goal stringlengths 69 172 | input stringlengths 140 332 | actions listlengths 1 18 | next_states listlengths 1 18 | source_file stringlengths 6 11 |
|---|---|---|---|---|
GOAL: (arm-empty) (on-table rrijy) (on mykgr rrijy) (on pzrpp bsatx) (clear pzrpp) (on bsatx mykgr) (clear iyufn) (on-table iyufn) | GOAL: (arm-empty) (on-table rrijy) (on mykgr rrijy) (on pzrpp bsatx) (clear pzrpp) (on bsatx mykgr) (clear iyufn) (on-table iyufn)
STATE: (on-table rrijy) (on-table bsatx) (on mykgr rrijy) (clear mykgr) (holding pzrpp) (clear iyufn) (clear bsatx) (on-table iyufn) | [
[
"stack pzrpp iyufn"
],
[
"pick-up bsatx"
],
[
"stack bsatx mykgr"
],
[
"unstack pzrpp iyufn"
],
[
"stack pzrpp bsatx"
]
] | [
"(clear pzrpp) (arm-empty) (on-table rrijy) (on-table bsatx) (on mykgr rrijy) (clear mykgr) (on pzrpp iyufn) (clear bsatx) (on-table iyufn)",
"(holding bsatx) (clear pzrpp) (on-table rrijy) (on mykgr rrijy) (clear mykgr) (on pzrpp iyufn) (on-table iyufn)",
"(clear pzrpp) (arm-empty) (on-table rrijy) (on mykgr rrijy) (on bsatx mykgr) (on pzrpp iyufn) (clear bsatx) (on-table iyufn)",
"(on-table rrijy) (on mykgr rrijy) (holding pzrpp) (on bsatx mykgr) (clear iyufn) (clear bsatx) (on-table iyufn)",
"(arm-empty) (on-table rrijy) (on mykgr rrijy) (on pzrpp bsatx) (clear pzrpp) (on bsatx mykgr) (clear iyufn) (on-table iyufn)"
] | file_33278 |
GOAL: (holding fplbr) (on kctpw nepfj) (on-table raaiw) (on nepfj raaiw) (clear wzjns) (on-table wzjns) (clear kctpw) | GOAL: (holding fplbr) (on kctpw nepfj) (on-table raaiw) (on nepfj raaiw) (clear wzjns) (on-table wzjns) (clear kctpw)
STATE: (holding nepfj) (on-table fplbr) (on wzjns fplbr) (clear raaiw) (on kctpw wzjns) (on-table raaiw) (clear kctpw) | [
[
"stack nepfj raaiw"
],
[
"unstack kctpw wzjns"
],
[
"stack kctpw nepfj"
],
[
"unstack wzjns fplbr"
],
[
"put-down wzjns"
],
[
"pick-up fplbr"
]
] | [
"(arm-empty) (on-table fplbr) (on wzjns fplbr) (on kctpw wzjns) (on-table raaiw) (on nepfj raaiw) (clear nepfj) (clear kctpw)",
"(on-table fplbr) (on wzjns fplbr) (holding kctpw) (on-table raaiw) (on nepfj raaiw) (clear wzjns) (clear nepfj)",
"(arm-empty) (on-table fplbr) (on wzjns fplbr) (on kctpw nepfj) (on-table raaiw) (on nepfj raaiw) (clear wzjns) (clear kctpw)",
"(clear fplbr) (on-table fplbr) (on kctpw nepfj) (on-table raaiw) (on nepfj raaiw) (holding wzjns) (clear kctpw)",
"(arm-empty) (on-table fplbr) (clear kctpw) (clear fplbr) (on kctpw nepfj) (on-table raaiw) (on nepfj raaiw) (clear wzjns) (on-table wzjns)",
"(holding fplbr) (on kctpw nepfj) (on-table raaiw) (on nepfj raaiw) (clear wzjns) (on-table wzjns) (clear kctpw)"
] | file_10139 |
GOAL: (clear psghv) (on huole kwsom) (on-table avqsk) (holding grenb) (on psghv huole) (on-table kwsom) (clear avqsk) | GOAL: (clear psghv) (on huole kwsom) (on-table avqsk) (holding grenb) (on psghv huole) (on-table kwsom) (clear avqsk)
STATE: (on huole kwsom) (arm-empty) (on grenb avqsk) (on avqsk psghv) (clear grenb) (on psghv huole) (on-table kwsom) | [
[
"unstack grenb avqsk"
],
[
"put-down grenb"
],
[
"unstack avqsk psghv"
],
[
"put-down avqsk"
],
[
"pick-up grenb"
]
] | [
"(on huole kwsom) (holding grenb) (on avqsk psghv) (on psghv huole) (clear avqsk) (on-table kwsom)",
"(on huole kwsom) (arm-empty) (on avqsk psghv) (clear grenb) (on psghv huole) (clear avqsk) (on-table grenb) (on-table kwsom)",
"(clear psghv) (on huole kwsom) (clear grenb) (holding avqsk) (on-table grenb) (on psghv huole) (on-table kwsom)",
"(on huole kwsom) (arm-empty) (on-table avqsk) (clear grenb) (on psghv huole) (clear avqsk) (clear psghv) (on-table grenb) (on-table kwsom)",
"(clear psghv) (on huole kwsom) (on-table avqsk) (holding grenb) (on psghv huole) (on-table kwsom) (clear avqsk)"
] | file_184813 |
GOAL: (clear lkhzv) (on-table smyid) (on-table pvxie) (clear pctpf) (on-table pctpf) (on lkhzv pvxie) (holding ssxwf) (clear smyid) | GOAL: (clear lkhzv) (on-table smyid) (on-table pvxie) (clear pctpf) (on-table pctpf) (on lkhzv pvxie) (holding ssxwf) (clear smyid)
STATE: (on ssxwf pctpf) (arm-empty) (on-table pvxie) (on smyid ssxwf) (on pctpf lkhzv) (on lkhzv pvxie) (clear smyid) | [
[
"unstack smyid ssxwf"
],
[
"put-down smyid"
],
[
"unstack ssxwf pctpf"
],
[
"stack ssxwf smyid"
],
[
"unstack pctpf lkhzv"
],
[
"put-down pctpf"
],
[
"unstack ssxwf smyid"
]
] | [
"(holding smyid) (on lkhzv pvxie) (on ssxwf pctpf) (on-table pvxie) (on pctpf lkhzv) (clear ssxwf)",
"(arm-empty) (on-table smyid) (on lkhzv pvxie) (clear smyid) (on ssxwf pctpf) (on-table pvxie) (on pctpf lkhzv) (clear ssxwf)",
"(on-table smyid) (on-table pvxie) (clear pctpf) (on pctpf lkhzv) (on lkhzv pvxie) (holding ssxwf) (clear smyid)",
"(on ssxwf smyid) (arm-empty) (on-table smyid) (on-table pvxie) (clear pctpf) (on pctpf lkhzv) (on lkhzv pvxie) (clear ssxwf)",
"(on ssxwf smyid) (clear lkhzv) (on-table smyid) (on-table pvxie) (holding pctpf) (on lkhzv pvxie) (clear ssxwf)",
"(on ssxwf smyid) (arm-empty) (on-table smyid) (clear pctpf) (on lkhzv pvxie) (clear lkhzv) (on-table pvxie) (on-table pctpf) (clear ssxwf)",
"(clear lkhzv) (on-table smyid) (on-table pvxie) (clear pctpf) (on-table pctpf) (on lkhzv pvxie) (holding ssxwf) (clear smyid)"
] | file_165938 |
GOAL: (arm-empty) (on-table ewtcq) (on mhvme mbynb) (clear vxzfs) (on-table vxzfs) (on vjyux ewtcq) (on mbynb vjyux) (clear mhvme) | GOAL: (arm-empty) (on-table ewtcq) (on mhvme mbynb) (clear vxzfs) (on-table vxzfs) (on vjyux ewtcq) (on mbynb vjyux) (clear mhvme)
STATE: (clear mbynb) (on vjyux mhvme) (arm-empty) (on mhvme vxzfs) (on-table mbynb) (on-table ewtcq) (on-table vxzfs) (clear vjyux) (clear ewtcq) | [
[
"unstack vjyux mhvme"
],
[
"stack vjyux ewtcq"
],
[
"pick-up mbynb"
],
[
"stack mbynb vjyux"
],
[
"unstack mhvme vxzfs"
],
[
"stack mhvme mbynb"
]
] | [
"(clear mbynb) (on mhvme vxzfs) (on-table mbynb) (on-table ewtcq) (on-table vxzfs) (holding vjyux) (clear ewtcq) (clear mhvme)",
"(clear mbynb) (arm-empty) (on mhvme vxzfs) (on-table mbynb) (on-table ewtcq) (on-table vxzfs) (on vjyux ewtcq) (clear vjyux) (clear mhvme)",
"(on mhvme vxzfs) (on-table ewtcq) (on-table vxzfs) (holding mbynb) (on vjyux ewtcq) (clear vjyux) (clear mhvme)",
"(clear mbynb) (arm-empty) (on mhvme vxzfs) (on-table ewtcq) (on-table vxzfs) (on vjyux ewtcq) (on mbynb vjyux) (clear mhvme)",
"(clear mbynb) (on-table ewtcq) (clear vxzfs) (holding mhvme) (on-table vxzfs) (on vjyux ewtcq) (on mbynb vjyux)",
"(arm-empty) (on-table ewtcq) (on mhvme mbynb) (clear vxzfs) (on-table vxzfs) (on vjyux ewtcq) (on mbynb vjyux) (clear mhvme)"
] | file_121834 |
GOAL: (on vlkpu gluts) (clear adcmg) (on-table uqogp) (holding lcqoe) (on-table gluts) (on adcmg uqogp) (clear vlkpu) | GOAL: (on vlkpu gluts) (clear adcmg) (on-table uqogp) (holding lcqoe) (on-table gluts) (on adcmg uqogp) (clear vlkpu)
STATE: (on vlkpu gluts) (on uqogp vlkpu) (on lcqoe uqogp) (on-table gluts) (holding adcmg) (clear lcqoe) | [
[
"put-down adcmg"
],
[
"unstack lcqoe uqogp"
],
[
"stack lcqoe adcmg"
],
[
"unstack uqogp vlkpu"
],
[
"put-down uqogp"
],
[
"unstack lcqoe adcmg"
],
[
"stack lcqoe vlkpu"
],
[
"pick-up adcmg"
],
[
"stack adcmg uqogp"
],
[
"unstack lcqoe vlkpu"
]
] | [
"(on lcqoe uqogp) (on vlkpu gluts) (on-table gluts) (on uqogp vlkpu) (clear adcmg) (on-table adcmg) (arm-empty) (clear lcqoe)",
"(on vlkpu gluts) (clear adcmg) (on uqogp vlkpu) (on-table adcmg) (holding lcqoe) (on-table gluts) (clear uqogp)",
"(on vlkpu gluts) (on uqogp vlkpu) (arm-empty) (on-table adcmg) (on lcqoe adcmg) (on-table gluts) (clear uqogp) (clear lcqoe)",
"(holding uqogp) (on vlkpu gluts) (on-table adcmg) (on lcqoe adcmg) (on-table gluts) (clear vlkpu) (clear lcqoe)",
"(arm-empty) (on-table adcmg) (on lcqoe adcmg) (clear lcqoe) (on vlkpu gluts) (on-table uqogp) (on-table gluts) (clear vlkpu) (clear uqogp)",
"(on vlkpu gluts) (clear adcmg) (on-table adcmg) (on-table uqogp) (holding lcqoe) (on-table gluts) (clear vlkpu) (clear uqogp)",
"(on vlkpu gluts) (clear adcmg) (arm-empty) (on-table adcmg) (on-table uqogp) (on lcqoe vlkpu) (on-table gluts) (clear uqogp) (clear lcqoe)",
"(on vlkpu gluts) (on-table uqogp) (on lcqoe vlkpu) (on-table gluts) (holding adcmg) (clear uqogp) (clear lcqoe)",
"(on vlkpu gluts) (clear adcmg) (arm-empty) (on-table uqogp) (on lcqoe vlkpu) (on-table gluts) (on adcmg uqogp) (clear lcqoe)",
"(on vlkpu gluts) (clear adcmg) (on-table uqogp) (holding lcqoe) (on-table gluts) (on adcmg uqogp) (clear vlkpu)"
] | file_212509 |
GOAL: (on pimzm phoat) (holding gbuqg) (on vpxrh pimzm) (on-table phoat) (clear vpxrh) | GOAL: (on pimzm phoat) (holding gbuqg) (on vpxrh pimzm) (on-table phoat) (clear vpxrh)
STATE: (on vpxrh pimzm) (arm-empty) (on-table phoat) (on-table gbuqg) (on pimzm phoat) (clear vpxrh) (clear gbuqg) | [
[
"pick-up gbuqg"
]
] | [
"(on pimzm phoat) (holding gbuqg) (on vpxrh pimzm) (on-table phoat) (clear vpxrh)"
] | file_120920 |
GOAL: (on vdimv cpqim) (on zxpvp hlbyy) (arm-empty) (on-table cpqim) (clear zxpvp) (on fdbei vdimv) (on hlbyy fdbei) | GOAL: (on vdimv cpqim) (on zxpvp hlbyy) (arm-empty) (on-table cpqim) (clear zxpvp) (on fdbei vdimv) (on hlbyy fdbei)
STATE: (on vdimv cpqim) (arm-empty) (on-table cpqim) (clear zxpvp) (on-table zxpvp) (on fdbei vdimv) (on hlbyy fdbei) (clear hlbyy) | [
[
"pick-up zxpvp"
],
[
"stack zxpvp hlbyy"
]
] | [
"(on vdimv cpqim) (on-table cpqim) (holding zxpvp) (on fdbei vdimv) (on hlbyy fdbei) (clear hlbyy)",
"(on vdimv cpqim) (on zxpvp hlbyy) (arm-empty) (on-table cpqim) (clear zxpvp) (on fdbei vdimv) (on hlbyy fdbei)"
] | file_25501 |
GOAL: (arm-empty) (on-table kshzr) (on-table duntw) (clear thbag) (clear duntw) (on-table avtmg) (on vflxo kshzr) (on thbag vflxo) (clear avtmg) | GOAL: (arm-empty) (on-table kshzr) (on-table duntw) (clear thbag) (clear duntw) (on-table avtmg) (on vflxo kshzr) (on thbag vflxo) (clear avtmg)
STATE: (on-table kshzr) (on-table avtmg) (clear thbag) (holding duntw) (on thbag kshzr) (clear vflxo) (clear avtmg) (on-table vflxo) | [
[
"stack duntw avtmg"
],
[
"unstack thbag kshzr"
],
[
"stack thbag duntw"
],
[
"pick-up vflxo"
],
[
"stack vflxo kshzr"
],
[
"unstack thbag duntw"
],
[
"stack thbag vflxo"
],
[
"unstack duntw avtmg"
],
[
"put-down duntw"
]
] | [
"(arm-empty) (on-table kshzr) (on-table avtmg) (clear thbag) (on duntw avtmg) (on thbag kshzr) (clear vflxo) (on-table vflxo) (clear duntw)",
"(clear kshzr) (on-table kshzr) (on-table avtmg) (holding thbag) (on duntw avtmg) (clear vflxo) (on-table vflxo) (clear duntw)",
"(clear kshzr) (arm-empty) (on-table kshzr) (on thbag duntw) (on-table avtmg) (clear thbag) (on duntw avtmg) (clear vflxo) (on-table vflxo)",
"(clear kshzr) (on-table kshzr) (on thbag duntw) (on-table avtmg) (clear thbag) (on duntw avtmg) (holding vflxo)",
"(arm-empty) (on-table kshzr) (on thbag duntw) (on-table avtmg) (on vflxo kshzr) (clear thbag) (on duntw avtmg) (clear vflxo)",
"(on-table kshzr) (on-table avtmg) (holding thbag) (on vflxo kshzr) (on duntw avtmg) (clear vflxo) (clear duntw)",
"(arm-empty) (on-table kshzr) (clear thbag) (clear duntw) (on-table avtmg) (on vflxo kshzr) (on thbag vflxo) (on duntw avtmg)",
"(on-table kshzr) (on-table avtmg) (on vflxo kshzr) (clear thbag) (on thbag vflxo) (holding duntw) (clear avtmg)",
"(arm-empty) (on-table kshzr) (on-table duntw) (clear thbag) (clear duntw) (on-table avtmg) (on vflxo kshzr) (on thbag vflxo) (clear avtmg)"
] | file_87076 |
GOAL: (on-table axdoi) (holding tdrlp) (on mtmmg axdoi) (clear emqbg) (clear mtmmg) (on-table emqbg) | GOAL: (on-table axdoi) (holding tdrlp) (on mtmmg axdoi) (clear emqbg) (clear mtmmg) (on-table emqbg)
STATE: (clear axdoi) (arm-empty) (on-table mtmmg) (on tdrlp emqbg) (on axdoi tdrlp) (clear mtmmg) (on-table emqbg) | [
[
"unstack axdoi tdrlp"
],
[
"put-down axdoi"
],
[
"pick-up mtmmg"
],
[
"stack mtmmg axdoi"
],
[
"unstack tdrlp emqbg"
]
] | [
"(clear tdrlp) (on-table mtmmg) (on tdrlp emqbg) (holding axdoi) (clear mtmmg) (on-table emqbg)",
"(arm-empty) (on-table axdoi) (clear tdrlp) (clear axdoi) (on-table mtmmg) (on tdrlp emqbg) (clear mtmmg) (on-table emqbg)",
"(holding mtmmg) (clear axdoi) (on-table axdoi) (clear tdrlp) (on tdrlp emqbg) (on-table emqbg)",
"(arm-empty) (on-table axdoi) (clear tdrlp) (on tdrlp emqbg) (on mtmmg axdoi) (clear mtmmg) (on-table emqbg)",
"(on-table axdoi) (holding tdrlp) (on mtmmg axdoi) (clear emqbg) (clear mtmmg) (on-table emqbg)"
] | file_216486 |
GOAL: (on bimqa gmazg) (arm-empty) (on-table onzwk) (on gmazg onzwk) (on kqfky bimqa) (on ruxrs kqfky) (clear ruxrs) | GOAL: (on bimqa gmazg) (arm-empty) (on-table onzwk) (on gmazg onzwk) (on kqfky bimqa) (on ruxrs kqfky) (clear ruxrs)
STATE: (clear onzwk) (on kqfky ruxrs) (on-table onzwk) (on-table ruxrs) (clear kqfky) (holding gmazg) (clear bimqa) (on-table bimqa) | [
[
"stack gmazg onzwk"
],
[
"pick-up bimqa"
],
[
"stack bimqa gmazg"
],
[
"unstack kqfky ruxrs"
],
[
"stack kqfky bimqa"
],
[
"pick-up ruxrs"
],
[
"stack ruxrs kqfky"
]
] | [
"(on kqfky ruxrs) (arm-empty) (on-table onzwk) (on-table ruxrs) (on gmazg onzwk) (clear kqfky) (clear bimqa) (on-table bimqa) (clear gmazg)",
"(on kqfky ruxrs) (on-table onzwk) (on-table ruxrs) (on gmazg onzwk) (clear kqfky) (holding bimqa) (clear gmazg)",
"(on bimqa gmazg) (on kqfky ruxrs) (arm-empty) (on-table onzwk) (on-table ruxrs) (on gmazg onzwk) (clear kqfky) (clear bimqa)",
"(on bimqa gmazg) (on-table onzwk) (on-table ruxrs) (holding kqfky) (on gmazg onzwk) (clear bimqa) (clear ruxrs)",
"(on bimqa gmazg) (arm-empty) (on-table onzwk) (on gmazg onzwk) (clear kqfky) (on-table ruxrs) (on kqfky bimqa) (clear ruxrs)",
"(holding ruxrs) (on bimqa gmazg) (on-table onzwk) (on gmazg onzwk) (clear kqfky) (on kqfky bimqa)",
"(on bimqa gmazg) (arm-empty) (on-table onzwk) (on gmazg onzwk) (on kqfky bimqa) (on ruxrs kqfky) (clear ruxrs)"
] | file_181543 |
GOAL: (on qfarw kulsw) (arm-empty) (on-table apnmc) (on-table snlbw) (on njmfp qfarw) (on kulsw apnmc) (clear snlbw) (clear njmfp) | GOAL: (on qfarw kulsw) (arm-empty) (on-table apnmc) (on-table snlbw) (on njmfp qfarw) (on kulsw apnmc) (clear snlbw) (clear njmfp)
STATE: (clear apnmc) (on qfarw njmfp) (arm-empty) (on-table apnmc) (on-table snlbw) (clear kulsw) (on njmfp snlbw) (on kulsw qfarw) | [
[
"unstack kulsw qfarw"
],
[
"put-down kulsw"
],
[
"unstack qfarw njmfp"
],
[
"put-down qfarw"
],
[
"pick-up kulsw"
],
[
"stack kulsw apnmc"
],
[
"pick-up qfarw"
],
[
"stack qfarw kulsw"
],
[
"unstack njmfp snlbw"
],
[
"stack njmfp qfarw"
]
] | [
"(clear apnmc) (on qfarw njmfp) (on-table apnmc) (on-table snlbw) (holding kulsw) (on njmfp snlbw) (clear qfarw)",
"(on qfarw njmfp) (arm-empty) (on-table apnmc) (clear kulsw) (clear apnmc) (on-table snlbw) (on njmfp snlbw) (on-table kulsw) (clear qfarw)",
"(clear apnmc) (on-table apnmc) (on-table snlbw) (clear kulsw) (on njmfp snlbw) (on-table kulsw) (holding qfarw) (clear njmfp)",
"(clear apnmc) (arm-empty) (on-table apnmc) (on-table snlbw) (clear kulsw) (on njmfp snlbw) (on-table kulsw) (clear qfarw) (on-table qfarw) (clear njmfp)",
"(clear apnmc) (on-table apnmc) (on-table snlbw) (holding kulsw) (on njmfp snlbw) (clear qfarw) (on-table qfarw) (clear njmfp)",
"(arm-empty) (on-table apnmc) (on-table snlbw) (clear kulsw) (on njmfp snlbw) (on kulsw apnmc) (clear qfarw) (on-table qfarw) (clear njmfp)",
"(on-table apnmc) (on-table snlbw) (clear kulsw) (on njmfp snlbw) (on kulsw apnmc) (holding qfarw) (clear njmfp)",
"(on qfarw kulsw) (arm-empty) (on-table apnmc) (on-table snlbw) (on njmfp snlbw) (on kulsw apnmc) (clear qfarw) (clear njmfp)",
"(on qfarw kulsw) (on-table apnmc) (on-table snlbw) (holding njmfp) (on kulsw apnmc) (clear qfarw) (clear snlbw)",
"(on qfarw kulsw) (arm-empty) (on-table apnmc) (on-table snlbw) (on njmfp qfarw) (on kulsw apnmc) (clear snlbw) (clear njmfp)"
] | file_37584 |
GOAL: (arm-empty) (on cddgo eaker) (on-table eaker) (on votag bmmyu) (on kvrwh votag) (clear kvrwh) (on-table bmmyu) (clear cddgo) | GOAL: (arm-empty) (on cddgo eaker) (on-table eaker) (on votag bmmyu) (on kvrwh votag) (clear kvrwh) (on-table bmmyu) (clear cddgo)
STATE: (clear kvrwh) (arm-empty) (on-table cddgo) (clear eaker) (on-table eaker) (on votag bmmyu) (on kvrwh votag) (on-table bmmyu) (clear cddgo) | [
[
"pick-up cddgo"
],
[
"stack cddgo eaker"
]
] | [
"(clear kvrwh) (clear eaker) (holding cddgo) (on-table eaker) (on votag bmmyu) (on kvrwh votag) (on-table bmmyu)",
"(arm-empty) (on cddgo eaker) (on-table eaker) (on votag bmmyu) (on kvrwh votag) (clear kvrwh) (on-table bmmyu) (clear cddgo)"
] | file_102611 |
GOAL: (on xmnen ozoht) (on-table szwom) (holding deimx) (on-table ozoht) (clear xmnen) (on ratph szwom) (clear ratph) | GOAL: (on xmnen ozoht) (on-table szwom) (holding deimx) (on-table ozoht) (clear xmnen) (on ratph szwom) (clear ratph)
STATE: (on xmnen deimx) (on ratph xmnen) (arm-empty) (on-table szwom) (on-table deimx) (clear szwom) (clear ozoht) (on-table ozoht) (clear ratph) | [
[
"unstack ratph xmnen"
],
[
"stack ratph szwom"
],
[
"unstack xmnen deimx"
],
[
"stack xmnen ozoht"
],
[
"pick-up deimx"
]
] | [
"(holding ratph) (on xmnen deimx) (on-table szwom) (on-table deimx) (clear szwom) (clear ozoht) (on-table ozoht) (clear xmnen)",
"(on xmnen deimx) (arm-empty) (on-table szwom) (on-table deimx) (clear ozoht) (on-table ozoht) (clear xmnen) (on ratph szwom) (clear ratph)",
"(on-table szwom) (on-table deimx) (clear ozoht) (on-table ozoht) (on ratph szwom) (clear ratph) (holding xmnen) (clear deimx)",
"(on xmnen ozoht) (arm-empty) (on-table szwom) (on-table deimx) (on-table ozoht) (clear xmnen) (on ratph szwom) (clear ratph) (clear deimx)",
"(on xmnen ozoht) (on-table szwom) (holding deimx) (on-table ozoht) (clear xmnen) (on ratph szwom) (clear ratph)"
] | file_117917 |
GOAL: (clear ujmig) (on-table apmbm) (on-table lggle) (holding khdzi) (on ujmig apmbm) (clear nokwz) (clear lggle) (on-table nokwz) | GOAL: (clear ujmig) (on-table apmbm) (on-table lggle) (holding khdzi) (on ujmig apmbm) (clear nokwz) (clear lggle) (on-table nokwz)
STATE: (clear ujmig) (arm-empty) (on-table ujmig) (on-table apmbm) (on-table lggle) (clear khdzi) (on-table khdzi) (clear nokwz) (clear lggle) (on-table nokwz) (clear apmbm) | [
[
"pick-up khdzi"
],
[
"stack khdzi lggle"
],
[
"pick-up ujmig"
],
[
"stack ujmig apmbm"
],
[
"unstack khdzi lggle"
]
] | [
"(clear ujmig) (on-table ujmig) (on-table apmbm) (on-table lggle) (holding khdzi) (clear nokwz) (clear lggle) (on-table nokwz) (clear apmbm)",
"(clear ujmig) (on khdzi lggle) (arm-empty) (on-table ujmig) (on-table apmbm) (on-table lggle) (clear khdzi) (clear nokwz) (on-table nokwz) (clear apmbm)",
"(on khdzi lggle) (on-table apmbm) (on-table lggle) (clear khdzi) (holding ujmig) (clear nokwz) (on-table nokwz) (clear apmbm)",
"(clear ujmig) (on khdzi lggle) (arm-empty) (on-table apmbm) (on-table lggle) (clear khdzi) (on ujmig apmbm) (clear nokwz) (on-table nokwz)",
"(clear ujmig) (on-table apmbm) (on-table lggle) (holding khdzi) (on ujmig apmbm) (clear nokwz) (clear lggle) (on-table nokwz)"
] | file_20770 |
GOAL: (holding fkbkd) (on-table kvbpr) (on hmrwr mmuup) (on-table rvjch) (on mmuup rvjch) (clear hmrwr) (clear kvbpr) | GOAL: (holding fkbkd) (on-table kvbpr) (on hmrwr mmuup) (on-table rvjch) (on mmuup rvjch) (clear hmrwr) (clear kvbpr)
STATE: (on fkbkd kvbpr) (on-table kvbpr) (clear rvjch) (on rvjch hmrwr) (holding mmuup) (on hmrwr fkbkd) | [
[
"put-down mmuup"
],
[
"unstack rvjch hmrwr"
],
[
"put-down rvjch"
],
[
"pick-up mmuup"
],
[
"stack mmuup rvjch"
],
[
"unstack hmrwr fkbkd"
],
[
"stack hmrwr mmuup"
],
[
"unstack fkbkd kvbpr"
]
] | [
"(on fkbkd kvbpr) (arm-empty) (on-table mmuup) (on-table kvbpr) (clear rvjch) (on hmrwr fkbkd) (clear mmuup) (on rvjch hmrwr)",
"(on fkbkd kvbpr) (clear mmuup) (on-table mmuup) (on-table kvbpr) (holding rvjch) (on hmrwr fkbkd) (clear hmrwr)",
"(on fkbkd kvbpr) (arm-empty) (on-table mmuup) (on-table kvbpr) (clear rvjch) (on hmrwr fkbkd) (clear mmuup) (on-table rvjch) (clear hmrwr)",
"(on fkbkd kvbpr) (on-table kvbpr) (clear rvjch) (on-table rvjch) (holding mmuup) (on hmrwr fkbkd) (clear hmrwr)",
"(on fkbkd kvbpr) (arm-empty) (on-table kvbpr) (on hmrwr fkbkd) (on mmuup rvjch) (clear mmuup) (on-table rvjch) (clear hmrwr)",
"(on fkbkd kvbpr) (clear mmuup) (on-table kvbpr) (on mmuup rvjch) (on-table rvjch) (holding hmrwr) (clear fkbkd)",
"(on fkbkd kvbpr) (arm-empty) (on-table kvbpr) (on hmrwr mmuup) (on-table rvjch) (on mmuup rvjch) (clear hmrwr) (clear fkbkd)",
"(holding fkbkd) (on-table kvbpr) (on hmrwr mmuup) (on-table rvjch) (on mmuup rvjch) (clear hmrwr) (clear kvbpr)"
] | file_110652 |
GOAL: (arm-empty) (on-table uoybm) (clear cerkp) (on bdywr uoybm) (on cerkp btpjp) (on btpjp wkced) (on-table wkced) (clear bdywr) | GOAL: (arm-empty) (on-table uoybm) (clear cerkp) (on bdywr uoybm) (on cerkp btpjp) (on btpjp wkced) (on-table wkced) (clear bdywr)
STATE: (arm-empty) (on-table bdywr) (on uoybm cerkp) (on cerkp btpjp) (on btpjp wkced) (clear uoybm) (on-table wkced) (clear bdywr) | [
[
"unstack uoybm cerkp"
],
[
"put-down uoybm"
],
[
"pick-up bdywr"
],
[
"stack bdywr uoybm"
]
] | [
"(holding uoybm) (on-table bdywr) (clear cerkp) (on cerkp btpjp) (on btpjp wkced) (on-table wkced) (clear bdywr)",
"(arm-empty) (on-table bdywr) (clear cerkp) (clear bdywr) (on-table uoybm) (on cerkp btpjp) (on btpjp wkced) (clear uoybm) (on-table wkced)",
"(on-table uoybm) (clear cerkp) (holding bdywr) (on cerkp btpjp) (on btpjp wkced) (clear uoybm) (on-table wkced)",
"(arm-empty) (on-table uoybm) (clear cerkp) (on bdywr uoybm) (on cerkp btpjp) (on btpjp wkced) (on-table wkced) (clear bdywr)"
] | file_187657 |
GOAL: (clear ncbbl) (arm-empty) (on-table enjsp) (on-table bteyy) (on ncbbl iygyh) (on-table iygyh) (on awmsc bteyy) (clear awmsc) (clear enjsp) | GOAL: (clear ncbbl) (arm-empty) (on-table enjsp) (on-table bteyy) (on ncbbl iygyh) (on-table iygyh) (on awmsc bteyy) (clear awmsc) (clear enjsp)
STATE: (clear ncbbl) (on-table ncbbl) (on-table bteyy) (clear iygyh) (holding enjsp) (on-table iygyh) (on awmsc bteyy) (clear awmsc) | [
[
"put-down enjsp"
],
[
"pick-up ncbbl"
],
[
"stack ncbbl iygyh"
]
] | [
"(clear ncbbl) (arm-empty) (on-table ncbbl) (on-table enjsp) (on-table bteyy) (clear iygyh) (on-table iygyh) (on awmsc bteyy) (clear awmsc) (clear enjsp)",
"(on-table enjsp) (on-table bteyy) (clear iygyh) (on-table iygyh) (holding ncbbl) (on awmsc bteyy) (clear awmsc) (clear enjsp)",
"(clear ncbbl) (arm-empty) (on-table enjsp) (on-table bteyy) (on ncbbl iygyh) (on-table iygyh) (on awmsc bteyy) (clear awmsc) (clear enjsp)"
] | file_9191 |
GOAL: (on wxzaw kdhoc) (on fcfzp ybusu) (arm-empty) (on-table wzllm) (on-table ybusu) (on kdhoc wzllm) (clear fcfzp) (clear wxzaw) | GOAL: (on wxzaw kdhoc) (on fcfzp ybusu) (arm-empty) (on-table wzllm) (on-table ybusu) (on kdhoc wzllm) (clear fcfzp) (clear wxzaw)
STATE: (clear wzllm) (arm-empty) (on kdhoc wxzaw) (on-table fcfzp) (on ybusu fcfzp) (on wxzaw ybusu) (on wzllm kdhoc) | [
[
"unstack wzllm kdhoc"
],
[
"put-down wzllm"
],
[
"unstack kdhoc wxzaw"
],
[
"stack kdhoc wzllm"
],
[
"unstack wxzaw ybusu"
],
[
"stack wxzaw kdhoc"
],
[
"unstack ybusu fcfzp"
],
[
"put-down ybusu"
],
[
"pick-up fcfzp"
],
[
"stack fcfzp ybusu"
]
] | [
"(holding wzllm) (on kdhoc wxzaw) (on wxzaw ybusu) (clear kdhoc) (on-table fcfzp) (on ybusu fcfzp)",
"(arm-empty) (on-table wzllm) (on kdhoc wxzaw) (on wxzaw ybusu) (clear kdhoc) (clear wzllm) (on-table fcfzp) (on ybusu fcfzp)",
"(clear wzllm) (on-table wzllm) (holding kdhoc) (on-table fcfzp) (on ybusu fcfzp) (on wxzaw ybusu) (clear wxzaw)",
"(arm-empty) (on-table wzllm) (on kdhoc wzllm) (on-table fcfzp) (on ybusu fcfzp) (on wxzaw ybusu) (clear wxzaw) (clear kdhoc)",
"(on-table wzllm) (on kdhoc wzllm) (on-table fcfzp) (on ybusu fcfzp) (holding wxzaw) (clear ybusu) (clear kdhoc)",
"(on wxzaw kdhoc) (arm-empty) (on-table wzllm) (on kdhoc wzllm) (on-table fcfzp) (on ybusu fcfzp) (clear wxzaw) (clear ybusu)",
"(holding ybusu) (on wxzaw kdhoc) (on-table wzllm) (on kdhoc wzllm) (clear fcfzp) (on-table fcfzp) (clear wxzaw)",
"(on wxzaw kdhoc) (arm-empty) (on-table wzllm) (on kdhoc wzllm) (clear fcfzp) (on-table ybusu) (on-table fcfzp) (clear wxzaw) (clear ybusu)",
"(on wxzaw kdhoc) (on-table wzllm) (on-table ybusu) (holding fcfzp) (on kdhoc wzllm) (clear wxzaw) (clear ybusu)",
"(on wxzaw kdhoc) (on fcfzp ybusu) (arm-empty) (on-table wzllm) (on-table ybusu) (on kdhoc wzllm) (clear fcfzp) (clear wxzaw)"
] | file_99346 |
GOAL: (arm-empty) (on-table hfxvd) (on-table jpwgy) (on bhuqc jpwgy) (clear bhuqc) (clear rojvv) (on obnfr hfxvd) (clear obnfr) (on-table rojvv) | GOAL: (arm-empty) (on-table hfxvd) (on-table jpwgy) (on bhuqc jpwgy) (clear bhuqc) (clear rojvv) (on obnfr hfxvd) (clear obnfr) (on-table rojvv)
STATE: (holding obnfr) (clear hfxvd) (on-table jpwgy) (on bhuqc jpwgy) (on hfxvd bhuqc) (clear rojvv) (on-table rojvv) | [
[
"stack obnfr rojvv"
],
[
"unstack hfxvd bhuqc"
],
[
"put-down hfxvd"
],
[
"unstack obnfr rojvv"
],
[
"stack obnfr hfxvd"
]
] | [
"(clear hfxvd) (on obnfr rojvv) (arm-empty) (on-table jpwgy) (on bhuqc jpwgy) (on hfxvd bhuqc) (clear obnfr) (on-table rojvv)",
"(on obnfr rojvv) (on-table jpwgy) (on bhuqc jpwgy) (clear bhuqc) (holding hfxvd) (clear obnfr) (on-table rojvv)",
"(on obnfr rojvv) (arm-empty) (on-table hfxvd) (on-table jpwgy) (on bhuqc jpwgy) (clear bhuqc) (clear hfxvd) (clear obnfr) (on-table rojvv)",
"(holding obnfr) (clear hfxvd) (on-table hfxvd) (on-table jpwgy) (on bhuqc jpwgy) (clear bhuqc) (clear rojvv) (on-table rojvv)",
"(arm-empty) (on-table hfxvd) (on-table jpwgy) (on bhuqc jpwgy) (clear bhuqc) (clear rojvv) (on obnfr hfxvd) (clear obnfr) (on-table rojvv)"
] | file_180392 |
GOAL: (arm-empty) (on unikb tllrx) (clear ctime) (clear unikb) (on-table zufcd) (on-table ctime) (on tllrx mlczo) (clear zufcd) (on-table mlczo) | GOAL: (arm-empty) (on unikb tllrx) (clear ctime) (clear unikb) (on-table zufcd) (on-table ctime) (on tllrx mlczo) (clear zufcd) (on-table mlczo)
STATE: (clear tllrx) (holding ctime) (on-table zufcd) (on unikb zufcd) (on tllrx unikb) (clear mlczo) (on-table mlczo) | [
[
"put-down ctime"
],
[
"unstack tllrx unikb"
],
[
"stack tllrx mlczo"
],
[
"unstack unikb zufcd"
],
[
"put-down unikb"
],
[
"pick-up ctime"
],
[
"stack ctime zufcd"
],
[
"pick-up unikb"
],
[
"stack unikb tllrx"
],
[
"unstack ctime zufcd"
],
[
"put-down ctime"
]
] | [
"(arm-empty) (clear ctime) (on tllrx unikb) (clear tllrx) (on-table zufcd) (on unikb zufcd) (on-table ctime) (clear mlczo) (on-table mlczo)",
"(on-table zufcd) (clear ctime) (on unikb zufcd) (on-table ctime) (holding tllrx) (clear mlczo) (on-table mlczo) (clear unikb)",
"(clear tllrx) (arm-empty) (on-table zufcd) (clear ctime) (on unikb zufcd) (on-table ctime) (on tllrx mlczo) (on-table mlczo) (clear unikb)",
"(clear tllrx) (on-table zufcd) (clear ctime) (holding unikb) (on-table ctime) (on tllrx mlczo) (clear zufcd) (on-table mlczo)",
"(clear tllrx) (arm-empty) (on-table unikb) (on-table zufcd) (clear ctime) (on-table ctime) (on tllrx mlczo) (clear zufcd) (on-table mlczo) (clear unikb)",
"(clear tllrx) (on-table unikb) (on-table zufcd) (holding ctime) (on tllrx mlczo) (clear zufcd) (on-table mlczo) (clear unikb)",
"(clear tllrx) (on ctime zufcd) (arm-empty) (on-table unikb) (on-table zufcd) (clear ctime) (on tllrx mlczo) (on-table mlczo) (clear unikb)",
"(clear tllrx) (on ctime zufcd) (on-table zufcd) (clear ctime) (holding unikb) (on tllrx mlczo) (on-table mlczo)",
"(on ctime zufcd) (arm-empty) (on-table zufcd) (on unikb tllrx) (clear ctime) (on tllrx mlczo) (on-table mlczo) (clear unikb)",
"(on-table zufcd) (holding ctime) (on unikb tllrx) (on tllrx mlczo) (clear zufcd) (on-table mlczo) (clear unikb)",
"(arm-empty) (on unikb tllrx) (clear ctime) (clear unikb) (on-table zufcd) (on-table ctime) (on tllrx mlczo) (clear zufcd) (on-table mlczo)"
] | file_110005 |
GOAL: (on iqjbz oicva) (on ugpig iqjbz) (arm-empty) (on-table phanq) (on ccgac phanq) (clear ugpig) (on oicva ccgac) | GOAL: (on iqjbz oicva) (on ugpig iqjbz) (arm-empty) (on-table phanq) (on ccgac phanq) (clear ugpig) (on oicva ccgac)
STATE: (arm-empty) (on-table phanq) (on-table iqjbz) (on oicva phanq) (clear ugpig) (on-table ugpig) (clear ccgac) (clear iqjbz) (on-table ccgac) (clear oicva) | [
[
"unstack oicva phanq"
],
[
"stack oicva iqjbz"
],
[
"pick-up ccgac"
],
[
"stack ccgac phanq"
],
[
"unstack oicva iqjbz"
],
[
"stack oicva ccgac"
],
[
"pick-up iqjbz"
],
[
"stack iqjbz oicva"
],
[
"pick-up ugpig"
],
[
"stack ugpig iqjbz"
]
] | [
"(clear phanq) (on-table phanq) (on-table iqjbz) (clear ugpig) (holding oicva) (on-table ugpig) (clear ccgac) (clear iqjbz) (on-table ccgac)",
"(clear phanq) (arm-empty) (on-table phanq) (on-table iqjbz) (clear ugpig) (on oicva iqjbz) (on-table ugpig) (clear ccgac) (on-table ccgac) (clear oicva)",
"(clear phanq) (on-table phanq) (on-table iqjbz) (clear ugpig) (on oicva iqjbz) (on-table ugpig) (holding ccgac) (clear oicva)",
"(arm-empty) (on-table phanq) (on-table iqjbz) (on ccgac phanq) (clear ugpig) (on oicva iqjbz) (on-table ugpig) (clear ccgac) (clear oicva)",
"(on-table phanq) (on-table iqjbz) (on ccgac phanq) (clear ugpig) (holding oicva) (on-table ugpig) (clear ccgac) (clear iqjbz)",
"(arm-empty) (on-table phanq) (on-table iqjbz) (on ccgac phanq) (clear ugpig) (on oicva ccgac) (on-table ugpig) (clear iqjbz) (clear oicva)",
"(holding iqjbz) (on-table phanq) (on ccgac phanq) (clear ugpig) (on oicva ccgac) (on-table ugpig) (clear oicva)",
"(on iqjbz oicva) (arm-empty) (on-table phanq) (on ccgac phanq) (clear ugpig) (on oicva ccgac) (on-table ugpig) (clear iqjbz)",
"(on iqjbz oicva) (on-table phanq) (holding ugpig) (on ccgac phanq) (on oicva ccgac) (clear iqjbz)",
"(on iqjbz oicva) (on ugpig iqjbz) (arm-empty) (on-table phanq) (on ccgac phanq) (clear ugpig) (on oicva ccgac)"
] | file_70660 |
GOAL: (clear ovutl) (arm-empty) (on-table ijbtr) (on vcgdn ijbtr) (on ovutl vcgdn) (clear ghhtb) (on-table ghhtb) | GOAL: (clear ovutl) (arm-empty) (on-table ijbtr) (on vcgdn ijbtr) (on ovutl vcgdn) (clear ghhtb) (on-table ghhtb)
STATE: (holding ovutl) (on-table ijbtr) (on vcgdn ijbtr) (clear ghhtb) (clear vcgdn) (on-table ghhtb) | [
[
"stack ovutl vcgdn"
]
] | [
"(clear ovutl) (arm-empty) (on-table ijbtr) (on vcgdn ijbtr) (on ovutl vcgdn) (clear ghhtb) (on-table ghhtb)"
] | file_80716 |
GOAL: (on rmocw zmguy) (on alkwp pnlgp) (arm-empty) (on-table foxkh) (on pnlgp rmocw) (on zmguy foxkh) (clear alkwp) | GOAL: (on rmocw zmguy) (on alkwp pnlgp) (arm-empty) (on-table foxkh) (on pnlgp rmocw) (on zmguy foxkh) (clear alkwp)
STATE: (clear foxkh) (arm-empty) (on-table foxkh) (on-table alkwp) (clear zmguy) (on pnlgp alkwp) (on-table zmguy) (clear rmocw) (on-table rmocw) (clear pnlgp) | [
[
"pick-up zmguy"
],
[
"stack zmguy foxkh"
],
[
"pick-up rmocw"
],
[
"stack rmocw zmguy"
],
[
"unstack pnlgp alkwp"
],
[
"stack pnlgp rmocw"
],
[
"pick-up alkwp"
],
[
"stack alkwp pnlgp"
]
] | [
"(clear foxkh) (on-table foxkh) (on-table alkwp) (holding zmguy) (on pnlgp alkwp) (clear rmocw) (on-table rmocw) (clear pnlgp)",
"(arm-empty) (on-table foxkh) (on-table alkwp) (clear zmguy) (on pnlgp alkwp) (on zmguy foxkh) (clear rmocw) (on-table rmocw) (clear pnlgp)",
"(on-table foxkh) (on-table alkwp) (clear zmguy) (on pnlgp alkwp) (on zmguy foxkh) (holding rmocw) (clear pnlgp)",
"(on rmocw zmguy) (arm-empty) (on-table foxkh) (on-table alkwp) (on pnlgp alkwp) (on zmguy foxkh) (clear rmocw) (clear pnlgp)",
"(on rmocw zmguy) (on-table foxkh) (on-table alkwp) (holding pnlgp) (on zmguy foxkh) (clear rmocw) (clear alkwp)",
"(on rmocw zmguy) (arm-empty) (on-table foxkh) (on-table alkwp) (on pnlgp rmocw) (on zmguy foxkh) (clear alkwp) (clear pnlgp)",
"(holding alkwp) (on rmocw zmguy) (on-table foxkh) (on pnlgp rmocw) (on zmguy foxkh) (clear pnlgp)",
"(on rmocw zmguy) (on alkwp pnlgp) (arm-empty) (on-table foxkh) (on pnlgp rmocw) (on zmguy foxkh) (clear alkwp)"
] | file_108313 |
GOAL: (clear nylvh) (arm-empty) (on-table nylvh) (on-table ubgds) (on-table pdgjd) (on yolrs ubgds) (clear yolrs) (clear njspm) (clear pdgjd) (on-table njspm) | GOAL: (clear nylvh) (arm-empty) (on-table nylvh) (on-table ubgds) (on-table pdgjd) (on yolrs ubgds) (clear yolrs) (clear njspm) (clear pdgjd) (on-table njspm)
STATE: (clear nylvh) (arm-empty) (on-table nylvh) (on ubgds pdgjd) (on-table yolrs) (on pdgjd yolrs) (clear njspm) (on-table njspm) (clear ubgds) | [
[
"unstack ubgds pdgjd"
],
[
"stack ubgds nylvh"
],
[
"unstack pdgjd yolrs"
],
[
"put-down pdgjd"
],
[
"unstack ubgds nylvh"
],
[
"put-down ubgds"
],
[
"pick-up yolrs"
],
[
"stack yolrs ubgds"
]
] | [
"(clear nylvh) (on-table nylvh) (holding ubgds) (on-table yolrs) (on pdgjd yolrs) (clear njspm) (clear pdgjd) (on-table njspm)",
"(arm-empty) (on-table nylvh) (on ubgds nylvh) (on-table yolrs) (on pdgjd yolrs) (clear njspm) (clear pdgjd) (on-table njspm) (clear ubgds)",
"(holding pdgjd) (on-table nylvh) (on ubgds nylvh) (clear yolrs) (on-table yolrs) (clear njspm) (on-table njspm) (clear ubgds)",
"(arm-empty) (on-table nylvh) (on-table pdgjd) (on ubgds nylvh) (clear yolrs) (on-table yolrs) (clear njspm) (clear pdgjd) (on-table njspm) (clear ubgds)",
"(clear nylvh) (on-table nylvh) (on-table pdgjd) (clear yolrs) (holding ubgds) (on-table yolrs) (clear njspm) (clear pdgjd) (on-table njspm)",
"(clear nylvh) (arm-empty) (on-table nylvh) (on-table ubgds) (on-table pdgjd) (clear yolrs) (on-table yolrs) (clear njspm) (clear pdgjd) (on-table njspm) (clear ubgds)",
"(clear nylvh) (on-table nylvh) (on-table ubgds) (on-table pdgjd) (holding yolrs) (clear njspm) (clear pdgjd) (on-table njspm) (clear ubgds)",
"(clear nylvh) (arm-empty) (on-table nylvh) (on-table ubgds) (on-table pdgjd) (on yolrs ubgds) (clear yolrs) (clear njspm) (clear pdgjd) (on-table njspm)"
] | file_146413 |
GOAL: (holding ickfq) (on ztzsy pdxtb) (on pdxtb qjeio) (clear ztzsy) (on qjeio rsqzp) (on-table rsqzp) | GOAL: (holding ickfq) (on ztzsy pdxtb) (on pdxtb qjeio) (clear ztzsy) (on qjeio rsqzp) (on-table rsqzp)
STATE: (on ickfq pdxtb) (on ztzsy ickfq) (arm-empty) (on pdxtb qjeio) (clear ztzsy) (on qjeio rsqzp) (on-table rsqzp) | [
[
"unstack ztzsy ickfq"
],
[
"put-down ztzsy"
],
[
"unstack ickfq pdxtb"
],
[
"put-down ickfq"
],
[
"pick-up ztzsy"
],
[
"stack ztzsy pdxtb"
],
[
"pick-up ickfq"
]
] | [
"(on ickfq pdxtb) (holding ztzsy) (on pdxtb qjeio) (on qjeio rsqzp) (clear ickfq) (on-table rsqzp)",
"(on ickfq pdxtb) (arm-empty) (on pdxtb qjeio) (clear ztzsy) (on-table ztzsy) (on qjeio rsqzp) (clear ickfq) (on-table rsqzp)",
"(holding ickfq) (on pdxtb qjeio) (clear ztzsy) (on-table ztzsy) (on qjeio rsqzp) (on-table rsqzp) (clear pdxtb)",
"(arm-empty) (on pdxtb qjeio) (clear ztzsy) (clear pdxtb) (on-table ickfq) (on-table ztzsy) (on qjeio rsqzp) (clear ickfq) (on-table rsqzp)",
"(on-table ickfq) (holding ztzsy) (on pdxtb qjeio) (on qjeio rsqzp) (clear ickfq) (on-table rsqzp) (clear pdxtb)",
"(arm-empty) (on ztzsy pdxtb) (on-table ickfq) (on pdxtb qjeio) (clear ztzsy) (on qjeio rsqzp) (clear ickfq) (on-table rsqzp)",
"(holding ickfq) (on ztzsy pdxtb) (on pdxtb qjeio) (clear ztzsy) (on qjeio rsqzp) (on-table rsqzp)"
] | file_87664 |
GOAL: (on hkcrm pprzy) (arm-empty) (on-table pprzy) (on ejngz drbpg) (clear tlqlp) (on-table tlqlp) (on drbpg hkcrm) (clear ejngz) | GOAL: (on hkcrm pprzy) (arm-empty) (on-table pprzy) (on ejngz drbpg) (clear tlqlp) (on-table tlqlp) (on drbpg hkcrm) (clear ejngz)
STATE: (on hkcrm pprzy) (arm-empty) (on-table pprzy) (clear tlqlp) (on tlqlp drbpg) (on drbpg hkcrm) (clear ejngz) (on-table ejngz) | [
[
"unstack tlqlp drbpg"
],
[
"put-down tlqlp"
],
[
"pick-up ejngz"
],
[
"stack ejngz drbpg"
]
] | [
"(on hkcrm pprzy) (clear drbpg) (on-table pprzy) (holding tlqlp) (on drbpg hkcrm) (clear ejngz) (on-table ejngz)",
"(on hkcrm pprzy) (arm-empty) (on-table pprzy) (clear tlqlp) (on drbpg hkcrm) (clear drbpg) (on-table tlqlp) (clear ejngz) (on-table ejngz)",
"(on hkcrm pprzy) (clear drbpg) (on-table pprzy) (clear tlqlp) (on-table tlqlp) (on drbpg hkcrm) (holding ejngz)",
"(on hkcrm pprzy) (arm-empty) (on-table pprzy) (on ejngz drbpg) (clear tlqlp) (on-table tlqlp) (on drbpg hkcrm) (clear ejngz)"
] | file_123605 |
GOAL: (on blrpk rvtca) (arm-empty) (on-table ewzvt) (on-table rvtca) (on sqgrw ewzvt) (clear blrpk) (clear qfofq) (on-table qfofq) (clear sqgrw) | GOAL: (on blrpk rvtca) (arm-empty) (on-table ewzvt) (on-table rvtca) (on sqgrw ewzvt) (clear blrpk) (clear qfofq) (on-table qfofq) (clear sqgrw)
STATE: (arm-empty) (on sqgrw rvtca) (on-table blrpk) (on ewzvt blrpk) (clear qfofq) (on rvtca ewzvt) (on-table qfofq) (clear sqgrw) | [
[
"unstack sqgrw rvtca"
],
[
"stack sqgrw qfofq"
],
[
"unstack rvtca ewzvt"
],
[
"put-down rvtca"
],
[
"unstack sqgrw qfofq"
],
[
"stack sqgrw rvtca"
],
[
"unstack ewzvt blrpk"
],
[
"put-down ewzvt"
],
[
"unstack sqgrw rvtca"
],
[
"stack sqgrw ewzvt"
],
[
"pick-up blrpk"
],
[
"stack blrpk rvtca"
]
] | [
"(holding sqgrw) (on-table blrpk) (on ewzvt blrpk) (clear qfofq) (on rvtca ewzvt) (clear rvtca) (on-table qfofq)",
"(arm-empty) (on sqgrw qfofq) (on-table blrpk) (on ewzvt blrpk) (on rvtca ewzvt) (clear rvtca) (on-table qfofq) (clear sqgrw)",
"(holding rvtca) (clear ewzvt) (on sqgrw qfofq) (on-table blrpk) (on ewzvt blrpk) (on-table qfofq) (clear sqgrw)",
"(arm-empty) (on sqgrw qfofq) (on ewzvt blrpk) (clear sqgrw) (clear ewzvt) (on-table rvtca) (on-table blrpk) (clear rvtca) (on-table qfofq)",
"(clear ewzvt) (on-table rvtca) (holding sqgrw) (on-table blrpk) (on ewzvt blrpk) (clear qfofq) (clear rvtca) (on-table qfofq)",
"(clear ewzvt) (arm-empty) (on-table rvtca) (on sqgrw rvtca) (on-table blrpk) (on ewzvt blrpk) (clear qfofq) (on-table qfofq) (clear sqgrw)",
"(on-table rvtca) (clear blrpk) (on sqgrw rvtca) (on-table blrpk) (holding ewzvt) (clear qfofq) (on-table qfofq) (clear sqgrw)",
"(clear ewzvt) (arm-empty) (on-table ewzvt) (on-table rvtca) (clear blrpk) (on sqgrw rvtca) (on-table blrpk) (clear qfofq) (on-table qfofq) (clear sqgrw)",
"(clear ewzvt) (on-table ewzvt) (on-table rvtca) (clear blrpk) (holding sqgrw) (on-table blrpk) (clear qfofq) (clear rvtca) (on-table qfofq)",
"(arm-empty) (on-table ewzvt) (on-table rvtca) (on sqgrw ewzvt) (clear blrpk) (on-table blrpk) (clear qfofq) (clear rvtca) (on-table qfofq) (clear sqgrw)",
"(on-table ewzvt) (on-table rvtca) (holding blrpk) (on sqgrw ewzvt) (clear qfofq) (clear rvtca) (on-table qfofq) (clear sqgrw)",
"(on blrpk rvtca) (arm-empty) (on-table ewzvt) (on-table rvtca) (on sqgrw ewzvt) (clear blrpk) (clear qfofq) (on-table qfofq) (clear sqgrw)"
] | file_218742 |
GOAL: (clear jzfmx) (on ngpdx efpwa) (on-table jzfmx) (on-table efpwa) (clear ngpdx) (holding bsqzp) | GOAL: (clear jzfmx) (on ngpdx efpwa) (on-table jzfmx) (on-table efpwa) (clear ngpdx) (holding bsqzp)
STATE: (clear jzfmx) (on efpwa bsqzp) (arm-empty) (on-table jzfmx) (clear ngpdx) (on-table ngpdx) (clear efpwa) (on-table bsqzp) | [
[
"unstack efpwa bsqzp"
],
[
"put-down efpwa"
],
[
"pick-up ngpdx"
],
[
"stack ngpdx efpwa"
],
[
"pick-up bsqzp"
]
] | [
"(holding efpwa) (clear jzfmx) (on-table jzfmx) (clear ngpdx) (on-table ngpdx) (clear bsqzp) (on-table bsqzp)",
"(arm-empty) (on-table jzfmx) (clear ngpdx) (clear jzfmx) (on-table efpwa) (on-table ngpdx) (clear bsqzp) (clear efpwa) (on-table bsqzp)",
"(clear jzfmx) (on-table jzfmx) (on-table efpwa) (holding ngpdx) (clear bsqzp) (clear efpwa) (on-table bsqzp)",
"(clear jzfmx) (on ngpdx efpwa) (arm-empty) (on-table jzfmx) (on-table efpwa) (clear ngpdx) (clear bsqzp) (on-table bsqzp)",
"(clear jzfmx) (on ngpdx efpwa) (on-table jzfmx) (on-table efpwa) (clear ngpdx) (holding bsqzp)"
] | file_200604 |
GOAL: (clear tvikf) (arm-empty) (on-table jhzzr) (on tvikf zfonz) (on dmusz zhvir) (on-table zfonz) (on zhvir jhzzr) (clear dmusz) | GOAL: (clear tvikf) (arm-empty) (on-table jhzzr) (on tvikf zfonz) (on dmusz zhvir) (on-table zfonz) (on zhvir jhzzr) (clear dmusz)
STATE: (on-table dmusz) (on-table jhzzr) (clear zfonz) (on-table zfonz) (holding tvikf) (on zhvir jhzzr) (clear zhvir) (clear dmusz) | [
[
"stack tvikf zfonz"
],
[
"pick-up dmusz"
],
[
"stack dmusz zhvir"
]
] | [
"(clear tvikf) (arm-empty) (on-table dmusz) (on-table jhzzr) (on tvikf zfonz) (on-table zfonz) (on zhvir jhzzr) (clear zhvir) (clear dmusz)",
"(clear tvikf) (on-table jhzzr) (on zhvir jhzzr) (holding dmusz) (on-table zfonz) (on tvikf zfonz) (clear zhvir)",
"(clear tvikf) (arm-empty) (on-table jhzzr) (on tvikf zfonz) (on dmusz zhvir) (on-table zfonz) (on zhvir jhzzr) (clear dmusz)"
] | file_203422 |
GOAL: (clear dcdxf) (on ntlkk obxwr) (arm-empty) (on-table jrxnq) (clear muvqv) (on-table muvqv) (on dcdxf ntlkk) (on-table obxwr) (clear jrxnq) | GOAL: (clear dcdxf) (on ntlkk obxwr) (arm-empty) (on-table jrxnq) (clear muvqv) (on-table muvqv) (on dcdxf ntlkk) (on-table obxwr) (clear jrxnq)
STATE: (clear dcdxf) (on jrxnq muvqv) (on-table dcdxf) (on-table ntlkk) (on-table muvqv) (holding obxwr) (clear ntlkk) (clear jrxnq) | [
[
"put-down obxwr"
],
[
"pick-up ntlkk"
],
[
"stack ntlkk obxwr"
],
[
"unstack jrxnq muvqv"
],
[
"stack jrxnq ntlkk"
],
[
"pick-up dcdxf"
],
[
"stack dcdxf muvqv"
],
[
"unstack jrxnq ntlkk"
],
[
"put-down jrxnq"
],
[
"unstack dcdxf muvqv"
],
[
"stack dcdxf ntlkk"
]
] | [
"(clear dcdxf) (arm-empty) (on jrxnq muvqv) (on-table dcdxf) (on-table ntlkk) (on-table muvqv) (clear obxwr) (clear ntlkk) (on-table obxwr) (clear jrxnq)",
"(holding ntlkk) (clear dcdxf) (on jrxnq muvqv) (on-table dcdxf) (on-table muvqv) (clear obxwr) (on-table obxwr) (clear jrxnq)",
"(clear dcdxf) (on ntlkk obxwr) (on jrxnq muvqv) (on-table dcdxf) (arm-empty) (on-table muvqv) (clear ntlkk) (on-table obxwr) (clear jrxnq)",
"(clear dcdxf) (on ntlkk obxwr) (on-table dcdxf) (clear muvqv) (holding jrxnq) (on-table muvqv) (clear ntlkk) (on-table obxwr)",
"(clear dcdxf) (on ntlkk obxwr) (arm-empty) (on-table dcdxf) (clear muvqv) (on jrxnq ntlkk) (on-table muvqv) (on-table obxwr) (clear jrxnq)",
"(on ntlkk obxwr) (clear muvqv) (on jrxnq ntlkk) (on-table muvqv) (holding dcdxf) (on-table obxwr) (clear jrxnq)",
"(clear dcdxf) (on ntlkk obxwr) (arm-empty) (on jrxnq ntlkk) (on-table muvqv) (on dcdxf muvqv) (on-table obxwr) (clear jrxnq)",
"(clear dcdxf) (on ntlkk obxwr) (holding jrxnq) (on-table muvqv) (on dcdxf muvqv) (clear ntlkk) (on-table obxwr)",
"(on ntlkk obxwr) (arm-empty) (on-table jrxnq) (on dcdxf muvqv) (clear jrxnq) (clear dcdxf) (on-table muvqv) (clear ntlkk) (on-table obxwr)",
"(on ntlkk obxwr) (on-table jrxnq) (clear muvqv) (on-table muvqv) (holding dcdxf) (clear ntlkk) (on-table obxwr) (clear jrxnq)",
"(clear dcdxf) (on ntlkk obxwr) (arm-empty) (on-table jrxnq) (clear muvqv) (on-table muvqv) (on dcdxf ntlkk) (on-table obxwr) (clear jrxnq)"
] | file_196219 |
GOAL: (on kavzo zydyr) (clear ezpco) (arm-empty) (on jfzxs xnzjy) (on-table zydyr) (on ezpco jfzxs) (on xnzjy kavzo) | GOAL: (on kavzo zydyr) (clear ezpco) (arm-empty) (on jfzxs xnzjy) (on-table zydyr) (on ezpco jfzxs) (on xnzjy kavzo)
STATE: (arm-empty) (on-table ezpco) (on-table xnzjy) (on-table zydyr) (clear jfzxs) (on jfzxs ezpco) (clear kavzo) (clear zydyr) (on-table kavzo) (clear xnzjy) | [
[
"pick-up xnzjy"
],
[
"stack xnzjy jfzxs"
],
[
"pick-up kavzo"
],
[
"stack kavzo zydyr"
],
[
"unstack xnzjy jfzxs"
],
[
"stack xnzjy kavzo"
],
[
"unstack jfzxs ezpco"
],
[
"stack jfzxs xnzjy"
],
[
"pick-up ezpco"
],
[
"stack ezpco jfzxs"
]
] | [
"(on-table ezpco) (on-table zydyr) (clear jfzxs) (holding xnzjy) (on jfzxs ezpco) (clear kavzo) (clear zydyr) (on-table kavzo)",
"(arm-empty) (on xnzjy jfzxs) (on-table ezpco) (on-table zydyr) (on jfzxs ezpco) (clear kavzo) (clear zydyr) (on-table kavzo) (clear xnzjy)",
"(on xnzjy jfzxs) (on-table ezpco) (on-table zydyr) (on jfzxs ezpco) (holding kavzo) (clear zydyr) (clear xnzjy)",
"(arm-empty) (on xnzjy jfzxs) (on-table ezpco) (on-table zydyr) (on kavzo zydyr) (on jfzxs ezpco) (clear kavzo) (clear xnzjy)",
"(on-table ezpco) (on-table zydyr) (clear jfzxs) (on kavzo zydyr) (holding xnzjy) (on jfzxs ezpco) (clear kavzo)",
"(arm-empty) (on-table ezpco) (on-table zydyr) (clear jfzxs) (on xnzjy kavzo) (on kavzo zydyr) (on jfzxs ezpco) (clear xnzjy)",
"(clear ezpco) (on-table ezpco) (on-table zydyr) (holding jfzxs) (on xnzjy kavzo) (on kavzo zydyr) (clear xnzjy)",
"(clear ezpco) (arm-empty) (on-table ezpco) (on jfzxs xnzjy) (on-table zydyr) (clear jfzxs) (on xnzjy kavzo) (on kavzo zydyr)",
"(on jfzxs xnzjy) (on-table zydyr) (clear jfzxs) (on xnzjy kavzo) (holding ezpco) (on kavzo zydyr)",
"(on kavzo zydyr) (clear ezpco) (arm-empty) (on jfzxs xnzjy) (on-table zydyr) (on ezpco jfzxs) (on xnzjy kavzo)"
] | file_17819 |
GOAL: (on inlcn npgny) (clear bpeib) (on-table npgny) (holding efsdo) (on bpeib inlcn) (clear feofm) (on-table feofm) | GOAL: (on inlcn npgny) (clear bpeib) (on-table npgny) (holding efsdo) (on bpeib inlcn) (clear feofm) (on-table feofm)
STATE: (arm-empty) (on-table bpeib) (on efsdo npgny) (clear efsdo) (on npgny feofm) (on feofm inlcn) (on inlcn bpeib) | [
[
"unstack efsdo npgny"
],
[
"put-down efsdo"
],
[
"unstack npgny feofm"
],
[
"put-down npgny"
],
[
"unstack feofm inlcn"
],
[
"stack feofm efsdo"
],
[
"unstack inlcn bpeib"
],
[
"stack inlcn npgny"
],
[
"pick-up bpeib"
],
[
"stack bpeib inlcn"
],
[
"unstack feofm efsdo"
],
[
"put-down feofm"
],
[
"pick-up efsdo"
]
] | [
"(on-table bpeib) (holding efsdo) (on npgny feofm) (on feofm inlcn) (on inlcn bpeib) (clear npgny)",
"(arm-empty) (on-table bpeib) (clear efsdo) (on npgny feofm) (on feofm inlcn) (on inlcn bpeib) (clear npgny) (on-table efsdo)",
"(on-table bpeib) (clear efsdo) (holding npgny) (on-table efsdo) (on feofm inlcn) (clear feofm) (on inlcn bpeib)",
"(arm-empty) (on-table bpeib) (on-table npgny) (clear efsdo) (on feofm inlcn) (on inlcn bpeib) (clear npgny) (on-table efsdo) (clear feofm)",
"(on-table bpeib) (on-table npgny) (clear efsdo) (on-table efsdo) (on inlcn bpeib) (clear inlcn) (holding feofm) (clear npgny)",
"(on feofm efsdo) (arm-empty) (on-table bpeib) (on-table npgny) (on-table efsdo) (clear feofm) (on inlcn bpeib) (clear inlcn) (clear npgny)",
"(holding inlcn) (on feofm efsdo) (clear bpeib) (on-table bpeib) (on-table npgny) (on-table efsdo) (clear feofm) (clear npgny)",
"(on feofm efsdo) (clear bpeib) (on inlcn npgny) (arm-empty) (on-table bpeib) (on-table npgny) (on-table efsdo) (clear feofm) (clear inlcn)",
"(on feofm efsdo) (on inlcn npgny) (on-table npgny) (on-table efsdo) (holding bpeib) (clear feofm) (clear inlcn)",
"(on feofm efsdo) (on inlcn npgny) (clear bpeib) (arm-empty) (on-table npgny) (on-table efsdo) (on bpeib inlcn) (clear feofm)",
"(on inlcn npgny) (clear bpeib) (on-table npgny) (clear efsdo) (on-table efsdo) (on bpeib inlcn) (holding feofm)",
"(on inlcn npgny) (arm-empty) (on-table npgny) (clear efsdo) (on bpeib inlcn) (clear bpeib) (on-table efsdo) (clear feofm) (on-table feofm)",
"(on inlcn npgny) (clear bpeib) (on-table npgny) (holding efsdo) (on bpeib inlcn) (clear feofm) (on-table feofm)"
] | file_201732 |
GOAL: (arm-empty) (on-table kzfcx) (on-table hvhje) (on jlzcc hvhje) (clear jlzcc) (clear ftxlj) (on ubfcw kzfcx) (clear ubfcw) (on-table ftxlj) | GOAL: (arm-empty) (on-table kzfcx) (on-table hvhje) (on jlzcc hvhje) (clear jlzcc) (clear ftxlj) (on ubfcw kzfcx) (clear ubfcw) (on-table ftxlj)
STATE: (holding ubfcw) (on ftxlj jlzcc) (clear kzfcx) (on-table kzfcx) (on-table hvhje) (on-table jlzcc) (clear ftxlj) (clear hvhje) | [
[
"stack ubfcw kzfcx"
],
[
"unstack ftxlj jlzcc"
],
[
"stack ftxlj hvhje"
],
[
"pick-up jlzcc"
],
[
"stack jlzcc ubfcw"
],
[
"unstack ftxlj hvhje"
],
[
"put-down ftxlj"
],
[
"unstack jlzcc ubfcw"
],
[
"stack jlzcc hvhje"
]
] | [
"(on ftxlj jlzcc) (arm-empty) (on-table kzfcx) (on-table hvhje) (on-table jlzcc) (clear ftxlj) (on ubfcw kzfcx) (clear ubfcw) (clear hvhje)",
"(on-table kzfcx) (on-table hvhje) (clear jlzcc) (on-table jlzcc) (on ubfcw kzfcx) (clear ubfcw) (holding ftxlj) (clear hvhje)",
"(on ftxlj hvhje) (arm-empty) (on-table kzfcx) (on-table hvhje) (clear jlzcc) (on-table jlzcc) (clear ftxlj) (on ubfcw kzfcx) (clear ubfcw)",
"(on ftxlj hvhje) (on-table kzfcx) (on-table hvhje) (holding jlzcc) (clear ftxlj) (on ubfcw kzfcx) (clear ubfcw)",
"(on ftxlj hvhje) (on jlzcc ubfcw) (arm-empty) (on-table kzfcx) (on-table hvhje) (clear jlzcc) (clear ftxlj) (on ubfcw kzfcx)",
"(on jlzcc ubfcw) (on-table kzfcx) (on-table hvhje) (clear jlzcc) (on ubfcw kzfcx) (holding ftxlj) (clear hvhje)",
"(on jlzcc ubfcw) (arm-empty) (on-table kzfcx) (on-table hvhje) (clear jlzcc) (on ubfcw kzfcx) (clear hvhje) (clear ftxlj) (on-table ftxlj)",
"(on-table kzfcx) (on-table hvhje) (holding jlzcc) (clear ftxlj) (on ubfcw kzfcx) (clear ubfcw) (on-table ftxlj) (clear hvhje)",
"(arm-empty) (on-table kzfcx) (on-table hvhje) (on jlzcc hvhje) (clear jlzcc) (clear ftxlj) (on ubfcw kzfcx) (clear ubfcw) (on-table ftxlj)"
] | file_94835 |
GOAL: (clear vrtru) (arm-empty) (on cspky pcomx) (on-table usgms) (on pcomx oknty) (on oknty usgms) (on vrtru cspky) | GOAL: (clear vrtru) (arm-empty) (on cspky pcomx) (on-table usgms) (on pcomx oknty) (on oknty usgms) (on vrtru cspky)
STATE: (arm-empty) (on-table vrtru) (on-table usgms) (on cspky vrtru) (clear pcomx) (on-table pcomx) (clear oknty) (clear usgms) (on-table oknty) (clear cspky) | [
[
"pick-up pcomx"
],
[
"stack pcomx cspky"
],
[
"pick-up oknty"
],
[
"stack oknty usgms"
],
[
"unstack pcomx cspky"
],
[
"stack pcomx oknty"
],
[
"unstack cspky vrtru"
],
[
"stack cspky pcomx"
],
[
"pick-up vrtru"
],
[
"stack vrtru cspky"
]
] | [
"(on-table vrtru) (on-table usgms) (holding pcomx) (on cspky vrtru) (clear oknty) (clear usgms) (on-table oknty) (clear cspky)",
"(arm-empty) (on-table vrtru) (on pcomx cspky) (on-table usgms) (on cspky vrtru) (clear pcomx) (clear oknty) (clear usgms) (on-table oknty)",
"(on-table vrtru) (on pcomx cspky) (on-table usgms) (on cspky vrtru) (clear pcomx) (holding oknty) (clear usgms)",
"(arm-empty) (on-table vrtru) (on pcomx cspky) (on-table usgms) (on cspky vrtru) (clear pcomx) (on oknty usgms) (clear oknty)",
"(on-table vrtru) (on-table usgms) (holding pcomx) (on cspky vrtru) (on oknty usgms) (clear oknty) (clear cspky)",
"(arm-empty) (on-table vrtru) (on cspky vrtru) (clear pcomx) (on oknty usgms) (clear cspky) (on-table usgms) (on pcomx oknty)",
"(clear vrtru) (on-table vrtru) (on-table usgms) (clear pcomx) (on pcomx oknty) (holding cspky) (on oknty usgms)",
"(clear vrtru) (arm-empty) (on cspky pcomx) (on-table vrtru) (on-table usgms) (on pcomx oknty) (on oknty usgms) (clear cspky)",
"(on cspky pcomx) (on-table usgms) (on pcomx oknty) (holding vrtru) (on oknty usgms) (clear cspky)",
"(clear vrtru) (arm-empty) (on cspky pcomx) (on-table usgms) (on pcomx oknty) (on oknty usgms) (on vrtru cspky)"
] | file_70778 |
GOAL: (arm-empty) (on ixnrf tgbls) (on culmc khsio) (on jqedn culmc) (on tgbls jqedn) (on-table khsio) (clear ixnrf) | GOAL: (arm-empty) (on ixnrf tgbls) (on culmc khsio) (on jqedn culmc) (on tgbls jqedn) (on-table khsio) (clear ixnrf)
STATE: (arm-empty) (on-table tgbls) (on-table jqedn) (on ixnrf tgbls) (clear culmc) (on-table culmc) (clear khsio) (clear jqedn) (on-table khsio) (clear ixnrf) | [
[
"pick-up culmc"
],
[
"stack culmc khsio"
],
[
"pick-up jqedn"
],
[
"stack jqedn culmc"
],
[
"unstack ixnrf tgbls"
],
[
"put-down ixnrf"
],
[
"pick-up tgbls"
],
[
"stack tgbls jqedn"
],
[
"pick-up ixnrf"
],
[
"stack ixnrf tgbls"
]
] | [
"(on-table tgbls) (on-table jqedn) (holding culmc) (on ixnrf tgbls) (clear khsio) (clear jqedn) (on-table khsio) (clear ixnrf)",
"(arm-empty) (on-table tgbls) (on-table jqedn) (on ixnrf tgbls) (clear culmc) (on culmc khsio) (clear jqedn) (on-table khsio) (clear ixnrf)",
"(holding jqedn) (on-table tgbls) (on ixnrf tgbls) (clear culmc) (on culmc khsio) (on-table khsio) (clear ixnrf)",
"(arm-empty) (on-table tgbls) (on ixnrf tgbls) (on culmc khsio) (on jqedn culmc) (clear jqedn) (on-table khsio) (clear ixnrf)",
"(clear tgbls) (on-table tgbls) (on culmc khsio) (holding ixnrf) (on jqedn culmc) (clear jqedn) (on-table khsio)",
"(arm-empty) (on-table tgbls) (on-table ixnrf) (clear ixnrf) (clear tgbls) (on culmc khsio) (on jqedn culmc) (clear jqedn) (on-table khsio)",
"(on-table ixnrf) (holding tgbls) (on culmc khsio) (on jqedn culmc) (clear jqedn) (on-table khsio) (clear ixnrf)",
"(arm-empty) (on-table ixnrf) (on tgbls jqedn) (clear ixnrf) (clear tgbls) (on culmc khsio) (on jqedn culmc) (on-table khsio)",
"(clear tgbls) (on culmc khsio) (holding ixnrf) (on jqedn culmc) (on tgbls jqedn) (on-table khsio)",
"(arm-empty) (on ixnrf tgbls) (on culmc khsio) (on jqedn culmc) (on tgbls jqedn) (on-table khsio) (clear ixnrf)"
] | file_70592 |
GOAL: (on mjxcf tzzci) (arm-empty) (on jiclg icjyi) (on icjyi mjxcf) (clear jiclg) (on-table tzzci) | GOAL: (on mjxcf tzzci) (arm-empty) (on jiclg icjyi) (on icjyi mjxcf) (clear jiclg) (on-table tzzci)
STATE: (on-table mjxcf) (clear jiclg) (on-table jiclg) (holding icjyi) (clear tzzci) (clear mjxcf) (on-table tzzci) | [
[
"stack icjyi jiclg"
],
[
"pick-up mjxcf"
],
[
"stack mjxcf tzzci"
],
[
"unstack icjyi jiclg"
],
[
"stack icjyi mjxcf"
],
[
"pick-up jiclg"
],
[
"stack jiclg icjyi"
]
] | [
"(clear icjyi) (arm-empty) (on-table mjxcf) (on-table jiclg) (on icjyi jiclg) (clear tzzci) (clear mjxcf) (on-table tzzci)",
"(holding mjxcf) (clear icjyi) (on-table jiclg) (on icjyi jiclg) (clear tzzci) (on-table tzzci)",
"(clear icjyi) (on mjxcf tzzci) (arm-empty) (on-table jiclg) (on icjyi jiclg) (clear mjxcf) (on-table tzzci)",
"(on mjxcf tzzci) (clear jiclg) (on-table jiclg) (holding icjyi) (clear mjxcf) (on-table tzzci)",
"(clear icjyi) (on mjxcf tzzci) (arm-empty) (clear jiclg) (on-table jiclg) (on icjyi mjxcf) (on-table tzzci)",
"(clear icjyi) (on mjxcf tzzci) (holding jiclg) (on icjyi mjxcf) (on-table tzzci)",
"(on mjxcf tzzci) (arm-empty) (on jiclg icjyi) (on icjyi mjxcf) (clear jiclg) (on-table tzzci)"
] | file_187868 |
GOAL: (holding izvuy) (clear teglq) (on lbgir nkpop) (on-table nkpop) (on teglq lbgir) (clear hvjcx) (on-table hvjcx) | GOAL: (holding izvuy) (clear teglq) (on lbgir nkpop) (on-table nkpop) (on teglq lbgir) (clear hvjcx) (on-table hvjcx)
STATE: (arm-empty) (on lbgir nkpop) (on-table izvuy) (on hvjcx teglq) (on-table nkpop) (on teglq lbgir) (clear hvjcx) (clear izvuy) | [
[
"unstack hvjcx teglq"
],
[
"put-down hvjcx"
],
[
"pick-up izvuy"
]
] | [
"(clear teglq) (on lbgir nkpop) (on-table izvuy) (on-table nkpop) (on teglq lbgir) (holding hvjcx) (clear izvuy)",
"(arm-empty) (on lbgir nkpop) (on teglq lbgir) (clear teglq) (on-table izvuy) (on-table nkpop) (clear hvjcx) (clear izvuy) (on-table hvjcx)",
"(holding izvuy) (clear teglq) (on lbgir nkpop) (on-table nkpop) (on teglq lbgir) (clear hvjcx) (on-table hvjcx)"
] | file_35724 |
GOAL: (on kfjil akvci) (on bjlpn kfjil) (on-table qcvil) (clear bjlpn) (holding jbxkm) (on-table akvci) (clear qcvil) | GOAL: (on kfjil akvci) (on bjlpn kfjil) (on-table qcvil) (clear bjlpn) (holding jbxkm) (on-table akvci) (clear qcvil)
STATE: (clear jbxkm) (on kfjil akvci) (arm-empty) (on bjlpn qcvil) (on qcvil kfjil) (on jbxkm bjlpn) (on-table akvci) | [
[
"unstack jbxkm bjlpn"
],
[
"put-down jbxkm"
],
[
"unstack bjlpn qcvil"
],
[
"put-down bjlpn"
],
[
"pick-up jbxkm"
],
[
"stack jbxkm bjlpn"
],
[
"unstack qcvil kfjil"
],
[
"put-down qcvil"
],
[
"unstack jbxkm bjlpn"
],
[
"put-down jbxkm"
],
[
"pick-up bjlpn"
],
[
"stack bjlpn kfjil"
],
[
"pick-up jbxkm"
]
] | [
"(on kfjil akvci) (on bjlpn qcvil) (clear bjlpn) (on qcvil kfjil) (holding jbxkm) (on-table akvci)",
"(on kfjil akvci) (arm-empty) (on-table jbxkm) (on bjlpn qcvil) (clear bjlpn) (clear jbxkm) (on qcvil kfjil) (on-table akvci)",
"(clear jbxkm) (on kfjil akvci) (on-table jbxkm) (holding bjlpn) (on qcvil kfjil) (on-table akvci) (clear qcvil)",
"(on kfjil akvci) (arm-empty) (on-table jbxkm) (clear bjlpn) (clear qcvil) (clear jbxkm) (on qcvil kfjil) (on-table bjlpn) (on-table akvci)",
"(on kfjil akvci) (clear bjlpn) (on qcvil kfjil) (on-table bjlpn) (holding jbxkm) (on-table akvci) (clear qcvil)",
"(clear jbxkm) (on kfjil akvci) (arm-empty) (on qcvil kfjil) (on-table bjlpn) (on jbxkm bjlpn) (on-table akvci) (clear qcvil)",
"(clear jbxkm) (on kfjil akvci) (holding qcvil) (on-table bjlpn) (on jbxkm bjlpn) (clear kfjil) (on-table akvci)",
"(on kfjil akvci) (arm-empty) (on-table qcvil) (on jbxkm bjlpn) (clear qcvil) (clear jbxkm) (on-table bjlpn) (clear kfjil) (on-table akvci)",
"(on kfjil akvci) (on-table qcvil) (clear bjlpn) (on-table bjlpn) (holding jbxkm) (clear kfjil) (on-table akvci) (clear qcvil)",
"(clear jbxkm) (on kfjil akvci) (arm-empty) (on-table jbxkm) (on-table qcvil) (clear bjlpn) (on-table bjlpn) (clear kfjil) (on-table akvci) (clear qcvil)",
"(clear jbxkm) (on kfjil akvci) (on-table jbxkm) (on-table qcvil) (holding bjlpn) (clear kfjil) (on-table akvci) (clear qcvil)",
"(clear jbxkm) (on kfjil akvci) (on bjlpn kfjil) (on-table jbxkm) (on-table qcvil) (arm-empty) (clear bjlpn) (on-table akvci) (clear qcvil)",
"(on kfjil akvci) (on bjlpn kfjil) (on-table qcvil) (clear bjlpn) (holding jbxkm) (on-table akvci) (clear qcvil)"
] | file_146001 |
GOAL: (clear gavds) (on-table gavds) (on-table vcmhi) (clear ysfhw) (on iwjml vcmhi) (on-table ysfhw) (holding lnbma) (clear iwjml) | GOAL: (clear gavds) (on-table gavds) (on-table vcmhi) (clear ysfhw) (on iwjml vcmhi) (on-table ysfhw) (holding lnbma) (clear iwjml)
STATE: (on lnbma ysfhw) (arm-empty) (on iwjml lnbma) (on-table ysfhw) (on gavds iwjml) (on vcmhi gavds) (clear vcmhi) | [
[
"unstack vcmhi gavds"
],
[
"put-down vcmhi"
],
[
"unstack gavds iwjml"
],
[
"put-down gavds"
],
[
"pick-up vcmhi"
],
[
"stack vcmhi gavds"
],
[
"unstack iwjml lnbma"
],
[
"put-down iwjml"
],
[
"unstack vcmhi gavds"
],
[
"put-down vcmhi"
],
[
"pick-up iwjml"
],
[
"stack iwjml vcmhi"
],
[
"unstack lnbma ysfhw"
]
] | [
"(on iwjml lnbma) (on gavds iwjml) (holding vcmhi) (on lnbma ysfhw) (clear gavds) (on-table ysfhw)",
"(arm-empty) (on iwjml lnbma) (on gavds iwjml) (on lnbma ysfhw) (clear gavds) (on-table vcmhi) (on-table ysfhw) (clear vcmhi)",
"(on lnbma ysfhw) (on-table vcmhi) (on iwjml lnbma) (on-table ysfhw) (holding gavds) (clear vcmhi) (clear iwjml)",
"(arm-empty) (on-table gavds) (on iwjml lnbma) (clear iwjml) (on lnbma ysfhw) (clear gavds) (on-table vcmhi) (on-table ysfhw) (clear vcmhi)",
"(holding vcmhi) (on lnbma ysfhw) (clear gavds) (on-table gavds) (on iwjml lnbma) (on-table ysfhw) (clear iwjml)",
"(on lnbma ysfhw) (arm-empty) (on-table gavds) (on iwjml lnbma) (on-table ysfhw) (on vcmhi gavds) (clear vcmhi) (clear iwjml)",
"(on lnbma ysfhw) (on-table gavds) (holding iwjml) (on-table ysfhw) (clear lnbma) (on vcmhi gavds) (clear vcmhi)",
"(arm-empty) (on-table gavds) (on-table iwjml) (on vcmhi gavds) (clear iwjml) (on lnbma ysfhw) (on-table ysfhw) (clear lnbma) (clear vcmhi)",
"(holding vcmhi) (on lnbma ysfhw) (clear gavds) (on-table gavds) (on-table iwjml) (on-table ysfhw) (clear lnbma) (clear iwjml)",
"(on lnbma ysfhw) (clear gavds) (arm-empty) (on-table gavds) (on-table iwjml) (on-table vcmhi) (on-table ysfhw) (clear lnbma) (clear vcmhi) (clear iwjml)",
"(on lnbma ysfhw) (clear gavds) (on-table gavds) (on-table vcmhi) (holding iwjml) (on-table ysfhw) (clear lnbma) (clear vcmhi)",
"(on lnbma ysfhw) (clear gavds) (arm-empty) (on-table gavds) (on-table vcmhi) (on iwjml vcmhi) (on-table ysfhw) (clear lnbma) (clear iwjml)",
"(clear gavds) (on-table gavds) (on-table vcmhi) (clear ysfhw) (on iwjml vcmhi) (on-table ysfhw) (holding lnbma) (clear iwjml)"
] | file_219252 |
GOAL: (clear dksgi) (on-table lnkhx) (arm-empty) (on-table vzbun) (on dksgi vzbun) (clear shieg) (clear lnkhx) (on-table shieg) | GOAL: (clear dksgi) (on-table lnkhx) (arm-empty) (on-table vzbun) (on dksgi vzbun) (clear shieg) (clear lnkhx) (on-table shieg)
STATE: (clear dksgi) (arm-empty) (on-table dksgi) (on-table lnkhx) (on vzbun lnkhx) (clear shieg) (clear vzbun) (on-table shieg) | [
[
"unstack vzbun lnkhx"
],
[
"stack vzbun dksgi"
],
[
"pick-up shieg"
],
[
"stack shieg lnkhx"
],
[
"unstack vzbun dksgi"
],
[
"put-down vzbun"
],
[
"pick-up dksgi"
],
[
"stack dksgi vzbun"
],
[
"unstack shieg lnkhx"
],
[
"put-down shieg"
]
] | [
"(holding vzbun) (clear dksgi) (on-table dksgi) (clear lnkhx) (on-table lnkhx) (clear shieg) (on-table shieg)",
"(arm-empty) (on-table dksgi) (clear lnkhx) (on-table lnkhx) (clear shieg) (on vzbun dksgi) (clear vzbun) (on-table shieg)",
"(on-table dksgi) (clear lnkhx) (on-table lnkhx) (on vzbun dksgi) (clear vzbun) (holding shieg)",
"(on shieg lnkhx) (arm-empty) (on-table dksgi) (on-table lnkhx) (clear shieg) (on vzbun dksgi) (clear vzbun)",
"(on-table dksgi) (holding vzbun) (on shieg lnkhx) (clear dksgi) (on-table lnkhx) (clear shieg)",
"(arm-empty) (on-table dksgi) (on shieg lnkhx) (clear dksgi) (on-table vzbun) (on-table lnkhx) (clear shieg) (clear vzbun)",
"(on shieg lnkhx) (on-table vzbun) (on-table lnkhx) (holding dksgi) (clear shieg) (clear vzbun)",
"(on shieg lnkhx) (clear dksgi) (arm-empty) (on-table vzbun) (on-table lnkhx) (on dksgi vzbun) (clear shieg)",
"(clear lnkhx) (on dksgi vzbun) (clear dksgi) (on-table vzbun) (on-table lnkhx) (holding shieg)",
"(clear dksgi) (on-table lnkhx) (arm-empty) (on-table vzbun) (on dksgi vzbun) (clear shieg) (clear lnkhx) (on-table shieg)"
] | file_28328 |
GOAL: (clear zfntu) (on-table zfntu) (on-table ejlwp) (clear mamsf) (holding mdelt) (on-table mamsf) (on webqu ejlwp) (clear webqu) | GOAL: (clear zfntu) (on-table zfntu) (on-table ejlwp) (clear mamsf) (holding mdelt) (on-table mamsf) (on webqu ejlwp) (clear webqu)
STATE: (holding ejlwp) (on-table zfntu) (on mdelt zfntu) (clear mamsf) (on-table mamsf) (clear webqu) (on-table webqu) (clear mdelt) | [
[
"put-down ejlwp"
],
[
"pick-up mamsf"
],
[
"stack mamsf mdelt"
],
[
"pick-up webqu"
],
[
"stack webqu ejlwp"
],
[
"unstack mamsf mdelt"
],
[
"put-down mamsf"
],
[
"unstack mdelt zfntu"
]
] | [
"(arm-empty) (on-table zfntu) (on-table ejlwp) (on mdelt zfntu) (clear mamsf) (on-table mamsf) (clear webqu) (clear ejlwp) (on-table webqu) (clear mdelt)",
"(on-table zfntu) (on-table ejlwp) (holding mamsf) (on mdelt zfntu) (clear webqu) (clear ejlwp) (on-table webqu) (clear mdelt)",
"(arm-empty) (on-table zfntu) (on mamsf mdelt) (on-table ejlwp) (on mdelt zfntu) (clear mamsf) (clear webqu) (clear ejlwp) (on-table webqu)",
"(on-table zfntu) (on mamsf mdelt) (on-table ejlwp) (on mdelt zfntu) (clear mamsf) (holding webqu) (clear ejlwp)",
"(arm-empty) (on-table zfntu) (on mamsf mdelt) (on-table ejlwp) (on mdelt zfntu) (clear mamsf) (on webqu ejlwp) (clear webqu)",
"(on-table zfntu) (on-table ejlwp) (holding mamsf) (on mdelt zfntu) (on webqu ejlwp) (clear webqu) (clear mdelt)",
"(arm-empty) (on-table zfntu) (on mdelt zfntu) (clear mamsf) (on webqu ejlwp) (clear mdelt) (on-table ejlwp) (on-table mamsf) (clear webqu)",
"(clear zfntu) (on-table zfntu) (on-table ejlwp) (clear mamsf) (holding mdelt) (on-table mamsf) (on webqu ejlwp) (clear webqu)"
] | file_223404 |
GOAL: (on snxui yovkq) (on hsivg tlalf) (on exqnt hsivg) (arm-empty) (clear snxui) (on-table tlalf) (on yovkq exqnt) | GOAL: (on snxui yovkq) (on hsivg tlalf) (on exqnt hsivg) (arm-empty) (clear snxui) (on-table tlalf) (on yovkq exqnt)
STATE: (clear yovkq) (arm-empty) (on-table yovkq) (on-table tlalf) (clear snxui) (on hsivg tlalf) (on-table snxui) (clear exqnt) (on-table exqnt) (clear hsivg) | [
[
"pick-up yovkq"
],
[
"stack yovkq snxui"
],
[
"pick-up exqnt"
],
[
"stack exqnt hsivg"
],
[
"unstack yovkq snxui"
],
[
"stack yovkq exqnt"
],
[
"pick-up snxui"
],
[
"stack snxui yovkq"
]
] | [
"(on-table tlalf) (clear snxui) (on hsivg tlalf) (on-table snxui) (holding yovkq) (clear exqnt) (on-table exqnt) (clear hsivg)",
"(clear yovkq) (arm-empty) (on-table tlalf) (on hsivg tlalf) (on-table snxui) (on yovkq snxui) (clear exqnt) (on-table exqnt) (clear hsivg)",
"(clear yovkq) (on-table tlalf) (on hsivg tlalf) (on-table snxui) (on yovkq snxui) (holding exqnt) (clear hsivg)",
"(clear yovkq) (on exqnt hsivg) (arm-empty) (on-table tlalf) (on hsivg tlalf) (on-table snxui) (on yovkq snxui) (clear exqnt)",
"(on exqnt hsivg) (on-table tlalf) (clear snxui) (on hsivg tlalf) (on-table snxui) (holding yovkq) (clear exqnt)",
"(on exqnt hsivg) (clear yovkq) (arm-empty) (on-table tlalf) (clear snxui) (on hsivg tlalf) (on-table snxui) (on yovkq exqnt)",
"(on exqnt hsivg) (clear yovkq) (on-table tlalf) (holding snxui) (on hsivg tlalf) (on yovkq exqnt)",
"(on snxui yovkq) (on hsivg tlalf) (on exqnt hsivg) (arm-empty) (clear snxui) (on-table tlalf) (on yovkq exqnt)"
] | file_108303 |
GOAL: (clear hozck) (on-table eqnbx) (holding xkxmi) (on hozck xqvnu) (clear eqnbx) (on-table xqvnu) | GOAL: (clear hozck) (on-table eqnbx) (holding xkxmi) (on hozck xqvnu) (clear eqnbx) (on-table xqvnu)
STATE: (holding eqnbx) (on xqvnu xkxmi) (clear hozck) (on-table xkxmi) (on hozck xqvnu) | [
[
"put-down eqnbx"
],
[
"unstack hozck xqvnu"
],
[
"put-down hozck"
],
[
"unstack xqvnu xkxmi"
],
[
"put-down xqvnu"
],
[
"pick-up hozck"
],
[
"stack hozck xqvnu"
],
[
"pick-up xkxmi"
]
] | [
"(on xqvnu xkxmi) (clear hozck) (on-table xkxmi) (arm-empty) (on-table eqnbx) (on hozck xqvnu) (clear eqnbx)",
"(on xqvnu xkxmi) (on-table eqnbx) (on-table xkxmi) (holding hozck) (clear xqvnu) (clear eqnbx)",
"(arm-empty) (on-table hozck) (on xqvnu xkxmi) (clear hozck) (on-table eqnbx) (on-table xkxmi) (clear xqvnu) (clear eqnbx)",
"(clear hozck) (on-table hozck) (on-table eqnbx) (clear xkxmi) (on-table xkxmi) (holding xqvnu) (clear eqnbx)",
"(arm-empty) (on-table hozck) (clear xkxmi) (clear hozck) (on-table eqnbx) (on-table xkxmi) (clear xqvnu) (clear eqnbx) (on-table xqvnu)",
"(on-table eqnbx) (clear xkxmi) (on-table xkxmi) (holding hozck) (clear xqvnu) (clear eqnbx) (on-table xqvnu)",
"(clear hozck) (arm-empty) (on-table eqnbx) (clear xkxmi) (on-table xkxmi) (on hozck xqvnu) (clear eqnbx) (on-table xqvnu)",
"(clear hozck) (on-table eqnbx) (holding xkxmi) (on hozck xqvnu) (clear eqnbx) (on-table xqvnu)"
] | file_22436 |
GOAL: (clear hbicu) (arm-empty) (on-table xggnf) (on dcxzy skjvl) (on-table pagnt) (on hbicu pagnt) (clear xggnf) (on-table skjvl) (clear dcxzy) | GOAL: (clear hbicu) (arm-empty) (on-table xggnf) (on dcxzy skjvl) (on-table pagnt) (on hbicu pagnt) (clear xggnf) (on-table skjvl) (clear dcxzy)
STATE: (clear hbicu) (on-table hbicu) (holding pagnt) (on-table xggnf) (on dcxzy skjvl) (clear xggnf) (on-table skjvl) (clear dcxzy) | [
[
"stack pagnt hbicu"
],
[
"pick-up xggnf"
],
[
"stack xggnf dcxzy"
],
[
"unstack pagnt hbicu"
],
[
"put-down pagnt"
],
[
"unstack xggnf dcxzy"
],
[
"put-down xggnf"
],
[
"pick-up hbicu"
],
[
"stack hbicu pagnt"
]
] | [
"(arm-empty) (on-table hbicu) (on-table xggnf) (clear pagnt) (on dcxzy skjvl) (on pagnt hbicu) (clear xggnf) (on-table skjvl) (clear dcxzy)",
"(holding xggnf) (on-table hbicu) (clear pagnt) (on dcxzy skjvl) (on pagnt hbicu) (on-table skjvl) (clear dcxzy)",
"(on xggnf dcxzy) (arm-empty) (on-table hbicu) (clear pagnt) (on dcxzy skjvl) (on pagnt hbicu) (clear xggnf) (on-table skjvl)",
"(on xggnf dcxzy) (clear hbicu) (on-table hbicu) (holding pagnt) (on dcxzy skjvl) (clear xggnf) (on-table skjvl)",
"(on xggnf dcxzy) (arm-empty) (on-table hbicu) (clear pagnt) (on dcxzy skjvl) (clear hbicu) (on-table pagnt) (clear xggnf) (on-table skjvl)",
"(holding xggnf) (clear hbicu) (on-table hbicu) (clear pagnt) (on dcxzy skjvl) (on-table pagnt) (on-table skjvl) (clear dcxzy)",
"(clear hbicu) (arm-empty) (on-table hbicu) (on-table xggnf) (clear pagnt) (on dcxzy skjvl) (on-table pagnt) (clear xggnf) (on-table skjvl) (clear dcxzy)",
"(on-table xggnf) (clear pagnt) (on dcxzy skjvl) (on-table pagnt) (holding hbicu) (clear xggnf) (on-table skjvl) (clear dcxzy)",
"(clear hbicu) (arm-empty) (on-table xggnf) (on dcxzy skjvl) (on-table pagnt) (on hbicu pagnt) (clear xggnf) (on-table skjvl) (clear dcxzy)"
] | file_145013 |
GOAL: (on udlot tuxyq) (clear ppewx) (on fcrwm udlot) (arm-empty) (on-table ppewx) (on-table tuxyq) (clear fcrwm) (clear hqito) (on-table hqito) | GOAL: (on udlot tuxyq) (clear ppewx) (on fcrwm udlot) (arm-empty) (on-table ppewx) (on-table tuxyq) (clear fcrwm) (clear hqito) (on-table hqito)
STATE: (on udlot tuxyq) (clear ppewx) (arm-empty) (on-table tuxyq) (on fcrwm hqito) (on hqito udlot) (on ppewx fcrwm) | [
[
"unstack ppewx fcrwm"
],
[
"put-down ppewx"
],
[
"unstack fcrwm hqito"
],
[
"stack fcrwm ppewx"
],
[
"unstack hqito udlot"
],
[
"put-down hqito"
],
[
"unstack fcrwm ppewx"
],
[
"stack fcrwm udlot"
]
] | [
"(on fcrwm hqito) (on udlot tuxyq) (on-table tuxyq) (on hqito udlot) (clear fcrwm) (holding ppewx)",
"(on udlot tuxyq) (arm-empty) (on-table ppewx) (on-table tuxyq) (clear fcrwm) (on hqito udlot) (clear ppewx) (on fcrwm hqito)",
"(on udlot tuxyq) (clear ppewx) (on-table ppewx) (on-table tuxyq) (holding fcrwm) (on hqito udlot) (clear hqito)",
"(on udlot tuxyq) (arm-empty) (on-table ppewx) (on-table tuxyq) (clear fcrwm) (on hqito udlot) (on fcrwm ppewx) (clear hqito)",
"(on udlot tuxyq) (on-table ppewx) (on-table tuxyq) (on fcrwm ppewx) (clear fcrwm) (holding hqito) (clear udlot)",
"(on udlot tuxyq) (arm-empty) (on-table ppewx) (on-table tuxyq) (clear fcrwm) (on fcrwm ppewx) (clear hqito) (clear udlot) (on-table hqito)",
"(on udlot tuxyq) (clear ppewx) (on-table ppewx) (on-table tuxyq) (holding fcrwm) (clear hqito) (clear udlot) (on-table hqito)",
"(on udlot tuxyq) (clear ppewx) (on fcrwm udlot) (arm-empty) (on-table ppewx) (on-table tuxyq) (clear fcrwm) (clear hqito) (on-table hqito)"
] | file_90560 |
GOAL: (on wlvof ipvkq) (arm-empty) (on-table kpnda) (on nypzy kpnda) (clear osrmz) (on ipvkq nypzy) (on-table osrmz) (clear wlvof) | GOAL: (on wlvof ipvkq) (arm-empty) (on-table kpnda) (on nypzy kpnda) (clear osrmz) (on ipvkq nypzy) (on-table osrmz) (clear wlvof)
STATE: (on wlvof ipvkq) (arm-empty) (clear osrmz) (on ipvkq nypzy) (on osrmz kpnda) (on kpnda wlvof) (on-table nypzy) | [
[
"unstack osrmz kpnda"
],
[
"put-down osrmz"
],
[
"unstack kpnda wlvof"
],
[
"put-down kpnda"
],
[
"unstack wlvof ipvkq"
],
[
"stack wlvof osrmz"
],
[
"unstack ipvkq nypzy"
],
[
"stack ipvkq wlvof"
],
[
"pick-up nypzy"
],
[
"stack nypzy kpnda"
],
[
"unstack ipvkq wlvof"
],
[
"stack ipvkq nypzy"
],
[
"unstack wlvof osrmz"
],
[
"stack wlvof ipvkq"
]
] | [
"(on wlvof ipvkq) (clear kpnda) (on-table nypzy) (holding osrmz) (on kpnda wlvof) (on ipvkq nypzy)",
"(on wlvof ipvkq) (arm-empty) (clear osrmz) (on ipvkq nypzy) (on kpnda wlvof) (clear kpnda) (on-table osrmz) (on-table nypzy)",
"(on wlvof ipvkq) (clear osrmz) (on ipvkq nypzy) (on-table osrmz) (holding kpnda) (clear wlvof) (on-table nypzy)",
"(on wlvof ipvkq) (arm-empty) (on-table kpnda) (clear osrmz) (on ipvkq nypzy) (clear kpnda) (on-table osrmz) (clear wlvof) (on-table nypzy)",
"(holding wlvof) (clear kpnda) (on-table kpnda) (clear osrmz) (on ipvkq nypzy) (on-table osrmz) (on-table nypzy) (clear ipvkq)",
"(clear kpnda) (arm-empty) (on-table kpnda) (on ipvkq nypzy) (on-table osrmz) (on wlvof osrmz) (clear wlvof) (on-table nypzy) (clear ipvkq)",
"(clear kpnda) (on-table kpnda) (holding ipvkq) (on-table osrmz) (on wlvof osrmz) (clear nypzy) (clear wlvof) (on-table nypzy)",
"(clear kpnda) (arm-empty) (on-table kpnda) (on ipvkq wlvof) (on-table osrmz) (on wlvof osrmz) (clear nypzy) (on-table nypzy) (clear ipvkq)",
"(clear kpnda) (on-table kpnda) (on ipvkq wlvof) (on-table osrmz) (on wlvof osrmz) (holding nypzy) (clear ipvkq)",
"(arm-empty) (on-table kpnda) (on nypzy kpnda) (on ipvkq wlvof) (on-table osrmz) (on wlvof osrmz) (clear nypzy) (clear ipvkq)",
"(on-table kpnda) (on nypzy kpnda) (holding ipvkq) (on-table osrmz) (on wlvof osrmz) (clear nypzy) (clear wlvof)",
"(arm-empty) (on-table kpnda) (on nypzy kpnda) (on ipvkq nypzy) (on-table osrmz) (on wlvof osrmz) (clear wlvof) (clear ipvkq)",
"(holding wlvof) (on-table kpnda) (on nypzy kpnda) (clear osrmz) (on ipvkq nypzy) (on-table osrmz) (clear ipvkq)",
"(on wlvof ipvkq) (arm-empty) (on-table kpnda) (on nypzy kpnda) (clear osrmz) (on ipvkq nypzy) (on-table osrmz) (clear wlvof)"
] | file_205554 |
GOAL: (on emsav ciyrc) (arm-empty) (clear emsav) (on wxgxv yaybq) (on unarp wxgxv) (on ciyrc unarp) (on-table yaybq) | GOAL: (on emsav ciyrc) (arm-empty) (clear emsav) (on wxgxv yaybq) (on unarp wxgxv) (on ciyrc unarp) (on-table yaybq)
STATE: (holding emsav) (on wxgxv yaybq) (on unarp wxgxv) (on ciyrc unarp) (clear ciyrc) (on-table yaybq) | [
[
"stack emsav ciyrc"
]
] | [
"(on emsav ciyrc) (arm-empty) (clear emsav) (on wxgxv yaybq) (on unarp wxgxv) (on ciyrc unarp) (on-table yaybq)"
] | file_102900 |
GOAL: (clear rvxph) (on uqurv eyjhp) (arm-empty) (on-table rvxph) (on-table gnqir) (on-table eyjhp) (clear uqurv) (clear hqgpi) (on-table hqgpi) (clear gnqir) | GOAL: (clear rvxph) (on uqurv eyjhp) (arm-empty) (on-table rvxph) (on-table gnqir) (on-table eyjhp) (clear uqurv) (clear hqgpi) (on-table hqgpi) (clear gnqir)
STATE: (on uqurv eyjhp) (arm-empty) (on-table gnqir) (on-table eyjhp) (on hqgpi rvxph) (on rvxph uqurv) (clear hqgpi) (clear gnqir) | [
[
"unstack hqgpi rvxph"
],
[
"put-down hqgpi"
],
[
"unstack rvxph uqurv"
],
[
"put-down rvxph"
]
] | [
"(clear rvxph) (on uqurv eyjhp) (on-table gnqir) (on-table eyjhp) (on rvxph uqurv) (holding hqgpi) (clear gnqir)",
"(on uqurv eyjhp) (arm-empty) (on-table gnqir) (on rvxph uqurv) (clear gnqir) (clear rvxph) (on-table eyjhp) (clear hqgpi) (on-table hqgpi)",
"(on uqurv eyjhp) (on-table gnqir) (on-table eyjhp) (clear uqurv) (holding rvxph) (clear hqgpi) (on-table hqgpi) (clear gnqir)",
"(clear rvxph) (on uqurv eyjhp) (arm-empty) (on-table rvxph) (on-table gnqir) (on-table eyjhp) (clear uqurv) (clear hqgpi) (on-table hqgpi) (clear gnqir)"
] | file_126885 |
GOAL: (on-table nguzo) (on-table vyxsp) (clear fohtj) (on fohtj trxsl) (holding atjsr) (clear vyxsp) (on-table trxsl) (clear nguzo) | GOAL: (on-table nguzo) (on-table vyxsp) (clear fohtj) (on fohtj trxsl) (holding atjsr) (clear vyxsp) (on-table trxsl) (clear nguzo)
STATE: (arm-empty) (on-table atjsr) (on-table vyxsp) (on nguzo atjsr) (clear fohtj) (on-table fohtj) (clear trxsl) (clear vyxsp) (on-table trxsl) (clear nguzo) | [
[
"pick-up fohtj"
],
[
"stack fohtj trxsl"
],
[
"unstack nguzo atjsr"
],
[
"put-down nguzo"
],
[
"pick-up atjsr"
]
] | [
"(on-table atjsr) (on-table vyxsp) (holding fohtj) (on nguzo atjsr) (clear trxsl) (clear vyxsp) (on-table trxsl) (clear nguzo)",
"(arm-empty) (on-table atjsr) (on-table vyxsp) (on nguzo atjsr) (clear fohtj) (on fohtj trxsl) (clear vyxsp) (on-table trxsl) (clear nguzo)",
"(clear atjsr) (on-table atjsr) (on-table vyxsp) (clear fohtj) (on fohtj trxsl) (holding nguzo) (clear vyxsp) (on-table trxsl)",
"(clear atjsr) (arm-empty) (on-table atjsr) (on-table nguzo) (on-table vyxsp) (clear fohtj) (on fohtj trxsl) (clear vyxsp) (on-table trxsl) (clear nguzo)",
"(on-table nguzo) (on-table vyxsp) (clear fohtj) (on fohtj trxsl) (holding atjsr) (clear vyxsp) (on-table trxsl) (clear nguzo)"
] | file_70605 |
GOAL: (arm-empty) (on-table dzrtu) (on orxsz alzbx) (clear orxsz) (on alzbx ljajr) (on ljajr bvdcs) (on bvdcs dzrtu) | GOAL: (arm-empty) (on-table dzrtu) (on orxsz alzbx) (clear orxsz) (on alzbx ljajr) (on ljajr bvdcs) (on bvdcs dzrtu)
STATE: (holding bvdcs) (clear dzrtu) (on-table dzrtu) (on-table alzbx) (on orxsz alzbx) (clear orxsz) (clear ljajr) (on-table ljajr) | [
[
"stack bvdcs dzrtu"
],
[
"pick-up ljajr"
],
[
"stack ljajr bvdcs"
],
[
"unstack orxsz alzbx"
],
[
"put-down orxsz"
],
[
"pick-up alzbx"
],
[
"stack alzbx ljajr"
],
[
"pick-up orxsz"
],
[
"stack orxsz alzbx"
]
] | [
"(arm-empty) (on-table dzrtu) (on-table alzbx) (on orxsz alzbx) (clear orxsz) (clear ljajr) (on bvdcs dzrtu) (clear bvdcs) (on-table ljajr)",
"(on-table dzrtu) (on-table alzbx) (on orxsz alzbx) (clear orxsz) (on bvdcs dzrtu) (clear bvdcs) (holding ljajr)",
"(arm-empty) (on-table dzrtu) (on-table alzbx) (on orxsz alzbx) (clear orxsz) (on ljajr bvdcs) (clear ljajr) (on bvdcs dzrtu)",
"(on-table dzrtu) (on-table alzbx) (holding orxsz) (on ljajr bvdcs) (clear ljajr) (on bvdcs dzrtu) (clear alzbx)",
"(arm-empty) (on-table dzrtu) (on-table alzbx) (clear orxsz) (on ljajr bvdcs) (on bvdcs dzrtu) (clear alzbx) (on-table orxsz) (clear ljajr)",
"(on-table dzrtu) (clear orxsz) (holding alzbx) (on-table orxsz) (on ljajr bvdcs) (clear ljajr) (on bvdcs dzrtu)",
"(arm-empty) (on-table dzrtu) (clear orxsz) (on alzbx ljajr) (on-table orxsz) (on ljajr bvdcs) (on bvdcs dzrtu) (clear alzbx)",
"(on-table dzrtu) (holding orxsz) (on alzbx ljajr) (on ljajr bvdcs) (on bvdcs dzrtu) (clear alzbx)",
"(arm-empty) (on-table dzrtu) (on orxsz alzbx) (clear orxsz) (on alzbx ljajr) (on ljajr bvdcs) (on bvdcs dzrtu)"
] | file_87311 |
GOAL: (clear clume) (on ctfiq omjbj) (on-table clume) (on-table vrgzl) (on-table omjbj) (clear ctfiq) (holding ftwyd) (clear vrgzl) | GOAL: (clear clume) (on ctfiq omjbj) (on-table clume) (on-table vrgzl) (on-table omjbj) (clear ctfiq) (holding ftwyd) (clear vrgzl)
STATE: (clear clume) (on ctfiq omjbj) (on vrgzl ctfiq) (on-table clume) (on-table omjbj) (holding ftwyd) (clear vrgzl) | [
[
"stack ftwyd clume"
],
[
"unstack vrgzl ctfiq"
],
[
"put-down vrgzl"
],
[
"unstack ftwyd clume"
]
] | [
"(on ctfiq omjbj) (on vrgzl ctfiq) (on-table clume) (arm-empty) (on-table omjbj) (on ftwyd clume) (clear ftwyd) (clear vrgzl)",
"(on ctfiq omjbj) (on-table clume) (on-table omjbj) (on ftwyd clume) (clear ctfiq) (holding vrgzl) (clear ftwyd)",
"(on ctfiq omjbj) (arm-empty) (on-table clume) (on-table vrgzl) (clear ctfiq) (clear vrgzl) (on-table omjbj) (on ftwyd clume) (clear ftwyd)",
"(clear clume) (on ctfiq omjbj) (on-table clume) (on-table vrgzl) (on-table omjbj) (clear ctfiq) (holding ftwyd) (clear vrgzl)"
] | file_168045 |
GOAL: (clear lwppe) (arm-empty) (on feszu bwsue) (on-table lawjy) (on-table bwsue) (on lwppe lawjy) (clear cultp) (on-table cultp) (clear feszu) | GOAL: (clear lwppe) (arm-empty) (on feszu bwsue) (on-table lawjy) (on-table bwsue) (on lwppe lawjy) (clear cultp) (on-table cultp) (clear feszu)
STATE: (clear lwppe) (on-table lwppe) (holding feszu) (on-table bwsue) (on lawjy bwsue) (clear cultp) (clear lawjy) (on-table cultp) | [
[
"put-down feszu"
],
[
"unstack lawjy bwsue"
],
[
"stack lawjy lwppe"
],
[
"pick-up cultp"
],
[
"stack cultp lawjy"
],
[
"pick-up feszu"
],
[
"stack feszu bwsue"
],
[
"unstack cultp lawjy"
],
[
"put-down cultp"
],
[
"unstack lawjy lwppe"
],
[
"put-down lawjy"
],
[
"pick-up lwppe"
],
[
"stack lwppe lawjy"
]
] | [
"(clear lwppe) (arm-empty) (on-table lwppe) (on-table feszu) (on-table bwsue) (on lawjy bwsue) (clear cultp) (clear lawjy) (on-table cultp) (clear feszu)",
"(holding lawjy) (clear lwppe) (on-table lwppe) (on-table feszu) (clear bwsue) (on-table bwsue) (clear cultp) (on-table cultp) (clear feszu)",
"(arm-empty) (on-table lwppe) (on-table feszu) (clear bwsue) (on-table bwsue) (clear cultp) (on lawjy lwppe) (clear lawjy) (on-table cultp) (clear feszu)",
"(on-table lwppe) (on-table feszu) (clear bwsue) (on-table bwsue) (on lawjy lwppe) (clear lawjy) (holding cultp) (clear feszu)",
"(arm-empty) (on-table lwppe) (on-table feszu) (clear bwsue) (on-table bwsue) (on cultp lawjy) (clear cultp) (on lawjy lwppe) (clear feszu)",
"(on-table lwppe) (clear bwsue) (holding feszu) (on-table bwsue) (on cultp lawjy) (clear cultp) (on lawjy lwppe)",
"(arm-empty) (on feszu bwsue) (on-table lwppe) (on-table bwsue) (on cultp lawjy) (clear cultp) (on lawjy lwppe) (clear feszu)",
"(on feszu bwsue) (on-table lwppe) (on-table bwsue) (on lawjy lwppe) (clear lawjy) (holding cultp) (clear feszu)",
"(arm-empty) (on feszu bwsue) (on-table lwppe) (on lawjy lwppe) (clear feszu) (on-table bwsue) (clear cultp) (clear lawjy) (on-table cultp)",
"(holding lawjy) (clear lwppe) (on feszu bwsue) (on-table lwppe) (on-table bwsue) (clear cultp) (on-table cultp) (clear feszu)",
"(clear lwppe) (arm-empty) (on feszu bwsue) (on-table lwppe) (on-table lawjy) (on-table bwsue) (clear cultp) (clear lawjy) (on-table cultp) (clear feszu)",
"(on feszu bwsue) (on-table lawjy) (on-table bwsue) (holding lwppe) (clear cultp) (clear lawjy) (on-table cultp) (clear feszu)",
"(clear lwppe) (arm-empty) (on feszu bwsue) (on-table lawjy) (on-table bwsue) (on lwppe lawjy) (clear cultp) (on-table cultp) (clear feszu)"
] | file_12362 |
GOAL: (on-table eicdr) (on jpqfu eicdr) (holding opunc) (on-table kkiqr) (on hzykx kkiqr) (clear jpqfu) (clear hzykx) | GOAL: (on-table eicdr) (on jpqfu eicdr) (holding opunc) (on-table kkiqr) (on hzykx kkiqr) (clear jpqfu) (clear hzykx)
STATE: (arm-empty) (on kkiqr opunc) (on-table hzykx) (on opunc eicdr) (clear kkiqr) (on eicdr jpqfu) (clear hzykx) (on-table jpqfu) | [
[
"unstack kkiqr opunc"
],
[
"put-down kkiqr"
],
[
"pick-up hzykx"
],
[
"stack hzykx kkiqr"
],
[
"unstack opunc eicdr"
],
[
"stack opunc hzykx"
],
[
"unstack eicdr jpqfu"
],
[
"put-down eicdr"
],
[
"pick-up jpqfu"
],
[
"stack jpqfu eicdr"
],
[
"unstack opunc hzykx"
]
] | [
"(on-table hzykx) (holding kkiqr) (on opunc eicdr) (on eicdr jpqfu) (clear hzykx) (on-table jpqfu) (clear opunc)",
"(arm-empty) (on opunc eicdr) (clear kkiqr) (clear opunc) (on-table hzykx) (on-table kkiqr) (on eicdr jpqfu) (clear hzykx) (on-table jpqfu)",
"(holding hzykx) (on opunc eicdr) (clear kkiqr) (on-table kkiqr) (on eicdr jpqfu) (on-table jpqfu) (clear opunc)",
"(arm-empty) (on opunc eicdr) (on-table kkiqr) (on hzykx kkiqr) (on eicdr jpqfu) (clear hzykx) (on-table jpqfu) (clear opunc)",
"(clear eicdr) (holding opunc) (on-table kkiqr) (on hzykx kkiqr) (on eicdr jpqfu) (clear hzykx) (on-table jpqfu)",
"(clear eicdr) (arm-empty) (on opunc hzykx) (on-table kkiqr) (on hzykx kkiqr) (on eicdr jpqfu) (on-table jpqfu) (clear opunc)",
"(holding eicdr) (on opunc hzykx) (on-table kkiqr) (on hzykx kkiqr) (clear jpqfu) (on-table jpqfu) (clear opunc)",
"(arm-empty) (on-table eicdr) (clear opunc) (clear eicdr) (on opunc hzykx) (on-table kkiqr) (on hzykx kkiqr) (clear jpqfu) (on-table jpqfu)",
"(clear eicdr) (on-table eicdr) (on opunc hzykx) (on-table kkiqr) (on hzykx kkiqr) (holding jpqfu) (clear opunc)",
"(arm-empty) (on-table eicdr) (on jpqfu eicdr) (on opunc hzykx) (on-table kkiqr) (on hzykx kkiqr) (clear jpqfu) (clear opunc)",
"(on-table eicdr) (on jpqfu eicdr) (holding opunc) (on-table kkiqr) (on hzykx kkiqr) (clear jpqfu) (clear hzykx)"
] | file_100618 |
GOAL: (clear zjdnr) (on-table zjdnr) (on-table cosbb) (holding owhfs) (on tkeov tqiuw) (clear cosbb) (on-table tqiuw) (clear tkeov) | GOAL: (clear zjdnr) (on-table zjdnr) (on-table cosbb) (holding owhfs) (on tkeov tqiuw) (clear cosbb) (on-table tqiuw) (clear tkeov)
STATE: (arm-empty) (on tkeov tqiuw) (on cosbb owhfs) (on owhfs zjdnr) (on zjdnr tkeov) (clear cosbb) (on-table tqiuw) | [
[
"unstack cosbb owhfs"
],
[
"put-down cosbb"
],
[
"unstack owhfs zjdnr"
],
[
"stack owhfs cosbb"
],
[
"unstack zjdnr tkeov"
],
[
"put-down zjdnr"
],
[
"unstack owhfs cosbb"
]
] | [
"(clear owhfs) (on tkeov tqiuw) (on zjdnr tkeov) (holding cosbb) (on owhfs zjdnr) (on-table tqiuw)",
"(arm-empty) (clear owhfs) (on tkeov tqiuw) (on zjdnr tkeov) (on-table cosbb) (on owhfs zjdnr) (clear cosbb) (on-table tqiuw)",
"(clear zjdnr) (on-table cosbb) (holding owhfs) (on tkeov tqiuw) (on zjdnr tkeov) (clear cosbb) (on-table tqiuw)",
"(clear zjdnr) (on owhfs cosbb) (arm-empty) (on-table cosbb) (clear owhfs) (on tkeov tqiuw) (on zjdnr tkeov) (on-table tqiuw)",
"(on owhfs cosbb) (on-table cosbb) (clear owhfs) (on tkeov tqiuw) (holding zjdnr) (on-table tqiuw) (clear tkeov)",
"(on owhfs cosbb) (arm-empty) (on-table zjdnr) (clear owhfs) (on tkeov tqiuw) (clear tkeov) (clear zjdnr) (on-table cosbb) (on-table tqiuw)",
"(clear zjdnr) (on-table zjdnr) (on-table cosbb) (holding owhfs) (on tkeov tqiuw) (clear cosbb) (on-table tqiuw) (clear tkeov)"
] | file_175254 |
GOAL: (on jgytm whwrs) (arm-empty) (on-table kknbc) (on whwrs tlnxt) (clear ckgym) (on-table ckgym) (on tlnxt kknbc) (clear jgytm) | GOAL: (on jgytm whwrs) (arm-empty) (on-table kknbc) (on whwrs tlnxt) (clear ckgym) (on-table ckgym) (on tlnxt kknbc) (clear jgytm)
STATE: (on kknbc jgytm) (arm-empty) (on-table whwrs) (on jgytm tlnxt) (on-table ckgym) (on tlnxt ckgym) (clear kknbc) (clear whwrs) | [
[
"unstack kknbc jgytm"
],
[
"put-down kknbc"
],
[
"unstack jgytm tlnxt"
],
[
"stack jgytm whwrs"
],
[
"unstack tlnxt ckgym"
],
[
"stack tlnxt kknbc"
],
[
"unstack jgytm whwrs"
],
[
"stack jgytm ckgym"
],
[
"pick-up whwrs"
],
[
"stack whwrs tlnxt"
],
[
"unstack jgytm ckgym"
],
[
"stack jgytm whwrs"
]
] | [
"(holding kknbc) (on-table whwrs) (on jgytm tlnxt) (on-table ckgym) (on tlnxt ckgym) (clear jgytm) (clear whwrs)",
"(arm-empty) (on-table whwrs) (on tlnxt ckgym) (clear whwrs) (on-table kknbc) (on jgytm tlnxt) (on-table ckgym) (clear jgytm) (clear kknbc)",
"(clear tlnxt) (on-table whwrs) (on-table kknbc) (on-table ckgym) (on tlnxt ckgym) (holding jgytm) (clear kknbc) (clear whwrs)",
"(clear tlnxt) (on jgytm whwrs) (arm-empty) (on-table whwrs) (on-table kknbc) (on-table ckgym) (on tlnxt ckgym) (clear jgytm) (clear kknbc)",
"(on jgytm whwrs) (on-table whwrs) (on-table kknbc) (clear ckgym) (on-table ckgym) (holding tlnxt) (clear jgytm) (clear kknbc)",
"(on jgytm whwrs) (clear tlnxt) (arm-empty) (on-table whwrs) (on-table kknbc) (clear ckgym) (on-table ckgym) (on tlnxt kknbc) (clear jgytm)",
"(clear tlnxt) (on-table whwrs) (on-table kknbc) (clear ckgym) (on-table ckgym) (on tlnxt kknbc) (holding jgytm) (clear whwrs)",
"(on jgytm ckgym) (clear tlnxt) (arm-empty) (on-table whwrs) (on-table kknbc) (on-table ckgym) (on tlnxt kknbc) (clear jgytm) (clear whwrs)",
"(on jgytm ckgym) (clear tlnxt) (on-table kknbc) (holding whwrs) (on-table ckgym) (on tlnxt kknbc) (clear jgytm)",
"(on jgytm ckgym) (arm-empty) (on-table kknbc) (on whwrs tlnxt) (on-table ckgym) (on tlnxt kknbc) (clear jgytm) (clear whwrs)",
"(on-table kknbc) (on whwrs tlnxt) (clear ckgym) (on-table ckgym) (on tlnxt kknbc) (holding jgytm) (clear whwrs)",
"(on jgytm whwrs) (arm-empty) (on-table kknbc) (on whwrs tlnxt) (clear ckgym) (on-table ckgym) (on tlnxt kknbc) (clear jgytm)"
] | file_81464 |
GOAL: (clear lbvcr) (on-table duhdo) (holding rloud) (on hfths tcdrl) (on lbvcr duhdo) (on-table tcdrl) (clear hfths) | GOAL: (clear lbvcr) (on-table duhdo) (holding rloud) (on hfths tcdrl) (on lbvcr duhdo) (on-table tcdrl) (clear hfths)
STATE: (arm-empty) (on-table duhdo) (on tcdrl lbvcr) (clear rloud) (on hfths tcdrl) (on-table rloud) (on lbvcr duhdo) (clear hfths) | [
[
"unstack hfths tcdrl"
],
[
"stack hfths rloud"
],
[
"unstack tcdrl lbvcr"
],
[
"put-down tcdrl"
],
[
"unstack hfths rloud"
],
[
"stack hfths tcdrl"
],
[
"pick-up rloud"
]
] | [
"(on-table duhdo) (on tcdrl lbvcr) (clear rloud) (holding hfths) (on-table rloud) (on lbvcr duhdo) (clear tcdrl)",
"(arm-empty) (on hfths rloud) (on-table duhdo) (on tcdrl lbvcr) (on-table rloud) (on lbvcr duhdo) (clear tcdrl) (clear hfths)",
"(clear lbvcr) (on hfths rloud) (on-table duhdo) (on-table rloud) (on lbvcr duhdo) (holding tcdrl) (clear hfths)",
"(arm-empty) (on hfths rloud) (on lbvcr duhdo) (clear hfths) (clear lbvcr) (on-table duhdo) (on-table rloud) (clear tcdrl) (on-table tcdrl)",
"(clear lbvcr) (on-table duhdo) (clear rloud) (holding hfths) (on-table rloud) (on lbvcr duhdo) (clear tcdrl) (on-table tcdrl)",
"(clear lbvcr) (arm-empty) (on-table duhdo) (clear rloud) (on hfths tcdrl) (on-table rloud) (on lbvcr duhdo) (on-table tcdrl) (clear hfths)",
"(clear lbvcr) (on-table duhdo) (holding rloud) (on hfths tcdrl) (on lbvcr duhdo) (on-table tcdrl) (clear hfths)"
] | file_153234 |
GOAL: (arm-empty) (on-table zppab) (on-table cxydz) (on-table fmcqm) (on zrrbo zppab) (clear nfutx) (on nfutx zrrbo) (clear fmcqm) (clear cxydz) | GOAL: (arm-empty) (on-table zppab) (on-table cxydz) (on-table fmcqm) (on zrrbo zppab) (clear nfutx) (on nfutx zrrbo) (clear fmcqm) (clear cxydz)
STATE: (clear zppab) (arm-empty) (on-table zppab) (on-table cxydz) (on nfutx cxydz) (on fmcqm nfutx) (on zrrbo fmcqm) (clear zrrbo) | [
[
"unstack zrrbo fmcqm"
],
[
"stack zrrbo zppab"
],
[
"unstack fmcqm nfutx"
],
[
"put-down fmcqm"
],
[
"unstack nfutx cxydz"
],
[
"stack nfutx zrrbo"
]
] | [
"(clear zppab) (on-table zppab) (on-table cxydz) (on nfutx cxydz) (on fmcqm nfutx) (holding zrrbo) (clear fmcqm)",
"(arm-empty) (on-table zppab) (on-table cxydz) (on nfutx cxydz) (on zrrbo zppab) (on fmcqm nfutx) (clear zrrbo) (clear fmcqm)",
"(holding fmcqm) (on-table zppab) (on-table cxydz) (on nfutx cxydz) (on zrrbo zppab) (clear nfutx) (clear zrrbo)",
"(arm-empty) (on-table zppab) (on-table cxydz) (on nfutx cxydz) (clear nfutx) (on-table fmcqm) (on zrrbo zppab) (clear zrrbo) (clear fmcqm)",
"(on-table zppab) (on-table cxydz) (holding nfutx) (on-table fmcqm) (on zrrbo zppab) (clear zrrbo) (clear fmcqm) (clear cxydz)",
"(arm-empty) (on-table zppab) (on-table cxydz) (on-table fmcqm) (on zrrbo zppab) (clear nfutx) (on nfutx zrrbo) (clear fmcqm) (clear cxydz)"
] | file_215927 |
GOAL: (on kwsfe kzhcc) (arm-empty) (on-table pcmak) (on-table kzhcc) (on xxrwn pcmak) (clear kwsfe) (clear fvpsg) (on-table fvpsg) (clear xxrwn) | GOAL: (on kwsfe kzhcc) (arm-empty) (on-table pcmak) (on-table kzhcc) (on xxrwn pcmak) (clear kwsfe) (clear fvpsg) (on-table fvpsg) (clear xxrwn)
STATE: (clear pcmak) (on-table pcmak) (holding kwsfe) (on-table kzhcc) (on xxrwn fvpsg) (clear kzhcc) (on-table fvpsg) (clear xxrwn) | [
[
"stack kwsfe kzhcc"
],
[
"unstack xxrwn fvpsg"
],
[
"stack xxrwn pcmak"
]
] | [
"(clear pcmak) (on kwsfe kzhcc) (arm-empty) (on-table pcmak) (on-table kzhcc) (clear kwsfe) (on xxrwn fvpsg) (on-table fvpsg) (clear xxrwn)",
"(clear pcmak) (on kwsfe kzhcc) (on-table pcmak) (on-table kzhcc) (clear kwsfe) (holding xxrwn) (clear fvpsg) (on-table fvpsg)",
"(on kwsfe kzhcc) (arm-empty) (on-table pcmak) (on-table kzhcc) (on xxrwn pcmak) (clear kwsfe) (clear fvpsg) (on-table fvpsg) (clear xxrwn)"
] | file_144921 |
GOAL: (holding thvcb) (clear zhxus) (on-table mybcv) (clear rkjav) (on-table rkjav) (on zhxus mybcv) (clear yxlay) (on-table yxlay) | GOAL: (holding thvcb) (clear zhxus) (on-table mybcv) (clear rkjav) (on-table rkjav) (on zhxus mybcv) (clear yxlay) (on-table yxlay)
STATE: (on rkjav thvcb) (on mybcv rkjav) (arm-empty) (on-table thvcb) (on yxlay zhxus) (on zhxus mybcv) (clear yxlay) | [
[
"unstack yxlay zhxus"
],
[
"put-down yxlay"
],
[
"unstack zhxus mybcv"
],
[
"stack zhxus yxlay"
],
[
"unstack mybcv rkjav"
],
[
"put-down mybcv"
],
[
"unstack rkjav thvcb"
],
[
"put-down rkjav"
],
[
"pick-up thvcb"
],
[
"stack thvcb rkjav"
],
[
"unstack zhxus yxlay"
],
[
"stack zhxus mybcv"
],
[
"unstack thvcb rkjav"
]
] | [
"(on rkjav thvcb) (on mybcv rkjav) (on zhxus mybcv) (clear zhxus) (on-table thvcb) (holding yxlay)",
"(on rkjav thvcb) (on mybcv rkjav) (arm-empty) (on zhxus mybcv) (clear zhxus) (on-table thvcb) (clear yxlay) (on-table yxlay)",
"(on rkjav thvcb) (on mybcv rkjav) (on-table thvcb) (holding zhxus) (clear yxlay) (on-table yxlay) (clear mybcv)",
"(clear zhxus) (on rkjav thvcb) (on mybcv rkjav) (arm-empty) (on-table thvcb) (on zhxus yxlay) (on-table yxlay) (clear mybcv)",
"(clear zhxus) (on rkjav thvcb) (on-table thvcb) (clear rkjav) (holding mybcv) (on zhxus yxlay) (on-table yxlay)",
"(on rkjav thvcb) (arm-empty) (on-table mybcv) (clear rkjav) (clear mybcv) (clear zhxus) (on-table thvcb) (on zhxus yxlay) (on-table yxlay)",
"(clear zhxus) (on-table mybcv) (on-table thvcb) (holding rkjav) (on zhxus yxlay) (clear thvcb) (on-table yxlay) (clear mybcv)",
"(clear zhxus) (arm-empty) (on-table mybcv) (on-table thvcb) (clear rkjav) (on-table rkjav) (on zhxus yxlay) (clear thvcb) (on-table yxlay) (clear mybcv)",
"(holding thvcb) (clear zhxus) (on-table mybcv) (clear rkjav) (on-table rkjav) (on zhxus yxlay) (on-table yxlay) (clear mybcv)",
"(clear zhxus) (arm-empty) (on-table mybcv) (on-table rkjav) (on thvcb rkjav) (on zhxus yxlay) (clear thvcb) (on-table yxlay) (clear mybcv)",
"(on-table mybcv) (holding zhxus) (on-table rkjav) (on thvcb rkjav) (clear yxlay) (clear thvcb) (on-table yxlay) (clear mybcv)",
"(clear zhxus) (arm-empty) (on-table mybcv) (on-table rkjav) (on zhxus mybcv) (clear yxlay) (on thvcb rkjav) (on-table yxlay) (clear thvcb)",
"(holding thvcb) (clear zhxus) (on-table mybcv) (clear rkjav) (on-table rkjav) (on zhxus mybcv) (clear yxlay) (on-table yxlay)"
] | file_72147 |
GOAL: (on otvff ailcs) (arm-empty) (on-table avxdx) (on ailcs tfqsy) (on tfqsy vxzxg) (on vxzxg avxdx) (clear otvff) | GOAL: (on otvff ailcs) (arm-empty) (on-table avxdx) (on ailcs tfqsy) (on tfqsy vxzxg) (on vxzxg avxdx) (clear otvff)
STATE: (clear avxdx) (on tfqsy otvff) (on-table avxdx) (on-table ailcs) (holding vxzxg) (clear tfqsy) (on-table otvff) (clear ailcs) | [
[
"stack vxzxg avxdx"
],
[
"unstack tfqsy otvff"
],
[
"stack tfqsy vxzxg"
],
[
"pick-up ailcs"
],
[
"stack ailcs tfqsy"
],
[
"pick-up otvff"
],
[
"stack otvff ailcs"
]
] | [
"(on tfqsy otvff) (arm-empty) (on-table avxdx) (on-table ailcs) (clear vxzxg) (on vxzxg avxdx) (clear tfqsy) (on-table otvff) (clear ailcs)",
"(holding tfqsy) (on-table avxdx) (on-table ailcs) (clear vxzxg) (on vxzxg avxdx) (clear otvff) (on-table otvff) (clear ailcs)",
"(arm-empty) (on-table avxdx) (on-table ailcs) (on tfqsy vxzxg) (on vxzxg avxdx) (clear otvff) (clear tfqsy) (on-table otvff) (clear ailcs)",
"(on-table avxdx) (holding ailcs) (on tfqsy vxzxg) (on vxzxg avxdx) (clear otvff) (clear tfqsy) (on-table otvff)",
"(arm-empty) (on-table avxdx) (on ailcs tfqsy) (on tfqsy vxzxg) (on vxzxg avxdx) (clear otvff) (on-table otvff) (clear ailcs)",
"(on-table avxdx) (on ailcs tfqsy) (on tfqsy vxzxg) (on vxzxg avxdx) (holding otvff) (clear ailcs)",
"(on otvff ailcs) (arm-empty) (on-table avxdx) (on ailcs tfqsy) (on tfqsy vxzxg) (on vxzxg avxdx) (clear otvff)"
] | file_58959 |
GOAL: (clear hqlqy) (arm-empty) (on-table osyqo) (on ugrpp osyqo) (on hqlqy fnqwi) (clear ugrpp) (on-table fnqwi) | GOAL: (clear hqlqy) (arm-empty) (on-table osyqo) (on ugrpp osyqo) (on hqlqy fnqwi) (clear ugrpp) (on-table fnqwi)
STATE: (on ugrpp fnqwi) (arm-empty) (clear osyqo) (on osyqo hqlqy) (on hqlqy ugrpp) (on-table fnqwi) | [
[
"unstack osyqo hqlqy"
],
[
"put-down osyqo"
],
[
"unstack hqlqy ugrpp"
],
[
"stack hqlqy osyqo"
],
[
"unstack ugrpp fnqwi"
],
[
"put-down ugrpp"
],
[
"unstack hqlqy osyqo"
],
[
"stack hqlqy fnqwi"
],
[
"pick-up ugrpp"
],
[
"stack ugrpp osyqo"
]
] | [
"(clear hqlqy) (on ugrpp fnqwi) (holding osyqo) (on hqlqy ugrpp) (on-table fnqwi)",
"(clear hqlqy) (on ugrpp fnqwi) (on-table osyqo) (arm-empty) (on hqlqy ugrpp) (clear osyqo) (on-table fnqwi)",
"(on ugrpp fnqwi) (clear osyqo) (on-table osyqo) (holding hqlqy) (clear ugrpp) (on-table fnqwi)",
"(clear hqlqy) (on ugrpp fnqwi) (arm-empty) (on-table osyqo) (on hqlqy osyqo) (clear ugrpp) (on-table fnqwi)",
"(on hqlqy osyqo) (holding ugrpp) (clear hqlqy) (on-table osyqo) (clear fnqwi) (on-table fnqwi)",
"(arm-empty) (on hqlqy osyqo) (clear hqlqy) (on-table ugrpp) (on-table osyqo) (clear fnqwi) (clear ugrpp) (on-table fnqwi)",
"(on-table ugrpp) (clear osyqo) (on-table osyqo) (holding hqlqy) (clear fnqwi) (clear ugrpp) (on-table fnqwi)",
"(clear hqlqy) (arm-empty) (on-table ugrpp) (clear osyqo) (on-table osyqo) (on hqlqy fnqwi) (clear ugrpp) (on-table fnqwi)",
"(holding ugrpp) (clear hqlqy) (clear osyqo) (on-table osyqo) (on hqlqy fnqwi) (on-table fnqwi)",
"(clear hqlqy) (arm-empty) (on-table osyqo) (on ugrpp osyqo) (on hqlqy fnqwi) (clear ugrpp) (on-table fnqwi)"
] | file_224474 |
GOAL: (on jwwyi qpzqx) (arm-empty) (clear eqkaa) (on-table qpzqx) (on eqkaa tjdms) (on tjdms jwwyi) | GOAL: (on jwwyi qpzqx) (arm-empty) (clear eqkaa) (on-table qpzqx) (on eqkaa tjdms) (on tjdms jwwyi)
STATE: (clear tjdms) (holding jwwyi) (on-table qpzqx) (on tjdms qpzqx) (clear eqkaa) (on-table eqkaa) | [
[
"stack jwwyi eqkaa"
],
[
"unstack tjdms qpzqx"
],
[
"put-down tjdms"
],
[
"unstack jwwyi eqkaa"
],
[
"stack jwwyi qpzqx"
],
[
"pick-up tjdms"
],
[
"stack tjdms jwwyi"
],
[
"pick-up eqkaa"
],
[
"stack eqkaa tjdms"
]
] | [
"(clear tjdms) (arm-empty) (on-table qpzqx) (clear jwwyi) (on jwwyi eqkaa) (on tjdms qpzqx) (on-table eqkaa)",
"(clear jwwyi) (on-table qpzqx) (on jwwyi eqkaa) (holding tjdms) (clear qpzqx) (on-table eqkaa)",
"(arm-empty) (on-table tjdms) (clear jwwyi) (clear tjdms) (on-table qpzqx) (on jwwyi eqkaa) (clear qpzqx) (on-table eqkaa)",
"(clear tjdms) (on-table tjdms) (on-table qpzqx) (holding jwwyi) (clear eqkaa) (clear qpzqx) (on-table eqkaa)",
"(clear tjdms) (on jwwyi qpzqx) (arm-empty) (on-table tjdms) (on-table qpzqx) (clear jwwyi) (clear eqkaa) (on-table eqkaa)",
"(on jwwyi qpzqx) (on-table qpzqx) (clear jwwyi) (holding tjdms) (clear eqkaa) (on-table eqkaa)",
"(clear tjdms) (on jwwyi qpzqx) (arm-empty) (on-table qpzqx) (on tjdms jwwyi) (clear eqkaa) (on-table eqkaa)",
"(clear tjdms) (on jwwyi qpzqx) (on-table qpzqx) (holding eqkaa) (on tjdms jwwyi)",
"(on jwwyi qpzqx) (arm-empty) (clear eqkaa) (on-table qpzqx) (on eqkaa tjdms) (on tjdms jwwyi)"
] | file_161498 |
GOAL: (on hlfkb zlcnu) (clear ogrkm) (arm-empty) (on nnpab plzay) (on-table zlcnu) (on ogrkm nnpab) (on plzay hlfkb) | GOAL: (on hlfkb zlcnu) (clear ogrkm) (arm-empty) (on nnpab plzay) (on-table zlcnu) (on ogrkm nnpab) (on plzay hlfkb)
STATE: (on zlcnu plzay) (arm-empty) (on-table ogrkm) (on plzay ogrkm) (clear nnpab) (on-table nnpab) (clear hlfkb) (clear zlcnu) (on-table hlfkb) | [
[
"unstack zlcnu plzay"
],
[
"put-down zlcnu"
],
[
"pick-up hlfkb"
],
[
"stack hlfkb zlcnu"
],
[
"unstack plzay ogrkm"
],
[
"stack plzay hlfkb"
],
[
"pick-up nnpab"
],
[
"stack nnpab plzay"
],
[
"pick-up ogrkm"
],
[
"stack ogrkm nnpab"
]
] | [
"(holding zlcnu) (on-table ogrkm) (on plzay ogrkm) (clear nnpab) (on-table nnpab) (clear hlfkb) (on-table hlfkb) (clear plzay)",
"(arm-empty) (on-table ogrkm) (on-table zlcnu) (on plzay ogrkm) (clear nnpab) (on-table nnpab) (clear hlfkb) (clear zlcnu) (on-table hlfkb) (clear plzay)",
"(on-table ogrkm) (on-table zlcnu) (on plzay ogrkm) (clear nnpab) (on-table nnpab) (holding hlfkb) (clear zlcnu) (clear plzay)",
"(arm-empty) (on-table ogrkm) (on-table zlcnu) (on plzay ogrkm) (clear nnpab) (on-table nnpab) (on hlfkb zlcnu) (clear hlfkb) (clear plzay)",
"(clear ogrkm) (on-table ogrkm) (on-table zlcnu) (clear nnpab) (holding plzay) (on-table nnpab) (on hlfkb zlcnu) (clear hlfkb)",
"(clear ogrkm) (arm-empty) (on-table ogrkm) (on-table zlcnu) (clear nnpab) (on plzay hlfkb) (on-table nnpab) (on hlfkb zlcnu) (clear plzay)",
"(clear ogrkm) (on-table ogrkm) (on-table zlcnu) (holding nnpab) (on plzay hlfkb) (on hlfkb zlcnu) (clear plzay)",
"(clear ogrkm) (arm-empty) (on-table ogrkm) (on nnpab plzay) (on-table zlcnu) (clear nnpab) (on plzay hlfkb) (on hlfkb zlcnu)",
"(on nnpab plzay) (on-table zlcnu) (clear nnpab) (on plzay hlfkb) (holding ogrkm) (on hlfkb zlcnu)",
"(on hlfkb zlcnu) (clear ogrkm) (arm-empty) (on nnpab plzay) (on-table zlcnu) (on ogrkm nnpab) (on plzay hlfkb)"
] | file_98476 |
GOAL: (clear vdbmu) (arm-empty) (on-table pvrjh) (on-table hnklm) (on vtldl pvrjh) (clear vtldl) (on vpody hnklm) (on vdbmu vpody) | GOAL: (clear vdbmu) (arm-empty) (on-table pvrjh) (on-table hnklm) (on vtldl pvrjh) (clear vtldl) (on vpody hnklm) (on vdbmu vpody)
STATE: (clear vdbmu) (on-table pvrjh) (on-table hnklm) (clear vtldl) (on-table vtldl) (on vdbmu pvrjh) (holding vpody) (clear hnklm) | [
[
"stack vpody hnklm"
],
[
"unstack vdbmu pvrjh"
],
[
"stack vdbmu vpody"
],
[
"pick-up vtldl"
],
[
"stack vtldl pvrjh"
]
] | [
"(clear vdbmu) (arm-empty) (on-table pvrjh) (on-table hnklm) (clear vtldl) (on-table vtldl) (on vpody hnklm) (on vdbmu pvrjh) (clear vpody)",
"(on-table pvrjh) (on-table hnklm) (clear vtldl) (on-table vtldl) (holding vdbmu) (on vpody hnklm) (clear vpody) (clear pvrjh)",
"(clear vdbmu) (arm-empty) (on-table pvrjh) (on-table hnklm) (clear vtldl) (on-table vtldl) (on vpody hnklm) (on vdbmu vpody) (clear pvrjh)",
"(clear vdbmu) (on-table pvrjh) (on-table hnklm) (holding vtldl) (on vpody hnklm) (on vdbmu vpody) (clear pvrjh)",
"(clear vdbmu) (arm-empty) (on-table pvrjh) (on-table hnklm) (on vtldl pvrjh) (clear vtldl) (on vpody hnklm) (on vdbmu vpody)"
] | file_121722 |
GOAL: (on-table kmdug) (on-table nwnhi) (on-table ubeue) (holding ymdzh) (on caffq kmdug) (clear caffq) (clear ubeue) (clear nwnhi) | GOAL: (on-table kmdug) (on-table nwnhi) (on-table ubeue) (holding ymdzh) (on caffq kmdug) (clear caffq) (clear ubeue) (clear nwnhi)
STATE: (clear kmdug) (on ymdzh ubeue) (arm-empty) (on-table kmdug) (on-table nwnhi) (on-table ubeue) (clear ymdzh) (clear caffq) (on-table caffq) (clear nwnhi) | [
[
"unstack ymdzh ubeue"
],
[
"stack ymdzh nwnhi"
],
[
"pick-up caffq"
],
[
"stack caffq kmdug"
],
[
"unstack ymdzh nwnhi"
]
] | [
"(clear kmdug) (on-table kmdug) (on-table nwnhi) (on-table ubeue) (holding ymdzh) (clear caffq) (clear ubeue) (on-table caffq) (clear nwnhi)",
"(clear kmdug) (arm-empty) (on-table kmdug) (on-table nwnhi) (on-table ubeue) (on ymdzh nwnhi) (clear ymdzh) (clear caffq) (clear ubeue) (on-table caffq)",
"(clear kmdug) (on-table kmdug) (on-table nwnhi) (on-table ubeue) (on ymdzh nwnhi) (clear ymdzh) (holding caffq) (clear ubeue)",
"(arm-empty) (on-table kmdug) (on-table nwnhi) (on-table ubeue) (on ymdzh nwnhi) (on caffq kmdug) (clear ymdzh) (clear caffq) (clear ubeue)",
"(on-table kmdug) (on-table nwnhi) (on-table ubeue) (holding ymdzh) (on caffq kmdug) (clear caffq) (clear ubeue) (clear nwnhi)"
] | file_154501 |
GOAL: (clear ogdtd) (on-table ponao) (holding vbzhs) (on-table bviib) (on ogdtd bviib) (clear mdubq) (clear ponao) (on-table mdubq) | GOAL: (clear ogdtd) (on-table ponao) (holding vbzhs) (on-table bviib) (on ogdtd bviib) (clear mdubq) (clear ponao) (on-table mdubq)
STATE: (on-table ponao) (on vbzhs ogdtd) (clear bviib) (on-table bviib) (on ogdtd ponao) (holding mdubq) (clear vbzhs) | [
[
"put-down mdubq"
],
[
"unstack vbzhs ogdtd"
],
[
"stack vbzhs mdubq"
],
[
"unstack ogdtd ponao"
],
[
"stack ogdtd bviib"
],
[
"unstack vbzhs mdubq"
]
] | [
"(arm-empty) (on vbzhs ogdtd) (clear bviib) (on ogdtd ponao) (clear vbzhs) (on-table ponao) (on-table bviib) (clear mdubq) (on-table mdubq)",
"(clear ogdtd) (on-table ponao) (clear bviib) (holding vbzhs) (on-table bviib) (on ogdtd ponao) (clear mdubq) (on-table mdubq)",
"(clear ogdtd) (arm-empty) (on-table ponao) (clear bviib) (on vbzhs mdubq) (on-table bviib) (on ogdtd ponao) (on-table mdubq) (clear vbzhs)",
"(on-table ponao) (clear bviib) (on vbzhs mdubq) (on-table bviib) (holding ogdtd) (clear ponao) (on-table mdubq) (clear vbzhs)",
"(clear ogdtd) (arm-empty) (on-table ponao) (on vbzhs mdubq) (on-table bviib) (on ogdtd bviib) (clear ponao) (on-table mdubq) (clear vbzhs)",
"(clear ogdtd) (on-table ponao) (holding vbzhs) (on-table bviib) (on ogdtd bviib) (clear mdubq) (clear ponao) (on-table mdubq)"
] | file_4039 |
GOAL: (on kqjts nmenm) (on tbhkp isnlz) (on-table isnlz) (holding zowtm) (clear kqjts) (on-table nmenm) (clear tbhkp) | GOAL: (on kqjts nmenm) (on tbhkp isnlz) (on-table isnlz) (holding zowtm) (clear kqjts) (on-table nmenm) (clear tbhkp)
STATE: (on-table zowtm) (holding isnlz) (on tbhkp kqjts) (clear nmenm) (on kqjts zowtm) (on-table nmenm) (clear tbhkp) | [
[
"put-down isnlz"
],
[
"unstack tbhkp kqjts"
],
[
"stack tbhkp isnlz"
],
[
"unstack kqjts zowtm"
],
[
"stack kqjts nmenm"
],
[
"pick-up zowtm"
]
] | [
"(arm-empty) (on-table zowtm) (clear isnlz) (on kqjts zowtm) (clear tbhkp) (on tbhkp kqjts) (on-table isnlz) (clear nmenm) (on-table nmenm)",
"(on-table zowtm) (clear isnlz) (holding tbhkp) (on-table isnlz) (clear nmenm) (on kqjts zowtm) (clear kqjts) (on-table nmenm)",
"(arm-empty) (on tbhkp isnlz) (on-table zowtm) (on-table isnlz) (clear nmenm) (on kqjts zowtm) (clear kqjts) (on-table nmenm) (clear tbhkp)",
"(holding kqjts) (clear zowtm) (on tbhkp isnlz) (on-table zowtm) (on-table isnlz) (clear nmenm) (on-table nmenm) (clear tbhkp)",
"(clear zowtm) (on kqjts nmenm) (on tbhkp isnlz) (on-table zowtm) (arm-empty) (on-table isnlz) (clear kqjts) (on-table nmenm) (clear tbhkp)",
"(on kqjts nmenm) (on tbhkp isnlz) (on-table isnlz) (holding zowtm) (clear kqjts) (on-table nmenm) (clear tbhkp)"
] | file_217867 |
GOAL: (clear fkzfx) (arm-empty) (on-table fkzfx) (on-table ssric) (on-table tqwaw) (on ftxcl ssric) (clear ftxcl) (clear agsvq) (clear tqwaw) (on-table agsvq) | GOAL: (clear fkzfx) (arm-empty) (on-table fkzfx) (on-table ssric) (on-table tqwaw) (on ftxcl ssric) (clear ftxcl) (clear agsvq) (clear tqwaw) (on-table agsvq)
STATE: (on-table fkzfx) (on ftxcl fkzfx) (holding ssric) (on tqwaw ftxcl) (on agsvq tqwaw) (clear agsvq) | [
[
"put-down ssric"
],
[
"unstack agsvq tqwaw"
],
[
"put-down agsvq"
],
[
"unstack tqwaw ftxcl"
],
[
"put-down tqwaw"
],
[
"unstack ftxcl fkzfx"
],
[
"stack ftxcl ssric"
]
] | [
"(arm-empty) (on-table fkzfx) (on-table ssric) (on agsvq tqwaw) (clear ssric) (on tqwaw ftxcl) (on ftxcl fkzfx) (clear agsvq)",
"(on-table fkzfx) (on-table ssric) (on ftxcl fkzfx) (on tqwaw ftxcl) (holding agsvq) (clear tqwaw) (clear ssric)",
"(arm-empty) (on-table fkzfx) (on-table ssric) (clear ssric) (on tqwaw ftxcl) (on ftxcl fkzfx) (clear agsvq) (clear tqwaw) (on-table agsvq)",
"(holding tqwaw) (on-table fkzfx) (on-table ssric) (clear ftxcl) (on ftxcl fkzfx) (clear agsvq) (on-table agsvq) (clear ssric)",
"(arm-empty) (on-table fkzfx) (on-table ssric) (on-table tqwaw) (clear ftxcl) (on ftxcl fkzfx) (clear agsvq) (clear tqwaw) (on-table agsvq) (clear ssric)",
"(clear fkzfx) (on-table fkzfx) (on-table ssric) (on-table tqwaw) (holding ftxcl) (clear agsvq) (clear tqwaw) (on-table agsvq) (clear ssric)",
"(clear fkzfx) (arm-empty) (on-table fkzfx) (on-table ssric) (on-table tqwaw) (on ftxcl ssric) (clear ftxcl) (clear agsvq) (clear tqwaw) (on-table agsvq)"
] | file_55565 |
GOAL: (clear qyuei) (arm-empty) (on-table qyuei) (on-table krana) (on-table txzlu) (clear hvszi) (on-table hvszi) (on bozmq txzlu) (clear bozmq) (clear krana) | GOAL: (clear qyuei) (arm-empty) (on-table qyuei) (on-table krana) (on-table txzlu) (clear hvszi) (on-table hvszi) (on bozmq txzlu) (clear bozmq) (clear krana)
STATE: (clear qyuei) (on-table qyuei) (on-table krana) (holding hvszi) (on-table txzlu) (on bozmq txzlu) (clear bozmq) (clear krana) | [
[
"put-down hvszi"
]
] | [
"(clear qyuei) (arm-empty) (on-table qyuei) (on-table krana) (on-table txzlu) (clear hvszi) (on-table hvszi) (on bozmq txzlu) (clear bozmq) (clear krana)"
] | file_216123 |
GOAL: (arm-empty) (on bizoj yqeuf) (clear ohhno) (clear bizoj) (on-table nexca) (on-table ohhno) (on yqeuf zgvfl) (clear nexca) (on-table zgvfl) | GOAL: (arm-empty) (on bizoj yqeuf) (clear ohhno) (clear bizoj) (on-table nexca) (on-table ohhno) (on yqeuf zgvfl) (clear nexca) (on-table zgvfl)
STATE: (clear yqeuf) (on ohhno nexca) (on bizoj ohhno) (on-table yqeuf) (on-table nexca) (holding zgvfl) (clear bizoj) | [
[
"put-down zgvfl"
],
[
"pick-up yqeuf"
],
[
"stack yqeuf zgvfl"
],
[
"unstack bizoj ohhno"
],
[
"stack bizoj yqeuf"
],
[
"unstack ohhno nexca"
],
[
"put-down ohhno"
]
] | [
"(on ohhno nexca) (on bizoj ohhno) (on-table yqeuf) (arm-empty) (clear bizoj) (clear yqeuf) (on-table nexca) (clear zgvfl) (on-table zgvfl)",
"(on ohhno nexca) (on bizoj ohhno) (on-table nexca) (holding yqeuf) (clear zgvfl) (on-table zgvfl) (clear bizoj)",
"(clear yqeuf) (on ohhno nexca) (on bizoj ohhno) (arm-empty) (on-table nexca) (on yqeuf zgvfl) (on-table zgvfl) (clear bizoj)",
"(clear yqeuf) (on ohhno nexca) (on-table nexca) (clear ohhno) (holding bizoj) (on yqeuf zgvfl) (on-table zgvfl)",
"(on ohhno nexca) (arm-empty) (on-table nexca) (on bizoj yqeuf) (clear ohhno) (on yqeuf zgvfl) (on-table zgvfl) (clear bizoj)",
"(on-table nexca) (holding ohhno) (on bizoj yqeuf) (on yqeuf zgvfl) (clear nexca) (on-table zgvfl) (clear bizoj)",
"(arm-empty) (on bizoj yqeuf) (clear ohhno) (clear bizoj) (on-table nexca) (on-table ohhno) (on yqeuf zgvfl) (clear nexca) (on-table zgvfl)"
] | file_168153 |
GOAL: (arm-empty) (on-table qwlnc) (on gqsql qwlnc) (on bypwk hmexj) (on rvmcy gqsql) (clear rvmcy) (on-table hmexj) (clear bypwk) | GOAL: (arm-empty) (on-table qwlnc) (on gqsql qwlnc) (on bypwk hmexj) (on rvmcy gqsql) (clear rvmcy) (on-table hmexj) (clear bypwk)
STATE: (clear rvmcy) (on-table rvmcy) (on-table hmexj) (clear gqsql) (holding qwlnc) (on-table gqsql) (on bypwk hmexj) (clear bypwk) | [
[
"put-down qwlnc"
],
[
"pick-up gqsql"
],
[
"stack gqsql qwlnc"
],
[
"pick-up rvmcy"
],
[
"stack rvmcy gqsql"
]
] | [
"(clear rvmcy) (arm-empty) (on-table rvmcy) (on-table qwlnc) (on-table hmexj) (clear gqsql) (on-table gqsql) (on bypwk hmexj) (clear bypwk) (clear qwlnc)",
"(clear rvmcy) (on-table rvmcy) (on-table qwlnc) (on-table hmexj) (holding gqsql) (on bypwk hmexj) (clear bypwk) (clear qwlnc)",
"(clear rvmcy) (arm-empty) (on-table rvmcy) (on-table qwlnc) (on-table hmexj) (on gqsql qwlnc) (clear gqsql) (on bypwk hmexj) (clear bypwk)",
"(on-table qwlnc) (on-table hmexj) (on gqsql qwlnc) (clear gqsql) (holding rvmcy) (on bypwk hmexj) (clear bypwk)",
"(arm-empty) (on-table qwlnc) (on gqsql qwlnc) (on bypwk hmexj) (on rvmcy gqsql) (clear rvmcy) (on-table hmexj) (clear bypwk)"
] | file_9033 |
GOAL: (on likdb kmafz) (clear lrjnx) (on kmafz ejedk) (on-table lrjnx) (holding rdiww) (clear likdb) (on-table ejedk) | GOAL: (on likdb kmafz) (clear lrjnx) (on kmafz ejedk) (on-table lrjnx) (holding rdiww) (clear likdb) (on-table ejedk)
STATE: (on kmafz likdb) (on-table lrjnx) (on rdiww lrjnx) (holding ejedk) (on likdb rdiww) (clear kmafz) | [
[
"put-down ejedk"
],
[
"unstack kmafz likdb"
],
[
"stack kmafz ejedk"
],
[
"unstack likdb rdiww"
],
[
"stack likdb kmafz"
],
[
"unstack rdiww lrjnx"
]
] | [
"(arm-empty) (on rdiww lrjnx) (on likdb rdiww) (clear kmafz) (on kmafz likdb) (on-table lrjnx) (clear ejedk) (on-table ejedk)",
"(holding kmafz) (on-table lrjnx) (on rdiww lrjnx) (clear ejedk) (on likdb rdiww) (clear likdb) (on-table ejedk)",
"(arm-empty) (on kmafz ejedk) (on-table lrjnx) (on rdiww lrjnx) (on likdb rdiww) (clear likdb) (on-table ejedk) (clear kmafz)",
"(holding likdb) (clear rdiww) (on kmafz ejedk) (on-table lrjnx) (on rdiww lrjnx) (on-table ejedk) (clear kmafz)",
"(on likdb kmafz) (clear rdiww) (arm-empty) (on kmafz ejedk) (on-table lrjnx) (on rdiww lrjnx) (clear likdb) (on-table ejedk)",
"(on likdb kmafz) (clear lrjnx) (on kmafz ejedk) (on-table lrjnx) (holding rdiww) (clear likdb) (on-table ejedk)"
] | file_52319 |
GOAL: (on loxou bgcpw) (on xgwnv rttit) (on-table rttit) (clear xgwnv) (holding xwmro) (clear loxou) (on-table bgcpw) | GOAL: (on loxou bgcpw) (on xgwnv rttit) (on-table rttit) (clear xgwnv) (holding xwmro) (clear loxou) (on-table bgcpw)
STATE: (on-table rttit) (on-table loxou) (clear xgwnv) (on-table xgwnv) (holding xwmro) (on bgcpw loxou) (clear bgcpw) (clear rttit) | [
[
"stack xwmro rttit"
],
[
"unstack bgcpw loxou"
],
[
"put-down bgcpw"
],
[
"pick-up loxou"
],
[
"stack loxou bgcpw"
],
[
"unstack xwmro rttit"
],
[
"stack xwmro loxou"
],
[
"pick-up xgwnv"
],
[
"stack xgwnv rttit"
],
[
"unstack xwmro loxou"
]
] | [
"(clear xwmro) (arm-empty) (on-table rttit) (on-table loxou) (clear xgwnv) (on-table xgwnv) (on bgcpw loxou) (on xwmro rttit) (clear bgcpw)",
"(clear xwmro) (on-table rttit) (on-table loxou) (clear xgwnv) (on-table xgwnv) (on xwmro rttit) (holding bgcpw) (clear loxou)",
"(clear xwmro) (arm-empty) (on-table rttit) (on-table loxou) (clear xgwnv) (on-table xgwnv) (on xwmro rttit) (clear bgcpw) (clear loxou) (on-table bgcpw)",
"(holding loxou) (clear xwmro) (on-table rttit) (clear xgwnv) (on-table xgwnv) (on xwmro rttit) (clear bgcpw) (on-table bgcpw)",
"(clear xwmro) (on loxou bgcpw) (arm-empty) (on-table rttit) (clear xgwnv) (on-table xgwnv) (on xwmro rttit) (clear loxou) (on-table bgcpw)",
"(on loxou bgcpw) (on-table rttit) (clear xgwnv) (on-table xgwnv) (holding xwmro) (clear loxou) (on-table bgcpw) (clear rttit)",
"(clear xwmro) (on loxou bgcpw) (arm-empty) (on-table rttit) (clear xgwnv) (on-table xgwnv) (on xwmro loxou) (on-table bgcpw) (clear rttit)",
"(clear xwmro) (on loxou bgcpw) (on-table rttit) (holding xgwnv) (on xwmro loxou) (on-table bgcpw) (clear rttit)",
"(clear xwmro) (on loxou bgcpw) (arm-empty) (on xgwnv rttit) (on-table rttit) (clear xgwnv) (on xwmro loxou) (on-table bgcpw)",
"(on loxou bgcpw) (on xgwnv rttit) (on-table rttit) (clear xgwnv) (holding xwmro) (clear loxou) (on-table bgcpw)"
] | file_203507 |
GOAL: (arm-empty) (on-table effri) (clear effri) (on zxfez yrnbv) (clear pftxh) (on-table hxhtx) (on-table yrnbv) (on pftxh zxfez) (clear hxhtx) | GOAL: (arm-empty) (on-table effri) (clear effri) (on zxfez yrnbv) (clear pftxh) (on-table hxhtx) (on-table yrnbv) (on pftxh zxfez) (clear hxhtx)
STATE: (on zxfez yrnbv) (arm-empty) (on-table effri) (clear effri) (on-table yrnbv) (on pftxh zxfez) (on hxhtx pftxh) (clear hxhtx) | [
[
"unstack hxhtx pftxh"
],
[
"put-down hxhtx"
]
] | [
"(holding hxhtx) (on zxfez yrnbv) (clear pftxh) (on-table effri) (clear effri) (on-table yrnbv) (on pftxh zxfez)",
"(arm-empty) (on-table effri) (clear effri) (on zxfez yrnbv) (clear pftxh) (on-table hxhtx) (on-table yrnbv) (on pftxh zxfez) (clear hxhtx)"
] | file_119123 |
GOAL: (on drain fvnms) (arm-empty) (on-table prenq) (on-table fvnms) (clear ungiu) (on ungiu prenq) (clear txofw) (clear drain) (on-table txofw) | GOAL: (on drain fvnms) (arm-empty) (on-table prenq) (on-table fvnms) (clear ungiu) (on ungiu prenq) (clear txofw) (clear drain) (on-table txofw)
STATE: (arm-empty) (on-table prenq) (on-table fvnms) (on-table drain) (clear ungiu) (on ungiu prenq) (clear txofw) (clear drain) (on-table txofw) (clear fvnms) | [
[
"pick-up drain"
],
[
"stack drain fvnms"
]
] | [
"(holding drain) (on-table prenq) (on-table fvnms) (clear ungiu) (on ungiu prenq) (clear txofw) (on-table txofw) (clear fvnms)",
"(on drain fvnms) (arm-empty) (on-table prenq) (on-table fvnms) (clear ungiu) (on ungiu prenq) (clear txofw) (clear drain) (on-table txofw)"
] | file_17733 |
GOAL: (clear shcqh) (on-table dtlck) (on shcqh iqdsb) (on iqdsb vsuuv) (holding swmhl) (on vsuuv dtlck) | GOAL: (clear shcqh) (on-table dtlck) (on shcqh iqdsb) (on iqdsb vsuuv) (holding swmhl) (on vsuuv dtlck)
STATE: (on swmhl iqdsb) (on-table dtlck) (on iqdsb vsuuv) (holding shcqh) (on vsuuv dtlck) (clear swmhl) | [
[
"put-down shcqh"
],
[
"unstack swmhl iqdsb"
],
[
"put-down swmhl"
],
[
"pick-up shcqh"
],
[
"stack shcqh iqdsb"
],
[
"pick-up swmhl"
]
] | [
"(arm-empty) (on swmhl iqdsb) (on-table shcqh) (on vsuuv dtlck) (clear swmhl) (clear shcqh) (on-table dtlck) (on iqdsb vsuuv)",
"(clear shcqh) (on-table shcqh) (on-table dtlck) (clear iqdsb) (on iqdsb vsuuv) (holding swmhl) (on vsuuv dtlck)",
"(arm-empty) (on-table shcqh) (on-table swmhl) (clear iqdsb) (on vsuuv dtlck) (clear swmhl) (clear shcqh) (on-table dtlck) (on iqdsb vsuuv)",
"(on-table swmhl) (on-table dtlck) (clear iqdsb) (on iqdsb vsuuv) (holding shcqh) (on vsuuv dtlck) (clear swmhl)",
"(arm-empty) (on-table swmhl) (on vsuuv dtlck) (on shcqh iqdsb) (clear swmhl) (clear shcqh) (on-table dtlck) (on iqdsb vsuuv)",
"(clear shcqh) (on-table dtlck) (on shcqh iqdsb) (on iqdsb vsuuv) (holding swmhl) (on vsuuv dtlck)"
] | file_67289 |
GOAL: (clear pmllf) (arm-empty) (on-table tpddz) (on dmfed tpddz) (on mlchb dmfed) (on pmllf gicuf) (clear mlchb) (on-table gicuf) | GOAL: (clear pmllf) (arm-empty) (on-table tpddz) (on dmfed tpddz) (on mlchb dmfed) (on pmllf gicuf) (clear mlchb) (on-table gicuf)
STATE: (clear pmllf) (on-table pmllf) (on-table tpddz) (on-table dmfed) (on mlchb dmfed) (holding gicuf) (clear mlchb) (clear tpddz) | [
[
"put-down gicuf"
],
[
"unstack mlchb dmfed"
],
[
"stack mlchb gicuf"
],
[
"pick-up dmfed"
],
[
"stack dmfed tpddz"
],
[
"unstack mlchb gicuf"
],
[
"stack mlchb dmfed"
],
[
"pick-up pmllf"
],
[
"stack pmllf gicuf"
]
] | [
"(clear pmllf) (arm-empty) (on-table pmllf) (on-table tpddz) (on-table dmfed) (on mlchb dmfed) (clear gicuf) (clear mlchb) (on-table gicuf) (clear tpddz)",
"(holding mlchb) (clear pmllf) (on-table pmllf) (on-table tpddz) (clear dmfed) (on-table dmfed) (clear gicuf) (on-table gicuf) (clear tpddz)",
"(clear pmllf) (on mlchb gicuf) (arm-empty) (on-table pmllf) (on-table tpddz) (clear dmfed) (on-table dmfed) (clear mlchb) (on-table gicuf) (clear tpddz)",
"(clear pmllf) (on mlchb gicuf) (on-table pmllf) (on-table tpddz) (holding dmfed) (clear mlchb) (on-table gicuf) (clear tpddz)",
"(clear pmllf) (on mlchb gicuf) (arm-empty) (on-table pmllf) (on-table tpddz) (on dmfed tpddz) (clear dmfed) (clear mlchb) (on-table gicuf)",
"(holding mlchb) (clear pmllf) (on-table pmllf) (on-table tpddz) (on dmfed tpddz) (clear dmfed) (clear gicuf) (on-table gicuf)",
"(clear pmllf) (arm-empty) (on-table pmllf) (on-table tpddz) (on dmfed tpddz) (on mlchb dmfed) (clear gicuf) (clear mlchb) (on-table gicuf)",
"(on-table tpddz) (on dmfed tpddz) (holding pmllf) (on mlchb dmfed) (clear gicuf) (clear mlchb) (on-table gicuf)",
"(clear pmllf) (arm-empty) (on-table tpddz) (on dmfed tpddz) (on mlchb dmfed) (on pmllf gicuf) (clear mlchb) (on-table gicuf)"
] | file_195750 |
GOAL: (on jilbh xenkx) (arm-empty) (on xenkx gbemm) (on-table hyjmd) (on gbemm augos) (on augos hyjmd) (clear jilbh) | GOAL: (on jilbh xenkx) (arm-empty) (on xenkx gbemm) (on-table hyjmd) (on gbemm augos) (on augos hyjmd) (clear jilbh)
STATE: (clear augos) (on-table augos) (on-table hyjmd) (clear xenkx) (holding gbemm) (on-table xenkx) (clear jilbh) (clear hyjmd) (on-table jilbh) | [
[
"put-down gbemm"
],
[
"pick-up augos"
],
[
"stack augos hyjmd"
],
[
"pick-up gbemm"
],
[
"stack gbemm augos"
],
[
"pick-up xenkx"
],
[
"stack xenkx gbemm"
],
[
"pick-up jilbh"
],
[
"stack jilbh xenkx"
]
] | [
"(clear augos) (arm-empty) (on-table augos) (on-table gbemm) (on-table hyjmd) (clear xenkx) (on-table xenkx) (clear jilbh) (clear hyjmd) (on-table jilbh) (clear gbemm)",
"(on-table gbemm) (on-table hyjmd) (clear xenkx) (on-table xenkx) (holding augos) (clear jilbh) (clear hyjmd) (on-table jilbh) (clear gbemm)",
"(clear augos) (arm-empty) (on-table gbemm) (on-table hyjmd) (clear xenkx) (on-table xenkx) (on augos hyjmd) (clear jilbh) (on-table jilbh) (clear gbemm)",
"(clear augos) (on-table hyjmd) (clear xenkx) (holding gbemm) (on-table xenkx) (on augos hyjmd) (clear jilbh) (on-table jilbh)",
"(arm-empty) (on-table hyjmd) (on gbemm augos) (clear xenkx) (on-table xenkx) (on augos hyjmd) (clear jilbh) (on-table jilbh) (clear gbemm)",
"(on-table hyjmd) (holding xenkx) (on gbemm augos) (on augos hyjmd) (clear jilbh) (on-table jilbh) (clear gbemm)",
"(arm-empty) (on xenkx gbemm) (on-table hyjmd) (on gbemm augos) (clear xenkx) (on augos hyjmd) (clear jilbh) (on-table jilbh)",
"(on xenkx gbemm) (on-table hyjmd) (on gbemm augos) (clear xenkx) (on augos hyjmd) (holding jilbh)",
"(on jilbh xenkx) (arm-empty) (on xenkx gbemm) (on-table hyjmd) (on gbemm augos) (on augos hyjmd) (clear jilbh)"
] | file_21810 |
GOAL: (on dldtx hqpcd) (on-table zlzqx) (holding gwobi) (on hqpcd zlzqx) (on izdnp dldtx) (clear izdnp) | GOAL: (on dldtx hqpcd) (on-table zlzqx) (holding gwobi) (on hqpcd zlzqx) (on izdnp dldtx) (clear izdnp)
STATE: (on dldtx hqpcd) (arm-empty) (on-table zlzqx) (on hqpcd zlzqx) (clear gwobi) (on-table gwobi) (clear izdnp) (clear dldtx) (on-table izdnp) | [
[
"pick-up izdnp"
],
[
"stack izdnp dldtx"
],
[
"pick-up gwobi"
]
] | [
"(on dldtx hqpcd) (on-table zlzqx) (on hqpcd zlzqx) (clear gwobi) (on-table gwobi) (holding izdnp) (clear dldtx)",
"(on dldtx hqpcd) (arm-empty) (on-table zlzqx) (on hqpcd zlzqx) (clear gwobi) (on-table gwobi) (on izdnp dldtx) (clear izdnp)",
"(on dldtx hqpcd) (on-table zlzqx) (holding gwobi) (on hqpcd zlzqx) (on izdnp dldtx) (clear izdnp)"
] | file_98400 |
GOAL: (holding zwsoy) (on amcyx zxhfk) (clear jcwbd) (on-table jcwbd) (on-table zxhfk) (clear amcyx) | GOAL: (holding zwsoy) (on amcyx zxhfk) (clear jcwbd) (on-table jcwbd) (on-table zxhfk) (clear amcyx)
STATE: (holding zwsoy) (clear jcwbd) (clear zxhfk) (on-table zxhfk) (on jcwbd amcyx) (on-table amcyx) | [
[
"stack zwsoy zxhfk"
],
[
"unstack jcwbd amcyx"
],
[
"put-down jcwbd"
],
[
"pick-up amcyx"
],
[
"stack amcyx jcwbd"
],
[
"unstack zwsoy zxhfk"
],
[
"put-down zwsoy"
],
[
"unstack amcyx jcwbd"
],
[
"stack amcyx zxhfk"
],
[
"pick-up zwsoy"
]
] | [
"(clear jcwbd) (arm-empty) (on-table zxhfk) (on zwsoy zxhfk) (on jcwbd amcyx) (clear zwsoy) (on-table amcyx)",
"(on zwsoy zxhfk) (on-table zxhfk) (holding jcwbd) (clear amcyx) (clear zwsoy) (on-table amcyx)",
"(arm-empty) (on-table jcwbd) (clear jcwbd) (on-table zxhfk) (on zwsoy zxhfk) (clear amcyx) (clear zwsoy) (on-table amcyx)",
"(clear jcwbd) (on-table jcwbd) (on-table zxhfk) (on zwsoy zxhfk) (holding amcyx) (clear zwsoy)",
"(arm-empty) (on-table jcwbd) (on amcyx jcwbd) (on-table zxhfk) (on zwsoy zxhfk) (clear amcyx) (clear zwsoy)",
"(on-table jcwbd) (clear zxhfk) (holding zwsoy) (on amcyx jcwbd) (on-table zxhfk) (clear amcyx)",
"(arm-empty) (on-table jcwbd) (clear zxhfk) (on-table zwsoy) (on amcyx jcwbd) (on-table zxhfk) (clear amcyx) (clear zwsoy)",
"(clear jcwbd) (on-table jcwbd) (on-table zwsoy) (clear zxhfk) (on-table zxhfk) (holding amcyx) (clear zwsoy)",
"(on amcyx zxhfk) (clear jcwbd) (arm-empty) (on-table jcwbd) (on-table zwsoy) (on-table zxhfk) (clear amcyx) (clear zwsoy)",
"(holding zwsoy) (on amcyx zxhfk) (clear jcwbd) (on-table jcwbd) (on-table zxhfk) (clear amcyx)"
] | file_136750 |
GOAL: (arm-empty) (on-table pithj) (on xfyoz euqrr) (on euqrr updox) (on updox jajcz) (clear xfyoz) (on-table jajcz) (clear pithj) | GOAL: (arm-empty) (on-table pithj) (on xfyoz euqrr) (on euqrr updox) (on updox jajcz) (clear xfyoz) (on-table jajcz) (clear pithj)
STATE: (on-table xfyoz) (clear euqrr) (holding pithj) (on euqrr updox) (on updox jajcz) (clear xfyoz) (on-table jajcz) | [
[
"put-down pithj"
],
[
"pick-up xfyoz"
],
[
"stack xfyoz euqrr"
]
] | [
"(arm-empty) (on-table pithj) (clear euqrr) (clear pithj) (on-table xfyoz) (on euqrr updox) (on updox jajcz) (clear xfyoz) (on-table jajcz)",
"(holding xfyoz) (on-table pithj) (clear euqrr) (on euqrr updox) (on updox jajcz) (on-table jajcz) (clear pithj)",
"(arm-empty) (on-table pithj) (on xfyoz euqrr) (on euqrr updox) (on updox jajcz) (clear xfyoz) (on-table jajcz) (clear pithj)"
] | file_226353 |
GOAL: (on lovos srdkl) (on rqtqa lovos) (on-table htqmk) (arm-empty) (on-table srdkl) (on ucoto htqmk) (clear ucoto) (clear rqtqa) | GOAL: (on lovos srdkl) (on rqtqa lovos) (on-table htqmk) (arm-empty) (on-table srdkl) (on ucoto htqmk) (clear ucoto) (clear rqtqa)
STATE: (on ucoto lovos) (on srdkl ucoto) (on-table rqtqa) (on lovos rqtqa) (holding htqmk) (clear srdkl) | [
[
"put-down htqmk"
],
[
"unstack srdkl ucoto"
],
[
"put-down srdkl"
],
[
"unstack ucoto lovos"
],
[
"stack ucoto htqmk"
],
[
"unstack lovos rqtqa"
],
[
"stack lovos srdkl"
],
[
"pick-up rqtqa"
],
[
"stack rqtqa lovos"
]
] | [
"(on srdkl ucoto) (arm-empty) (on-table htqmk) (on-table rqtqa) (on lovos rqtqa) (on ucoto lovos) (clear htqmk) (clear srdkl)",
"(holding srdkl) (on ucoto lovos) (clear htqmk) (on-table htqmk) (on-table rqtqa) (on lovos rqtqa) (clear ucoto)",
"(arm-empty) (on-table htqmk) (on-table rqtqa) (on lovos rqtqa) (on ucoto lovos) (clear htqmk) (on-table srdkl) (clear ucoto) (clear srdkl)",
"(clear htqmk) (on-table htqmk) (on-table rqtqa) (on lovos rqtqa) (on-table srdkl) (clear lovos) (holding ucoto) (clear srdkl)",
"(arm-empty) (on-table htqmk) (on-table rqtqa) (on lovos rqtqa) (on-table srdkl) (on ucoto htqmk) (clear lovos) (clear ucoto) (clear srdkl)",
"(on-table htqmk) (on-table rqtqa) (holding lovos) (on-table srdkl) (on ucoto htqmk) (clear ucoto) (clear srdkl) (clear rqtqa)",
"(on lovos srdkl) (arm-empty) (on-table htqmk) (on-table rqtqa) (on-table srdkl) (on ucoto htqmk) (clear lovos) (clear ucoto) (clear rqtqa)",
"(on lovos srdkl) (on-table htqmk) (on-table srdkl) (on ucoto htqmk) (clear lovos) (holding rqtqa) (clear ucoto)",
"(on lovos srdkl) (on rqtqa lovos) (on-table htqmk) (arm-empty) (on-table srdkl) (on ucoto htqmk) (clear ucoto) (clear rqtqa)"
] | file_125127 |
GOAL: (holding cvady) (on wyhil bbtlq) (clear qucip) (on-table bbtlq) (on-table rtdwn) (on qucip rtdwn) (clear wyhil) | GOAL: (holding cvady) (on wyhil bbtlq) (clear qucip) (on-table bbtlq) (on-table rtdwn) (on qucip rtdwn) (clear wyhil)
STATE: (clear qucip) (on wyhil bbtlq) (arm-empty) (on-table bbtlq) (on rtdwn wyhil) (on cvady rtdwn) (on qucip cvady) | [
[
"unstack qucip cvady"
],
[
"put-down qucip"
],
[
"unstack cvady rtdwn"
],
[
"stack cvady qucip"
],
[
"unstack rtdwn wyhil"
],
[
"put-down rtdwn"
],
[
"unstack cvady qucip"
],
[
"put-down cvady"
],
[
"pick-up qucip"
],
[
"stack qucip rtdwn"
],
[
"pick-up cvady"
]
] | [
"(on wyhil bbtlq) (on-table bbtlq) (on cvady rtdwn) (on rtdwn wyhil) (holding qucip) (clear cvady)",
"(on rtdwn wyhil) (on wyhil bbtlq) (clear qucip) (arm-empty) (on-table qucip) (on-table bbtlq) (on cvady rtdwn) (clear cvady)",
"(holding cvady) (on wyhil bbtlq) (clear qucip) (on-table qucip) (on-table bbtlq) (clear rtdwn) (on rtdwn wyhil)",
"(on wyhil bbtlq) (arm-empty) (on-table qucip) (on-table bbtlq) (clear rtdwn) (on rtdwn wyhil) (on cvady qucip) (clear cvady)",
"(on wyhil bbtlq) (on-table qucip) (on-table bbtlq) (holding rtdwn) (clear wyhil) (on cvady qucip) (clear cvady)",
"(on wyhil bbtlq) (arm-empty) (on-table qucip) (on-table bbtlq) (clear rtdwn) (on cvady qucip) (on-table rtdwn) (clear wyhil) (clear cvady)",
"(holding cvady) (on wyhil bbtlq) (clear qucip) (on-table qucip) (on-table bbtlq) (clear rtdwn) (on-table rtdwn) (clear wyhil)",
"(on wyhil bbtlq) (clear qucip) (arm-empty) (on-table qucip) (on-table bbtlq) (on-table cvady) (clear rtdwn) (on-table rtdwn) (clear wyhil) (clear cvady)",
"(on wyhil bbtlq) (on-table bbtlq) (on-table cvady) (clear rtdwn) (on-table rtdwn) (holding qucip) (clear wyhil) (clear cvady)",
"(on wyhil bbtlq) (clear qucip) (arm-empty) (on-table bbtlq) (on-table cvady) (on-table rtdwn) (on qucip rtdwn) (clear wyhil) (clear cvady)",
"(holding cvady) (on wyhil bbtlq) (clear qucip) (on-table bbtlq) (on-table rtdwn) (on qucip rtdwn) (clear wyhil)"
] | file_24185 |
GOAL: (arm-empty) (on-table wgtfx) (on aznnz wgtfx) (on reece xiqin) (on mtnux aznnz) (on xiqin mtnux) (clear reece) | GOAL: (arm-empty) (on-table wgtfx) (on aznnz wgtfx) (on reece xiqin) (on mtnux aznnz) (on xiqin mtnux) (clear reece)
STATE: (clear wgtfx) (on mtnux xiqin) (arm-empty) (on-table wgtfx) (on-table reece) (clear aznnz) (on-table aznnz) (clear mtnux) (on-table xiqin) (clear reece) | [
[
"pick-up aznnz"
],
[
"stack aznnz wgtfx"
],
[
"unstack mtnux xiqin"
],
[
"stack mtnux aznnz"
],
[
"pick-up xiqin"
],
[
"stack xiqin mtnux"
],
[
"pick-up reece"
],
[
"stack reece xiqin"
]
] | [
"(clear wgtfx) (on mtnux xiqin) (on-table wgtfx) (on-table reece) (holding aznnz) (clear mtnux) (on-table xiqin) (clear reece)",
"(on mtnux xiqin) (arm-empty) (on-table wgtfx) (on-table reece) (clear aznnz) (on aznnz wgtfx) (clear mtnux) (on-table xiqin) (clear reece)",
"(holding mtnux) (on-table wgtfx) (on-table reece) (clear aznnz) (on aznnz wgtfx) (clear xiqin) (on-table xiqin) (clear reece)",
"(arm-empty) (on-table wgtfx) (on-table reece) (on mtnux aznnz) (on aznnz wgtfx) (clear xiqin) (clear mtnux) (on-table xiqin) (clear reece)",
"(on-table wgtfx) (on-table reece) (on mtnux aznnz) (on aznnz wgtfx) (holding xiqin) (clear mtnux) (clear reece)",
"(arm-empty) (on-table wgtfx) (on-table reece) (on aznnz wgtfx) (on mtnux aznnz) (on xiqin mtnux) (clear xiqin) (clear reece)",
"(on-table wgtfx) (on aznnz wgtfx) (holding reece) (on mtnux aznnz) (on xiqin mtnux) (clear xiqin)",
"(arm-empty) (on-table wgtfx) (on aznnz wgtfx) (on reece xiqin) (on mtnux aznnz) (on xiqin mtnux) (clear reece)"
] | file_209888 |
GOAL: (clear ptfns) (on twdts mijbf) (on-table ptfns) (holding gqtgy) (on tjvco twdts) (on-table mijbf) (clear tjvco) | GOAL: (clear ptfns) (on twdts mijbf) (on-table ptfns) (holding gqtgy) (on tjvco twdts) (on-table mijbf) (clear tjvco)
STATE: (clear ptfns) (on twdts mijbf) (holding gqtgy) (on tjvco twdts) (on ptfns tjvco) (on-table mijbf) | [
[
"put-down gqtgy"
],
[
"unstack ptfns tjvco"
],
[
"put-down ptfns"
],
[
"pick-up gqtgy"
]
] | [
"(on twdts mijbf) (arm-empty) (clear gqtgy) (on ptfns tjvco) (clear ptfns) (on tjvco twdts) (on-table gqtgy) (on-table mijbf)",
"(on twdts mijbf) (clear gqtgy) (on tjvco twdts) (on-table gqtgy) (holding ptfns) (on-table mijbf) (clear tjvco)",
"(on twdts mijbf) (arm-empty) (on-table ptfns) (clear gqtgy) (clear tjvco) (clear ptfns) (on tjvco twdts) (on-table gqtgy) (on-table mijbf)",
"(clear ptfns) (on twdts mijbf) (on-table ptfns) (holding gqtgy) (on tjvco twdts) (on-table mijbf) (clear tjvco)"
] | file_53715 |
GOAL: (clear ssdza) (on-table gyhsy) (on-table vtpft) (clear giizy) (on-table giizy) (on ssdza gyhsy) (holding ygffx) (clear vtpft) | GOAL: (clear ssdza) (on-table gyhsy) (on-table vtpft) (clear giizy) (on-table giizy) (on ssdza gyhsy) (holding ygffx) (clear vtpft)
STATE: (on ygffx giizy) (on vtpft ygffx) (arm-empty) (on-table gyhsy) (on giizy ssdza) (on ssdza gyhsy) (clear vtpft) | [
[
"unstack vtpft ygffx"
],
[
"put-down vtpft"
],
[
"unstack ygffx giizy"
],
[
"stack ygffx vtpft"
],
[
"unstack giizy ssdza"
],
[
"put-down giizy"
],
[
"unstack ygffx vtpft"
]
] | [
"(on-table gyhsy) (on ssdza gyhsy) (holding vtpft) (on ygffx giizy) (on giizy ssdza) (clear ygffx)",
"(arm-empty) (on-table gyhsy) (on ssdza gyhsy) (on ygffx giizy) (on-table vtpft) (on giizy ssdza) (clear ygffx) (clear vtpft)",
"(on-table gyhsy) (on-table vtpft) (clear giizy) (on giizy ssdza) (on ssdza gyhsy) (holding ygffx) (clear vtpft)",
"(arm-empty) (on-table gyhsy) (on-table vtpft) (clear giizy) (on ygffx vtpft) (on giizy ssdza) (on ssdza gyhsy) (clear ygffx)",
"(clear ssdza) (on-table gyhsy) (on-table vtpft) (holding giizy) (on ygffx vtpft) (on ssdza gyhsy) (clear ygffx)",
"(arm-empty) (on-table gyhsy) (clear giizy) (on ygffx vtpft) (on ssdza gyhsy) (clear ssdza) (on-table vtpft) (on-table giizy) (clear ygffx)",
"(clear ssdza) (on-table gyhsy) (on-table vtpft) (clear giizy) (on-table giizy) (on ssdza gyhsy) (holding ygffx) (clear vtpft)"
] | file_75926 |
GOAL: (on-table itnhz) (on-table dqixu) (clear xozqc) (on-table xozqc) (holding iaegt) (on jjojg dqixu) (clear jjojg) (clear itnhz) | GOAL: (on-table itnhz) (on-table dqixu) (clear xozqc) (on-table xozqc) (holding iaegt) (on jjojg dqixu) (clear jjojg) (clear itnhz)
STATE: (on jjojg itnhz) (on itnhz xozqc) (on-table dqixu) (on-table xozqc) (holding iaegt) (clear jjojg) (clear dqixu) | [
[
"put-down iaegt"
],
[
"unstack jjojg itnhz"
],
[
"stack jjojg dqixu"
],
[
"unstack itnhz xozqc"
],
[
"stack itnhz iaegt"
],
[
"pick-up xozqc"
],
[
"stack xozqc jjojg"
],
[
"unstack itnhz iaegt"
],
[
"put-down itnhz"
],
[
"pick-up iaegt"
],
[
"stack iaegt itnhz"
],
[
"unstack xozqc jjojg"
],
[
"put-down xozqc"
],
[
"unstack iaegt itnhz"
]
] | [
"(on jjojg itnhz) (arm-empty) (on itnhz xozqc) (on-table iaegt) (clear iaegt) (on-table dqixu) (on-table xozqc) (clear jjojg) (clear dqixu)",
"(on itnhz xozqc) (on-table iaegt) (clear iaegt) (on-table dqixu) (on-table xozqc) (holding jjojg) (clear dqixu) (clear itnhz)",
"(clear iaegt) (arm-empty) (on itnhz xozqc) (on-table iaegt) (on-table dqixu) (on-table xozqc) (on jjojg dqixu) (clear jjojg) (clear itnhz)",
"(clear iaegt) (on-table iaegt) (on-table dqixu) (clear xozqc) (holding itnhz) (on-table xozqc) (on jjojg dqixu) (clear jjojg)",
"(arm-empty) (on-table iaegt) (on-table dqixu) (on itnhz iaegt) (clear xozqc) (on-table xozqc) (on jjojg dqixu) (clear jjojg) (clear itnhz)",
"(on-table iaegt) (on-table dqixu) (holding xozqc) (on itnhz iaegt) (on jjojg dqixu) (clear jjojg) (clear itnhz)",
"(arm-empty) (on-table iaegt) (on itnhz iaegt) (clear xozqc) (on jjojg dqixu) (clear itnhz) (on-table dqixu) (on xozqc jjojg)",
"(clear iaegt) (on-table iaegt) (on-table dqixu) (clear xozqc) (on xozqc jjojg) (holding itnhz) (on jjojg dqixu)",
"(arm-empty) (on-table iaegt) (on-table itnhz) (clear xozqc) (on jjojg dqixu) (clear itnhz) (clear iaegt) (on-table dqixu) (on xozqc jjojg)",
"(on-table itnhz) (on-table dqixu) (clear xozqc) (on xozqc jjojg) (holding iaegt) (on jjojg dqixu) (clear itnhz)",
"(clear iaegt) (arm-empty) (on-table itnhz) (on-table dqixu) (clear xozqc) (on xozqc jjojg) (on jjojg dqixu) (on iaegt itnhz)",
"(clear iaegt) (on-table itnhz) (on-table dqixu) (holding xozqc) (on jjojg dqixu) (on iaegt itnhz) (clear jjojg)",
"(arm-empty) (on-table itnhz) (clear xozqc) (on jjojg dqixu) (on iaegt itnhz) (clear iaegt) (on-table dqixu) (on-table xozqc) (clear jjojg)",
"(on-table itnhz) (on-table dqixu) (clear xozqc) (on-table xozqc) (holding iaegt) (on jjojg dqixu) (clear jjojg) (clear itnhz)"
] | file_155594 |
GOAL: (on mgfed inefz) (arm-empty) (on najlk tozzm) (on-table ioksc) (on tozzm ioksc) (clear mgfed) (on-table inefz) (clear najlk) | GOAL: (on mgfed inefz) (arm-empty) (on najlk tozzm) (on-table ioksc) (on tozzm ioksc) (clear mgfed) (on-table inefz) (clear najlk)
STATE: (holding mgfed) (on inefz najlk) (on najlk tozzm) (on-table ioksc) (on tozzm ioksc) (clear inefz) | [
[
"put-down mgfed"
],
[
"unstack inefz najlk"
],
[
"put-down inefz"
],
[
"pick-up mgfed"
],
[
"stack mgfed inefz"
]
] | [
"(on inefz najlk) (arm-empty) (on najlk tozzm) (on tozzm ioksc) (on-table mgfed) (on-table ioksc) (clear inefz) (clear mgfed)",
"(on-table mgfed) (on najlk tozzm) (on-table ioksc) (on tozzm ioksc) (holding inefz) (clear mgfed) (clear najlk)",
"(arm-empty) (on najlk tozzm) (on tozzm ioksc) (clear najlk) (on-table mgfed) (on-table ioksc) (clear inefz) (clear mgfed) (on-table inefz)",
"(holding mgfed) (on najlk tozzm) (on-table ioksc) (on tozzm ioksc) (clear inefz) (on-table inefz) (clear najlk)",
"(on mgfed inefz) (arm-empty) (on najlk tozzm) (on-table ioksc) (on tozzm ioksc) (clear mgfed) (on-table inefz) (clear najlk)"
] | file_89001 |
GOAL: (arm-empty) (on-table iefhj) (on pzlps fbwan) (on guawc soeez) (on soeez iefhj) (clear guawc) (on-table fbwan) (clear pzlps) | GOAL: (arm-empty) (on-table iefhj) (on pzlps fbwan) (on guawc soeez) (on soeez iefhj) (clear guawc) (on-table fbwan) (clear pzlps)
STATE: (on-table iefhj) (on-table guawc) (clear soeez) (holding pzlps) (on soeez iefhj) (clear fbwan) (clear guawc) (on-table fbwan) | [
[
"stack pzlps fbwan"
],
[
"pick-up guawc"
],
[
"stack guawc soeez"
]
] | [
"(arm-empty) (on-table iefhj) (on-table guawc) (clear soeez) (on pzlps fbwan) (on soeez iefhj) (clear guawc) (on-table fbwan) (clear pzlps)",
"(holding guawc) (on-table iefhj) (clear soeez) (on pzlps fbwan) (on soeez iefhj) (on-table fbwan) (clear pzlps)",
"(arm-empty) (on-table iefhj) (on pzlps fbwan) (on guawc soeez) (on soeez iefhj) (clear guawc) (on-table fbwan) (clear pzlps)"
] | file_87017 |
GOAL: (holding klrnt) (on-table yoneb) (on yccrt juthc) (clear ayitu) (on-table ayitu) (on juthc yoneb) (clear yccrt) | GOAL: (holding klrnt) (on-table yoneb) (on yccrt juthc) (clear ayitu) (on-table ayitu) (on juthc yoneb) (clear yccrt)
STATE: (on-table yoneb) (holding ayitu) (on-table klrnt) (on yccrt juthc) (on juthc yoneb) (clear yccrt) (clear klrnt) | [
[
"stack ayitu klrnt"
],
[
"unstack yccrt juthc"
],
[
"put-down yccrt"
],
[
"unstack ayitu klrnt"
],
[
"stack ayitu juthc"
],
[
"pick-up klrnt"
],
[
"stack klrnt yccrt"
],
[
"unstack ayitu juthc"
],
[
"put-down ayitu"
],
[
"unstack klrnt yccrt"
],
[
"stack klrnt ayitu"
],
[
"pick-up yccrt"
],
[
"stack yccrt juthc"
],
[
"unstack klrnt ayitu"
]
] | [
"(on ayitu klrnt) (arm-empty) (on-table yoneb) (on-table klrnt) (on yccrt juthc) (clear ayitu) (on juthc yoneb) (clear yccrt)",
"(clear juthc) (on ayitu klrnt) (on-table yoneb) (on-table klrnt) (clear ayitu) (on juthc yoneb) (holding yccrt)",
"(on ayitu klrnt) (arm-empty) (on-table yoneb) (clear ayitu) (on juthc yoneb) (clear juthc) (on-table klrnt) (clear yccrt) (on-table yccrt)",
"(clear juthc) (on-table yoneb) (on-table klrnt) (holding ayitu) (on juthc yoneb) (clear yccrt) (clear klrnt) (on-table yccrt)",
"(arm-empty) (on-table yoneb) (on-table klrnt) (clear ayitu) (on ayitu juthc) (on juthc yoneb) (clear yccrt) (clear klrnt) (on-table yccrt)",
"(holding klrnt) (on-table yoneb) (clear ayitu) (on ayitu juthc) (on juthc yoneb) (clear yccrt) (on-table yccrt)",
"(on klrnt yccrt) (arm-empty) (on-table yoneb) (clear ayitu) (on ayitu juthc) (on juthc yoneb) (clear klrnt) (on-table yccrt)",
"(clear juthc) (on klrnt yccrt) (on-table yoneb) (holding ayitu) (on juthc yoneb) (clear klrnt) (on-table yccrt)",
"(on klrnt yccrt) (arm-empty) (on-table yoneb) (clear ayitu) (on juthc yoneb) (clear juthc) (on-table ayitu) (clear klrnt) (on-table yccrt)",
"(holding klrnt) (clear juthc) (on-table yoneb) (clear ayitu) (on-table ayitu) (on juthc yoneb) (clear yccrt) (on-table yccrt)",
"(clear juthc) (arm-empty) (on-table yoneb) (on-table ayitu) (on klrnt ayitu) (on juthc yoneb) (clear yccrt) (clear klrnt) (on-table yccrt)",
"(clear juthc) (on-table yoneb) (on-table ayitu) (on klrnt ayitu) (on juthc yoneb) (holding yccrt) (clear klrnt)",
"(arm-empty) (on-table yoneb) (on yccrt juthc) (on-table ayitu) (on klrnt ayitu) (on juthc yoneb) (clear yccrt) (clear klrnt)",
"(holding klrnt) (on-table yoneb) (on yccrt juthc) (clear ayitu) (on-table ayitu) (on juthc yoneb) (clear yccrt)"
] | file_107119 |
GOAL: (arm-empty) (on-table lyzkl) (clear lfytx) (on fztxw rklkv) (clear lyzkl) (on-table rklkv) (on owdxx fztxw) (on lfytx owdxx) | GOAL: (arm-empty) (on-table lyzkl) (clear lfytx) (on fztxw rklkv) (clear lyzkl) (on-table rklkv) (on owdxx fztxw) (on lfytx owdxx)
STATE: (clear fztxw) (on-table lyzkl) (on-table rklkv) (clear lfytx) (on-table lfytx) (on fztxw rklkv) (holding owdxx) (clear lyzkl) | [
[
"stack owdxx fztxw"
],
[
"pick-up lfytx"
],
[
"stack lfytx owdxx"
]
] | [
"(arm-empty) (on-table lyzkl) (on-table rklkv) (on owdxx fztxw) (clear lfytx) (on-table lfytx) (on fztxw rklkv) (clear owdxx) (clear lyzkl)",
"(on-table lyzkl) (on-table rklkv) (holding lfytx) (on owdxx fztxw) (on fztxw rklkv) (clear owdxx) (clear lyzkl)",
"(arm-empty) (on-table lyzkl) (clear lfytx) (on fztxw rklkv) (clear lyzkl) (on-table rklkv) (on owdxx fztxw) (on lfytx owdxx)"
] | file_71739 |
GOAL: (arm-empty) (on-table lcbev) (clear ixmlo) (on gzyai lcbev) (on-table vyxqi) (on ixmlo gzyai) (clear fqhlg) (clear vyxqi) (on-table fqhlg) | GOAL: (arm-empty) (on-table lcbev) (clear ixmlo) (on gzyai lcbev) (on-table vyxqi) (on ixmlo gzyai) (clear fqhlg) (clear vyxqi) (on-table fqhlg)
STATE: (clear gzyai) (on ixmlo vyxqi) (on vyxqi fqhlg) (arm-empty) (on-table lcbev) (on gzyai ixmlo) (on-table fqhlg) (clear lcbev) | [
[
"unstack gzyai ixmlo"
],
[
"stack gzyai lcbev"
],
[
"unstack ixmlo vyxqi"
],
[
"stack ixmlo gzyai"
],
[
"unstack vyxqi fqhlg"
],
[
"put-down vyxqi"
]
] | [
"(on ixmlo vyxqi) (on vyxqi fqhlg) (on-table lcbev) (clear ixmlo) (holding gzyai) (on-table fqhlg) (clear lcbev)",
"(clear gzyai) (on ixmlo vyxqi) (on vyxqi fqhlg) (arm-empty) (on-table lcbev) (clear ixmlo) (on gzyai lcbev) (on-table fqhlg)",
"(clear gzyai) (on vyxqi fqhlg) (on-table lcbev) (holding ixmlo) (on gzyai lcbev) (clear vyxqi) (on-table fqhlg)",
"(on vyxqi fqhlg) (arm-empty) (on-table lcbev) (clear ixmlo) (on gzyai lcbev) (on ixmlo gzyai) (clear vyxqi) (on-table fqhlg)",
"(holding vyxqi) (on-table lcbev) (clear ixmlo) (on ixmlo gzyai) (on gzyai lcbev) (clear fqhlg) (on-table fqhlg)",
"(arm-empty) (on-table lcbev) (clear ixmlo) (on gzyai lcbev) (on-table vyxqi) (on ixmlo gzyai) (clear fqhlg) (clear vyxqi) (on-table fqhlg)"
] | file_38389 |
GOAL: (on svovg udikh) (arm-empty) (on-table udikh) (on llpfp inazq) (on inazq wyedv) (on wyedv svovg) (clear llpfp) | GOAL: (on svovg udikh) (arm-empty) (on-table udikh) (on llpfp inazq) (on inazq wyedv) (on wyedv svovg) (clear llpfp)
STATE: (on svovg udikh) (on-table udikh) (holding inazq) (on wyedv svovg) (on llpfp wyedv) (clear llpfp) | [
[
"put-down inazq"
],
[
"unstack llpfp wyedv"
],
[
"put-down llpfp"
],
[
"pick-up inazq"
],
[
"stack inazq wyedv"
],
[
"pick-up llpfp"
],
[
"stack llpfp inazq"
]
] | [
"(on svovg udikh) (arm-empty) (on-table udikh) (clear inazq) (on llpfp wyedv) (on-table inazq) (on wyedv svovg) (clear llpfp)",
"(holding llpfp) (on svovg udikh) (clear wyedv) (on-table udikh) (clear inazq) (on-table inazq) (on wyedv svovg)",
"(on svovg udikh) (arm-empty) (on-table udikh) (clear inazq) (clear wyedv) (on-table llpfp) (on-table inazq) (on wyedv svovg) (clear llpfp)",
"(on svovg udikh) (clear wyedv) (on-table udikh) (on-table llpfp) (holding inazq) (on wyedv svovg) (clear llpfp)",
"(on svovg udikh) (arm-empty) (on-table udikh) (on-table llpfp) (clear inazq) (on inazq wyedv) (on wyedv svovg) (clear llpfp)",
"(holding llpfp) (on svovg udikh) (on-table udikh) (clear inazq) (on inazq wyedv) (on wyedv svovg)",
"(on svovg udikh) (arm-empty) (on-table udikh) (on llpfp inazq) (on inazq wyedv) (on wyedv svovg) (clear llpfp)"
] | file_137713 |
GOAL: (on-table lnaqb) (on-table miqsu) (clear wqkew) (on gcgai miqsu) (on wqkew lnaqb) (holding vfqei) (clear gcgai) | GOAL: (on-table lnaqb) (on-table miqsu) (clear wqkew) (on gcgai miqsu) (on wqkew lnaqb) (holding vfqei) (clear gcgai)
STATE: (clear lnaqb) (on vfqei gcgai) (on-table lnaqb) (holding wqkew) (on-table miqsu) (on gcgai miqsu) (clear vfqei) | [
[
"stack wqkew lnaqb"
],
[
"unstack vfqei gcgai"
]
] | [
"(on vfqei gcgai) (arm-empty) (on-table lnaqb) (clear wqkew) (on-table miqsu) (on gcgai miqsu) (on wqkew lnaqb) (clear vfqei)",
"(on-table lnaqb) (on-table miqsu) (clear wqkew) (on gcgai miqsu) (on wqkew lnaqb) (holding vfqei) (clear gcgai)"
] | file_184544 |
GOAL: (arm-empty) (on-table drcid) (on-table zhmys) (clear wcwvu) (on ahdtb zhmys) (on wcwvu drcid) (clear ahdtb) | GOAL: (arm-empty) (on-table drcid) (on-table zhmys) (clear wcwvu) (on ahdtb zhmys) (on wcwvu drcid) (clear ahdtb)
STATE: (arm-empty) (on wcwvu ahdtb) (on drcid wcwvu) (on zhmys drcid) (clear zhmys) (on-table ahdtb) | [
[
"unstack zhmys drcid"
],
[
"put-down zhmys"
],
[
"unstack drcid wcwvu"
],
[
"put-down drcid"
],
[
"unstack wcwvu ahdtb"
],
[
"stack wcwvu drcid"
],
[
"pick-up ahdtb"
],
[
"stack ahdtb zhmys"
]
] | [
"(holding zhmys) (on wcwvu ahdtb) (clear drcid) (on drcid wcwvu) (on-table ahdtb)",
"(on wcwvu ahdtb) (clear drcid) (arm-empty) (on drcid wcwvu) (on-table zhmys) (clear zhmys) (on-table ahdtb)",
"(clear wcwvu) (on-table zhmys) (on wcwvu ahdtb) (holding drcid) (clear zhmys) (on-table ahdtb)",
"(arm-empty) (on-table drcid) (clear wcwvu) (clear drcid) (on-table zhmys) (on wcwvu ahdtb) (clear zhmys) (on-table ahdtb)",
"(clear drcid) (on-table drcid) (on-table zhmys) (holding wcwvu) (clear ahdtb) (clear zhmys) (on-table ahdtb)",
"(arm-empty) (on-table drcid) (on-table zhmys) (clear wcwvu) (on wcwvu drcid) (clear ahdtb) (clear zhmys) (on-table ahdtb)",
"(on-table drcid) (on-table zhmys) (clear wcwvu) (on wcwvu drcid) (holding ahdtb) (clear zhmys)",
"(arm-empty) (on-table drcid) (on-table zhmys) (clear wcwvu) (on ahdtb zhmys) (on wcwvu drcid) (clear ahdtb)"
] | file_2463 |
GOAL: (on pbuhb hvzhf) (clear wwqne) (holding gttdp) (on hvzhf egbux) (on wwqne pbuhb) (on-table egbux) | GOAL: (on pbuhb hvzhf) (clear wwqne) (holding gttdp) (on hvzhf egbux) (on wwqne pbuhb) (on-table egbux)
STATE: (holding pbuhb) (clear wwqne) (on-table hvzhf) (on-table gttdp) (on wwqne gttdp) (clear egbux) (on-table egbux) (clear hvzhf) | [
[
"stack pbuhb wwqne"
],
[
"pick-up hvzhf"
],
[
"stack hvzhf egbux"
],
[
"unstack pbuhb wwqne"
],
[
"stack pbuhb hvzhf"
],
[
"unstack wwqne gttdp"
],
[
"stack wwqne pbuhb"
],
[
"pick-up gttdp"
]
] | [
"(arm-empty) (on-table hvzhf) (on-table gttdp) (on wwqne gttdp) (clear egbux) (on pbuhb wwqne) (clear pbuhb) (on-table egbux) (clear hvzhf)",
"(holding hvzhf) (on-table gttdp) (on wwqne gttdp) (clear egbux) (on pbuhb wwqne) (clear pbuhb) (on-table egbux)",
"(arm-empty) (on hvzhf egbux) (on-table gttdp) (on wwqne gttdp) (on pbuhb wwqne) (clear pbuhb) (on-table egbux) (clear hvzhf)",
"(holding pbuhb) (clear wwqne) (on hvzhf egbux) (on-table gttdp) (on wwqne gttdp) (on-table egbux) (clear hvzhf)",
"(on pbuhb hvzhf) (clear wwqne) (arm-empty) (on hvzhf egbux) (on-table gttdp) (on wwqne gttdp) (clear pbuhb) (on-table egbux)",
"(on pbuhb hvzhf) (clear gttdp) (on hvzhf egbux) (on-table gttdp) (holding wwqne) (clear pbuhb) (on-table egbux)",
"(on pbuhb hvzhf) (arm-empty) (clear gttdp) (on hvzhf egbux) (on wwqne pbuhb) (clear wwqne) (on-table gttdp) (on-table egbux)",
"(on pbuhb hvzhf) (clear wwqne) (holding gttdp) (on hvzhf egbux) (on wwqne pbuhb) (on-table egbux)"
] | file_165573 |
GOAL: (arm-empty) (on-table ttvie) (on rpcdp pwkxa) (on pwkxa vnysu) (on vnysu azeyi) (on azeyi ttvie) (clear rpcdp) | GOAL: (arm-empty) (on-table ttvie) (on rpcdp pwkxa) (on pwkxa vnysu) (on vnysu azeyi) (on azeyi ttvie) (clear rpcdp)
STATE: (on vnysu ttvie) (on ttvie azeyi) (on rpcdp vnysu) (on-table pwkxa) (arm-empty) (on azeyi pwkxa) (clear rpcdp) | [
[
"unstack rpcdp vnysu"
],
[
"put-down rpcdp"
],
[
"unstack vnysu ttvie"
],
[
"stack vnysu rpcdp"
],
[
"unstack ttvie azeyi"
],
[
"put-down ttvie"
],
[
"unstack azeyi pwkxa"
],
[
"stack azeyi ttvie"
],
[
"unstack vnysu rpcdp"
],
[
"stack vnysu azeyi"
],
[
"pick-up pwkxa"
],
[
"stack pwkxa vnysu"
],
[
"pick-up rpcdp"
],
[
"stack rpcdp pwkxa"
]
] | [
"(on vnysu ttvie) (on ttvie azeyi) (on-table pwkxa) (clear vnysu) (holding rpcdp) (on azeyi pwkxa)",
"(on vnysu ttvie) (on ttvie azeyi) (on-table pwkxa) (on-table rpcdp) (arm-empty) (clear vnysu) (clear rpcdp) (on azeyi pwkxa)",
"(on ttvie azeyi) (on-table pwkxa) (on-table rpcdp) (holding vnysu) (on azeyi pwkxa) (clear ttvie) (clear rpcdp)",
"(on ttvie azeyi) (arm-empty) (on-table pwkxa) (on-table rpcdp) (on vnysu rpcdp) (on azeyi pwkxa) (clear vnysu) (clear ttvie)",
"(holding ttvie) (on-table pwkxa) (on-table rpcdp) (on vnysu rpcdp) (on azeyi pwkxa) (clear vnysu) (clear azeyi)",
"(arm-empty) (on-table pwkxa) (on-table rpcdp) (on vnysu rpcdp) (clear vnysu) (on-table ttvie) (on azeyi pwkxa) (clear azeyi) (clear ttvie)",
"(clear pwkxa) (on-table pwkxa) (on-table rpcdp) (on vnysu rpcdp) (on-table ttvie) (clear vnysu) (holding azeyi) (clear ttvie)",
"(clear pwkxa) (arm-empty) (on-table pwkxa) (on-table rpcdp) (on vnysu rpcdp) (on-table ttvie) (clear vnysu) (on azeyi ttvie) (clear azeyi)",
"(clear pwkxa) (on-table pwkxa) (on-table rpcdp) (holding vnysu) (on-table ttvie) (on azeyi ttvie) (clear azeyi) (clear rpcdp)",
"(clear pwkxa) (arm-empty) (on-table pwkxa) (on-table rpcdp) (on-table ttvie) (clear vnysu) (on vnysu azeyi) (on azeyi ttvie) (clear rpcdp)",
"(on-table rpcdp) (on-table ttvie) (clear vnysu) (on vnysu azeyi) (holding pwkxa) (on azeyi ttvie) (clear rpcdp)",
"(arm-empty) (on-table rpcdp) (on azeyi ttvie) (on pwkxa vnysu) (clear rpcdp) (clear pwkxa) (on-table ttvie) (on vnysu azeyi)",
"(clear pwkxa) (on-table ttvie) (on pwkxa vnysu) (on vnysu azeyi) (holding rpcdp) (on azeyi ttvie)",
"(arm-empty) (on-table ttvie) (on rpcdp pwkxa) (on pwkxa vnysu) (on vnysu azeyi) (on azeyi ttvie) (clear rpcdp)"
] | file_89941 |
GOAL: (on yaosp jkbvo) (arm-empty) (on-table thjmo) (on uoevh thjmo) (clear ixrlf) (on jkbvo uoevh) (on-table ixrlf) (clear yaosp) | GOAL: (on yaosp jkbvo) (arm-empty) (on-table thjmo) (on uoevh thjmo) (clear ixrlf) (on jkbvo uoevh) (on-table ixrlf) (clear yaosp)
STATE: (holding yaosp) (on-table thjmo) (on ixrlf jkbvo) (on uoevh thjmo) (clear ixrlf) (on jkbvo uoevh) | [
[
"put-down yaosp"
],
[
"unstack ixrlf jkbvo"
],
[
"put-down ixrlf"
],
[
"pick-up yaosp"
],
[
"stack yaosp jkbvo"
]
] | [
"(arm-empty) (on-table thjmo) (on ixrlf jkbvo) (clear ixrlf) (on jkbvo uoevh) (on-table yaosp) (on uoevh thjmo) (clear yaosp)",
"(on-table thjmo) (on-table yaosp) (holding ixrlf) (on uoevh thjmo) (on jkbvo uoevh) (clear yaosp) (clear jkbvo)",
"(arm-empty) (on-table thjmo) (clear ixrlf) (on jkbvo uoevh) (clear jkbvo) (on-table yaosp) (on uoevh thjmo) (on-table ixrlf) (clear yaosp)",
"(holding yaosp) (on-table thjmo) (on uoevh thjmo) (clear ixrlf) (on jkbvo uoevh) (on-table ixrlf) (clear jkbvo)",
"(on yaosp jkbvo) (arm-empty) (on-table thjmo) (on uoevh thjmo) (clear ixrlf) (on jkbvo uoevh) (on-table ixrlf) (clear yaosp)"
] | file_201405 |
GOAL: (on-table nhqbw) (holding klyqq) (on-table esljl) (on zjdvj esljl) (clear knank) (clear zjdvj) (on-table knank) (clear nhqbw) | GOAL: (on-table nhqbw) (holding klyqq) (on-table esljl) (on zjdvj esljl) (clear knank) (clear zjdvj) (on-table knank) (clear nhqbw)
STATE: (arm-empty) (on nhqbw klyqq) (on-table esljl) (on zjdvj esljl) (on knank zjdvj) (on klyqq knank) (clear nhqbw) | [
[
"unstack nhqbw klyqq"
],
[
"put-down nhqbw"
],
[
"unstack klyqq knank"
],
[
"stack klyqq nhqbw"
],
[
"unstack knank zjdvj"
],
[
"put-down knank"
],
[
"unstack klyqq nhqbw"
]
] | [
"(holding nhqbw) (on knank zjdvj) (clear klyqq) (on-table esljl) (on zjdvj esljl) (on klyqq knank)",
"(arm-empty) (on-table nhqbw) (on knank zjdvj) (clear nhqbw) (clear klyqq) (on-table esljl) (on zjdvj esljl) (on klyqq knank)",
"(on-table nhqbw) (holding klyqq) (on-table esljl) (on zjdvj esljl) (on knank zjdvj) (clear knank) (clear nhqbw)",
"(clear klyqq) (arm-empty) (on-table nhqbw) (on-table esljl) (on zjdvj esljl) (on knank zjdvj) (on klyqq nhqbw) (clear knank)",
"(clear klyqq) (on-table nhqbw) (on-table esljl) (on zjdvj esljl) (on klyqq nhqbw) (holding knank) (clear zjdvj)",
"(arm-empty) (on-table nhqbw) (on klyqq nhqbw) (clear klyqq) (on-table esljl) (on zjdvj esljl) (clear knank) (clear zjdvj) (on-table knank)",
"(on-table nhqbw) (holding klyqq) (on-table esljl) (on zjdvj esljl) (clear knank) (clear zjdvj) (on-table knank) (clear nhqbw)"
] | file_207651 |
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