goal stringlengths 69 172 | input stringlengths 140 332 | actions listlengths 1 18 | next_states listlengths 1 18 | source_file stringlengths 6 11 |
|---|---|---|---|---|
GOAL: (on cmill zlybm) (on-table tekwh) (on zlybm borov) (holding bxmhc) (clear tekwh) (on-table borov) (clear cmill) | GOAL: (on cmill zlybm) (on-table tekwh) (on zlybm borov) (holding bxmhc) (clear tekwh) (on-table borov) (clear cmill)
STATE: (arm-empty) (on-table tekwh) (on cmill bxmhc) (on zlybm borov) (on bxmhc zlybm) (clear tekwh) (on-table borov) (clear cmill) | [
[
"unstack cmill bxmhc"
],
[
"put-down cmill"
],
[
"unstack bxmhc zlybm"
],
[
"stack bxmhc tekwh"
],
[
"pick-up cmill"
],
[
"stack cmill zlybm"
],
[
"unstack bxmhc tekwh"
]
] | [
"(clear bxmhc) (on-table tekwh) (on zlybm borov) (holding cmill) (on bxmhc zlybm) (clear tekwh) (on-table borov)",
"(arm-empty) (on-table cmill) (on bxmhc zlybm) (clear cmill) (clear bxmhc) (on-table tekwh) (on zlybm borov) (clear tekwh) (on-table borov)",
"(on-table cmill) (on-table tekwh) (clear zlybm) (on zlybm borov) (holding bxmhc) (clear tekwh) (on-table borov) (clear cmill)",
"(clear bxmhc) (arm-empty) (on-table cmill) (on-table tekwh) (clear zlybm) (on zlybm borov) (on bxmhc tekwh) (on-table borov) (clear cmill)",
"(clear bxmhc) (on-table tekwh) (clear zlybm) (on zlybm borov) (holding cmill) (on bxmhc tekwh) (on-table borov)",
"(clear bxmhc) (arm-empty) (on cmill zlybm) (on-table tekwh) (on zlybm borov) (on bxmhc tekwh) (on-table borov) (clear cmill)",
"(on cmill zlybm) (on-table tekwh) (on zlybm borov) (holding bxmhc) (clear tekwh) (on-table borov) (clear cmill)"
] | file_200849 |
GOAL: (on-table ctfsn) (clear lezpu) (on avepv ctfsn) (on-table lezpu) (holding wcffz) (clear wzwuj) (on-table wzwuj) (clear avepv) | GOAL: (on-table ctfsn) (clear lezpu) (on avepv ctfsn) (on-table lezpu) (holding wcffz) (clear wzwuj) (on-table wzwuj) (clear avepv)
STATE: (clear wcffz) (arm-empty) (on-table avepv) (on-table ctfsn) (clear lezpu) (on-table lezpu) (on wcffz wzwuj) (clear ctfsn) (on-table wzwuj) (clear avepv) | [
[
"pick-up avepv"
],
[
"stack avepv ctfsn"
],
[
"unstack wcffz wzwuj"
]
] | [
"(clear wcffz) (on-table ctfsn) (clear lezpu) (holding avepv) (on-table lezpu) (on wcffz wzwuj) (clear ctfsn) (on-table wzwuj)",
"(clear wcffz) (arm-empty) (on-table ctfsn) (clear lezpu) (on avepv ctfsn) (on-table lezpu) (on wcffz wzwuj) (on-table wzwuj) (clear avepv)",
"(on-table ctfsn) (clear lezpu) (on avepv ctfsn) (on-table lezpu) (holding wcffz) (clear wzwuj) (on-table wzwuj) (clear avepv)"
] | file_56242 |
GOAL: (on xwzfr avqqn) (clear vprcb) (arm-empty) (on-table jlkxl) (on-table xxbpf) (on avqqn jlkxl) (on vprcb xwzfr) (clear xxbpf) | GOAL: (on xwzfr avqqn) (clear vprcb) (arm-empty) (on-table jlkxl) (on-table xxbpf) (on avqqn jlkxl) (on vprcb xwzfr) (clear xxbpf)
STATE: (on-table xxbpf) (on avqqn vprcb) (clear avqqn) (holding jlkxl) (on xwzfr xxbpf) (on vprcb xwzfr) | [
[
"put-down jlkxl"
],
[
"unstack avqqn vprcb"
],
[
"stack avqqn jlkxl"
],
[
"unstack vprcb xwzfr"
],
[
"put-down vprcb"
],
[
"unstack xwzfr xxbpf"
],
[
"stack xwzfr avqqn"
],
[
"pick-up vprcb"
],
[
"stack vprcb xwzfr"
]
] | [
"(arm-empty) (on-table jlkxl) (clear avqqn) (on xwzfr xxbpf) (clear jlkxl) (on-table xxbpf) (on avqqn vprcb) (on vprcb xwzfr)",
"(clear vprcb) (on-table jlkxl) (on-table xxbpf) (holding avqqn) (on xwzfr xxbpf) (on vprcb xwzfr) (clear jlkxl)",
"(clear vprcb) (arm-empty) (on-table jlkxl) (on-table xxbpf) (on avqqn jlkxl) (clear avqqn) (on xwzfr xxbpf) (on vprcb xwzfr)",
"(on-table jlkxl) (on-table xxbpf) (on avqqn jlkxl) (clear avqqn) (holding vprcb) (on xwzfr xxbpf) (clear xwzfr)",
"(arm-empty) (on-table vprcb) (on-table jlkxl) (on avqqn jlkxl) (clear avqqn) (on xwzfr xxbpf) (clear vprcb) (on-table xxbpf) (clear xwzfr)",
"(clear vprcb) (on-table vprcb) (on-table jlkxl) (on avqqn jlkxl) (on-table xxbpf) (clear avqqn) (holding xwzfr) (clear xxbpf)",
"(on xwzfr avqqn) (clear vprcb) (arm-empty) (on-table vprcb) (on-table jlkxl) (on avqqn jlkxl) (on-table xxbpf) (clear xwzfr) (clear xxbpf)",
"(on xwzfr avqqn) (on-table jlkxl) (on avqqn jlkxl) (on-table xxbpf) (holding vprcb) (clear xwzfr) (clear xxbpf)",
"(on xwzfr avqqn) (clear vprcb) (arm-empty) (on-table jlkxl) (on-table xxbpf) (on avqqn jlkxl) (on vprcb xwzfr) (clear xxbpf)"
] | file_147371 |
GOAL: (on kbugs mrobz) (on ulmln kbugs) (arm-empty) (clear ulmln) (on mrobz vypej) (on-table vypej) | GOAL: (on kbugs mrobz) (on ulmln kbugs) (arm-empty) (clear ulmln) (on mrobz vypej) (on-table vypej)
STATE: (on vypej kbugs) (on-table mrobz) (holding ulmln) (on kbugs mrobz) (clear vypej) | [
[
"put-down ulmln"
],
[
"unstack vypej kbugs"
],
[
"put-down vypej"
],
[
"unstack kbugs mrobz"
],
[
"stack kbugs ulmln"
],
[
"pick-up mrobz"
],
[
"stack mrobz vypej"
],
[
"unstack kbugs ulmln"
],
[
"stack kbugs mrobz"
],
[
"pick-up ulmln"
],
[
"stack ulmln kbugs"
]
] | [
"(on-table ulmln) (on vypej kbugs) (arm-empty) (on-table mrobz) (on kbugs mrobz) (clear ulmln) (clear vypej)",
"(on-table mrobz) (clear ulmln) (holding vypej) (on kbugs mrobz) (on-table ulmln) (clear kbugs)",
"(arm-empty) (on-table mrobz) (clear ulmln) (on-table vypej) (on kbugs mrobz) (on-table ulmln) (clear kbugs) (clear vypej)",
"(clear mrobz) (on-table mrobz) (on-table vypej) (clear ulmln) (on-table ulmln) (holding kbugs) (clear vypej)",
"(on kbugs ulmln) (clear mrobz) (arm-empty) (on-table mrobz) (on-table vypej) (on-table ulmln) (clear kbugs) (clear vypej)",
"(on kbugs ulmln) (on-table vypej) (on-table ulmln) (holding mrobz) (clear kbugs) (clear vypej)",
"(on kbugs ulmln) (clear mrobz) (arm-empty) (on-table vypej) (on-table ulmln) (on mrobz vypej) (clear kbugs)",
"(clear ulmln) (on mrobz vypej) (clear mrobz) (on-table vypej) (on-table ulmln) (holding kbugs)",
"(arm-empty) (on-table vypej) (on kbugs mrobz) (clear ulmln) (on-table ulmln) (on mrobz vypej) (clear kbugs)",
"(holding ulmln) (clear kbugs) (on-table vypej) (on mrobz vypej) (on kbugs mrobz)",
"(on kbugs mrobz) (on ulmln kbugs) (arm-empty) (clear ulmln) (on mrobz vypej) (on-table vypej)"
] | file_28631 |
GOAL: (clear qpngl) (on-table qpngl) (on-table nzsdv) (clear vmnrm) (on-table vmnrm) (holding ibmsq) (clear nzsdv) | GOAL: (clear qpngl) (on-table qpngl) (on-table nzsdv) (clear vmnrm) (on-table vmnrm) (holding ibmsq) (clear nzsdv)
STATE: (on ibmsq vmnrm) (on-table nzsdv) (on-table vmnrm) (holding qpngl) (clear ibmsq) (clear nzsdv) | [
[
"put-down qpngl"
],
[
"unstack ibmsq vmnrm"
]
] | [
"(arm-empty) (on-table qpngl) (on ibmsq vmnrm) (clear qpngl) (on-table nzsdv) (on-table vmnrm) (clear ibmsq) (clear nzsdv)",
"(clear qpngl) (on-table qpngl) (on-table nzsdv) (clear vmnrm) (on-table vmnrm) (holding ibmsq) (clear nzsdv)"
] | file_97539 |
GOAL: (clear rnkay) (arm-empty) (on-table idpqa) (on-table jtjvh) (on-table kpxax) (on rnkay kpxax) (clear wukne) (clear jtjvh) (on-table wukne) (clear idpqa) | GOAL: (clear rnkay) (arm-empty) (on-table idpqa) (on-table jtjvh) (on-table kpxax) (on rnkay kpxax) (clear wukne) (clear jtjvh) (on-table wukne) (clear idpqa)
STATE: (on jtjvh idpqa) (clear rnkay) (on-table rnkay) (on-table idpqa) (holding kpxax) (clear wukne) (clear jtjvh) (on-table wukne) | [
[
"put-down kpxax"
],
[
"pick-up rnkay"
],
[
"stack rnkay kpxax"
],
[
"unstack jtjvh idpqa"
],
[
"put-down jtjvh"
]
] | [
"(on jtjvh idpqa) (clear rnkay) (arm-empty) (on-table rnkay) (on-table idpqa) (clear kpxax) (on-table kpxax) (clear wukne) (clear jtjvh) (on-table wukne)",
"(on jtjvh idpqa) (on-table idpqa) (clear kpxax) (on-table kpxax) (holding rnkay) (clear wukne) (clear jtjvh) (on-table wukne)",
"(on jtjvh idpqa) (clear rnkay) (arm-empty) (on-table idpqa) (on-table kpxax) (on rnkay kpxax) (clear wukne) (clear jtjvh) (on-table wukne)",
"(holding jtjvh) (clear rnkay) (on-table idpqa) (on-table kpxax) (on rnkay kpxax) (clear wukne) (on-table wukne) (clear idpqa)",
"(clear rnkay) (arm-empty) (on-table idpqa) (on-table jtjvh) (on-table kpxax) (on rnkay kpxax) (clear wukne) (clear jtjvh) (on-table wukne) (clear idpqa)"
] | file_37320 |
GOAL: (on rcumd dpeaa) (clear dhpxn) (on mvonn rcumd) (arm-empty) (on-table dpeaa) (clear mvonn) (on dhpxn tpvag) (on-table tpvag) | GOAL: (on rcumd dpeaa) (clear dhpxn) (on mvonn rcumd) (arm-empty) (on-table dpeaa) (clear mvonn) (on dhpxn tpvag) (on-table tpvag)
STATE: (on rcumd dpeaa) (on-table dpeaa) (clear mvonn) (on-table mvonn) (holding dhpxn) (clear tpvag) (clear rcumd) (on-table tpvag) | [
[
"stack dhpxn tpvag"
],
[
"pick-up mvonn"
],
[
"stack mvonn rcumd"
]
] | [
"(on rcumd dpeaa) (clear dhpxn) (arm-empty) (on-table dpeaa) (clear mvonn) (on-table mvonn) (on dhpxn tpvag) (clear rcumd) (on-table tpvag)",
"(on rcumd dpeaa) (clear dhpxn) (on-table dpeaa) (holding mvonn) (on dhpxn tpvag) (clear rcumd) (on-table tpvag)",
"(on rcumd dpeaa) (clear dhpxn) (on mvonn rcumd) (arm-empty) (on-table dpeaa) (clear mvonn) (on dhpxn tpvag) (on-table tpvag)"
] | file_189385 |
GOAL: (arm-empty) (on-table fqqgs) (clear qvaos) (on xiism rdzjl) (on-table qvaos) (on rdzjl bwrez) (on bwrez fqqgs) (clear xiism) | GOAL: (arm-empty) (on-table fqqgs) (clear qvaos) (on xiism rdzjl) (on-table qvaos) (on rdzjl bwrez) (on bwrez fqqgs) (clear xiism)
STATE: (holding bwrez) (clear fqqgs) (on xiism qvaos) (on-table qvaos) (on fqqgs xiism) (clear rdzjl) (on-table rdzjl) | [
[
"stack bwrez rdzjl"
],
[
"unstack fqqgs xiism"
],
[
"put-down fqqgs"
],
[
"unstack bwrez rdzjl"
],
[
"stack bwrez fqqgs"
],
[
"pick-up rdzjl"
],
[
"stack rdzjl bwrez"
],
[
"unstack xiism qvaos"
],
[
"stack xiism rdzjl"
]
] | [
"(clear fqqgs) (on bwrez rdzjl) (on xiism qvaos) (arm-empty) (on-table qvaos) (on fqqgs xiism) (clear bwrez) (on-table rdzjl)",
"(on bwrez rdzjl) (on xiism qvaos) (on-table qvaos) (holding fqqgs) (clear bwrez) (on-table rdzjl) (clear xiism)",
"(on bwrez rdzjl) (on xiism qvaos) (on-table fqqgs) (arm-empty) (clear xiism) (clear fqqgs) (on-table qvaos) (clear bwrez) (on-table rdzjl)",
"(holding bwrez) (clear fqqgs) (on xiism qvaos) (on-table fqqgs) (on-table qvaos) (clear rdzjl) (on-table rdzjl) (clear xiism)",
"(arm-empty) (on xiism qvaos) (on-table fqqgs) (on-table qvaos) (clear rdzjl) (on bwrez fqqgs) (clear bwrez) (on-table rdzjl) (clear xiism)",
"(on xiism qvaos) (on-table fqqgs) (on-table qvaos) (on bwrez fqqgs) (clear bwrez) (holding rdzjl) (clear xiism)",
"(arm-empty) (on xiism qvaos) (on-table fqqgs) (on-table qvaos) (on rdzjl bwrez) (clear rdzjl) (on bwrez fqqgs) (clear xiism)",
"(on-table fqqgs) (clear qvaos) (holding xiism) (on-table qvaos) (on rdzjl bwrez) (clear rdzjl) (on bwrez fqqgs)",
"(arm-empty) (on-table fqqgs) (clear qvaos) (on xiism rdzjl) (on-table qvaos) (on rdzjl bwrez) (on bwrez fqqgs) (clear xiism)"
] | file_187018 |
GOAL: (arm-empty) (clear itjyh) (on kgzav qjlrm) (on itjyh kgzav) (on-table nxgka) (clear nxgka) (on-table qjlrm) | GOAL: (arm-empty) (clear itjyh) (on kgzav qjlrm) (on itjyh kgzav) (on-table nxgka) (clear nxgka) (on-table qjlrm)
STATE: (on-table nxgka) (clear itjyh) (on-table itjyh) (holding kgzav) (clear qjlrm) (clear nxgka) (on-table qjlrm) | [
[
"stack kgzav itjyh"
],
[
"pick-up qjlrm"
],
[
"stack qjlrm nxgka"
],
[
"unstack kgzav itjyh"
],
[
"put-down kgzav"
],
[
"unstack qjlrm nxgka"
],
[
"put-down qjlrm"
],
[
"pick-up itjyh"
],
[
"stack itjyh nxgka"
],
[
"pick-up kgzav"
],
[
"stack kgzav qjlrm"
],
[
"unstack itjyh nxgka"
],
[
"stack itjyh kgzav"
]
] | [
"(clear kgzav) (arm-empty) (on-table nxgka) (on-table itjyh) (on kgzav itjyh) (clear qjlrm) (clear nxgka) (on-table qjlrm)",
"(clear kgzav) (on-table nxgka) (on-table itjyh) (on kgzav itjyh) (holding qjlrm) (clear nxgka)",
"(clear kgzav) (arm-empty) (on-table nxgka) (on kgzav itjyh) (on-table itjyh) (on qjlrm nxgka) (clear qjlrm)",
"(clear itjyh) (on qjlrm nxgka) (on-table nxgka) (on-table itjyh) (holding kgzav) (clear qjlrm)",
"(arm-empty) (on-table kgzav) (clear itjyh) (on qjlrm nxgka) (clear kgzav) (on-table nxgka) (on-table itjyh) (clear qjlrm)",
"(clear kgzav) (on-table kgzav) (on-table nxgka) (clear itjyh) (on-table itjyh) (holding qjlrm) (clear nxgka)",
"(arm-empty) (on-table kgzav) (clear itjyh) (clear kgzav) (on-table nxgka) (on-table itjyh) (clear qjlrm) (clear nxgka) (on-table qjlrm)",
"(clear kgzav) (on-table kgzav) (on-table nxgka) (holding itjyh) (clear qjlrm) (clear nxgka) (on-table qjlrm)",
"(clear kgzav) (on itjyh nxgka) (arm-empty) (on-table kgzav) (on-table nxgka) (clear itjyh) (clear qjlrm) (on-table qjlrm)",
"(on itjyh nxgka) (on-table nxgka) (clear itjyh) (holding kgzav) (clear qjlrm) (on-table qjlrm)",
"(clear kgzav) (on itjyh nxgka) (arm-empty) (on-table nxgka) (clear itjyh) (on kgzav qjlrm) (on-table qjlrm)",
"(holding itjyh) (clear kgzav) (on-table nxgka) (on kgzav qjlrm) (clear nxgka) (on-table qjlrm)",
"(arm-empty) (clear itjyh) (on kgzav qjlrm) (on itjyh kgzav) (on-table nxgka) (clear nxgka) (on-table qjlrm)"
] | file_188017 |
GOAL: (on adqbi dwuyz) (arm-empty) (on-table nwhpq) (on dwuyz aozby) (on aozby wzumt) (on wzumt nwhpq) (clear adqbi) | GOAL: (on adqbi dwuyz) (arm-empty) (on-table nwhpq) (on dwuyz aozby) (on aozby wzumt) (on wzumt nwhpq) (clear adqbi)
STATE: (holding aozby) (clear nwhpq) (on dwuyz wzumt) (on-table nwhpq) (on-table wzumt) (clear adqbi) (on-table adqbi) (clear dwuyz) | [
[
"put-down aozby"
],
[
"unstack dwuyz wzumt"
],
[
"put-down dwuyz"
],
[
"pick-up wzumt"
],
[
"stack wzumt nwhpq"
],
[
"pick-up dwuyz"
],
[
"stack dwuyz adqbi"
],
[
"pick-up aozby"
],
[
"stack aozby wzumt"
],
[
"unstack dwuyz adqbi"
],
[
"stack dwuyz aozby"
],
[
"pick-up adqbi"
],
[
"stack adqbi dwuyz"
]
] | [
"(clear nwhpq) (arm-empty) (on dwuyz wzumt) (on-table nwhpq) (on-table aozby) (on-table wzumt) (clear adqbi) (clear aozby) (on-table adqbi) (clear dwuyz)",
"(clear nwhpq) (on-table nwhpq) (on-table aozby) (clear wzumt) (holding dwuyz) (on-table wzumt) (clear adqbi) (clear aozby) (on-table adqbi)",
"(clear nwhpq) (arm-empty) (on-table nwhpq) (on-table dwuyz) (on-table aozby) (clear wzumt) (on-table wzumt) (clear adqbi) (clear aozby) (on-table adqbi) (clear dwuyz)",
"(clear nwhpq) (on-table nwhpq) (on-table dwuyz) (on-table aozby) (holding wzumt) (clear adqbi) (clear aozby) (on-table adqbi) (clear dwuyz)",
"(arm-empty) (on-table nwhpq) (on-table dwuyz) (on-table aozby) (clear wzumt) (on wzumt nwhpq) (clear adqbi) (clear aozby) (on-table adqbi) (clear dwuyz)",
"(on-table nwhpq) (on-table aozby) (clear wzumt) (holding dwuyz) (on wzumt nwhpq) (clear adqbi) (clear aozby) (on-table adqbi)",
"(arm-empty) (on-table nwhpq) (on-table aozby) (clear wzumt) (on dwuyz adqbi) (on wzumt nwhpq) (clear aozby) (on-table adqbi) (clear dwuyz)",
"(holding aozby) (on-table nwhpq) (clear wzumt) (on dwuyz adqbi) (on wzumt nwhpq) (on-table adqbi) (clear dwuyz)",
"(arm-empty) (on-table nwhpq) (on dwuyz adqbi) (on aozby wzumt) (on wzumt nwhpq) (clear aozby) (on-table adqbi) (clear dwuyz)",
"(on-table nwhpq) (holding dwuyz) (on aozby wzumt) (on wzumt nwhpq) (clear adqbi) (clear aozby) (on-table adqbi)",
"(arm-empty) (on-table nwhpq) (on dwuyz aozby) (on aozby wzumt) (on wzumt nwhpq) (clear adqbi) (on-table adqbi) (clear dwuyz)",
"(on-table nwhpq) (on dwuyz aozby) (on aozby wzumt) (on wzumt nwhpq) (holding adqbi) (clear dwuyz)",
"(on adqbi dwuyz) (arm-empty) (on-table nwhpq) (on dwuyz aozby) (on aozby wzumt) (on wzumt nwhpq) (clear adqbi)"
] | file_76467 |
GOAL: (clear hvtso) (on kzlnp poenc) (on xshmw kzlnp) (arm-empty) (on-table csach) (clear xshmw) (on hvtso csach) (on-table poenc) | GOAL: (clear hvtso) (on kzlnp poenc) (on xshmw kzlnp) (arm-empty) (on-table csach) (clear xshmw) (on hvtso csach) (on-table poenc)
STATE: (clear hvtso) (arm-empty) (on-table hvtso) (on-table csach) (on-table xshmw) (on kzlnp xshmw) (clear poenc) (clear kzlnp) (on-table poenc) (clear csach) | [
[
"unstack kzlnp xshmw"
],
[
"stack kzlnp poenc"
],
[
"pick-up xshmw"
],
[
"stack xshmw kzlnp"
],
[
"pick-up hvtso"
],
[
"stack hvtso csach"
]
] | [
"(holding kzlnp) (clear hvtso) (on-table hvtso) (on-table csach) (clear xshmw) (on-table xshmw) (clear poenc) (on-table poenc) (clear csach)",
"(clear hvtso) (on kzlnp poenc) (arm-empty) (on-table hvtso) (on-table csach) (clear xshmw) (on-table xshmw) (clear kzlnp) (on-table poenc) (clear csach)",
"(clear hvtso) (on kzlnp poenc) (on-table hvtso) (on-table csach) (holding xshmw) (clear kzlnp) (on-table poenc) (clear csach)",
"(clear hvtso) (on kzlnp poenc) (on xshmw kzlnp) (on-table hvtso) (on-table csach) (arm-empty) (clear xshmw) (on-table poenc) (clear csach)",
"(on kzlnp poenc) (on xshmw kzlnp) (on-table csach) (clear xshmw) (holding hvtso) (on-table poenc) (clear csach)",
"(clear hvtso) (on kzlnp poenc) (on xshmw kzlnp) (arm-empty) (on-table csach) (clear xshmw) (on hvtso csach) (on-table poenc)"
] | file_132366 |
GOAL: (holding uspao) (clear uubws) (on-table gmlgr) (on ymnyy gmlgr) (on uubws ymnyy) | GOAL: (holding uspao) (clear uubws) (on-table gmlgr) (on ymnyy gmlgr) (on uubws ymnyy)
STATE: (on uubws uspao) (arm-empty) (on-table uspao) (on ymnyy uubws) (on gmlgr ymnyy) (clear gmlgr) | [
[
"unstack gmlgr ymnyy"
],
[
"put-down gmlgr"
],
[
"unstack ymnyy uubws"
],
[
"stack ymnyy gmlgr"
],
[
"unstack uubws uspao"
],
[
"stack uubws ymnyy"
],
[
"pick-up uspao"
]
] | [
"(holding gmlgr) (on uubws uspao) (on-table uspao) (clear ymnyy) (on ymnyy uubws)",
"(on uubws uspao) (on-table uspao) (clear ymnyy) (arm-empty) (on-table gmlgr) (on ymnyy uubws) (clear gmlgr)",
"(on uubws uspao) (on-table gmlgr) (on-table uspao) (holding ymnyy) (clear uubws) (clear gmlgr)",
"(on uubws uspao) (clear ymnyy) (arm-empty) (on-table gmlgr) (on-table uspao) (on ymnyy gmlgr) (clear uubws)",
"(clear uspao) (on ymnyy gmlgr) (clear ymnyy) (on-table gmlgr) (on-table uspao) (holding uubws)",
"(arm-empty) (on-table gmlgr) (on uubws ymnyy) (clear uspao) (on-table uspao) (on ymnyy gmlgr) (clear uubws)",
"(holding uspao) (clear uubws) (on-table gmlgr) (on ymnyy gmlgr) (on uubws ymnyy)"
] | file_221725 |
GOAL: (arm-empty) (on-table azgjt) (clear azgjt) (clear spkkl) (on-table dtlve) (on nzeuv dtlve) (on spkkl qtzeq) (clear nzeuv) (on-table qtzeq) | GOAL: (arm-empty) (on-table azgjt) (clear azgjt) (clear spkkl) (on-table dtlve) (on nzeuv dtlve) (on spkkl qtzeq) (clear nzeuv) (on-table qtzeq)
STATE: (holding nzeuv) (on azgjt spkkl) (clear dtlve) (on-table dtlve) (on spkkl qtzeq) (on-table qtzeq) (clear azgjt) | [
[
"stack nzeuv dtlve"
],
[
"unstack azgjt spkkl"
],
[
"put-down azgjt"
]
] | [
"(arm-empty) (on azgjt spkkl) (on-table dtlve) (on nzeuv dtlve) (on spkkl qtzeq) (clear nzeuv) (on-table qtzeq) (clear azgjt)",
"(clear spkkl) (holding azgjt) (on-table dtlve) (on nzeuv dtlve) (on spkkl qtzeq) (clear nzeuv) (on-table qtzeq)",
"(arm-empty) (on-table azgjt) (clear azgjt) (clear spkkl) (on-table dtlve) (on nzeuv dtlve) (on spkkl qtzeq) (clear nzeuv) (on-table qtzeq)"
] | file_182104 |
GOAL: (on-table xfaim) (on-table ajvay) (clear cxvhh) (on-table cxvhh) (holding mwuda) (on anllr ajvay) (clear anllr) (clear xfaim) | GOAL: (on-table xfaim) (on-table ajvay) (clear cxvhh) (on-table cxvhh) (holding mwuda) (on anllr ajvay) (clear anllr) (clear xfaim)
STATE: (holding ajvay) (on anllr mwuda) (on xfaim anllr) (on-table cxvhh) (on mwuda cxvhh) (clear xfaim) | [
[
"put-down ajvay"
],
[
"unstack xfaim anllr"
],
[
"put-down xfaim"
],
[
"unstack anllr mwuda"
],
[
"stack anllr ajvay"
],
[
"unstack mwuda cxvhh"
]
] | [
"(arm-empty) (on xfaim anllr) (on mwuda cxvhh) (clear xfaim) (on-table ajvay) (on anllr mwuda) (on-table cxvhh) (clear ajvay)",
"(on-table ajvay) (on anllr mwuda) (holding xfaim) (on-table cxvhh) (on mwuda cxvhh) (clear anllr) (clear ajvay)",
"(arm-empty) (on-table xfaim) (on mwuda cxvhh) (clear xfaim) (on-table ajvay) (on anllr mwuda) (on-table cxvhh) (clear anllr) (clear ajvay)",
"(clear mwuda) (on-table xfaim) (on-table ajvay) (on-table cxvhh) (on mwuda cxvhh) (holding anllr) (clear ajvay) (clear xfaim)",
"(clear mwuda) (arm-empty) (on-table xfaim) (on-table ajvay) (on anllr ajvay) (on-table cxvhh) (on mwuda cxvhh) (clear anllr) (clear xfaim)",
"(on-table xfaim) (on-table ajvay) (clear cxvhh) (on-table cxvhh) (holding mwuda) (on anllr ajvay) (clear anllr) (clear xfaim)"
] | file_120041 |
GOAL: (on ircsk spoqu) (arm-empty) (on-table tphxh) (on-table ucekz) (on spoqu zpbux) (on zpbux tphxh) (clear ircsk) (clear ucekz) | GOAL: (on ircsk spoqu) (arm-empty) (on-table tphxh) (on-table ucekz) (on spoqu zpbux) (on zpbux tphxh) (clear ircsk) (clear ucekz)
STATE: (clear zpbux) (on-table ucekz) (clear spoqu) (on tphxh ucekz) (on-table spoqu) (on zpbux tphxh) (holding ircsk) | [
[
"stack ircsk spoqu"
],
[
"unstack zpbux tphxh"
],
[
"stack zpbux ircsk"
],
[
"unstack tphxh ucekz"
],
[
"put-down tphxh"
],
[
"unstack zpbux ircsk"
],
[
"stack zpbux tphxh"
],
[
"unstack ircsk spoqu"
],
[
"stack ircsk ucekz"
],
[
"pick-up spoqu"
],
[
"stack spoqu zpbux"
],
[
"unstack ircsk ucekz"
],
[
"stack ircsk spoqu"
]
] | [
"(on ircsk spoqu) (clear zpbux) (arm-empty) (on-table ucekz) (on tphxh ucekz) (on-table spoqu) (on zpbux tphxh) (clear ircsk)",
"(on ircsk spoqu) (on-table ucekz) (on tphxh ucekz) (on-table spoqu) (holding zpbux) (clear ircsk) (clear tphxh)",
"(on ircsk spoqu) (clear zpbux) (arm-empty) (on-table ucekz) (on tphxh ucekz) (on-table spoqu) (on zpbux ircsk) (clear tphxh)",
"(on ircsk spoqu) (clear zpbux) (on-table ucekz) (holding tphxh) (on-table spoqu) (on zpbux ircsk) (clear ucekz)",
"(arm-empty) (on-table tphxh) (clear tphxh) (on ircsk spoqu) (clear zpbux) (on-table ucekz) (on-table spoqu) (on zpbux ircsk) (clear ucekz)",
"(on ircsk spoqu) (on-table tphxh) (on-table ucekz) (on-table spoqu) (holding zpbux) (clear ircsk) (clear ucekz) (clear tphxh)",
"(on ircsk spoqu) (clear zpbux) (arm-empty) (on-table tphxh) (on-table ucekz) (on-table spoqu) (on zpbux tphxh) (clear ircsk) (clear ucekz)",
"(clear zpbux) (on-table tphxh) (on-table ucekz) (clear spoqu) (on-table spoqu) (on zpbux tphxh) (holding ircsk) (clear ucekz)",
"(clear zpbux) (arm-empty) (on-table tphxh) (on-table ucekz) (clear spoqu) (on-table spoqu) (on ircsk ucekz) (on zpbux tphxh) (clear ircsk)",
"(clear zpbux) (on-table tphxh) (on-table ucekz) (holding spoqu) (on ircsk ucekz) (on zpbux tphxh) (clear ircsk)",
"(arm-empty) (on-table tphxh) (on-table ucekz) (clear spoqu) (on ircsk ucekz) (on spoqu zpbux) (on zpbux tphxh) (clear ircsk)",
"(on-table tphxh) (on-table ucekz) (clear spoqu) (on spoqu zpbux) (on zpbux tphxh) (holding ircsk) (clear ucekz)",
"(on ircsk spoqu) (arm-empty) (on-table tphxh) (on-table ucekz) (on spoqu zpbux) (on zpbux tphxh) (clear ircsk) (clear ucekz)"
] | file_22935 |
GOAL: (on-table tisnh) (on-table eqxvt) (on usoou xpauv) (on xpauv tisnh) (holding agicw) (clear usoou) (clear eqxvt) | GOAL: (on-table tisnh) (on-table eqxvt) (on usoou xpauv) (on xpauv tisnh) (holding agicw) (clear usoou) (clear eqxvt)
STATE: (clear tisnh) (on agicw eqxvt) (on-table eqxvt) (holding xpauv) (on-table usoou) (on tisnh agicw) (clear usoou) | [
[
"put-down xpauv"
],
[
"unstack tisnh agicw"
],
[
"put-down tisnh"
],
[
"pick-up xpauv"
],
[
"stack xpauv tisnh"
],
[
"pick-up usoou"
],
[
"stack usoou xpauv"
],
[
"unstack agicw eqxvt"
]
] | [
"(on agicw eqxvt) (arm-empty) (on-table eqxvt) (clear xpauv) (clear tisnh) (on-table usoou) (on-table xpauv) (on tisnh agicw) (clear usoou)",
"(on agicw eqxvt) (on-table eqxvt) (on-table usoou) (clear xpauv) (on-table xpauv) (holding tisnh) (clear agicw) (clear usoou)",
"(on agicw eqxvt) (clear tisnh) (arm-empty) (on-table tisnh) (on-table eqxvt) (on-table usoou) (clear xpauv) (on-table xpauv) (clear agicw) (clear usoou)",
"(on agicw eqxvt) (clear tisnh) (on-table tisnh) (on-table eqxvt) (on-table usoou) (holding xpauv) (clear agicw) (clear usoou)",
"(on agicw eqxvt) (arm-empty) (on-table tisnh) (on-table eqxvt) (on-table usoou) (clear xpauv) (on xpauv tisnh) (clear agicw) (clear usoou)",
"(holding usoou) (on agicw eqxvt) (on-table tisnh) (on-table eqxvt) (clear xpauv) (on xpauv tisnh) (clear agicw)",
"(on agicw eqxvt) (arm-empty) (on-table tisnh) (on-table eqxvt) (on usoou xpauv) (on xpauv tisnh) (clear agicw) (clear usoou)",
"(on-table tisnh) (on-table eqxvt) (on usoou xpauv) (on xpauv tisnh) (holding agicw) (clear usoou) (clear eqxvt)"
] | file_103384 |
GOAL: (holding fmpdv) (on-table jyimq) (clear znhdo) (on gveak pcysg) (on znhdo jyimq) (on-table pcysg) (clear gveak) | GOAL: (holding fmpdv) (on-table jyimq) (clear znhdo) (on gveak pcysg) (on znhdo jyimq) (on-table pcysg) (clear gveak)
STATE: (clear jyimq) (arm-empty) (on znhdo gveak) (on-table fmpdv) (on gveak pcysg) (on pcysg fmpdv) (on jyimq znhdo) | [
[
"unstack jyimq znhdo"
],
[
"put-down jyimq"
],
[
"unstack znhdo gveak"
],
[
"stack znhdo jyimq"
],
[
"unstack gveak pcysg"
],
[
"put-down gveak"
],
[
"unstack pcysg fmpdv"
],
[
"put-down pcysg"
],
[
"pick-up fmpdv"
],
[
"stack fmpdv znhdo"
],
[
"pick-up gveak"
],
[
"stack gveak pcysg"
],
[
"unstack fmpdv znhdo"
]
] | [
"(on pcysg fmpdv) (on znhdo gveak) (on-table fmpdv) (clear znhdo) (holding jyimq) (on gveak pcysg)",
"(arm-empty) (on-table jyimq) (on znhdo gveak) (clear znhdo) (on gveak pcysg) (on pcysg fmpdv) (clear jyimq) (on-table fmpdv)",
"(clear jyimq) (on-table jyimq) (on-table fmpdv) (holding znhdo) (on gveak pcysg) (on pcysg fmpdv) (clear gveak)",
"(arm-empty) (on-table jyimq) (on-table fmpdv) (clear znhdo) (on gveak pcysg) (on pcysg fmpdv) (on znhdo jyimq) (clear gveak)",
"(on-table jyimq) (on-table fmpdv) (clear znhdo) (on pcysg fmpdv) (holding gveak) (on znhdo jyimq) (clear pcysg)",
"(arm-empty) (on-table jyimq) (on-table gveak) (clear znhdo) (on pcysg fmpdv) (clear gveak) (on-table fmpdv) (on znhdo jyimq) (clear pcysg)",
"(on-table jyimq) (on-table gveak) (on-table fmpdv) (on znhdo jyimq) (clear znhdo) (holding pcysg) (clear fmpdv) (clear gveak)",
"(arm-empty) (on-table jyimq) (on-table gveak) (on-table fmpdv) (clear znhdo) (on znhdo jyimq) (clear pcysg) (clear fmpdv) (on-table pcysg) (clear gveak)",
"(holding fmpdv) (on-table jyimq) (on-table gveak) (clear znhdo) (on znhdo jyimq) (clear pcysg) (on-table pcysg) (clear gveak)",
"(arm-empty) (on-table jyimq) (on-table gveak) (on fmpdv znhdo) (on znhdo jyimq) (clear pcysg) (clear fmpdv) (on-table pcysg) (clear gveak)",
"(on-table jyimq) (holding gveak) (on fmpdv znhdo) (on znhdo jyimq) (clear pcysg) (clear fmpdv) (on-table pcysg)",
"(arm-empty) (on-table jyimq) (on gveak pcysg) (on fmpdv znhdo) (on znhdo jyimq) (clear fmpdv) (on-table pcysg) (clear gveak)",
"(holding fmpdv) (on-table jyimq) (clear znhdo) (on gveak pcysg) (on znhdo jyimq) (on-table pcysg) (clear gveak)"
] | file_220428 |
GOAL: (on pgcqe zbhdw) (arm-empty) (on-table dnbte) (clear dtdpk) (on qdrfv pgcqe) (clear dnbte) (clear qdrfv) (on-table dtdpk) (on-table zbhdw) | GOAL: (on pgcqe zbhdw) (arm-empty) (on-table dnbte) (clear dtdpk) (on qdrfv pgcqe) (clear dnbte) (clear qdrfv) (on-table dtdpk) (on-table zbhdw)
STATE: (arm-empty) (on dnbte dtdpk) (on-table dtdpk) (on qdrfv dnbte) (clear zbhdw) (on pgcqe qdrfv) (clear pgcqe) (on-table zbhdw) | [
[
"unstack pgcqe qdrfv"
],
[
"stack pgcqe zbhdw"
],
[
"unstack qdrfv dnbte"
],
[
"stack qdrfv pgcqe"
],
[
"unstack dnbte dtdpk"
],
[
"put-down dnbte"
]
] | [
"(holding pgcqe) (clear qdrfv) (on dnbte dtdpk) (on-table dtdpk) (on qdrfv dnbte) (clear zbhdw) (on-table zbhdw)",
"(clear qdrfv) (on pgcqe zbhdw) (on dnbte dtdpk) (arm-empty) (on-table dtdpk) (on qdrfv dnbte) (clear pgcqe) (on-table zbhdw)",
"(on pgcqe zbhdw) (on dnbte dtdpk) (on-table dtdpk) (holding qdrfv) (clear pgcqe) (on-table zbhdw) (clear dnbte)",
"(clear qdrfv) (on pgcqe zbhdw) (on dnbte dtdpk) (arm-empty) (on-table dtdpk) (on qdrfv pgcqe) (on-table zbhdw) (clear dnbte)",
"(clear qdrfv) (on pgcqe zbhdw) (clear dtdpk) (holding dnbte) (on-table dtdpk) (on qdrfv pgcqe) (on-table zbhdw)",
"(on pgcqe zbhdw) (arm-empty) (on-table dnbte) (clear dtdpk) (on qdrfv pgcqe) (clear dnbte) (clear qdrfv) (on-table dtdpk) (on-table zbhdw)"
] | file_139506 |
GOAL: (arm-empty) (on-table mmbka) (on grltd hkrpy) (on-table lgdeg) (on hkrpy lgdeg) (clear grltd) (clear mmbka) | GOAL: (arm-empty) (on-table mmbka) (on grltd hkrpy) (on-table lgdeg) (on hkrpy lgdeg) (clear grltd) (clear mmbka)
STATE: (clear hkrpy) (holding lgdeg) (on-table mmbka) (on hkrpy mmbka) (clear grltd) (on-table grltd) | [
[
"put-down lgdeg"
],
[
"unstack hkrpy mmbka"
],
[
"stack hkrpy lgdeg"
],
[
"pick-up grltd"
],
[
"stack grltd hkrpy"
]
] | [
"(arm-empty) (clear lgdeg) (on hkrpy mmbka) (clear hkrpy) (on-table mmbka) (on-table lgdeg) (clear grltd) (on-table grltd)",
"(on-table mmbka) (clear lgdeg) (on-table lgdeg) (holding hkrpy) (clear grltd) (clear mmbka) (on-table grltd)",
"(clear hkrpy) (arm-empty) (on-table mmbka) (on-table lgdeg) (on hkrpy lgdeg) (clear grltd) (clear mmbka) (on-table grltd)",
"(clear hkrpy) (on-table mmbka) (on-table lgdeg) (on hkrpy lgdeg) (holding grltd) (clear mmbka)",
"(arm-empty) (on-table mmbka) (on grltd hkrpy) (on-table lgdeg) (on hkrpy lgdeg) (clear grltd) (clear mmbka)"
] | file_161413 |
GOAL: (clear wxofy) (arm-empty) (on-table wxofy) (on pobhj vvpot) (on-table hbmgh) (on tfbrr hbmgh) (clear tfbrr) (on-table vvpot) (clear pobhj) | GOAL: (clear wxofy) (arm-empty) (on-table wxofy) (on pobhj vvpot) (on-table hbmgh) (on tfbrr hbmgh) (clear tfbrr) (on-table vvpot) (clear pobhj)
STATE: (clear wxofy) (on vvpot pobhj) (arm-empty) (on-table wxofy) (on pobhj tfbrr) (on-table hbmgh) (on tfbrr hbmgh) (clear vvpot) | [
[
"unstack vvpot pobhj"
],
[
"put-down vvpot"
],
[
"unstack pobhj tfbrr"
],
[
"stack pobhj vvpot"
]
] | [
"(clear wxofy) (on-table wxofy) (on pobhj tfbrr) (on-table hbmgh) (on tfbrr hbmgh) (holding vvpot) (clear pobhj)",
"(arm-empty) (on-table wxofy) (clear pobhj) (clear wxofy) (on pobhj tfbrr) (on-table hbmgh) (on tfbrr hbmgh) (clear vvpot) (on-table vvpot)",
"(clear wxofy) (on-table wxofy) (holding pobhj) (on-table hbmgh) (on tfbrr hbmgh) (clear vvpot) (clear tfbrr) (on-table vvpot)",
"(clear wxofy) (arm-empty) (on-table wxofy) (on pobhj vvpot) (on-table hbmgh) (on tfbrr hbmgh) (clear tfbrr) (on-table vvpot) (clear pobhj)"
] | file_69831 |
GOAL: (clear wsncv) (on lobzy rjdqx) (arm-empty) (on-table bkfdt) (on-table wpclm) (on wsncv wpclm) (clear lobzy) (on-table rjdqx) (clear bkfdt) | GOAL: (clear wsncv) (on lobzy rjdqx) (arm-empty) (on-table bkfdt) (on-table wpclm) (on wsncv wpclm) (clear lobzy) (on-table rjdqx) (clear bkfdt)
STATE: (holding lobzy) (clear wsncv) (on-table wsncv) (on-table bkfdt) (on wpclm bkfdt) (clear wpclm) (clear rjdqx) (on-table rjdqx) | [
[
"stack lobzy rjdqx"
],
[
"unstack wpclm bkfdt"
],
[
"put-down wpclm"
],
[
"pick-up wsncv"
],
[
"stack wsncv wpclm"
]
] | [
"(clear wsncv) (on lobzy rjdqx) (arm-empty) (on-table wsncv) (on-table bkfdt) (on wpclm bkfdt) (clear wpclm) (clear lobzy) (on-table rjdqx)",
"(clear wsncv) (on lobzy rjdqx) (on-table wsncv) (on-table bkfdt) (holding wpclm) (clear lobzy) (on-table rjdqx) (clear bkfdt)",
"(clear wsncv) (on lobzy rjdqx) (arm-empty) (on-table wsncv) (on-table bkfdt) (clear wpclm) (on-table wpclm) (clear lobzy) (on-table rjdqx) (clear bkfdt)",
"(on lobzy rjdqx) (on-table bkfdt) (clear wpclm) (on-table wpclm) (holding wsncv) (clear lobzy) (on-table rjdqx) (clear bkfdt)",
"(clear wsncv) (on lobzy rjdqx) (arm-empty) (on-table bkfdt) (on-table wpclm) (on wsncv wpclm) (clear lobzy) (on-table rjdqx) (clear bkfdt)"
] | file_87538 |
GOAL: (clear cicjz) (arm-empty) (on-table zlgnv) (on rdjaw incyg) (on-table jfshd) (on cicjz jfshd) (clear zlgnv) (on-table incyg) (clear rdjaw) | GOAL: (clear cicjz) (arm-empty) (on-table zlgnv) (on rdjaw incyg) (on-table jfshd) (on cicjz jfshd) (clear zlgnv) (on-table incyg) (clear rdjaw)
STATE: (holding zlgnv) (on incyg rdjaw) (on rdjaw cicjz) (on-table jfshd) (on cicjz jfshd) (clear incyg) | [
[
"put-down zlgnv"
],
[
"unstack incyg rdjaw"
],
[
"put-down incyg"
],
[
"unstack rdjaw cicjz"
],
[
"stack rdjaw incyg"
]
] | [
"(on incyg rdjaw) (arm-empty) (on rdjaw cicjz) (on cicjz jfshd) (on-table zlgnv) (on-table jfshd) (clear incyg) (clear zlgnv)",
"(on-table zlgnv) (on rdjaw cicjz) (on-table jfshd) (on cicjz jfshd) (holding incyg) (clear zlgnv) (clear rdjaw)",
"(arm-empty) (on rdjaw cicjz) (on cicjz jfshd) (clear rdjaw) (on-table zlgnv) (on-table jfshd) (clear incyg) (clear zlgnv) (on-table incyg)",
"(clear cicjz) (on-table zlgnv) (holding rdjaw) (on-table jfshd) (on cicjz jfshd) (clear incyg) (clear zlgnv) (on-table incyg)",
"(clear cicjz) (arm-empty) (on-table zlgnv) (on rdjaw incyg) (on-table jfshd) (on cicjz jfshd) (clear zlgnv) (on-table incyg) (clear rdjaw)"
] | file_88966 |
GOAL: (arm-empty) (on-table cirky) (on qmgfa uirtd) (on uirtd bofmn) (on bofmn gqsql) (clear qmgfa) (on-table gqsql) (clear cirky) | GOAL: (arm-empty) (on-table cirky) (on qmgfa uirtd) (on uirtd bofmn) (on bofmn gqsql) (clear qmgfa) (on-table gqsql) (clear cirky)
STATE: (holding qmgfa) (on cirky bofmn) (clear uirtd) (on-table uirtd) (on bofmn gqsql) (on-table gqsql) (clear cirky) | [
[
"put-down qmgfa"
],
[
"pick-up uirtd"
],
[
"stack uirtd qmgfa"
],
[
"unstack cirky bofmn"
],
[
"put-down cirky"
],
[
"unstack uirtd qmgfa"
],
[
"stack uirtd bofmn"
],
[
"pick-up qmgfa"
],
[
"stack qmgfa uirtd"
]
] | [
"(arm-empty) (on cirky bofmn) (clear uirtd) (clear cirky) (on-table qmgfa) (on-table uirtd) (on bofmn gqsql) (clear qmgfa) (on-table gqsql)",
"(on-table qmgfa) (holding uirtd) (on cirky bofmn) (on bofmn gqsql) (clear qmgfa) (on-table gqsql) (clear cirky)",
"(on uirtd qmgfa) (arm-empty) (on-table qmgfa) (on cirky bofmn) (clear uirtd) (on bofmn gqsql) (on-table gqsql) (clear cirky)",
"(clear bofmn) (on uirtd qmgfa) (on-table qmgfa) (clear uirtd) (holding cirky) (on bofmn gqsql) (on-table gqsql)",
"(on uirtd qmgfa) (arm-empty) (on-table cirky) (clear uirtd) (clear cirky) (clear bofmn) (on-table qmgfa) (on bofmn gqsql) (on-table gqsql)",
"(clear bofmn) (on-table cirky) (on-table qmgfa) (holding uirtd) (on bofmn gqsql) (clear qmgfa) (on-table gqsql) (clear cirky)",
"(arm-empty) (on-table cirky) (on-table qmgfa) (clear uirtd) (on uirtd bofmn) (on bofmn gqsql) (clear qmgfa) (on-table gqsql) (clear cirky)",
"(holding qmgfa) (on-table cirky) (clear uirtd) (on uirtd bofmn) (on bofmn gqsql) (on-table gqsql) (clear cirky)",
"(arm-empty) (on-table cirky) (on qmgfa uirtd) (on uirtd bofmn) (on bofmn gqsql) (clear qmgfa) (on-table gqsql) (clear cirky)"
] | file_182157 |
GOAL: (on-table wkrjk) (on dfuqu hvdqh) (on hvdqh wkrjk) (holding pquoj) (clear dfuqu) | GOAL: (on-table wkrjk) (on dfuqu hvdqh) (on hvdqh wkrjk) (holding pquoj) (clear dfuqu)
STATE: (on pquoj hvdqh) (arm-empty) (on-table hvdqh) (on wkrjk pquoj) (on dfuqu wkrjk) (clear dfuqu) | [
[
"unstack dfuqu wkrjk"
],
[
"put-down dfuqu"
],
[
"unstack wkrjk pquoj"
],
[
"put-down wkrjk"
],
[
"unstack pquoj hvdqh"
],
[
"put-down pquoj"
],
[
"pick-up hvdqh"
],
[
"stack hvdqh wkrjk"
],
[
"pick-up dfuqu"
],
[
"stack dfuqu hvdqh"
],
[
"pick-up pquoj"
]
] | [
"(holding dfuqu) (on pquoj hvdqh) (on-table hvdqh) (clear wkrjk) (on wkrjk pquoj)",
"(on pquoj hvdqh) (on-table hvdqh) (clear wkrjk) (arm-empty) (on-table dfuqu) (on wkrjk pquoj) (clear dfuqu)",
"(on pquoj hvdqh) (on-table dfuqu) (on-table hvdqh) (holding wkrjk) (clear pquoj) (clear dfuqu)",
"(arm-empty) (on-table wkrjk) (on pquoj hvdqh) (clear wkrjk) (on-table dfuqu) (on-table hvdqh) (clear pquoj) (clear dfuqu)",
"(clear wkrjk) (on-table wkrjk) (on-table dfuqu) (clear hvdqh) (on-table hvdqh) (holding pquoj) (clear dfuqu)",
"(arm-empty) (on-table wkrjk) (clear hvdqh) (clear wkrjk) (on-table dfuqu) (on-table hvdqh) (clear pquoj) (clear dfuqu) (on-table pquoj)",
"(clear wkrjk) (on-table wkrjk) (on-table dfuqu) (holding hvdqh) (clear pquoj) (clear dfuqu) (on-table pquoj)",
"(arm-empty) (on-table wkrjk) (on-table dfuqu) (clear hvdqh) (on hvdqh wkrjk) (clear pquoj) (clear dfuqu) (on-table pquoj)",
"(holding dfuqu) (on-table wkrjk) (clear hvdqh) (on hvdqh wkrjk) (clear pquoj) (on-table pquoj)",
"(arm-empty) (on-table wkrjk) (on dfuqu hvdqh) (on hvdqh wkrjk) (clear pquoj) (clear dfuqu) (on-table pquoj)",
"(on-table wkrjk) (on dfuqu hvdqh) (on hvdqh wkrjk) (holding pquoj) (clear dfuqu)"
] | file_221878 |
GOAL: (clear afjxh) (on-table irlxq) (clear hhwlc) (on hhwlc pjgty) (holding ziryb) (on afjxh irlxq) (on-table pjgty) | GOAL: (clear afjxh) (on-table irlxq) (clear hhwlc) (on hhwlc pjgty) (holding ziryb) (on afjxh irlxq) (on-table pjgty)
STATE: (holding irlxq) (on ziryb afjxh) (on hhwlc pjgty) (on afjxh hhwlc) (on-table pjgty) (clear ziryb) | [
[
"put-down irlxq"
],
[
"unstack ziryb afjxh"
],
[
"stack ziryb irlxq"
],
[
"unstack afjxh hhwlc"
],
[
"put-down afjxh"
],
[
"unstack ziryb irlxq"
],
[
"stack ziryb hhwlc"
],
[
"pick-up afjxh"
],
[
"stack afjxh irlxq"
],
[
"unstack ziryb hhwlc"
]
] | [
"(arm-empty) (on ziryb afjxh) (on afjxh hhwlc) (clear ziryb) (on-table irlxq) (on hhwlc pjgty) (clear irlxq) (on-table pjgty)",
"(clear afjxh) (on-table irlxq) (on hhwlc pjgty) (holding ziryb) (on afjxh hhwlc) (clear irlxq) (on-table pjgty)",
"(on hhwlc pjgty) (on ziryb irlxq) (clear afjxh) (arm-empty) (on-table irlxq) (on afjxh hhwlc) (on-table pjgty) (clear ziryb)",
"(on-table irlxq) (clear hhwlc) (on hhwlc pjgty) (on ziryb irlxq) (holding afjxh) (on-table pjgty) (clear ziryb)",
"(arm-empty) (on-table afjxh) (clear hhwlc) (clear ziryb) (clear afjxh) (on-table irlxq) (on hhwlc pjgty) (on ziryb irlxq) (on-table pjgty)",
"(clear afjxh) (on-table afjxh) (on-table irlxq) (clear hhwlc) (on hhwlc pjgty) (holding ziryb) (clear irlxq) (on-table pjgty)",
"(clear afjxh) (arm-empty) (on ziryb hhwlc) (on-table afjxh) (on-table irlxq) (on hhwlc pjgty) (clear irlxq) (on-table pjgty) (clear ziryb)",
"(on ziryb hhwlc) (on-table irlxq) (on hhwlc pjgty) (holding afjxh) (clear irlxq) (on-table pjgty) (clear ziryb)",
"(clear afjxh) (arm-empty) (on ziryb hhwlc) (on-table irlxq) (on hhwlc pjgty) (on afjxh irlxq) (on-table pjgty) (clear ziryb)",
"(clear afjxh) (on-table irlxq) (clear hhwlc) (on hhwlc pjgty) (holding ziryb) (on afjxh irlxq) (on-table pjgty)"
] | file_202893 |
GOAL: (on vjmnt olbnl) (holding tfamu) (on-table olbnl) (on asovt hbmhl) (clear asovt) (on hbmhl vjmnt) | GOAL: (on vjmnt olbnl) (holding tfamu) (on-table olbnl) (on asovt hbmhl) (clear asovt) (on hbmhl vjmnt)
STATE: (arm-empty) (on-table tfamu) (on vjmnt olbnl) (on-table olbnl) (on asovt hbmhl) (clear asovt) (on hbmhl vjmnt) (clear tfamu) | [
[
"pick-up tfamu"
]
] | [
"(on vjmnt olbnl) (holding tfamu) (on-table olbnl) (on asovt hbmhl) (clear asovt) (on hbmhl vjmnt)"
] | file_198302 |
GOAL: (arm-empty) (on-table dsmie) (on gmneb dsmie) (clear gmneb) (on-table icsfj) (on cbsmn icsfj) (clear nkvrx) (clear cbsmn) (on-table nkvrx) | GOAL: (arm-empty) (on-table dsmie) (on gmneb dsmie) (clear gmneb) (on-table icsfj) (on cbsmn icsfj) (clear nkvrx) (clear cbsmn) (on-table nkvrx)
STATE: (on cbsmn nkvrx) (on-table dsmie) (holding icsfj) (on nkvrx gmneb) (on gmneb dsmie) (clear cbsmn) | [
[
"put-down icsfj"
],
[
"unstack cbsmn nkvrx"
],
[
"stack cbsmn icsfj"
],
[
"unstack nkvrx gmneb"
],
[
"put-down nkvrx"
]
] | [
"(on cbsmn nkvrx) (arm-empty) (on-table dsmie) (clear icsfj) (on gmneb dsmie) (on nkvrx gmneb) (on-table icsfj) (clear cbsmn)",
"(holding cbsmn) (on-table dsmie) (on nkvrx gmneb) (clear icsfj) (on-table icsfj) (on gmneb dsmie) (clear nkvrx)",
"(arm-empty) (on-table dsmie) (on nkvrx gmneb) (on-table icsfj) (on cbsmn icsfj) (on gmneb dsmie) (clear nkvrx) (clear cbsmn)",
"(clear gmneb) (on-table dsmie) (on-table icsfj) (on cbsmn icsfj) (on gmneb dsmie) (holding nkvrx) (clear cbsmn)",
"(arm-empty) (on-table dsmie) (on gmneb dsmie) (clear gmneb) (on-table icsfj) (on cbsmn icsfj) (clear nkvrx) (clear cbsmn) (on-table nkvrx)"
] | file_58524 |
GOAL: (on fohjt byygu) (on-table xvksf) (on byygu xvksf) (clear fqnbb) (holding bntyk) (on-table fqnbb) (clear fohjt) | GOAL: (on fohjt byygu) (on-table xvksf) (on byygu xvksf) (clear fqnbb) (holding bntyk) (on-table fqnbb) (clear fohjt)
STATE: (clear xvksf) (on-table xvksf) (on-table bntyk) (on-table fohjt) (clear fqnbb) (on-table fqnbb) (holding byygu) (clear fohjt) (clear bntyk) | [
[
"stack byygu xvksf"
],
[
"pick-up fohjt"
],
[
"stack fohjt byygu"
],
[
"pick-up bntyk"
]
] | [
"(arm-empty) (on-table xvksf) (on-table bntyk) (on-table fohjt) (on byygu xvksf) (clear fqnbb) (on-table fqnbb) (clear byygu) (clear fohjt) (clear bntyk)",
"(holding fohjt) (on-table xvksf) (on-table bntyk) (on byygu xvksf) (clear fqnbb) (on-table fqnbb) (clear byygu) (clear bntyk)",
"(on fohjt byygu) (arm-empty) (on-table xvksf) (on-table bntyk) (on byygu xvksf) (clear fqnbb) (on-table fqnbb) (clear fohjt) (clear bntyk)",
"(on fohjt byygu) (on-table xvksf) (on byygu xvksf) (clear fqnbb) (holding bntyk) (on-table fqnbb) (clear fohjt)"
] | file_115801 |
GOAL: (arm-empty) (on-table lfoig) (on yeypy lfoig) (clear yeypy) (on ydfyf qmwfl) (on fxjdb ydfyf) (on-table qmwfl) (clear fxjdb) | GOAL: (arm-empty) (on-table lfoig) (on yeypy lfoig) (clear yeypy) (on ydfyf qmwfl) (on fxjdb ydfyf) (on-table qmwfl) (clear fxjdb)
STATE: (clear ydfyf) (on-table lfoig) (holding yeypy) (on-table fxjdb) (on ydfyf lfoig) (clear qmwfl) (clear fxjdb) (on-table qmwfl) | [
[
"put-down yeypy"
],
[
"pick-up qmwfl"
],
[
"stack qmwfl yeypy"
],
[
"unstack ydfyf lfoig"
],
[
"stack ydfyf fxjdb"
],
[
"unstack qmwfl yeypy"
],
[
"put-down qmwfl"
],
[
"unstack ydfyf fxjdb"
],
[
"stack ydfyf qmwfl"
],
[
"pick-up yeypy"
],
[
"stack yeypy lfoig"
],
[
"pick-up fxjdb"
],
[
"stack fxjdb ydfyf"
]
] | [
"(clear ydfyf) (arm-empty) (on-table lfoig) (on-table fxjdb) (clear yeypy) (on-table yeypy) (on ydfyf lfoig) (clear qmwfl) (clear fxjdb) (on-table qmwfl)",
"(clear ydfyf) (on-table lfoig) (on-table fxjdb) (clear yeypy) (on-table yeypy) (on ydfyf lfoig) (holding qmwfl) (clear fxjdb)",
"(on qmwfl yeypy) (clear ydfyf) (arm-empty) (on-table lfoig) (on-table fxjdb) (on-table yeypy) (on ydfyf lfoig) (clear qmwfl) (clear fxjdb)",
"(on qmwfl yeypy) (on-table lfoig) (on-table fxjdb) (on-table yeypy) (holding ydfyf) (clear qmwfl) (clear fxjdb) (clear lfoig)",
"(on qmwfl yeypy) (clear ydfyf) (arm-empty) (on-table lfoig) (on-table fxjdb) (on-table yeypy) (on ydfyf fxjdb) (clear qmwfl) (clear lfoig)",
"(clear ydfyf) (on-table lfoig) (on-table fxjdb) (clear yeypy) (on-table yeypy) (on ydfyf fxjdb) (holding qmwfl) (clear lfoig)",
"(clear ydfyf) (arm-empty) (on-table lfoig) (on-table fxjdb) (clear yeypy) (on-table yeypy) (on ydfyf fxjdb) (clear qmwfl) (on-table qmwfl) (clear lfoig)",
"(on-table lfoig) (on-table fxjdb) (clear yeypy) (on-table yeypy) (holding ydfyf) (clear qmwfl) (clear fxjdb) (on-table qmwfl) (clear lfoig)",
"(clear ydfyf) (arm-empty) (on-table lfoig) (on-table fxjdb) (clear yeypy) (on-table yeypy) (on ydfyf qmwfl) (clear fxjdb) (on-table qmwfl) (clear lfoig)",
"(clear ydfyf) (on-table lfoig) (on-table fxjdb) (holding yeypy) (on ydfyf qmwfl) (clear fxjdb) (on-table qmwfl) (clear lfoig)",
"(clear ydfyf) (arm-empty) (on-table lfoig) (on-table fxjdb) (on yeypy lfoig) (clear yeypy) (on ydfyf qmwfl) (clear fxjdb) (on-table qmwfl)",
"(holding fxjdb) (clear ydfyf) (on-table lfoig) (on yeypy lfoig) (clear yeypy) (on ydfyf qmwfl) (on-table qmwfl)",
"(arm-empty) (on-table lfoig) (on yeypy lfoig) (clear yeypy) (on ydfyf qmwfl) (on fxjdb ydfyf) (on-table qmwfl) (clear fxjdb)"
] | file_86408 |
GOAL: (clear cpoqd) (arm-empty) (on-table cpoqd) (on-table bswuu) (on-table cvpef) (clear gimiu) (on-table gimiu) (clear fomam) (clear cvpef) (on-table fomam) (clear bswuu) | GOAL: (clear cpoqd) (arm-empty) (on-table cpoqd) (on-table bswuu) (on-table cvpef) (clear gimiu) (on-table gimiu) (clear fomam) (clear cvpef) (on-table fomam) (clear bswuu)
STATE: (on-table cpoqd) (on-table bswuu) (on cvpef gimiu) (on gimiu cpoqd) (holding fomam) (clear cvpef) (clear bswuu) | [
[
"put-down fomam"
],
[
"unstack cvpef gimiu"
],
[
"put-down cvpef"
],
[
"unstack gimiu cpoqd"
],
[
"put-down gimiu"
]
] | [
"(arm-empty) (on-table cpoqd) (on-table bswuu) (clear bswuu) (on cvpef gimiu) (on gimiu cpoqd) (clear fomam) (clear cvpef) (on-table fomam)",
"(holding cvpef) (on-table cpoqd) (on-table bswuu) (clear gimiu) (on gimiu cpoqd) (clear fomam) (on-table fomam) (clear bswuu)",
"(arm-empty) (on-table cpoqd) (on-table bswuu) (on-table cvpef) (clear gimiu) (on gimiu cpoqd) (clear fomam) (clear cvpef) (on-table fomam) (clear bswuu)",
"(clear cpoqd) (on-table cpoqd) (on-table bswuu) (on-table cvpef) (holding gimiu) (clear fomam) (clear cvpef) (on-table fomam) (clear bswuu)",
"(clear cpoqd) (arm-empty) (on-table cpoqd) (on-table bswuu) (on-table cvpef) (clear gimiu) (on-table gimiu) (clear fomam) (clear cvpef) (on-table fomam) (clear bswuu)"
] | file_106413 |
GOAL: (arm-empty) (on sphux kvpnu) (on kvpnu xjipi) (on tjoru sphux) (clear tjoru) (on-table egoua) (clear egoua) (on-table xjipi) | GOAL: (arm-empty) (on sphux kvpnu) (on kvpnu xjipi) (on tjoru sphux) (clear tjoru) (on-table egoua) (clear egoua) (on-table xjipi)
STATE: (arm-empty) (on sphux kvpnu) (on kvpnu xjipi) (on tjoru sphux) (on egoua tjoru) (clear egoua) (on-table xjipi) | [
[
"unstack egoua tjoru"
],
[
"put-down egoua"
]
] | [
"(on sphux kvpnu) (on kvpnu xjipi) (on tjoru sphux) (holding egoua) (clear tjoru) (on-table xjipi)",
"(arm-empty) (on sphux kvpnu) (on kvpnu xjipi) (on tjoru sphux) (clear tjoru) (on-table egoua) (clear egoua) (on-table xjipi)"
] | file_9303 |
GOAL: (on sufsl ckvif) (on ckvif xgwpm) (holding zidbl) (on-table ypqho) (on xgwpm ypqho) (clear sufsl) | GOAL: (on sufsl ckvif) (on ckvif xgwpm) (holding zidbl) (on-table ypqho) (on xgwpm ypqho) (clear sufsl)
STATE: (on zidbl sufsl) (on-table ypqho) (on xgwpm ypqho) (holding ckvif) (on sufsl xgwpm) (clear zidbl) | [
[
"put-down ckvif"
],
[
"unstack zidbl sufsl"
],
[
"put-down zidbl"
],
[
"unstack sufsl xgwpm"
],
[
"stack sufsl zidbl"
],
[
"pick-up ckvif"
],
[
"stack ckvif xgwpm"
],
[
"unstack sufsl zidbl"
],
[
"stack sufsl ckvif"
],
[
"pick-up zidbl"
]
] | [
"(arm-empty) (on xgwpm ypqho) (on sufsl xgwpm) (clear zidbl) (on zidbl sufsl) (on-table ypqho) (clear ckvif) (on-table ckvif)",
"(holding zidbl) (on-table ypqho) (on xgwpm ypqho) (clear ckvif) (on sufsl xgwpm) (clear sufsl) (on-table ckvif)",
"(arm-empty) (on-table zidbl) (on xgwpm ypqho) (on sufsl xgwpm) (clear zidbl) (on-table ypqho) (clear ckvif) (clear sufsl) (on-table ckvif)",
"(holding sufsl) (clear xgwpm) (on-table zidbl) (on-table ypqho) (on xgwpm ypqho) (clear ckvif) (on-table ckvif) (clear zidbl)",
"(on sufsl zidbl) (clear xgwpm) (arm-empty) (on-table zidbl) (on-table ypqho) (on xgwpm ypqho) (clear ckvif) (clear sufsl) (on-table ckvif)",
"(on sufsl zidbl) (clear xgwpm) (on-table zidbl) (on-table ypqho) (on xgwpm ypqho) (holding ckvif) (clear sufsl)",
"(on sufsl zidbl) (arm-empty) (on-table zidbl) (on ckvif xgwpm) (on-table ypqho) (on xgwpm ypqho) (clear ckvif) (clear sufsl)",
"(holding sufsl) (on-table zidbl) (on ckvif xgwpm) (on-table ypqho) (on xgwpm ypqho) (clear ckvif) (clear zidbl)",
"(on sufsl ckvif) (arm-empty) (on-table zidbl) (on ckvif xgwpm) (on-table ypqho) (on xgwpm ypqho) (clear sufsl) (clear zidbl)",
"(on sufsl ckvif) (on ckvif xgwpm) (holding zidbl) (on-table ypqho) (on xgwpm ypqho) (clear sufsl)"
] | file_52434 |
GOAL: (clear atosr) (on-table atosr) (on-table rpcjh) (on-table ztmqe) (holding mvhfg) (on cgavd ztmqe) (clear cgavd) (clear rpcjh) | GOAL: (clear atosr) (on-table atosr) (on-table rpcjh) (on-table ztmqe) (holding mvhfg) (on cgavd ztmqe) (clear cgavd) (clear rpcjh)
STATE: (holding ztmqe) (on cgavd mvhfg) (clear atosr) (on-table atosr) (on mvhfg rpcjh) (on-table rpcjh) (clear cgavd) | [
[
"put-down ztmqe"
],
[
"unstack cgavd mvhfg"
],
[
"stack cgavd ztmqe"
],
[
"unstack mvhfg rpcjh"
]
] | [
"(arm-empty) (on-table atosr) (on mvhfg rpcjh) (on-table rpcjh) (on cgavd mvhfg) (clear atosr) (on-table ztmqe) (clear cgavd) (clear ztmqe)",
"(clear atosr) (on-table atosr) (on mvhfg rpcjh) (on-table rpcjh) (on-table ztmqe) (clear mvhfg) (holding cgavd) (clear ztmqe)",
"(clear atosr) (arm-empty) (on-table atosr) (on mvhfg rpcjh) (on-table rpcjh) (on-table ztmqe) (clear mvhfg) (on cgavd ztmqe) (clear cgavd)",
"(clear atosr) (on-table atosr) (on-table rpcjh) (on-table ztmqe) (holding mvhfg) (on cgavd ztmqe) (clear cgavd) (clear rpcjh)"
] | file_133480 |
GOAL: (on dmmxa jpeih) (holding pmhkl) (clear dmmxa) (on-table jpeih) (clear wswjw) (on-table wswjw) | GOAL: (on dmmxa jpeih) (holding pmhkl) (clear dmmxa) (on-table jpeih) (clear wswjw) (on-table wswjw)
STATE: (clear dmmxa) (on pmhkl wswjw) (arm-empty) (on-table dmmxa) (clear jpeih) (on-table jpeih) (clear pmhkl) (on-table wswjw) | [
[
"pick-up dmmxa"
],
[
"stack dmmxa jpeih"
],
[
"unstack pmhkl wswjw"
]
] | [
"(on pmhkl wswjw) (clear jpeih) (on-table jpeih) (holding dmmxa) (clear pmhkl) (on-table wswjw)",
"(clear dmmxa) (on pmhkl wswjw) (arm-empty) (on-table jpeih) (on dmmxa jpeih) (clear pmhkl) (on-table wswjw)",
"(on dmmxa jpeih) (holding pmhkl) (clear dmmxa) (on-table jpeih) (clear wswjw) (on-table wswjw)"
] | file_200410 |
GOAL: (clear acmgv) (arm-empty) (on-table acmgv) (on-table aljhf) (clear vetlg) (on myubm mzyyo) (on-table vetlg) (clear aljhf) (on-table mzyyo) (clear myubm) | GOAL: (clear acmgv) (arm-empty) (on-table acmgv) (on-table aljhf) (clear vetlg) (on myubm mzyyo) (on-table vetlg) (clear aljhf) (on-table mzyyo) (clear myubm)
STATE: (arm-empty) (on-table acmgv) (on-table myubm) (clear vetlg) (on-table vetlg) (clear mzyyo) (on aljhf acmgv) (clear aljhf) (on-table mzyyo) (clear myubm) | [
[
"pick-up vetlg"
],
[
"stack vetlg aljhf"
],
[
"pick-up myubm"
],
[
"stack myubm mzyyo"
],
[
"unstack vetlg aljhf"
],
[
"put-down vetlg"
],
[
"unstack aljhf acmgv"
],
[
"stack aljhf vetlg"
],
[
"pick-up acmgv"
],
[
"stack acmgv myubm"
],
[
"unstack aljhf vetlg"
],
[
"put-down aljhf"
],
[
"unstack acmgv myubm"
],
[
"put-down acmgv"
]
] | [
"(on-table acmgv) (on-table myubm) (holding vetlg) (clear mzyyo) (on aljhf acmgv) (clear aljhf) (on-table mzyyo) (clear myubm)",
"(on vetlg aljhf) (arm-empty) (on-table acmgv) (on-table myubm) (clear vetlg) (clear mzyyo) (on aljhf acmgv) (on-table mzyyo) (clear myubm)",
"(on vetlg aljhf) (on-table acmgv) (clear vetlg) (holding myubm) (clear mzyyo) (on aljhf acmgv) (on-table mzyyo)",
"(on vetlg aljhf) (arm-empty) (on-table acmgv) (clear vetlg) (on myubm mzyyo) (on aljhf acmgv) (on-table mzyyo) (clear myubm)",
"(on-table acmgv) (holding vetlg) (on myubm mzyyo) (on aljhf acmgv) (clear aljhf) (on-table mzyyo) (clear myubm)",
"(arm-empty) (on-table acmgv) (clear vetlg) (on myubm mzyyo) (on aljhf acmgv) (clear myubm) (on-table vetlg) (clear aljhf) (on-table mzyyo)",
"(holding aljhf) (clear acmgv) (on-table acmgv) (clear vetlg) (on myubm mzyyo) (on-table vetlg) (on-table mzyyo) (clear myubm)",
"(clear acmgv) (arm-empty) (on-table acmgv) (on myubm mzyyo) (on-table vetlg) (on aljhf vetlg) (clear aljhf) (on-table mzyyo) (clear myubm)",
"(holding acmgv) (on myubm mzyyo) (on-table vetlg) (on aljhf vetlg) (clear aljhf) (on-table mzyyo) (clear myubm)",
"(clear acmgv) (arm-empty) (on myubm mzyyo) (on-table vetlg) (on aljhf vetlg) (on acmgv myubm) (clear aljhf) (on-table mzyyo)",
"(holding aljhf) (clear acmgv) (clear vetlg) (on myubm mzyyo) (on-table vetlg) (on acmgv myubm) (on-table mzyyo)",
"(arm-empty) (clear vetlg) (on myubm mzyyo) (on acmgv myubm) (clear acmgv) (on-table aljhf) (on-table vetlg) (clear aljhf) (on-table mzyyo)",
"(on-table aljhf) (clear vetlg) (on myubm mzyyo) (on-table vetlg) (holding acmgv) (clear aljhf) (on-table mzyyo) (clear myubm)",
"(clear acmgv) (arm-empty) (on-table acmgv) (on-table aljhf) (clear vetlg) (on myubm mzyyo) (on-table vetlg) (clear aljhf) (on-table mzyyo) (clear myubm)"
] | file_7728 |
GOAL: (arm-empty) (on-table zfmvt) (on eyaar ofkcg) (on ofkcg zfmvt) (on tdupx eyaar) (on zfrpf tdupx) (clear zfrpf) | GOAL: (arm-empty) (on-table zfmvt) (on eyaar ofkcg) (on ofkcg zfmvt) (on tdupx eyaar) (on zfrpf tdupx) (clear zfrpf)
STATE: (clear zfmvt) (arm-empty) (on eyaar zfrpf) (on ofkcg tdupx) (on tdupx eyaar) (on zfmvt ofkcg) (on-table zfrpf) | [
[
"unstack zfmvt ofkcg"
],
[
"put-down zfmvt"
],
[
"unstack ofkcg tdupx"
],
[
"stack ofkcg zfmvt"
],
[
"unstack tdupx eyaar"
],
[
"put-down tdupx"
],
[
"unstack eyaar zfrpf"
],
[
"stack eyaar ofkcg"
],
[
"pick-up tdupx"
],
[
"stack tdupx eyaar"
],
[
"pick-up zfrpf"
],
[
"stack zfrpf tdupx"
]
] | [
"(holding zfmvt) (clear ofkcg) (on eyaar zfrpf) (on ofkcg tdupx) (on tdupx eyaar) (on-table zfrpf)",
"(arm-empty) (on-table zfmvt) (clear ofkcg) (clear zfmvt) (on eyaar zfrpf) (on ofkcg tdupx) (on tdupx eyaar) (on-table zfrpf)",
"(clear zfmvt) (on-table zfmvt) (on eyaar zfrpf) (holding ofkcg) (on tdupx eyaar) (clear tdupx) (on-table zfrpf)",
"(arm-empty) (on-table zfmvt) (on ofkcg zfmvt) (on eyaar zfrpf) (on tdupx eyaar) (clear tdupx) (on-table zfrpf) (clear ofkcg)",
"(holding tdupx) (on-table zfmvt) (on ofkcg zfmvt) (clear eyaar) (on eyaar zfrpf) (on-table zfrpf) (clear ofkcg)",
"(arm-empty) (on-table zfmvt) (on ofkcg zfmvt) (clear eyaar) (clear ofkcg) (on-table tdupx) (on eyaar zfrpf) (clear tdupx) (on-table zfrpf)",
"(on-table zfmvt) (on-table tdupx) (holding eyaar) (on ofkcg zfmvt) (clear zfrpf) (clear tdupx) (on-table zfrpf) (clear ofkcg)",
"(arm-empty) (on-table zfmvt) (on eyaar ofkcg) (on-table tdupx) (on ofkcg zfmvt) (clear eyaar) (clear zfrpf) (clear tdupx) (on-table zfrpf)",
"(holding tdupx) (on-table zfmvt) (on eyaar ofkcg) (on ofkcg zfmvt) (clear eyaar) (clear zfrpf) (on-table zfrpf)",
"(arm-empty) (on-table zfmvt) (on eyaar ofkcg) (on ofkcg zfmvt) (on tdupx eyaar) (clear zfrpf) (clear tdupx) (on-table zfrpf)",
"(on-table zfmvt) (on eyaar ofkcg) (on ofkcg zfmvt) (on tdupx eyaar) (holding zfrpf) (clear tdupx)",
"(arm-empty) (on-table zfmvt) (on eyaar ofkcg) (on ofkcg zfmvt) (on tdupx eyaar) (on zfrpf tdupx) (clear zfrpf)"
] | file_156631 |
GOAL: (clear qdovi) (arm-empty) (on baroi oijec) (on-table qdovi) (on-table netcd) (on-table oijec) (clear xxhrj) (clear netcd) (on-table xxhrj) (clear baroi) | GOAL: (clear qdovi) (arm-empty) (on baroi oijec) (on-table qdovi) (on-table netcd) (on-table oijec) (clear xxhrj) (clear netcd) (on-table xxhrj) (clear baroi)
STATE: (arm-empty) (on-table netcd) (on baroi qdovi) (clear oijec) (on-table oijec) (on qdovi xxhrj) (clear netcd) (on-table xxhrj) (clear baroi) | [
[
"pick-up oijec"
],
[
"stack oijec netcd"
],
[
"unstack baroi qdovi"
],
[
"stack baroi oijec"
],
[
"unstack qdovi xxhrj"
],
[
"put-down qdovi"
],
[
"unstack baroi oijec"
],
[
"stack baroi qdovi"
],
[
"unstack oijec netcd"
],
[
"put-down oijec"
],
[
"unstack baroi qdovi"
],
[
"stack baroi oijec"
]
] | [
"(on-table netcd) (holding oijec) (on baroi qdovi) (on qdovi xxhrj) (clear netcd) (on-table xxhrj) (clear baroi)",
"(on oijec netcd) (arm-empty) (on-table netcd) (on baroi qdovi) (clear oijec) (on qdovi xxhrj) (on-table xxhrj) (clear baroi)",
"(clear qdovi) (on oijec netcd) (on-table netcd) (clear oijec) (holding baroi) (on qdovi xxhrj) (on-table xxhrj)",
"(clear qdovi) (on oijec netcd) (on baroi oijec) (arm-empty) (on-table netcd) (on qdovi xxhrj) (on-table xxhrj) (clear baroi)",
"(on oijec netcd) (on baroi oijec) (on-table netcd) (holding qdovi) (clear xxhrj) (on-table xxhrj) (clear baroi)",
"(on oijec netcd) (on baroi oijec) (on-table qdovi) (arm-empty) (clear baroi) (clear qdovi) (on-table netcd) (clear xxhrj) (on-table xxhrj)",
"(clear qdovi) (on oijec netcd) (on-table qdovi) (on-table netcd) (clear oijec) (holding baroi) (clear xxhrj) (on-table xxhrj)",
"(on oijec netcd) (arm-empty) (on-table qdovi) (on-table netcd) (on baroi qdovi) (clear oijec) (clear xxhrj) (on-table xxhrj) (clear baroi)",
"(on-table qdovi) (on-table netcd) (holding oijec) (on baroi qdovi) (clear xxhrj) (clear netcd) (on-table xxhrj) (clear baroi)",
"(arm-empty) (on-table qdovi) (on-table netcd) (on baroi qdovi) (clear oijec) (on-table oijec) (clear xxhrj) (clear netcd) (on-table xxhrj) (clear baroi)",
"(clear qdovi) (on-table qdovi) (on-table netcd) (clear oijec) (holding baroi) (on-table oijec) (clear xxhrj) (clear netcd) (on-table xxhrj)",
"(clear qdovi) (arm-empty) (on baroi oijec) (on-table qdovi) (on-table netcd) (on-table oijec) (clear xxhrj) (clear netcd) (on-table xxhrj) (clear baroi)"
] | file_223969 |
GOAL: (arm-empty) (on-table gfkug) (on-table vvmwj) (clear ollxu) (on ollxu wvflt) (on wvflt nysal) (on nysal gfkug) (clear vvmwj) | GOAL: (arm-empty) (on-table gfkug) (on-table vvmwj) (clear ollxu) (on ollxu wvflt) (on wvflt nysal) (on nysal gfkug) (clear vvmwj)
STATE: (holding nysal) (on wvflt ollxu) (clear gfkug) (on-table gfkug) (on ollxu vvmwj) (on-table vvmwj) (clear wvflt) | [
[
"stack nysal gfkug"
],
[
"unstack wvflt ollxu"
],
[
"stack wvflt nysal"
],
[
"unstack ollxu vvmwj"
],
[
"stack ollxu wvflt"
]
] | [
"(on wvflt ollxu) (arm-empty) (on-table gfkug) (on ollxu vvmwj) (on-table vvmwj) (clear wvflt) (on nysal gfkug) (clear nysal)",
"(on-table gfkug) (on ollxu vvmwj) (on-table vvmwj) (clear ollxu) (on nysal gfkug) (clear nysal) (holding wvflt)",
"(arm-empty) (on-table gfkug) (on ollxu vvmwj) (on-table vvmwj) (clear ollxu) (on wvflt nysal) (clear wvflt) (on nysal gfkug)",
"(on-table gfkug) (on-table vvmwj) (holding ollxu) (on wvflt nysal) (clear wvflt) (on nysal gfkug) (clear vvmwj)",
"(arm-empty) (on-table gfkug) (on-table vvmwj) (clear ollxu) (on ollxu wvflt) (on wvflt nysal) (on nysal gfkug) (clear vvmwj)"
] | file_133203 |
GOAL: (holding teexn) (on-table bzocr) (on bdhvt bzocr) (clear fjsid) (on-table fjsid) (clear peyau) (on-table peyau) (clear bdhvt) | GOAL: (holding teexn) (on-table bzocr) (on bdhvt bzocr) (clear fjsid) (on-table fjsid) (clear peyau) (on-table peyau) (clear bdhvt)
STATE: (on peyau fjsid) (clear bzocr) (on fjsid teexn) (on-table bzocr) (on-table teexn) (holding bdhvt) (clear peyau) | [
[
"stack bdhvt bzocr"
],
[
"unstack peyau fjsid"
],
[
"put-down peyau"
],
[
"unstack fjsid teexn"
],
[
"stack fjsid bdhvt"
],
[
"pick-up teexn"
],
[
"stack teexn peyau"
],
[
"unstack fjsid bdhvt"
],
[
"put-down fjsid"
],
[
"unstack teexn peyau"
]
] | [
"(on peyau fjsid) (on fjsid teexn) (arm-empty) (on-table bzocr) (on-table teexn) (on bdhvt bzocr) (clear peyau) (clear bdhvt)",
"(on fjsid teexn) (on-table bzocr) (on-table teexn) (on bdhvt bzocr) (clear fjsid) (holding peyau) (clear bdhvt)",
"(on fjsid teexn) (arm-empty) (on-table bzocr) (on bdhvt bzocr) (clear fjsid) (clear bdhvt) (on-table teexn) (clear peyau) (on-table peyau)",
"(on-table bzocr) (on-table teexn) (holding fjsid) (on bdhvt bzocr) (clear peyau) (clear teexn) (on-table peyau) (clear bdhvt)",
"(arm-empty) (on-table bzocr) (on fjsid bdhvt) (on-table teexn) (on bdhvt bzocr) (clear fjsid) (clear peyau) (clear teexn) (on-table peyau)",
"(holding teexn) (on-table bzocr) (on fjsid bdhvt) (on bdhvt bzocr) (clear fjsid) (clear peyau) (on-table peyau)",
"(on teexn peyau) (arm-empty) (on-table bzocr) (on fjsid bdhvt) (on bdhvt bzocr) (clear fjsid) (clear teexn) (on-table peyau)",
"(on teexn peyau) (on-table bzocr) (holding fjsid) (on bdhvt bzocr) (clear teexn) (on-table peyau) (clear bdhvt)",
"(on teexn peyau) (arm-empty) (on-table bzocr) (on bdhvt bzocr) (clear fjsid) (clear bdhvt) (on-table fjsid) (clear teexn) (on-table peyau)",
"(holding teexn) (on-table bzocr) (on bdhvt bzocr) (clear fjsid) (on-table fjsid) (clear peyau) (on-table peyau) (clear bdhvt)"
] | file_227956 |
GOAL: (on korvo qyyzr) (clear ucwqt) (arm-empty) (on-table qyyzr) (on-table flotr) (clear enoqo) (on-table enoqo) (on ucwqt flotr) (clear korvo) | GOAL: (on korvo qyyzr) (clear ucwqt) (arm-empty) (on-table qyyzr) (on-table flotr) (clear enoqo) (on-table enoqo) (on ucwqt flotr) (clear korvo)
STATE: (holding flotr) (on qyyzr ucwqt) (on-table enoqo) (on ucwqt enoqo) (clear korvo) (on-table korvo) (clear qyyzr) | [
[
"put-down flotr"
],
[
"pick-up korvo"
],
[
"stack korvo flotr"
],
[
"unstack qyyzr ucwqt"
],
[
"put-down qyyzr"
],
[
"unstack korvo flotr"
],
[
"stack korvo qyyzr"
],
[
"unstack ucwqt enoqo"
],
[
"stack ucwqt flotr"
]
] | [
"(arm-empty) (on qyyzr ucwqt) (on ucwqt enoqo) (clear qyyzr) (on-table flotr) (on-table enoqo) (clear korvo) (clear flotr) (on-table korvo)",
"(on-table flotr) (on qyyzr ucwqt) (on-table enoqo) (on ucwqt enoqo) (holding korvo) (clear flotr) (clear qyyzr)",
"(arm-empty) (on-table flotr) (on qyyzr ucwqt) (on ucwqt enoqo) (on-table enoqo) (on korvo flotr) (clear korvo) (clear qyyzr)",
"(clear ucwqt) (on-table flotr) (on ucwqt enoqo) (holding qyyzr) (on-table enoqo) (on korvo flotr) (clear korvo)",
"(arm-empty) (on-table qyyzr) (on korvo flotr) (on ucwqt enoqo) (clear qyyzr) (clear ucwqt) (on-table flotr) (on-table enoqo) (clear korvo)",
"(clear ucwqt) (on-table qyyzr) (on-table flotr) (on ucwqt enoqo) (on-table enoqo) (holding korvo) (clear flotr) (clear qyyzr)",
"(clear ucwqt) (on korvo qyyzr) (arm-empty) (on-table qyyzr) (on-table flotr) (on-table enoqo) (on ucwqt enoqo) (clear korvo) (clear flotr)",
"(on korvo qyyzr) (on-table qyyzr) (on-table flotr) (clear enoqo) (on-table enoqo) (holding ucwqt) (clear korvo) (clear flotr)",
"(on korvo qyyzr) (clear ucwqt) (arm-empty) (on-table qyyzr) (on-table flotr) (clear enoqo) (on-table enoqo) (on ucwqt flotr) (clear korvo)"
] | file_126961 |
GOAL: (arm-empty) (on-table kjlow) (on fyqmd pdvrw) (on pdvrw vcsdk) (on vcsdk idbbd) (on idbbd kjlow) (clear fyqmd) | GOAL: (arm-empty) (on-table kjlow) (on fyqmd pdvrw) (on pdvrw vcsdk) (on vcsdk idbbd) (on idbbd kjlow) (clear fyqmd)
STATE: (on idbbd fyqmd) (arm-empty) (on fyqmd vcsdk) (on-table pdvrw) (on-table kjlow) (on vcsdk pdvrw) (clear idbbd) (clear kjlow) | [
[
"unstack idbbd fyqmd"
],
[
"stack idbbd kjlow"
],
[
"unstack fyqmd vcsdk"
],
[
"put-down fyqmd"
],
[
"unstack vcsdk pdvrw"
],
[
"stack vcsdk idbbd"
],
[
"pick-up pdvrw"
],
[
"stack pdvrw vcsdk"
],
[
"pick-up fyqmd"
],
[
"stack fyqmd pdvrw"
]
] | [
"(on fyqmd vcsdk) (on-table pdvrw) (on-table kjlow) (on vcsdk pdvrw) (holding idbbd) (clear kjlow) (clear fyqmd)",
"(arm-empty) (on fyqmd vcsdk) (on-table pdvrw) (on-table kjlow) (on idbbd kjlow) (on vcsdk pdvrw) (clear idbbd) (clear fyqmd)",
"(on-table pdvrw) (on-table kjlow) (clear vcsdk) (on idbbd kjlow) (holding fyqmd) (on vcsdk pdvrw) (clear idbbd)",
"(arm-empty) (on-table pdvrw) (on-table fyqmd) (clear vcsdk) (on idbbd kjlow) (clear fyqmd) (on-table kjlow) (on vcsdk pdvrw) (clear idbbd)",
"(clear pdvrw) (on-table pdvrw) (on-table fyqmd) (on-table kjlow) (holding vcsdk) (on idbbd kjlow) (clear idbbd) (clear fyqmd)",
"(clear pdvrw) (arm-empty) (on-table pdvrw) (on-table fyqmd) (on-table kjlow) (clear vcsdk) (on vcsdk idbbd) (on idbbd kjlow) (clear fyqmd)",
"(on-table fyqmd) (on-table kjlow) (clear vcsdk) (on vcsdk idbbd) (holding pdvrw) (on idbbd kjlow) (clear fyqmd)",
"(arm-empty) (on-table fyqmd) (on idbbd kjlow) (on pdvrw vcsdk) (clear fyqmd) (clear pdvrw) (on-table kjlow) (on vcsdk idbbd)",
"(clear pdvrw) (on-table kjlow) (on pdvrw vcsdk) (on vcsdk idbbd) (holding fyqmd) (on idbbd kjlow)",
"(arm-empty) (on-table kjlow) (on fyqmd pdvrw) (on pdvrw vcsdk) (on vcsdk idbbd) (on idbbd kjlow) (clear fyqmd)"
] | file_163006 |
GOAL: (clear jrxfv) (on-table tyoww) (on uxipe tyoww) (on jrxfv uxipe) (holding xcebv) | GOAL: (clear jrxfv) (on-table tyoww) (on uxipe tyoww) (on jrxfv uxipe) (holding xcebv)
STATE: (holding jrxfv) (on-table tyoww) (on uxipe tyoww) (clear xcebv) (clear uxipe) (on-table xcebv) | [
[
"stack jrxfv uxipe"
],
[
"pick-up xcebv"
]
] | [
"(clear jrxfv) (arm-empty) (on-table tyoww) (on uxipe tyoww) (on jrxfv uxipe) (clear xcebv) (on-table xcebv)",
"(clear jrxfv) (on-table tyoww) (on uxipe tyoww) (on jrxfv uxipe) (holding xcebv)"
] | file_80717 |
GOAL: (on qgzli nkpei) (arm-empty) (on-table nkpei) (on anazw lilwd) (clear anazw) (on-table bypar) (on lilwd qgzli) (clear bypar) | GOAL: (on qgzli nkpei) (arm-empty) (on-table nkpei) (on anazw lilwd) (clear anazw) (on-table bypar) (on lilwd qgzli) (clear bypar)
STATE: (clear anazw) (on-table anazw) (on-table nkpei) (on-table bypar) (clear lilwd) (on-table lilwd) (holding qgzli) (clear bypar) (clear nkpei) | [
[
"stack qgzli nkpei"
],
[
"pick-up lilwd"
],
[
"stack lilwd qgzli"
],
[
"pick-up anazw"
],
[
"stack anazw lilwd"
]
] | [
"(clear anazw) (on qgzli nkpei) (arm-empty) (on-table anazw) (on-table nkpei) (on-table bypar) (clear lilwd) (on-table lilwd) (clear qgzli) (clear bypar)",
"(clear anazw) (on qgzli nkpei) (on-table anazw) (on-table nkpei) (on-table bypar) (holding lilwd) (clear qgzli) (clear bypar)",
"(clear anazw) (on qgzli nkpei) (arm-empty) (on-table anazw) (on-table nkpei) (on-table bypar) (clear lilwd) (on lilwd qgzli) (clear bypar)",
"(on qgzli nkpei) (on-table nkpei) (on-table bypar) (clear lilwd) (on lilwd qgzli) (holding anazw) (clear bypar)",
"(on qgzli nkpei) (arm-empty) (on-table nkpei) (on anazw lilwd) (clear anazw) (on-table bypar) (on lilwd qgzli) (clear bypar)"
] | file_116090 |
GOAL: (arm-empty) (on-table ftcch) (on-table nelbf) (on-table kkgyy) (clear eywlu) (on eywlu ftcch) (clear bzmik) (clear kkgyy) (on-table bzmik) (clear nelbf) | GOAL: (arm-empty) (on-table ftcch) (on-table nelbf) (on-table kkgyy) (clear eywlu) (on eywlu ftcch) (clear bzmik) (clear kkgyy) (on-table bzmik) (clear nelbf)
STATE: (clear ftcch) (arm-empty) (on nelbf eywlu) (on-table ftcch) (on-table kkgyy) (on eywlu bzmik) (clear kkgyy) (on-table bzmik) (clear nelbf) | [
[
"unstack nelbf eywlu"
],
[
"stack nelbf kkgyy"
],
[
"unstack eywlu bzmik"
],
[
"stack eywlu ftcch"
],
[
"unstack nelbf kkgyy"
],
[
"put-down nelbf"
]
] | [
"(clear ftcch) (on-table ftcch) (on-table kkgyy) (clear eywlu) (on eywlu bzmik) (holding nelbf) (clear kkgyy) (on-table bzmik)",
"(clear ftcch) (arm-empty) (on-table ftcch) (on-table kkgyy) (clear eywlu) (on eywlu bzmik) (on nelbf kkgyy) (on-table bzmik) (clear nelbf)",
"(clear ftcch) (on-table ftcch) (on-table kkgyy) (holding eywlu) (on nelbf kkgyy) (clear bzmik) (on-table bzmik) (clear nelbf)",
"(arm-empty) (on-table ftcch) (on-table kkgyy) (clear eywlu) (on nelbf kkgyy) (on eywlu ftcch) (clear bzmik) (on-table bzmik) (clear nelbf)",
"(on-table ftcch) (on-table kkgyy) (clear eywlu) (holding nelbf) (on eywlu ftcch) (clear bzmik) (clear kkgyy) (on-table bzmik)",
"(arm-empty) (on-table ftcch) (on-table nelbf) (on-table kkgyy) (clear eywlu) (on eywlu ftcch) (clear bzmik) (clear kkgyy) (on-table bzmik) (clear nelbf)"
] | file_76786 |
GOAL: (on gqzya zdbyy) (arm-empty) (on-table rvieg) (on-table zdbyy) (on wdwqs rvieg) (clear qkfau) (on-table qkfau) (clear wdwqs) (clear gqzya) | GOAL: (on gqzya zdbyy) (arm-empty) (on-table rvieg) (on-table zdbyy) (on wdwqs rvieg) (clear qkfau) (on-table qkfau) (clear wdwqs) (clear gqzya)
STATE: (clear rvieg) (arm-empty) (on-table rvieg) (on-table zdbyy) (on-table gqzya) (clear qkfau) (on-table qkfau) (clear wdwqs) (clear gqzya) (on-table wdwqs) (clear zdbyy) | [
[
"pick-up wdwqs"
],
[
"stack wdwqs rvieg"
],
[
"pick-up gqzya"
],
[
"stack gqzya zdbyy"
]
] | [
"(clear rvieg) (on-table rvieg) (on-table zdbyy) (on-table gqzya) (clear qkfau) (on-table qkfau) (holding wdwqs) (clear gqzya) (clear zdbyy)",
"(arm-empty) (on-table rvieg) (on-table zdbyy) (on-table gqzya) (on wdwqs rvieg) (clear qkfau) (on-table qkfau) (clear wdwqs) (clear gqzya) (clear zdbyy)",
"(holding gqzya) (on-table rvieg) (on-table zdbyy) (on wdwqs rvieg) (clear qkfau) (on-table qkfau) (clear wdwqs) (clear zdbyy)",
"(on gqzya zdbyy) (arm-empty) (on-table rvieg) (on-table zdbyy) (on wdwqs rvieg) (clear qkfau) (on-table qkfau) (clear wdwqs) (clear gqzya)"
] | file_20904 |
GOAL: (clear kumug) (arm-empty) (on-table orkwa) (on abnmw eroub) (on kumug abnmw) (clear orkwa) (on-table eroub) | GOAL: (clear kumug) (arm-empty) (on-table orkwa) (on abnmw eroub) (on kumug abnmw) (clear orkwa) (on-table eroub)
STATE: (clear kumug) (arm-empty) (on-table kumug) (on-table orkwa) (clear abnmw) (on-table abnmw) (clear eroub) (clear orkwa) (on-table eroub) | [
[
"pick-up abnmw"
],
[
"stack abnmw eroub"
],
[
"pick-up kumug"
],
[
"stack kumug abnmw"
]
] | [
"(clear kumug) (on-table kumug) (on-table orkwa) (holding abnmw) (clear eroub) (clear orkwa) (on-table eroub)",
"(arm-empty) (on-table kumug) (clear abnmw) (clear kumug) (on-table orkwa) (on abnmw eroub) (clear orkwa) (on-table eroub)",
"(on-table orkwa) (clear abnmw) (on abnmw eroub) (holding kumug) (clear orkwa) (on-table eroub)",
"(clear kumug) (arm-empty) (on-table orkwa) (on abnmw eroub) (on kumug abnmw) (clear orkwa) (on-table eroub)"
] | file_65842 |
GOAL: (on rszfv vudhb) (on uunaj rszfv) (arm-empty) (on-table vudhb) (on abdwv rhyim) (on rhyim uunaj) (clear abdwv) | GOAL: (on rszfv vudhb) (on uunaj rszfv) (arm-empty) (on-table vudhb) (on abdwv rhyim) (on rhyim uunaj) (clear abdwv)
STATE: (clear rhyim) (on-table vudhb) (on-table uunaj) (on-table abdwv) (on rhyim abdwv) (holding rszfv) (clear uunaj) (clear vudhb) | [
[
"stack rszfv vudhb"
],
[
"pick-up uunaj"
],
[
"stack uunaj rszfv"
],
[
"unstack rhyim abdwv"
],
[
"stack rhyim uunaj"
],
[
"pick-up abdwv"
],
[
"stack abdwv rhyim"
]
] | [
"(clear rhyim) (on rszfv vudhb) (arm-empty) (on-table vudhb) (on-table uunaj) (on-table abdwv) (on rhyim abdwv) (clear rszfv) (clear uunaj)",
"(holding uunaj) (clear rhyim) (on rszfv vudhb) (on-table vudhb) (on-table abdwv) (on rhyim abdwv) (clear rszfv)",
"(clear rhyim) (on rszfv vudhb) (on uunaj rszfv) (arm-empty) (on-table vudhb) (on-table abdwv) (on rhyim abdwv) (clear uunaj)",
"(on rszfv vudhb) (on uunaj rszfv) (on-table vudhb) (clear abdwv) (on-table abdwv) (holding rhyim) (clear uunaj)",
"(on rszfv vudhb) (on uunaj rszfv) (clear rhyim) (arm-empty) (on-table vudhb) (clear abdwv) (on-table abdwv) (on rhyim uunaj)",
"(on rszfv vudhb) (on uunaj rszfv) (clear rhyim) (on-table vudhb) (holding abdwv) (on rhyim uunaj)",
"(on rszfv vudhb) (on uunaj rszfv) (arm-empty) (on-table vudhb) (on abdwv rhyim) (on rhyim uunaj) (clear abdwv)"
] | file_126029 |
GOAL: (on nngow fuwwf) (on njwph olcih) (on hfavt njwph) (arm-empty) (clear nngow) (on-table olcih) (on fuwwf hfavt) | GOAL: (on nngow fuwwf) (on njwph olcih) (on hfavt njwph) (arm-empty) (clear nngow) (on-table olcih) (on fuwwf hfavt)
STATE: (clear fuwwf) (on hfavt njwph) (arm-empty) (on-table fuwwf) (on-table olcih) (clear nngow) (on njwph olcih) (on nngow hfavt) | [
[
"unstack nngow hfavt"
],
[
"put-down nngow"
],
[
"pick-up fuwwf"
],
[
"stack fuwwf hfavt"
],
[
"pick-up nngow"
],
[
"stack nngow fuwwf"
]
] | [
"(clear fuwwf) (on hfavt njwph) (on-table fuwwf) (on-table olcih) (holding nngow) (on njwph olcih) (clear hfavt)",
"(on hfavt njwph) (arm-empty) (on-table fuwwf) (clear nngow) (clear fuwwf) (on-table olcih) (on njwph olcih) (on-table nngow) (clear hfavt)",
"(on hfavt njwph) (on-table olcih) (clear nngow) (on njwph olcih) (on-table nngow) (holding fuwwf) (clear hfavt)",
"(on hfavt njwph) (clear fuwwf) (arm-empty) (on-table olcih) (clear nngow) (on njwph olcih) (on-table nngow) (on fuwwf hfavt)",
"(on hfavt njwph) (clear fuwwf) (on-table olcih) (holding nngow) (on njwph olcih) (on fuwwf hfavt)",
"(on nngow fuwwf) (on njwph olcih) (on hfavt njwph) (arm-empty) (clear nngow) (on-table olcih) (on fuwwf hfavt)"
] | file_37503 |
GOAL: (on olhdy piady) (on neahy olhdy) (arm-empty) (on-table qiyby) (on piady qiyby) (clear ztvwr) (on-table ztvwr) (clear neahy) | GOAL: (on olhdy piady) (on neahy olhdy) (arm-empty) (on-table qiyby) (on piady qiyby) (clear ztvwr) (on-table ztvwr) (clear neahy)
STATE: (on neahy piady) (on olhdy ztvwr) (on ztvwr neahy) (arm-empty) (on-table qiyby) (on piady qiyby) (clear olhdy) | [
[
"unstack olhdy ztvwr"
],
[
"put-down olhdy"
],
[
"unstack ztvwr neahy"
],
[
"put-down ztvwr"
],
[
"unstack neahy piady"
],
[
"put-down neahy"
],
[
"pick-up olhdy"
],
[
"stack olhdy piady"
],
[
"pick-up neahy"
],
[
"stack neahy olhdy"
]
] | [
"(on neahy piady) (on ztvwr neahy) (on-table qiyby) (on piady qiyby) (clear ztvwr) (holding olhdy)",
"(on neahy piady) (on ztvwr neahy) (arm-empty) (on-table qiyby) (on piady qiyby) (clear olhdy) (clear ztvwr) (on-table olhdy)",
"(on neahy piady) (on-table qiyby) (holding ztvwr) (on piady qiyby) (clear olhdy) (clear neahy) (on-table olhdy)",
"(on neahy piady) (arm-empty) (on-table qiyby) (on piady qiyby) (clear ztvwr) (on-table ztvwr) (clear olhdy) (clear neahy) (on-table olhdy)",
"(holding neahy) (on-table qiyby) (on piady qiyby) (clear ztvwr) (on-table ztvwr) (clear olhdy) (on-table olhdy) (clear piady)",
"(arm-empty) (on-table qiyby) (on-table neahy) (on piady qiyby) (clear ztvwr) (on-table ztvwr) (clear olhdy) (clear neahy) (on-table olhdy) (clear piady)",
"(on-table qiyby) (on-table neahy) (on piady qiyby) (clear ztvwr) (on-table ztvwr) (holding olhdy) (clear neahy) (clear piady)",
"(on olhdy piady) (arm-empty) (on-table qiyby) (on-table neahy) (on piady qiyby) (clear ztvwr) (on-table ztvwr) (clear olhdy) (clear neahy)",
"(holding neahy) (on olhdy piady) (on-table qiyby) (on piady qiyby) (clear ztvwr) (on-table ztvwr) (clear olhdy)",
"(on olhdy piady) (on neahy olhdy) (arm-empty) (on-table qiyby) (on piady qiyby) (clear ztvwr) (on-table ztvwr) (clear neahy)"
] | file_177300 |
GOAL: (arm-empty) (on-table rmosh) (clear ibcts) (on rhnrv bozdi) (on-table ibcts) (on vzwgj rmosh) (clear vzwgj) (on-table bozdi) (clear rhnrv) | GOAL: (arm-empty) (on-table rmosh) (clear ibcts) (on rhnrv bozdi) (on-table ibcts) (on vzwgj rmosh) (clear vzwgj) (on-table bozdi) (clear rhnrv)
STATE: (holding vzwgj) (clear ibcts) (on rhnrv bozdi) (on ibcts rmosh) (on rmosh rhnrv) (on-table bozdi) | [
[
"put-down vzwgj"
],
[
"unstack ibcts rmosh"
],
[
"put-down ibcts"
],
[
"unstack rmosh rhnrv"
],
[
"stack rmosh vzwgj"
],
[
"unstack rhnrv bozdi"
],
[
"stack rhnrv ibcts"
],
[
"unstack rmosh vzwgj"
],
[
"put-down rmosh"
],
[
"pick-up vzwgj"
],
[
"stack vzwgj rmosh"
],
[
"unstack rhnrv ibcts"
],
[
"stack rhnrv bozdi"
]
] | [
"(arm-empty) (clear ibcts) (on rhnrv bozdi) (on rmosh rhnrv) (on-table vzwgj) (on ibcts rmosh) (clear vzwgj) (on-table bozdi)",
"(clear rmosh) (on-table vzwgj) (holding ibcts) (on rhnrv bozdi) (on rmosh rhnrv) (clear vzwgj) (on-table bozdi)",
"(arm-empty) (clear ibcts) (on rhnrv bozdi) (on rmosh rhnrv) (clear rmosh) (on-table vzwgj) (on-table ibcts) (clear vzwgj) (on-table bozdi)",
"(on-table vzwgj) (clear ibcts) (on rhnrv bozdi) (on-table ibcts) (holding rmosh) (clear vzwgj) (on-table bozdi) (clear rhnrv)",
"(clear rmosh) (arm-empty) (on-table vzwgj) (clear ibcts) (on rhnrv bozdi) (on-table ibcts) (on rmosh vzwgj) (on-table bozdi) (clear rhnrv)",
"(clear rmosh) (on-table vzwgj) (clear ibcts) (holding rhnrv) (on-table ibcts) (on rmosh vzwgj) (clear bozdi) (on-table bozdi)",
"(clear rmosh) (arm-empty) (on rhnrv ibcts) (on-table vzwgj) (on-table ibcts) (on rmosh vzwgj) (clear bozdi) (on-table bozdi) (clear rhnrv)",
"(on rhnrv ibcts) (on-table vzwgj) (on-table ibcts) (holding rmosh) (clear bozdi) (clear vzwgj) (on-table bozdi) (clear rhnrv)",
"(clear rmosh) (arm-empty) (on rhnrv ibcts) (on-table rmosh) (on-table vzwgj) (on-table ibcts) (clear bozdi) (clear vzwgj) (on-table bozdi) (clear rhnrv)",
"(holding vzwgj) (clear rmosh) (on rhnrv ibcts) (on-table rmosh) (on-table ibcts) (clear bozdi) (on-table bozdi) (clear rhnrv)",
"(arm-empty) (on rhnrv ibcts) (on-table rmosh) (on-table ibcts) (clear bozdi) (on vzwgj rmosh) (clear vzwgj) (on-table bozdi) (clear rhnrv)",
"(on-table rmosh) (clear ibcts) (holding rhnrv) (on-table ibcts) (clear bozdi) (on vzwgj rmosh) (clear vzwgj) (on-table bozdi)",
"(arm-empty) (on-table rmosh) (clear ibcts) (on rhnrv bozdi) (on-table ibcts) (on vzwgj rmosh) (clear vzwgj) (on-table bozdi) (clear rhnrv)"
] | file_189672 |
GOAL: (clear fzykz) (on-table ebpmm) (on-table xhlfb) (holding cjaeo) (on fzykz ebpmm) (clear plffs) (clear xhlfb) (on-table plffs) | GOAL: (clear fzykz) (on-table ebpmm) (on-table xhlfb) (holding cjaeo) (on fzykz ebpmm) (clear plffs) (clear xhlfb) (on-table plffs)
STATE: (on plffs cjaeo) (clear fzykz) (on cjaeo xhlfb) (arm-empty) (on-table fzykz) (on-table ebpmm) (on-table xhlfb) (clear plffs) (clear ebpmm) | [
[
"pick-up fzykz"
],
[
"stack fzykz ebpmm"
],
[
"unstack plffs cjaeo"
],
[
"put-down plffs"
],
[
"unstack cjaeo xhlfb"
]
] | [
"(on plffs cjaeo) (on cjaeo xhlfb) (on-table ebpmm) (on-table xhlfb) (holding fzykz) (clear plffs) (clear ebpmm)",
"(on plffs cjaeo) (clear fzykz) (on cjaeo xhlfb) (arm-empty) (on-table ebpmm) (on-table xhlfb) (on fzykz ebpmm) (clear plffs)",
"(clear fzykz) (on cjaeo xhlfb) (on-table ebpmm) (on-table xhlfb) (clear cjaeo) (on fzykz ebpmm) (holding plffs)",
"(on cjaeo xhlfb) (arm-empty) (on-table ebpmm) (clear cjaeo) (on fzykz ebpmm) (clear fzykz) (on-table xhlfb) (clear plffs) (on-table plffs)",
"(clear fzykz) (on-table ebpmm) (on-table xhlfb) (holding cjaeo) (on fzykz ebpmm) (clear plffs) (clear xhlfb) (on-table plffs)"
] | file_218480 |
GOAL: (arm-empty) (on-table xskim) (on ettes xskim) (clear ettes) (on-table cwwng) (on lzyve cwwng) (clear deebi) (clear lzyve) (on-table deebi) | GOAL: (arm-empty) (on-table xskim) (on ettes xskim) (clear ettes) (on-table cwwng) (on lzyve cwwng) (clear deebi) (clear lzyve) (on-table deebi)
STATE: (clear xskim) (arm-empty) (on-table xskim) (on-table ettes) (on-table cwwng) (on lzyve cwwng) (on deebi lzyve) (clear deebi) (clear ettes) | [
[
"pick-up ettes"
],
[
"stack ettes xskim"
],
[
"unstack deebi lzyve"
],
[
"put-down deebi"
]
] | [
"(clear xskim) (on-table xskim) (holding ettes) (on-table cwwng) (on lzyve cwwng) (on deebi lzyve) (clear deebi)",
"(arm-empty) (on-table xskim) (on ettes xskim) (on-table cwwng) (on lzyve cwwng) (on deebi lzyve) (clear deebi) (clear ettes)",
"(on-table xskim) (on ettes xskim) (on-table cwwng) (on lzyve cwwng) (holding deebi) (clear lzyve) (clear ettes)",
"(arm-empty) (on-table xskim) (on ettes xskim) (clear ettes) (on-table cwwng) (on lzyve cwwng) (clear deebi) (clear lzyve) (on-table deebi)"
] | file_65181 |
GOAL: (clear hlxjl) (on wdiwo khaik) (arm-empty) (on-table ddfdj) (clear ucelw) (on-table ucelw) (on hlxjl ddfdj) (clear wdiwo) (on-table khaik) | GOAL: (clear hlxjl) (on wdiwo khaik) (arm-empty) (on-table ddfdj) (clear ucelw) (on-table ucelw) (on hlxjl ddfdj) (clear wdiwo) (on-table khaik)
STATE: (arm-empty) (on ddfdj ucelw) (on-table hlxjl) (on-table wdiwo) (on ucelw hlxjl) (clear khaik) (clear wdiwo) (on-table khaik) (clear ddfdj) | [
[
"pick-up wdiwo"
],
[
"stack wdiwo khaik"
],
[
"unstack ddfdj ucelw"
],
[
"put-down ddfdj"
],
[
"unstack ucelw hlxjl"
],
[
"put-down ucelw"
],
[
"pick-up hlxjl"
],
[
"stack hlxjl ddfdj"
]
] | [
"(holding wdiwo) (on ddfdj ucelw) (on-table hlxjl) (on ucelw hlxjl) (clear khaik) (on-table khaik) (clear ddfdj)",
"(on wdiwo khaik) (on ddfdj ucelw) (on-table hlxjl) (arm-empty) (on ucelw hlxjl) (clear wdiwo) (on-table khaik) (clear ddfdj)",
"(on wdiwo khaik) (on-table hlxjl) (clear ucelw) (holding ddfdj) (on ucelw hlxjl) (clear wdiwo) (on-table khaik)",
"(on wdiwo khaik) (arm-empty) (on-table hlxjl) (on-table ddfdj) (clear ucelw) (clear ddfdj) (on ucelw hlxjl) (clear wdiwo) (on-table khaik)",
"(clear hlxjl) (on wdiwo khaik) (on-table hlxjl) (on-table ddfdj) (holding ucelw) (clear wdiwo) (on-table khaik) (clear ddfdj)",
"(clear hlxjl) (on wdiwo khaik) (arm-empty) (on-table hlxjl) (on-table ddfdj) (clear ucelw) (on-table ucelw) (clear wdiwo) (on-table khaik) (clear ddfdj)",
"(on wdiwo khaik) (on-table ddfdj) (clear ucelw) (on-table ucelw) (holding hlxjl) (clear wdiwo) (on-table khaik) (clear ddfdj)",
"(clear hlxjl) (on wdiwo khaik) (arm-empty) (on-table ddfdj) (clear ucelw) (on-table ucelw) (on hlxjl ddfdj) (clear wdiwo) (on-table khaik)"
] | file_155995 |
GOAL: (on xosip okwju) (on-table wqyjs) (on okwju wqyjs) (clear qgaxo) (on-table qgaxo) (holding lwmlt) (clear xosip) | GOAL: (on xosip okwju) (on-table wqyjs) (on okwju wqyjs) (clear qgaxo) (on-table qgaxo) (holding lwmlt) (clear xosip)
STATE: (clear wqyjs) (on qgaxo xosip) (on xosip lwmlt) (on okwju qgaxo) (arm-empty) (on-table wqyjs) (on-table lwmlt) (clear okwju) | [
[
"unstack okwju qgaxo"
],
[
"stack okwju wqyjs"
],
[
"unstack qgaxo xosip"
],
[
"put-down qgaxo"
],
[
"unstack xosip lwmlt"
],
[
"stack xosip okwju"
],
[
"pick-up lwmlt"
]
] | [
"(clear wqyjs) (on qgaxo xosip) (on xosip lwmlt) (on-table wqyjs) (clear qgaxo) (holding okwju) (on-table lwmlt)",
"(on qgaxo xosip) (on xosip lwmlt) (on-table wqyjs) (arm-empty) (on okwju wqyjs) (clear qgaxo) (on-table lwmlt) (clear okwju)",
"(on xosip lwmlt) (on-table wqyjs) (holding qgaxo) (on okwju wqyjs) (clear xosip) (on-table lwmlt) (clear okwju)",
"(on xosip lwmlt) (arm-empty) (on-table wqyjs) (on okwju wqyjs) (clear qgaxo) (clear okwju) (on-table qgaxo) (clear xosip) (on-table lwmlt)",
"(holding xosip) (on-table wqyjs) (on okwju wqyjs) (clear qgaxo) (on-table qgaxo) (clear lwmlt) (on-table lwmlt) (clear okwju)",
"(on xosip okwju) (arm-empty) (on-table wqyjs) (on okwju wqyjs) (clear qgaxo) (on-table qgaxo) (clear lwmlt) (clear xosip) (on-table lwmlt)",
"(on xosip okwju) (on-table wqyjs) (on okwju wqyjs) (clear qgaxo) (on-table qgaxo) (holding lwmlt) (clear xosip)"
] | file_62988 |
GOAL: (on-table yovzy) (on-table jvphb) (clear xpgze) (on-table xpgze) (on lldmv yovzy) (clear lldmv) (holding isepu) (clear jvphb) | GOAL: (on-table yovzy) (on-table jvphb) (clear xpgze) (on-table xpgze) (on lldmv yovzy) (clear lldmv) (holding isepu) (clear jvphb)
STATE: (on-table yovzy) (clear xpgze) (on jvphb lldmv) (on-table xpgze) (holding isepu) (on lldmv yovzy) (clear jvphb) | [
[
"put-down isepu"
],
[
"unstack jvphb lldmv"
],
[
"put-down jvphb"
],
[
"pick-up isepu"
]
] | [
"(arm-empty) (on-table yovzy) (clear xpgze) (on lldmv yovzy) (clear jvphb) (on jvphb lldmv) (on-table xpgze) (clear isepu) (on-table isepu)",
"(on-table yovzy) (clear xpgze) (holding jvphb) (on-table xpgze) (clear isepu) (on lldmv yovzy) (clear lldmv) (on-table isepu)",
"(arm-empty) (on-table yovzy) (on-table jvphb) (clear xpgze) (on-table xpgze) (clear isepu) (on lldmv yovzy) (clear lldmv) (on-table isepu) (clear jvphb)",
"(on-table yovzy) (on-table jvphb) (clear xpgze) (on-table xpgze) (on lldmv yovzy) (clear lldmv) (holding isepu) (clear jvphb)"
] | file_220908 |
GOAL: (clear bpuov) (on vcnpz mmjwz) (arm-empty) (clear cdobn) (on-table cdobn) (on bpuov vcnpz) (on-table mmjwz) | GOAL: (clear bpuov) (on vcnpz mmjwz) (arm-empty) (clear cdobn) (on-table cdobn) (on bpuov vcnpz) (on-table mmjwz)
STATE: (on cdobn vcnpz) (on vcnpz mmjwz) (on-table bpuov) (arm-empty) (on mmjwz bpuov) (clear cdobn) | [
[
"unstack cdobn vcnpz"
],
[
"put-down cdobn"
],
[
"unstack vcnpz mmjwz"
],
[
"stack vcnpz cdobn"
],
[
"unstack mmjwz bpuov"
],
[
"put-down mmjwz"
],
[
"unstack vcnpz cdobn"
],
[
"stack vcnpz mmjwz"
],
[
"pick-up bpuov"
],
[
"stack bpuov vcnpz"
]
] | [
"(on vcnpz mmjwz) (on-table bpuov) (holding cdobn) (on mmjwz bpuov) (clear vcnpz)",
"(on-table cdobn) (on vcnpz mmjwz) (arm-empty) (on-table bpuov) (on mmjwz bpuov) (clear cdobn) (clear vcnpz)",
"(on-table bpuov) (clear cdobn) (holding vcnpz) (on mmjwz bpuov) (on-table cdobn) (clear mmjwz)",
"(arm-empty) (on-table bpuov) (on mmjwz bpuov) (on-table cdobn) (on vcnpz cdobn) (clear mmjwz) (clear vcnpz)",
"(on-table bpuov) (clear bpuov) (on-table cdobn) (on vcnpz cdobn) (holding mmjwz) (clear vcnpz)",
"(arm-empty) (on-table bpuov) (clear bpuov) (on-table cdobn) (on vcnpz cdobn) (clear mmjwz) (clear vcnpz) (on-table mmjwz)",
"(holding vcnpz) (clear bpuov) (on-table bpuov) (clear cdobn) (on-table cdobn) (clear mmjwz) (on-table mmjwz)",
"(clear bpuov) (on vcnpz mmjwz) (arm-empty) (on-table bpuov) (clear cdobn) (on-table cdobn) (clear vcnpz) (on-table mmjwz)",
"(on vcnpz mmjwz) (clear cdobn) (on-table cdobn) (holding bpuov) (clear vcnpz) (on-table mmjwz)",
"(clear bpuov) (on vcnpz mmjwz) (arm-empty) (clear cdobn) (on-table cdobn) (on bpuov vcnpz) (on-table mmjwz)"
] | file_144548 |
GOAL: (arm-empty) (on-table nguqo) (on tgsem ibptu) (on ibptu nguqo) (clear jowey) (clear tgsem) (on-table jowey) | GOAL: (arm-empty) (on-table nguqo) (on tgsem ibptu) (on ibptu nguqo) (clear jowey) (clear tgsem) (on-table jowey)
STATE: (on-table tgsem) (clear ibptu) (on ibptu jowey) (holding nguqo) (clear tgsem) (on-table jowey) | [
[
"put-down nguqo"
],
[
"unstack ibptu jowey"
],
[
"stack ibptu nguqo"
],
[
"pick-up tgsem"
],
[
"stack tgsem ibptu"
]
] | [
"(arm-empty) (on-table nguqo) (clear ibptu) (clear nguqo) (on-table tgsem) (on ibptu jowey) (clear tgsem) (on-table jowey)",
"(clear nguqo) (on-table nguqo) (on-table tgsem) (holding ibptu) (clear jowey) (clear tgsem) (on-table jowey)",
"(arm-empty) (on-table nguqo) (on-table tgsem) (clear ibptu) (on ibptu nguqo) (clear jowey) (clear tgsem) (on-table jowey)",
"(holding tgsem) (on-table nguqo) (clear ibptu) (on ibptu nguqo) (clear jowey) (on-table jowey)",
"(arm-empty) (on-table nguqo) (on tgsem ibptu) (on ibptu nguqo) (clear jowey) (clear tgsem) (on-table jowey)"
] | file_191135 |
GOAL: (on vgjgd ogqnk) (holding lyfzs) (on ogqnk nukkn) (on nukkn moqit) (clear vgjgd) (on-table moqit) | GOAL: (on vgjgd ogqnk) (holding lyfzs) (on ogqnk nukkn) (on nukkn moqit) (clear vgjgd) (on-table moqit)
STATE: (on moqit lyfzs) (arm-empty) (on-table vgjgd) (on ogqnk vgjgd) (on lyfzs nukkn) (on nukkn ogqnk) (clear moqit) | [
[
"unstack moqit lyfzs"
],
[
"put-down moqit"
],
[
"unstack lyfzs nukkn"
],
[
"put-down lyfzs"
],
[
"unstack nukkn ogqnk"
],
[
"stack nukkn moqit"
],
[
"unstack ogqnk vgjgd"
],
[
"stack ogqnk nukkn"
],
[
"pick-up vgjgd"
],
[
"stack vgjgd ogqnk"
],
[
"pick-up lyfzs"
]
] | [
"(clear lyfzs) (on nukkn ogqnk) (on-table vgjgd) (on ogqnk vgjgd) (on lyfzs nukkn) (holding moqit)",
"(on lyfzs nukkn) (on ogqnk vgjgd) (arm-empty) (on-table vgjgd) (on nukkn ogqnk) (clear moqit) (clear lyfzs) (on-table moqit)",
"(clear nukkn) (on-table vgjgd) (holding lyfzs) (on ogqnk vgjgd) (on nukkn ogqnk) (clear moqit) (on-table moqit)",
"(arm-empty) (clear lyfzs) (on nukkn ogqnk) (clear nukkn) (on-table vgjgd) (on ogqnk vgjgd) (on-table lyfzs) (clear moqit) (on-table moqit)",
"(on-table vgjgd) (clear lyfzs) (on ogqnk vgjgd) (on-table lyfzs) (holding nukkn) (clear moqit) (on-table moqit) (clear ogqnk)",
"(clear nukkn) (arm-empty) (on-table vgjgd) (clear lyfzs) (on ogqnk vgjgd) (on-table lyfzs) (on nukkn moqit) (on-table moqit) (clear ogqnk)",
"(clear nukkn) (on-table vgjgd) (clear lyfzs) (holding ogqnk) (on-table lyfzs) (on nukkn moqit) (clear vgjgd) (on-table moqit)",
"(arm-empty) (on-table vgjgd) (on ogqnk nukkn) (clear lyfzs) (on-table lyfzs) (on nukkn moqit) (clear vgjgd) (on-table moqit) (clear ogqnk)",
"(holding vgjgd) (on ogqnk nukkn) (clear lyfzs) (on-table lyfzs) (on nukkn moqit) (on-table moqit) (clear ogqnk)",
"(on vgjgd ogqnk) (arm-empty) (on ogqnk nukkn) (clear lyfzs) (on-table lyfzs) (on nukkn moqit) (clear vgjgd) (on-table moqit)",
"(on vgjgd ogqnk) (holding lyfzs) (on ogqnk nukkn) (on nukkn moqit) (clear vgjgd) (on-table moqit)"
] | file_220108 |
GOAL: (on wlpha iwmjh) (on iwmjh szeme) (arm-empty) (on-table vimae) (on-table smcnb) (clear wlpha) (on szeme vimae) (clear smcnb) | GOAL: (on wlpha iwmjh) (on iwmjh szeme) (arm-empty) (on-table vimae) (on-table smcnb) (clear wlpha) (on szeme vimae) (clear smcnb)
STATE: (holding szeme) (clear vimae) (on-table vimae) (on-table smcnb) (clear iwmjh) (on iwmjh wlpha) (on-table wlpha) (clear smcnb) | [
[
"stack szeme vimae"
],
[
"unstack iwmjh wlpha"
],
[
"stack iwmjh szeme"
],
[
"pick-up wlpha"
],
[
"stack wlpha iwmjh"
]
] | [
"(arm-empty) (on-table vimae) (on-table smcnb) (clear iwmjh) (on iwmjh wlpha) (on szeme vimae) (clear szeme) (on-table wlpha) (clear smcnb)",
"(on-table vimae) (on-table smcnb) (holding iwmjh) (clear wlpha) (on szeme vimae) (clear szeme) (on-table wlpha) (clear smcnb)",
"(on iwmjh szeme) (arm-empty) (on-table vimae) (on-table smcnb) (clear iwmjh) (clear wlpha) (on szeme vimae) (on-table wlpha) (clear smcnb)",
"(on iwmjh szeme) (on-table vimae) (on-table smcnb) (clear iwmjh) (on szeme vimae) (holding wlpha) (clear smcnb)",
"(on wlpha iwmjh) (on iwmjh szeme) (arm-empty) (on-table vimae) (on-table smcnb) (clear wlpha) (on szeme vimae) (clear smcnb)"
] | file_41732 |
GOAL: (on mvulg iylvg) (clear ofzkj) (on kaopc mvulg) (arm-empty) (on-table ofzkj) (clear kaopc) (on iylvg wamqu) (on-table wamqu) | GOAL: (on mvulg iylvg) (clear ofzkj) (on kaopc mvulg) (arm-empty) (on-table ofzkj) (clear kaopc) (on iylvg wamqu) (on-table wamqu)
STATE: (clear ofzkj) (arm-empty) (on-table iylvg) (on-table kaopc) (on mvulg kaopc) (on ofzkj mvulg) (clear wamqu) (on-table wamqu) (clear iylvg) | [
[
"pick-up iylvg"
],
[
"stack iylvg wamqu"
],
[
"unstack ofzkj mvulg"
],
[
"put-down ofzkj"
],
[
"unstack mvulg kaopc"
],
[
"stack mvulg iylvg"
],
[
"pick-up kaopc"
],
[
"stack kaopc mvulg"
]
] | [
"(clear ofzkj) (holding iylvg) (on-table kaopc) (on mvulg kaopc) (on ofzkj mvulg) (clear wamqu) (on-table wamqu)",
"(clear ofzkj) (arm-empty) (on iylvg wamqu) (on-table kaopc) (on mvulg kaopc) (on ofzkj mvulg) (on-table wamqu) (clear iylvg)",
"(holding ofzkj) (on iylvg wamqu) (on-table kaopc) (on mvulg kaopc) (clear mvulg) (on-table wamqu) (clear iylvg)",
"(arm-empty) (on-table ofzkj) (on iylvg wamqu) (clear iylvg) (clear ofzkj) (on-table kaopc) (on mvulg kaopc) (clear mvulg) (on-table wamqu)",
"(holding mvulg) (clear ofzkj) (on-table ofzkj) (clear kaopc) (on iylvg wamqu) (on-table kaopc) (on-table wamqu) (clear iylvg)",
"(on mvulg iylvg) (clear ofzkj) (arm-empty) (on-table ofzkj) (clear kaopc) (on iylvg wamqu) (on-table kaopc) (clear mvulg) (on-table wamqu)",
"(on mvulg iylvg) (clear ofzkj) (on-table ofzkj) (holding kaopc) (on iylvg wamqu) (clear mvulg) (on-table wamqu)",
"(on mvulg iylvg) (clear ofzkj) (on kaopc mvulg) (arm-empty) (on-table ofzkj) (clear kaopc) (on iylvg wamqu) (on-table wamqu)"
] | file_83069 |
GOAL: (clear jeiaa) (arm-empty) (on-table jeiaa) (on-table xerkb) (clear psmsz) (on psmsz pvstp) (clear xerkb) (on-table pvstp) | GOAL: (clear jeiaa) (arm-empty) (on-table jeiaa) (on-table xerkb) (clear psmsz) (on psmsz pvstp) (clear xerkb) (on-table pvstp)
STATE: (clear jeiaa) (on-table jeiaa) (holding psmsz) (on-table xerkb) (clear pvstp) (clear xerkb) (on-table pvstp) | [
[
"stack psmsz pvstp"
]
] | [
"(clear jeiaa) (arm-empty) (on-table jeiaa) (on-table xerkb) (clear psmsz) (on psmsz pvstp) (clear xerkb) (on-table pvstp)"
] | file_223716 |
GOAL: (on-table gztnt) (on-table ertnw) (on hzbgi gztnt) (clear zijsi) (on-table zijsi) (holding siqrz) (clear ertnw) (clear hzbgi) | GOAL: (on-table gztnt) (on-table ertnw) (on hzbgi gztnt) (clear zijsi) (on-table zijsi) (holding siqrz) (clear ertnw) (clear hzbgi)
STATE: (arm-empty) (on-table ertnw) (clear zijsi) (on hzbgi siqrz) (on siqrz ertnw) (on zijsi gztnt) (on gztnt hzbgi) | [
[
"unstack zijsi gztnt"
],
[
"put-down zijsi"
],
[
"unstack gztnt hzbgi"
],
[
"put-down gztnt"
],
[
"unstack hzbgi siqrz"
],
[
"stack hzbgi gztnt"
],
[
"unstack siqrz ertnw"
]
] | [
"(holding zijsi) (on hzbgi siqrz) (on siqrz ertnw) (on gztnt hzbgi) (clear gztnt) (on-table ertnw)",
"(arm-empty) (clear zijsi) (on hzbgi siqrz) (on siqrz ertnw) (on gztnt hzbgi) (clear gztnt) (on-table ertnw) (on-table zijsi)",
"(on-table ertnw) (clear zijsi) (on hzbgi siqrz) (on-table zijsi) (holding gztnt) (on siqrz ertnw) (clear hzbgi)",
"(arm-empty) (on-table gztnt) (clear zijsi) (on hzbgi siqrz) (on siqrz ertnw) (clear hzbgi) (clear gztnt) (on-table ertnw) (on-table zijsi)",
"(clear gztnt) (on-table gztnt) (on-table ertnw) (clear zijsi) (holding hzbgi) (on-table zijsi) (on siqrz ertnw) (clear siqrz)",
"(arm-empty) (on-table gztnt) (on-table ertnw) (on hzbgi gztnt) (clear zijsi) (on-table zijsi) (on siqrz ertnw) (clear siqrz) (clear hzbgi)",
"(on-table gztnt) (on-table ertnw) (on hzbgi gztnt) (clear zijsi) (on-table zijsi) (holding siqrz) (clear ertnw) (clear hzbgi)"
] | file_110272 |
GOAL: (clear zvkus) (on-table rfubh) (on uctos rolxl) (holding ubqdy) (on zvkus uctos) (clear rfubh) (on-table rolxl) | GOAL: (clear zvkus) (on-table rfubh) (on uctos rolxl) (holding ubqdy) (on zvkus uctos) (clear rfubh) (on-table rolxl)
STATE: (arm-empty) (on-table rfubh) (on rolxl zvkus) (clear uctos) (on ubqdy rfubh) (on uctos rolxl) (on zvkus ubqdy) | [
[
"unstack uctos rolxl"
],
[
"put-down uctos"
],
[
"unstack rolxl zvkus"
],
[
"put-down rolxl"
],
[
"pick-up uctos"
],
[
"stack uctos rolxl"
],
[
"unstack zvkus ubqdy"
],
[
"stack zvkus uctos"
],
[
"unstack ubqdy rfubh"
]
] | [
"(on ubqdy rfubh) (holding uctos) (clear rolxl) (on-table rfubh) (on zvkus ubqdy) (on rolxl zvkus)",
"(arm-empty) (clear uctos) (on zvkus ubqdy) (on-table rfubh) (on rolxl zvkus) (on ubqdy rfubh) (on-table uctos) (clear rolxl)",
"(clear zvkus) (on-table rfubh) (clear uctos) (on ubqdy rfubh) (on-table uctos) (on zvkus ubqdy) (holding rolxl)",
"(arm-empty) (clear uctos) (on zvkus ubqdy) (clear zvkus) (on-table rfubh) (on ubqdy rfubh) (on-table uctos) (clear rolxl) (on-table rolxl)",
"(clear zvkus) (on-table rfubh) (holding uctos) (on ubqdy rfubh) (on zvkus ubqdy) (clear rolxl) (on-table rolxl)",
"(arm-empty) (clear uctos) (on zvkus ubqdy) (clear zvkus) (on-table rfubh) (on uctos rolxl) (on ubqdy rfubh) (on-table rolxl)",
"(on-table rfubh) (clear uctos) (on uctos rolxl) (on ubqdy rfubh) (holding zvkus) (on-table rolxl) (clear ubqdy)",
"(clear zvkus) (arm-empty) (on-table rfubh) (on uctos rolxl) (on ubqdy rfubh) (on zvkus uctos) (on-table rolxl) (clear ubqdy)",
"(clear zvkus) (on-table rfubh) (on uctos rolxl) (holding ubqdy) (on zvkus uctos) (clear rfubh) (on-table rolxl)"
] | file_215373 |
GOAL: (clear anffc) (arm-empty) (on ctduw lykuw) (on-table yobut) (on jeogv yobut) (on anffc ctduw) (clear jeogv) (on-table lykuw) | GOAL: (clear anffc) (arm-empty) (on ctduw lykuw) (on-table yobut) (on jeogv yobut) (on anffc ctduw) (clear jeogv) (on-table lykuw)
STATE: (on lykuw ctduw) (arm-empty) (on ctduw anffc) (on-table yobut) (on jeogv yobut) (on anffc jeogv) (clear lykuw) | [
[
"unstack lykuw ctduw"
],
[
"put-down lykuw"
],
[
"unstack ctduw anffc"
],
[
"stack ctduw lykuw"
],
[
"unstack anffc jeogv"
],
[
"stack anffc ctduw"
]
] | [
"(on ctduw anffc) (on anffc jeogv) (clear ctduw) (on-table yobut) (on jeogv yobut) (holding lykuw)",
"(arm-empty) (on ctduw anffc) (on anffc jeogv) (clear ctduw) (on-table yobut) (on jeogv yobut) (clear lykuw) (on-table lykuw)",
"(clear anffc) (holding ctduw) (on-table yobut) (on jeogv yobut) (on anffc jeogv) (clear lykuw) (on-table lykuw)",
"(clear anffc) (arm-empty) (on ctduw lykuw) (on-table yobut) (on jeogv yobut) (on anffc jeogv) (on-table lykuw) (clear ctduw)",
"(holding anffc) (on ctduw lykuw) (on-table yobut) (on jeogv yobut) (clear jeogv) (on-table lykuw) (clear ctduw)",
"(clear anffc) (arm-empty) (on ctduw lykuw) (on-table yobut) (on jeogv yobut) (on anffc ctduw) (clear jeogv) (on-table lykuw)"
] | file_66344 |
GOAL: (arm-empty) (on-table muehp) (clear muehp) (clear iatmz) (on-table wathk) (on evrns wathk) (on iatmz tszqu) (clear evrns) (on-table tszqu) | GOAL: (arm-empty) (on-table muehp) (clear muehp) (clear iatmz) (on-table wathk) (on evrns wathk) (on iatmz tszqu) (clear evrns) (on-table tszqu)
STATE: (clear iatmz) (on tszqu muehp) (arm-empty) (on-table iatmz) (on muehp evrns) (on-table wathk) (on evrns wathk) (clear tszqu) | [
[
"unstack tszqu muehp"
],
[
"put-down tszqu"
],
[
"pick-up iatmz"
],
[
"stack iatmz tszqu"
],
[
"unstack muehp evrns"
],
[
"put-down muehp"
]
] | [
"(clear iatmz) (on-table iatmz) (on muehp evrns) (on-table wathk) (on evrns wathk) (holding tszqu) (clear muehp)",
"(arm-empty) (on-table iatmz) (clear muehp) (clear iatmz) (on muehp evrns) (on-table wathk) (on evrns wathk) (clear tszqu) (on-table tszqu)",
"(holding iatmz) (on muehp evrns) (on-table wathk) (on evrns wathk) (clear tszqu) (on-table tszqu) (clear muehp)",
"(clear iatmz) (arm-empty) (on muehp evrns) (on-table wathk) (on evrns wathk) (on iatmz tszqu) (on-table tszqu) (clear muehp)",
"(clear iatmz) (holding muehp) (on-table wathk) (on evrns wathk) (on iatmz tszqu) (clear evrns) (on-table tszqu)",
"(arm-empty) (on-table muehp) (clear muehp) (clear iatmz) (on-table wathk) (on evrns wathk) (on iatmz tszqu) (clear evrns) (on-table tszqu)"
] | file_69844 |
GOAL: (clear whcro) (on ompbf cyhlt) (on mzbkj ompbf) (arm-empty) (on-table cyhlt) (on telpk mzbkj) (on whcro telpk) | GOAL: (clear whcro) (on ompbf cyhlt) (on mzbkj ompbf) (arm-empty) (on-table cyhlt) (on telpk mzbkj) (on whcro telpk)
STATE: (on cyhlt mzbkj) (on mzbkj ompbf) (on whcro cyhlt) (on-table telpk) (arm-empty) (on ompbf telpk) (clear whcro) | [
[
"unstack whcro cyhlt"
],
[
"put-down whcro"
],
[
"unstack cyhlt mzbkj"
],
[
"put-down cyhlt"
],
[
"unstack mzbkj ompbf"
],
[
"put-down mzbkj"
],
[
"unstack ompbf telpk"
],
[
"stack ompbf cyhlt"
],
[
"pick-up mzbkj"
],
[
"stack mzbkj ompbf"
],
[
"pick-up telpk"
],
[
"stack telpk mzbkj"
],
[
"pick-up whcro"
],
[
"stack whcro telpk"
]
] | [
"(on cyhlt mzbkj) (on mzbkj ompbf) (on-table telpk) (clear cyhlt) (holding whcro) (on ompbf telpk)",
"(on cyhlt mzbkj) (on mzbkj ompbf) (on-table telpk) (on-table whcro) (arm-empty) (clear cyhlt) (clear whcro) (on ompbf telpk)",
"(on mzbkj ompbf) (on-table telpk) (on-table whcro) (holding cyhlt) (on ompbf telpk) (clear mzbkj) (clear whcro)",
"(on mzbkj ompbf) (arm-empty) (on-table telpk) (on-table whcro) (clear cyhlt) (clear whcro) (on ompbf telpk) (on-table cyhlt) (clear mzbkj)",
"(holding mzbkj) (on-table telpk) (on-table whcro) (on ompbf telpk) (clear cyhlt) (on-table cyhlt) (clear ompbf) (clear whcro)",
"(arm-empty) (on-table telpk) (on-table whcro) (on-table mzbkj) (on ompbf telpk) (clear cyhlt) (on-table cyhlt) (clear ompbf) (clear mzbkj) (clear whcro)",
"(clear telpk) (on-table telpk) (on-table whcro) (on-table mzbkj) (clear cyhlt) (on-table cyhlt) (holding ompbf) (clear mzbkj) (clear whcro)",
"(on ompbf cyhlt) (clear telpk) (arm-empty) (on-table telpk) (on-table whcro) (on-table mzbkj) (on-table cyhlt) (clear ompbf) (clear mzbkj) (clear whcro)",
"(holding mzbkj) (on ompbf cyhlt) (clear telpk) (on-table telpk) (on-table whcro) (on-table cyhlt) (clear ompbf) (clear whcro)",
"(on ompbf cyhlt) (clear telpk) (on mzbkj ompbf) (arm-empty) (on-table telpk) (on-table whcro) (on-table cyhlt) (clear mzbkj) (clear whcro)",
"(on ompbf cyhlt) (on mzbkj ompbf) (on-table whcro) (on-table cyhlt) (holding telpk) (clear mzbkj) (clear whcro)",
"(on ompbf cyhlt) (clear telpk) (on mzbkj ompbf) (arm-empty) (on-table whcro) (on-table cyhlt) (on telpk mzbkj) (clear whcro)",
"(on ompbf cyhlt) (clear telpk) (on mzbkj ompbf) (holding whcro) (on-table cyhlt) (on telpk mzbkj)",
"(clear whcro) (on ompbf cyhlt) (on mzbkj ompbf) (arm-empty) (on-table cyhlt) (on telpk mzbkj) (on whcro telpk)"
] | file_89752 |
GOAL: (on dlimc aplmw) (clear fxkho) (arm-empty) (on aplmw ehhwd) (on-table ehhwd) (on aavap dlimc) (on fxkho aavap) | GOAL: (on dlimc aplmw) (clear fxkho) (arm-empty) (on aplmw ehhwd) (on-table ehhwd) (on aavap dlimc) (on fxkho aavap)
STATE: (clear fxkho) (on dlimc aavap) (arm-empty) (on-table fxkho) (on-table aplmw) (clear ehhwd) (on-table ehhwd) (clear dlimc) (on-table aavap) (clear aplmw) | [
[
"unstack dlimc aavap"
],
[
"stack dlimc fxkho"
],
[
"pick-up aplmw"
],
[
"stack aplmw ehhwd"
],
[
"unstack dlimc fxkho"
],
[
"stack dlimc aplmw"
],
[
"pick-up aavap"
],
[
"stack aavap dlimc"
],
[
"pick-up fxkho"
],
[
"stack fxkho aavap"
]
] | [
"(holding dlimc) (clear fxkho) (on-table fxkho) (on-table aplmw) (clear ehhwd) (on-table ehhwd) (clear aavap) (on-table aavap) (clear aplmw)",
"(arm-empty) (on-table fxkho) (on-table aplmw) (clear ehhwd) (on-table ehhwd) (clear aavap) (on dlimc fxkho) (clear dlimc) (on-table aavap) (clear aplmw)",
"(on-table fxkho) (clear ehhwd) (holding aplmw) (on-table ehhwd) (clear aavap) (on dlimc fxkho) (clear dlimc) (on-table aavap)",
"(arm-empty) (on aplmw ehhwd) (on-table fxkho) (on-table ehhwd) (clear aavap) (on dlimc fxkho) (clear dlimc) (on-table aavap) (clear aplmw)",
"(holding dlimc) (clear fxkho) (on aplmw ehhwd) (on-table fxkho) (on-table ehhwd) (clear aavap) (on-table aavap) (clear aplmw)",
"(on dlimc aplmw) (clear fxkho) (arm-empty) (on aplmw ehhwd) (on-table fxkho) (on-table ehhwd) (clear aavap) (clear dlimc) (on-table aavap)",
"(on dlimc aplmw) (clear fxkho) (on aplmw ehhwd) (on-table fxkho) (on-table ehhwd) (holding aavap) (clear dlimc)",
"(on dlimc aplmw) (clear fxkho) (arm-empty) (on aplmw ehhwd) (on-table fxkho) (on-table ehhwd) (on aavap dlimc) (clear aavap)",
"(on dlimc aplmw) (on aplmw ehhwd) (on-table ehhwd) (holding fxkho) (on aavap dlimc) (clear aavap)",
"(on dlimc aplmw) (clear fxkho) (arm-empty) (on aplmw ehhwd) (on-table ehhwd) (on aavap dlimc) (on fxkho aavap)"
] | file_209827 |
GOAL: (clear zflye) (on-table zflye) (on-table bebdp) (clear ehsly) (on ehsly enfks) (holding xzgog) (on enfks bebdp) | GOAL: (clear zflye) (on-table zflye) (on-table bebdp) (clear ehsly) (on ehsly enfks) (holding xzgog) (on enfks bebdp)
STATE: (on enfks ehsly) (on bebdp enfks) (arm-empty) (on-table zflye) (on ehsly xzgog) (on xzgog zflye) (clear bebdp) | [
[
"unstack bebdp enfks"
],
[
"put-down bebdp"
],
[
"unstack enfks ehsly"
],
[
"stack enfks bebdp"
],
[
"unstack ehsly xzgog"
],
[
"stack ehsly enfks"
],
[
"unstack xzgog zflye"
]
] | [
"(on-table zflye) (on ehsly xzgog) (on xzgog zflye) (holding bebdp) (on enfks ehsly) (clear enfks)",
"(arm-empty) (on-table zflye) (on ehsly xzgog) (on xzgog zflye) (on enfks ehsly) (on-table bebdp) (clear enfks) (clear bebdp)",
"(on-table zflye) (on ehsly xzgog) (on-table bebdp) (on xzgog zflye) (clear ehsly) (holding enfks) (clear bebdp)",
"(arm-empty) (on-table zflye) (on ehsly xzgog) (on-table bebdp) (on xzgog zflye) (clear ehsly) (on enfks bebdp) (clear enfks)",
"(on-table zflye) (on-table bebdp) (holding ehsly) (on xzgog zflye) (on enfks bebdp) (clear enfks) (clear xzgog)",
"(arm-empty) (on-table zflye) (on xzgog zflye) (clear ehsly) (on enfks bebdp) (clear xzgog) (on-table bebdp) (on ehsly enfks)",
"(clear zflye) (on-table zflye) (on-table bebdp) (clear ehsly) (on ehsly enfks) (holding xzgog) (on enfks bebdp)"
] | file_190098 |
GOAL: (arm-empty) (on-table bspli) (on-table uznjv) (clear sbaze) (on iydep uznjv) (on sbaze rbohe) (on rbohe bspli) (clear iydep) | GOAL: (arm-empty) (on-table bspli) (on-table uznjv) (clear sbaze) (on iydep uznjv) (on sbaze rbohe) (on rbohe bspli) (clear iydep)
STATE: (arm-empty) (on-table uznjv) (on bspli rbohe) (on sbaze iydep) (on iydep uznjv) (on rbohe sbaze) (clear bspli) | [
[
"unstack bspli rbohe"
],
[
"put-down bspli"
],
[
"unstack rbohe sbaze"
],
[
"stack rbohe bspli"
],
[
"unstack sbaze iydep"
],
[
"stack sbaze rbohe"
]
] | [
"(holding bspli) (on iydep uznjv) (on rbohe sbaze) (clear rbohe) (on-table uznjv) (on sbaze iydep)",
"(arm-empty) (on-table bspli) (on iydep uznjv) (on rbohe sbaze) (clear bspli) (clear rbohe) (on-table uznjv) (on sbaze iydep)",
"(on-table bspli) (on-table uznjv) (clear sbaze) (on sbaze iydep) (holding rbohe) (on iydep uznjv) (clear bspli)",
"(clear rbohe) (arm-empty) (on-table bspli) (on-table uznjv) (clear sbaze) (on sbaze iydep) (on iydep uznjv) (on rbohe bspli)",
"(clear rbohe) (on-table bspli) (on-table uznjv) (holding sbaze) (on iydep uznjv) (on rbohe bspli) (clear iydep)",
"(arm-empty) (on-table bspli) (on-table uznjv) (clear sbaze) (on iydep uznjv) (on sbaze rbohe) (on rbohe bspli) (clear iydep)"
] | file_208236 |
GOAL: (on hpmxl jtkcv) (arm-empty) (on-table jtkcv) (on esadq oseyp) (clear viyxo) (on viyxo esadq) (on oseyp hpmxl) | GOAL: (on hpmxl jtkcv) (arm-empty) (on-table jtkcv) (on esadq oseyp) (clear viyxo) (on viyxo esadq) (on oseyp hpmxl)
STATE: (on-table jtkcv) (on-table hpmxl) (clear viyxo) (on-table viyxo) (holding oseyp) (clear esadq) (clear hpmxl) (on-table esadq) (clear jtkcv) | [
[
"stack oseyp esadq"
],
[
"pick-up hpmxl"
],
[
"stack hpmxl jtkcv"
],
[
"unstack oseyp esadq"
],
[
"stack oseyp hpmxl"
],
[
"pick-up esadq"
],
[
"stack esadq oseyp"
],
[
"pick-up viyxo"
],
[
"stack viyxo esadq"
]
] | [
"(clear oseyp) (arm-empty) (on-table jtkcv) (on-table hpmxl) (clear viyxo) (on-table viyxo) (on oseyp esadq) (clear hpmxl) (on-table esadq) (clear jtkcv)",
"(holding hpmxl) (clear oseyp) (on-table jtkcv) (clear viyxo) (on-table viyxo) (on oseyp esadq) (on-table esadq) (clear jtkcv)",
"(on hpmxl jtkcv) (clear oseyp) (arm-empty) (on-table jtkcv) (clear viyxo) (on-table viyxo) (on oseyp esadq) (clear hpmxl) (on-table esadq)",
"(on hpmxl jtkcv) (on-table jtkcv) (clear viyxo) (on-table viyxo) (holding oseyp) (clear esadq) (clear hpmxl) (on-table esadq)",
"(on hpmxl jtkcv) (clear oseyp) (arm-empty) (on-table jtkcv) (clear viyxo) (on-table viyxo) (on oseyp hpmxl) (clear esadq) (on-table esadq)",
"(on hpmxl jtkcv) (clear oseyp) (on-table jtkcv) (clear viyxo) (on-table viyxo) (on oseyp hpmxl) (holding esadq)",
"(on hpmxl jtkcv) (arm-empty) (on-table jtkcv) (on esadq oseyp) (clear viyxo) (on-table viyxo) (on oseyp hpmxl) (clear esadq)",
"(on hpmxl jtkcv) (on-table jtkcv) (holding viyxo) (on esadq oseyp) (on oseyp hpmxl) (clear esadq)",
"(on hpmxl jtkcv) (arm-empty) (on-table jtkcv) (on esadq oseyp) (clear viyxo) (on viyxo esadq) (on oseyp hpmxl)"
] | file_91527 |
GOAL: (clear kmyte) (arm-empty) (on-table kmyte) (on-table fupxl) (on-table ggmul) (clear durjw) (on-table durjw) (clear slvbv) (clear ggmul) (on-table slvbv) (clear fupxl) | GOAL: (clear kmyte) (arm-empty) (on-table kmyte) (on-table fupxl) (on-table ggmul) (clear durjw) (on-table durjw) (clear slvbv) (clear ggmul) (on-table slvbv) (clear fupxl)
STATE: (clear kmyte) (arm-empty) (on fupxl durjw) (on-table kmyte) (on-table ggmul) (on-table durjw) (clear slvbv) (clear ggmul) (on-table slvbv) (clear fupxl) | [
[
"unstack fupxl durjw"
],
[
"put-down fupxl"
]
] | [
"(clear kmyte) (on-table kmyte) (on-table ggmul) (clear durjw) (holding fupxl) (on-table durjw) (clear slvbv) (clear ggmul) (on-table slvbv)",
"(clear kmyte) (arm-empty) (on-table kmyte) (on-table fupxl) (on-table ggmul) (clear durjw) (on-table durjw) (clear slvbv) (clear ggmul) (on-table slvbv) (clear fupxl)"
] | file_158776 |
GOAL: (on yessz ierbg) (on ivafv yessz) (arm-empty) (on-table jubhr) (on hksyq ivafv) (on ierbg jubhr) (clear hksyq) | GOAL: (on yessz ierbg) (on ivafv yessz) (arm-empty) (on-table jubhr) (on hksyq ivafv) (on ierbg jubhr) (clear hksyq)
STATE: (clear jubhr) (on yessz hksyq) (arm-empty) (on-table jubhr) (on-table ivafv) (clear ierbg) (on hksyq ivafv) (on ierbg yessz) | [
[
"unstack ierbg yessz"
],
[
"stack ierbg jubhr"
],
[
"unstack yessz hksyq"
],
[
"stack yessz ierbg"
],
[
"unstack hksyq ivafv"
],
[
"put-down hksyq"
],
[
"pick-up ivafv"
],
[
"stack ivafv yessz"
],
[
"pick-up hksyq"
],
[
"stack hksyq ivafv"
]
] | [
"(clear jubhr) (on yessz hksyq) (on-table jubhr) (on-table ivafv) (holding ierbg) (on hksyq ivafv) (clear yessz)",
"(on yessz hksyq) (arm-empty) (on-table jubhr) (on-table ivafv) (clear ierbg) (on hksyq ivafv) (on ierbg jubhr) (clear yessz)",
"(on-table jubhr) (on-table ivafv) (clear ierbg) (on hksyq ivafv) (on ierbg jubhr) (holding yessz) (clear hksyq)",
"(on yessz ierbg) (arm-empty) (on-table jubhr) (on-table ivafv) (on hksyq ivafv) (on ierbg jubhr) (clear yessz) (clear hksyq)",
"(on yessz ierbg) (on-table jubhr) (on-table ivafv) (holding hksyq) (on ierbg jubhr) (clear yessz) (clear ivafv)",
"(arm-empty) (on-table jubhr) (on-table hksyq) (clear hksyq) (on yessz ierbg) (on-table ivafv) (on ierbg jubhr) (clear yessz) (clear ivafv)",
"(holding ivafv) (on yessz ierbg) (on-table jubhr) (on-table hksyq) (on ierbg jubhr) (clear yessz) (clear hksyq)",
"(on yessz ierbg) (on ivafv yessz) (arm-empty) (on-table jubhr) (on-table hksyq) (on ierbg jubhr) (clear ivafv) (clear hksyq)",
"(on yessz ierbg) (on ivafv yessz) (on-table jubhr) (holding hksyq) (on ierbg jubhr) (clear ivafv)",
"(on yessz ierbg) (on ivafv yessz) (arm-empty) (on-table jubhr) (on hksyq ivafv) (on ierbg jubhr) (clear hksyq)"
] | file_37564 |
GOAL: (arm-empty) (on cxojw ubtwn) (on-table ubtwn) (on kbtxp eersa) (on oawix cxojw) (clear kbtxp) (on eersa oawix) | GOAL: (arm-empty) (on cxojw ubtwn) (on-table ubtwn) (on kbtxp eersa) (on oawix cxojw) (clear kbtxp) (on eersa oawix)
STATE: (arm-empty) (on cxojw ubtwn) (on-table ubtwn) (on oawix cxojw) (clear kbtxp) (on eersa oawix) (clear eersa) (on-table kbtxp) | [
[
"pick-up kbtxp"
],
[
"stack kbtxp eersa"
]
] | [
"(on cxojw ubtwn) (on-table ubtwn) (on oawix cxojw) (on eersa oawix) (clear eersa) (holding kbtxp)",
"(arm-empty) (on cxojw ubtwn) (on-table ubtwn) (on kbtxp eersa) (on oawix cxojw) (clear kbtxp) (on eersa oawix)"
] | file_139500 |
GOAL: (on-table dsvip) (holding xhnnq) (on-table ibbng) (on qjnpk ibbng) (clear ywjky) (clear qjnpk) (on-table ywjky) (clear dsvip) | GOAL: (on-table dsvip) (holding xhnnq) (on-table ibbng) (on qjnpk ibbng) (clear ywjky) (clear qjnpk) (on-table ywjky) (clear dsvip)
STATE: (on qjnpk dsvip) (clear xhnnq) (on ibbng qjnpk) (arm-empty) (on-table xhnnq) (on-table dsvip) (clear ibbng) (clear ywjky) (on-table ywjky) | [
[
"unstack ibbng qjnpk"
],
[
"put-down ibbng"
],
[
"unstack qjnpk dsvip"
],
[
"put-down qjnpk"
],
[
"pick-up xhnnq"
],
[
"stack xhnnq ywjky"
],
[
"pick-up ibbng"
],
[
"stack ibbng xhnnq"
],
[
"pick-up qjnpk"
],
[
"stack qjnpk dsvip"
],
[
"unstack ibbng xhnnq"
],
[
"put-down ibbng"
],
[
"unstack qjnpk dsvip"
],
[
"stack qjnpk ibbng"
],
[
"unstack xhnnq ywjky"
]
] | [
"(on qjnpk dsvip) (clear xhnnq) (on-table xhnnq) (on-table dsvip) (holding ibbng) (clear ywjky) (clear qjnpk) (on-table ywjky)",
"(on qjnpk dsvip) (clear xhnnq) (arm-empty) (on-table xhnnq) (on-table dsvip) (clear ibbng) (on-table ibbng) (clear ywjky) (clear qjnpk) (on-table ywjky)",
"(holding qjnpk) (clear xhnnq) (on-table xhnnq) (on-table dsvip) (clear ibbng) (on-table ibbng) (clear ywjky) (on-table ywjky) (clear dsvip)",
"(clear xhnnq) (arm-empty) (on-table xhnnq) (on-table dsvip) (on-table qjnpk) (clear ibbng) (on-table ibbng) (clear ywjky) (clear qjnpk) (on-table ywjky) (clear dsvip)",
"(on-table dsvip) (on-table qjnpk) (clear ibbng) (on-table ibbng) (holding xhnnq) (clear ywjky) (clear qjnpk) (on-table ywjky) (clear dsvip)",
"(clear xhnnq) (arm-empty) (on-table dsvip) (on-table qjnpk) (clear ibbng) (on-table ibbng) (on xhnnq ywjky) (clear qjnpk) (on-table ywjky) (clear dsvip)",
"(clear xhnnq) (on-table dsvip) (on-table qjnpk) (holding ibbng) (on xhnnq ywjky) (clear qjnpk) (on-table ywjky) (clear dsvip)",
"(arm-empty) (on-table dsvip) (on-table qjnpk) (clear ibbng) (on ibbng xhnnq) (on xhnnq ywjky) (clear qjnpk) (on-table ywjky) (clear dsvip)",
"(holding qjnpk) (on-table dsvip) (clear ibbng) (on ibbng xhnnq) (on xhnnq ywjky) (on-table ywjky) (clear dsvip)",
"(on qjnpk dsvip) (arm-empty) (on-table dsvip) (clear ibbng) (on ibbng xhnnq) (on xhnnq ywjky) (clear qjnpk) (on-table ywjky)",
"(on qjnpk dsvip) (clear xhnnq) (on-table dsvip) (holding ibbng) (on xhnnq ywjky) (clear qjnpk) (on-table ywjky)",
"(on qjnpk dsvip) (arm-empty) (on-table dsvip) (clear ibbng) (clear xhnnq) (on-table ibbng) (on xhnnq ywjky) (clear qjnpk) (on-table ywjky)",
"(holding qjnpk) (clear xhnnq) (on-table dsvip) (clear ibbng) (on-table ibbng) (on xhnnq ywjky) (on-table ywjky) (clear dsvip)",
"(clear xhnnq) (arm-empty) (on-table dsvip) (on-table ibbng) (on qjnpk ibbng) (on xhnnq ywjky) (clear qjnpk) (on-table ywjky) (clear dsvip)",
"(on-table dsvip) (holding xhnnq) (on-table ibbng) (on qjnpk ibbng) (clear ywjky) (clear qjnpk) (on-table ywjky) (clear dsvip)"
] | file_151894 |
GOAL: (arm-empty) (on-table quiuk) (clear dvwki) (on dvwki qalcy) (on qalcy quiuk) (clear vvnpj) (on-table vvnpj) | GOAL: (arm-empty) (on-table quiuk) (clear dvwki) (on dvwki qalcy) (on qalcy quiuk) (clear vvnpj) (on-table vvnpj)
STATE: (on vvnpj dvwki) (on-table quiuk) (on-table dvwki) (holding qalcy) (clear vvnpj) (clear quiuk) | [
[
"stack qalcy quiuk"
],
[
"unstack vvnpj dvwki"
],
[
"put-down vvnpj"
],
[
"pick-up dvwki"
],
[
"stack dvwki qalcy"
]
] | [
"(on vvnpj dvwki) (clear qalcy) (arm-empty) (on-table quiuk) (on-table dvwki) (on qalcy quiuk) (clear vvnpj)",
"(clear dvwki) (on qalcy quiuk) (clear qalcy) (on-table quiuk) (on-table dvwki) (holding vvnpj)",
"(clear qalcy) (on-table dvwki) (arm-empty) (on-table quiuk) (on qalcy quiuk) (clear vvnpj) (clear dvwki) (on-table vvnpj)",
"(clear qalcy) (on-table quiuk) (holding dvwki) (on qalcy quiuk) (clear vvnpj) (on-table vvnpj)",
"(arm-empty) (on-table quiuk) (clear dvwki) (on dvwki qalcy) (on qalcy quiuk) (clear vvnpj) (on-table vvnpj)"
] | file_97767 |
GOAL: (arm-empty) (on proqw wzlfa) (on zlpan bxkef) (on-table wzlfa) (on bxkef hmqdb) (clear zlpan) (on-table hmqdb) (clear proqw) | GOAL: (arm-empty) (on proqw wzlfa) (on zlpan bxkef) (on-table wzlfa) (on bxkef hmqdb) (clear zlpan) (on-table hmqdb) (clear proqw)
STATE: (arm-empty) (on wzlfa proqw) (on-table zlpan) (on hmqdb bxkef) (on proqw zlpan) (on bxkef wzlfa) (clear hmqdb) | [
[
"unstack hmqdb bxkef"
],
[
"put-down hmqdb"
],
[
"unstack bxkef wzlfa"
],
[
"stack bxkef hmqdb"
],
[
"unstack wzlfa proqw"
],
[
"put-down wzlfa"
],
[
"unstack proqw zlpan"
],
[
"stack proqw wzlfa"
],
[
"pick-up zlpan"
],
[
"stack zlpan bxkef"
]
] | [
"(on wzlfa proqw) (on bxkef wzlfa) (clear bxkef) (on-table zlpan) (on proqw zlpan) (holding hmqdb)",
"(on proqw zlpan) (clear bxkef) (arm-empty) (on wzlfa proqw) (on bxkef wzlfa) (clear hmqdb) (on-table zlpan) (on-table hmqdb)",
"(on wzlfa proqw) (on-table zlpan) (clear wzlfa) (on proqw zlpan) (holding bxkef) (clear hmqdb) (on-table hmqdb)",
"(clear bxkef) (arm-empty) (on wzlfa proqw) (on-table zlpan) (clear wzlfa) (on proqw zlpan) (on bxkef hmqdb) (on-table hmqdb)",
"(clear bxkef) (on-table zlpan) (holding wzlfa) (on proqw zlpan) (on bxkef hmqdb) (on-table hmqdb) (clear proqw)",
"(arm-empty) (clear wzlfa) (clear proqw) (clear bxkef) (on-table zlpan) (on proqw zlpan) (on-table wzlfa) (on bxkef hmqdb) (on-table hmqdb)",
"(clear bxkef) (on-table zlpan) (clear wzlfa) (holding proqw) (on-table wzlfa) (on bxkef hmqdb) (clear zlpan) (on-table hmqdb)",
"(clear bxkef) (arm-empty) (on proqw wzlfa) (on-table zlpan) (on-table wzlfa) (on bxkef hmqdb) (clear zlpan) (on-table hmqdb) (clear proqw)",
"(holding zlpan) (clear bxkef) (on proqw wzlfa) (on-table wzlfa) (on bxkef hmqdb) (on-table hmqdb) (clear proqw)",
"(arm-empty) (on proqw wzlfa) (on zlpan bxkef) (on-table wzlfa) (on bxkef hmqdb) (clear zlpan) (on-table hmqdb) (clear proqw)"
] | file_118816 |
GOAL: (on bekyr fwpuk) (arm-empty) (on-table qkucu) (on-table fwpuk) (clear snzkw) (on-table snzkw) (clear bekyr) (on aeopv qkucu) (clear aeopv) | GOAL: (on bekyr fwpuk) (arm-empty) (on-table qkucu) (on-table fwpuk) (clear snzkw) (on-table snzkw) (clear bekyr) (on aeopv qkucu) (clear aeopv)
STATE: (on-table qkucu) (holding snzkw) (on fwpuk bekyr) (on bekyr aeopv) (on aeopv qkucu) (clear fwpuk) | [
[
"put-down snzkw"
],
[
"unstack fwpuk bekyr"
],
[
"put-down fwpuk"
],
[
"unstack bekyr aeopv"
],
[
"stack bekyr fwpuk"
]
] | [
"(arm-empty) (on-table qkucu) (clear snzkw) (on fwpuk bekyr) (on bekyr aeopv) (on aeopv qkucu) (clear fwpuk) (on-table snzkw)",
"(on-table qkucu) (clear snzkw) (holding fwpuk) (on-table snzkw) (on bekyr aeopv) (clear bekyr) (on aeopv qkucu)",
"(arm-empty) (on-table qkucu) (on-table fwpuk) (clear snzkw) (on bekyr aeopv) (on aeopv qkucu) (clear fwpuk) (on-table snzkw) (clear bekyr)",
"(on-table qkucu) (on-table fwpuk) (clear snzkw) (on-table snzkw) (on aeopv qkucu) (clear aeopv) (holding bekyr) (clear fwpuk)",
"(on bekyr fwpuk) (arm-empty) (on-table qkucu) (on-table fwpuk) (clear snzkw) (on-table snzkw) (clear bekyr) (on aeopv qkucu) (clear aeopv)"
] | file_72546 |
GOAL: (holding soeeg) (on-table dqapi) (on wmjsq dqapi) (clear duker) (on duker lkfmm) (on-table lkfmm) (clear wmjsq) | GOAL: (holding soeeg) (on-table dqapi) (on wmjsq dqapi) (clear duker) (on duker lkfmm) (on-table lkfmm) (clear wmjsq)
STATE: (on lkfmm duker) (on soeeg lkfmm) (arm-empty) (on-table wmjsq) (on duker dqapi) (on dqapi wmjsq) (clear soeeg) | [
[
"unstack soeeg lkfmm"
],
[
"put-down soeeg"
],
[
"unstack lkfmm duker"
],
[
"stack lkfmm soeeg"
],
[
"unstack duker dqapi"
],
[
"put-down duker"
],
[
"unstack lkfmm soeeg"
],
[
"put-down lkfmm"
],
[
"unstack dqapi wmjsq"
],
[
"put-down dqapi"
],
[
"pick-up wmjsq"
],
[
"stack wmjsq dqapi"
],
[
"pick-up duker"
],
[
"stack duker lkfmm"
],
[
"pick-up soeeg"
]
] | [
"(on-table wmjsq) (on dqapi wmjsq) (holding soeeg) (on lkfmm duker) (on duker dqapi) (clear lkfmm)",
"(arm-empty) (on-table wmjsq) (on dqapi wmjsq) (on lkfmm duker) (on-table soeeg) (on duker dqapi) (clear lkfmm) (clear soeeg)",
"(on-table wmjsq) (on-table soeeg) (clear duker) (on duker dqapi) (on dqapi wmjsq) (holding lkfmm) (clear soeeg)",
"(arm-empty) (on-table wmjsq) (on-table soeeg) (clear duker) (on lkfmm soeeg) (on duker dqapi) (on dqapi wmjsq) (clear lkfmm)",
"(clear dqapi) (on-table wmjsq) (on-table soeeg) (holding duker) (on lkfmm soeeg) (on dqapi wmjsq) (clear lkfmm)",
"(arm-empty) (on-table wmjsq) (clear duker) (on lkfmm soeeg) (on dqapi wmjsq) (clear dqapi) (on-table soeeg) (on-table duker) (clear lkfmm)",
"(clear dqapi) (on-table wmjsq) (on-table soeeg) (clear duker) (on-table duker) (on dqapi wmjsq) (holding lkfmm) (clear soeeg)",
"(clear dqapi) (arm-empty) (on-table wmjsq) (on-table soeeg) (clear duker) (on-table duker) (on dqapi wmjsq) (clear lkfmm) (clear soeeg) (on-table lkfmm)",
"(on-table wmjsq) (on-table soeeg) (clear duker) (on-table duker) (holding dqapi) (clear lkfmm) (clear soeeg) (on-table lkfmm) (clear wmjsq)",
"(clear dqapi) (arm-empty) (on-table dqapi) (on-table wmjsq) (on-table soeeg) (clear duker) (on-table duker) (clear lkfmm) (clear soeeg) (on-table lkfmm) (clear wmjsq)",
"(clear dqapi) (on-table dqapi) (on-table soeeg) (clear duker) (holding wmjsq) (on-table duker) (clear lkfmm) (clear soeeg) (on-table lkfmm)",
"(arm-empty) (on-table dqapi) (on-table soeeg) (on wmjsq dqapi) (clear duker) (on-table duker) (clear lkfmm) (clear soeeg) (on-table lkfmm) (clear wmjsq)",
"(on-table dqapi) (on-table soeeg) (holding duker) (on wmjsq dqapi) (clear lkfmm) (clear soeeg) (on-table lkfmm) (clear wmjsq)",
"(arm-empty) (on-table dqapi) (on-table soeeg) (on wmjsq dqapi) (clear duker) (on duker lkfmm) (clear soeeg) (on-table lkfmm) (clear wmjsq)",
"(holding soeeg) (on-table dqapi) (on wmjsq dqapi) (clear duker) (on duker lkfmm) (on-table lkfmm) (clear wmjsq)"
] | file_75933 |
GOAL: (clear rqkth) (on ksfhm lioeo) (arm-empty) (on-table lioeo) (on-table dwpiu) (on-table ocial) (on rqkth ocial) (clear ksfhm) (clear dwpiu) | GOAL: (clear rqkth) (on ksfhm lioeo) (arm-empty) (on-table lioeo) (on-table dwpiu) (on-table ocial) (on rqkth ocial) (clear ksfhm) (clear dwpiu)
STATE: (on dwpiu ksfhm) (on ksfhm rqkth) (holding lioeo) (on-table ocial) (on rqkth ocial) (clear dwpiu) | [
[
"put-down lioeo"
],
[
"unstack dwpiu ksfhm"
],
[
"put-down dwpiu"
],
[
"unstack ksfhm rqkth"
],
[
"stack ksfhm lioeo"
]
] | [
"(on dwpiu ksfhm) (arm-empty) (on-table lioeo) (on rqkth ocial) (clear lioeo) (on ksfhm rqkth) (on-table ocial) (clear dwpiu)",
"(holding dwpiu) (on-table lioeo) (on ksfhm rqkth) (on-table ocial) (on rqkth ocial) (clear ksfhm) (clear lioeo)",
"(arm-empty) (on-table lioeo) (on rqkth ocial) (clear lioeo) (on-table dwpiu) (on ksfhm rqkth) (on-table ocial) (clear ksfhm) (clear dwpiu)",
"(clear rqkth) (on-table lioeo) (on-table dwpiu) (on-table ocial) (on rqkth ocial) (holding ksfhm) (clear dwpiu) (clear lioeo)",
"(clear rqkth) (on ksfhm lioeo) (arm-empty) (on-table lioeo) (on-table dwpiu) (on-table ocial) (on rqkth ocial) (clear ksfhm) (clear dwpiu)"
] | file_164480 |
GOAL: (on ejwvt dvugh) (on sdimb npuyd) (clear eidft) (arm-empty) (on npuyd ejwvt) (on-table dvugh) (on eidft sdimb) | GOAL: (on ejwvt dvugh) (on sdimb npuyd) (clear eidft) (arm-empty) (on npuyd ejwvt) (on-table dvugh) (on eidft sdimb)
STATE: (on-table eidft) (on-table npuyd) (holding dvugh) (on-table sdimb) (on ejwvt eidft) (clear ejwvt) (clear sdimb) (clear npuyd) | [
[
"put-down dvugh"
],
[
"pick-up npuyd"
],
[
"stack npuyd sdimb"
],
[
"unstack ejwvt eidft"
],
[
"stack ejwvt dvugh"
],
[
"unstack npuyd sdimb"
],
[
"stack npuyd ejwvt"
],
[
"pick-up sdimb"
],
[
"stack sdimb npuyd"
],
[
"pick-up eidft"
],
[
"stack eidft sdimb"
]
] | [
"(arm-empty) (on-table eidft) (on-table npuyd) (on-table sdimb) (on ejwvt eidft) (clear dvugh) (on-table dvugh) (clear ejwvt) (clear sdimb) (clear npuyd)",
"(on-table eidft) (on-table sdimb) (on ejwvt eidft) (clear dvugh) (holding npuyd) (on-table dvugh) (clear ejwvt) (clear sdimb)",
"(arm-empty) (on-table eidft) (on-table sdimb) (on ejwvt eidft) (clear dvugh) (on npuyd sdimb) (on-table dvugh) (clear ejwvt) (clear npuyd)",
"(clear eidft) (on-table eidft) (on-table sdimb) (clear dvugh) (on npuyd sdimb) (on-table dvugh) (holding ejwvt) (clear npuyd)",
"(on ejwvt dvugh) (clear eidft) (arm-empty) (on-table eidft) (on-table sdimb) (on npuyd sdimb) (on-table dvugh) (clear ejwvt) (clear npuyd)",
"(on ejwvt dvugh) (clear eidft) (on-table eidft) (on-table sdimb) (holding npuyd) (on-table dvugh) (clear ejwvt) (clear sdimb)",
"(on ejwvt dvugh) (clear eidft) (arm-empty) (on-table eidft) (on-table sdimb) (on npuyd ejwvt) (on-table dvugh) (clear sdimb) (clear npuyd)",
"(holding sdimb) (on ejwvt dvugh) (clear eidft) (on-table eidft) (on npuyd ejwvt) (on-table dvugh) (clear npuyd)",
"(on ejwvt dvugh) (clear eidft) (on sdimb npuyd) (arm-empty) (on-table eidft) (on npuyd ejwvt) (on-table dvugh) (clear sdimb)",
"(on ejwvt dvugh) (on sdimb npuyd) (on npuyd ejwvt) (on-table dvugh) (holding eidft) (clear sdimb)",
"(on ejwvt dvugh) (on sdimb npuyd) (clear eidft) (arm-empty) (on npuyd ejwvt) (on-table dvugh) (on eidft sdimb)"
] | file_174895 |
GOAL: (arm-empty) (on bekyw sqnuw) (clear bekyw) (on sqnuw ouhyf) (on piadp cbunp) (clear piadp) (on-table cbunp) (on-table ouhyf) | GOAL: (arm-empty) (on bekyw sqnuw) (clear bekyw) (on sqnuw ouhyf) (on piadp cbunp) (clear piadp) (on-table cbunp) (on-table ouhyf)
STATE: (on-table piadp) (holding sqnuw) (on cbunp bekyw) (on bekyw piadp) (clear ouhyf) (clear cbunp) (on-table ouhyf) | [
[
"stack sqnuw ouhyf"
],
[
"unstack cbunp bekyw"
],
[
"put-down cbunp"
],
[
"unstack bekyw piadp"
],
[
"stack bekyw sqnuw"
],
[
"pick-up piadp"
],
[
"stack piadp cbunp"
]
] | [
"(arm-empty) (on-table piadp) (on sqnuw ouhyf) (on cbunp bekyw) (on bekyw piadp) (clear cbunp) (on-table ouhyf) (clear sqnuw)",
"(holding cbunp) (on-table piadp) (clear bekyw) (on sqnuw ouhyf) (on bekyw piadp) (on-table ouhyf) (clear sqnuw)",
"(arm-empty) (on-table piadp) (clear bekyw) (on sqnuw ouhyf) (clear sqnuw) (on-table cbunp) (on bekyw piadp) (clear cbunp) (on-table ouhyf)",
"(clear piadp) (on-table piadp) (on-table cbunp) (holding bekyw) (on sqnuw ouhyf) (clear cbunp) (on-table ouhyf) (clear sqnuw)",
"(clear piadp) (arm-empty) (on-table piadp) (on bekyw sqnuw) (on-table cbunp) (clear bekyw) (on sqnuw ouhyf) (clear cbunp) (on-table ouhyf)",
"(on bekyw sqnuw) (on-table cbunp) (clear bekyw) (on sqnuw ouhyf) (holding piadp) (clear cbunp) (on-table ouhyf)",
"(arm-empty) (on bekyw sqnuw) (clear bekyw) (on sqnuw ouhyf) (on piadp cbunp) (clear piadp) (on-table cbunp) (on-table ouhyf)"
] | file_145401 |
GOAL: (on piehv trhle) (arm-empty) (on-table uyprw) (clear bfmmr) (on trhle uafal) (clear uyprw) (on-table bfmmr) (clear piehv) (on-table uafal) | GOAL: (on piehv trhle) (arm-empty) (on-table uyprw) (clear bfmmr) (on trhle uafal) (clear uyprw) (on-table bfmmr) (clear piehv) (on-table uafal)
STATE: (on uafal trhle) (arm-empty) (on-table uyprw) (on trhle piehv) (on piehv bfmmr) (on bfmmr uyprw) (clear uafal) | [
[
"unstack uafal trhle"
],
[
"put-down uafal"
],
[
"unstack trhle piehv"
],
[
"stack trhle uafal"
],
[
"unstack piehv bfmmr"
],
[
"stack piehv trhle"
],
[
"unstack bfmmr uyprw"
],
[
"put-down bfmmr"
]
] | [
"(on-table uyprw) (clear trhle) (on trhle piehv) (on piehv bfmmr) (on bfmmr uyprw) (holding uafal)",
"(arm-empty) (on-table uyprw) (clear trhle) (on trhle piehv) (on piehv bfmmr) (on bfmmr uyprw) (clear uafal) (on-table uafal)",
"(on-table uyprw) (holding trhle) (on piehv bfmmr) (on bfmmr uyprw) (clear uafal) (clear piehv) (on-table uafal)",
"(arm-empty) (on-table uyprw) (on trhle uafal) (on piehv bfmmr) (on bfmmr uyprw) (clear piehv) (on-table uafal) (clear trhle)",
"(holding piehv) (on-table uyprw) (clear bfmmr) (on trhle uafal) (on bfmmr uyprw) (on-table uafal) (clear trhle)",
"(on piehv trhle) (arm-empty) (on-table uyprw) (clear bfmmr) (on trhle uafal) (on bfmmr uyprw) (clear piehv) (on-table uafal)",
"(on piehv trhle) (clear uyprw) (on-table uyprw) (holding bfmmr) (on trhle uafal) (clear piehv) (on-table uafal)",
"(on piehv trhle) (arm-empty) (on-table uyprw) (clear bfmmr) (on trhle uafal) (clear uyprw) (on-table bfmmr) (clear piehv) (on-table uafal)"
] | file_205294 |
GOAL: (clear pwvkb) (on xrqmw kzysa) (holding whtxn) (on pwvkb xrqmw) (on-table kzysa) | GOAL: (clear pwvkb) (on xrqmw kzysa) (holding whtxn) (on pwvkb xrqmw) (on-table kzysa)
STATE: (clear pwvkb) (on-table xrqmw) (on-table whtxn) (on pwvkb whtxn) (holding kzysa) (clear xrqmw) | [
[
"put-down kzysa"
],
[
"pick-up xrqmw"
],
[
"stack xrqmw kzysa"
],
[
"unstack pwvkb whtxn"
],
[
"stack pwvkb xrqmw"
],
[
"pick-up whtxn"
]
] | [
"(arm-empty) (on pwvkb whtxn) (clear pwvkb) (on-table xrqmw) (on-table whtxn) (clear kzysa) (clear xrqmw) (on-table kzysa)",
"(holding xrqmw) (clear pwvkb) (on-table whtxn) (on pwvkb whtxn) (clear kzysa) (on-table kzysa)",
"(clear pwvkb) (on xrqmw kzysa) (arm-empty) (on-table whtxn) (on pwvkb whtxn) (clear xrqmw) (on-table kzysa)",
"(on xrqmw kzysa) (clear whtxn) (on-table whtxn) (holding pwvkb) (clear xrqmw) (on-table kzysa)",
"(clear pwvkb) (on xrqmw kzysa) (arm-empty) (clear whtxn) (on-table whtxn) (on pwvkb xrqmw) (on-table kzysa)",
"(clear pwvkb) (on xrqmw kzysa) (holding whtxn) (on pwvkb xrqmw) (on-table kzysa)"
] | file_149892 |
GOAL: (arm-empty) (on nbsey abyaf) (on rlfqs lfpwm) (on lfpwm mrame) (on mrame nbsey) (clear rlfqs) (on-table abyaf) | GOAL: (arm-empty) (on nbsey abyaf) (on rlfqs lfpwm) (on lfpwm mrame) (on mrame nbsey) (clear rlfqs) (on-table abyaf)
STATE: (holding nbsey) (on-table lfpwm) (on mrame lfpwm) (clear abyaf) (on rlfqs mrame) (clear rlfqs) (on-table abyaf) | [
[
"stack nbsey abyaf"
],
[
"unstack rlfqs mrame"
],
[
"put-down rlfqs"
],
[
"unstack mrame lfpwm"
],
[
"stack mrame nbsey"
],
[
"pick-up lfpwm"
],
[
"stack lfpwm mrame"
],
[
"pick-up rlfqs"
],
[
"stack rlfqs lfpwm"
]
] | [
"(arm-empty) (on nbsey abyaf) (on-table lfpwm) (on mrame lfpwm) (on rlfqs mrame) (clear rlfqs) (on-table abyaf) (clear nbsey)",
"(holding rlfqs) (clear mrame) (on nbsey abyaf) (on-table lfpwm) (on mrame lfpwm) (on-table abyaf) (clear nbsey)",
"(arm-empty) (on nbsey abyaf) (on mrame lfpwm) (clear nbsey) (clear mrame) (on-table rlfqs) (on-table lfpwm) (clear rlfqs) (on-table abyaf)",
"(on-table rlfqs) (clear lfpwm) (on nbsey abyaf) (on-table lfpwm) (holding mrame) (clear rlfqs) (on-table abyaf) (clear nbsey)",
"(clear mrame) (arm-empty) (on-table rlfqs) (clear lfpwm) (on nbsey abyaf) (on-table lfpwm) (on mrame nbsey) (clear rlfqs) (on-table abyaf)",
"(clear mrame) (on-table rlfqs) (holding lfpwm) (on nbsey abyaf) (on mrame nbsey) (clear rlfqs) (on-table abyaf)",
"(arm-empty) (on-table rlfqs) (clear lfpwm) (on nbsey abyaf) (on lfpwm mrame) (on mrame nbsey) (clear rlfqs) (on-table abyaf)",
"(holding rlfqs) (clear lfpwm) (on nbsey abyaf) (on lfpwm mrame) (on mrame nbsey) (on-table abyaf)",
"(arm-empty) (on nbsey abyaf) (on rlfqs lfpwm) (on lfpwm mrame) (on mrame nbsey) (clear rlfqs) (on-table abyaf)"
] | file_6012 |
GOAL: (arm-empty) (on-table lzmvc) (on-table mfkkz) (on quyih lzmvc) (clear reqeo) (on gderr mfkkz) (on-table reqeo) (clear quyih) (clear gderr) | GOAL: (arm-empty) (on-table lzmvc) (on-table mfkkz) (on quyih lzmvc) (clear reqeo) (on gderr mfkkz) (on-table reqeo) (clear quyih) (clear gderr)
STATE: (clear lzmvc) (on quyih gderr) (arm-empty) (on gderr reqeo) (on-table mfkkz) (on-table reqeo) (on lzmvc quyih) (clear mfkkz) | [
[
"unstack lzmvc quyih"
],
[
"put-down lzmvc"
],
[
"unstack quyih gderr"
],
[
"stack quyih lzmvc"
],
[
"unstack gderr reqeo"
],
[
"stack gderr mfkkz"
]
] | [
"(on quyih gderr) (on gderr reqeo) (on-table mfkkz) (on-table reqeo) (holding lzmvc) (clear quyih) (clear mfkkz)",
"(on quyih gderr) (arm-empty) (on gderr reqeo) (on-table lzmvc) (clear lzmvc) (on-table mfkkz) (on-table reqeo) (clear quyih) (clear mfkkz)",
"(on gderr reqeo) (on-table lzmvc) (clear lzmvc) (on-table mfkkz) (on-table reqeo) (holding quyih) (clear mfkkz) (clear gderr)",
"(arm-empty) (on gderr reqeo) (on-table lzmvc) (on-table mfkkz) (on quyih lzmvc) (on-table reqeo) (clear quyih) (clear mfkkz) (clear gderr)",
"(on-table lzmvc) (on-table mfkkz) (on quyih lzmvc) (clear reqeo) (holding gderr) (on-table reqeo) (clear quyih) (clear mfkkz)",
"(arm-empty) (on-table lzmvc) (on-table mfkkz) (on quyih lzmvc) (clear reqeo) (on gderr mfkkz) (on-table reqeo) (clear quyih) (clear gderr)"
] | file_198859 |
GOAL: (arm-empty) (on-table laokm) (on-table zwlkv) (on ynsfa laokm) (clear kkbxj) (on-table kkbxj) (on gtitz zwlkv) (clear gtitz) (clear ynsfa) | GOAL: (arm-empty) (on-table laokm) (on-table zwlkv) (on ynsfa laokm) (clear kkbxj) (on-table kkbxj) (on gtitz zwlkv) (clear gtitz) (clear ynsfa)
STATE: (clear laokm) (holding kkbxj) (on-table zwlkv) (on ynsfa gtitz) (on gtitz zwlkv) (on laokm ynsfa) | [
[
"put-down kkbxj"
],
[
"unstack laokm ynsfa"
],
[
"put-down laokm"
],
[
"unstack ynsfa gtitz"
],
[
"stack ynsfa laokm"
]
] | [
"(arm-empty) (clear kkbxj) (on ynsfa gtitz) (on gtitz zwlkv) (on laokm ynsfa) (clear laokm) (on-table zwlkv) (on-table kkbxj)",
"(on-table zwlkv) (clear kkbxj) (on ynsfa gtitz) (on-table kkbxj) (holding laokm) (on gtitz zwlkv) (clear ynsfa)",
"(arm-empty) (on-table laokm) (clear kkbxj) (on ynsfa gtitz) (on gtitz zwlkv) (clear ynsfa) (clear laokm) (on-table zwlkv) (on-table kkbxj)",
"(clear laokm) (on-table laokm) (on-table zwlkv) (clear kkbxj) (holding ynsfa) (on-table kkbxj) (on gtitz zwlkv) (clear gtitz)",
"(arm-empty) (on-table laokm) (on-table zwlkv) (on ynsfa laokm) (clear kkbxj) (on-table kkbxj) (on gtitz zwlkv) (clear gtitz) (clear ynsfa)"
] | file_124703 |
GOAL: (clear ihwpg) (on jtwyf lgfxx) (on-table ihwpg) (on-table lgfxx) (on-table ygpcu) (holding uvmnr) (clear jtwyf) (clear ygpcu) | GOAL: (clear ihwpg) (on jtwyf lgfxx) (on-table ihwpg) (on-table lgfxx) (on-table ygpcu) (holding uvmnr) (clear jtwyf) (clear ygpcu)
STATE: (on-table lgfxx) (clear lgfxx) (on-table uvmnr) (holding ihwpg) (clear jtwyf) (on ygpcu uvmnr) (on-table jtwyf) (clear ygpcu) | [
[
"put-down ihwpg"
],
[
"unstack ygpcu uvmnr"
],
[
"put-down ygpcu"
],
[
"pick-up jtwyf"
],
[
"stack jtwyf lgfxx"
],
[
"pick-up uvmnr"
]
] | [
"(clear ihwpg) (arm-empty) (on-table ihwpg) (on-table lgfxx) (clear lgfxx) (on-table uvmnr) (clear jtwyf) (on ygpcu uvmnr) (on-table jtwyf) (clear ygpcu)",
"(holding ygpcu) (clear ihwpg) (on-table ihwpg) (on-table lgfxx) (clear uvmnr) (on-table uvmnr) (clear jtwyf) (on-table jtwyf) (clear lgfxx)",
"(clear ihwpg) (arm-empty) (on-table ihwpg) (on-table lgfxx) (on-table ygpcu) (clear uvmnr) (on-table uvmnr) (clear jtwyf) (clear ygpcu) (on-table jtwyf) (clear lgfxx)",
"(clear ihwpg) (on-table ihwpg) (on-table lgfxx) (on-table ygpcu) (clear uvmnr) (on-table uvmnr) (holding jtwyf) (clear ygpcu) (clear lgfxx)",
"(clear ihwpg) (on jtwyf lgfxx) (arm-empty) (on-table ihwpg) (on-table lgfxx) (on-table ygpcu) (clear uvmnr) (on-table uvmnr) (clear jtwyf) (clear ygpcu)",
"(clear ihwpg) (on jtwyf lgfxx) (on-table ihwpg) (on-table lgfxx) (on-table ygpcu) (holding uvmnr) (clear jtwyf) (clear ygpcu)"
] | file_35437 |
GOAL: (on tghgf vmmkk) (on-table hkadf) (on-table qslwd) (holding dypbm) (on vmmkk hkadf) (clear tghgf) (clear qslwd) | GOAL: (on tghgf vmmkk) (on-table hkadf) (on-table qslwd) (holding dypbm) (on vmmkk hkadf) (clear tghgf) (clear qslwd)
STATE: (on qslwd dypbm) (clear hkadf) (on-table hkadf) (on-table dypbm) (holding vmmkk) (clear tghgf) (clear qslwd) (on-table tghgf) | [
[
"put-down vmmkk"
],
[
"pick-up tghgf"
],
[
"stack tghgf qslwd"
],
[
"pick-up vmmkk"
],
[
"stack vmmkk hkadf"
],
[
"unstack tghgf qslwd"
],
[
"stack tghgf vmmkk"
],
[
"unstack qslwd dypbm"
],
[
"put-down qslwd"
],
[
"pick-up dypbm"
]
] | [
"(on qslwd dypbm) (clear hkadf) (arm-empty) (on-table hkadf) (on-table dypbm) (clear vmmkk) (on-table vmmkk) (clear tghgf) (clear qslwd) (on-table tghgf)",
"(on qslwd dypbm) (clear hkadf) (on-table hkadf) (on-table dypbm) (clear vmmkk) (on-table vmmkk) (holding tghgf) (clear qslwd)",
"(on qslwd dypbm) (clear hkadf) (arm-empty) (on-table hkadf) (on-table dypbm) (clear vmmkk) (on-table vmmkk) (on tghgf qslwd) (clear tghgf)",
"(on qslwd dypbm) (clear hkadf) (on-table hkadf) (on-table dypbm) (holding vmmkk) (on tghgf qslwd) (clear tghgf)",
"(on qslwd dypbm) (arm-empty) (on-table hkadf) (on-table dypbm) (clear vmmkk) (on tghgf qslwd) (on vmmkk hkadf) (clear tghgf)",
"(on qslwd dypbm) (on-table hkadf) (on-table dypbm) (on vmmkk hkadf) (clear vmmkk) (holding tghgf) (clear qslwd)",
"(on qslwd dypbm) (on tghgf vmmkk) (arm-empty) (on-table hkadf) (on-table dypbm) (on vmmkk hkadf) (clear tghgf) (clear qslwd)",
"(holding qslwd) (on tghgf vmmkk) (on-table hkadf) (on-table dypbm) (on vmmkk hkadf) (clear tghgf) (clear dypbm)",
"(arm-empty) (on-table hkadf) (on-table dypbm) (clear dypbm) (on tghgf vmmkk) (on-table qslwd) (on vmmkk hkadf) (clear tghgf) (clear qslwd)",
"(on tghgf vmmkk) (on-table hkadf) (on-table qslwd) (holding dypbm) (on vmmkk hkadf) (clear tghgf) (clear qslwd)"
] | file_37214 |
GOAL: (clear jwxkl) (arm-empty) (on-table kefou) (clear kefou) (on-table bvuxl) (on jwxkl kycok) (on nhnjo bvuxl) (on-table kycok) (clear nhnjo) | GOAL: (clear jwxkl) (arm-empty) (on-table kefou) (clear kefou) (on-table bvuxl) (on jwxkl kycok) (on nhnjo bvuxl) (on-table kycok) (clear nhnjo)
STATE: (arm-empty) (on-table kefou) (on kycok jwxkl) (on bvuxl kycok) (on nhnjo bvuxl) (on jwxkl kefou) (clear nhnjo) | [
[
"unstack nhnjo bvuxl"
],
[
"put-down nhnjo"
],
[
"unstack bvuxl kycok"
],
[
"put-down bvuxl"
],
[
"pick-up nhnjo"
],
[
"stack nhnjo bvuxl"
],
[
"unstack kycok jwxkl"
],
[
"put-down kycok"
],
[
"unstack jwxkl kefou"
],
[
"stack jwxkl kycok"
]
] | [
"(on-table kefou) (clear bvuxl) (on jwxkl kefou) (holding nhnjo) (on kycok jwxkl) (on bvuxl kycok)",
"(arm-empty) (on-table kefou) (clear bvuxl) (on jwxkl kefou) (on-table nhnjo) (on kycok jwxkl) (on bvuxl kycok) (clear nhnjo)",
"(on-table kefou) (on-table nhnjo) (holding bvuxl) (on kycok jwxkl) (on jwxkl kefou) (clear kycok) (clear nhnjo)",
"(arm-empty) (on-table kefou) (clear bvuxl) (on jwxkl kefou) (on-table nhnjo) (on kycok jwxkl) (on-table bvuxl) (clear kycok) (clear nhnjo)",
"(holding nhnjo) (on-table kefou) (on kycok jwxkl) (clear bvuxl) (on-table bvuxl) (on jwxkl kefou) (clear kycok)",
"(arm-empty) (on-table kefou) (on kycok jwxkl) (on-table bvuxl) (on nhnjo bvuxl) (on jwxkl kefou) (clear kycok) (clear nhnjo)",
"(clear jwxkl) (on-table kefou) (on-table bvuxl) (on nhnjo bvuxl) (on jwxkl kefou) (holding kycok) (clear nhnjo)",
"(arm-empty) (on-table kefou) (on jwxkl kefou) (clear jwxkl) (on-table bvuxl) (on nhnjo bvuxl) (clear kycok) (clear nhnjo) (on-table kycok)",
"(on-table kefou) (holding jwxkl) (on-table bvuxl) (on nhnjo bvuxl) (clear kycok) (clear nhnjo) (on-table kycok) (clear kefou)",
"(clear jwxkl) (arm-empty) (on-table kefou) (clear kefou) (on-table bvuxl) (on jwxkl kycok) (on nhnjo bvuxl) (on-table kycok) (clear nhnjo)"
] | file_216838 |
GOAL: (holding cuzom) (clear dnvhq) (on-table wdqdl) (on oddsp wdqdl) (clear oddsp) (on dnvhq salti) (on-table salti) | GOAL: (holding cuzom) (clear dnvhq) (on-table wdqdl) (on oddsp wdqdl) (clear oddsp) (on dnvhq salti) (on-table salti)
STATE: (clear dnvhq) (arm-empty) (on-table wdqdl) (on oddsp wdqdl) (on cuzom oddsp) (on salti cuzom) (on dnvhq salti) | [
[
"unstack dnvhq salti"
],
[
"put-down dnvhq"
],
[
"unstack salti cuzom"
],
[
"put-down salti"
],
[
"pick-up dnvhq"
],
[
"stack dnvhq salti"
],
[
"unstack cuzom oddsp"
]
] | [
"(on-table wdqdl) (on oddsp wdqdl) (on salti cuzom) (on cuzom oddsp) (holding dnvhq) (clear salti)",
"(clear dnvhq) (arm-empty) (on-table dnvhq) (on-table wdqdl) (on salti cuzom) (on oddsp wdqdl) (clear salti) (on cuzom oddsp)",
"(clear dnvhq) (on-table dnvhq) (on-table wdqdl) (on oddsp wdqdl) (on cuzom oddsp) (holding salti) (clear cuzom)",
"(arm-empty) (on-table dnvhq) (on-table wdqdl) (on oddsp wdqdl) (clear dnvhq) (on cuzom oddsp) (clear salti) (clear cuzom) (on-table salti)",
"(on-table wdqdl) (on oddsp wdqdl) (holding dnvhq) (on cuzom oddsp) (clear salti) (clear cuzom) (on-table salti)",
"(clear dnvhq) (arm-empty) (on-table wdqdl) (on oddsp wdqdl) (on cuzom oddsp) (on dnvhq salti) (clear cuzom) (on-table salti)",
"(holding cuzom) (clear dnvhq) (on-table wdqdl) (on oddsp wdqdl) (clear oddsp) (on dnvhq salti) (on-table salti)"
] | file_137282 |
GOAL: (on zclnu xhscn) (arm-empty) (on-table uekll) (on rseni zclnu) (clear uekll) (on xhscn nlsgi) (clear rseni) (on-table nlsgi) | GOAL: (on zclnu xhscn) (arm-empty) (on-table uekll) (on rseni zclnu) (clear uekll) (on xhscn nlsgi) (clear rseni) (on-table nlsgi)
STATE: (on xhscn nlsgi) (on zclnu xhscn) (arm-empty) (on uekll rseni) (on-table nlsgi) (on rseni zclnu) (clear uekll) | [
[
"unstack uekll rseni"
],
[
"put-down uekll"
]
] | [
"(on zclnu xhscn) (holding uekll) (on rseni zclnu) (on xhscn nlsgi) (clear rseni) (on-table nlsgi)",
"(on zclnu xhscn) (arm-empty) (on-table uekll) (on rseni zclnu) (clear uekll) (on xhscn nlsgi) (clear rseni) (on-table nlsgi)"
] | file_28800 |
GOAL: (clear tcarq) (on-table vwtcp) (clear ndavk) (holding wmqed) (on-table ndavk) (on tcarq vwtcp) (clear zvhhn) (on-table zvhhn) | GOAL: (clear tcarq) (on-table vwtcp) (clear ndavk) (holding wmqed) (on-table ndavk) (on tcarq vwtcp) (clear zvhhn) (on-table zvhhn)
STATE: (arm-empty) (on-table wmqed) (on-table vwtcp) (on zvhhn tcarq) (clear ndavk) (on-table ndavk) (on tcarq wmqed) (clear zvhhn) (clear vwtcp) | [
[
"unstack zvhhn tcarq"
],
[
"stack zvhhn ndavk"
],
[
"unstack tcarq wmqed"
],
[
"stack tcarq vwtcp"
],
[
"unstack zvhhn ndavk"
],
[
"put-down zvhhn"
],
[
"pick-up wmqed"
]
] | [
"(clear tcarq) (on-table wmqed) (on-table vwtcp) (clear ndavk) (on-table ndavk) (on tcarq wmqed) (holding zvhhn) (clear vwtcp)",
"(on zvhhn ndavk) (clear tcarq) (arm-empty) (on-table wmqed) (on-table vwtcp) (on-table ndavk) (on tcarq wmqed) (clear zvhhn) (clear vwtcp)",
"(on zvhhn ndavk) (on-table wmqed) (on-table vwtcp) (on-table ndavk) (holding tcarq) (clear zvhhn) (clear vwtcp) (clear wmqed)",
"(on zvhhn ndavk) (clear tcarq) (arm-empty) (on-table wmqed) (on-table vwtcp) (on-table ndavk) (on tcarq vwtcp) (clear zvhhn) (clear wmqed)",
"(clear tcarq) (on-table wmqed) (on-table vwtcp) (clear ndavk) (on-table ndavk) (on tcarq vwtcp) (holding zvhhn) (clear wmqed)",
"(clear tcarq) (arm-empty) (on-table wmqed) (on-table vwtcp) (clear ndavk) (on-table ndavk) (on tcarq vwtcp) (clear zvhhn) (on-table zvhhn) (clear wmqed)",
"(clear tcarq) (on-table vwtcp) (clear ndavk) (holding wmqed) (on-table ndavk) (on tcarq vwtcp) (clear zvhhn) (on-table zvhhn)"
] | file_128478 |
GOAL: (on-table vhpei) (clear sqmyf) (arm-empty) (on guymz vhpei) (on nfene guymz) (on sqmyf nfene) | GOAL: (on-table vhpei) (clear sqmyf) (arm-empty) (on guymz vhpei) (on nfene guymz) (on sqmyf nfene)
STATE: (holding guymz) (clear sqmyf) (clear vhpei) (on-table vhpei) (on sqmyf nfene) (on-table nfene) | [
[
"stack guymz vhpei"
],
[
"unstack sqmyf nfene"
],
[
"put-down sqmyf"
],
[
"pick-up nfene"
],
[
"stack nfene guymz"
],
[
"pick-up sqmyf"
],
[
"stack sqmyf nfene"
]
] | [
"(clear sqmyf) (arm-empty) (on-table vhpei) (on guymz vhpei) (on sqmyf nfene) (clear guymz) (on-table nfene)",
"(on guymz vhpei) (on-table vhpei) (holding sqmyf) (clear nfene) (clear guymz) (on-table nfene)",
"(arm-empty) (on-table sqmyf) (clear sqmyf) (on-table vhpei) (on guymz vhpei) (clear nfene) (clear guymz) (on-table nfene)",
"(clear sqmyf) (on-table sqmyf) (on-table vhpei) (on guymz vhpei) (holding nfene) (clear guymz)",
"(clear sqmyf) (arm-empty) (on-table sqmyf) (on-table vhpei) (on guymz vhpei) (on nfene guymz) (clear nfene)",
"(on-table vhpei) (on guymz vhpei) (on nfene guymz) (clear nfene) (holding sqmyf)",
"(on-table vhpei) (clear sqmyf) (arm-empty) (on guymz vhpei) (on nfene guymz) (on sqmyf nfene)"
] | file_136555 |
GOAL: (on svnwv xvtnj) (arm-empty) (on-table xvtnj) (clear ngyri) (on ngyri bgdsk) (on bgdsk hzrny) (clear svnwv) (on-table hzrny) | GOAL: (on svnwv xvtnj) (arm-empty) (on-table xvtnj) (clear ngyri) (on ngyri bgdsk) (on bgdsk hzrny) (clear svnwv) (on-table hzrny)
STATE: (on svnwv xvtnj) (on-table xvtnj) (clear ngyri) (on ngyri bgdsk) (on bgdsk svnwv) (holding hzrny) | [
[
"put-down hzrny"
],
[
"unstack ngyri bgdsk"
],
[
"stack ngyri hzrny"
],
[
"unstack bgdsk svnwv"
],
[
"put-down bgdsk"
],
[
"unstack ngyri hzrny"
],
[
"stack ngyri svnwv"
],
[
"pick-up bgdsk"
],
[
"stack bgdsk hzrny"
],
[
"unstack ngyri svnwv"
],
[
"stack ngyri bgdsk"
]
] | [
"(on svnwv xvtnj) (arm-empty) (on-table xvtnj) (on ngyri bgdsk) (on bgdsk svnwv) (clear hzrny) (clear ngyri) (on-table hzrny)",
"(on svnwv xvtnj) (clear bgdsk) (on-table xvtnj) (holding ngyri) (on bgdsk svnwv) (clear hzrny) (on-table hzrny)",
"(on svnwv xvtnj) (clear bgdsk) (arm-empty) (on-table xvtnj) (clear ngyri) (on ngyri hzrny) (on bgdsk svnwv) (on-table hzrny)",
"(on svnwv xvtnj) (on-table xvtnj) (clear ngyri) (on ngyri hzrny) (holding bgdsk) (clear svnwv) (on-table hzrny)",
"(on svnwv xvtnj) (arm-empty) (on-table bgdsk) (on-table xvtnj) (clear ngyri) (clear bgdsk) (on ngyri hzrny) (clear svnwv) (on-table hzrny)",
"(on svnwv xvtnj) (clear bgdsk) (on-table bgdsk) (on-table xvtnj) (holding ngyri) (clear hzrny) (clear svnwv) (on-table hzrny)",
"(on svnwv xvtnj) (clear bgdsk) (on ngyri svnwv) (arm-empty) (on-table bgdsk) (on-table xvtnj) (clear ngyri) (clear hzrny) (on-table hzrny)",
"(on svnwv xvtnj) (on ngyri svnwv) (on-table xvtnj) (clear ngyri) (holding bgdsk) (clear hzrny) (on-table hzrny)",
"(on svnwv xvtnj) (clear bgdsk) (on ngyri svnwv) (arm-empty) (on-table xvtnj) (clear ngyri) (on bgdsk hzrny) (on-table hzrny)",
"(on svnwv xvtnj) (clear bgdsk) (on-table xvtnj) (holding ngyri) (on bgdsk hzrny) (clear svnwv) (on-table hzrny)",
"(on svnwv xvtnj) (arm-empty) (on-table xvtnj) (clear ngyri) (on ngyri bgdsk) (on bgdsk hzrny) (clear svnwv) (on-table hzrny)"
] | file_5284 |
GOAL: (arm-empty) (on-table lkpjf) (on ltacp xjizn) (clear ntpyn) (on ntpyn hzkql) (on xjizn lkpjf) (on-table hzkql) (clear ltacp) | GOAL: (arm-empty) (on-table lkpjf) (on ltacp xjizn) (clear ntpyn) (on ntpyn hzkql) (on xjizn lkpjf) (on-table hzkql) (clear ltacp)
STATE: (arm-empty) (on ntpyn ltacp) (on-table lkpjf) (on ltacp xjizn) (clear ntpyn) (on xjizn lkpjf) (clear hzkql) (on-table hzkql) | [
[
"unstack ntpyn ltacp"
],
[
"put-down ntpyn"
],
[
"unstack ltacp xjizn"
],
[
"put-down ltacp"
],
[
"pick-up ntpyn"
],
[
"stack ntpyn hzkql"
],
[
"pick-up ltacp"
],
[
"stack ltacp xjizn"
]
] | [
"(on-table lkpjf) (holding ntpyn) (on ltacp xjizn) (on xjizn lkpjf) (clear hzkql) (on-table hzkql) (clear ltacp)",
"(arm-empty) (on ltacp xjizn) (clear ntpyn) (on xjizn lkpjf) (clear ltacp) (on-table lkpjf) (on-table ntpyn) (clear hzkql) (on-table hzkql)",
"(clear xjizn) (on-table lkpjf) (clear ntpyn) (holding ltacp) (on-table ntpyn) (on xjizn lkpjf) (clear hzkql) (on-table hzkql)",
"(clear xjizn) (arm-empty) (on-table ltacp) (on-table lkpjf) (clear ntpyn) (on-table ntpyn) (on xjizn lkpjf) (clear hzkql) (on-table hzkql) (clear ltacp)",
"(clear xjizn) (on-table ltacp) (on-table lkpjf) (holding ntpyn) (on xjizn lkpjf) (clear hzkql) (on-table hzkql) (clear ltacp)",
"(clear xjizn) (arm-empty) (on-table ltacp) (on-table lkpjf) (clear ntpyn) (on ntpyn hzkql) (on xjizn lkpjf) (on-table hzkql) (clear ltacp)",
"(clear xjizn) (on-table lkpjf) (clear ntpyn) (on ntpyn hzkql) (holding ltacp) (on xjizn lkpjf) (on-table hzkql)",
"(arm-empty) (on-table lkpjf) (on ltacp xjizn) (clear ntpyn) (on ntpyn hzkql) (on xjizn lkpjf) (on-table hzkql) (clear ltacp)"
] | file_114382 |
GOAL: (arm-empty) (on mqmgo iztew) (on-table epevh) (on-table iztew) (on kjncf sboja) (clear kjncf) (on sboja epevh) (clear mqmgo) | GOAL: (arm-empty) (on mqmgo iztew) (on-table epevh) (on-table iztew) (on kjncf sboja) (clear kjncf) (on sboja epevh) (clear mqmgo)
STATE: (holding sboja) (clear epevh) (on kjncf mqmgo) (on mqmgo iztew) (on-table iztew) (on epevh kjncf) | [
[
"put-down sboja"
],
[
"unstack epevh kjncf"
],
[
"put-down epevh"
],
[
"pick-up sboja"
],
[
"stack sboja epevh"
],
[
"unstack kjncf mqmgo"
],
[
"stack kjncf sboja"
]
] | [
"(on kjncf mqmgo) (arm-empty) (on mqmgo iztew) (clear epevh) (on-table sboja) (on-table iztew) (on epevh kjncf) (clear sboja)",
"(on kjncf mqmgo) (on mqmgo iztew) (on-table sboja) (on-table iztew) (holding epevh) (clear kjncf) (clear sboja)",
"(on kjncf mqmgo) (arm-empty) (on mqmgo iztew) (on-table epevh) (clear epevh) (on-table sboja) (on-table iztew) (clear kjncf) (clear sboja)",
"(holding sboja) (on kjncf mqmgo) (on mqmgo iztew) (on-table epevh) (clear epevh) (on-table iztew) (clear kjncf)",
"(on kjncf mqmgo) (arm-empty) (on mqmgo iztew) (on-table epevh) (on-table iztew) (clear kjncf) (on sboja epevh) (clear sboja)",
"(on mqmgo iztew) (on-table epevh) (on-table iztew) (on sboja epevh) (clear sboja) (holding kjncf) (clear mqmgo)",
"(arm-empty) (on mqmgo iztew) (on-table epevh) (on-table iztew) (on kjncf sboja) (clear kjncf) (on sboja epevh) (clear mqmgo)"
] | file_91242 |
GOAL: (arm-empty) (on-table fezha) (clear jkmli) (on sckov mfxgl) (on mfxgl jegik) (clear sckov) (clear fezha) (on-table jegik) (on-table jkmli) | GOAL: (arm-empty) (on-table fezha) (clear jkmli) (on sckov mfxgl) (on mfxgl jegik) (clear sckov) (clear fezha) (on-table jegik) (on-table jkmli)
STATE: (on jegik sckov) (arm-empty) (on sckov jkmli) (on-table fezha) (on jkmli fezha) (clear mfxgl) (clear jegik) (on-table mfxgl) | [
[
"unstack jegik sckov"
],
[
"put-down jegik"
],
[
"pick-up mfxgl"
],
[
"stack mfxgl jegik"
],
[
"unstack sckov jkmli"
],
[
"stack sckov mfxgl"
],
[
"unstack jkmli fezha"
],
[
"put-down jkmli"
]
] | [
"(holding jegik) (on sckov jkmli) (on-table fezha) (on jkmli fezha) (clear mfxgl) (on-table mfxgl) (clear sckov)",
"(arm-empty) (on sckov jkmli) (on-table fezha) (clear sckov) (on-table jegik) (on jkmli fezha) (clear mfxgl) (clear jegik) (on-table mfxgl)",
"(on sckov jkmli) (on-table fezha) (on-table jegik) (on jkmli fezha) (holding mfxgl) (clear jegik) (clear sckov)",
"(arm-empty) (on sckov jkmli) (on-table fezha) (on-table jegik) (on mfxgl jegik) (on jkmli fezha) (clear mfxgl) (clear sckov)",
"(on-table fezha) (on-table jegik) (clear jkmli) (on mfxgl jegik) (holding sckov) (on jkmli fezha) (clear mfxgl)",
"(arm-empty) (on-table fezha) (on-table jegik) (clear jkmli) (on sckov mfxgl) (on mfxgl jegik) (on jkmli fezha) (clear sckov)",
"(clear fezha) (on-table fezha) (on-table jegik) (holding jkmli) (on sckov mfxgl) (on mfxgl jegik) (clear sckov)",
"(arm-empty) (on-table fezha) (clear jkmli) (on sckov mfxgl) (on mfxgl jegik) (clear sckov) (clear fezha) (on-table jegik) (on-table jkmli)"
] | file_136284 |
GOAL: (on vgrum jruve) (arm-empty) (on jruve axqsz) (on-table axqsz) (on tomdd vgrum) (on qkpoh tomdd) (clear qkpoh) | GOAL: (on vgrum jruve) (arm-empty) (on jruve axqsz) (on-table axqsz) (on tomdd vgrum) (on qkpoh tomdd) (clear qkpoh)
STATE: (on vgrum jruve) (arm-empty) (on-table qkpoh) (on jruve tomdd) (clear axqsz) (on axqsz vgrum) (on tomdd qkpoh) | [
[
"unstack axqsz vgrum"
],
[
"put-down axqsz"
],
[
"unstack vgrum jruve"
],
[
"put-down vgrum"
],
[
"unstack jruve tomdd"
],
[
"stack jruve axqsz"
],
[
"pick-up vgrum"
],
[
"stack vgrum jruve"
],
[
"unstack tomdd qkpoh"
],
[
"stack tomdd vgrum"
],
[
"pick-up qkpoh"
],
[
"stack qkpoh tomdd"
]
] | [
"(holding axqsz) (on vgrum jruve) (on-table qkpoh) (on jruve tomdd) (clear vgrum) (on tomdd qkpoh)",
"(on vgrum jruve) (arm-empty) (on jruve tomdd) (clear axqsz) (on tomdd qkpoh) (on-table qkpoh) (on-table axqsz) (clear vgrum)",
"(on-table qkpoh) (on jruve tomdd) (clear axqsz) (on-table axqsz) (on tomdd qkpoh) (holding vgrum) (clear jruve)",
"(arm-empty) (on jruve tomdd) (clear axqsz) (on tomdd qkpoh) (clear jruve) (on-table qkpoh) (on-table axqsz) (clear vgrum) (on-table vgrum)",
"(clear tomdd) (on-table qkpoh) (clear axqsz) (holding jruve) (on-table axqsz) (on tomdd qkpoh) (clear vgrum) (on-table vgrum)",
"(clear tomdd) (arm-empty) (on jruve axqsz) (on-table qkpoh) (on-table axqsz) (on tomdd qkpoh) (clear vgrum) (on-table vgrum) (clear jruve)",
"(clear tomdd) (on jruve axqsz) (on-table qkpoh) (on-table axqsz) (on tomdd qkpoh) (holding vgrum) (clear jruve)",
"(clear tomdd) (on vgrum jruve) (on jruve axqsz) (arm-empty) (on-table qkpoh) (on-table axqsz) (on tomdd qkpoh) (clear vgrum)",
"(on vgrum jruve) (on jruve axqsz) (on-table qkpoh) (on-table axqsz) (holding tomdd) (clear vgrum) (clear qkpoh)",
"(on vgrum jruve) (clear tomdd) (on jruve axqsz) (arm-empty) (on-table qkpoh) (on-table axqsz) (on tomdd vgrum) (clear qkpoh)",
"(holding qkpoh) (on vgrum jruve) (clear tomdd) (on jruve axqsz) (on-table axqsz) (on tomdd vgrum)",
"(on vgrum jruve) (arm-empty) (on jruve axqsz) (on-table axqsz) (on tomdd vgrum) (on qkpoh tomdd) (clear qkpoh)"
] | file_92371 |
GOAL: (arm-empty) (on-table rrllk) (clear hnycc) (on-table asurs) (on hnycc rrllk) (clear qossj) (clear asurs) (on-table qossj) | GOAL: (arm-empty) (on-table rrllk) (clear hnycc) (on-table asurs) (on hnycc rrllk) (clear qossj) (clear asurs) (on-table qossj)
STATE: (clear rrllk) (on hnycc asurs) (on asurs qossj) (arm-empty) (on rrllk hnycc) (on-table qossj) | [
[
"unstack rrllk hnycc"
],
[
"put-down rrllk"
],
[
"unstack hnycc asurs"
],
[
"stack hnycc rrllk"
],
[
"unstack asurs qossj"
],
[
"put-down asurs"
]
] | [
"(on hnycc asurs) (on asurs qossj) (holding rrllk) (clear hnycc) (on-table qossj)",
"(clear rrllk) (on hnycc asurs) (on asurs qossj) (on-table rrllk) (arm-empty) (clear hnycc) (on-table qossj)",
"(on asurs qossj) (on-table rrllk) (holding hnycc) (clear rrllk) (clear asurs) (on-table qossj)",
"(on asurs qossj) (arm-empty) (on-table rrllk) (on hnycc rrllk) (clear hnycc) (clear asurs) (on-table qossj)",
"(on-table rrllk) (clear hnycc) (holding asurs) (on hnycc rrllk) (clear qossj) (on-table qossj)",
"(arm-empty) (on-table rrllk) (clear hnycc) (on-table asurs) (on hnycc rrllk) (clear qossj) (clear asurs) (on-table qossj)"
] | file_210907 |
GOAL: (on elsfn oqfbl) (on-table qyqhe) (arm-empty) (clear elsfn) (on iiqtd qyqhe) (on oqfbl iiqtd) | GOAL: (on elsfn oqfbl) (on-table qyqhe) (arm-empty) (clear elsfn) (on iiqtd qyqhe) (on oqfbl iiqtd)
STATE: (clear oqfbl) (arm-empty) (on-table oqfbl) (on-table qyqhe) (clear elsfn) (on elsfn iiqtd) (clear qyqhe) (on-table iiqtd) | [
[
"unstack elsfn iiqtd"
],
[
"stack elsfn oqfbl"
],
[
"pick-up iiqtd"
],
[
"stack iiqtd qyqhe"
],
[
"unstack elsfn oqfbl"
],
[
"put-down elsfn"
],
[
"pick-up oqfbl"
],
[
"stack oqfbl iiqtd"
],
[
"pick-up elsfn"
],
[
"stack elsfn oqfbl"
]
] | [
"(clear oqfbl) (on-table oqfbl) (on-table qyqhe) (holding elsfn) (clear iiqtd) (clear qyqhe) (on-table iiqtd)",
"(arm-empty) (on-table oqfbl) (on-table qyqhe) (clear elsfn) (on elsfn oqfbl) (clear iiqtd) (clear qyqhe) (on-table iiqtd)",
"(on-table oqfbl) (on-table qyqhe) (clear elsfn) (on elsfn oqfbl) (holding iiqtd) (clear qyqhe)",
"(arm-empty) (on-table oqfbl) (on-table qyqhe) (clear elsfn) (on iiqtd qyqhe) (on elsfn oqfbl) (clear iiqtd)",
"(on-table oqfbl) (holding elsfn) (on iiqtd qyqhe) (clear oqfbl) (on-table qyqhe) (clear iiqtd)",
"(arm-empty) (on-table oqfbl) (clear elsfn) (on iiqtd qyqhe) (clear oqfbl) (on-table qyqhe) (on-table elsfn) (clear iiqtd)",
"(on-table qyqhe) (clear elsfn) (on-table elsfn) (holding oqfbl) (on iiqtd qyqhe) (clear iiqtd)",
"(clear oqfbl) (arm-empty) (on-table qyqhe) (clear elsfn) (on-table elsfn) (on iiqtd qyqhe) (on oqfbl iiqtd)",
"(on iiqtd qyqhe) (holding elsfn) (clear oqfbl) (on oqfbl iiqtd) (on-table qyqhe)",
"(on elsfn oqfbl) (on-table qyqhe) (arm-empty) (clear elsfn) (on iiqtd qyqhe) (on oqfbl iiqtd)"
] | file_79509 |
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