juoqh) (on odpwa zsucr) (on-table zsucr) (clear odpwa)
STATE: (holding ofrxd) (on zsucr juoqh) (clear ntynh) (on-table odpwa) (on juoqh odpwa) (on ntynh zsucr) | [
[
"put-down ofrxd"
],
[
"unstack ntynh zsucr"
],
[
"put-down ntynh"
],
[
"pick-up ofrxd"
],
[
"stack ofrxd ntynh"
],
[
"unstack zsucr juoqh"
],
[
"put-down zsucr"
],
[
"unstack juoqh odpwa"
],
[
"put-down juoqh"
],
[
"pick-up odpwa"
],
[
"stack odpwa zsucr"
],
[
"unstack ofrxd ntynh"
],
[
"put-down ofrxd"
],
[
"pick-up juoqh"
],
[
"stack juoqh ofrxd"
]
] | [
"(arm-empty) (on-table odpwa) (on juoqh odpwa) (on zsucr juoqh) (clear ntynh) (on-table ofrxd) (on ntynh zsucr) (clear ofrxd)",
"(on zsucr juoqh) (on-table odpwa) (on juoqh odpwa) (on-table ofrxd) (holding ntynh) (clear zsucr) (clear ofrxd)",
"(arm-empty) (on-table ntynh) (on-table odpwa) (on juoqh odpwa) (on zsucr juoqh) (clear ntynh) (on-table ofrxd) (clear zsucr) (clear ofrxd)",
"(holding ofrxd) (on zsucr juoqh) (clear ntynh) (on-table ntynh) (on-table odpwa) (on juoqh odpwa) (clear zsucr)",
"(on zsucr juoqh) (arm-empty) (on-table ntynh) (on-table odpwa) (on juoqh odpwa) (clear zsucr) (on ofrxd ntynh) (clear ofrxd)",
"(on-table ntynh) (on-table odpwa) (on juoqh odpwa) (clear juoqh) (on ofrxd ntynh) (clear ofrxd) (holding zsucr)",
"(arm-empty) (on-table ntynh) (on-table odpwa) (on juoqh odpwa) (clear juoqh) (on ofrxd ntynh) (clear zsucr) (clear ofrxd) (on-table zsucr)",
"(on-table ntynh) (on-table odpwa) (holding juoqh) (clear zsucr) (on ofrxd ntynh) (clear ofrxd) (on-table zsucr) (clear odpwa)",
"(arm-empty) (on-table ntynh) (on-table odpwa) (clear juoqh) (on-table juoqh) (clear zsucr) (on ofrxd ntynh) (clear ofrxd) (on-table zsucr) (clear odpwa)",
"(on-table ntynh) (clear juoqh) (holding odpwa) (on-table juoqh) (clear zsucr) (on ofrxd ntynh) (clear ofrxd) (on-table zsucr)",
"(arm-empty) (on-table ntynh) (clear juoqh) (on odpwa zsucr) (on-table juoqh) (on ofrxd ntynh) (clear ofrxd) (on-table zsucr) (clear odpwa)",
"(holding ofrxd) (clear ntynh) (on-table ntynh) (clear juoqh) (on odpwa zsucr) (on-table juoqh) (on-table zsucr) (clear odpwa)",
"(clear ntynh) (arm-empty) (on-table ntynh) (on-table ofrxd) (clear juoqh) (on odpwa zsucr) (on-table juoqh) (clear ofrxd) (on-table zsucr) (clear odpwa)",
"(clear ntynh) (on-table ntynh) (on-table ofrxd) (holding juoqh) (on odpwa zsucr) (clear ofrxd) (on-table zsucr) (clear odpwa)",
"(clear ntynh) (on juoqh ofrxd) (arm-empty) (on-table ntynh) (on-table ofrxd) (clear juoqh) (on odpwa zsucr) (on-table zsucr) (clear odpwa)"
] | file_22523 |
GOAL: (arm-empty) (on-table hcupw) (clear nkqfe) (on swdtr hcupw) (on nkqfe ibllt) (on ibllt swdtr) (clear lpdab) (on-table lpdab) | GOAL: (arm-empty) (on-table hcupw) (clear nkqfe) (on swdtr hcupw) (on nkqfe ibllt) (on ibllt swdtr) (clear lpdab) (on-table lpdab)
STATE: (clear ibllt) (on-table ibllt) (on nkqfe lpdab) (holding swdtr) (on hcupw nkqfe) (clear hcupw) (on-table lpdab) | [
[
"stack swdtr ibllt"
],
[
"unstack hcupw nkqfe"
],
[
"put-down hcupw"
],
[
"unstack swdtr ibllt"
],
[
"stack swdtr hcupw"
],
[
"pick-up ibllt"
],
[
"stack ibllt swdtr"
],
[
"unstack nkqfe lpdab"
],
[
"stack nkqfe ibllt"
]
] | [
"(arm-empty) (on-table ibllt) (on swdtr ibllt) (on nkqfe lpdab) (on hcupw nkqfe) (clear hcupw) (on-table lpdab) (clear swdtr)",
"(holding hcupw) (on-table ibllt) (on swdtr ibllt) (clear nkqfe) (on nkqfe lpdab) (on-table lpdab) (clear swdtr)",
"(arm-empty) (on-table ibllt) (on swdtr ibllt) (clear nkqfe) (clear swdtr) (on-table hcupw) (on nkqfe lpdab) (clear hcupw) (on-table lpdab)",
"(clear ibllt) (on-table ibllt) (on-table hcupw) (clear nkqfe) (on nkqfe lpdab) (holding swdtr) (clear hcupw) (on-table lpdab)",
"(clear ibllt) (arm-empty) (on-table ibllt) (on-table hcupw) (clear nkqfe) (on nkqfe lpdab) (on swdtr hcupw) (on-table lpdab) (clear swdtr)",
"(on-table hcupw) (clear nkqfe) (on nkqfe lpdab) (on swdtr hcupw) (holding ibllt) (on-table lpdab) (clear swdtr)",
"(clear ibllt) (arm-empty) (on-table hcupw) (clear nkqfe) (on nkqfe lpdab) (on swdtr hcupw) (on ibllt swdtr) (on-table lpdab)",
"(clear ibllt) (on-table hcupw) (holding nkqfe) (on swdtr hcupw) (on ibllt swdtr) (clear lpdab) (on-table lpdab)",
"(arm-empty) (on-table hcupw) (clear nkqfe) (on swdtr hcupw) (on nkqfe ibllt) (on ibllt swdtr) (clear lpdab) (on-table lpdab)"
] | file_204907 |
GOAL: (clear frzbe) (arm-empty) (on-table rzzuh) (on pbekw rzzuh) (on-table xcudy) (on frzbe xcudy) (clear rfgou) (on-table rfgou) (clear pbekw) | GOAL: (clear frzbe) (arm-empty) (on-table rzzuh) (on pbekw rzzuh) (on-table xcudy) (on frzbe xcudy) (clear rfgou) (on-table rfgou) (clear pbekw)
STATE: (on-table rzzuh) (clear xcudy) (on pbekw rfgou) (on-table xcudy) (holding frzbe) (clear rzzuh) (on-table rfgou) (clear pbekw) | [
[
"put-down frzbe"
],
[
"unstack pbekw rfgou"
],
[
"stack pbekw rzzuh"
],
[
"pick-up frzbe"
],
[
"stack frzbe xcudy"
]
] | [
"(clear frzbe) (arm-empty) (on-table frzbe) (on-table rzzuh) (clear xcudy) (on pbekw rfgou) (on-table xcudy) (clear rzzuh) (on-table rfgou) (clear pbekw)",
"(clear frzbe) (on-table frzbe) (on-table rzzuh) (clear xcudy) (holding pbekw) (on-table xcudy) (clear rfgou) (clear rzzuh) (on-table rfgou)",
"(clear frzbe) (arm-empty) (on-table frzbe) (on-table rzzuh) (clear xcudy) (on pbekw rzzuh) (on-table xcudy) (clear rfgou) (on-table rfgou) (clear pbekw)",
"(on-table rzzuh) (clear xcudy) (on pbekw rzzuh) (on-table xcudy) (holding frzbe) (clear rfgou) (on-table rfgou) (clear pbekw)",
"(clear frzbe) (arm-empty) (on-table rzzuh) (on pbekw rzzuh) (on-table xcudy) (on frzbe xcudy) (clear rfgou) (on-table rfgou) (clear pbekw)"
] | file_178854 |
GOAL: (on ewruz khxcf) (clear afprn) (arm-empty) (on-table anbbr) (on ratar anbbr) (on-table khxcf) (on afprn ewruz) (clear ratar) | GOAL: (on ewruz khxcf) (clear afprn) (arm-empty) (on-table anbbr) (on ratar anbbr) (on-table khxcf) (on afprn ewruz) (clear ratar)
STATE: (holding anbbr) (on ewruz khxcf) (clear afprn) (on-table ratar) (on-table khxcf) (on afprn ewruz) (clear ratar) | [
[
"put-down anbbr"
],
[
"pick-up ratar"
],
[
"stack ratar anbbr"
]
] | [
"(arm-empty) (on-table ratar) (clear ratar) (on ewruz khxcf) (clear afprn) (on-table anbbr) (on-table khxcf) (on afprn ewruz) (clear anbbr)",
"(on ewruz khxcf) (clear afprn) (on-table anbbr) (holding ratar) (on-table khxcf) (on afprn ewruz) (clear anbbr)",
"(on ewruz khxcf) (clear afprn) (arm-empty) (on-table anbbr) (on ratar anbbr) (on-table khxcf) (on afprn ewruz) (clear ratar)"
] | file_214422 |
GOAL: (holding jeamp) (on cshey wxlth) (on-table yocwh) (on uloih yocwh) (clear uloih) (on-table wxlth) (clear cshey) | GOAL: (holding jeamp) (on cshey wxlth) (on-table yocwh) (on uloih yocwh) (clear uloih) (on-table wxlth) (clear cshey)
STATE: (on uloih cshey) (clear jeamp) (holding yocwh) (on cshey wxlth) (on jeamp uloih) (on-table wxlth) | [
[
"put-down yocwh"
],
[
"unstack jeamp uloih"
],
[
"stack jeamp yocwh"
],
[
"unstack uloih cshey"
],
[
"put-down uloih"
],
[
"unstack jeamp yocwh"
],
[
"stack jeamp cshey"
],
[
"pick-up uloih"
],
[
"stack uloih yocwh"
],
[
"unstack jeamp cshey"
]
] | [
"(on uloih cshey) (arm-empty) (clear yocwh) (on cshey wxlth) (on jeamp uloih) (clear jeamp) (on-table yocwh) (on-table wxlth)",
"(on uloih cshey) (clear yocwh) (on cshey wxlth) (on-table yocwh) (holding jeamp) (clear uloih) (on-table wxlth)",
"(on uloih cshey) (clear jeamp) (arm-empty) (on cshey wxlth) (on-table yocwh) (on jeamp yocwh) (clear uloih) (on-table wxlth)",
"(holding uloih) (clear jeamp) (on cshey wxlth) (on-table yocwh) (on jeamp yocwh) (on-table wxlth) (clear cshey)",
"(arm-empty) (on cshey wxlth) (on jeamp yocwh) (clear cshey) (clear jeamp) (on-table uloih) (on-table yocwh) (clear uloih) (on-table wxlth)",
"(on-table uloih) (clear yocwh) (on cshey wxlth) (on-table yocwh) (holding jeamp) (clear uloih) (on-table wxlth) (clear cshey)",
"(clear jeamp) (arm-empty) (on-table uloih) (clear yocwh) (on cshey wxlth) (on-table yocwh) (on jeamp cshey) (clear uloih) (on-table wxlth)",
"(holding uloih) (clear jeamp) (clear yocwh) (on cshey wxlth) (on-table yocwh) (on jeamp cshey) (on-table wxlth)",
"(clear jeamp) (arm-empty) (on cshey wxlth) (on-table yocwh) (on uloih yocwh) (on jeamp cshey) (clear uloih) (on-table wxlth)",
"(holding jeamp) (on cshey wxlth) (on-table yocwh) (on uloih yocwh) (clear uloih) (on-table wxlth) (clear cshey)"
] | file_73595 |
GOAL: (on rtmpm hugdm) (on rbfst rtmpm) (arm-empty) (on-table htgit) (on hugdm lealk) (on lealk htgit) (clear rbfst) | GOAL: (on rtmpm hugdm) (on rbfst rtmpm) (arm-empty) (on-table htgit) (on hugdm lealk) (on lealk htgit) (clear rbfst)
STATE: (clear htgit) (arm-empty) (on-table htgit) (on hugdm rtmpm) (on lealk rbfst) (on rbfst hugdm) (on-table rtmpm) (clear lealk) | [
[
"unstack lealk rbfst"
],
[
"stack lealk htgit"
],
[
"unstack rbfst hugdm"
],
[
"put-down rbfst"
],
[
"unstack hugdm rtmpm"
],
[
"stack hugdm lealk"
],
[
"pick-up rtmpm"
],
[
"stack rtmpm hugdm"
],
[
"pick-up rbfst"
],
[
"stack rbfst rtmpm"
]
] | [
"(clear htgit) (on-table htgit) (on hugdm rtmpm) (holding lealk) (on rbfst hugdm) (clear rbfst) (on-table rtmpm)",
"(arm-empty) (on-table htgit) (on lealk htgit) (on hugdm rtmpm) (on rbfst hugdm) (clear rbfst) (on-table rtmpm) (clear lealk)",
"(holding rbfst) (on-table htgit) (on lealk htgit) (clear hugdm) (on hugdm rtmpm) (on-table rtmpm) (clear lealk)",
"(arm-empty) (on-table htgit) (on lealk htgit) (clear hugdm) (clear lealk) (on-table rbfst) (on hugdm rtmpm) (clear rbfst) (on-table rtmpm)",
"(on-table htgit) (on-table rbfst) (holding hugdm) (on lealk htgit) (clear rtmpm) (clear rbfst) (on-table rtmpm) (clear lealk)",
"(arm-empty) (on-table htgit) (on hugdm lealk) (on-table rbfst) (on lealk htgit) (clear hugdm) (clear rtmpm) (clear rbfst) (on-table rtmpm)",
"(on-table htgit) (on hugdm lealk) (on-table rbfst) (on lealk htgit) (clear hugdm) (holding rtmpm) (clear rbfst)",
"(on rtmpm hugdm) (arm-empty) (on-table htgit) (on hugdm lealk) (on-table rbfst) (on lealk htgit) (clear rtmpm) (clear rbfst)",
"(holding rbfst) (on rtmpm hugdm) (on-table htgit) (on hugdm lealk) (on lealk htgit) (clear rtmpm)",
"(on rtmpm hugdm) (on rbfst rtmpm) (arm-empty) (on-table htgit) (on hugdm lealk) (on lealk htgit) (clear rbfst)"
] | file_162319 |
GOAL: (on-table ofqfj) (holding nzous) (on sybig rmkfj) (clear pkzfk) (on rmkfj ofqfj) (on-table pkzfk) (clear sybig) | GOAL: (on-table ofqfj) (holding nzous) (on sybig rmkfj) (clear pkzfk) (on rmkfj ofqfj) (on-table pkzfk) (clear sybig)
STATE: (on pkzfk nzous) (on nzous rmkfj) (arm-empty) (on-table ofqfj) (on-table sybig) (clear pkzfk) (on rmkfj ofqfj) (clear sybig) | [
[
"unstack pkzfk nzous"
],
[
"put-down pkzfk"
],
[
"unstack nzous rmkfj"
],
[
"stack nzous pkzfk"
],
[
"pick-up sybig"
],
[
"stack sybig rmkfj"
],
[
"unstack nzous pkzfk"
]
] | [
"(on nzous rmkfj) (on-table ofqfj) (on-table sybig) (clear nzous) (on rmkfj ofqfj) (holding pkzfk) (clear sybig)",
"(on nzous rmkfj) (arm-empty) (on-table ofqfj) (on-table sybig) (clear nzous) (on rmkfj ofqfj) (clear sybig) (clear pkzfk) (on-table pkzfk)",
"(on-table ofqfj) (on-table sybig) (holding nzous) (clear pkzfk) (on rmkfj ofqfj) (clear rmkfj) (on-table pkzfk) (clear sybig)",
"(arm-empty) (on-table ofqfj) (on-table sybig) (clear nzous) (on nzous pkzfk) (on rmkfj ofqfj) (clear rmkfj) (on-table pkzfk) (clear sybig)",
"(on-table ofqfj) (clear nzous) (on nzous pkzfk) (holding sybig) (on rmkfj ofqfj) (clear rmkfj) (on-table pkzfk)",
"(on nzous pkzfk) (on sybig rmkfj) (arm-empty) (on-table ofqfj) (clear nzous) (on rmkfj ofqfj) (on-table pkzfk) (clear sybig)",
"(on-table ofqfj) (holding nzous) (on sybig rmkfj) (clear pkzfk) (on rmkfj ofqfj) (on-table pkzfk) (clear sybig)"
] | file_84528 |
GOAL: (on-table pweky) (clear focnr) (holding ssmlc) (on-table focnr) (clear bbzbn) (on pxksm pweky) (clear pxksm) (on-table bbzbn) | GOAL: (on-table pweky) (clear focnr) (holding ssmlc) (on-table focnr) (clear bbzbn) (on pxksm pweky) (clear pxksm) (on-table bbzbn)
STATE: (clear pweky) (on bbzbn ssmlc) (arm-empty) (on-table pweky) (on-table pxksm) (clear focnr) (on ssmlc pxksm) (on-table focnr) (clear bbzbn) | [
[
"unstack bbzbn ssmlc"
],
[
"stack bbzbn pweky"
],
[
"unstack ssmlc pxksm"
],
[
"stack ssmlc focnr"
],
[
"unstack bbzbn pweky"
],
[
"stack bbzbn ssmlc"
],
[
"pick-up pxksm"
],
[
"stack pxksm pweky"
],
[
"unstack bbzbn ssmlc"
],
[
"put-down bbzbn"
],
[
"unstack ssmlc focnr"
]
] | [
"(clear pweky) (on-table pweky) (on-table pxksm) (clear focnr) (on ssmlc pxksm) (on-table focnr) (holding bbzbn) (clear ssmlc)",
"(arm-empty) (on-table pweky) (on-table pxksm) (on bbzbn pweky) (clear focnr) (on ssmlc pxksm) (on-table focnr) (clear bbzbn) (clear ssmlc)",
"(on-table pweky) (on-table pxksm) (on bbzbn pweky) (clear focnr) (holding ssmlc) (on-table focnr) (clear bbzbn) (clear pxksm)",
"(arm-empty) (on ssmlc focnr) (on-table pweky) (on-table pxksm) (on bbzbn pweky) (on-table focnr) (clear bbzbn) (clear pxksm) (clear ssmlc)",
"(clear pweky) (on ssmlc focnr) (on-table pweky) (on-table pxksm) (on-table focnr) (holding bbzbn) (clear pxksm) (clear ssmlc)",
"(clear pweky) (on bbzbn ssmlc) (on ssmlc focnr) (on-table pweky) (arm-empty) (on-table pxksm) (on-table focnr) (clear bbzbn) (clear pxksm)",
"(holding pxksm) (clear pweky) (on bbzbn ssmlc) (on ssmlc focnr) (on-table pweky) (on-table focnr) (clear bbzbn)",
"(on bbzbn ssmlc) (arm-empty) (on ssmlc focnr) (on-table pweky) (on-table focnr) (clear bbzbn) (on pxksm pweky) (clear pxksm)",
"(on ssmlc focnr) (on-table pweky) (on-table focnr) (on pxksm pweky) (clear pxksm) (holding bbzbn) (clear ssmlc)",
"(arm-empty) (on ssmlc focnr) (on-table pweky) (on pxksm pweky) (clear ssmlc) (on-table focnr) (clear bbzbn) (clear pxksm) (on-table bbzbn)",
"(on-table pweky) (clear focnr) (holding ssmlc) (on-table focnr) (clear bbzbn) (on pxksm pweky) (clear pxksm) (on-table bbzbn)"
] | file_102383 |
GOAL: (on clnyf figlt) (arm-empty) (on yohhd clnyf) (on-table figlt) (on qyjqu yohhd) (on jznut qyjqu) (clear jznut) | GOAL: (on clnyf figlt) (arm-empty) (on yohhd clnyf) (on-table figlt) (on qyjqu yohhd) (on jznut qyjqu) (clear jznut)
STATE: (arm-empty) (on-table qyjqu) (clear figlt) (on yohhd clnyf) (on-table figlt) (on clnyf jznut) (on jznut qyjqu) (clear yohhd) | [
[
"unstack yohhd clnyf"
],
[
"put-down yohhd"
],
[
"unstack clnyf jznut"
],
[
"stack clnyf figlt"
],
[
"unstack jznut qyjqu"
],
[
"put-down jznut"
],
[
"pick-up qyjqu"
],
[
"stack qyjqu jznut"
],
[
"pick-up yohhd"
],
[
"stack yohhd clnyf"
],
[
"unstack qyjqu jznut"
],
[
"stack qyjqu yohhd"
],
[
"pick-up jznut"
],
[
"stack jznut qyjqu"
]
] | [
"(on-table qyjqu) (clear figlt) (holding yohhd) (on-table figlt) (on clnyf jznut) (clear clnyf) (on jznut qyjqu)",
"(arm-empty) (on-table qyjqu) (on-table yohhd) (clear figlt) (on clnyf jznut) (on jznut qyjqu) (clear yohhd) (on-table figlt) (clear clnyf)",
"(on-table qyjqu) (on-table yohhd) (clear figlt) (on-table figlt) (on jznut qyjqu) (clear jznut) (holding clnyf) (clear yohhd)",
"(on clnyf figlt) (arm-empty) (on-table qyjqu) (on-table yohhd) (on-table figlt) (clear clnyf) (on jznut qyjqu) (clear jznut) (clear yohhd)",
"(holding jznut) (on clnyf figlt) (clear qyjqu) (on-table qyjqu) (on-table yohhd) (on-table figlt) (clear clnyf) (clear yohhd)",
"(on clnyf figlt) (clear qyjqu) (arm-empty) (on-table qyjqu) (on-table yohhd) (on-table jznut) (on-table figlt) (clear clnyf) (clear jznut) (clear yohhd)",
"(on clnyf figlt) (on-table yohhd) (on-table jznut) (on-table figlt) (holding qyjqu) (clear clnyf) (clear jznut) (clear yohhd)",
"(on clnyf figlt) (clear qyjqu) (arm-empty) (on-table yohhd) (on-table jznut) (on-table figlt) (on qyjqu jznut) (clear clnyf) (clear yohhd)",
"(on clnyf figlt) (clear qyjqu) (on-table jznut) (holding yohhd) (on-table figlt) (on qyjqu jznut) (clear clnyf)",
"(on clnyf figlt) (clear qyjqu) (arm-empty) (on-table jznut) (on yohhd clnyf) (on-table figlt) (on qyjqu jznut) (clear yohhd)",
"(on clnyf figlt) (on-table jznut) (on yohhd clnyf) (on-table figlt) (holding qyjqu) (clear jznut) (clear yohhd)",
"(on clnyf figlt) (clear qyjqu) (arm-empty) (on-table jznut) (on yohhd clnyf) (on-table figlt) (on qyjqu yohhd) (clear jznut)",
"(holding jznut) (on clnyf figlt) (clear qyjqu) (on yohhd clnyf) (on-table figlt) (on qyjqu yohhd)",
"(on clnyf figlt) (arm-empty) (on yohhd clnyf) (on-table figlt) (on qyjqu yohhd) (on jznut qyjqu) (clear jznut)"
] | file_143076 |
GOAL: (on vimml qvdqx) (arm-empty) (on-table ornob) (on-table etboi) (on jloga ornob) (on-table qvdqx) (clear vimml) (clear etboi) (clear jloga) | GOAL: (on vimml qvdqx) (arm-empty) (on-table ornob) (on-table etboi) (on jloga ornob) (on-table qvdqx) (clear vimml) (clear etboi) (clear jloga)
STATE: (clear ornob) (on-table ornob) (holding qvdqx) (on-table etboi) (on jloga etboi) (clear vimml) (on-table vimml) (clear jloga) | [
[
"put-down qvdqx"
],
[
"pick-up vimml"
],
[
"stack vimml qvdqx"
],
[
"unstack jloga etboi"
],
[
"stack jloga ornob"
]
] | [
"(clear ornob) (arm-empty) (on-table ornob) (on-table etboi) (clear qvdqx) (on jloga etboi) (on-table qvdqx) (clear vimml) (on-table vimml) (clear jloga)",
"(clear ornob) (on-table ornob) (on-table etboi) (clear qvdqx) (on jloga etboi) (on-table qvdqx) (holding vimml) (clear jloga)",
"(on vimml qvdqx) (clear ornob) (arm-empty) (on-table ornob) (on-table etboi) (on jloga etboi) (on-table qvdqx) (clear vimml) (clear jloga)",
"(on vimml qvdqx) (clear ornob) (on-table ornob) (on-table etboi) (holding jloga) (on-table qvdqx) (clear vimml) (clear etboi)",
"(on vimml qvdqx) (arm-empty) (on-table ornob) (on-table etboi) (on jloga ornob) (on-table qvdqx) (clear vimml) (clear etboi) (clear jloga)"
] | file_201281 |
GOAL: (arm-empty) (on-table xqaam) (on qoqkv tvoho) (on bnqej iywna) (clear xqaam) (clear bnqej) (on-table tvoho) (on iywna qoqkv) | GOAL: (arm-empty) (on-table xqaam) (on qoqkv tvoho) (on bnqej iywna) (clear xqaam) (clear bnqej) (on-table tvoho) (on iywna qoqkv)
STATE: (clear bnqej) (on qoqkv xqaam) (arm-empty) (on-table bnqej) (on-table tvoho) (clear iywna) (on xqaam tvoho) (on-table iywna) (clear qoqkv) | [
[
"unstack qoqkv xqaam"
],
[
"stack qoqkv iywna"
],
[
"pick-up bnqej"
],
[
"stack bnqej qoqkv"
],
[
"unstack xqaam tvoho"
],
[
"put-down xqaam"
],
[
"unstack bnqej qoqkv"
],
[
"stack bnqej xqaam"
],
[
"unstack qoqkv iywna"
],
[
"stack qoqkv tvoho"
],
[
"pick-up iywna"
],
[
"stack iywna qoqkv"
],
[
"unstack bnqej xqaam"
],
[
"stack bnqej iywna"
]
] | [
"(clear bnqej) (on-table bnqej) (on-table tvoho) (clear iywna) (on xqaam tvoho) (on-table iywna) (holding qoqkv) (clear xqaam)",
"(on qoqkv iywna) (clear bnqej) (arm-empty) (on-table bnqej) (on-table tvoho) (on xqaam tvoho) (on-table iywna) (clear qoqkv) (clear xqaam)",
"(on qoqkv iywna) (on-table tvoho) (on xqaam tvoho) (on-table iywna) (holding bnqej) (clear qoqkv) (clear xqaam)",
"(on qoqkv iywna) (clear bnqej) (arm-empty) (on-table tvoho) (on xqaam tvoho) (on-table iywna) (on bnqej qoqkv) (clear xqaam)",
"(on qoqkv iywna) (clear bnqej) (on-table tvoho) (holding xqaam) (on-table iywna) (on bnqej qoqkv) (clear tvoho)",
"(arm-empty) (on-table xqaam) (clear xqaam) (on qoqkv iywna) (clear bnqej) (on-table tvoho) (on-table iywna) (on bnqej qoqkv) (clear tvoho)",
"(on qoqkv iywna) (on-table xqaam) (on-table tvoho) (on-table iywna) (holding bnqej) (clear qoqkv) (clear tvoho) (clear xqaam)",
"(on qoqkv iywna) (clear bnqej) (arm-empty) (on-table xqaam) (on-table tvoho) (on-table iywna) (on bnqej xqaam) (clear qoqkv) (clear tvoho)",
"(clear bnqej) (on-table xqaam) (on-table tvoho) (clear iywna) (on-table iywna) (on bnqej xqaam) (holding qoqkv) (clear tvoho)",
"(clear bnqej) (arm-empty) (on-table xqaam) (on-table tvoho) (clear iywna) (on-table iywna) (on qoqkv tvoho) (on bnqej xqaam) (clear qoqkv)",
"(clear bnqej) (on-table xqaam) (on-table tvoho) (holding iywna) (on qoqkv tvoho) (on bnqej xqaam) (clear qoqkv)",
"(arm-empty) (on-table xqaam) (clear iywna) (on qoqkv tvoho) (on bnqej xqaam) (clear bnqej) (on-table tvoho) (on iywna qoqkv)",
"(on-table xqaam) (on-table tvoho) (clear iywna) (on iywna qoqkv) (holding bnqej) (on qoqkv tvoho) (clear xqaam)",
"(arm-empty) (on-table xqaam) (on qoqkv tvoho) (on bnqej iywna) (clear xqaam) (clear bnqej) (on-table tvoho) (on iywna qoqkv)"
] | file_102525 |
GOAL: (on vczdq yawes) (clear evrfs) (arm-empty) (on-table evrfs) (clear efegh) (on yawes erubi) (on-table efegh) (clear vczdq) (on-table erubi) | GOAL: (on vczdq yawes) (clear evrfs) (arm-empty) (on-table evrfs) (clear efegh) (on yawes erubi) (on-table efegh) (clear vczdq) (on-table erubi)
STATE: (arm-empty) (on yawes evrfs) (on-table efegh) (on vczdq efegh) (on erubi vczdq) (on evrfs erubi) (clear yawes) | [
[
"unstack yawes evrfs"
],
[
"put-down yawes"
],
[
"unstack evrfs erubi"
],
[
"put-down evrfs"
],
[
"pick-up yawes"
],
[
"stack yawes evrfs"
],
[
"unstack erubi vczdq"
],
[
"put-down erubi"
],
[
"unstack yawes evrfs"
],
[
"stack yawes erubi"
],
[
"unstack vczdq efegh"
],
[
"stack vczdq yawes"
]
] | [
"(holding yawes) (on erubi vczdq) (clear evrfs) (on-table efegh) (on vczdq efegh) (on evrfs erubi)",
"(arm-empty) (on-table yawes) (on erubi vczdq) (clear yawes) (clear evrfs) (on-table efegh) (on vczdq efegh) (on evrfs erubi)",
"(on-table yawes) (holding evrfs) (on-table efegh) (on vczdq efegh) (on erubi vczdq) (clear erubi) (clear yawes)",
"(arm-empty) (on-table evrfs) (on-table yawes) (on erubi vczdq) (clear yawes) (clear evrfs) (on-table efegh) (on vczdq efegh) (clear erubi)",
"(clear evrfs) (on-table evrfs) (holding yawes) (on-table efegh) (on vczdq efegh) (on erubi vczdq) (clear erubi)",
"(arm-empty) (on-table evrfs) (on yawes evrfs) (on-table efegh) (on vczdq efegh) (on erubi vczdq) (clear erubi) (clear yawes)",
"(on-table evrfs) (on yawes evrfs) (on-table efegh) (on vczdq efegh) (holding erubi) (clear vczdq) (clear yawes)",
"(arm-empty) (on-table evrfs) (on yawes evrfs) (clear yawes) (on-table efegh) (on vczdq efegh) (clear erubi) (clear vczdq) (on-table erubi)",
"(clear evrfs) (on-table evrfs) (holding yawes) (on-table efegh) (on vczdq efegh) (clear erubi) (clear vczdq) (on-table erubi)",
"(clear evrfs) (arm-empty) (on-table evrfs) (on yawes erubi) (on-table efegh) (on vczdq efegh) (clear vczdq) (on-table erubi) (clear yawes)",
"(holding vczdq) (clear evrfs) (on-table evrfs) (clear efegh) (on yawes erubi) (on-table efegh) (on-table erubi) (clear yawes)",
"(on vczdq yawes) (clear evrfs) (arm-empty) (on-table evrfs) (clear efegh) (on yawes erubi) (on-table efegh) (clear vczdq) (on-table erubi)"
] | file_207759 |
GOAL: (on gzalo jumln) (clear myizv) (arm-empty) (on-table jumln) (on myizv vwgau) (on-table vwgau) (on wwdva gzalo) (clear wwdva) | GOAL: (on gzalo jumln) (clear myizv) (arm-empty) (on-table jumln) (on myizv vwgau) (on-table vwgau) (on wwdva gzalo) (clear wwdva)
STATE: (clear myizv) (arm-empty) (on-table jumln) (on-table gzalo) (on-table vwgau) (on myizv vwgau) (clear wwdva) (clear gzalo) (on-table wwdva) (clear jumln) | [
[
"pick-up jumln"
],
[
"stack jumln myizv"
],
[
"pick-up gzalo"
],
[
"stack gzalo wwdva"
],
[
"unstack jumln myizv"
],
[
"put-down jumln"
],
[
"unstack gzalo wwdva"
],
[
"stack gzalo jumln"
],
[
"pick-up wwdva"
],
[
"stack wwdva gzalo"
]
] | [
"(clear myizv) (on-table gzalo) (holding jumln) (on-table vwgau) (on myizv vwgau) (clear wwdva) (clear gzalo) (on-table wwdva)",
"(arm-empty) (on-table gzalo) (on jumln myizv) (on-table vwgau) (on myizv vwgau) (clear wwdva) (clear gzalo) (on-table wwdva) (clear jumln)",
"(holding gzalo) (on jumln myizv) (on-table vwgau) (on myizv vwgau) (clear wwdva) (on-table wwdva) (clear jumln)",
"(on gzalo wwdva) (arm-empty) (on jumln myizv) (on-table vwgau) (on myizv vwgau) (clear gzalo) (on-table wwdva) (clear jumln)",
"(clear myizv) (on gzalo wwdva) (holding jumln) (on-table vwgau) (on myizv vwgau) (clear gzalo) (on-table wwdva)",
"(on gzalo wwdva) (arm-empty) (on-table jumln) (on myizv vwgau) (clear jumln) (clear myizv) (on-table vwgau) (clear gzalo) (on-table wwdva)",
"(holding gzalo) (clear myizv) (on-table jumln) (on-table vwgau) (on myizv vwgau) (clear wwdva) (on-table wwdva) (clear jumln)",
"(on gzalo jumln) (clear myizv) (arm-empty) (on-table jumln) (on-table vwgau) (on myizv vwgau) (clear wwdva) (clear gzalo) (on-table wwdva)",
"(on gzalo jumln) (clear myizv) (on-table jumln) (on-table vwgau) (on myizv vwgau) (holding wwdva) (clear gzalo)",
"(on gzalo jumln) (clear myizv) (arm-empty) (on-table jumln) (on myizv vwgau) (on-table vwgau) (on wwdva gzalo) (clear wwdva)"
] | file_113569 |
GOAL: (on kprfq xpdyl) (on mzliv kprfq) (on-table dhduo) (on xpdyl dhduo) (clear mzliv) (holding cehij) | GOAL: (on kprfq xpdyl) (on mzliv kprfq) (on-table dhduo) (on xpdyl dhduo) (clear mzliv) (holding cehij)
STATE: (on-table dhduo) (on-table cehij) (holding mzliv) (on-table kprfq) (on xpdyl dhduo) (clear xpdyl) (clear kprfq) (clear cehij) | [
[
"stack mzliv cehij"
],
[
"pick-up kprfq"
],
[
"stack kprfq xpdyl"
],
[
"unstack mzliv cehij"
],
[
"stack mzliv kprfq"
],
[
"pick-up cehij"
]
] | [
"(arm-empty) (on-table dhduo) (on-table cehij) (on mzliv cehij) (on-table kprfq) (on xpdyl dhduo) (clear mzliv) (clear xpdyl) (clear kprfq)",
"(holding kprfq) (on-table dhduo) (on-table cehij) (on mzliv cehij) (on xpdyl dhduo) (clear mzliv) (clear xpdyl)",
"(on kprfq xpdyl) (arm-empty) (on-table dhduo) (on-table cehij) (on mzliv cehij) (on xpdyl dhduo) (clear mzliv) (clear kprfq)",
"(on kprfq xpdyl) (on-table dhduo) (on-table cehij) (holding mzliv) (on xpdyl dhduo) (clear kprfq) (clear cehij)",
"(on kprfq xpdyl) (on mzliv kprfq) (on-table dhduo) (on-table cehij) (arm-empty) (on xpdyl dhduo) (clear mzliv) (clear cehij)",
"(on kprfq xpdyl) (on mzliv kprfq) (on-table dhduo) (on xpdyl dhduo) (clear mzliv) (holding cehij)"
] | file_174603 |
GOAL: (on snxwo qvtcl) (clear eoewr) (on-table qvtcl) (holding cqmui) (on cxzua snxwo) (on eoewr cxzua) | GOAL: (on snxwo qvtcl) (clear eoewr) (on-table qvtcl) (holding cqmui) (on cxzua snxwo) (on eoewr cxzua)
STATE: (on snxwo qvtcl) (on-table qvtcl) (clear cqmui) (on-table cqmui) (holding eoewr) (clear cxzua) (clear snxwo) (on-table cxzua) | [
[
"stack eoewr cqmui"
],
[
"pick-up cxzua"
],
[
"stack cxzua snxwo"
],
[
"unstack eoewr cqmui"
],
[
"stack eoewr cxzua"
],
[
"pick-up cqmui"
]
] | [
"(on snxwo qvtcl) (clear eoewr) (arm-empty) (on-table qvtcl) (on-table cqmui) (on eoewr cqmui) (clear cxzua) (clear snxwo) (on-table cxzua)",
"(on snxwo qvtcl) (clear eoewr) (on-table qvtcl) (on-table cqmui) (on eoewr cqmui) (holding cxzua) (clear snxwo)",
"(on snxwo qvtcl) (clear eoewr) (arm-empty) (on-table qvtcl) (on eoewr cqmui) (on-table cqmui) (on cxzua snxwo) (clear cxzua)",
"(on snxwo qvtcl) (on-table qvtcl) (clear cqmui) (on-table cqmui) (holding eoewr) (on cxzua snxwo) (clear cxzua)",
"(on snxwo qvtcl) (clear eoewr) (arm-empty) (on-table qvtcl) (clear cqmui) (on-table cqmui) (on cxzua snxwo) (on eoewr cxzua)",
"(on snxwo qvtcl) (clear eoewr) (on-table qvtcl) (holding cqmui) (on cxzua snxwo) (on eoewr cxzua)"
] | file_189431 |
GOAL: (on hhysd hbbdl) (clear vvaqh) (arm-empty) (on hbbdl evljk) (on-table tcbbb) (on evljk tcbbb) (on vvaqh hhysd) | GOAL: (on hhysd hbbdl) (clear vvaqh) (arm-empty) (on hbbdl evljk) (on-table tcbbb) (on evljk tcbbb) (on vvaqh hhysd)
STATE: (on-table hbbdl) (clear hbbdl) (on-table tcbbb) (holding vvaqh) (clear hhysd) (on evljk tcbbb) (on-table hhysd) (clear evljk) | [
[
"put-down vvaqh"
],
[
"pick-up hhysd"
],
[
"stack hhysd vvaqh"
],
[
"pick-up hbbdl"
],
[
"stack hbbdl evljk"
],
[
"unstack hhysd vvaqh"
],
[
"stack hhysd hbbdl"
],
[
"pick-up vvaqh"
],
[
"stack vvaqh hhysd"
]
] | [
"(clear vvaqh) (arm-empty) (on-table vvaqh) (on-table hbbdl) (clear hbbdl) (on-table tcbbb) (clear hhysd) (on evljk tcbbb) (on-table hhysd) (clear evljk)",
"(clear vvaqh) (on-table vvaqh) (on-table hbbdl) (on-table tcbbb) (on evljk tcbbb) (holding hhysd) (clear evljk) (clear hbbdl)",
"(arm-empty) (on-table vvaqh) (on-table hbbdl) (on hhysd vvaqh) (on-table tcbbb) (on evljk tcbbb) (clear hhysd) (clear evljk) (clear hbbdl)",
"(on-table vvaqh) (on hhysd vvaqh) (holding hbbdl) (on-table tcbbb) (on evljk tcbbb) (clear hhysd) (clear evljk)",
"(arm-empty) (on-table vvaqh) (on hhysd vvaqh) (on hbbdl evljk) (on-table tcbbb) (on evljk tcbbb) (clear hhysd) (clear hbbdl)",
"(clear vvaqh) (on-table vvaqh) (on hbbdl evljk) (on-table tcbbb) (on evljk tcbbb) (holding hhysd) (clear hbbdl)",
"(clear vvaqh) (on hhysd hbbdl) (arm-empty) (on-table vvaqh) (on hbbdl evljk) (on-table tcbbb) (on evljk tcbbb) (clear hhysd)",
"(on hhysd hbbdl) (holding vvaqh) (on hbbdl evljk) (on-table tcbbb) (on evljk tcbbb) (clear hhysd)",
"(on hhysd hbbdl) (clear vvaqh) (arm-empty) (on hbbdl evljk) (on-table tcbbb) (on evljk tcbbb) (on vvaqh hhysd)"
] | file_35416 |
GOAL: (on elutg jtegi) (clear yotxk) (on jtegi ellyy) (on-table ellyy) (holding cyjwi) (on yotxk elutg) | GOAL: (on elutg jtegi) (clear yotxk) (on jtegi ellyy) (on-table ellyy) (holding cyjwi) (on yotxk elutg)
STATE: (on elutg jtegi) (arm-empty) (on-table cyjwi) (on-table ellyy) (on jtegi yotxk) (on yotxk cyjwi) (clear elutg) (clear ellyy) | [
[
"unstack elutg jtegi"
],
[
"put-down elutg"
],
[
"unstack jtegi yotxk"
],
[
"stack jtegi ellyy"
],
[
"pick-up elutg"
],
[
"stack elutg jtegi"
],
[
"unstack yotxk cyjwi"
],
[
"stack yotxk elutg"
],
[
"pick-up cyjwi"
]
] | [
"(on-table cyjwi) (on-table ellyy) (clear jtegi) (on jtegi yotxk) (on yotxk cyjwi) (holding elutg) (clear ellyy)",
"(arm-empty) (on-table cyjwi) (clear jtegi) (on yotxk cyjwi) (on-table ellyy) (on jtegi yotxk) (clear elutg) (clear ellyy) (on-table elutg)",
"(clear yotxk) (on-table cyjwi) (on-table ellyy) (holding jtegi) (on yotxk cyjwi) (clear elutg) (clear ellyy) (on-table elutg)",
"(clear yotxk) (on jtegi ellyy) (arm-empty) (on-table cyjwi) (on-table ellyy) (clear jtegi) (on yotxk cyjwi) (clear elutg) (on-table elutg)",
"(clear yotxk) (on jtegi ellyy) (on-table cyjwi) (on-table ellyy) (clear jtegi) (on yotxk cyjwi) (holding elutg)",
"(on elutg jtegi) (clear yotxk) (on jtegi ellyy) (arm-empty) (on-table cyjwi) (on-table ellyy) (on yotxk cyjwi) (clear elutg)",
"(on elutg jtegi) (on jtegi ellyy) (on-table cyjwi) (on-table ellyy) (holding yotxk) (clear elutg) (clear cyjwi)",
"(on elutg jtegi) (clear yotxk) (on jtegi ellyy) (arm-empty) (on-table cyjwi) (on-table ellyy) (on yotxk elutg) (clear cyjwi)",
"(on elutg jtegi) (clear yotxk) (on jtegi ellyy) (on-table ellyy) (holding cyjwi) (on yotxk elutg)"
] | file_214911 |
GOAL: (arm-empty) (on iuoex ptvwb) (on ijsym acgzj) (on-table ptvwb) (on acgzj lwelc) (clear ijsym) (on-table lwelc) (clear iuoex) | GOAL: (arm-empty) (on iuoex ptvwb) (on ijsym acgzj) (on-table ptvwb) (on acgzj lwelc) (clear ijsym) (on-table lwelc) (clear iuoex)
STATE: (on ijsym iuoex) (clear acgzj) (on iuoex ptvwb) (on-table acgzj) (on-table ptvwb) (holding lwelc) (clear ijsym) | [
[
"put-down lwelc"
],
[
"pick-up acgzj"
],
[
"stack acgzj lwelc"
],
[
"unstack ijsym iuoex"
],
[
"stack ijsym acgzj"
]
] | [
"(on ijsym iuoex) (arm-empty) (on iuoex ptvwb) (on-table acgzj) (clear acgzj) (on-table ptvwb) (clear lwelc) (clear ijsym) (on-table lwelc)",
"(on ijsym iuoex) (on iuoex ptvwb) (on-table ptvwb) (holding acgzj) (clear lwelc) (clear ijsym) (on-table lwelc)",
"(on ijsym iuoex) (clear acgzj) (arm-empty) (on iuoex ptvwb) (on-table ptvwb) (on acgzj lwelc) (clear ijsym) (on-table lwelc)",
"(holding ijsym) (clear acgzj) (on iuoex ptvwb) (on-table ptvwb) (on acgzj lwelc) (on-table lwelc) (clear iuoex)",
"(arm-empty) (on iuoex ptvwb) (on ijsym acgzj) (on-table ptvwb) (on acgzj lwelc) (clear ijsym) (on-table lwelc) (clear iuoex)"
] | file_74263 |
GOAL: (clear lceqx) (on dmcbj wwnpz) (arm-empty) (on-table lceqx) (on-table absnu) (clear kfvcb) (on wwnpz absnu) (on-table kfvcb) (clear dmcbj) | GOAL: (clear lceqx) (on dmcbj wwnpz) (arm-empty) (on-table lceqx) (on-table absnu) (clear kfvcb) (on wwnpz absnu) (on-table kfvcb) (clear dmcbj)
STATE: (on absnu wwnpz) (arm-empty) (on wwnpz kfvcb) (on-table lceqx) (on dmcbj lceqx) (on kfvcb dmcbj) (clear absnu) | [
[
"unstack absnu wwnpz"
],
[
"put-down absnu"
],
[
"unstack wwnpz kfvcb"
],
[
"stack wwnpz absnu"
],
[
"unstack kfvcb dmcbj"
],
[
"put-down kfvcb"
],
[
"unstack dmcbj lceqx"
],
[
"stack dmcbj wwnpz"
]
] | [
"(on wwnpz kfvcb) (on-table lceqx) (clear wwnpz) (holding absnu) (on dmcbj lceqx) (on kfvcb dmcbj)",
"(arm-empty) (on wwnpz kfvcb) (on-table lceqx) (clear wwnpz) (on-table absnu) (on dmcbj lceqx) (on kfvcb dmcbj) (clear absnu)",
"(on-table lceqx) (on-table absnu) (on dmcbj lceqx) (clear kfvcb) (on kfvcb dmcbj) (holding wwnpz) (clear absnu)",
"(arm-empty) (on-table lceqx) (clear kfvcb) (clear wwnpz) (on-table absnu) (on dmcbj lceqx) (on kfvcb dmcbj) (on wwnpz absnu)",
"(on-table lceqx) (on-table absnu) (holding kfvcb) (on dmcbj lceqx) (on wwnpz absnu) (clear dmcbj) (clear wwnpz)",
"(arm-empty) (on-table lceqx) (clear kfvcb) (clear wwnpz) (on-table absnu) (on dmcbj lceqx) (on wwnpz absnu) (on-table kfvcb) (clear dmcbj)",
"(clear lceqx) (on-table lceqx) (on-table absnu) (clear kfvcb) (on wwnpz absnu) (on-table kfvcb) (holding dmcbj) (clear wwnpz)",
"(clear lceqx) (on dmcbj wwnpz) (arm-empty) (on-table lceqx) (on-table absnu) (clear kfvcb) (on wwnpz absnu) (on-table kfvcb) (clear dmcbj)"
] | file_31579 |
GOAL: (clear rthtc) (arm-empty) (on nrcls zovyt) (on zvuut omilp) (on omilp nrcls) (on rthtc zvuut) (on-table zovyt) | GOAL: (clear rthtc) (arm-empty) (on nrcls zovyt) (on zvuut omilp) (on omilp nrcls) (on rthtc zvuut) (on-table zovyt)
STATE: (clear rthtc) (on-table zvuut) (holding nrcls) (on-table omilp) (on rthtc zovyt) (clear omilp) (on-table zovyt) (clear zvuut) | [
[
"stack nrcls omilp"
],
[
"unstack rthtc zovyt"
],
[
"put-down rthtc"
],
[
"unstack nrcls omilp"
],
[
"stack nrcls zovyt"
],
[
"pick-up omilp"
],
[
"stack omilp nrcls"
],
[
"pick-up zvuut"
],
[
"stack zvuut omilp"
],
[
"pick-up rthtc"
],
[
"stack rthtc zvuut"
]
] | [
"(clear rthtc) (on nrcls omilp) (arm-empty) (on-table zvuut) (on-table omilp) (clear nrcls) (on rthtc zovyt) (on-table zovyt) (clear zvuut)",
"(on nrcls omilp) (on-table zvuut) (on-table omilp) (clear nrcls) (holding rthtc) (clear zovyt) (on-table zovyt) (clear zvuut)",
"(clear rthtc) (on nrcls omilp) (arm-empty) (on-table rthtc) (on-table zvuut) (on-table omilp) (clear nrcls) (clear zovyt) (on-table zovyt) (clear zvuut)",
"(clear rthtc) (on-table rthtc) (on-table zvuut) (on-table omilp) (holding nrcls) (clear zovyt) (clear omilp) (on-table zovyt) (clear zvuut)",
"(clear rthtc) (arm-empty) (on-table rthtc) (on-table zvuut) (on-table omilp) (clear nrcls) (on nrcls zovyt) (clear omilp) (on-table zovyt) (clear zvuut)",
"(holding omilp) (clear rthtc) (on-table rthtc) (on-table zvuut) (clear nrcls) (on nrcls zovyt) (on-table zovyt) (clear zvuut)",
"(clear rthtc) (arm-empty) (on-table rthtc) (on-table zvuut) (on nrcls zovyt) (on omilp nrcls) (clear omilp) (on-table zovyt) (clear zvuut)",
"(clear rthtc) (on-table rthtc) (on nrcls zovyt) (holding zvuut) (on omilp nrcls) (clear omilp) (on-table zovyt)",
"(arm-empty) (on-table rthtc) (clear zvuut) (clear rthtc) (on nrcls zovyt) (on zvuut omilp) (on omilp nrcls) (on-table zovyt)",
"(holding rthtc) (on nrcls zovyt) (on zvuut omilp) (on omilp nrcls) (on-table zovyt) (clear zvuut)",
"(clear rthtc) (arm-empty) (on nrcls zovyt) (on zvuut omilp) (on omilp nrcls) (on rthtc zvuut) (on-table zovyt)"
] | file_213766 |
GOAL: (clear rmqda) (on-table rmqda) (on-table jksoo) (holding eeeeo) (clear mezwi) (clear jksoo) (on-table mezwi) | GOAL: (clear rmqda) (on-table rmqda) (on-table jksoo) (holding eeeeo) (clear mezwi) (clear jksoo) (on-table mezwi)
STATE: (clear rmqda) (arm-empty) (on-table jksoo) (on-table eeeeo) (on rmqda eeeeo) (clear mezwi) (clear jksoo) (on-table mezwi) | [
[
"unstack rmqda eeeeo"
],
[
"put-down rmqda"
],
[
"pick-up eeeeo"
]
] | [
"(on-table jksoo) (clear eeeeo) (on-table eeeeo) (holding rmqda) (clear mezwi) (clear jksoo) (on-table mezwi)",
"(arm-empty) (on-table rmqda) (clear eeeeo) (clear rmqda) (on-table jksoo) (on-table eeeeo) (clear mezwi) (clear jksoo) (on-table mezwi)",
"(clear rmqda) (on-table rmqda) (on-table jksoo) (holding eeeeo) (clear mezwi) (clear jksoo) (on-table mezwi)"
] | file_86792 |
GOAL: (on cjygg wkqxy) (clear imznb) (on fqgrc piqhr) (on-table imznb) (on-table wkqxy) (on-table piqhr) (arm-empty) (clear fqgrc) (clear cjygg) | GOAL: (on cjygg wkqxy) (clear imznb) (on fqgrc piqhr) (on-table imznb) (on-table wkqxy) (on-table piqhr) (arm-empty) (clear fqgrc) (clear cjygg)
STATE: (clear imznb) (on-table imznb) (on-table piqhr) (clear fqgrc) (holding wkqxy) (on-table fqgrc) (on cjygg piqhr) (clear cjygg) | [
[
"stack wkqxy cjygg"
],
[
"pick-up fqgrc"
],
[
"stack fqgrc imznb"
],
[
"unstack wkqxy cjygg"
],
[
"put-down wkqxy"
],
[
"unstack cjygg piqhr"
],
[
"put-down cjygg"
],
[
"pick-up piqhr"
],
[
"stack piqhr fqgrc"
],
[
"pick-up cjygg"
],
[
"stack cjygg wkqxy"
],
[
"unstack piqhr fqgrc"
],
[
"put-down piqhr"
],
[
"unstack fqgrc imznb"
],
[
"stack fqgrc piqhr"
]
] | [
"(clear imznb) (arm-empty) (on-table imznb) (on-table piqhr) (clear fqgrc) (on wkqxy cjygg) (on-table fqgrc) (on cjygg piqhr) (clear wkqxy)",
"(clear imznb) (on-table imznb) (on-table piqhr) (holding fqgrc) (on wkqxy cjygg) (on cjygg piqhr) (clear wkqxy)",
"(arm-empty) (on-table imznb) (on-table piqhr) (clear fqgrc) (on wkqxy cjygg) (on cjygg piqhr) (on fqgrc imznb) (clear wkqxy)",
"(on-table imznb) (on-table piqhr) (clear fqgrc) (on cjygg piqhr) (holding wkqxy) (on fqgrc imznb) (clear cjygg)",
"(arm-empty) (on-table imznb) (on-table wkqxy) (clear fqgrc) (on cjygg piqhr) (clear wkqxy) (on-table piqhr) (on fqgrc imznb) (clear cjygg)",
"(on-table imznb) (on-table wkqxy) (on-table piqhr) (on fqgrc imznb) (clear fqgrc) (holding cjygg) (clear piqhr) (clear wkqxy)",
"(arm-empty) (on-table imznb) (on-table wkqxy) (on-table piqhr) (clear fqgrc) (on fqgrc imznb) (clear cjygg) (clear piqhr) (on-table cjygg) (clear wkqxy)",
"(holding piqhr) (on-table imznb) (on-table wkqxy) (clear fqgrc) (on fqgrc imznb) (clear cjygg) (on-table cjygg) (clear wkqxy)",
"(arm-empty) (on-table imznb) (on-table wkqxy) (on piqhr fqgrc) (on fqgrc imznb) (clear cjygg) (clear piqhr) (on-table cjygg) (clear wkqxy)",
"(on-table imznb) (on-table wkqxy) (on piqhr fqgrc) (on fqgrc imznb) (holding cjygg) (clear piqhr) (clear wkqxy)",
"(on cjygg wkqxy) (arm-empty) (on-table imznb) (on-table wkqxy) (on piqhr fqgrc) (on fqgrc imznb) (clear cjygg) (clear piqhr)",
"(holding piqhr) (on cjygg wkqxy) (on-table imznb) (on-table wkqxy) (clear fqgrc) (on fqgrc imznb) (clear cjygg)",
"(on cjygg wkqxy) (arm-empty) (on-table imznb) (on-table wkqxy) (clear fqgrc) (on-table piqhr) (on fqgrc imznb) (clear cjygg) (clear piqhr)",
"(on cjygg wkqxy) (clear imznb) (on-table imznb) (on-table wkqxy) (on-table piqhr) (holding fqgrc) (clear cjygg) (clear piqhr)",
"(on cjygg wkqxy) (clear imznb) (on fqgrc piqhr) (on-table imznb) (on-table wkqxy) (on-table piqhr) (arm-empty) (clear fqgrc) (clear cjygg)"
] | file_9281 |
GOAL: (arm-empty) (on-table wnocn) (on bchgx wnocn) (on xleqz nbjdh) (on drxyv bchgx) (on nbjdh drxyv) (clear xleqz) | GOAL: (arm-empty) (on-table wnocn) (on bchgx wnocn) (on xleqz nbjdh) (on drxyv bchgx) (on nbjdh drxyv) (clear xleqz)
STATE: (clear wnocn) (arm-empty) (on-table wnocn) (on-table drxyv) (clear bchgx) (on xleqz nbjdh) (on-table bchgx) (clear drxyv) (on-table nbjdh) (clear xleqz) | [
[
"pick-up bchgx"
],
[
"stack bchgx wnocn"
],
[
"pick-up drxyv"
],
[
"stack drxyv bchgx"
],
[
"unstack xleqz nbjdh"
],
[
"put-down xleqz"
],
[
"pick-up nbjdh"
],
[
"stack nbjdh drxyv"
],
[
"pick-up xleqz"
],
[
"stack xleqz nbjdh"
]
] | [
"(clear wnocn) (on-table wnocn) (on-table drxyv) (holding bchgx) (on xleqz nbjdh) (clear drxyv) (on-table nbjdh) (clear xleqz)",
"(arm-empty) (on-table wnocn) (on-table drxyv) (clear bchgx) (on xleqz nbjdh) (on bchgx wnocn) (clear drxyv) (on-table nbjdh) (clear xleqz)",
"(holding drxyv) (on-table wnocn) (clear bchgx) (on xleqz nbjdh) (on bchgx wnocn) (on-table nbjdh) (clear xleqz)",
"(arm-empty) (on-table wnocn) (on xleqz nbjdh) (on drxyv bchgx) (on bchgx wnocn) (clear drxyv) (on-table nbjdh) (clear xleqz)",
"(on-table wnocn) (holding xleqz) (on drxyv bchgx) (on bchgx wnocn) (clear nbjdh) (clear drxyv) (on-table nbjdh)",
"(arm-empty) (on-table wnocn) (on-table xleqz) (clear xleqz) (on drxyv bchgx) (on bchgx wnocn) (clear nbjdh) (clear drxyv) (on-table nbjdh)",
"(on-table wnocn) (on-table xleqz) (on drxyv bchgx) (on bchgx wnocn) (holding nbjdh) (clear drxyv) (clear xleqz)",
"(arm-empty) (on-table wnocn) (on-table xleqz) (on bchgx wnocn) (on drxyv bchgx) (on nbjdh drxyv) (clear nbjdh) (clear xleqz)",
"(on-table wnocn) (on bchgx wnocn) (holding xleqz) (on drxyv bchgx) (on nbjdh drxyv) (clear nbjdh)",
"(arm-empty) (on-table wnocn) (on bchgx wnocn) (on xleqz nbjdh) (on drxyv bchgx) (on nbjdh drxyv) (clear xleqz)"
] | file_118612 |
GOAL: (on drvju hbcch) (clear iuhqx) (arm-empty) (on-table iuhqx) (on hbcch qaqzq) (on-table shjsz) (on qaqzq shjsz) (clear drvju) | GOAL: (on drvju hbcch) (clear iuhqx) (arm-empty) (on-table iuhqx) (on hbcch qaqzq) (on-table shjsz) (on qaqzq shjsz) (clear drvju)
STATE: (arm-empty) (on-table shjsz) (on drvju iuhqx) (clear hbcch) (on qaqzq shjsz) (on-table hbcch) (on iuhqx qaqzq) (clear drvju) | [
[
"unstack drvju iuhqx"
],
[
"stack drvju hbcch"
],
[
"unstack iuhqx qaqzq"
],
[
"put-down iuhqx"
],
[
"unstack drvju hbcch"
],
[
"put-down drvju"
],
[
"pick-up hbcch"
],
[
"stack hbcch qaqzq"
],
[
"pick-up drvju"
],
[
"stack drvju hbcch"
]
] | [
"(clear iuhqx) (on-table shjsz) (clear hbcch) (on qaqzq shjsz) (on-table hbcch) (on iuhqx qaqzq) (holding drvju)",
"(on drvju hbcch) (clear iuhqx) (arm-empty) (on-table shjsz) (on qaqzq shjsz) (on-table hbcch) (on iuhqx qaqzq) (clear drvju)",
"(on drvju hbcch) (on-table shjsz) (on qaqzq shjsz) (on-table hbcch) (holding iuhqx) (clear drvju) (clear qaqzq)",
"(arm-empty) (on-table iuhqx) (clear qaqzq) (on drvju hbcch) (clear iuhqx) (on-table shjsz) (on qaqzq shjsz) (on-table hbcch) (clear drvju)",
"(clear iuhqx) (on-table iuhqx) (on-table shjsz) (clear hbcch) (on qaqzq shjsz) (on-table hbcch) (holding drvju) (clear qaqzq)",
"(clear iuhqx) (arm-empty) (on-table iuhqx) (on-table shjsz) (clear hbcch) (on qaqzq shjsz) (on-table hbcch) (clear drvju) (on-table drvju) (clear qaqzq)",
"(clear iuhqx) (on-table iuhqx) (on-table shjsz) (holding hbcch) (on qaqzq shjsz) (clear drvju) (on-table drvju) (clear qaqzq)",
"(clear iuhqx) (arm-empty) (on-table iuhqx) (on hbcch qaqzq) (on-table shjsz) (clear hbcch) (on qaqzq shjsz) (clear drvju) (on-table drvju)",
"(clear iuhqx) (on-table iuhqx) (on hbcch qaqzq) (on-table shjsz) (clear hbcch) (on qaqzq shjsz) (holding drvju)",
"(on drvju hbcch) (clear iuhqx) (arm-empty) (on-table iuhqx) (on hbcch qaqzq) (on-table shjsz) (on qaqzq shjsz) (clear drvju)"
] | file_836 |
GOAL: (arm-empty) (on-table rkncp) (on-table mzytn) (on kcbgt rkncp) (clear mksep) (on-table mksep) (clear qloop) (clear mzytn) (on-table qloop) (clear kcbgt) | GOAL: (arm-empty) (on-table rkncp) (on-table mzytn) (on kcbgt rkncp) (clear mksep) (on-table mksep) (clear qloop) (clear mzytn) (on-table qloop) (clear kcbgt)
STATE: (on mzytn kcbgt) (clear rkncp) (on mksep mzytn) (arm-empty) (on-table rkncp) (on-table kcbgt) (clear mksep) (clear qloop) (on-table qloop) | [
[
"unstack mksep mzytn"
],
[
"put-down mksep"
],
[
"unstack mzytn kcbgt"
],
[
"put-down mzytn"
],
[
"pick-up kcbgt"
],
[
"stack kcbgt rkncp"
]
] | [
"(on mzytn kcbgt) (clear rkncp) (on-table rkncp) (on-table kcbgt) (holding mksep) (clear qloop) (clear mzytn) (on-table qloop)",
"(on mzytn kcbgt) (clear rkncp) (arm-empty) (on-table rkncp) (on-table kcbgt) (clear mksep) (on-table mksep) (clear qloop) (clear mzytn) (on-table qloop)",
"(holding mzytn) (clear rkncp) (on-table rkncp) (on-table kcbgt) (clear mksep) (on-table mksep) (clear qloop) (on-table qloop) (clear kcbgt)",
"(clear rkncp) (arm-empty) (on-table rkncp) (on-table kcbgt) (on-table mzytn) (clear mksep) (on-table mksep) (clear qloop) (clear mzytn) (on-table qloop) (clear kcbgt)",
"(clear rkncp) (on-table rkncp) (on-table mzytn) (clear mksep) (holding kcbgt) (on-table mksep) (clear qloop) (clear mzytn) (on-table qloop)",
"(arm-empty) (on-table rkncp) (on-table mzytn) (on kcbgt rkncp) (clear mksep) (on-table mksep) (clear qloop) (clear mzytn) (on-table qloop) (clear kcbgt)"
] | file_151843 |
GOAL: (clear xfkpn) (arm-empty) (on vmdoy pdwqf) (on-table xfkpn) (on-table ugddq) (on pdwqf uvphg) (on uvphg ugddq) (clear vmdoy) | GOAL: (clear xfkpn) (arm-empty) (on vmdoy pdwqf) (on-table xfkpn) (on-table ugddq) (on pdwqf uvphg) (on uvphg ugddq) (clear vmdoy)
STATE: (arm-empty) (on-table xfkpn) (on-table ugddq) (on vmdoy xfkpn) (clear pdwqf) (on-table pdwqf) (clear uvphg) (clear ugddq) (on-table uvphg) (clear vmdoy) | [
[
"pick-up pdwqf"
],
[
"stack pdwqf vmdoy"
],
[
"pick-up uvphg"
],
[
"stack uvphg ugddq"
],
[
"unstack pdwqf vmdoy"
],
[
"stack pdwqf uvphg"
],
[
"unstack vmdoy xfkpn"
],
[
"stack vmdoy pdwqf"
]
] | [
"(on-table xfkpn) (on-table ugddq) (holding pdwqf) (on vmdoy xfkpn) (clear uvphg) (clear ugddq) (on-table uvphg) (clear vmdoy)",
"(arm-empty) (on-table xfkpn) (on pdwqf vmdoy) (on-table ugddq) (on vmdoy xfkpn) (clear pdwqf) (clear uvphg) (clear ugddq) (on-table uvphg)",
"(on-table xfkpn) (on pdwqf vmdoy) (on-table ugddq) (on vmdoy xfkpn) (clear pdwqf) (holding uvphg) (clear ugddq)",
"(arm-empty) (on-table xfkpn) (on pdwqf vmdoy) (on-table ugddq) (on vmdoy xfkpn) (clear pdwqf) (on uvphg ugddq) (clear uvphg)",
"(on-table xfkpn) (on-table ugddq) (holding pdwqf) (on vmdoy xfkpn) (on uvphg ugddq) (clear uvphg) (clear vmdoy)",
"(arm-empty) (on-table xfkpn) (on vmdoy xfkpn) (clear pdwqf) (on uvphg ugddq) (clear vmdoy) (on-table ugddq) (on pdwqf uvphg)",
"(clear xfkpn) (on-table xfkpn) (on-table ugddq) (clear pdwqf) (on pdwqf uvphg) (holding vmdoy) (on uvphg ugddq)",
"(clear xfkpn) (arm-empty) (on vmdoy pdwqf) (on-table xfkpn) (on-table ugddq) (on pdwqf uvphg) (on uvphg ugddq) (clear vmdoy)"
] | file_70749 |
GOAL: (on vopeb kqnsz) (clear feedr) (on owilf vopeb) (arm-empty) (on-table feedr) (on-table bqdle) (on-table kqnsz) (clear owilf) (clear bqdle) | GOAL: (on vopeb kqnsz) (clear feedr) (on owilf vopeb) (arm-empty) (on-table feedr) (on-table bqdle) (on-table kqnsz) (clear owilf) (clear bqdle)
STATE: (on vopeb bqdle) (arm-empty) (on-table feedr) (clear kqnsz) (on bqdle owilf) (on kqnsz vopeb) (on owilf feedr) | [
[
"unstack kqnsz vopeb"
],
[
"put-down kqnsz"
],
[
"unstack vopeb bqdle"
],
[
"stack vopeb kqnsz"
],
[
"unstack bqdle owilf"
],
[
"put-down bqdle"
],
[
"unstack owilf feedr"
],
[
"stack owilf vopeb"
]
] | [
"(on vopeb bqdle) (on-table feedr) (holding kqnsz) (on owilf feedr) (on bqdle owilf) (clear vopeb)",
"(on vopeb bqdle) (arm-empty) (on-table feedr) (clear kqnsz) (on owilf feedr) (on bqdle owilf) (on-table kqnsz) (clear vopeb)",
"(on-table feedr) (clear kqnsz) (on bqdle owilf) (on-table kqnsz) (on owilf feedr) (holding vopeb) (clear bqdle)",
"(on vopeb kqnsz) (arm-empty) (on-table feedr) (on bqdle owilf) (on-table kqnsz) (clear vopeb) (on owilf feedr) (clear bqdle)",
"(on vopeb kqnsz) (on-table feedr) (holding bqdle) (on-table kqnsz) (clear vopeb) (on owilf feedr) (clear owilf)",
"(arm-empty) (on-table feedr) (on-table bqdle) (on owilf feedr) (clear bqdle) (on vopeb kqnsz) (on-table kqnsz) (clear vopeb) (clear owilf)",
"(holding owilf) (on vopeb kqnsz) (clear feedr) (on-table feedr) (on-table bqdle) (on-table kqnsz) (clear vopeb) (clear bqdle)",
"(on vopeb kqnsz) (clear feedr) (on owilf vopeb) (arm-empty) (on-table feedr) (on-table bqdle) (on-table kqnsz) (clear owilf) (clear bqdle)"
] | file_59667 |
GOAL: (on cpbtg dgzdt) (arm-empty) (on-table agspm) (on-table dgzdt) (on-table vtxtw) (clear vztcm) (on vztcm agspm) (clear cpbtg) (clear vtxtw) | GOAL: (on cpbtg dgzdt) (arm-empty) (on-table agspm) (on-table dgzdt) (on-table vtxtw) (clear vztcm) (on vztcm agspm) (clear cpbtg) (clear vtxtw)
STATE: (holding vtxtw) (clear agspm) (on-table agspm) (on-table dgzdt) (clear vztcm) (on-table vztcm) (clear cpbtg) (on-table cpbtg) (clear dgzdt) | [
[
"put-down vtxtw"
],
[
"pick-up dgzdt"
],
[
"stack dgzdt cpbtg"
],
[
"pick-up vztcm"
],
[
"stack vztcm agspm"
],
[
"unstack dgzdt cpbtg"
],
[
"put-down dgzdt"
],
[
"pick-up cpbtg"
],
[
"stack cpbtg dgzdt"
]
] | [
"(clear agspm) (arm-empty) (on-table agspm) (on-table dgzdt) (on-table vtxtw) (clear vztcm) (on-table vztcm) (clear cpbtg) (clear vtxtw) (on-table cpbtg) (clear dgzdt)",
"(clear agspm) (on-table agspm) (on-table vtxtw) (clear vztcm) (holding dgzdt) (on-table vztcm) (clear cpbtg) (clear vtxtw) (on-table cpbtg)",
"(clear agspm) (arm-empty) (on-table agspm) (on-table vtxtw) (clear vztcm) (on dgzdt cpbtg) (on-table vztcm) (clear vtxtw) (on-table cpbtg) (clear dgzdt)",
"(clear agspm) (on-table agspm) (on-table vtxtw) (holding vztcm) (on dgzdt cpbtg) (clear vtxtw) (on-table cpbtg) (clear dgzdt)",
"(arm-empty) (on-table agspm) (on-table vtxtw) (clear vztcm) (on dgzdt cpbtg) (on vztcm agspm) (clear vtxtw) (on-table cpbtg) (clear dgzdt)",
"(on-table agspm) (on-table vtxtw) (clear vztcm) (holding dgzdt) (on vztcm agspm) (clear cpbtg) (clear vtxtw) (on-table cpbtg)",
"(arm-empty) (on-table agspm) (on-table dgzdt) (on-table vtxtw) (clear vztcm) (on vztcm agspm) (clear cpbtg) (clear vtxtw) (on-table cpbtg) (clear dgzdt)",
"(on-table agspm) (on-table dgzdt) (on-table vtxtw) (clear vztcm) (on vztcm agspm) (holding cpbtg) (clear vtxtw) (clear dgzdt)",
"(on cpbtg dgzdt) (arm-empty) (on-table agspm) (on-table dgzdt) (on-table vtxtw) (clear vztcm) (on vztcm agspm) (clear cpbtg) (clear vtxtw)"
] | file_25339 |
GOAL: (on dnsse ozhyt) (on-table yntjw) (clear dnsse) (on ozhyt yntjw) (holding xyzkl) (clear gcnmr) (on-table gcnmr) | GOAL: (on dnsse ozhyt) (on-table yntjw) (clear dnsse) (on ozhyt yntjw) (holding xyzkl) (clear gcnmr) (on-table gcnmr)
STATE: (clear dnsse) (holding ozhyt) (on-table dnsse) (on xyzkl gcnmr) (on yntjw xyzkl) (clear yntjw) (on-table gcnmr) | [
[
"stack ozhyt dnsse"
],
[
"unstack yntjw xyzkl"
],
[
"put-down yntjw"
],
[
"unstack ozhyt dnsse"
],
[
"stack ozhyt yntjw"
],
[
"pick-up dnsse"
],
[
"stack dnsse ozhyt"
],
[
"unstack xyzkl gcnmr"
]
] | [
"(clear yntjw) (arm-empty) (on ozhyt dnsse) (on-table dnsse) (on xyzkl gcnmr) (on yntjw xyzkl) (on-table gcnmr) (clear ozhyt)",
"(holding yntjw) (clear xyzkl) (on ozhyt dnsse) (on-table dnsse) (on xyzkl gcnmr) (on-table gcnmr) (clear ozhyt)",
"(arm-empty) (on ozhyt dnsse) (clear ozhyt) (clear xyzkl) (on-table yntjw) (on-table dnsse) (on xyzkl gcnmr) (clear yntjw) (on-table gcnmr)",
"(clear xyzkl) (on-table yntjw) (clear dnsse) (holding ozhyt) (on-table dnsse) (on xyzkl gcnmr) (clear yntjw) (on-table gcnmr)",
"(clear xyzkl) (arm-empty) (on-table yntjw) (clear dnsse) (on ozhyt yntjw) (on-table dnsse) (on xyzkl gcnmr) (on-table gcnmr) (clear ozhyt)",
"(clear xyzkl) (on-table yntjw) (holding dnsse) (on ozhyt yntjw) (on xyzkl gcnmr) (on-table gcnmr) (clear ozhyt)",
"(clear xyzkl) (arm-empty) (on dnsse ozhyt) (on-table yntjw) (clear dnsse) (on ozhyt yntjw) (on xyzkl gcnmr) (on-table gcnmr)",
"(on dnsse ozhyt) (on-table yntjw) (clear dnsse) (on ozhyt yntjw) (holding xyzkl) (clear gcnmr) (on-table gcnmr)"
] | file_69140 |
GOAL: (on-table xjhog) (holding qcmxu) (on doxvu uhtmo) (on uhtmo xjhog) (clear cswfi) (on-table cswfi) (clear doxvu) | GOAL: (on-table xjhog) (holding qcmxu) (on doxvu uhtmo) (on uhtmo xjhog) (clear cswfi) (on-table cswfi) (clear doxvu)
STATE: (on cswfi qcmxu) (on xjhog cswfi) (arm-empty) (on-table doxvu) (on qcmxu uhtmo) (on uhtmo doxvu) (clear xjhog) | [
[
"unstack xjhog cswfi"
],
[
"put-down xjhog"
],
[
"unstack cswfi qcmxu"
],
[
"put-down cswfi"
],
[
"unstack qcmxu uhtmo"
],
[
"stack qcmxu cswfi"
],
[
"unstack uhtmo doxvu"
],
[
"stack uhtmo xjhog"
],
[
"pick-up doxvu"
],
[
"stack doxvu uhtmo"
],
[
"unstack qcmxu cswfi"
]
] | [
"(on-table doxvu) (on uhtmo doxvu) (holding xjhog) (on cswfi qcmxu) (on qcmxu uhtmo) (clear cswfi)",
"(arm-empty) (on-table doxvu) (on uhtmo doxvu) (on cswfi qcmxu) (on-table xjhog) (on qcmxu uhtmo) (clear cswfi) (clear xjhog)",
"(on-table doxvu) (on-table xjhog) (clear qcmxu) (on qcmxu uhtmo) (on uhtmo doxvu) (holding cswfi) (clear xjhog)",
"(arm-empty) (on-table doxvu) (clear qcmxu) (on uhtmo doxvu) (on-table xjhog) (on qcmxu uhtmo) (clear cswfi) (clear xjhog) (on-table cswfi)",
"(clear uhtmo) (on-table doxvu) (on-table xjhog) (holding qcmxu) (on uhtmo doxvu) (clear cswfi) (clear xjhog) (on-table cswfi)",
"(clear uhtmo) (arm-empty) (on-table doxvu) (on-table xjhog) (clear qcmxu) (on qcmxu cswfi) (on uhtmo doxvu) (clear xjhog) (on-table cswfi)",
"(on-table doxvu) (on-table xjhog) (clear qcmxu) (on qcmxu cswfi) (holding uhtmo) (clear xjhog) (on-table cswfi) (clear doxvu)",
"(clear uhtmo) (arm-empty) (on-table doxvu) (on-table xjhog) (clear qcmxu) (on qcmxu cswfi) (on uhtmo xjhog) (on-table cswfi) (clear doxvu)",
"(clear uhtmo) (on-table xjhog) (clear qcmxu) (on qcmxu cswfi) (holding doxvu) (on uhtmo xjhog) (on-table cswfi)",
"(arm-empty) (on-table xjhog) (on doxvu uhtmo) (clear qcmxu) (on qcmxu cswfi) (on uhtmo xjhog) (on-table cswfi) (clear doxvu)",
"(on-table xjhog) (holding qcmxu) (on doxvu uhtmo) (on uhtmo xjhog) (clear cswfi) (on-table cswfi) (clear doxvu)"
] | file_76199 |
GOAL: (on rctal zfcfi) (on-table wigso) (on-table zfcfi) (holding wkwgo) (clear mtlia) (clear wigso) (on-table mtlia) (clear rctal) | GOAL: (on rctal zfcfi) (on-table wigso) (on-table zfcfi) (holding wkwgo) (clear mtlia) (clear wigso) (on-table mtlia) (clear rctal)
STATE: (arm-empty) (on zfcfi rctal) (on-table wigso) (on mtlia wkwgo) (clear zfcfi) (on rctal mtlia) (on wkwgo wigso) | [
[
"unstack zfcfi rctal"
],
[
"put-down zfcfi"
],
[
"unstack rctal mtlia"
],
[
"stack rctal zfcfi"
],
[
"unstack mtlia wkwgo"
],
[
"stack mtlia rctal"
],
[
"unstack wkwgo wigso"
],
[
"put-down wkwgo"
],
[
"unstack mtlia rctal"
],
[
"stack mtlia wigso"
],
[
"pick-up wkwgo"
],
[
"stack wkwgo rctal"
],
[
"unstack mtlia wigso"
],
[
"put-down mtlia"
],
[
"unstack wkwgo rctal"
]
] | [
"(holding zfcfi) (on rctal mtlia) (on wkwgo wigso) (clear rctal) (on-table wigso) (on mtlia wkwgo)",
"(arm-empty) (clear zfcfi) (on rctal mtlia) (on wkwgo wigso) (clear rctal) (on-table wigso) (on mtlia wkwgo) (on-table zfcfi)",
"(on-table wigso) (on mtlia wkwgo) (clear zfcfi) (holding rctal) (on-table zfcfi) (on wkwgo wigso) (clear mtlia)",
"(arm-empty) (on rctal zfcfi) (on-table wigso) (on mtlia wkwgo) (on-table zfcfi) (on wkwgo wigso) (clear mtlia) (clear rctal)",
"(clear wkwgo) (on rctal zfcfi) (on-table wigso) (on-table zfcfi) (on wkwgo wigso) (holding mtlia) (clear rctal)",
"(clear wkwgo) (on mtlia rctal) (on rctal zfcfi) (arm-empty) (on-table wigso) (on-table zfcfi) (on wkwgo wigso) (clear mtlia)",
"(on mtlia rctal) (on rctal zfcfi) (on-table wigso) (on-table zfcfi) (holding wkwgo) (clear mtlia) (clear wigso)",
"(on mtlia rctal) (arm-empty) (on rctal zfcfi) (on-table wkwgo) (clear wkwgo) (on-table wigso) (on-table zfcfi) (clear mtlia) (clear wigso)",
"(on rctal zfcfi) (on-table wkwgo) (clear wkwgo) (on-table wigso) (on-table zfcfi) (holding mtlia) (clear wigso) (clear rctal)",
"(clear wkwgo) (arm-empty) (on rctal zfcfi) (on-table wkwgo) (on-table wigso) (on-table zfcfi) (on mtlia wigso) (clear mtlia) (clear rctal)",
"(on rctal zfcfi) (on-table wigso) (on-table zfcfi) (holding wkwgo) (on mtlia wigso) (clear mtlia) (clear rctal)",
"(clear wkwgo) (arm-empty) (on rctal zfcfi) (on-table wigso) (on-table zfcfi) (on mtlia wigso) (on wkwgo rctal) (clear mtlia)",
"(clear wkwgo) (on rctal zfcfi) (on-table wigso) (on-table zfcfi) (on wkwgo rctal) (holding mtlia) (clear wigso)",
"(arm-empty) (on rctal zfcfi) (on wkwgo rctal) (clear wkwgo) (on-table wigso) (on-table zfcfi) (clear mtlia) (clear wigso) (on-table mtlia)",
"(on rctal zfcfi) (on-table wigso) (on-table zfcfi) (holding wkwgo) (clear mtlia) (clear wigso) (on-table mtlia) (clear rctal)"
] | file_192839 |
GOAL: (on-table tjjmw) (clear mhlox) (holding ospij) (on-table mhlox) (clear vqbuu) (on ytgzt tjjmw) (clear ytgzt) (on-table vqbuu) | GOAL: (on-table tjjmw) (clear mhlox) (holding ospij) (on-table mhlox) (clear vqbuu) (on ytgzt tjjmw) (clear ytgzt) (on-table vqbuu)
STATE: (clear tjjmw) (arm-empty) (on-table ytgzt) (clear mhlox) (on ospij vqbuu) (on-table mhlox) (on tjjmw ospij) (clear ytgzt) (on-table vqbuu) | [
[
"unstack tjjmw ospij"
],
[
"put-down tjjmw"
],
[
"pick-up ytgzt"
],
[
"stack ytgzt tjjmw"
],
[
"unstack ospij vqbuu"
]
] | [
"(on-table ytgzt) (clear mhlox) (on ospij vqbuu) (on-table mhlox) (holding tjjmw) (clear ytgzt) (on-table vqbuu) (clear ospij)",
"(clear tjjmw) (arm-empty) (on-table tjjmw) (on-table ytgzt) (clear mhlox) (on ospij vqbuu) (on-table mhlox) (clear ytgzt) (on-table vqbuu) (clear ospij)",
"(holding ytgzt) (clear tjjmw) (on-table tjjmw) (clear mhlox) (on ospij vqbuu) (on-table mhlox) (on-table vqbuu) (clear ospij)",
"(arm-empty) (on-table tjjmw) (clear mhlox) (on ospij vqbuu) (on-table mhlox) (on ytgzt tjjmw) (clear ytgzt) (on-table vqbuu) (clear ospij)",
"(on-table tjjmw) (clear mhlox) (holding ospij) (on-table mhlox) (clear vqbuu) (on ytgzt tjjmw) (clear ytgzt) (on-table vqbuu)"
] | file_172816 |
GOAL: (on rklkn zmhuj) (on-table owawd) (arm-empty) (on ioouz owawd) (clear rklkn) (on zmhuj ioouz) | GOAL: (on rklkn zmhuj) (on-table owawd) (arm-empty) (on ioouz owawd) (clear rklkn) (on zmhuj ioouz)
STATE: (arm-empty) (on rklkn ioouz) (on-table owawd) (on zmhuj owawd) (on ioouz zmhuj) (clear rklkn) | [
[
"unstack rklkn ioouz"
],
[
"put-down rklkn"
],
[
"unstack ioouz zmhuj"
],
[
"put-down ioouz"
],
[
"unstack zmhuj owawd"
],
[
"stack zmhuj rklkn"
],
[
"pick-up ioouz"
],
[
"stack ioouz owawd"
],
[
"unstack zmhuj rklkn"
],
[
"stack zmhuj ioouz"
],
[
"pick-up rklkn"
],
[
"stack rklkn zmhuj"
]
] | [
"(on-table owawd) (clear ioouz) (on zmhuj owawd) (on ioouz zmhuj) (holding rklkn)",
"(on-table owawd) (clear ioouz) (arm-empty) (on zmhuj owawd) (on ioouz zmhuj) (clear rklkn) (on-table rklkn)",
"(on zmhuj owawd) (on-table owawd) (holding ioouz) (clear rklkn) (clear zmhuj) (on-table rklkn)",
"(arm-empty) (on-table ioouz) (clear ioouz) (on-table owawd) (on zmhuj owawd) (clear rklkn) (clear zmhuj) (on-table rklkn)",
"(holding zmhuj) (clear ioouz) (on-table ioouz) (clear owawd) (on-table owawd) (clear rklkn) (on-table rklkn)",
"(clear ioouz) (on zmhuj rklkn) (arm-empty) (on-table ioouz) (clear owawd) (on-table owawd) (clear zmhuj) (on-table rklkn)",
"(on zmhuj rklkn) (clear owawd) (on-table owawd) (holding ioouz) (clear zmhuj) (on-table rklkn)",
"(clear ioouz) (on zmhuj rklkn) (arm-empty) (on-table owawd) (on ioouz owawd) (clear zmhuj) (on-table rklkn)",
"(on ioouz owawd) (holding zmhuj) (clear ioouz) (on-table owawd) (clear rklkn) (on-table rklkn)",
"(arm-empty) (on-table owawd) (on ioouz owawd) (clear rklkn) (on zmhuj ioouz) (clear zmhuj) (on-table rklkn)",
"(on-table owawd) (on ioouz owawd) (on zmhuj ioouz) (clear zmhuj) (holding rklkn)",
"(on rklkn zmhuj) (on-table owawd) (arm-empty) (on ioouz owawd) (clear rklkn) (on zmhuj ioouz)"
] | file_162004 |
GOAL: (holding qimpo) (on-table dmdlz) (on-table onnyi) (on iyfcb onnyi) (on rfkzw dmdlz) (clear iyfcb) (clear rfkzw) | GOAL: (holding qimpo) (on-table dmdlz) (on-table onnyi) (on iyfcb onnyi) (on rfkzw dmdlz) (clear iyfcb) (clear rfkzw)
STATE: (on qimpo onnyi) (clear dmdlz) (on onnyi iyfcb) (on-table iyfcb) (on dmdlz qimpo) (holding rfkzw) | [
[
"put-down rfkzw"
],
[
"unstack dmdlz qimpo"
],
[
"put-down dmdlz"
],
[
"pick-up rfkzw"
],
[
"stack rfkzw dmdlz"
],
[
"unstack qimpo onnyi"
],
[
"stack qimpo rfkzw"
],
[
"unstack onnyi iyfcb"
],
[
"put-down onnyi"
],
[
"pick-up iyfcb"
],
[
"stack iyfcb onnyi"
],
[
"unstack qimpo rfkzw"
]
] | [
"(on qimpo onnyi) (arm-empty) (on onnyi iyfcb) (on dmdlz qimpo) (clear dmdlz) (on-table iyfcb) (clear rfkzw) (on-table rfkzw)",
"(on qimpo onnyi) (on onnyi iyfcb) (on-table iyfcb) (holding dmdlz) (clear rfkzw) (clear qimpo) (on-table rfkzw)",
"(on qimpo onnyi) (arm-empty) (on onnyi iyfcb) (on-table dmdlz) (clear dmdlz) (on-table iyfcb) (clear rfkzw) (clear qimpo) (on-table rfkzw)",
"(on qimpo onnyi) (clear dmdlz) (on onnyi iyfcb) (on-table dmdlz) (on-table iyfcb) (holding rfkzw) (clear qimpo)",
"(on qimpo onnyi) (arm-empty) (on onnyi iyfcb) (on-table dmdlz) (on rfkzw dmdlz) (on-table iyfcb) (clear rfkzw) (clear qimpo)",
"(holding qimpo) (on onnyi iyfcb) (on-table dmdlz) (on rfkzw dmdlz) (on-table iyfcb) (clear rfkzw) (clear onnyi)",
"(on qimpo rfkzw) (on onnyi iyfcb) (on-table dmdlz) (arm-empty) (on rfkzw dmdlz) (on-table iyfcb) (clear qimpo) (clear onnyi)",
"(on qimpo rfkzw) (on-table dmdlz) (on rfkzw dmdlz) (clear iyfcb) (holding onnyi) (on-table iyfcb) (clear qimpo)",
"(on qimpo rfkzw) (arm-empty) (on-table dmdlz) (on-table onnyi) (clear iyfcb) (clear onnyi) (on rfkzw dmdlz) (on-table iyfcb) (clear qimpo)",
"(on qimpo rfkzw) (on-table dmdlz) (on-table onnyi) (holding iyfcb) (on rfkzw dmdlz) (clear qimpo) (clear onnyi)",
"(on qimpo rfkzw) (arm-empty) (on-table dmdlz) (on-table onnyi) (on iyfcb onnyi) (on rfkzw dmdlz) (clear iyfcb) (clear qimpo)",
"(holding qimpo) (on-table dmdlz) (on-table onnyi) (on iyfcb onnyi) (on rfkzw dmdlz) (clear iyfcb) (clear rfkzw)"
] | file_111337 |
GOAL: (on mmrkn auxwv) (arm-empty) (on kzkfy muzsm) (on muzsm rddpj) (clear kzkfy) (on rddpj mmrkn) (on-table auxwv) | GOAL: (on mmrkn auxwv) (arm-empty) (on kzkfy muzsm) (on muzsm rddpj) (clear kzkfy) (on rddpj mmrkn) (on-table auxwv)
STATE: (on muzsm kzkfy) (on-table kzkfy) (on rddpj muzsm) (on mmrkn rddpj) (clear mmrkn) (holding auxwv) | [
[
"put-down auxwv"
],
[
"unstack mmrkn rddpj"
],
[
"stack mmrkn auxwv"
],
[
"unstack rddpj muzsm"
],
[
"stack rddpj mmrkn"
],
[
"unstack muzsm kzkfy"
],
[
"stack muzsm rddpj"
],
[
"pick-up kzkfy"
],
[
"stack kzkfy muzsm"
]
] | [
"(on-table kzkfy) (arm-empty) (on muzsm kzkfy) (on rddpj muzsm) (clear auxwv) (on mmrkn rddpj) (clear mmrkn) (on-table auxwv)",
"(holding mmrkn) (clear rddpj) (on muzsm kzkfy) (on-table kzkfy) (on rddpj muzsm) (clear auxwv) (on-table auxwv)",
"(clear rddpj) (on mmrkn auxwv) (on muzsm kzkfy) (arm-empty) (on-table kzkfy) (on rddpj muzsm) (clear mmrkn) (on-table auxwv)",
"(on mmrkn auxwv) (on muzsm kzkfy) (on-table kzkfy) (holding rddpj) (clear mmrkn) (on-table auxwv) (clear muzsm)",
"(clear rddpj) (on mmrkn auxwv) (on muzsm kzkfy) (arm-empty) (on-table kzkfy) (on rddpj mmrkn) (on-table auxwv) (clear muzsm)",
"(clear rddpj) (on mmrkn auxwv) (clear kzkfy) (holding muzsm) (on-table kzkfy) (on rddpj mmrkn) (on-table auxwv)",
"(on mmrkn auxwv) (arm-empty) (on muzsm rddpj) (clear kzkfy) (on-table kzkfy) (on rddpj mmrkn) (on-table auxwv) (clear muzsm)",
"(on mmrkn auxwv) (holding kzkfy) (on muzsm rddpj) (on rddpj mmrkn) (on-table auxwv) (clear muzsm)",
"(on mmrkn auxwv) (arm-empty) (on kzkfy muzsm) (on muzsm rddpj) (clear kzkfy) (on rddpj mmrkn) (on-table auxwv)"
] | file_29497 |
GOAL: (on rymxt ytyet) (arm-empty) (on zivwy zhsba) (clear intkd) (on-table intkd) (on zhsba rymxt) (on-table ytyet) (clear zivwy) | GOAL: (on rymxt ytyet) (arm-empty) (on zivwy zhsba) (clear intkd) (on-table intkd) (on zhsba rymxt) (on-table ytyet) (clear zivwy)
STATE: (on rymxt ytyet) (on zivwy intkd) (arm-empty) (on intkd zhsba) (on zhsba rymxt) (on-table ytyet) (clear zivwy) | [
[
"unstack zivwy intkd"
],
[
"put-down zivwy"
],
[
"unstack intkd zhsba"
],
[
"put-down intkd"
],
[
"pick-up zivwy"
],
[
"stack zivwy zhsba"
]
] | [
"(on rymxt ytyet) (clear intkd) (holding zivwy) (on zhsba rymxt) (on intkd zhsba) (on-table ytyet)",
"(on rymxt ytyet) (arm-empty) (on-table zivwy) (clear intkd) (on zhsba rymxt) (clear zivwy) (on intkd zhsba) (on-table ytyet)",
"(clear zhsba) (on rymxt ytyet) (on-table zivwy) (holding intkd) (on zhsba rymxt) (on-table ytyet) (clear zivwy)",
"(on rymxt ytyet) (arm-empty) (on-table zivwy) (clear intkd) (on zhsba rymxt) (clear zivwy) (clear zhsba) (on-table intkd) (on-table ytyet)",
"(clear zhsba) (on rymxt ytyet) (clear intkd) (holding zivwy) (on-table intkd) (on zhsba rymxt) (on-table ytyet)",
"(on rymxt ytyet) (arm-empty) (on zivwy zhsba) (clear intkd) (on-table intkd) (on zhsba rymxt) (on-table ytyet) (clear zivwy)"
] | file_54725 |
GOAL: (on pqtqs xliau) (arm-empty) (on-table cwqrk) (on-table ycnji) (clear pqtqs) (clear bxtyy) (on xliau cwqrk) (on-table bxtyy) (clear ycnji) | GOAL: (on pqtqs xliau) (arm-empty) (on-table cwqrk) (on-table ycnji) (clear pqtqs) (clear bxtyy) (on xliau cwqrk) (on-table bxtyy) (clear ycnji)
STATE: (on pqtqs xliau) (on-table cwqrk) (on-table ycnji) (clear pqtqs) (holding bxtyy) (on xliau cwqrk) (clear ycnji) | [
[
"stack bxtyy ycnji"
],
[
"unstack pqtqs xliau"
],
[
"put-down pqtqs"
],
[
"unstack bxtyy ycnji"
],
[
"put-down bxtyy"
],
[
"pick-up pqtqs"
],
[
"stack pqtqs xliau"
]
] | [
"(on bxtyy ycnji) (on pqtqs xliau) (arm-empty) (on-table cwqrk) (on-table ycnji) (clear pqtqs) (clear bxtyy) (on xliau cwqrk)",
"(on bxtyy ycnji) (on-table cwqrk) (on-table ycnji) (holding pqtqs) (clear bxtyy) (on xliau cwqrk) (clear xliau)",
"(on bxtyy ycnji) (arm-empty) (on-table cwqrk) (on-table ycnji) (clear pqtqs) (on xliau cwqrk) (on-table pqtqs) (clear bxtyy) (clear xliau)",
"(on-table cwqrk) (on-table ycnji) (clear pqtqs) (on-table pqtqs) (on xliau cwqrk) (clear xliau) (holding bxtyy) (clear ycnji)",
"(arm-empty) (on-table cwqrk) (on-table ycnji) (clear pqtqs) (on-table pqtqs) (clear bxtyy) (on xliau cwqrk) (clear xliau) (on-table bxtyy) (clear ycnji)",
"(on-table cwqrk) (on-table ycnji) (holding pqtqs) (clear bxtyy) (on xliau cwqrk) (clear xliau) (on-table bxtyy) (clear ycnji)",
"(on pqtqs xliau) (arm-empty) (on-table cwqrk) (on-table ycnji) (clear pqtqs) (clear bxtyy) (on xliau cwqrk) (on-table bxtyy) (clear ycnji)"
] | file_148292 |
GOAL: (clear arzqf) (on-table hvobu) (holding dilof) (on lmuva oodtd) (on arzqf lmuva) (clear hvobu) (on-table oodtd) | GOAL: (clear arzqf) (on-table hvobu) (holding dilof) (on lmuva oodtd) (on arzqf lmuva) (clear hvobu) (on-table oodtd)
STATE: (arm-empty) (on-table hvobu) (on lmuva arzqf) (on-table dilof) (on arzqf dilof) (clear oodtd) (clear hvobu) (on-table oodtd) (clear lmuva) | [
[
"unstack lmuva arzqf"
],
[
"stack lmuva oodtd"
],
[
"unstack arzqf dilof"
],
[
"put-down arzqf"
],
[
"pick-up dilof"
],
[
"stack dilof hvobu"
],
[
"pick-up arzqf"
],
[
"stack arzqf lmuva"
],
[
"unstack dilof hvobu"
]
] | [
"(clear arzqf) (on-table hvobu) (holding lmuva) (on-table dilof) (on arzqf dilof) (clear oodtd) (clear hvobu) (on-table oodtd)",
"(clear arzqf) (arm-empty) (on-table hvobu) (on lmuva oodtd) (on-table dilof) (on arzqf dilof) (clear hvobu) (on-table oodtd) (clear lmuva)",
"(on-table hvobu) (clear dilof) (on lmuva oodtd) (on-table dilof) (holding arzqf) (clear hvobu) (on-table oodtd) (clear lmuva)",
"(clear arzqf) (arm-empty) (on-table arzqf) (on-table hvobu) (clear dilof) (on lmuva oodtd) (on-table dilof) (clear hvobu) (on-table oodtd) (clear lmuva)",
"(clear arzqf) (on-table arzqf) (on-table hvobu) (holding dilof) (on lmuva oodtd) (clear hvobu) (on-table oodtd) (clear lmuva)",
"(clear arzqf) (on dilof hvobu) (arm-empty) (on-table arzqf) (on-table hvobu) (clear dilof) (on lmuva oodtd) (on-table oodtd) (clear lmuva)",
"(on dilof hvobu) (on-table hvobu) (clear dilof) (on lmuva oodtd) (holding arzqf) (on-table oodtd) (clear lmuva)",
"(clear arzqf) (on dilof hvobu) (arm-empty) (on-table hvobu) (clear dilof) (on lmuva oodtd) (on arzqf lmuva) (on-table oodtd)",
"(clear arzqf) (on-table hvobu) (holding dilof) (on lmuva oodtd) (on arzqf lmuva) (clear hvobu) (on-table oodtd)"
] | file_134878 |
GOAL: (clear xqvbu) (arm-empty) (on-table qwnkm) (on xqvbu cikfz) (on fbrcb jfsta) (on-table cikfz) (on jfsta qwnkm) (clear fbrcb) | GOAL: (clear xqvbu) (arm-empty) (on-table qwnkm) (on xqvbu cikfz) (on fbrcb jfsta) (on-table cikfz) (on jfsta qwnkm) (clear fbrcb)
STATE: (on qwnkm fbrcb) (clear xqvbu) (arm-empty) (on-table xqvbu) (on-table fbrcb) (clear cikfz) (on-table cikfz) (on jfsta qwnkm) (clear jfsta) | [
[
"pick-up xqvbu"
],
[
"stack xqvbu cikfz"
],
[
"unstack jfsta qwnkm"
],
[
"stack jfsta xqvbu"
],
[
"unstack qwnkm fbrcb"
],
[
"put-down qwnkm"
],
[
"unstack jfsta xqvbu"
],
[
"stack jfsta qwnkm"
],
[
"pick-up fbrcb"
],
[
"stack fbrcb jfsta"
]
] | [
"(on qwnkm fbrcb) (on-table fbrcb) (clear cikfz) (on-table cikfz) (holding xqvbu) (on jfsta qwnkm) (clear jfsta)",
"(on qwnkm fbrcb) (arm-empty) (on-table fbrcb) (on jfsta qwnkm) (on xqvbu cikfz) (clear xqvbu) (on-table cikfz) (clear jfsta)",
"(on qwnkm fbrcb) (clear xqvbu) (on-table fbrcb) (on xqvbu cikfz) (on-table cikfz) (holding jfsta) (clear qwnkm)",
"(on qwnkm fbrcb) (arm-empty) (on-table fbrcb) (on jfsta xqvbu) (on-table cikfz) (on xqvbu cikfz) (clear jfsta) (clear qwnkm)",
"(holding qwnkm) (on-table fbrcb) (on jfsta xqvbu) (on-table cikfz) (on xqvbu cikfz) (clear jfsta) (clear fbrcb)",
"(arm-empty) (on-table fbrcb) (on xqvbu cikfz) (clear fbrcb) (on-table qwnkm) (on jfsta xqvbu) (on-table cikfz) (clear jfsta) (clear qwnkm)",
"(clear xqvbu) (on-table fbrcb) (on-table qwnkm) (on-table cikfz) (on xqvbu cikfz) (holding jfsta) (clear qwnkm) (clear fbrcb)",
"(clear xqvbu) (arm-empty) (on-table fbrcb) (on-table qwnkm) (on jfsta qwnkm) (on-table cikfz) (on xqvbu cikfz) (clear jfsta) (clear fbrcb)",
"(clear xqvbu) (on-table qwnkm) (on xqvbu cikfz) (holding fbrcb) (on-table cikfz) (on jfsta qwnkm) (clear jfsta)",
"(clear xqvbu) (arm-empty) (on-table qwnkm) (on xqvbu cikfz) (on fbrcb jfsta) (on-table cikfz) (on jfsta qwnkm) (clear fbrcb)"
] | file_11691 |
GOAL: (clear zxcvx) (on-table qkrbw) (on-table ffuxr) (holding bbauh) (on zxcvx qkrbw) (clear mfrwb) (clear ffuxr) (on-table mfrwb) | GOAL: (clear zxcvx) (on-table qkrbw) (on-table ffuxr) (holding bbauh) (on zxcvx qkrbw) (clear mfrwb) (clear ffuxr) (on-table mfrwb)
STATE: (on mfrwb bbauh) (clear zxcvx) (on ffuxr mfrwb) (holding qkrbw) (on-table bbauh) (on zxcvx ffuxr) | [
[
"put-down qkrbw"
],
[
"unstack zxcvx ffuxr"
],
[
"stack zxcvx qkrbw"
],
[
"unstack ffuxr mfrwb"
],
[
"put-down ffuxr"
],
[
"unstack mfrwb bbauh"
],
[
"put-down mfrwb"
],
[
"pick-up bbauh"
]
] | [
"(on mfrwb bbauh) (clear zxcvx) (on ffuxr mfrwb) (arm-empty) (on-table bbauh) (on-table qkrbw) (on zxcvx ffuxr) (clear qkrbw)",
"(on mfrwb bbauh) (on ffuxr mfrwb) (on-table qkrbw) (on-table bbauh) (holding zxcvx) (clear ffuxr) (clear qkrbw)",
"(on mfrwb bbauh) (clear zxcvx) (on ffuxr mfrwb) (arm-empty) (on-table qkrbw) (on-table bbauh) (on zxcvx qkrbw) (clear ffuxr)",
"(holding ffuxr) (on mfrwb bbauh) (clear zxcvx) (on-table qkrbw) (on-table bbauh) (on zxcvx qkrbw) (clear mfrwb)",
"(arm-empty) (on-table qkrbw) (on zxcvx qkrbw) (on mfrwb bbauh) (clear zxcvx) (on-table ffuxr) (on-table bbauh) (clear mfrwb) (clear ffuxr)",
"(clear zxcvx) (on-table qkrbw) (on-table ffuxr) (clear bbauh) (on-table bbauh) (on zxcvx qkrbw) (holding mfrwb) (clear ffuxr)",
"(clear zxcvx) (arm-empty) (on-table qkrbw) (on-table ffuxr) (clear bbauh) (on-table bbauh) (on zxcvx qkrbw) (clear mfrwb) (clear ffuxr) (on-table mfrwb)",
"(clear zxcvx) (on-table qkrbw) (on-table ffuxr) (holding bbauh) (on zxcvx qkrbw) (clear mfrwb) (clear ffuxr) (on-table mfrwb)"
] | file_135270 |
GOAL: (on vexql rstfy) (clear efrzx) (on ygtmm vexql) (holding olmzl) (on-table rstfy) (on efrzx ygtmm) | GOAL: (on vexql rstfy) (clear efrzx) (on ygtmm vexql) (holding olmzl) (on-table rstfy) (on efrzx ygtmm)
STATE: (on vexql rstfy) (clear efrzx) (on ygtmm vexql) (arm-empty) (on olmzl ygtmm) (on-table rstfy) (on efrzx olmzl) | [
[
"unstack efrzx olmzl"
],
[
"put-down efrzx"
],
[
"unstack olmzl ygtmm"
],
[
"put-down olmzl"
],
[
"pick-up efrzx"
],
[
"stack efrzx ygtmm"
],
[
"pick-up olmzl"
]
] | [
"(on ygtmm vexql) (clear olmzl) (on vexql rstfy) (on olmzl ygtmm) (on-table rstfy) (holding efrzx)",
"(on olmzl ygtmm) (on vexql rstfy) (on-table rstfy) (on ygtmm vexql) (clear efrzx) (on-table efrzx) (arm-empty) (clear olmzl)",
"(on vexql rstfy) (clear efrzx) (on ygtmm vexql) (on-table efrzx) (holding olmzl) (on-table rstfy) (clear ygtmm)",
"(on ygtmm vexql) (arm-empty) (on-table efrzx) (on-table olmzl) (clear olmzl) (on vexql rstfy) (clear efrzx) (on-table rstfy) (clear ygtmm)",
"(on vexql rstfy) (on ygtmm vexql) (on-table olmzl) (on-table rstfy) (holding efrzx) (clear ygtmm) (clear olmzl)",
"(on vexql rstfy) (clear efrzx) (on ygtmm vexql) (arm-empty) (on-table olmzl) (on-table rstfy) (on efrzx ygtmm) (clear olmzl)",
"(on vexql rstfy) (clear efrzx) (on ygtmm vexql) (holding olmzl) (on-table rstfy) (on efrzx ygtmm)"
] | file_99817 |
GOAL: (clear iqwsm) (arm-empty) (on-table vgycy) (on-table vuvle) (clear fndpv) (on-table fndpv) (on iqwsm vgycy) (clear vwlco) (clear vuvle) (on-table vwlco) | GOAL: (clear iqwsm) (arm-empty) (on-table vgycy) (on-table vuvle) (clear fndpv) (on-table fndpv) (on iqwsm vgycy) (clear vwlco) (clear vuvle) (on-table vwlco)
STATE: (arm-empty) (on-table vgycy) (clear fndpv) (on-table fndpv) (on vwlco vuvle) (on iqwsm vgycy) (clear vwlco) (on vuvle iqwsm) | [
[
"unstack vwlco vuvle"
],
[
"put-down vwlco"
],
[
"unstack vuvle iqwsm"
],
[
"put-down vuvle"
]
] | [
"(on-table vgycy) (clear fndpv) (on-table fndpv) (on iqwsm vgycy) (on vuvle iqwsm) (clear vuvle) (holding vwlco)",
"(arm-empty) (on-table vgycy) (clear fndpv) (on iqwsm vgycy) (on vuvle iqwsm) (on-table fndpv) (clear vwlco) (clear vuvle) (on-table vwlco)",
"(holding vuvle) (clear iqwsm) (on-table vgycy) (clear fndpv) (on-table fndpv) (on iqwsm vgycy) (clear vwlco) (on-table vwlco)",
"(clear iqwsm) (arm-empty) (on-table vgycy) (on-table vuvle) (clear fndpv) (on-table fndpv) (on iqwsm vgycy) (clear vwlco) (clear vuvle) (on-table vwlco)"
] | file_205935 |
GOAL: (on ofbvz tnxxs) (clear uxsnf) (on tnxxs iutiy) (on-table uxsnf) (holding zludc) (clear ofbvz) (on-table iutiy) | GOAL: (on ofbvz tnxxs) (clear uxsnf) (on tnxxs iutiy) (on-table uxsnf) (holding zludc) (clear ofbvz) (on-table iutiy)
STATE: (on ofbvz tnxxs) (clear zludc) (on uxsnf ofbvz) (arm-empty) (on tnxxs iutiy) (on zludc uxsnf) (on-table iutiy) | [
[
"unstack zludc uxsnf"
],
[
"put-down zludc"
],
[
"unstack uxsnf ofbvz"
],
[
"put-down uxsnf"
],
[
"pick-up zludc"
]
] | [
"(on ofbvz tnxxs) (on uxsnf ofbvz) (clear uxsnf) (on tnxxs iutiy) (holding zludc) (on-table iutiy)",
"(on ofbvz tnxxs) (on uxsnf ofbvz) (arm-empty) (on-table zludc) (clear uxsnf) (on tnxxs iutiy) (clear zludc) (on-table iutiy)",
"(on ofbvz tnxxs) (clear zludc) (on-table zludc) (holding uxsnf) (on tnxxs iutiy) (clear ofbvz) (on-table iutiy)",
"(on ofbvz tnxxs) (arm-empty) (on-table zludc) (clear uxsnf) (on tnxxs iutiy) (clear zludc) (on-table uxsnf) (clear ofbvz) (on-table iutiy)",
"(on ofbvz tnxxs) (clear uxsnf) (on tnxxs iutiy) (on-table uxsnf) (holding zludc) (clear ofbvz) (on-table iutiy)"
] | file_190220 |
GOAL: (on hekzi sjjmm) (on sjjmm cckea) (arm-empty) (on-table vsqyq) (on-table cckea) (on kjlbj vsqyq) (clear hekzi) (clear kjlbj) | GOAL: (on hekzi sjjmm) (on sjjmm cckea) (arm-empty) (on-table vsqyq) (on-table cckea) (on kjlbj vsqyq) (clear hekzi) (clear kjlbj)
STATE: (clear vsqyq) (on sjjmm cckea) (arm-empty) (on-table vsqyq) (on-table kjlbj) (on-table cckea) (clear sjjmm) (clear hekzi) (on-table hekzi) (clear kjlbj) | [
[
"pick-up kjlbj"
],
[
"stack kjlbj vsqyq"
],
[
"pick-up hekzi"
],
[
"stack hekzi sjjmm"
]
] | [
"(clear vsqyq) (on sjjmm cckea) (on-table vsqyq) (on-table cckea) (clear sjjmm) (holding kjlbj) (clear hekzi) (on-table hekzi)",
"(on sjjmm cckea) (arm-empty) (on-table vsqyq) (on-table cckea) (on kjlbj vsqyq) (clear sjjmm) (clear hekzi) (on-table hekzi) (clear kjlbj)",
"(on sjjmm cckea) (on-table vsqyq) (on-table cckea) (on kjlbj vsqyq) (clear sjjmm) (holding hekzi) (clear kjlbj)",
"(on hekzi sjjmm) (on sjjmm cckea) (arm-empty) (on-table vsqyq) (on-table cckea) (on kjlbj vsqyq) (clear hekzi) (clear kjlbj)"
] | file_154535 |
GOAL: (on aibqg trunq) (on-table trunq) (clear aibqg) (on cmtmn plquk) (holding xxnld) (on-table plquk) (clear cmtmn) | GOAL: (on aibqg trunq) (on-table trunq) (clear aibqg) (on cmtmn plquk) (holding xxnld) (on-table plquk) (clear cmtmn)
STATE: (on trunq cmtmn) (clear aibqg) (on cmtmn plquk) (on-table aibqg) (holding xxnld) (clear trunq) (on-table plquk) | [
[
"put-down xxnld"
],
[
"unstack trunq cmtmn"
],
[
"stack trunq aibqg"
],
[
"pick-up xxnld"
],
[
"stack xxnld cmtmn"
],
[
"unstack trunq aibqg"
],
[
"put-down trunq"
],
[
"pick-up aibqg"
],
[
"stack aibqg trunq"
],
[
"unstack xxnld cmtmn"
]
] | [
"(on trunq cmtmn) (arm-empty) (on-table xxnld) (clear aibqg) (on cmtmn plquk) (clear xxnld) (on-table aibqg) (clear trunq) (on-table plquk)",
"(holding trunq) (clear xxnld) (on-table xxnld) (clear aibqg) (on cmtmn plquk) (on-table aibqg) (on-table plquk) (clear cmtmn)",
"(clear xxnld) (arm-empty) (on-table xxnld) (on cmtmn plquk) (on-table aibqg) (on trunq aibqg) (clear trunq) (on-table plquk) (clear cmtmn)",
"(holding xxnld) (on cmtmn plquk) (on-table aibqg) (on trunq aibqg) (clear trunq) (on-table plquk) (clear cmtmn)",
"(clear xxnld) (arm-empty) (on cmtmn plquk) (on-table aibqg) (on trunq aibqg) (on xxnld cmtmn) (clear trunq) (on-table plquk)",
"(holding trunq) (clear xxnld) (clear aibqg) (on cmtmn plquk) (on-table aibqg) (on xxnld cmtmn) (on-table plquk)",
"(arm-empty) (clear aibqg) (on cmtmn plquk) (on xxnld cmtmn) (clear xxnld) (on-table trunq) (on-table aibqg) (clear trunq) (on-table plquk)",
"(clear xxnld) (on-table trunq) (holding aibqg) (on cmtmn plquk) (on xxnld cmtmn) (clear trunq) (on-table plquk)",
"(clear xxnld) (on aibqg trunq) (arm-empty) (on-table trunq) (clear aibqg) (on cmtmn plquk) (on xxnld cmtmn) (on-table plquk)",
"(on aibqg trunq) (on-table trunq) (clear aibqg) (on cmtmn plquk) (holding xxnld) (on-table plquk) (clear cmtmn)"
] | file_138018 |
GOAL: (on nqqyq stgvi) (on gqlog nqqyq) (on-table uegiy) (clear gqlog) (holding jywrm) (on-table stgvi) (clear uegiy) | GOAL: (on nqqyq stgvi) (on gqlog nqqyq) (on-table uegiy) (clear gqlog) (holding jywrm) (on-table stgvi) (clear uegiy)
STATE: (holding nqqyq) (on-table uegiy) (clear gqlog) (on gqlog jywrm) (on jywrm uegiy) (clear stgvi) (on-table stgvi) | [
[
"stack nqqyq stgvi"
],
[
"unstack gqlog jywrm"
],
[
"stack gqlog nqqyq"
],
[
"unstack jywrm uegiy"
]
] | [
"(on nqqyq stgvi) (arm-empty) (on-table uegiy) (clear gqlog) (on gqlog jywrm) (on jywrm uegiy) (clear nqqyq) (on-table stgvi)",
"(clear jywrm) (on nqqyq stgvi) (on-table uegiy) (holding gqlog) (on jywrm uegiy) (clear nqqyq) (on-table stgvi)",
"(clear jywrm) (on nqqyq stgvi) (on gqlog nqqyq) (arm-empty) (on-table uegiy) (clear gqlog) (on jywrm uegiy) (on-table stgvi)",
"(on nqqyq stgvi) (on gqlog nqqyq) (on-table uegiy) (clear gqlog) (holding jywrm) (on-table stgvi) (clear uegiy)"
] | file_75092 |
GOAL: (clear ixohy) (arm-empty) (on kwbeb ppjvt) (on-table ownbd) (on-table ppjvt) (on girzu ownbd) (on ixohy kwbeb) (clear girzu) | GOAL: (clear ixohy) (arm-empty) (on kwbeb ppjvt) (on-table ownbd) (on-table ppjvt) (on girzu ownbd) (on ixohy kwbeb) (clear girzu)
STATE: (on-table ixohy) (on-table ownbd) (on girzu ixohy) (clear ppjvt) (holding kwbeb) (on-table ppjvt) (clear girzu) (clear ownbd) | [
[
"stack kwbeb ppjvt"
],
[
"unstack girzu ixohy"
],
[
"stack girzu ownbd"
],
[
"pick-up ixohy"
],
[
"stack ixohy kwbeb"
]
] | [
"(arm-empty) (on kwbeb ppjvt) (on-table ixohy) (on-table ownbd) (on girzu ixohy) (on-table ppjvt) (clear girzu) (clear ownbd) (clear kwbeb)",
"(clear ixohy) (on kwbeb ppjvt) (on-table ixohy) (on-table ownbd) (on-table ppjvt) (holding girzu) (clear ownbd) (clear kwbeb)",
"(clear ixohy) (arm-empty) (on kwbeb ppjvt) (on-table ixohy) (on-table ownbd) (on-table ppjvt) (on girzu ownbd) (clear girzu) (clear kwbeb)",
"(on kwbeb ppjvt) (on-table ownbd) (on-table ppjvt) (holding ixohy) (on girzu ownbd) (clear girzu) (clear kwbeb)",
"(clear ixohy) (arm-empty) (on kwbeb ppjvt) (on-table ownbd) (on-table ppjvt) (on girzu ownbd) (on ixohy kwbeb) (clear girzu)"
] | file_152357 |
GOAL: (clear ofred) (on-table ofred) (on-table qabgv) (on adcdj qabgv) (on-table jqmqt) (clear adcdj) (holding szynu) (clear jqmqt) | GOAL: (clear ofred) (on-table ofred) (on-table qabgv) (on adcdj qabgv) (on-table jqmqt) (clear adcdj) (holding szynu) (clear jqmqt)
STATE: (holding jqmqt) (clear ofred) (on-table ofred) (on-table qabgv) (on adcdj qabgv) (clear adcdj) (clear szynu) (on-table szynu) | [
[
"put-down jqmqt"
],
[
"pick-up szynu"
]
] | [
"(clear ofred) (arm-empty) (on-table ofred) (on-table qabgv) (on adcdj qabgv) (on-table jqmqt) (clear adcdj) (clear szynu) (clear jqmqt) (on-table szynu)",
"(clear ofred) (on-table ofred) (on-table qabgv) (on adcdj qabgv) (on-table jqmqt) (clear adcdj) (holding szynu) (clear jqmqt)"
] | file_87415 |
GOAL: (arm-empty) (on-table pwrhz) (on cqvpl pwrhz) (on-table jpfju) (on cstmx jpfju) (clear cqvpl) (clear cstmx) | GOAL: (arm-empty) (on-table pwrhz) (on cqvpl pwrhz) (on-table jpfju) (on cstmx jpfju) (clear cqvpl) (clear cstmx)
STATE: (on jpfju cstmx) (on cstmx cqvpl) (on-table pwrhz) (arm-empty) (on cqvpl pwrhz) (clear jpfju) | [
[
"unstack jpfju cstmx"
],
[
"put-down jpfju"
],
[
"unstack cstmx cqvpl"
],
[
"stack cstmx jpfju"
]
] | [
"(on cstmx cqvpl) (on-table pwrhz) (holding jpfju) (on cqvpl pwrhz) (clear cstmx)",
"(on-table jpfju) (on cstmx cqvpl) (arm-empty) (on-table pwrhz) (on cqvpl pwrhz) (clear jpfju) (clear cstmx)",
"(on-table pwrhz) (clear jpfju) (holding cstmx) (on cqvpl pwrhz) (on-table jpfju) (clear cqvpl)",
"(arm-empty) (on-table pwrhz) (on cqvpl pwrhz) (on-table jpfju) (on cstmx jpfju) (clear cqvpl) (clear cstmx)"
] | file_144307 |
GOAL: (holding cscwh) (clear oxtul) (on-table oxtul) (clear wbvfb) (on izwbz qqpod) (on-table wbvfb) (on-table qqpod) (clear izwbz) | GOAL: (holding cscwh) (clear oxtul) (on-table oxtul) (clear wbvfb) (on izwbz qqpod) (on-table wbvfb) (on-table qqpod) (clear izwbz)
STATE: (on qqpod izwbz) (on-table oxtul) (holding wbvfb) (on izwbz cscwh) (clear qqpod) (on cscwh oxtul) | [
[
"put-down wbvfb"
],
[
"unstack qqpod izwbz"
],
[
"put-down qqpod"
],
[
"unstack izwbz cscwh"
],
[
"stack izwbz qqpod"
],
[
"unstack cscwh oxtul"
]
] | [
"(on qqpod izwbz) (arm-empty) (on-table oxtul) (clear wbvfb) (on cscwh oxtul) (on izwbz cscwh) (on-table wbvfb) (clear qqpod)",
"(on-table oxtul) (clear wbvfb) (on izwbz cscwh) (on-table wbvfb) (on cscwh oxtul) (holding qqpod) (clear izwbz)",
"(arm-empty) (on-table oxtul) (clear wbvfb) (on cscwh oxtul) (clear izwbz) (on izwbz cscwh) (on-table wbvfb) (clear qqpod) (on-table qqpod)",
"(on-table oxtul) (clear wbvfb) (holding izwbz) (on-table wbvfb) (clear qqpod) (on cscwh oxtul) (clear cscwh) (on-table qqpod)",
"(arm-empty) (on-table oxtul) (clear wbvfb) (on izwbz qqpod) (on-table wbvfb) (on cscwh oxtul) (clear cscwh) (on-table qqpod) (clear izwbz)",
"(holding cscwh) (clear oxtul) (on-table oxtul) (clear wbvfb) (on izwbz qqpod) (on-table wbvfb) (on-table qqpod) (clear izwbz)"
] | file_173798 |
GOAL: (holding ptaqd) (on qlcpp mgthu) (on-table eczbw) (on-table mgthu) (clear eczbw) (clear gbbhi) (on-table gbbhi) (clear qlcpp) | GOAL: (holding ptaqd) (on qlcpp mgthu) (on-table eczbw) (on-table mgthu) (clear eczbw) (clear gbbhi) (on-table gbbhi) (clear qlcpp)
STATE: (on qlcpp mgthu) (on gbbhi ptaqd) (on ptaqd qlcpp) (arm-empty) (on-table mgthu) (on-table eczbw) (clear eczbw) (clear gbbhi) | [
[
"unstack gbbhi ptaqd"
],
[
"put-down gbbhi"
],
[
"unstack ptaqd qlcpp"
]
] | [
"(on qlcpp mgthu) (on ptaqd qlcpp) (on-table mgthu) (on-table eczbw) (clear eczbw) (holding gbbhi) (clear ptaqd)",
"(on qlcpp mgthu) (on ptaqd qlcpp) (arm-empty) (on-table eczbw) (on-table mgthu) (clear gbbhi) (clear eczbw) (on-table gbbhi) (clear ptaqd)",
"(holding ptaqd) (on qlcpp mgthu) (on-table eczbw) (on-table mgthu) (clear eczbw) (clear gbbhi) (on-table gbbhi) (clear qlcpp)"
] | file_115227 |
GOAL: (on onikz nmqjh) (on-table nzwsu) (clear zbzla) (on nmqjh nzwsu) (on-table zbzla) (holding ctlti) (clear onikz) | GOAL: (on onikz nmqjh) (on-table nzwsu) (clear zbzla) (on nmqjh nzwsu) (on-table zbzla) (holding ctlti) (clear onikz)
STATE: (arm-empty) (on-table ctlti) (on-table nmqjh) (on nzwsu zbzla) (on zbzla ctlti) (clear onikz) (clear nzwsu) (on-table onikz) (clear nmqjh) | [
[
"unstack nzwsu zbzla"
],
[
"stack nzwsu nmqjh"
],
[
"pick-up onikz"
],
[
"stack onikz zbzla"
],
[
"unstack nzwsu nmqjh"
],
[
"put-down nzwsu"
],
[
"pick-up nmqjh"
],
[
"stack nmqjh nzwsu"
],
[
"unstack onikz zbzla"
],
[
"stack onikz nmqjh"
],
[
"unstack zbzla ctlti"
],
[
"put-down zbzla"
],
[
"pick-up ctlti"
]
] | [
"(holding nzwsu) (on-table ctlti) (on-table nmqjh) (clear zbzla) (on zbzla ctlti) (clear onikz) (on-table onikz) (clear nmqjh)",
"(on nzwsu nmqjh) (arm-empty) (on-table ctlti) (on-table nmqjh) (clear zbzla) (on zbzla ctlti) (clear onikz) (clear nzwsu) (on-table onikz)",
"(on nzwsu nmqjh) (on-table ctlti) (on-table nmqjh) (clear zbzla) (on zbzla ctlti) (holding onikz) (clear nzwsu)",
"(on nzwsu nmqjh) (on onikz zbzla) (arm-empty) (on-table ctlti) (on-table nmqjh) (on zbzla ctlti) (clear onikz) (clear nzwsu)",
"(holding nzwsu) (on onikz zbzla) (on-table ctlti) (on-table nmqjh) (on zbzla ctlti) (clear onikz) (clear nmqjh)",
"(arm-empty) (on-table ctlti) (on-table nmqjh) (clear nmqjh) (on onikz zbzla) (on-table nzwsu) (on zbzla ctlti) (clear onikz) (clear nzwsu)",
"(on onikz zbzla) (on-table ctlti) (on-table nzwsu) (holding nmqjh) (on zbzla ctlti) (clear onikz) (clear nzwsu)",
"(on onikz zbzla) (arm-empty) (on-table ctlti) (on-table nzwsu) (on nmqjh nzwsu) (on zbzla ctlti) (clear onikz) (clear nmqjh)",
"(on-table ctlti) (on-table nzwsu) (clear zbzla) (on nmqjh nzwsu) (on zbzla ctlti) (holding onikz) (clear nmqjh)",
"(on onikz nmqjh) (arm-empty) (on-table ctlti) (on-table nzwsu) (clear zbzla) (on nmqjh nzwsu) (on zbzla ctlti) (clear onikz)",
"(on onikz nmqjh) (clear ctlti) (on-table ctlti) (on-table nzwsu) (holding zbzla) (on nmqjh nzwsu) (clear onikz)",
"(on onikz nmqjh) (arm-empty) (on-table ctlti) (clear zbzla) (clear ctlti) (on-table nzwsu) (on nmqjh nzwsu) (on-table zbzla) (clear onikz)",
"(on onikz nmqjh) (on-table nzwsu) (clear zbzla) (on nmqjh nzwsu) (on-table zbzla) (holding ctlti) (clear onikz)"
] | file_168745 |
GOAL: (on ydqwi pblwc) (on-table ijbqw) (on-table sseqa) (holding iuwyl) (on pblwc ijbqw) (clear ydqwi) (clear sseqa) | GOAL: (on ydqwi pblwc) (on-table ijbqw) (on-table sseqa) (holding iuwyl) (on pblwc ijbqw) (clear ydqwi) (clear sseqa)
STATE: (arm-empty) (on-table ijbqw) (on iuwyl sseqa) (on pblwc ijbqw) (on sseqa pblwc) (on ydqwi iuwyl) (clear ydqwi) | [
[
"unstack ydqwi iuwyl"
],
[
"put-down ydqwi"
],
[
"unstack iuwyl sseqa"
],
[
"put-down iuwyl"
],
[
"pick-up ydqwi"
],
[
"stack ydqwi iuwyl"
],
[
"unstack sseqa pblwc"
],
[
"put-down sseqa"
],
[
"unstack ydqwi iuwyl"
],
[
"stack ydqwi pblwc"
],
[
"pick-up iuwyl"
]
] | [
"(on-table ijbqw) (on iuwyl sseqa) (clear iuwyl) (on sseqa pblwc) (holding ydqwi) (on pblwc ijbqw)",
"(arm-empty) (on-table ijbqw) (on iuwyl sseqa) (clear iuwyl) (on sseqa pblwc) (on-table ydqwi) (on pblwc ijbqw) (clear ydqwi)",
"(on-table ijbqw) (on-table ydqwi) (holding iuwyl) (on pblwc ijbqw) (on sseqa pblwc) (clear ydqwi) (clear sseqa)",
"(arm-empty) (on-table ijbqw) (clear iuwyl) (on sseqa pblwc) (clear sseqa) (on-table ydqwi) (on pblwc ijbqw) (on-table iuwyl) (clear ydqwi)",
"(holding ydqwi) (on-table ijbqw) (on pblwc ijbqw) (clear iuwyl) (on sseqa pblwc) (on-table iuwyl) (clear sseqa)",
"(arm-empty) (on-table ijbqw) (on pblwc ijbqw) (on sseqa pblwc) (on-table iuwyl) (on ydqwi iuwyl) (clear ydqwi) (clear sseqa)",
"(on-table ijbqw) (on pblwc ijbqw) (holding sseqa) (on-table iuwyl) (on ydqwi iuwyl) (clear pblwc) (clear ydqwi)",
"(arm-empty) (on-table ijbqw) (on-table sseqa) (clear sseqa) (on pblwc ijbqw) (on-table iuwyl) (on ydqwi iuwyl) (clear pblwc) (clear ydqwi)",
"(holding ydqwi) (on-table ijbqw) (on-table sseqa) (on pblwc ijbqw) (clear iuwyl) (on-table iuwyl) (clear pblwc) (clear sseqa)",
"(on ydqwi pblwc) (arm-empty) (on-table ijbqw) (on-table sseqa) (on pblwc ijbqw) (clear iuwyl) (on-table iuwyl) (clear ydqwi) (clear sseqa)",
"(on ydqwi pblwc) (on-table ijbqw) (on-table sseqa) (holding iuwyl) (on pblwc ijbqw) (clear ydqwi) (clear sseqa)"
] | file_24947 |
GOAL: (on mohsr cnyzf) (arm-empty) (on-table wunag) (clear mohsr) (on ocrop wunag) (clear ddptl) (on cnyzf ocrop) (on-table ddptl) | GOAL: (on mohsr cnyzf) (arm-empty) (on-table wunag) (clear mohsr) (on ocrop wunag) (clear ddptl) (on cnyzf ocrop) (on-table ddptl)
STATE: (clear ocrop) (arm-empty) (on-table ocrop) (on mohsr ddptl) (on wunag cnyzf) (on cnyzf mohsr) (on-table ddptl) (clear wunag) | [
[
"unstack wunag cnyzf"
],
[
"put-down wunag"
],
[
"pick-up ocrop"
],
[
"stack ocrop wunag"
],
[
"unstack cnyzf mohsr"
],
[
"stack cnyzf ocrop"
],
[
"unstack mohsr ddptl"
],
[
"stack mohsr cnyzf"
]
] | [
"(clear ocrop) (on-table ocrop) (on mohsr ddptl) (holding wunag) (on cnyzf mohsr) (clear cnyzf) (on-table ddptl)",
"(arm-empty) (on-table ocrop) (on-table wunag) (clear wunag) (clear ocrop) (on mohsr ddptl) (on cnyzf mohsr) (clear cnyzf) (on-table ddptl)",
"(on-table wunag) (holding ocrop) (on mohsr ddptl) (on cnyzf mohsr) (clear cnyzf) (on-table ddptl) (clear wunag)",
"(clear ocrop) (arm-empty) (on-table wunag) (on mohsr ddptl) (on cnyzf mohsr) (on ocrop wunag) (clear cnyzf) (on-table ddptl)",
"(holding cnyzf) (clear ocrop) (on-table wunag) (clear mohsr) (on mohsr ddptl) (on ocrop wunag) (on-table ddptl)",
"(arm-empty) (on-table wunag) (clear mohsr) (on mohsr ddptl) (on ocrop wunag) (on cnyzf ocrop) (clear cnyzf) (on-table ddptl)",
"(on-table wunag) (holding mohsr) (on ocrop wunag) (clear ddptl) (on cnyzf ocrop) (clear cnyzf) (on-table ddptl)",
"(on mohsr cnyzf) (arm-empty) (on-table wunag) (clear mohsr) (on ocrop wunag) (clear ddptl) (on cnyzf ocrop) (on-table ddptl)"
] | file_162348 |
GOAL: (clear ejcbr) (arm-empty) (on-table ejcbr) (on-table rokkm) (clear aubio) (on ocnvg rokkm) (on-table aubio) (clear pyoem) (on-table pyoem) (clear ocnvg) | GOAL: (clear ejcbr) (arm-empty) (on-table ejcbr) (on-table rokkm) (clear aubio) (on ocnvg rokkm) (on-table aubio) (clear pyoem) (on-table pyoem) (clear ocnvg)
STATE: (holding rokkm) (clear ejcbr) (on pyoem ocnvg) (on ocnvg aubio) (on-table ejcbr) (on-table aubio) (clear pyoem) | [
[
"put-down rokkm"
],
[
"unstack pyoem ocnvg"
],
[
"put-down pyoem"
],
[
"unstack ocnvg aubio"
],
[
"stack ocnvg rokkm"
]
] | [
"(on pyoem ocnvg) (arm-empty) (on ocnvg aubio) (on-table ejcbr) (clear ejcbr) (on-table rokkm) (on-table aubio) (clear pyoem) (clear rokkm)",
"(on ocnvg aubio) (on-table ejcbr) (clear ejcbr) (on-table rokkm) (on-table aubio) (holding pyoem) (clear rokkm) (clear ocnvg)",
"(clear ejcbr) (arm-empty) (on ocnvg aubio) (on-table ejcbr) (on-table rokkm) (on-table aubio) (clear pyoem) (clear rokkm) (on-table pyoem) (clear ocnvg)",
"(clear ejcbr) (on-table ejcbr) (on-table rokkm) (clear aubio) (holding ocnvg) (on-table aubio) (clear pyoem) (clear rokkm) (on-table pyoem)",
"(clear ejcbr) (arm-empty) (on-table ejcbr) (on-table rokkm) (clear aubio) (on ocnvg rokkm) (on-table aubio) (clear pyoem) (on-table pyoem) (clear ocnvg)"
] | file_93120 |
GOAL: (on-table aktww) (on-table immlh) (holding lmjsq) (on ilphx aktww) (clear cidrc) (clear immlh) (on-table cidrc) (clear ilphx) | GOAL: (on-table aktww) (on-table immlh) (holding lmjsq) (on ilphx aktww) (clear cidrc) (clear immlh) (on-table cidrc) (clear ilphx)
STATE: (clear aktww) (arm-empty) (on-table ilphx) (on-table immlh) (on lmjsq ilphx) (on aktww lmjsq) (clear cidrc) (clear immlh) (on-table cidrc) | [
[
"pick-up immlh"
],
[
"stack immlh cidrc"
],
[
"unstack aktww lmjsq"
],
[
"stack aktww immlh"
],
[
"unstack lmjsq ilphx"
],
[
"put-down lmjsq"
],
[
"unstack aktww immlh"
],
[
"put-down aktww"
],
[
"unstack immlh cidrc"
],
[
"put-down immlh"
],
[
"pick-up ilphx"
],
[
"stack ilphx aktww"
],
[
"pick-up lmjsq"
]
] | [
"(holding immlh) (clear aktww) (on-table ilphx) (on lmjsq ilphx) (on aktww lmjsq) (clear cidrc) (on-table cidrc)",
"(clear aktww) (on immlh cidrc) (arm-empty) (on-table ilphx) (on lmjsq ilphx) (on aktww lmjsq) (clear immlh) (on-table cidrc)",
"(on immlh cidrc) (on-table ilphx) (on lmjsq ilphx) (clear lmjsq) (holding aktww) (clear immlh) (on-table cidrc)",
"(on immlh cidrc) (arm-empty) (on-table ilphx) (on lmjsq ilphx) (clear lmjsq) (on aktww immlh) (clear aktww) (on-table cidrc)",
"(clear aktww) (on immlh cidrc) (on-table ilphx) (holding lmjsq) (on aktww immlh) (on-table cidrc) (clear ilphx)",
"(on immlh cidrc) (arm-empty) (on-table ilphx) (clear lmjsq) (on aktww immlh) (clear ilphx) (clear aktww) (on-table lmjsq) (on-table cidrc)",
"(on immlh cidrc) (on-table ilphx) (clear lmjsq) (on-table lmjsq) (holding aktww) (clear immlh) (on-table cidrc) (clear ilphx)",
"(clear aktww) (on immlh cidrc) (arm-empty) (on-table aktww) (on-table ilphx) (clear lmjsq) (on-table lmjsq) (clear immlh) (on-table cidrc) (clear ilphx)",
"(holding immlh) (clear aktww) (on-table aktww) (on-table ilphx) (clear lmjsq) (on-table lmjsq) (clear cidrc) (on-table cidrc) (clear ilphx)",
"(clear aktww) (arm-empty) (on-table aktww) (on-table ilphx) (on-table immlh) (clear lmjsq) (on-table lmjsq) (clear cidrc) (clear immlh) (on-table cidrc) (clear ilphx)",
"(clear aktww) (on-table aktww) (on-table immlh) (clear lmjsq) (holding ilphx) (on-table lmjsq) (clear cidrc) (clear immlh) (on-table cidrc)",
"(arm-empty) (on-table aktww) (on-table immlh) (on ilphx aktww) (clear lmjsq) (on-table lmjsq) (clear cidrc) (clear immlh) (on-table cidrc) (clear ilphx)",
"(on-table aktww) (on-table immlh) (holding lmjsq) (on ilphx aktww) (clear cidrc) (clear immlh) (on-table cidrc) (clear ilphx)"
] | file_137435 |
GOAL: (on kgfuz xgvwv) (arm-empty) (on-table ggivn) (clear ckixw) (on xgvwv zqibk) (on ckixw ggivn) (clear kgfuz) (on-table zqibk) | GOAL: (on kgfuz xgvwv) (arm-empty) (on-table ggivn) (clear ckixw) (on xgvwv zqibk) (on ckixw ggivn) (clear kgfuz) (on-table zqibk)
STATE: (on kgfuz xgvwv) (clear ckixw) (on xgvwv zqibk) (on-table ckixw) (holding ggivn) (clear kgfuz) (on-table zqibk) | [
[
"put-down ggivn"
],
[
"pick-up ckixw"
],
[
"stack ckixw ggivn"
]
] | [
"(on kgfuz xgvwv) (arm-empty) (on-table ggivn) (clear ckixw) (on xgvwv zqibk) (clear ggivn) (on-table ckixw) (clear kgfuz) (on-table zqibk)",
"(on kgfuz xgvwv) (clear ggivn) (on-table ggivn) (holding ckixw) (on xgvwv zqibk) (clear kgfuz) (on-table zqibk)",
"(on kgfuz xgvwv) (arm-empty) (on-table ggivn) (clear ckixw) (on xgvwv zqibk) (on ckixw ggivn) (clear kgfuz) (on-table zqibk)"
] | file_138100 |
GOAL: (on cudoi ahflp) (arm-empty) (on-table sucni) (on-table ujadc) (clear nzjee) (on nzjee sucni) (clear cudoi) (on-table ahflp) (clear ujadc) | GOAL: (on cudoi ahflp) (arm-empty) (on-table sucni) (on-table ujadc) (clear nzjee) (on nzjee sucni) (clear cudoi) (on-table ahflp) (clear ujadc)
STATE: (on cudoi ahflp) (on nzjee cudoi) (on-table ujadc) (clear nzjee) (holding sucni) (on-table ahflp) (clear ujadc) | [
[
"put-down sucni"
],
[
"unstack nzjee cudoi"
],
[
"stack nzjee sucni"
]
] | [
"(on cudoi ahflp) (on nzjee cudoi) (on-table sucni) (on-table ujadc) (arm-empty) (clear nzjee) (clear ujadc) (clear sucni) (on-table ahflp)",
"(clear sucni) (on cudoi ahflp) (on-table sucni) (on-table ujadc) (holding nzjee) (clear cudoi) (on-table ahflp) (clear ujadc)",
"(on cudoi ahflp) (arm-empty) (on-table sucni) (on-table ujadc) (clear nzjee) (on nzjee sucni) (clear cudoi) (on-table ahflp) (clear ujadc)"
] | file_57375 |
GOAL: (on ixazf rkymj) (arm-empty) (on-table vshdm) (on-table wmvwd) (clear hqkku) (on hqkku vshdm) (clear ixazf) (on-table rkymj) (clear wmvwd) | GOAL: (on ixazf rkymj) (arm-empty) (on-table vshdm) (on-table wmvwd) (clear hqkku) (on hqkku vshdm) (clear ixazf) (on-table rkymj) (clear wmvwd)
STATE: (arm-empty) (on-table wmvwd) (on hqkku wmvwd) (on vshdm hqkku) (clear rkymj) (on ixazf vshdm) (clear ixazf) (on-table rkymj) | [
[
"unstack ixazf vshdm"
],
[
"stack ixazf rkymj"
],
[
"unstack vshdm hqkku"
],
[
"put-down vshdm"
],
[
"unstack ixazf rkymj"
],
[
"put-down ixazf"
],
[
"unstack hqkku wmvwd"
],
[
"stack hqkku vshdm"
],
[
"pick-up ixazf"
],
[
"stack ixazf rkymj"
]
] | [
"(holding ixazf) (clear vshdm) (on-table wmvwd) (on hqkku wmvwd) (on vshdm hqkku) (clear rkymj) (on-table rkymj)",
"(clear vshdm) (on ixazf rkymj) (arm-empty) (on-table wmvwd) (on hqkku wmvwd) (on vshdm hqkku) (clear ixazf) (on-table rkymj)",
"(on ixazf rkymj) (on-table wmvwd) (on hqkku wmvwd) (clear hqkku) (holding vshdm) (clear ixazf) (on-table rkymj)",
"(on ixazf rkymj) (arm-empty) (on-table vshdm) (on-table wmvwd) (on hqkku wmvwd) (clear hqkku) (clear vshdm) (clear ixazf) (on-table rkymj)",
"(holding ixazf) (clear vshdm) (on-table vshdm) (on-table wmvwd) (on hqkku wmvwd) (clear hqkku) (clear rkymj) (on-table rkymj)",
"(clear vshdm) (arm-empty) (on-table vshdm) (on-table wmvwd) (on hqkku wmvwd) (on-table ixazf) (clear hqkku) (clear rkymj) (clear ixazf) (on-table rkymj)",
"(clear vshdm) (on-table vshdm) (on-table wmvwd) (holding hqkku) (on-table ixazf) (clear rkymj) (clear ixazf) (on-table rkymj) (clear wmvwd)",
"(arm-empty) (on-table vshdm) (on-table wmvwd) (on-table ixazf) (clear hqkku) (on hqkku vshdm) (clear rkymj) (clear ixazf) (on-table rkymj) (clear wmvwd)",
"(holding ixazf) (on-table vshdm) (on-table wmvwd) (clear hqkku) (on hqkku vshdm) (clear rkymj) (on-table rkymj) (clear wmvwd)",
"(on ixazf rkymj) (arm-empty) (on-table vshdm) (on-table wmvwd) (clear hqkku) (on hqkku vshdm) (clear ixazf) (on-table rkymj) (clear wmvwd)"
] | file_131710 |
GOAL: (on fchlv bawoq) (clear iwrdn) (arm-empty) (on-table bawoq) (on-table mlegc) (on cxipf mlegc) (on iwrdn fchlv) (clear cxipf) | GOAL: (on fchlv bawoq) (clear iwrdn) (arm-empty) (on-table bawoq) (on-table mlegc) (on cxipf mlegc) (on iwrdn fchlv) (clear cxipf)
STATE: (on fchlv bawoq) (arm-empty) (on-table bawoq) (on mlegc fchlv) (on iwrdn mlegc) (on cxipf iwrdn) (clear cxipf) | [
[
"unstack cxipf iwrdn"
],
[
"put-down cxipf"
],
[
"unstack iwrdn mlegc"
],
[
"put-down iwrdn"
],
[
"unstack mlegc fchlv"
],
[
"stack mlegc cxipf"
],
[
"pick-up iwrdn"
],
[
"stack iwrdn fchlv"
],
[
"unstack mlegc cxipf"
],
[
"put-down mlegc"
],
[
"pick-up cxipf"
],
[
"stack cxipf mlegc"
]
] | [
"(on fchlv bawoq) (on-table bawoq) (on iwrdn mlegc) (holding cxipf) (clear iwrdn) (on mlegc fchlv)",
"(on fchlv bawoq) (arm-empty) (on-table bawoq) (on iwrdn mlegc) (clear iwrdn) (on-table cxipf) (on mlegc fchlv) (clear cxipf)",
"(on fchlv bawoq) (on-table bawoq) (on-table cxipf) (clear mlegc) (on mlegc fchlv) (holding iwrdn) (clear cxipf)",
"(on fchlv bawoq) (arm-empty) (on-table iwrdn) (on-table bawoq) (clear mlegc) (clear iwrdn) (on-table cxipf) (on mlegc fchlv) (clear cxipf)",
"(on fchlv bawoq) (clear iwrdn) (on-table iwrdn) (on-table bawoq) (on-table cxipf) (holding mlegc) (clear fchlv) (clear cxipf)",
"(on fchlv bawoq) (clear iwrdn) (on mlegc cxipf) (on-table iwrdn) (on-table bawoq) (on-table cxipf) (arm-empty) (clear mlegc) (clear fchlv)",
"(on fchlv bawoq) (on mlegc cxipf) (on-table bawoq) (on-table cxipf) (clear mlegc) (holding iwrdn) (clear fchlv)",
"(on fchlv bawoq) (on mlegc cxipf) (clear iwrdn) (arm-empty) (on-table bawoq) (on-table cxipf) (clear mlegc) (on iwrdn fchlv)",
"(on fchlv bawoq) (clear iwrdn) (on-table bawoq) (on-table cxipf) (holding mlegc) (on iwrdn fchlv) (clear cxipf)",
"(on fchlv bawoq) (arm-empty) (on-table bawoq) (clear mlegc) (clear iwrdn) (on-table cxipf) (on-table mlegc) (on iwrdn fchlv) (clear cxipf)",
"(holding cxipf) (on fchlv bawoq) (clear iwrdn) (on-table bawoq) (clear mlegc) (on-table mlegc) (on iwrdn fchlv)",
"(on fchlv bawoq) (clear iwrdn) (arm-empty) (on-table bawoq) (on-table mlegc) (on cxipf mlegc) (on iwrdn fchlv) (clear cxipf)"
] | file_166775 |
GOAL: (holding wfwjm) (clear nzgbo) (on-table nzgbo) (on-table iutog) (clear oycyc) (on oycyc xszqt) (on-table xszqt) (clear iutog) | GOAL: (holding wfwjm) (clear nzgbo) (on-table nzgbo) (on-table iutog) (clear oycyc) (on oycyc xszqt) (on-table xszqt) (clear iutog)
STATE: (arm-empty) (on oycyc iutog) (on-table wfwjm) (on iutog nzgbo) (clear oycyc) (on nzgbo wfwjm) (clear xszqt) (on-table xszqt) | [
[
"unstack oycyc iutog"
],
[
"stack oycyc xszqt"
],
[
"unstack iutog nzgbo"
],
[
"put-down iutog"
],
[
"unstack nzgbo wfwjm"
],
[
"put-down nzgbo"
],
[
"pick-up wfwjm"
]
] | [
"(on-table wfwjm) (holding oycyc) (on iutog nzgbo) (on nzgbo wfwjm) (clear xszqt) (on-table xszqt) (clear iutog)",
"(arm-empty) (on iutog nzgbo) (clear oycyc) (on nzgbo wfwjm) (clear iutog) (on-table wfwjm) (on oycyc xszqt) (on-table xszqt)",
"(clear nzgbo) (on-table wfwjm) (clear oycyc) (on oycyc xszqt) (holding iutog) (on nzgbo wfwjm) (on-table xszqt)",
"(arm-empty) (on-table iutog) (clear oycyc) (on nzgbo wfwjm) (clear iutog) (clear nzgbo) (on-table wfwjm) (on oycyc xszqt) (on-table xszqt)",
"(on-table iutog) (on-table wfwjm) (clear oycyc) (on oycyc xszqt) (holding nzgbo) (clear wfwjm) (on-table xszqt) (clear iutog)",
"(clear nzgbo) (arm-empty) (on-table nzgbo) (on-table iutog) (on-table wfwjm) (clear oycyc) (on oycyc xszqt) (clear wfwjm) (on-table xszqt) (clear iutog)",
"(holding wfwjm) (clear nzgbo) (on-table nzgbo) (on-table iutog) (clear oycyc) (on oycyc xszqt) (on-table xszqt) (clear iutog)"
] | file_114409 |
GOAL: (on cfnbw mybez) (holding unina) (on mybez ctmjj) (clear cfnbw) (on-table ctmjj) | GOAL: (on cfnbw mybez) (holding unina) (on mybez ctmjj) (clear cfnbw) (on-table ctmjj)
STATE: (clear mybez) (on unina ctmjj) (arm-empty) (on-table mybez) (clear cfnbw) (on-table cfnbw) (clear unina) (on-table ctmjj) | [
[
"pick-up mybez"
],
[
"stack mybez cfnbw"
],
[
"unstack unina ctmjj"
],
[
"put-down unina"
],
[
"unstack mybez cfnbw"
],
[
"stack mybez ctmjj"
],
[
"pick-up cfnbw"
],
[
"stack cfnbw mybez"
],
[
"pick-up unina"
]
] | [
"(on unina ctmjj) (clear cfnbw) (on-table cfnbw) (holding mybez) (clear unina) (on-table ctmjj)",
"(clear mybez) (on unina ctmjj) (arm-empty) (on-table cfnbw) (on mybez cfnbw) (clear unina) (on-table ctmjj)",
"(on mybez cfnbw) (holding unina) (clear mybez) (on-table cfnbw) (clear ctmjj) (on-table ctmjj)",
"(arm-empty) (on mybez cfnbw) (clear mybez) (on-table unina) (on-table cfnbw) (clear ctmjj) (clear unina) (on-table ctmjj)",
"(on-table unina) (clear cfnbw) (on-table cfnbw) (holding mybez) (clear ctmjj) (clear unina) (on-table ctmjj)",
"(clear mybez) (arm-empty) (on-table unina) (clear cfnbw) (on-table cfnbw) (on mybez ctmjj) (clear unina) (on-table ctmjj)",
"(clear mybez) (on-table unina) (holding cfnbw) (on mybez ctmjj) (clear unina) (on-table ctmjj)",
"(arm-empty) (on-table unina) (clear cfnbw) (on cfnbw mybez) (on mybez ctmjj) (clear unina) (on-table ctmjj)",
"(on cfnbw mybez) (holding unina) (on mybez ctmjj) (clear cfnbw) (on-table ctmjj)"
] | file_200615 |
GOAL: (on jjooo qtdnp) (on ppzyw jjooo) (on qtdnp bxqbq) (on-table hvnxu) (arm-empty) (on bxqbq hvnxu) (clear ppzyw) | GOAL: (on jjooo qtdnp) (on ppzyw jjooo) (on qtdnp bxqbq) (on-table hvnxu) (arm-empty) (on bxqbq hvnxu) (clear ppzyw)
STATE: (on jjooo bxqbq) (on ppzyw jjooo) (arm-empty) (on-table hvnxu) (on-table qtdnp) (on bxqbq hvnxu) (clear ppzyw) (clear qtdnp) | [
[
"unstack ppzyw jjooo"
],
[
"put-down ppzyw"
],
[
"unstack jjooo bxqbq"
],
[
"stack jjooo ppzyw"
],
[
"pick-up qtdnp"
],
[
"stack qtdnp bxqbq"
],
[
"unstack jjooo ppzyw"
],
[
"stack jjooo qtdnp"
],
[
"pick-up ppzyw"
],
[
"stack ppzyw jjooo"
]
] | [
"(holding ppzyw) (on jjooo bxqbq) (on-table hvnxu) (on-table qtdnp) (on bxqbq hvnxu) (clear jjooo) (clear qtdnp)",
"(arm-empty) (on-table hvnxu) (on-table qtdnp) (clear qtdnp) (on jjooo bxqbq) (on-table ppzyw) (on bxqbq hvnxu) (clear jjooo) (clear ppzyw)",
"(on-table hvnxu) (on-table qtdnp) (on-table ppzyw) (clear bxqbq) (on bxqbq hvnxu) (holding jjooo) (clear ppzyw) (clear qtdnp)",
"(arm-empty) (on-table hvnxu) (on-table qtdnp) (on-table ppzyw) (clear bxqbq) (on jjooo ppzyw) (on bxqbq hvnxu) (clear jjooo) (clear qtdnp)",
"(on-table hvnxu) (on-table ppzyw) (on bxqbq hvnxu) (clear bxqbq) (holding qtdnp) (on jjooo ppzyw) (clear jjooo)",
"(arm-empty) (on qtdnp bxqbq) (on-table hvnxu) (on-table ppzyw) (on jjooo ppzyw) (on bxqbq hvnxu) (clear jjooo) (clear qtdnp)",
"(on qtdnp bxqbq) (on-table hvnxu) (on-table ppzyw) (on bxqbq hvnxu) (holding jjooo) (clear ppzyw) (clear qtdnp)",
"(on jjooo qtdnp) (arm-empty) (on qtdnp bxqbq) (on-table hvnxu) (on-table ppzyw) (on bxqbq hvnxu) (clear jjooo) (clear ppzyw)",
"(holding ppzyw) (on jjooo qtdnp) (on qtdnp bxqbq) (on-table hvnxu) (on bxqbq hvnxu) (clear jjooo)",
"(on jjooo qtdnp) (on ppzyw jjooo) (on qtdnp bxqbq) (on-table hvnxu) (arm-empty) (on bxqbq hvnxu) (clear ppzyw)"
] | file_186601 |
GOAL: (holding spwmf) (clear fmvyd) (on dqnxg lglae) (on-table fmvyd) (on-table lglae) (clear bitwk) (on-table bitwk) (clear dqnxg) | GOAL: (holding spwmf) (clear fmvyd) (on dqnxg lglae) (on-table fmvyd) (on-table lglae) (clear bitwk) (on-table bitwk) (clear dqnxg)
STATE: (on-table fmvyd) (holding lglae) (on dqnxg spwmf) (clear bitwk) (on spwmf fmvyd) (on-table bitwk) (clear dqnxg) | [
[
"put-down lglae"
],
[
"unstack dqnxg spwmf"
],
[
"stack dqnxg lglae"
],
[
"unstack spwmf fmvyd"
]
] | [
"(arm-empty) (on-table fmvyd) (clear lglae) (on spwmf fmvyd) (clear dqnxg) (on dqnxg spwmf) (on-table lglae) (clear bitwk) (on-table bitwk)",
"(on-table fmvyd) (clear lglae) (holding dqnxg) (on-table lglae) (clear bitwk) (on spwmf fmvyd) (clear spwmf) (on-table bitwk)",
"(arm-empty) (on dqnxg lglae) (on-table fmvyd) (on-table lglae) (clear bitwk) (on spwmf fmvyd) (clear spwmf) (on-table bitwk) (clear dqnxg)",
"(holding spwmf) (clear fmvyd) (on dqnxg lglae) (on-table fmvyd) (on-table lglae) (clear bitwk) (on-table bitwk) (clear dqnxg)"
] | file_217856 |
GOAL: (clear vqydt) (arm-empty) (on-table aibeh) (on-table ufibl) (clear onqak) (on-table onqak) (on vqydt ufibl) (clear uhixo) (on-table uhixo) (clear aibeh) | GOAL: (clear vqydt) (arm-empty) (on-table aibeh) (on-table ufibl) (clear onqak) (on-table onqak) (on vqydt ufibl) (clear uhixo) (on-table uhixo) (clear aibeh)
STATE: (arm-empty) (on-table vqydt) (on-table aibeh) (on-table ufibl) (clear onqak) (on onqak vqydt) (clear uhixo) (clear ufibl) (on-table uhixo) (clear aibeh) | [
[
"pick-up ufibl"
],
[
"stack ufibl uhixo"
],
[
"unstack onqak vqydt"
],
[
"put-down onqak"
],
[
"pick-up vqydt"
],
[
"stack vqydt aibeh"
],
[
"unstack ufibl uhixo"
],
[
"put-down ufibl"
],
[
"unstack vqydt aibeh"
],
[
"stack vqydt ufibl"
]
] | [
"(holding ufibl) (on-table vqydt) (on-table aibeh) (clear onqak) (on onqak vqydt) (clear uhixo) (on-table uhixo) (clear aibeh)",
"(on ufibl uhixo) (arm-empty) (on-table vqydt) (on-table aibeh) (clear onqak) (on onqak vqydt) (clear ufibl) (on-table uhixo) (clear aibeh)",
"(clear vqydt) (on ufibl uhixo) (on-table vqydt) (on-table aibeh) (holding onqak) (clear ufibl) (on-table uhixo) (clear aibeh)",
"(clear vqydt) (on ufibl uhixo) (arm-empty) (on-table vqydt) (on-table aibeh) (clear onqak) (on-table onqak) (clear ufibl) (on-table uhixo) (clear aibeh)",
"(on ufibl uhixo) (on-table aibeh) (clear onqak) (on-table onqak) (holding vqydt) (clear ufibl) (on-table uhixo) (clear aibeh)",
"(clear vqydt) (on ufibl uhixo) (arm-empty) (on-table aibeh) (clear onqak) (on-table onqak) (on vqydt aibeh) (clear ufibl) (on-table uhixo)",
"(holding ufibl) (clear vqydt) (on-table aibeh) (clear onqak) (on-table onqak) (on vqydt aibeh) (clear uhixo) (on-table uhixo)",
"(clear vqydt) (arm-empty) (on-table aibeh) (on-table ufibl) (clear onqak) (on-table onqak) (on vqydt aibeh) (clear uhixo) (clear ufibl) (on-table uhixo)",
"(on-table aibeh) (on-table ufibl) (clear onqak) (on-table onqak) (holding vqydt) (clear uhixo) (clear ufibl) (on-table uhixo) (clear aibeh)",
"(clear vqydt) (arm-empty) (on-table aibeh) (on-table ufibl) (clear onqak) (on-table onqak) (on vqydt ufibl) (clear uhixo) (on-table uhixo) (clear aibeh)"
] | file_17930 |
GOAL: (clear srwre) (arm-empty) (on-table lvegh) (on-table trjwn) (on-table falzr) (on srwre falzr) (clear xbyrt) (clear trjwn) (on-table xbyrt) (clear lvegh) | GOAL: (clear srwre) (arm-empty) (on-table lvegh) (on-table trjwn) (on-table falzr) (on srwre falzr) (clear xbyrt) (clear trjwn) (on-table xbyrt) (clear lvegh)
STATE: (on xbyrt lvegh) (holding falzr) (on-table trjwn) (on lvegh srwre) (on srwre trjwn) (clear xbyrt) | [
[
"put-down falzr"
],
[
"unstack xbyrt lvegh"
],
[
"put-down xbyrt"
],
[
"unstack lvegh srwre"
],
[
"stack lvegh xbyrt"
],
[
"unstack srwre trjwn"
],
[
"stack srwre falzr"
],
[
"unstack lvegh xbyrt"
],
[
"put-down lvegh"
]
] | [
"(on xbyrt lvegh) (arm-empty) (on lvegh srwre) (clear falzr) (on srwre trjwn) (on-table trjwn) (on-table falzr) (clear xbyrt)",
"(on-table trjwn) (on lvegh srwre) (clear falzr) (on-table falzr) (on srwre trjwn) (holding xbyrt) (clear lvegh)",
"(arm-empty) (on lvegh srwre) (clear falzr) (on srwre trjwn) (clear lvegh) (on-table trjwn) (on-table falzr) (clear xbyrt) (on-table xbyrt)",
"(clear srwre) (on-table trjwn) (clear falzr) (holding lvegh) (on-table falzr) (on srwre trjwn) (clear xbyrt) (on-table xbyrt)",
"(clear srwre) (arm-empty) (on-table trjwn) (clear falzr) (on lvegh xbyrt) (on-table falzr) (on srwre trjwn) (on-table xbyrt) (clear lvegh)",
"(on-table trjwn) (clear falzr) (on lvegh xbyrt) (on-table falzr) (holding srwre) (clear trjwn) (on-table xbyrt) (clear lvegh)",
"(clear srwre) (arm-empty) (on-table trjwn) (on lvegh xbyrt) (on-table falzr) (on srwre falzr) (clear trjwn) (on-table xbyrt) (clear lvegh)",
"(clear srwre) (on-table trjwn) (holding lvegh) (on-table falzr) (on srwre falzr) (clear xbyrt) (clear trjwn) (on-table xbyrt)",
"(clear srwre) (arm-empty) (on-table lvegh) (on-table trjwn) (on-table falzr) (on srwre falzr) (clear xbyrt) (clear trjwn) (on-table xbyrt) (clear lvegh)"
] | file_47304 |
GOAL: (on iyaem oybll) (on-table bshwo) (on dmeic bshwo) (on oybll dmeic) (holding sulbi) (clear iyaem) | GOAL: (on iyaem oybll) (on-table bshwo) (on dmeic bshwo) (on oybll dmeic) (holding sulbi) (clear iyaem)
STATE: (on-table dmeic) (on-table oybll) (on sulbi dmeic) (clear bshwo) (holding iyaem) (on-table bshwo) (clear sulbi) (clear oybll) | [
[
"put-down iyaem"
],
[
"unstack sulbi dmeic"
],
[
"stack sulbi iyaem"
],
[
"pick-up dmeic"
],
[
"stack dmeic bshwo"
],
[
"unstack sulbi iyaem"
],
[
"put-down sulbi"
],
[
"pick-up iyaem"
],
[
"stack iyaem sulbi"
],
[
"pick-up oybll"
],
[
"stack oybll dmeic"
],
[
"unstack iyaem sulbi"
],
[
"stack iyaem oybll"
],
[
"pick-up sulbi"
]
] | [
"(arm-empty) (on-table dmeic) (on-table iyaem) (on-table oybll) (on sulbi dmeic) (clear bshwo) (on-table bshwo) (clear sulbi) (clear oybll) (clear iyaem)",
"(clear dmeic) (on-table dmeic) (on-table iyaem) (on-table oybll) (clear bshwo) (on-table bshwo) (holding sulbi) (clear oybll) (clear iyaem)",
"(clear dmeic) (on sulbi iyaem) (arm-empty) (on-table dmeic) (on-table iyaem) (on-table oybll) (clear bshwo) (on-table bshwo) (clear sulbi) (clear oybll)",
"(on sulbi iyaem) (on-table iyaem) (on-table oybll) (clear bshwo) (on-table bshwo) (holding dmeic) (clear sulbi) (clear oybll)",
"(on sulbi iyaem) (clear dmeic) (arm-empty) (on-table iyaem) (on-table oybll) (on-table bshwo) (on dmeic bshwo) (clear sulbi) (clear oybll)",
"(clear dmeic) (on-table iyaem) (on-table oybll) (on-table bshwo) (on dmeic bshwo) (holding sulbi) (clear oybll) (clear iyaem)",
"(clear dmeic) (arm-empty) (on-table iyaem) (on-table oybll) (on-table bshwo) (on dmeic bshwo) (clear sulbi) (clear oybll) (on-table sulbi) (clear iyaem)",
"(clear dmeic) (on-table oybll) (holding iyaem) (on-table bshwo) (on dmeic bshwo) (clear sulbi) (clear oybll) (on-table sulbi)",
"(clear dmeic) (arm-empty) (on-table oybll) (on iyaem sulbi) (on-table bshwo) (on dmeic bshwo) (clear oybll) (on-table sulbi) (clear iyaem)",
"(holding oybll) (clear dmeic) (on iyaem sulbi) (on-table bshwo) (on dmeic bshwo) (on-table sulbi) (clear iyaem)",
"(arm-empty) (on iyaem sulbi) (on-table bshwo) (on dmeic bshwo) (on oybll dmeic) (clear oybll) (on-table sulbi) (clear iyaem)",
"(holding iyaem) (on-table bshwo) (on dmeic bshwo) (clear sulbi) (on oybll dmeic) (clear oybll) (on-table sulbi)",
"(arm-empty) (on iyaem oybll) (on-table bshwo) (on dmeic bshwo) (clear sulbi) (on oybll dmeic) (on-table sulbi) (clear iyaem)",
"(on iyaem oybll) (on-table bshwo) (on dmeic bshwo) (on oybll dmeic) (holding sulbi) (clear iyaem)"
] | file_152246 |
GOAL: (arm-empty) (on-table coywj) (on-table ezhri) (clear ezhri) (on moneb epikn) (on epikn coywj) (clear ynloj) (clear moneb) (on-table ynloj) | GOAL: (arm-empty) (on-table coywj) (on-table ezhri) (clear ezhri) (on moneb epikn) (on epikn coywj) (clear ynloj) (clear moneb) (on-table ynloj)
STATE: (on moneb ezhri) (clear coywj) (on epikn moneb) (arm-empty) (on ezhri ynloj) (on coywj epikn) (on-table ynloj) | [
[
"unstack coywj epikn"
],
[
"put-down coywj"
],
[
"unstack epikn moneb"
],
[
"stack epikn coywj"
],
[
"unstack moneb ezhri"
],
[
"stack moneb epikn"
],
[
"unstack ezhri ynloj"
],
[
"put-down ezhri"
]
] | [
"(on moneb ezhri) (on epikn moneb) (clear epikn) (on ezhri ynloj) (holding coywj) (on-table ynloj)",
"(on moneb ezhri) (on epikn moneb) (arm-empty) (on-table coywj) (clear epikn) (on ezhri ynloj) (clear coywj) (on-table ynloj)",
"(on moneb ezhri) (clear coywj) (on-table coywj) (holding epikn) (on ezhri ynloj) (clear moneb) (on-table ynloj)",
"(on moneb ezhri) (arm-empty) (on-table coywj) (clear epikn) (on ezhri ynloj) (on epikn coywj) (clear moneb) (on-table ynloj)",
"(holding moneb) (on-table coywj) (clear epikn) (on ezhri ynloj) (on epikn coywj) (on-table ynloj) (clear ezhri)",
"(arm-empty) (on-table coywj) (on ezhri ynloj) (on moneb epikn) (on epikn coywj) (clear moneb) (on-table ynloj) (clear ezhri)",
"(on-table coywj) (holding ezhri) (on moneb epikn) (on epikn coywj) (clear ynloj) (clear moneb) (on-table ynloj)",
"(arm-empty) (on-table coywj) (on-table ezhri) (clear ezhri) (on moneb epikn) (on epikn coywj) (clear ynloj) (clear moneb) (on-table ynloj)"
] | file_190218 |
GOAL: (clear mlehi) (arm-empty) (on-table atmts) (on qdwny atmts) (on mlehi qdwny) (clear mfshd) (on-table mfshd) | GOAL: (clear mlehi) (arm-empty) (on-table atmts) (on qdwny atmts) (on mlehi qdwny) (clear mfshd) (on-table mfshd)
STATE: (clear mlehi) (on atmts qdwny) (on-table qdwny) (on mlehi atmts) (holding mfshd) | [
[
"put-down mfshd"
],
[
"unstack mlehi atmts"
],
[
"put-down mlehi"
],
[
"unstack atmts qdwny"
],
[
"put-down atmts"
],
[
"pick-up mlehi"
],
[
"stack mlehi mfshd"
],
[
"pick-up qdwny"
],
[
"stack qdwny atmts"
],
[
"unstack mlehi mfshd"
],
[
"stack mlehi qdwny"
]
] | [
"(clear mlehi) (on atmts qdwny) (arm-empty) (on-table qdwny) (clear mfshd) (on mlehi atmts) (on-table mfshd)",
"(on atmts qdwny) (clear atmts) (on-table qdwny) (holding mlehi) (clear mfshd) (on-table mfshd)",
"(on atmts qdwny) (arm-empty) (on-table mlehi) (clear atmts) (clear mlehi) (on-table qdwny) (clear mfshd) (on-table mfshd)",
"(clear mlehi) (on-table mlehi) (on-table qdwny) (holding atmts) (clear mfshd) (clear qdwny) (on-table mfshd)",
"(arm-empty) (on-table mlehi) (clear atmts) (clear mlehi) (on-table qdwny) (on-table atmts) (clear mfshd) (clear qdwny) (on-table mfshd)",
"(on-table qdwny) (clear atmts) (on-table atmts) (holding mlehi) (clear mfshd) (clear qdwny) (on-table mfshd)",
"(clear mlehi) (arm-empty) (on-table qdwny) (clear atmts) (on-table atmts) (on mlehi mfshd) (clear qdwny) (on-table mfshd)",
"(holding qdwny) (clear mlehi) (clear atmts) (on-table atmts) (on mlehi mfshd) (on-table mfshd)",
"(clear mlehi) (arm-empty) (on-table atmts) (on qdwny atmts) (on mlehi mfshd) (clear qdwny) (on-table mfshd)",
"(on qdwny atmts) (on-table atmts) (holding mlehi) (clear mfshd) (clear qdwny) (on-table mfshd)",
"(clear mlehi) (arm-empty) (on-table atmts) (on qdwny atmts) (on mlehi qdwny) (clear mfshd) (on-table mfshd)"
] | file_18793 |
GOAL: (holding lfrei) (on vkxvv plsgo) (on-table plsgo) (clear vnfml) (on vnfml pgyqi) (on pgyqi vkxvv) | GOAL: (holding lfrei) (on vkxvv plsgo) (on-table plsgo) (clear vnfml) (on vnfml pgyqi) (on pgyqi vkxvv)
STATE: (arm-empty) (on-table plsgo) (on-table lfrei) (on vkxvv pgyqi) (clear vnfml) (on-table vnfml) (on pgyqi lfrei) (clear vkxvv) (clear plsgo) | [
[
"unstack vkxvv pgyqi"
],
[
"stack vkxvv plsgo"
],
[
"unstack pgyqi lfrei"
],
[
"stack pgyqi vkxvv"
],
[
"pick-up vnfml"
],
[
"stack vnfml pgyqi"
],
[
"pick-up lfrei"
]
] | [
"(clear pgyqi) (on-table plsgo) (on-table lfrei) (clear vnfml) (on-table vnfml) (on pgyqi lfrei) (holding vkxvv) (clear plsgo)",
"(clear pgyqi) (on vkxvv plsgo) (arm-empty) (on-table plsgo) (on-table lfrei) (clear vnfml) (on-table vnfml) (on pgyqi lfrei) (clear vkxvv)",
"(on vkxvv plsgo) (on-table plsgo) (on-table lfrei) (clear vnfml) (on-table vnfml) (holding pgyqi) (clear vkxvv) (clear lfrei)",
"(on vkxvv plsgo) (clear pgyqi) (arm-empty) (on-table plsgo) (on-table lfrei) (clear vnfml) (on-table vnfml) (on pgyqi vkxvv) (clear lfrei)",
"(on vkxvv plsgo) (clear pgyqi) (on-table plsgo) (on-table lfrei) (holding vnfml) (on pgyqi vkxvv) (clear lfrei)",
"(on vkxvv plsgo) (arm-empty) (on-table plsgo) (on-table lfrei) (clear vnfml) (on vnfml pgyqi) (on pgyqi vkxvv) (clear lfrei)",
"(holding lfrei) (on vkxvv plsgo) (on-table plsgo) (clear vnfml) (on vnfml pgyqi) (on pgyqi vkxvv)"
] | file_10513 |
GOAL: (holding ysftu) (clear rqlpi) (on oeeqm bikxk) (on rqlpi ezhvq) (on ezhvq oeeqm) (on-table bikxk) | GOAL: (holding ysftu) (clear rqlpi) (on oeeqm bikxk) (on rqlpi ezhvq) (on ezhvq oeeqm) (on-table bikxk)
STATE: (holding ysftu) (on bikxk rqlpi) (on-table ezhvq) (on rqlpi oeeqm) (on oeeqm ezhvq) (clear bikxk) | [
[
"put-down ysftu"
],
[
"unstack bikxk rqlpi"
],
[
"put-down bikxk"
],
[
"unstack rqlpi oeeqm"
],
[
"put-down rqlpi"
],
[
"unstack oeeqm ezhvq"
],
[
"stack oeeqm bikxk"
],
[
"pick-up ezhvq"
],
[
"stack ezhvq oeeqm"
],
[
"pick-up rqlpi"
],
[
"stack rqlpi ezhvq"
],
[
"pick-up ysftu"
]
] | [
"(arm-empty) (on-table ezhvq) (on rqlpi oeeqm) (on oeeqm ezhvq) (on bikxk rqlpi) (on-table ysftu) (clear bikxk) (clear ysftu)",
"(on-table ezhvq) (on rqlpi oeeqm) (on-table ysftu) (on oeeqm ezhvq) (clear rqlpi) (holding bikxk) (clear ysftu)",
"(arm-empty) (on-table ezhvq) (on rqlpi oeeqm) (on oeeqm ezhvq) (clear rqlpi) (on-table ysftu) (clear bikxk) (clear ysftu) (on-table bikxk)",
"(on-table ezhvq) (on-table ysftu) (holding rqlpi) (on oeeqm ezhvq) (clear bikxk) (clear ysftu) (on-table bikxk) (clear oeeqm)",
"(arm-empty) (on-table ezhvq) (on-table ysftu) (on oeeqm ezhvq) (clear rqlpi) (on-table rqlpi) (clear bikxk) (clear ysftu) (on-table bikxk) (clear oeeqm)",
"(clear ezhvq) (on-table ezhvq) (on-table ysftu) (clear rqlpi) (holding oeeqm) (on-table rqlpi) (clear bikxk) (clear ysftu) (on-table bikxk)",
"(clear ezhvq) (arm-empty) (on-table ezhvq) (on-table ysftu) (clear rqlpi) (on oeeqm bikxk) (on-table rqlpi) (clear ysftu) (on-table bikxk) (clear oeeqm)",
"(on-table ysftu) (clear rqlpi) (on oeeqm bikxk) (on-table rqlpi) (holding ezhvq) (clear ysftu) (on-table bikxk) (clear oeeqm)",
"(clear ezhvq) (arm-empty) (on-table ysftu) (clear rqlpi) (on oeeqm bikxk) (on-table rqlpi) (on ezhvq oeeqm) (clear ysftu) (on-table bikxk)",
"(clear ezhvq) (on-table ysftu) (holding rqlpi) (on oeeqm bikxk) (on ezhvq oeeqm) (clear ysftu) (on-table bikxk)",
"(arm-empty) (on-table ysftu) (clear rqlpi) (on oeeqm bikxk) (on rqlpi ezhvq) (on ezhvq oeeqm) (clear ysftu) (on-table bikxk)",
"(holding ysftu) (clear rqlpi) (on oeeqm bikxk) (on rqlpi ezhvq) (on ezhvq oeeqm) (on-table bikxk)"
] | file_101698 |
GOAL: (arm-empty) (on ieiyr nyhae) (on-table ipmxw) (on fwkrh ipmxw) (clear piyrs) (on nyhae fwkrh) (on-table piyrs) (clear ieiyr) | GOAL: (arm-empty) (on ieiyr nyhae) (on-table ipmxw) (on fwkrh ipmxw) (clear piyrs) (on nyhae fwkrh) (on-table piyrs) (clear ieiyr)
STATE: (clear nyhae) (on-table ieiyr) (on-table ipmxw) (on fwkrh ipmxw) (holding piyrs) (on nyhae fwkrh) (clear ieiyr) | [
[
"put-down piyrs"
],
[
"pick-up ieiyr"
],
[
"stack ieiyr nyhae"
]
] | [
"(arm-empty) (on-table ieiyr) (on fwkrh ipmxw) (on nyhae fwkrh) (clear ieiyr) (on-table ipmxw) (clear piyrs) (clear nyhae) (on-table piyrs)",
"(holding ieiyr) (on-table ipmxw) (on fwkrh ipmxw) (clear piyrs) (on nyhae fwkrh) (clear nyhae) (on-table piyrs)",
"(arm-empty) (on ieiyr nyhae) (on-table ipmxw) (on fwkrh ipmxw) (clear piyrs) (on nyhae fwkrh) (on-table piyrs) (clear ieiyr)"
] | file_108630 |
GOAL: (arm-empty) (on-table jimsn) (on-table qpwyq) (on jvekb jimsn) (on xwxlh jvekb) (on ynkqv xwxlh) (clear ynkqv) (clear qpwyq) | GOAL: (arm-empty) (on-table jimsn) (on-table qpwyq) (on jvekb jimsn) (on xwxlh jvekb) (on ynkqv xwxlh) (clear ynkqv) (clear qpwyq)
STATE: (on xwxlh qpwyq) (on qpwyq jvekb) (on-table jimsn) (on jvekb jimsn) (holding ynkqv) (clear xwxlh) | [
[
"put-down ynkqv"
],
[
"unstack xwxlh qpwyq"
],
[
"put-down xwxlh"
],
[
"unstack qpwyq jvekb"
],
[
"stack qpwyq ynkqv"
],
[
"pick-up xwxlh"
],
[
"stack xwxlh jvekb"
],
[
"unstack qpwyq ynkqv"
],
[
"put-down qpwyq"
],
[
"pick-up ynkqv"
],
[
"stack ynkqv xwxlh"
]
] | [
"(on xwxlh qpwyq) (arm-empty) (on qpwyq jvekb) (on-table jimsn) (on jvekb jimsn) (clear ynkqv) (clear xwxlh) (on-table ynkqv)",
"(holding xwxlh) (on qpwyq jvekb) (on-table jimsn) (on jvekb jimsn) (clear ynkqv) (on-table ynkqv) (clear qpwyq)",
"(arm-empty) (on qpwyq jvekb) (on-table jimsn) (clear qpwyq) (on-table xwxlh) (on jvekb jimsn) (clear ynkqv) (clear xwxlh) (on-table ynkqv)",
"(on-table jimsn) (on-table xwxlh) (clear jvekb) (holding qpwyq) (on jvekb jimsn) (clear ynkqv) (clear xwxlh) (on-table ynkqv)",
"(arm-empty) (on-table jimsn) (on-table xwxlh) (clear jvekb) (on qpwyq ynkqv) (on jvekb jimsn) (clear xwxlh) (on-table ynkqv) (clear qpwyq)",
"(holding xwxlh) (on-table jimsn) (clear jvekb) (on qpwyq ynkqv) (on jvekb jimsn) (on-table ynkqv) (clear qpwyq)",
"(arm-empty) (on-table jimsn) (on qpwyq ynkqv) (on xwxlh jvekb) (on jvekb jimsn) (clear xwxlh) (on-table ynkqv) (clear qpwyq)",
"(on-table jimsn) (holding qpwyq) (on xwxlh jvekb) (on jvekb jimsn) (clear ynkqv) (clear xwxlh) (on-table ynkqv)",
"(arm-empty) (on-table jimsn) (on-table qpwyq) (clear qpwyq) (on xwxlh jvekb) (on jvekb jimsn) (clear ynkqv) (clear xwxlh) (on-table ynkqv)",
"(on-table jimsn) (on-table qpwyq) (on xwxlh jvekb) (on jvekb jimsn) (holding ynkqv) (clear xwxlh) (clear qpwyq)",
"(arm-empty) (on-table jimsn) (on-table qpwyq) (on jvekb jimsn) (on xwxlh jvekb) (on ynkqv xwxlh) (clear ynkqv) (clear qpwyq)"
] | file_202489 |
GOAL: (on pcyxg fdxud) (clear mizpo) (arm-empty) (on-table fdxud) (on-table poyuk) (on bmtaz poyuk) (on mizpo bmtaz) (clear pcyxg) | GOAL: (on pcyxg fdxud) (clear mizpo) (arm-empty) (on-table fdxud) (on-table poyuk) (on bmtaz poyuk) (on mizpo bmtaz) (clear pcyxg)
STATE: (clear mizpo) (on-table mizpo) (on-table fdxud) (on-table poyuk) (on bmtaz poyuk) (holding pcyxg) (clear bmtaz) (clear fdxud) | [
[
"stack pcyxg fdxud"
],
[
"pick-up mizpo"
],
[
"stack mizpo bmtaz"
]
] | [
"(clear mizpo) (on pcyxg fdxud) (arm-empty) (on-table mizpo) (on-table fdxud) (on-table poyuk) (on bmtaz poyuk) (clear pcyxg) (clear bmtaz)",
"(on pcyxg fdxud) (on-table fdxud) (holding mizpo) (on-table poyuk) (on bmtaz poyuk) (clear pcyxg) (clear bmtaz)",
"(on pcyxg fdxud) (clear mizpo) (arm-empty) (on-table fdxud) (on-table poyuk) (on bmtaz poyuk) (on mizpo bmtaz) (clear pcyxg)"
] | file_195671 |
GOAL: (on gcogs adrsw) (clear mpnpo) (on-table mpnpo) (on-table adrsw) (on-table dyzuh) (holding buavi) (clear gcogs) (clear dyzuh) | GOAL: (on gcogs adrsw) (clear mpnpo) (on-table mpnpo) (on-table adrsw) (on-table dyzuh) (holding buavi) (clear gcogs) (clear dyzuh)
STATE: (on dyzuh adrsw) (clear mpnpo) (on buavi dyzuh) (arm-empty) (on-table mpnpo) (clear buavi) (on adrsw gcogs) (on-table gcogs) | [
[
"unstack buavi dyzuh"
],
[
"stack buavi mpnpo"
],
[
"unstack dyzuh adrsw"
],
[
"stack dyzuh buavi"
],
[
"unstack adrsw gcogs"
],
[
"put-down adrsw"
],
[
"pick-up gcogs"
],
[
"stack gcogs adrsw"
],
[
"unstack dyzuh buavi"
],
[
"put-down dyzuh"
],
[
"unstack buavi mpnpo"
]
] | [
"(on dyzuh adrsw) (clear mpnpo) (on-table mpnpo) (holding buavi) (on adrsw gcogs) (clear dyzuh) (on-table gcogs)",
"(on dyzuh adrsw) (arm-empty) (on-table mpnpo) (clear buavi) (on adrsw gcogs) (on buavi mpnpo) (clear dyzuh) (on-table gcogs)",
"(holding dyzuh) (on-table mpnpo) (clear buavi) (on adrsw gcogs) (on buavi mpnpo) (on-table gcogs) (clear adrsw)",
"(arm-empty) (on-table mpnpo) (on adrsw gcogs) (on dyzuh buavi) (on buavi mpnpo) (clear dyzuh) (on-table gcogs) (clear adrsw)",
"(on-table mpnpo) (holding adrsw) (on dyzuh buavi) (on buavi mpnpo) (clear gcogs) (clear dyzuh) (on-table gcogs)",
"(arm-empty) (on-table mpnpo) (on-table adrsw) (clear adrsw) (on dyzuh buavi) (on buavi mpnpo) (clear gcogs) (clear dyzuh) (on-table gcogs)",
"(on-table mpnpo) (on-table adrsw) (on dyzuh buavi) (on buavi mpnpo) (holding gcogs) (clear dyzuh) (clear adrsw)",
"(on gcogs adrsw) (arm-empty) (on-table mpnpo) (on-table adrsw) (on dyzuh buavi) (on buavi mpnpo) (clear gcogs) (clear dyzuh)",
"(holding dyzuh) (on gcogs adrsw) (on-table mpnpo) (on-table adrsw) (clear buavi) (on buavi mpnpo) (clear gcogs)",
"(on gcogs adrsw) (arm-empty) (on-table mpnpo) (on-table adrsw) (clear buavi) (on-table dyzuh) (on buavi mpnpo) (clear gcogs) (clear dyzuh)",
"(on gcogs adrsw) (clear mpnpo) (on-table mpnpo) (on-table adrsw) (on-table dyzuh) (holding buavi) (clear gcogs) (clear dyzuh)"
] | file_96178 |
GOAL: (on csqij cpjsi) (on mxglh uiewi) (on cpjsi mxglh) (on-table shepr) (arm-empty) (clear csqij) (on uiewi shepr) | GOAL: (on csqij cpjsi) (on mxglh uiewi) (on cpjsi mxglh) (on-table shepr) (arm-empty) (clear csqij) (on uiewi shepr)
STATE: (clear shepr) (arm-empty) (on-table shepr) (on-table cpjsi) (on-table uiewi) (clear mxglh) (on-table mxglh) (clear csqij) (clear uiewi) (on-table csqij) (clear cpjsi) | [
[
"pick-up cpjsi"
],
[
"stack cpjsi csqij"
],
[
"pick-up uiewi"
],
[
"stack uiewi shepr"
],
[
"pick-up mxglh"
],
[
"stack mxglh uiewi"
],
[
"unstack cpjsi csqij"
],
[
"stack cpjsi mxglh"
],
[
"pick-up csqij"
],
[
"stack csqij cpjsi"
]
] | [
"(clear shepr) (on-table shepr) (on-table uiewi) (clear mxglh) (holding cpjsi) (on-table mxglh) (clear csqij) (clear uiewi) (on-table csqij)",
"(clear shepr) (arm-empty) (on-table shepr) (on-table uiewi) (clear mxglh) (on cpjsi csqij) (on-table mxglh) (clear uiewi) (on-table csqij) (clear cpjsi)",
"(holding uiewi) (clear shepr) (on-table shepr) (clear mxglh) (on cpjsi csqij) (on-table mxglh) (on-table csqij) (clear cpjsi)",
"(arm-empty) (on-table shepr) (clear mxglh) (on cpjsi csqij) (on-table mxglh) (on uiewi shepr) (clear uiewi) (on-table csqij) (clear cpjsi)",
"(on-table shepr) (holding mxglh) (on cpjsi csqij) (on uiewi shepr) (clear uiewi) (on-table csqij) (clear cpjsi)",
"(on mxglh uiewi) (arm-empty) (on-table shepr) (clear mxglh) (on cpjsi csqij) (on uiewi shepr) (on-table csqij) (clear cpjsi)",
"(on mxglh uiewi) (on-table shepr) (clear mxglh) (holding cpjsi) (clear csqij) (on uiewi shepr) (on-table csqij)",
"(on mxglh uiewi) (on cpjsi mxglh) (on-table shepr) (arm-empty) (clear csqij) (on uiewi shepr) (on-table csqij) (clear cpjsi)",
"(on mxglh uiewi) (on cpjsi mxglh) (on-table shepr) (on uiewi shepr) (holding csqij) (clear cpjsi)",
"(on csqij cpjsi) (on mxglh uiewi) (on cpjsi mxglh) (on-table shepr) (arm-empty) (clear csqij) (on uiewi shepr)"
] | file_20814 |
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