goal stringlengths 69 172 | input stringlengths 140 332 | actions listlengths 1 18 | next_states listlengths 1 18 | source_file stringlengths 6 11 |
|---|---|---|---|---|
GOAL: (clear eebza) (arm-empty) (on-table eebza) (on-table wszst) (clear vnybs) (on bmxjk wszst) (on-table vnybs) (clear emlae) (on-table emlae) (clear bmxjk) | GOAL: (clear eebza) (arm-empty) (on-table eebza) (on-table wszst) (clear vnybs) (on bmxjk wszst) (on-table vnybs) (clear emlae) (on-table emlae) (clear bmxjk)
STATE: (on vnybs emlae) (holding bmxjk) (on eebza vnybs) (on wszst eebza) (clear wszst) (on-table emlae) | [
[
"put-down bmxjk"
],
[
"unstack wszst eebza"
],
[
"put-down wszst"
],
[
"pick-up bmxjk"
],
[
"stack bmxjk wszst"
],
[
"unstack eebza vnybs"
],
[
"put-down eebza"
],
[
"unstack vnybs emlae"
],
[
"put-down vnybs"
]
] | [
"(arm-empty) (on-table bmxjk) (on eebza vnybs) (on wszst eebza) (clear bmxjk) (on vnybs emlae) (clear wszst) (on-table emlae)",
"(holding wszst) (clear eebza) (on-table bmxjk) (on vnybs emlae) (on eebza vnybs) (on-table emlae) (clear bmxjk)",
"(arm-empty) (on-table bmxjk) (on eebza vnybs) (clear bmxjk) (clear eebza) (on-table wszst) (on vnybs emlae) (clear wszst) (on-table emlae)",
"(clear eebza) (on-table wszst) (on vnybs emlae) (holding bmxjk) (on eebza vnybs) (clear wszst) (on-table emlae)",
"(on vnybs emlae) (on bmxjk wszst) (clear eebza) (arm-empty) (on-table wszst) (on eebza vnybs) (on-table emlae) (clear bmxjk)",
"(on-table wszst) (clear vnybs) (on vnybs emlae) (on bmxjk wszst) (holding eebza) (on-table emlae) (clear bmxjk)",
"(arm-empty) (on-table eebza) (clear vnybs) (clear bmxjk) (clear eebza) (on-table wszst) (on vnybs emlae) (on bmxjk wszst) (on-table emlae)",
"(clear eebza) (on-table eebza) (on-table wszst) (holding vnybs) (on bmxjk wszst) (clear emlae) (on-table emlae) (clear bmxjk)",
"(clear eebza) (arm-empty) (on-table eebza) (on-table wszst) (clear vnybs) (on bmxjk wszst) (on-table vnybs) (clear emlae) (on-table emlae) (clear bmxjk)"
] | file_194864 |
GOAL: (on dcqfp arawd) (on yogfo dcqfp) (arm-empty) (on-table conui) (on arawd hmyle) (on hmyle conui) (clear yogfo) | GOAL: (on dcqfp arawd) (on yogfo dcqfp) (arm-empty) (on-table conui) (on arawd hmyle) (on hmyle conui) (clear yogfo)
STATE: (clear hmyle) (on-table conui) (on-table yogfo) (on-table arawd) (on hmyle arawd) (holding dcqfp) (clear yogfo) (clear conui) | [
[
"stack dcqfp yogfo"
],
[
"unstack hmyle arawd"
],
[
"stack hmyle conui"
],
[
"pick-up arawd"
],
[
"stack arawd hmyle"
],
[
"unstack dcqfp yogfo"
],
[
"stack dcqfp arawd"
],
[
"pick-up yogfo"
],
[
"stack yogfo dcqfp"
]
] | [
"(clear hmyle) (arm-empty) (on-table conui) (on-table yogfo) (on dcqfp yogfo) (on-table arawd) (on hmyle arawd) (clear dcqfp) (clear conui)",
"(on-table conui) (on-table yogfo) (clear arawd) (on-table arawd) (holding hmyle) (on dcqfp yogfo) (clear dcqfp) (clear conui)",
"(clear hmyle) (arm-empty) (on-table conui) (on-table yogfo) (clear arawd) (on-table arawd) (on dcqfp yogfo) (on hmyle conui) (clear dcqfp)",
"(clear hmyle) (on-table conui) (on-table yogfo) (holding arawd) (on dcqfp yogfo) (on hmyle conui) (clear dcqfp)",
"(arm-empty) (on-table conui) (on-table yogfo) (clear arawd) (on dcqfp yogfo) (on arawd hmyle) (on hmyle conui) (clear dcqfp)",
"(on-table conui) (on-table yogfo) (clear arawd) (on arawd hmyle) (on hmyle conui) (holding dcqfp) (clear yogfo)",
"(on dcqfp arawd) (arm-empty) (on-table conui) (on-table yogfo) (on arawd hmyle) (on hmyle conui) (clear dcqfp) (clear yogfo)",
"(holding yogfo) (on dcqfp arawd) (on-table conui) (on arawd hmyle) (on hmyle conui) (clear dcqfp)",
"(on dcqfp arawd) (on yogfo dcqfp) (arm-empty) (on-table conui) (on arawd hmyle) (on hmyle conui) (clear yogfo)"
] | file_126098 |
GOAL: (on-table hczip) (clear jdihg) (on rebks fqjwv) (on-table jdihg) (on fqjwv hczip) (holding vdjrn) (clear rebks) | GOAL: (on-table hczip) (clear jdihg) (on rebks fqjwv) (on-table jdihg) (on fqjwv hczip) (holding vdjrn) (clear rebks)
STATE: (arm-empty) (on rebks jdihg) (on jdihg vdjrn) (on hczip rebks) (on fqjwv hczip) (clear fqjwv) (on-table vdjrn) | [
[
"unstack fqjwv hczip"
],
[
"put-down fqjwv"
],
[
"unstack hczip rebks"
],
[
"put-down hczip"
],
[
"pick-up fqjwv"
],
[
"stack fqjwv hczip"
],
[
"unstack rebks jdihg"
],
[
"stack rebks fqjwv"
],
[
"unstack jdihg vdjrn"
],
[
"put-down jdihg"
],
[
"pick-up vdjrn"
]
] | [
"(on rebks jdihg) (on hczip rebks) (holding fqjwv) (clear hczip) (on jdihg vdjrn) (on-table vdjrn)",
"(arm-empty) (on rebks jdihg) (on hczip rebks) (clear hczip) (on-table fqjwv) (on jdihg vdjrn) (clear fqjwv) (on-table vdjrn)",
"(on rebks jdihg) (on-table fqjwv) (on jdihg vdjrn) (holding hczip) (clear fqjwv) (on-table vdjrn) (clear rebks)",
"(arm-empty) (on rebks jdihg) (on-table hczip) (clear rebks) (clear hczip) (on-table fqjwv) (on jdihg vdjrn) (clear fqjwv) (on-table vdjrn)",
"(holding fqjwv) (clear hczip) (on rebks jdihg) (on-table hczip) (on jdihg vdjrn) (on-table vdjrn) (clear rebks)",
"(arm-empty) (on rebks jdihg) (on-table hczip) (on jdihg vdjrn) (on fqjwv hczip) (clear fqjwv) (on-table vdjrn) (clear rebks)",
"(on-table hczip) (clear jdihg) (on jdihg vdjrn) (holding rebks) (on fqjwv hczip) (clear fqjwv) (on-table vdjrn)",
"(on jdihg vdjrn) (on rebks fqjwv) (arm-empty) (on-table hczip) (clear jdihg) (on fqjwv hczip) (on-table vdjrn) (clear rebks)",
"(on-table hczip) (holding jdihg) (on rebks fqjwv) (clear vdjrn) (on fqjwv hczip) (on-table vdjrn) (clear rebks)",
"(arm-empty) (on-table hczip) (clear jdihg) (on fqjwv hczip) (clear rebks) (on rebks fqjwv) (on-table jdihg) (clear vdjrn) (on-table vdjrn)",
"(on-table hczip) (clear jdihg) (on rebks fqjwv) (on-table jdihg) (on fqjwv hczip) (holding vdjrn) (clear rebks)"
] | file_128128 |
GOAL: (arm-empty) (on-table wqgzl) (on-table mzezn) (on pavqr mzezn) (clear ijffy) (on dzvug pavqr) (clear dzvug) (on-table ijffy) (clear wqgzl) | GOAL: (arm-empty) (on-table wqgzl) (on-table mzezn) (on pavqr mzezn) (clear ijffy) (on dzvug pavqr) (clear dzvug) (on-table ijffy) (clear wqgzl)
STATE: (arm-empty) (on-table wqgzl) (on-table dzvug) (on ijffy pavqr) (clear mzezn) (on-table mzezn) (on pavqr wqgzl) (clear ijffy) (clear dzvug) | [
[
"unstack ijffy pavqr"
],
[
"put-down ijffy"
],
[
"pick-up dzvug"
],
[
"stack dzvug ijffy"
],
[
"unstack pavqr wqgzl"
],
[
"stack pavqr mzezn"
],
[
"unstack dzvug ijffy"
],
[
"stack dzvug pavqr"
]
] | [
"(clear pavqr) (on-table wqgzl) (on-table dzvug) (clear mzezn) (on-table mzezn) (on pavqr wqgzl) (holding ijffy) (clear dzvug)",
"(clear pavqr) (arm-empty) (on-table wqgzl) (on-table dzvug) (clear mzezn) (on-table mzezn) (on pavqr wqgzl) (clear ijffy) (clear dzvug) (on-table ijffy)",
"(holding dzvug) (clear pavqr) (on-table wqgzl) (clear mzezn) (on-table mzezn) (on pavqr wqgzl) (clear ijffy) (on-table ijffy)",
"(clear pavqr) (on dzvug ijffy) (arm-empty) (on-table wqgzl) (clear mzezn) (on-table mzezn) (on pavqr wqgzl) (clear dzvug) (on-table ijffy)",
"(on dzvug ijffy) (on-table wqgzl) (clear mzezn) (on-table mzezn) (holding pavqr) (clear dzvug) (on-table ijffy) (clear wqgzl)",
"(clear pavqr) (on dzvug ijffy) (arm-empty) (on-table wqgzl) (on-table mzezn) (on pavqr mzezn) (clear dzvug) (on-table ijffy) (clear wqgzl)",
"(holding dzvug) (clear pavqr) (on-table wqgzl) (on-table mzezn) (on pavqr mzezn) (clear ijffy) (on-table ijffy) (clear wqgzl)",
"(arm-empty) (on-table wqgzl) (on-table mzezn) (on pavqr mzezn) (clear ijffy) (on dzvug pavqr) (clear dzvug) (on-table ijffy) (clear wqgzl)"
] | file_128443 |
GOAL: (clear beeik) (on-table woiff) (on-table wlwtb) (holding nityp) (on rzkax wlwtb) (on beeik woiff) (clear rzkax) | GOAL: (clear beeik) (on-table woiff) (on-table wlwtb) (holding nityp) (on rzkax wlwtb) (on beeik woiff) (clear rzkax)
STATE: (clear beeik) (arm-empty) (on woiff nityp) (on-table beeik) (on-table wlwtb) (on nityp rzkax) (on rzkax wlwtb) (clear woiff) | [
[
"unstack woiff nityp"
],
[
"put-down woiff"
],
[
"pick-up beeik"
],
[
"stack beeik woiff"
],
[
"unstack nityp rzkax"
]
] | [
"(clear beeik) (on-table beeik) (on-table wlwtb) (clear nityp) (on nityp rzkax) (holding woiff) (on rzkax wlwtb)",
"(arm-empty) (on-table beeik) (on-table woiff) (clear nityp) (on rzkax wlwtb) (clear woiff) (clear beeik) (on-table wlwtb) (on nityp rzkax)",
"(on-table woiff) (on-table wlwtb) (clear nityp) (on nityp rzkax) (holding beeik) (on rzkax wlwtb) (clear woiff)",
"(clear beeik) (arm-empty) (on-table woiff) (on-table wlwtb) (clear nityp) (on nityp rzkax) (on rzkax wlwtb) (on beeik woiff)",
"(clear beeik) (on-table woiff) (on-table wlwtb) (holding nityp) (on rzkax wlwtb) (on beeik woiff) (clear rzkax)"
] | file_42858 |
GOAL: (on ewcfg qjiws) (on lfrvh ewcfg) (arm-empty) (on-table qjiws) (on zmzmo bkvpe) (on bkvpe lfrvh) (clear zmzmo) | GOAL: (on ewcfg qjiws) (on lfrvh ewcfg) (arm-empty) (on-table qjiws) (on zmzmo bkvpe) (on bkvpe lfrvh) (clear zmzmo)
STATE: (arm-empty) (on-table bkvpe) (on-table qjiws) (on-table lfrvh) (on ewcfg bkvpe) (clear zmzmo) (on-table zmzmo) (clear ewcfg) (clear lfrvh) (clear qjiws) | [
[
"unstack ewcfg bkvpe"
],
[
"stack ewcfg qjiws"
],
[
"pick-up lfrvh"
],
[
"stack lfrvh ewcfg"
],
[
"pick-up bkvpe"
],
[
"stack bkvpe lfrvh"
],
[
"pick-up zmzmo"
],
[
"stack zmzmo bkvpe"
]
] | [
"(clear bkvpe) (on-table bkvpe) (on-table qjiws) (on-table lfrvh) (clear zmzmo) (on-table zmzmo) (holding ewcfg) (clear lfrvh) (clear qjiws)",
"(clear bkvpe) (on ewcfg qjiws) (arm-empty) (on-table bkvpe) (on-table qjiws) (on-table lfrvh) (clear zmzmo) (on-table zmzmo) (clear ewcfg) (clear lfrvh)",
"(holding lfrvh) (clear bkvpe) (on ewcfg qjiws) (on-table bkvpe) (on-table qjiws) (clear zmzmo) (on-table zmzmo) (clear ewcfg)",
"(clear bkvpe) (on ewcfg qjiws) (on lfrvh ewcfg) (on-table bkvpe) (on-table qjiws) (arm-empty) (clear zmzmo) (on-table zmzmo) (clear lfrvh)",
"(on ewcfg qjiws) (on lfrvh ewcfg) (on-table qjiws) (clear zmzmo) (on-table zmzmo) (holding bkvpe) (clear lfrvh)",
"(on ewcfg qjiws) (on lfrvh ewcfg) (clear bkvpe) (arm-empty) (on-table qjiws) (clear zmzmo) (on-table zmzmo) (on bkvpe lfrvh)",
"(on ewcfg qjiws) (on lfrvh ewcfg) (clear bkvpe) (on-table qjiws) (holding zmzmo) (on bkvpe lfrvh)",
"(on ewcfg qjiws) (on lfrvh ewcfg) (arm-empty) (on-table qjiws) (on zmzmo bkvpe) (on bkvpe lfrvh) (clear zmzmo)"
] | file_45643 |
GOAL: (on hrbhh pccse) (on-table hyqlk) (on-table pccse) (holding rgvmw) (on iqtoq hyqlk) (clear iqtoq) (clear hrbhh) | GOAL: (on hrbhh pccse) (on-table hyqlk) (on-table pccse) (holding rgvmw) (on iqtoq hyqlk) (clear iqtoq) (clear hrbhh)
STATE: (on hrbhh pccse) (clear hyqlk) (on rgvmw hrbhh) (on iqtoq rgvmw) (arm-empty) (on-table pccse) (on hyqlk iqtoq) | [
[
"unstack hyqlk iqtoq"
],
[
"put-down hyqlk"
],
[
"unstack iqtoq rgvmw"
],
[
"stack iqtoq hyqlk"
],
[
"unstack rgvmw hrbhh"
]
] | [
"(on hrbhh pccse) (on rgvmw hrbhh) (on-table pccse) (on iqtoq rgvmw) (holding hyqlk) (clear iqtoq)",
"(on hrbhh pccse) (on rgvmw hrbhh) (arm-empty) (on-table hyqlk) (on-table pccse) (on iqtoq rgvmw) (clear hyqlk) (clear iqtoq)",
"(on hrbhh pccse) (on rgvmw hrbhh) (on-table hyqlk) (on-table pccse) (clear hyqlk) (clear rgvmw) (holding iqtoq)",
"(on hrbhh pccse) (on rgvmw hrbhh) (arm-empty) (on-table hyqlk) (on-table pccse) (on iqtoq hyqlk) (clear rgvmw) (clear iqtoq)",
"(on hrbhh pccse) (on-table hyqlk) (on-table pccse) (holding rgvmw) (on iqtoq hyqlk) (clear iqtoq) (clear hrbhh)"
] | file_41438 |
GOAL: (on gimcb qliyg) (clear crbgm) (arm-empty) (on qliyg skqec) (on-table jymnb) (on skqec jymnb) (on crbgm gimcb) | GOAL: (on gimcb qliyg) (clear crbgm) (arm-empty) (on qliyg skqec) (on-table jymnb) (on skqec jymnb) (on crbgm gimcb)
STATE: (clear crbgm) (on-table crbgm) (on-table jymnb) (clear qliyg) (on skqec jymnb) (on-table qliyg) (holding gimcb) (clear skqec) | [
[
"stack gimcb crbgm"
],
[
"pick-up qliyg"
],
[
"stack qliyg skqec"
],
[
"unstack gimcb crbgm"
],
[
"stack gimcb qliyg"
],
[
"pick-up crbgm"
],
[
"stack crbgm gimcb"
]
] | [
"(arm-empty) (on-table crbgm) (on-table jymnb) (on gimcb crbgm) (clear qliyg) (on skqec jymnb) (on-table qliyg) (clear gimcb) (clear skqec)",
"(on-table crbgm) (on-table jymnb) (holding qliyg) (on gimcb crbgm) (on skqec jymnb) (clear gimcb) (clear skqec)",
"(arm-empty) (on-table crbgm) (on qliyg skqec) (on-table jymnb) (on gimcb crbgm) (clear qliyg) (on skqec jymnb) (clear gimcb)",
"(clear crbgm) (on-table crbgm) (on qliyg skqec) (on-table jymnb) (clear qliyg) (on skqec jymnb) (holding gimcb)",
"(on gimcb qliyg) (clear crbgm) (arm-empty) (on-table crbgm) (on qliyg skqec) (on-table jymnb) (on skqec jymnb) (clear gimcb)",
"(on gimcb qliyg) (on qliyg skqec) (on-table jymnb) (on skqec jymnb) (holding crbgm) (clear gimcb)",
"(on gimcb qliyg) (clear crbgm) (arm-empty) (on qliyg skqec) (on-table jymnb) (on skqec jymnb) (on crbgm gimcb)"
] | file_8750 |
GOAL: (on jyeqh qvysk) (arm-empty) (on-table chkta) (on-table spgvj) (on-table lxgrc) (on qvysk chkta) (clear jyeqh) (clear lxgrc) (clear spgvj) | GOAL: (on jyeqh qvysk) (arm-empty) (on-table chkta) (on-table spgvj) (on-table lxgrc) (on qvysk chkta) (clear jyeqh) (clear lxgrc) (clear spgvj)
STATE: (clear chkta) (on jyeqh spgvj) (on-table chkta) (on-table spgvj) (holding qvysk) (on-table lxgrc) (clear jyeqh) (clear lxgrc) | [
[
"stack qvysk chkta"
],
[
"unstack jyeqh spgvj"
],
[
"stack jyeqh qvysk"
]
] | [
"(on jyeqh spgvj) (arm-empty) (on-table chkta) (on-table spgvj) (on-table lxgrc) (clear qvysk) (on qvysk chkta) (clear jyeqh) (clear lxgrc)",
"(on-table chkta) (on-table spgvj) (on-table lxgrc) (clear qvysk) (on qvysk chkta) (holding jyeqh) (clear lxgrc) (clear spgvj)",
"(on jyeqh qvysk) (arm-empty) (on-table chkta) (on-table spgvj) (on-table lxgrc) (on qvysk chkta) (clear jyeqh) (clear lxgrc) (clear spgvj)"
] | file_116452 |
GOAL: (holding dnkou) (on-table xbhnh) (clear lkvnt) (on dqboy wzyzl) (on lkvnt xbhnh) (on-table wzyzl) (clear dqboy) | GOAL: (holding dnkou) (on-table xbhnh) (clear lkvnt) (on dqboy wzyzl) (on lkvnt xbhnh) (on-table wzyzl) (clear dqboy)
STATE: (holding dnkou) (on-table xbhnh) (on lkvnt dqboy) (on dqboy xbhnh) (clear lkvnt) (clear wzyzl) (on-table wzyzl) | [
[
"put-down dnkou"
],
[
"unstack lkvnt dqboy"
],
[
"put-down lkvnt"
],
[
"unstack dqboy xbhnh"
],
[
"stack dqboy wzyzl"
],
[
"pick-up lkvnt"
],
[
"stack lkvnt xbhnh"
],
[
"pick-up dnkou"
]
] | [
"(arm-empty) (on-table xbhnh) (on lkvnt dqboy) (on dqboy xbhnh) (clear lkvnt) (on-table dnkou) (clear wzyzl) (clear dnkou) (on-table wzyzl)",
"(on-table xbhnh) (on-table dnkou) (holding lkvnt) (on dqboy xbhnh) (clear wzyzl) (clear dnkou) (on-table wzyzl) (clear dqboy)",
"(arm-empty) (on-table xbhnh) (on-table dnkou) (on dqboy xbhnh) (clear lkvnt) (on-table lkvnt) (clear wzyzl) (clear dnkou) (on-table wzyzl) (clear dqboy)",
"(clear xbhnh) (on-table xbhnh) (on-table dnkou) (clear lkvnt) (holding dqboy) (on-table lkvnt) (clear wzyzl) (clear dnkou) (on-table wzyzl)",
"(clear xbhnh) (arm-empty) (on-table xbhnh) (on-table dnkou) (clear lkvnt) (on dqboy wzyzl) (on-table lkvnt) (clear dnkou) (on-table wzyzl) (clear dqboy)",
"(clear xbhnh) (on-table xbhnh) (on-table dnkou) (holding lkvnt) (on dqboy wzyzl) (clear dnkou) (on-table wzyzl) (clear dqboy)",
"(arm-empty) (on-table xbhnh) (on-table dnkou) (clear lkvnt) (on dqboy wzyzl) (on lkvnt xbhnh) (clear dnkou) (on-table wzyzl) (clear dqboy)",
"(holding dnkou) (on-table xbhnh) (clear lkvnt) (on dqboy wzyzl) (on lkvnt xbhnh) (on-table wzyzl) (clear dqboy)"
] | file_192118 |
GOAL: (on dhrzq ujhng) (on-table rkufp) (holding qfmbk) (on wqnhg rkufp) (on ujhng wqnhg) (clear dhrzq) | GOAL: (on dhrzq ujhng) (on-table rkufp) (holding qfmbk) (on wqnhg rkufp) (on ujhng wqnhg) (clear dhrzq)
STATE: (clear rkufp) (on-table rkufp) (on-table ujhng) (on-table qfmbk) (on dhrzq qfmbk) (holding wqnhg) (clear dhrzq) (clear ujhng) | [
[
"stack wqnhg rkufp"
],
[
"pick-up ujhng"
],
[
"stack ujhng wqnhg"
],
[
"unstack dhrzq qfmbk"
],
[
"stack dhrzq ujhng"
],
[
"pick-up qfmbk"
]
] | [
"(arm-empty) (on-table rkufp) (on-table ujhng) (on wqnhg rkufp) (on-table qfmbk) (on dhrzq qfmbk) (clear wqnhg) (clear dhrzq) (clear ujhng)",
"(on-table rkufp) (on wqnhg rkufp) (holding ujhng) (on-table qfmbk) (on dhrzq qfmbk) (clear wqnhg) (clear dhrzq)",
"(arm-empty) (on-table rkufp) (on wqnhg rkufp) (on ujhng wqnhg) (on-table qfmbk) (on dhrzq qfmbk) (clear dhrzq) (clear ujhng)",
"(holding dhrzq) (on-table rkufp) (on wqnhg rkufp) (clear qfmbk) (on ujhng wqnhg) (on-table qfmbk) (clear ujhng)",
"(on dhrzq ujhng) (arm-empty) (on-table rkufp) (on wqnhg rkufp) (clear qfmbk) (on ujhng wqnhg) (on-table qfmbk) (clear dhrzq)",
"(on dhrzq ujhng) (on-table rkufp) (holding qfmbk) (on wqnhg rkufp) (on ujhng wqnhg) (clear dhrzq)"
] | file_195699 |
GOAL: (on hhklf eojuv) (on-table ijwnm) (holding iveqy) (on eojuv vsanr) (clear hhklf) (on vsanr ijwnm) | GOAL: (on hhklf eojuv) (on-table ijwnm) (holding iveqy) (on eojuv vsanr) (clear hhklf) (on vsanr ijwnm)
STATE: (on hhklf iveqy) (clear ijwnm) (arm-empty) (on vsanr eojuv) (on-table ijwnm) (on eojuv hhklf) (on-table iveqy) (clear vsanr) | [
[
"unstack vsanr eojuv"
],
[
"stack vsanr ijwnm"
],
[
"unstack eojuv hhklf"
],
[
"stack eojuv vsanr"
],
[
"unstack hhklf iveqy"
],
[
"stack hhklf eojuv"
],
[
"pick-up iveqy"
]
] | [
"(holding vsanr) (on hhklf iveqy) (clear ijwnm) (on-table ijwnm) (on eojuv hhklf) (on-table iveqy) (clear eojuv)",
"(on hhklf iveqy) (arm-empty) (on-table ijwnm) (on eojuv hhklf) (on-table iveqy) (on vsanr ijwnm) (clear vsanr) (clear eojuv)",
"(on hhklf iveqy) (on-table ijwnm) (holding eojuv) (on-table iveqy) (clear hhklf) (on vsanr ijwnm) (clear vsanr)",
"(on hhklf iveqy) (arm-empty) (on-table ijwnm) (on eojuv vsanr) (on-table iveqy) (clear hhklf) (on vsanr ijwnm) (clear eojuv)",
"(on-table ijwnm) (clear iveqy) (on eojuv vsanr) (on-table iveqy) (on vsanr ijwnm) (holding hhklf) (clear eojuv)",
"(on hhklf eojuv) (arm-empty) (on-table ijwnm) (clear iveqy) (on eojuv vsanr) (on-table iveqy) (clear hhklf) (on vsanr ijwnm)",
"(on hhklf eojuv) (on-table ijwnm) (holding iveqy) (on eojuv vsanr) (clear hhklf) (on vsanr ijwnm)"
] | file_64510 |
GOAL: (clear xtlvo) (on-table ykmja) (clear atmuf) (holding dujqk) (on-table atmuf) (on sxynm ykmja) (on xtlvo sxynm) | GOAL: (clear xtlvo) (on-table ykmja) (clear atmuf) (holding dujqk) (on-table atmuf) (on sxynm ykmja) (on xtlvo sxynm)
STATE: (on ykmja sxynm) (on dujqk atmuf) (arm-empty) (on atmuf xtlvo) (on xtlvo ykmja) (on-table sxynm) (clear dujqk) | [
[
"unstack dujqk atmuf"
],
[
"put-down dujqk"
],
[
"unstack atmuf xtlvo"
],
[
"put-down atmuf"
],
[
"pick-up dujqk"
],
[
"stack dujqk atmuf"
],
[
"unstack xtlvo ykmja"
],
[
"stack xtlvo dujqk"
],
[
"unstack ykmja sxynm"
],
[
"put-down ykmja"
],
[
"pick-up sxynm"
],
[
"stack sxynm ykmja"
],
[
"unstack xtlvo dujqk"
],
[
"stack xtlvo sxynm"
],
[
"unstack dujqk atmuf"
]
] | [
"(on ykmja sxynm) (clear atmuf) (holding dujqk) (on xtlvo ykmja) (on atmuf xtlvo) (on-table sxynm)",
"(on ykmja sxynm) (arm-empty) (on-table dujqk) (clear atmuf) (on xtlvo ykmja) (clear dujqk) (on atmuf xtlvo) (on-table sxynm)",
"(clear xtlvo) (on ykmja sxynm) (on-table dujqk) (holding atmuf) (on xtlvo ykmja) (on-table sxynm) (clear dujqk)",
"(on ykmja sxynm) (arm-empty) (on-table dujqk) (clear atmuf) (on xtlvo ykmja) (clear dujqk) (clear xtlvo) (on-table atmuf) (on-table sxynm)",
"(clear xtlvo) (on ykmja sxynm) (clear atmuf) (holding dujqk) (on-table atmuf) (on xtlvo ykmja) (on-table sxynm)",
"(clear xtlvo) (on ykmja sxynm) (on dujqk atmuf) (arm-empty) (on-table atmuf) (on xtlvo ykmja) (on-table sxynm) (clear dujqk)",
"(on ykmja sxynm) (on dujqk atmuf) (on-table atmuf) (holding xtlvo) (clear ykmja) (on-table sxynm) (clear dujqk)",
"(clear xtlvo) (on ykmja sxynm) (on dujqk atmuf) (arm-empty) (on-table atmuf) (on xtlvo dujqk) (clear ykmja) (on-table sxynm)",
"(holding ykmja) (clear xtlvo) (on dujqk atmuf) (on-table atmuf) (on xtlvo dujqk) (clear sxynm) (on-table sxynm)",
"(arm-empty) (on dujqk atmuf) (on xtlvo dujqk) (clear xtlvo) (on-table ykmja) (on-table atmuf) (clear sxynm) (clear ykmja) (on-table sxynm)",
"(clear xtlvo) (on dujqk atmuf) (on-table ykmja) (on-table atmuf) (on xtlvo dujqk) (holding sxynm) (clear ykmja)",
"(clear xtlvo) (arm-empty) (on dujqk atmuf) (on-table ykmja) (on-table atmuf) (on sxynm ykmja) (on xtlvo dujqk) (clear sxynm)",
"(on dujqk atmuf) (on-table ykmja) (on-table atmuf) (holding xtlvo) (on sxynm ykmja) (clear sxynm) (clear dujqk)",
"(clear xtlvo) (arm-empty) (on dujqk atmuf) (on-table ykmja) (on-table atmuf) (on sxynm ykmja) (on xtlvo sxynm) (clear dujqk)",
"(clear xtlvo) (on-table ykmja) (clear atmuf) (holding dujqk) (on-table atmuf) (on sxynm ykmja) (on xtlvo sxynm)"
] | file_54675 |
GOAL: (arm-empty) (on-table dvdty) (clear pbohf) (on-table zfwzb) (on agkqi dvdty) (on-table pbohf) (clear agkqi) (clear zfwzb) | GOAL: (arm-empty) (on-table dvdty) (clear pbohf) (on-table zfwzb) (on agkqi dvdty) (on-table pbohf) (clear agkqi) (clear zfwzb)
STATE: (clear dvdty) (arm-empty) (on-table pbohf) (on zfwzb pbohf) (on agkqi zfwzb) (on dvdty agkqi) | [
[
"unstack dvdty agkqi"
],
[
"put-down dvdty"
],
[
"unstack agkqi zfwzb"
],
[
"stack agkqi dvdty"
],
[
"unstack zfwzb pbohf"
],
[
"put-down zfwzb"
]
] | [
"(on-table pbohf) (on zfwzb pbohf) (on agkqi zfwzb) (clear agkqi) (holding dvdty)",
"(on-table pbohf) (clear dvdty) (arm-empty) (on-table dvdty) (on zfwzb pbohf) (on agkqi zfwzb) (clear agkqi)",
"(on-table dvdty) (clear dvdty) (on-table pbohf) (on zfwzb pbohf) (holding agkqi) (clear zfwzb)",
"(arm-empty) (on-table dvdty) (on agkqi dvdty) (on-table pbohf) (on zfwzb pbohf) (clear agkqi) (clear zfwzb)",
"(on-table dvdty) (clear pbohf) (holding zfwzb) (on agkqi dvdty) (on-table pbohf) (clear agkqi)",
"(arm-empty) (on-table dvdty) (clear pbohf) (on-table zfwzb) (on agkqi dvdty) (on-table pbohf) (clear agkqi) (clear zfwzb)"
] | file_47421 |
GOAL: (arm-empty) (on-table ddwcn) (on-table tuvil) (on oyzfm tuvil) (on xxkar ddwcn) (on suymx oyzfm) (clear xxkar) (clear suymx) | GOAL: (arm-empty) (on-table ddwcn) (on-table tuvil) (on oyzfm tuvil) (on xxkar ddwcn) (on suymx oyzfm) (clear xxkar) (clear suymx)
STATE: (on suymx xxkar) (on-table ddwcn) (on xxkar ddwcn) (clear oyzfm) (holding tuvil) (on-table oyzfm) (clear suymx) | [
[
"put-down tuvil"
],
[
"pick-up oyzfm"
],
[
"stack oyzfm tuvil"
],
[
"unstack suymx xxkar"
],
[
"stack suymx oyzfm"
]
] | [
"(on suymx xxkar) (arm-empty) (on-table ddwcn) (on-table tuvil) (clear oyzfm) (clear tuvil) (on xxkar ddwcn) (on-table oyzfm) (clear suymx)",
"(on suymx xxkar) (on-table ddwcn) (on-table tuvil) (holding oyzfm) (on xxkar ddwcn) (clear suymx) (clear tuvil)",
"(on suymx xxkar) (arm-empty) (on-table ddwcn) (on-table tuvil) (on oyzfm tuvil) (on xxkar ddwcn) (clear oyzfm) (clear suymx)",
"(holding suymx) (on-table ddwcn) (on-table tuvil) (on oyzfm tuvil) (on xxkar ddwcn) (clear oyzfm) (clear xxkar)",
"(arm-empty) (on-table ddwcn) (on-table tuvil) (on oyzfm tuvil) (on xxkar ddwcn) (on suymx oyzfm) (clear xxkar) (clear suymx)"
] | file_11704 |
GOAL: (on tnryx fgybt) (clear tiwci) (arm-empty) (on-table tiwci) (on-table ebdpg) (on osqsy tnryx) (on-table fgybt) (clear ebdpg) (clear osqsy) | GOAL: (on tnryx fgybt) (clear tiwci) (arm-empty) (on-table tiwci) (on-table ebdpg) (on osqsy tnryx) (on-table fgybt) (clear ebdpg) (clear osqsy)
STATE: (clear tiwci) (on-table tiwci) (on-table ebdpg) (clear fgybt) (holding osqsy) (on-table fgybt) (clear tnryx) (clear ebdpg) (on-table tnryx) | [
[
"put-down osqsy"
],
[
"pick-up tnryx"
],
[
"stack tnryx fgybt"
],
[
"pick-up osqsy"
],
[
"stack osqsy tnryx"
]
] | [
"(clear tiwci) (arm-empty) (on-table tiwci) (on-table osqsy) (on-table ebdpg) (clear fgybt) (on-table fgybt) (clear tnryx) (clear ebdpg) (on-table tnryx) (clear osqsy)",
"(clear tiwci) (on-table tiwci) (on-table osqsy) (on-table ebdpg) (clear fgybt) (on-table fgybt) (holding tnryx) (clear ebdpg) (clear osqsy)",
"(on tnryx fgybt) (clear tiwci) (arm-empty) (on-table tiwci) (on-table osqsy) (on-table ebdpg) (on-table fgybt) (clear tnryx) (clear ebdpg) (clear osqsy)",
"(on tnryx fgybt) (clear tiwci) (on-table tiwci) (on-table ebdpg) (holding osqsy) (on-table fgybt) (clear tnryx) (clear ebdpg)",
"(on tnryx fgybt) (clear tiwci) (arm-empty) (on-table tiwci) (on-table ebdpg) (on osqsy tnryx) (on-table fgybt) (clear ebdpg) (clear osqsy)"
] | file_21699 |
GOAL: (on-table pozeb) (on xnkox pozeb) (holding iaibs) (on-table cilne) (on tvarz cilne) (clear xnkox) (clear tvarz) | GOAL: (on-table pozeb) (on xnkox pozeb) (holding iaibs) (on-table cilne) (on tvarz cilne) (clear xnkox) (clear tvarz)
STATE: (clear pozeb) (arm-empty) (on iaibs tvarz) (on-table cilne) (on tvarz cilne) (on pozeb iaibs) (clear xnkox) (on-table xnkox) | [
[
"unstack pozeb iaibs"
],
[
"put-down pozeb"
],
[
"pick-up xnkox"
],
[
"stack xnkox pozeb"
],
[
"unstack iaibs tvarz"
]
] | [
"(holding pozeb) (on iaibs tvarz) (on-table cilne) (on tvarz cilne) (clear xnkox) (on-table xnkox) (clear iaibs)",
"(arm-empty) (on-table pozeb) (clear iaibs) (clear pozeb) (on iaibs tvarz) (on-table cilne) (on tvarz cilne) (clear xnkox) (on-table xnkox)",
"(clear pozeb) (on-table pozeb) (on iaibs tvarz) (on-table cilne) (on tvarz cilne) (holding xnkox) (clear iaibs)",
"(arm-empty) (on-table pozeb) (on xnkox pozeb) (on iaibs tvarz) (on-table cilne) (on tvarz cilne) (clear xnkox) (clear iaibs)",
"(on-table pozeb) (on xnkox pozeb) (holding iaibs) (on-table cilne) (on tvarz cilne) (clear xnkox) (clear tvarz)"
] | file_113105 |
GOAL: (holding jauyc) (on stqbg znlfs) (on-table pjnpe) (on nvmjv pjnpe) (on-table znlfs) (clear nvmjv) (clear stqbg) | GOAL: (holding jauyc) (on stqbg znlfs) (on-table pjnpe) (on nvmjv pjnpe) (on-table znlfs) (clear nvmjv) (clear stqbg)
STATE: (on jauyc nvmjv) (on-table pjnpe) (holding znlfs) (on nvmjv pjnpe) (on stqbg jauyc) (clear stqbg) | [
[
"put-down znlfs"
],
[
"unstack stqbg jauyc"
],
[
"stack stqbg znlfs"
],
[
"unstack jauyc nvmjv"
]
] | [
"(on jauyc nvmjv) (arm-empty) (on-table pjnpe) (clear znlfs) (clear stqbg) (on nvmjv pjnpe) (on stqbg jauyc) (on-table znlfs)",
"(on jauyc nvmjv) (on-table pjnpe) (on nvmjv pjnpe) (clear znlfs) (holding stqbg) (on-table znlfs) (clear jauyc)",
"(on jauyc nvmjv) (on stqbg znlfs) (on-table pjnpe) (arm-empty) (on nvmjv pjnpe) (on-table znlfs) (clear jauyc) (clear stqbg)",
"(holding jauyc) (on stqbg znlfs) (on-table pjnpe) (on nvmjv pjnpe) (on-table znlfs) (clear nvmjv) (clear stqbg)"
] | file_43530 |
GOAL: (clear phzcy) (on gfjtv cazkw) (on gyqmo gfjtv) (on-table cazkw) (on phzcy gyqmo) (holding wnviw) | GOAL: (clear phzcy) (on gfjtv cazkw) (on gyqmo gfjtv) (on-table cazkw) (on phzcy gyqmo) (holding wnviw)
STATE: (on wnviw gyqmo) (arm-empty) (on-table phzcy) (on gyqmo phzcy) (on gfjtv wnviw) (on cazkw gfjtv) (clear cazkw) | [
[
"unstack cazkw gfjtv"
],
[
"put-down cazkw"
],
[
"unstack gfjtv wnviw"
],
[
"stack gfjtv cazkw"
],
[
"unstack wnviw gyqmo"
],
[
"put-down wnviw"
],
[
"unstack gyqmo phzcy"
],
[
"stack gyqmo gfjtv"
],
[
"pick-up phzcy"
],
[
"stack phzcy gyqmo"
],
[
"pick-up wnviw"
]
] | [
"(on wnviw gyqmo) (on-table phzcy) (on gyqmo phzcy) (clear gfjtv) (holding cazkw) (on gfjtv wnviw)",
"(on wnviw gyqmo) (arm-empty) (on-table phzcy) (on gyqmo phzcy) (clear gfjtv) (on-table cazkw) (on gfjtv wnviw) (clear cazkw)",
"(on wnviw gyqmo) (on-table phzcy) (on-table cazkw) (holding gfjtv) (on gyqmo phzcy) (clear wnviw) (clear cazkw)",
"(on wnviw gyqmo) (on gfjtv cazkw) (arm-empty) (on-table phzcy) (on-table cazkw) (on gyqmo phzcy) (clear gfjtv) (clear wnviw)",
"(on gfjtv cazkw) (on-table phzcy) (on-table cazkw) (on gyqmo phzcy) (clear gfjtv) (holding wnviw) (clear gyqmo)",
"(on gfjtv cazkw) (arm-empty) (on-table phzcy) (on gyqmo phzcy) (clear gfjtv) (clear gyqmo) (on-table cazkw) (clear wnviw) (on-table wnviw)",
"(clear phzcy) (on gfjtv cazkw) (on-table phzcy) (on-table cazkw) (clear gfjtv) (holding gyqmo) (clear wnviw) (on-table wnviw)",
"(clear phzcy) (on gfjtv cazkw) (on gyqmo gfjtv) (on-table phzcy) (arm-empty) (on-table cazkw) (clear wnviw) (on-table wnviw) (clear gyqmo)",
"(on gfjtv cazkw) (on gyqmo gfjtv) (on-table cazkw) (holding phzcy) (clear wnviw) (on-table wnviw) (clear gyqmo)",
"(clear phzcy) (on gfjtv cazkw) (on gyqmo gfjtv) (arm-empty) (on-table cazkw) (on phzcy gyqmo) (clear wnviw) (on-table wnviw)",
"(clear phzcy) (on gfjtv cazkw) (on gyqmo gfjtv) (on-table cazkw) (on phzcy gyqmo) (holding wnviw)"
] | file_34071 |
GOAL: (clear wxrte) (arm-empty) (on-table wxrte) (on-table ffbbh) (on rkwyv ffbbh) (on amevb rkwyv) (on vppso amevb) (clear vppso) | GOAL: (clear wxrte) (arm-empty) (on-table wxrte) (on-table ffbbh) (on rkwyv ffbbh) (on amevb rkwyv) (on vppso amevb) (clear vppso)
STATE: (on amevb ffbbh) (arm-empty) (on ffbbh rkwyv) (on-table wxrte) (on vppso wxrte) (on rkwyv vppso) (clear amevb) | [
[
"unstack amevb ffbbh"
],
[
"put-down amevb"
],
[
"unstack ffbbh rkwyv"
],
[
"put-down ffbbh"
],
[
"unstack rkwyv vppso"
],
[
"stack rkwyv ffbbh"
],
[
"pick-up amevb"
],
[
"stack amevb rkwyv"
],
[
"unstack vppso wxrte"
],
[
"stack vppso amevb"
]
] | [
"(on ffbbh rkwyv) (on-table wxrte) (clear ffbbh) (holding amevb) (on vppso wxrte) (on rkwyv vppso)",
"(arm-empty) (on ffbbh rkwyv) (on-table wxrte) (clear ffbbh) (on-table amevb) (on vppso wxrte) (on rkwyv vppso) (clear amevb)",
"(on-table wxrte) (on-table amevb) (on vppso wxrte) (clear rkwyv) (on rkwyv vppso) (holding ffbbh) (clear amevb)",
"(arm-empty) (on-table wxrte) (on-table ffbbh) (clear rkwyv) (clear ffbbh) (on-table amevb) (on vppso wxrte) (on rkwyv vppso) (clear amevb)",
"(on-table wxrte) (on-table ffbbh) (on-table amevb) (holding rkwyv) (on vppso wxrte) (clear vppso) (clear amevb) (clear ffbbh)",
"(arm-empty) (on-table wxrte) (on-table ffbbh) (on-table amevb) (on rkwyv ffbbh) (on vppso wxrte) (clear rkwyv) (clear vppso) (clear amevb)",
"(holding amevb) (on-table wxrte) (on-table ffbbh) (on rkwyv ffbbh) (on vppso wxrte) (clear rkwyv) (clear vppso)",
"(arm-empty) (on-table wxrte) (on-table ffbbh) (on rkwyv ffbbh) (on vppso wxrte) (on amevb rkwyv) (clear vppso) (clear amevb)",
"(clear wxrte) (on-table wxrte) (on-table ffbbh) (on rkwyv ffbbh) (on amevb rkwyv) (holding vppso) (clear amevb)",
"(clear wxrte) (arm-empty) (on-table wxrte) (on-table ffbbh) (on rkwyv ffbbh) (on amevb rkwyv) (on vppso amevb) (clear vppso)"
] | file_31787 |
GOAL: (on vsfxs ddyzx) (clear ouvan) (on ddyzx rwado) (on-table rwado) (on ouvan vsfxs) (holding zzvpp) | GOAL: (on vsfxs ddyzx) (clear ouvan) (on ddyzx rwado) (on-table rwado) (on ouvan vsfxs) (holding zzvpp)
STATE: (clear ouvan) (on-table vsfxs) (holding ddyzx) (on-table rwado) (on ouvan rwado) (clear zzvpp) (clear vsfxs) (on-table zzvpp) | [
[
"stack ddyzx vsfxs"
],
[
"unstack ouvan rwado"
],
[
"stack ouvan zzvpp"
],
[
"unstack ddyzx vsfxs"
],
[
"stack ddyzx rwado"
],
[
"pick-up vsfxs"
],
[
"stack vsfxs ddyzx"
],
[
"unstack ouvan zzvpp"
],
[
"stack ouvan vsfxs"
],
[
"pick-up zzvpp"
]
] | [
"(clear ouvan) (arm-empty) (on-table vsfxs) (on ddyzx vsfxs) (on-table rwado) (on ouvan rwado) (clear zzvpp) (on-table zzvpp) (clear ddyzx)",
"(on-table vsfxs) (clear rwado) (on ddyzx vsfxs) (on-table rwado) (holding ouvan) (clear zzvpp) (on-table zzvpp) (clear ddyzx)",
"(clear ouvan) (arm-empty) (on-table vsfxs) (clear rwado) (on ddyzx vsfxs) (on-table rwado) (on ouvan zzvpp) (on-table zzvpp) (clear ddyzx)",
"(clear ouvan) (on-table vsfxs) (clear rwado) (holding ddyzx) (on-table rwado) (on ouvan zzvpp) (clear vsfxs) (on-table zzvpp)",
"(clear ouvan) (arm-empty) (on ddyzx rwado) (on-table vsfxs) (on-table rwado) (on ouvan zzvpp) (clear vsfxs) (on-table zzvpp) (clear ddyzx)",
"(holding vsfxs) (clear ouvan) (on ddyzx rwado) (on-table rwado) (on ouvan zzvpp) (on-table zzvpp) (clear ddyzx)",
"(on vsfxs ddyzx) (clear ouvan) (arm-empty) (on ddyzx rwado) (on-table rwado) (on ouvan zzvpp) (clear vsfxs) (on-table zzvpp)",
"(on vsfxs ddyzx) (on ddyzx rwado) (on-table rwado) (holding ouvan) (clear zzvpp) (clear vsfxs) (on-table zzvpp)",
"(on vsfxs ddyzx) (clear ouvan) (arm-empty) (on ddyzx rwado) (on-table rwado) (on ouvan vsfxs) (clear zzvpp) (on-table zzvpp)",
"(on vsfxs ddyzx) (clear ouvan) (on ddyzx rwado) (on-table rwado) (on ouvan vsfxs) (holding zzvpp)"
] | file_80544 |
GOAL: (clear gqpyp) (arm-empty) (on-table zgbbb) (on-table cuyql) (clear qmner) (on-table qmner) (on gqpyp cuyql) (clear hwewn) (on-table hwewn) (clear zgbbb) | GOAL: (clear gqpyp) (arm-empty) (on-table zgbbb) (on-table cuyql) (clear qmner) (on-table qmner) (on gqpyp cuyql) (clear hwewn) (on-table hwewn) (clear zgbbb)
STATE: (clear gqpyp) (arm-empty) (on-table cuyql) (clear qmner) (on zgbbb hwewn) (on-table qmner) (on gqpyp zgbbb) (clear cuyql) (on-table hwewn) | [
[
"unstack gqpyp zgbbb"
],
[
"put-down gqpyp"
],
[
"unstack zgbbb hwewn"
],
[
"stack zgbbb qmner"
],
[
"pick-up gqpyp"
],
[
"stack gqpyp cuyql"
],
[
"unstack zgbbb qmner"
],
[
"put-down zgbbb"
]
] | [
"(on-table cuyql) (clear qmner) (on zgbbb hwewn) (on-table qmner) (holding gqpyp) (clear cuyql) (on-table hwewn) (clear zgbbb)",
"(clear gqpyp) (arm-empty) (on-table gqpyp) (on-table cuyql) (clear qmner) (on zgbbb hwewn) (on-table qmner) (clear cuyql) (on-table hwewn) (clear zgbbb)",
"(clear gqpyp) (on-table gqpyp) (on-table cuyql) (clear qmner) (holding zgbbb) (on-table qmner) (clear hwewn) (clear cuyql) (on-table hwewn)",
"(clear gqpyp) (arm-empty) (on zgbbb qmner) (on-table gqpyp) (on-table cuyql) (on-table qmner) (clear hwewn) (clear cuyql) (on-table hwewn) (clear zgbbb)",
"(on zgbbb qmner) (on-table cuyql) (on-table qmner) (holding gqpyp) (clear hwewn) (clear cuyql) (on-table hwewn) (clear zgbbb)",
"(clear gqpyp) (arm-empty) (on zgbbb qmner) (on-table cuyql) (on-table qmner) (on gqpyp cuyql) (clear hwewn) (on-table hwewn) (clear zgbbb)",
"(clear gqpyp) (on-table cuyql) (clear qmner) (holding zgbbb) (on-table qmner) (on gqpyp cuyql) (clear hwewn) (on-table hwewn)",
"(clear gqpyp) (arm-empty) (on-table zgbbb) (on-table cuyql) (clear qmner) (on-table qmner) (on gqpyp cuyql) (clear hwewn) (on-table hwewn) (clear zgbbb)"
] | file_172833 |
GOAL: (on ezati watrj) (on watrj gpxzg) (on-table hlhsd) (on-table gpxzg) (holding pmxho) (clear ezati) (clear hlhsd) | GOAL: (on ezati watrj) (on watrj gpxzg) (on-table hlhsd) (on-table gpxzg) (holding pmxho) (clear ezati) (clear hlhsd)
STATE: (arm-empty) (on-table hlhsd) (on watrj pmxho) (clear gpxzg) (on-table gpxzg) (on ezati hlhsd) (on pmxho ezati) (clear watrj) | [
[
"unstack watrj pmxho"
],
[
"stack watrj gpxzg"
],
[
"unstack pmxho ezati"
],
[
"put-down pmxho"
],
[
"unstack ezati hlhsd"
],
[
"stack ezati watrj"
],
[
"pick-up pmxho"
]
] | [
"(clear pmxho) (on-table hlhsd) (clear gpxzg) (holding watrj) (on-table gpxzg) (on ezati hlhsd) (on pmxho ezati)",
"(clear pmxho) (arm-empty) (on watrj gpxzg) (on-table hlhsd) (on-table gpxzg) (on ezati hlhsd) (on pmxho ezati) (clear watrj)",
"(on watrj gpxzg) (on-table hlhsd) (on-table gpxzg) (holding pmxho) (on ezati hlhsd) (clear ezati) (clear watrj)",
"(arm-empty) (on watrj gpxzg) (on-table pmxho) (on ezati hlhsd) (clear watrj) (clear pmxho) (on-table hlhsd) (on-table gpxzg) (clear ezati)",
"(clear pmxho) (on watrj gpxzg) (on-table pmxho) (on-table hlhsd) (on-table gpxzg) (holding ezati) (clear hlhsd) (clear watrj)",
"(clear pmxho) (on ezati watrj) (on watrj gpxzg) (on-table pmxho) (arm-empty) (on-table hlhsd) (on-table gpxzg) (clear ezati) (clear hlhsd)",
"(on ezati watrj) (on watrj gpxzg) (on-table hlhsd) (on-table gpxzg) (holding pmxho) (clear ezati) (clear hlhsd)"
] | file_24678 |
GOAL: (on cvuvv nnipn) (arm-empty) (on-table svbkm) (on-table gdcrg) (clear cvuvv) (clear gdcrg) (on-table nnipn) (on ayswg svbkm) (clear ayswg) | GOAL: (on cvuvv nnipn) (arm-empty) (on-table svbkm) (on-table gdcrg) (clear cvuvv) (clear gdcrg) (on-table nnipn) (on ayswg svbkm) (clear ayswg)
STATE: (clear svbkm) (on cvuvv nnipn) (on gdcrg cvuvv) (on-table svbkm) (on-table nnipn) (holding ayswg) (clear gdcrg) | [
[
"stack ayswg svbkm"
],
[
"unstack gdcrg cvuvv"
],
[
"put-down gdcrg"
]
] | [
"(on cvuvv nnipn) (on gdcrg cvuvv) (on-table svbkm) (arm-empty) (on-table nnipn) (on ayswg svbkm) (clear ayswg) (clear gdcrg)",
"(on cvuvv nnipn) (on-table svbkm) (on-table nnipn) (on ayswg svbkm) (clear cvuvv) (holding gdcrg) (clear ayswg)",
"(on cvuvv nnipn) (arm-empty) (on-table svbkm) (on-table gdcrg) (clear cvuvv) (clear gdcrg) (on-table nnipn) (on ayswg svbkm) (clear ayswg)"
] | file_168027 |
GOAL: (arm-empty) (on-table kulzp) (on-table qwvsz) (on krowy kulzp) (clear xxhqw) (on-table xxhqw) (on nicnj qwvsz) (clear nicnj) (clear krowy) | GOAL: (arm-empty) (on-table kulzp) (on-table qwvsz) (on krowy kulzp) (clear xxhqw) (on-table xxhqw) (on nicnj qwvsz) (clear nicnj) (clear krowy)
STATE: (on nicnj krowy) (arm-empty) (on-table kulzp) (on krowy kulzp) (on xxhqw nicnj) (on qwvsz xxhqw) (clear qwvsz) | [
[
"unstack qwvsz xxhqw"
],
[
"put-down qwvsz"
],
[
"unstack xxhqw nicnj"
],
[
"put-down xxhqw"
],
[
"unstack nicnj krowy"
],
[
"stack nicnj qwvsz"
]
] | [
"(on nicnj krowy) (on-table kulzp) (on krowy kulzp) (clear xxhqw) (holding qwvsz) (on xxhqw nicnj)",
"(on nicnj krowy) (arm-empty) (on-table kulzp) (on krowy kulzp) (clear xxhqw) (on-table qwvsz) (on xxhqw nicnj) (clear qwvsz)",
"(on nicnj krowy) (on-table kulzp) (on-table qwvsz) (holding xxhqw) (on krowy kulzp) (clear nicnj) (clear qwvsz)",
"(on nicnj krowy) (arm-empty) (on-table kulzp) (on krowy kulzp) (clear xxhqw) (on-table qwvsz) (on-table xxhqw) (clear nicnj) (clear qwvsz)",
"(on-table kulzp) (on-table qwvsz) (on krowy kulzp) (clear xxhqw) (on-table xxhqw) (holding nicnj) (clear qwvsz) (clear krowy)",
"(arm-empty) (on-table kulzp) (on-table qwvsz) (on krowy kulzp) (clear xxhqw) (on-table xxhqw) (on nicnj qwvsz) (clear nicnj) (clear krowy)"
] | file_34037 |
GOAL: (clear yjppr) (on-table itvlp) (on mmpnl itvlp) (on-table lfowl) (on yjppr lfowl) (holding zqwij) (clear mmpnl) | GOAL: (clear yjppr) (on-table itvlp) (on mmpnl itvlp) (on-table lfowl) (on yjppr lfowl) (holding zqwij) (clear mmpnl)
STATE: (holding itvlp) (on mmpnl yjppr) (on-table lfowl) (on yjppr lfowl) (clear zqwij) (on-table zqwij) (clear mmpnl) | [
[
"put-down itvlp"
],
[
"unstack mmpnl yjppr"
],
[
"stack mmpnl itvlp"
],
[
"pick-up zqwij"
]
] | [
"(arm-empty) (on mmpnl yjppr) (on yjppr lfowl) (clear mmpnl) (on-table itvlp) (on-table lfowl) (clear zqwij) (clear itvlp) (on-table zqwij)",
"(clear yjppr) (on-table itvlp) (holding mmpnl) (on-table lfowl) (on yjppr lfowl) (clear zqwij) (clear itvlp) (on-table zqwij)",
"(clear yjppr) (arm-empty) (on-table itvlp) (on mmpnl itvlp) (on-table lfowl) (on yjppr lfowl) (clear zqwij) (on-table zqwij) (clear mmpnl)",
"(clear yjppr) (on-table itvlp) (on mmpnl itvlp) (on-table lfowl) (on yjppr lfowl) (holding zqwij) (clear mmpnl)"
] | file_127152 |
GOAL: (on ayttt wtolj) (on lafva yypkt) (arm-empty) (on qscyg ayttt) (on yypkt qscyg) (on-table wtolj) (clear lafva) | GOAL: (on ayttt wtolj) (on lafva yypkt) (arm-empty) (on qscyg ayttt) (on yypkt qscyg) (on-table wtolj) (clear lafva)
STATE: (clear qscyg) (on-table lafva) (holding ayttt) (on-table yypkt) (on qscyg yypkt) (clear wtolj) (on-table wtolj) (clear lafva) | [
[
"stack ayttt wtolj"
],
[
"unstack qscyg yypkt"
],
[
"stack qscyg ayttt"
],
[
"pick-up yypkt"
],
[
"stack yypkt qscyg"
],
[
"pick-up lafva"
],
[
"stack lafva yypkt"
]
] | [
"(clear qscyg) (arm-empty) (on-table lafva) (on-table yypkt) (clear ayttt) (on ayttt wtolj) (on qscyg yypkt) (on-table wtolj) (clear lafva)",
"(on-table lafva) (on-table yypkt) (clear ayttt) (on ayttt wtolj) (holding qscyg) (clear yypkt) (on-table wtolj) (clear lafva)",
"(clear qscyg) (arm-empty) (on-table lafva) (on-table yypkt) (on ayttt wtolj) (on qscyg ayttt) (clear yypkt) (on-table wtolj) (clear lafva)",
"(holding yypkt) (clear qscyg) (on-table lafva) (on ayttt wtolj) (on qscyg ayttt) (on-table wtolj) (clear lafva)",
"(arm-empty) (on-table lafva) (on ayttt wtolj) (on qscyg ayttt) (on yypkt qscyg) (clear yypkt) (on-table wtolj) (clear lafva)",
"(on ayttt wtolj) (holding lafva) (on qscyg ayttt) (on yypkt qscyg) (clear yypkt) (on-table wtolj)",
"(on ayttt wtolj) (on lafva yypkt) (arm-empty) (on qscyg ayttt) (on yypkt qscyg) (on-table wtolj) (clear lafva)"
] | file_157835 |
GOAL: (clear doxxk) (on mlprd xmnxl) (on-table doxxk) (holding vhfgs) (clear mlprd) (on-table xmnxl) | GOAL: (clear doxxk) (on mlprd xmnxl) (on-table doxxk) (holding vhfgs) (clear mlprd) (on-table xmnxl)
STATE: (on-table doxxk) (on mlprd vhfgs) (on vhfgs doxxk) (holding xmnxl) (clear mlprd) | [
[
"put-down xmnxl"
],
[
"unstack mlprd vhfgs"
],
[
"stack mlprd xmnxl"
],
[
"unstack vhfgs doxxk"
]
] | [
"(arm-empty) (on-table doxxk) (on mlprd vhfgs) (on vhfgs doxxk) (clear xmnxl) (clear mlprd) (on-table xmnxl)",
"(on-table doxxk) (clear vhfgs) (holding mlprd) (on vhfgs doxxk) (clear xmnxl) (on-table xmnxl)",
"(on mlprd xmnxl) (arm-empty) (on-table doxxk) (clear vhfgs) (on vhfgs doxxk) (clear mlprd) (on-table xmnxl)",
"(clear doxxk) (on mlprd xmnxl) (on-table doxxk) (holding vhfgs) (clear mlprd) (on-table xmnxl)"
] | file_45927 |
GOAL: (clear eihal) (on iakgp fvoai) (on wgivn gdfka) (arm-empty) (on-table gdfka) (on eihal wgivn) (clear iakgp) (on-table fvoai) | GOAL: (clear eihal) (on iakgp fvoai) (on wgivn gdfka) (arm-empty) (on-table gdfka) (on eihal wgivn) (clear iakgp) (on-table fvoai)
STATE: (clear eihal) (arm-empty) (on-table wgivn) (on-table iakgp) (on-table gdfka) (on eihal gdfka) (clear fvoai) (clear iakgp) (on-table fvoai) (clear wgivn) | [
[
"unstack eihal gdfka"
],
[
"stack eihal iakgp"
],
[
"pick-up wgivn"
],
[
"stack wgivn gdfka"
],
[
"unstack eihal iakgp"
],
[
"stack eihal wgivn"
],
[
"pick-up iakgp"
],
[
"stack iakgp fvoai"
]
] | [
"(on-table wgivn) (on-table iakgp) (clear gdfka) (on-table gdfka) (holding eihal) (clear fvoai) (clear iakgp) (on-table fvoai) (clear wgivn)",
"(clear eihal) (arm-empty) (on-table wgivn) (on-table iakgp) (clear gdfka) (on-table gdfka) (on eihal iakgp) (clear fvoai) (on-table fvoai) (clear wgivn)",
"(clear eihal) (on-table iakgp) (clear gdfka) (holding wgivn) (on-table gdfka) (on eihal iakgp) (clear fvoai) (on-table fvoai)",
"(clear eihal) (arm-empty) (on wgivn gdfka) (on-table iakgp) (on-table gdfka) (on eihal iakgp) (clear fvoai) (on-table fvoai) (clear wgivn)",
"(on wgivn gdfka) (on-table iakgp) (on-table gdfka) (holding eihal) (clear fvoai) (clear iakgp) (on-table fvoai) (clear wgivn)",
"(clear eihal) (arm-empty) (on wgivn gdfka) (on-table iakgp) (on-table gdfka) (on eihal wgivn) (clear fvoai) (clear iakgp) (on-table fvoai)",
"(holding iakgp) (clear eihal) (on wgivn gdfka) (on-table gdfka) (on eihal wgivn) (clear fvoai) (on-table fvoai)",
"(clear eihal) (on iakgp fvoai) (on wgivn gdfka) (arm-empty) (on-table gdfka) (on eihal wgivn) (clear iakgp) (on-table fvoai)"
] | file_113621 |
GOAL: (holding tdkvw) (clear kfguu) (on-table kfguu) (on zfhee jlvya) (clear zfhee) (on jlvya saoex) (on-table saoex) | GOAL: (holding tdkvw) (clear kfguu) (on-table kfguu) (on zfhee jlvya) (clear zfhee) (on jlvya saoex) (on-table saoex)
STATE: (on-table kfguu) (clear zfhee) (holding jlvya) (on-table zfhee) (clear saoex) (on tdkvw kfguu) (clear tdkvw) (on-table saoex) | [
[
"stack jlvya zfhee"
],
[
"unstack tdkvw kfguu"
],
[
"put-down tdkvw"
],
[
"unstack jlvya zfhee"
],
[
"stack jlvya saoex"
],
[
"pick-up tdkvw"
],
[
"stack tdkvw kfguu"
],
[
"pick-up zfhee"
],
[
"stack zfhee jlvya"
],
[
"unstack tdkvw kfguu"
]
] | [
"(arm-empty) (on jlvya zfhee) (on-table kfguu) (on-table zfhee) (clear saoex) (on tdkvw kfguu) (clear tdkvw) (on-table saoex) (clear jlvya)",
"(holding tdkvw) (clear kfguu) (on jlvya zfhee) (on-table kfguu) (on-table zfhee) (clear saoex) (on-table saoex) (clear jlvya)",
"(clear kfguu) (arm-empty) (on jlvya zfhee) (on-table kfguu) (on-table tdkvw) (on-table zfhee) (clear saoex) (clear tdkvw) (on-table saoex) (clear jlvya)",
"(clear kfguu) (on-table kfguu) (on-table tdkvw) (clear zfhee) (holding jlvya) (on-table zfhee) (clear saoex) (clear tdkvw) (on-table saoex)",
"(clear kfguu) (arm-empty) (on-table kfguu) (on-table tdkvw) (clear zfhee) (on jlvya saoex) (on-table zfhee) (clear tdkvw) (on-table saoex) (clear jlvya)",
"(holding tdkvw) (clear kfguu) (on-table kfguu) (clear zfhee) (on jlvya saoex) (on-table zfhee) (on-table saoex) (clear jlvya)",
"(arm-empty) (on-table kfguu) (clear zfhee) (on jlvya saoex) (on-table zfhee) (on tdkvw kfguu) (clear tdkvw) (on-table saoex) (clear jlvya)",
"(on-table kfguu) (holding zfhee) (on jlvya saoex) (on tdkvw kfguu) (clear tdkvw) (on-table saoex) (clear jlvya)",
"(arm-empty) (on-table kfguu) (on zfhee jlvya) (clear zfhee) (on jlvya saoex) (on tdkvw kfguu) (clear tdkvw) (on-table saoex)",
"(holding tdkvw) (clear kfguu) (on-table kfguu) (on zfhee jlvya) (clear zfhee) (on jlvya saoex) (on-table saoex)"
] | file_141981 |
GOAL: (on ffkoc nwino) (on-table nwino) (clear ffkoc) (holding jigpz) (clear xbnzo) (on-table xbnzo) | GOAL: (on ffkoc nwino) (on-table nwino) (clear ffkoc) (holding jigpz) (clear xbnzo) (on-table xbnzo)
STATE: (arm-empty) (clear ffkoc) (on-table ffkoc) (on jigpz xbnzo) (on nwino jigpz) (clear nwino) (on-table xbnzo) | [
[
"unstack nwino jigpz"
],
[
"put-down nwino"
],
[
"unstack jigpz xbnzo"
],
[
"put-down jigpz"
],
[
"pick-up ffkoc"
],
[
"stack ffkoc nwino"
],
[
"pick-up jigpz"
]
] | [
"(clear ffkoc) (holding nwino) (clear jigpz) (on-table ffkoc) (on jigpz xbnzo) (on-table xbnzo)",
"(arm-empty) (clear ffkoc) (clear jigpz) (on-table nwino) (on-table ffkoc) (on jigpz xbnzo) (clear nwino) (on-table xbnzo)",
"(on-table nwino) (clear ffkoc) (on-table ffkoc) (holding jigpz) (clear xbnzo) (clear nwino) (on-table xbnzo)",
"(arm-empty) (on-table jigpz) (clear ffkoc) (clear jigpz) (on-table nwino) (on-table ffkoc) (clear xbnzo) (clear nwino) (on-table xbnzo)",
"(clear jigpz) (on-table jigpz) (on-table nwino) (holding ffkoc) (clear xbnzo) (clear nwino) (on-table xbnzo)",
"(clear jigpz) (on ffkoc nwino) (arm-empty) (on-table jigpz) (on-table nwino) (clear ffkoc) (clear xbnzo) (on-table xbnzo)",
"(on ffkoc nwino) (on-table nwino) (clear ffkoc) (holding jigpz) (clear xbnzo) (on-table xbnzo)"
] | file_106641 |
GOAL: (arm-empty) (on-table zodcd) (clear hsztu) (clear vjiiq) (on-table pvfwa) (on uonyr zodcd) (on vjiiq pvfwa) (on-table hsztu) (clear uonyr) | GOAL: (arm-empty) (on-table zodcd) (clear hsztu) (clear vjiiq) (on-table pvfwa) (on uonyr zodcd) (on vjiiq pvfwa) (on-table hsztu) (clear uonyr)
STATE: (arm-empty) (on-table zodcd) (on-table vjiiq) (on-table pvfwa) (on uonyr zodcd) (clear hsztu) (on hsztu uonyr) (clear pvfwa) (clear vjiiq) | [
[
"pick-up vjiiq"
],
[
"stack vjiiq pvfwa"
],
[
"unstack hsztu uonyr"
],
[
"put-down hsztu"
]
] | [
"(on-table zodcd) (on-table pvfwa) (on uonyr zodcd) (clear hsztu) (on hsztu uonyr) (holding vjiiq) (clear pvfwa)",
"(arm-empty) (on-table zodcd) (clear hsztu) (clear vjiiq) (on-table pvfwa) (on uonyr zodcd) (on hsztu uonyr) (on vjiiq pvfwa)",
"(on-table zodcd) (on-table pvfwa) (holding hsztu) (on uonyr zodcd) (on vjiiq pvfwa) (clear uonyr) (clear vjiiq)",
"(arm-empty) (on-table zodcd) (clear hsztu) (clear vjiiq) (on-table pvfwa) (on uonyr zodcd) (on vjiiq pvfwa) (on-table hsztu) (clear uonyr)"
] | file_6316 |
GOAL: (on kease chxqr) (clear uwhvy) (arm-empty) (on-table bmvpa) (on-table chxqr) (on uwhvy bmvpa) (clear kease) | GOAL: (on kease chxqr) (clear uwhvy) (arm-empty) (on-table bmvpa) (on-table chxqr) (on uwhvy bmvpa) (clear kease)
STATE: (holding bmvpa) (on kease chxqr) (on-table uwhvy) (on chxqr uwhvy) (clear kease) | [
[
"put-down bmvpa"
],
[
"unstack kease chxqr"
],
[
"put-down kease"
],
[
"unstack chxqr uwhvy"
],
[
"put-down chxqr"
],
[
"pick-up uwhvy"
],
[
"stack uwhvy bmvpa"
],
[
"pick-up kease"
],
[
"stack kease chxqr"
]
] | [
"(on kease chxqr) (arm-empty) (on-table uwhvy) (on chxqr uwhvy) (clear kease) (on-table bmvpa) (clear bmvpa)",
"(on-table uwhvy) (clear chxqr) (on-table bmvpa) (on chxqr uwhvy) (holding kease) (clear bmvpa)",
"(on chxqr uwhvy) (arm-empty) (on-table uwhvy) (on-table bmvpa) (clear kease) (clear chxqr) (clear bmvpa) (on-table kease)",
"(clear uwhvy) (on-table uwhvy) (on-table bmvpa) (holding chxqr) (clear kease) (clear bmvpa) (on-table kease)",
"(arm-empty) (on-table uwhvy) (clear chxqr) (clear uwhvy) (on-table bmvpa) (on-table chxqr) (clear kease) (clear bmvpa) (on-table kease)",
"(on-table bmvpa) (clear chxqr) (on-table chxqr) (holding uwhvy) (clear kease) (clear bmvpa) (on-table kease)",
"(clear uwhvy) (arm-empty) (on-table bmvpa) (clear chxqr) (on-table chxqr) (on uwhvy bmvpa) (clear kease) (on-table kease)",
"(clear uwhvy) (on-table bmvpa) (clear chxqr) (on-table chxqr) (on uwhvy bmvpa) (holding kease)",
"(on kease chxqr) (clear uwhvy) (arm-empty) (on-table bmvpa) (on-table chxqr) (on uwhvy bmvpa) (clear kease)"
] | file_10238 |
GOAL: (on syxbf helnx) (on eptmh xhrxk) (clear ayyer) (arm-empty) (on-table helnx) (on-table xhrxk) (on ayyer eptmh) (clear syxbf) | GOAL: (on syxbf helnx) (on eptmh xhrxk) (clear ayyer) (arm-empty) (on-table helnx) (on-table xhrxk) (on ayyer eptmh) (clear syxbf)
STATE: (on syxbf helnx) (clear ayyer) (on xhrxk syxbf) (on eptmh xhrxk) (arm-empty) (on-table helnx) (on ayyer eptmh) | [
[
"unstack ayyer eptmh"
],
[
"put-down ayyer"
],
[
"unstack eptmh xhrxk"
],
[
"stack eptmh ayyer"
],
[
"unstack xhrxk syxbf"
],
[
"put-down xhrxk"
],
[
"unstack eptmh ayyer"
],
[
"stack eptmh xhrxk"
],
[
"pick-up ayyer"
],
[
"stack ayyer eptmh"
]
] | [
"(on syxbf helnx) (on xhrxk syxbf) (on-table helnx) (on eptmh xhrxk) (holding ayyer) (clear eptmh)",
"(on syxbf helnx) (on xhrxk syxbf) (arm-empty) (on-table ayyer) (on-table helnx) (on eptmh xhrxk) (clear ayyer) (clear eptmh)",
"(on syxbf helnx) (on xhrxk syxbf) (on-table ayyer) (on-table helnx) (clear ayyer) (clear xhrxk) (holding eptmh)",
"(on syxbf helnx) (on xhrxk syxbf) (arm-empty) (on-table ayyer) (on-table helnx) (on eptmh ayyer) (clear xhrxk) (clear eptmh)",
"(on syxbf helnx) (on-table ayyer) (on-table helnx) (holding xhrxk) (on eptmh ayyer) (clear eptmh) (clear syxbf)",
"(on syxbf helnx) (arm-empty) (on-table ayyer) (on-table helnx) (clear xhrxk) (on eptmh ayyer) (on-table xhrxk) (clear eptmh) (clear syxbf)",
"(on syxbf helnx) (clear ayyer) (on-table ayyer) (on-table helnx) (clear xhrxk) (on-table xhrxk) (holding eptmh) (clear syxbf)",
"(on syxbf helnx) (clear ayyer) (on eptmh xhrxk) (arm-empty) (on-table ayyer) (on-table helnx) (on-table xhrxk) (clear eptmh) (clear syxbf)",
"(on syxbf helnx) (on eptmh xhrxk) (on-table helnx) (on-table xhrxk) (holding ayyer) (clear eptmh) (clear syxbf)",
"(on syxbf helnx) (on eptmh xhrxk) (clear ayyer) (arm-empty) (on-table helnx) (on-table xhrxk) (on ayyer eptmh) (clear syxbf)"
] | file_41603 |
GOAL: (clear ecolv) (arm-empty) (on-table svknu) (on-table uvpxq) (clear gpuam) (on-table gpuam) (on fehkr uvpxq) (on ecolv svknu) (clear fehkr) | GOAL: (clear ecolv) (arm-empty) (on-table svknu) (on-table uvpxq) (clear gpuam) (on-table gpuam) (on fehkr uvpxq) (on ecolv svknu) (clear fehkr)
STATE: (on uvpxq fehkr) (on-table svknu) (holding gpuam) (on fehkr ecolv) (on ecolv svknu) (clear uvpxq) | [
[
"put-down gpuam"
],
[
"unstack uvpxq fehkr"
],
[
"put-down uvpxq"
],
[
"unstack fehkr ecolv"
],
[
"stack fehkr uvpxq"
]
] | [
"(on uvpxq fehkr) (arm-empty) (on-table svknu) (clear gpuam) (on ecolv svknu) (on fehkr ecolv) (on-table gpuam) (clear uvpxq)",
"(holding uvpxq) (on-table svknu) (on fehkr ecolv) (clear gpuam) (on-table gpuam) (on ecolv svknu) (clear fehkr)",
"(arm-empty) (on-table svknu) (clear gpuam) (on ecolv svknu) (on-table uvpxq) (on fehkr ecolv) (on-table gpuam) (clear fehkr) (clear uvpxq)",
"(clear ecolv) (on-table svknu) (on-table uvpxq) (clear gpuam) (on-table gpuam) (on ecolv svknu) (holding fehkr) (clear uvpxq)",
"(clear ecolv) (arm-empty) (on-table svknu) (on-table uvpxq) (clear gpuam) (on-table gpuam) (on fehkr uvpxq) (on ecolv svknu) (clear fehkr)"
] | file_58525 |
GOAL: (clear rieqg) (on jjtbv okuym) (on gwjsj jjtbv) (arm-empty) (on-table okuym) (on rieqg aagws) (on-table aagws) (clear gwjsj) | GOAL: (clear rieqg) (on jjtbv okuym) (on gwjsj jjtbv) (arm-empty) (on-table okuym) (on rieqg aagws) (on-table aagws) (clear gwjsj)
STATE: (on jjtbv okuym) (on gwjsj jjtbv) (on-table okuym) (holding rieqg) (clear aagws) (on-table aagws) (clear gwjsj) | [
[
"stack rieqg aagws"
]
] | [
"(clear rieqg) (on jjtbv okuym) (on gwjsj jjtbv) (arm-empty) (on-table okuym) (on rieqg aagws) (on-table aagws) (clear gwjsj)"
] | file_50122 |
GOAL: (clear zyfbn) (on-table zyfbn) (on-table rawqg) (holding jdadw) (on eumet rawqg) (clear reugp) (on-table reugp) (clear eumet) | GOAL: (clear zyfbn) (on-table zyfbn) (on-table rawqg) (holding jdadw) (on eumet rawqg) (clear reugp) (on-table reugp) (clear eumet)
STATE: (on reugp eumet) (on rawqg reugp) (arm-empty) (on eumet jdadw) (on-table zyfbn) (on jdadw zyfbn) (clear rawqg) | [
[
"unstack rawqg reugp"
],
[
"put-down rawqg"
],
[
"unstack reugp eumet"
],
[
"put-down reugp"
],
[
"unstack eumet jdadw"
],
[
"stack eumet rawqg"
],
[
"unstack jdadw zyfbn"
]
] | [
"(on reugp eumet) (on eumet jdadw) (on-table zyfbn) (holding rawqg) (on jdadw zyfbn) (clear reugp)",
"(on reugp eumet) (arm-empty) (on eumet jdadw) (on-table zyfbn) (on-table rawqg) (on jdadw zyfbn) (clear reugp) (clear rawqg)",
"(on eumet jdadw) (on-table zyfbn) (on-table rawqg) (on jdadw zyfbn) (holding reugp) (clear rawqg) (clear eumet)",
"(arm-empty) (on eumet jdadw) (on-table zyfbn) (clear eumet) (on-table rawqg) (on jdadw zyfbn) (clear reugp) (clear rawqg) (on-table reugp)",
"(on-table zyfbn) (on-table rawqg) (clear jdadw) (holding eumet) (on jdadw zyfbn) (clear reugp) (clear rawqg) (on-table reugp)",
"(arm-empty) (on-table zyfbn) (on-table rawqg) (clear jdadw) (on eumet rawqg) (on jdadw zyfbn) (clear reugp) (on-table reugp) (clear eumet)",
"(clear zyfbn) (on-table zyfbn) (on-table rawqg) (holding jdadw) (on eumet rawqg) (clear reugp) (on-table reugp) (clear eumet)"
] | file_362 |
GOAL: (on ygxjw suzdr) (arm-empty) (on-table lewxs) (clear ygxjw) (clear lewxs) (clear rgcbz) (on-table suzdr) (on rgcbz hvdrd) (on-table hvdrd) | GOAL: (on ygxjw suzdr) (arm-empty) (on-table lewxs) (clear ygxjw) (clear lewxs) (clear rgcbz) (on-table suzdr) (on rgcbz hvdrd) (on-table hvdrd)
STATE: (arm-empty) (on ygxjw lewxs) (on-table suzdr) (on lewxs rgcbz) (clear ygxjw) (on rgcbz hvdrd) (clear suzdr) (on-table hvdrd) | [
[
"unstack ygxjw lewxs"
],
[
"stack ygxjw suzdr"
],
[
"unstack lewxs rgcbz"
],
[
"put-down lewxs"
]
] | [
"(on-table suzdr) (holding ygxjw) (on lewxs rgcbz) (on rgcbz hvdrd) (clear suzdr) (on-table hvdrd) (clear lewxs)",
"(on ygxjw suzdr) (arm-empty) (on-table suzdr) (on lewxs rgcbz) (clear ygxjw) (on rgcbz hvdrd) (on-table hvdrd) (clear lewxs)",
"(clear rgcbz) (on ygxjw suzdr) (on-table suzdr) (clear ygxjw) (holding lewxs) (on rgcbz hvdrd) (on-table hvdrd)",
"(on ygxjw suzdr) (arm-empty) (on-table lewxs) (clear ygxjw) (clear lewxs) (clear rgcbz) (on-table suzdr) (on rgcbz hvdrd) (on-table hvdrd)"
] | file_100563 |
GOAL: (holding kcloc) (on tkojn cewep) (on-table kijrw) (on dkjng kijrw) (on cewep dkjng) (clear tkojn) | GOAL: (holding kcloc) (on tkojn cewep) (on-table kijrw) (on dkjng kijrw) (on cewep dkjng) (clear tkojn)
STATE: (clear kcloc) (on-table kcloc) (holding tkojn) (on-table kijrw) (on dkjng kijrw) (on cewep dkjng) (clear cewep) | [
[
"stack tkojn cewep"
],
[
"pick-up kcloc"
]
] | [
"(clear kcloc) (arm-empty) (on-table kcloc) (on tkojn cewep) (on-table kijrw) (on dkjng kijrw) (on cewep dkjng) (clear tkojn)",
"(holding kcloc) (on tkojn cewep) (on-table kijrw) (on dkjng kijrw) (on cewep dkjng) (clear tkojn)"
] | file_155115 |
GOAL: (on pfccz zrtgw) (arm-empty) (on-table bnuhe) (clear vddsk) (clear sxdri) (on sxdri pfccz) (on vddsk bnuhe) (on-table zrtgw) | GOAL: (on pfccz zrtgw) (arm-empty) (on-table bnuhe) (clear vddsk) (clear sxdri) (on sxdri pfccz) (on vddsk bnuhe) (on-table zrtgw)
STATE: (on pfccz zrtgw) (arm-empty) (clear vddsk) (on sxdri pfccz) (on vddsk bnuhe) (on bnuhe sxdri) (on-table zrtgw) | [
[
"unstack vddsk bnuhe"
],
[
"put-down vddsk"
],
[
"unstack bnuhe sxdri"
],
[
"put-down bnuhe"
],
[
"pick-up vddsk"
],
[
"stack vddsk bnuhe"
]
] | [
"(on sxdri pfccz) (clear bnuhe) (on pfccz zrtgw) (holding vddsk) (on bnuhe sxdri) (on-table zrtgw)",
"(on pfccz zrtgw) (arm-empty) (clear vddsk) (on bnuhe sxdri) (clear bnuhe) (on sxdri pfccz) (on-table vddsk) (on-table zrtgw)",
"(on pfccz zrtgw) (clear vddsk) (on sxdri pfccz) (on-table vddsk) (holding bnuhe) (on-table zrtgw) (clear sxdri)",
"(on pfccz zrtgw) (arm-empty) (on-table bnuhe) (clear vddsk) (clear sxdri) (clear bnuhe) (on sxdri pfccz) (on-table vddsk) (on-table zrtgw)",
"(clear bnuhe) (on pfccz zrtgw) (on-table bnuhe) (holding vddsk) (on sxdri pfccz) (on-table zrtgw) (clear sxdri)",
"(on pfccz zrtgw) (arm-empty) (on-table bnuhe) (clear vddsk) (clear sxdri) (on sxdri pfccz) (on vddsk bnuhe) (on-table zrtgw)"
] | file_154832 |
GOAL: (on dkmex infqq) (arm-empty) (on-table xiivd) (clear dkmex) (on uispf xiivd) (clear mambl) (on infqq uispf) (on-table mambl) | GOAL: (on dkmex infqq) (arm-empty) (on-table xiivd) (clear dkmex) (on uispf xiivd) (clear mambl) (on infqq uispf) (on-table mambl)
STATE: (holding infqq) (clear uispf) (on-table uispf) (on-table xiivd) (clear dkmex) (on dkmex mambl) (on-table mambl) (clear xiivd) | [
[
"stack infqq dkmex"
],
[
"pick-up uispf"
],
[
"stack uispf xiivd"
],
[
"unstack infqq dkmex"
],
[
"stack infqq uispf"
],
[
"unstack dkmex mambl"
],
[
"stack dkmex infqq"
]
] | [
"(clear uispf) (arm-empty) (on-table uispf) (on-table xiivd) (on dkmex mambl) (on infqq dkmex) (clear infqq) (on-table mambl) (clear xiivd)",
"(on-table xiivd) (holding uispf) (on dkmex mambl) (on infqq dkmex) (clear infqq) (on-table mambl) (clear xiivd)",
"(clear uispf) (arm-empty) (on-table xiivd) (on dkmex mambl) (on infqq dkmex) (on uispf xiivd) (clear infqq) (on-table mambl)",
"(holding infqq) (clear uispf) (on-table xiivd) (clear dkmex) (on dkmex mambl) (on uispf xiivd) (on-table mambl)",
"(arm-empty) (on-table xiivd) (clear dkmex) (on dkmex mambl) (on uispf xiivd) (on infqq uispf) (clear infqq) (on-table mambl)",
"(on-table xiivd) (holding dkmex) (on uispf xiivd) (clear mambl) (on infqq uispf) (clear infqq) (on-table mambl)",
"(on dkmex infqq) (arm-empty) (on-table xiivd) (clear dkmex) (on uispf xiivd) (clear mambl) (on infqq uispf) (on-table mambl)"
] | file_41995 |
GOAL: (on-table lecqu) (clear abbpw) (on-table abbpw) (on uvgfy lecqu) (clear uvgfy) (holding qafkc) | GOAL: (on-table lecqu) (clear abbpw) (on-table abbpw) (on uvgfy lecqu) (clear uvgfy) (holding qafkc)
STATE: (clear lecqu) (arm-empty) (on-table lecqu) (on-table uvgfy) (clear abbpw) (on-table abbpw) (clear qafkc) (clear uvgfy) (on-table qafkc) | [
[
"pick-up uvgfy"
],
[
"stack uvgfy lecqu"
],
[
"pick-up qafkc"
]
] | [
"(holding uvgfy) (clear lecqu) (on-table lecqu) (clear abbpw) (on-table abbpw) (clear qafkc) (on-table qafkc)",
"(arm-empty) (on-table lecqu) (clear abbpw) (on-table abbpw) (clear qafkc) (on uvgfy lecqu) (clear uvgfy) (on-table qafkc)",
"(on-table lecqu) (clear abbpw) (on-table abbpw) (on uvgfy lecqu) (clear uvgfy) (holding qafkc)"
] | file_65752 |
GOAL: (clear sneso) (arm-empty) (on-table cvqwu) (on-table ljzml) (clear isktr) (on-table isktr) (on sneso ljzml) (clear ixevd) (on-table ixevd) (clear cvqwu) | GOAL: (clear sneso) (arm-empty) (on-table cvqwu) (on-table ljzml) (clear isktr) (on-table isktr) (on sneso ljzml) (clear ixevd) (on-table ixevd) (clear cvqwu)
STATE: (clear sneso) (arm-empty) (on-table cvqwu) (on-table ljzml) (on-table isktr) (on sneso isktr) (clear ixevd) (clear ljzml) (on-table ixevd) (clear cvqwu) | [
[
"unstack sneso isktr"
],
[
"stack sneso ljzml"
]
] | [
"(on-table cvqwu) (on-table ljzml) (clear isktr) (on-table isktr) (holding sneso) (clear ixevd) (clear ljzml) (on-table ixevd) (clear cvqwu)",
"(clear sneso) (arm-empty) (on-table cvqwu) (on-table ljzml) (clear isktr) (on-table isktr) (on sneso ljzml) (clear ixevd) (on-table ixevd) (clear cvqwu)"
] | file_113518 |
GOAL: (clear xpamd) (arm-empty) (on-table fhouw) (on-table jvlvx) (clear rilgn) (on-table rilgn) (on ymtxv jvlvx) (on xpamd fhouw) (clear ymtxv) | GOAL: (clear xpamd) (arm-empty) (on-table fhouw) (on-table jvlvx) (clear rilgn) (on-table rilgn) (on ymtxv jvlvx) (on xpamd fhouw) (clear ymtxv)
STATE: (clear xpamd) (on-table xpamd) (on-table fhouw) (on-table jvlvx) (on rilgn fhouw) (clear rilgn) (holding ymtxv) (clear jvlvx) | [
[
"stack ymtxv jvlvx"
],
[
"unstack rilgn fhouw"
],
[
"put-down rilgn"
],
[
"pick-up xpamd"
],
[
"stack xpamd fhouw"
]
] | [
"(clear xpamd) (arm-empty) (on-table xpamd) (on-table fhouw) (on-table jvlvx) (on rilgn fhouw) (clear rilgn) (on ymtxv jvlvx) (clear ymtxv)",
"(clear xpamd) (on-table xpamd) (on-table fhouw) (on-table jvlvx) (holding rilgn) (on ymtxv jvlvx) (clear ymtxv) (clear fhouw)",
"(clear xpamd) (arm-empty) (on-table xpamd) (on-table fhouw) (on-table jvlvx) (clear rilgn) (on-table rilgn) (on ymtxv jvlvx) (clear ymtxv) (clear fhouw)",
"(on-table fhouw) (on-table jvlvx) (clear rilgn) (on-table rilgn) (holding xpamd) (on ymtxv jvlvx) (clear ymtxv) (clear fhouw)",
"(clear xpamd) (arm-empty) (on-table fhouw) (on-table jvlvx) (clear rilgn) (on-table rilgn) (on ymtxv jvlvx) (on xpamd fhouw) (clear ymtxv)"
] | file_149510 |
GOAL: (clear gsomx) (arm-empty) (on-table jiuwp) (on-table ofolj) (clear ilzhl) (on ilzhl lnpgj) (on gsomx ofolj) (on-table lnpgj) (clear jiuwp) | GOAL: (clear gsomx) (arm-empty) (on-table jiuwp) (on-table ofolj) (clear ilzhl) (on ilzhl lnpgj) (on gsomx ofolj) (on-table lnpgj) (clear jiuwp)
STATE: (holding ofolj) (on-table gsomx) (on ilzhl jiuwp) (on jiuwp gsomx) (clear ilzhl) (clear lnpgj) (on-table lnpgj) | [
[
"put-down ofolj"
],
[
"unstack ilzhl jiuwp"
],
[
"stack ilzhl lnpgj"
],
[
"unstack jiuwp gsomx"
],
[
"put-down jiuwp"
],
[
"pick-up gsomx"
],
[
"stack gsomx ofolj"
]
] | [
"(arm-empty) (on-table gsomx) (on ilzhl jiuwp) (on jiuwp gsomx) (clear ilzhl) (on-table ofolj) (clear lnpgj) (clear ofolj) (on-table lnpgj)",
"(on-table gsomx) (on-table ofolj) (holding ilzhl) (on jiuwp gsomx) (clear lnpgj) (clear ofolj) (on-table lnpgj) (clear jiuwp)",
"(arm-empty) (on-table gsomx) (on-table ofolj) (on jiuwp gsomx) (clear ilzhl) (on ilzhl lnpgj) (clear ofolj) (on-table lnpgj) (clear jiuwp)",
"(clear gsomx) (on-table gsomx) (on-table ofolj) (clear ilzhl) (on ilzhl lnpgj) (holding jiuwp) (clear ofolj) (on-table lnpgj)",
"(clear gsomx) (arm-empty) (on-table gsomx) (on-table jiuwp) (on-table ofolj) (clear ilzhl) (on ilzhl lnpgj) (clear ofolj) (on-table lnpgj) (clear jiuwp)",
"(on-table jiuwp) (on-table ofolj) (clear ilzhl) (on ilzhl lnpgj) (holding gsomx) (clear ofolj) (on-table lnpgj) (clear jiuwp)",
"(clear gsomx) (arm-empty) (on-table jiuwp) (on-table ofolj) (clear ilzhl) (on ilzhl lnpgj) (on gsomx ofolj) (on-table lnpgj) (clear jiuwp)"
] | file_192280 |
GOAL: (on daxaz rriuk) (on-table aidsh) (on fljyq daxaz) (arm-empty) (on rriuk aidsh) (clear fljyq) | GOAL: (on daxaz rriuk) (on-table aidsh) (on fljyq daxaz) (arm-empty) (on rriuk aidsh) (clear fljyq)
STATE: (holding fljyq) (clear rriuk) (on-table aidsh) (on rriuk aidsh) (clear daxaz) (on-table daxaz) | [
[
"put-down fljyq"
],
[
"pick-up daxaz"
],
[
"stack daxaz rriuk"
],
[
"pick-up fljyq"
],
[
"stack fljyq daxaz"
]
] | [
"(arm-empty) (on rriuk aidsh) (clear rriuk) (on-table fljyq) (on-table aidsh) (clear daxaz) (clear fljyq) (on-table daxaz)",
"(clear rriuk) (on-table fljyq) (on-table aidsh) (on rriuk aidsh) (holding daxaz) (clear fljyq)",
"(arm-empty) (on-table fljyq) (on daxaz rriuk) (on-table aidsh) (on rriuk aidsh) (clear daxaz) (clear fljyq)",
"(holding fljyq) (on-table aidsh) (clear daxaz) (on daxaz rriuk) (on rriuk aidsh)",
"(on daxaz rriuk) (on-table aidsh) (on fljyq daxaz) (arm-empty) (on rriuk aidsh) (clear fljyq)"
] | file_179418 |
GOAL: (clear zdlpb) (on-table xgxms) (on-table uxixq) (holding ecwmz) (on hgkma uxixq) (on zdlpb hgkma) (clear xgxms) | GOAL: (clear zdlpb) (on-table xgxms) (on-table uxixq) (holding ecwmz) (on hgkma uxixq) (on zdlpb hgkma) (clear xgxms)
STATE: (clear zdlpb) (on-table zdlpb) (on-table xgxms) (holding ecwmz) (on-table uxixq) (on hgkma uxixq) (clear hgkma) (clear xgxms) | [
[
"put-down ecwmz"
],
[
"pick-up zdlpb"
],
[
"stack zdlpb hgkma"
],
[
"pick-up ecwmz"
]
] | [
"(clear zdlpb) (arm-empty) (on-table zdlpb) (on-table xgxms) (on-table uxixq) (clear ecwmz) (on-table ecwmz) (on hgkma uxixq) (clear hgkma) (clear xgxms)",
"(on-table xgxms) (on-table uxixq) (clear ecwmz) (on-table ecwmz) (holding zdlpb) (on hgkma uxixq) (clear hgkma) (clear xgxms)",
"(clear zdlpb) (arm-empty) (on-table xgxms) (on-table uxixq) (clear ecwmz) (on-table ecwmz) (on hgkma uxixq) (on zdlpb hgkma) (clear xgxms)",
"(clear zdlpb) (on-table xgxms) (on-table uxixq) (holding ecwmz) (on hgkma uxixq) (on zdlpb hgkma) (clear xgxms)"
] | file_216027 |
GOAL: (on euusj ipayp) (arm-empty) (on-table vpayu) (clear syqdp) (on ipayp uaocy) (clear vpayu) (on-table syqdp) (clear euusj) (on-table uaocy) | GOAL: (on euusj ipayp) (arm-empty) (on-table vpayu) (clear syqdp) (on ipayp uaocy) (clear vpayu) (on-table syqdp) (clear euusj) (on-table uaocy)
STATE: (clear vpayu) (on uaocy ipayp) (arm-empty) (on-table euusj) (on ipayp euusj) (on syqdp uaocy) (on vpayu syqdp) | [
[
"unstack vpayu syqdp"
],
[
"put-down vpayu"
],
[
"unstack syqdp uaocy"
],
[
"stack syqdp vpayu"
],
[
"unstack uaocy ipayp"
],
[
"put-down uaocy"
],
[
"unstack ipayp euusj"
],
[
"stack ipayp uaocy"
],
[
"pick-up euusj"
],
[
"stack euusj ipayp"
],
[
"unstack syqdp vpayu"
],
[
"put-down syqdp"
]
] | [
"(on uaocy ipayp) (clear syqdp) (on-table euusj) (on ipayp euusj) (on syqdp uaocy) (holding vpayu)",
"(on uaocy ipayp) (arm-empty) (on-table vpayu) (clear syqdp) (clear vpayu) (on-table euusj) (on ipayp euusj) (on syqdp uaocy)",
"(on uaocy ipayp) (clear vpayu) (on-table vpayu) (on-table euusj) (holding syqdp) (on ipayp euusj) (clear uaocy)",
"(on uaocy ipayp) (arm-empty) (on-table vpayu) (on-table euusj) (clear syqdp) (on ipayp euusj) (on syqdp vpayu) (clear uaocy)",
"(on-table vpayu) (on-table euusj) (clear syqdp) (on ipayp euusj) (on syqdp vpayu) (holding uaocy) (clear ipayp)",
"(arm-empty) (on-table vpayu) (clear syqdp) (clear ipayp) (on-table euusj) (on ipayp euusj) (on syqdp vpayu) (clear uaocy) (on-table uaocy)",
"(on-table vpayu) (on-table euusj) (clear syqdp) (holding ipayp) (on syqdp vpayu) (clear uaocy) (clear euusj) (on-table uaocy)",
"(arm-empty) (on-table vpayu) (on-table euusj) (clear syqdp) (on ipayp uaocy) (on syqdp vpayu) (clear euusj) (on-table uaocy) (clear ipayp)",
"(holding euusj) (on-table vpayu) (clear syqdp) (on ipayp uaocy) (on syqdp vpayu) (on-table uaocy) (clear ipayp)",
"(on euusj ipayp) (arm-empty) (on-table vpayu) (clear syqdp) (on ipayp uaocy) (on syqdp vpayu) (clear euusj) (on-table uaocy)",
"(on euusj ipayp) (clear vpayu) (on-table vpayu) (holding syqdp) (on ipayp uaocy) (clear euusj) (on-table uaocy)",
"(on euusj ipayp) (arm-empty) (on-table vpayu) (clear syqdp) (on ipayp uaocy) (clear vpayu) (on-table syqdp) (clear euusj) (on-table uaocy)"
] | file_175776 |
GOAL: (on vheuh pnpkz) (on-table pnpkz) (clear ysysj) (on-table ysysj) (holding gawpm) (on hhchf vheuh) (clear hhchf) | GOAL: (on vheuh pnpkz) (on-table pnpkz) (clear ysysj) (on-table ysysj) (holding gawpm) (on hhchf vheuh) (clear hhchf)
STATE: (on vheuh pnpkz) (clear gawpm) (on-table gawpm) (on-table pnpkz) (holding ysysj) (on hhchf vheuh) (clear hhchf) | [
[
"put-down ysysj"
],
[
"pick-up gawpm"
]
] | [
"(on vheuh pnpkz) (arm-empty) (on-table gawpm) (on-table pnpkz) (clear ysysj) (on hhchf vheuh) (clear gawpm) (on-table ysysj) (clear hhchf)",
"(on vheuh pnpkz) (on-table pnpkz) (clear ysysj) (on-table ysysj) (holding gawpm) (on hhchf vheuh) (clear hhchf)"
] | file_186033 |
GOAL: (on xjnuh tolcq) (clear sfnrh) (arm-empty) (on tolcq nfnzi) (on-table sfnrh) (on-table nfnzi) (clear lmlbz) (clear xjnuh) (on-table lmlbz) | GOAL: (on xjnuh tolcq) (clear sfnrh) (arm-empty) (on tolcq nfnzi) (on-table sfnrh) (on-table nfnzi) (clear lmlbz) (clear xjnuh) (on-table lmlbz)
STATE: (on-table tolcq) (on xjnuh nfnzi) (on nfnzi lmlbz) (holding sfnrh) (clear xjnuh) (on-table lmlbz) (clear tolcq) | [
[
"put-down sfnrh"
],
[
"unstack xjnuh nfnzi"
],
[
"stack xjnuh sfnrh"
],
[
"unstack nfnzi lmlbz"
],
[
"put-down nfnzi"
],
[
"pick-up tolcq"
],
[
"stack tolcq nfnzi"
],
[
"unstack xjnuh sfnrh"
],
[
"stack xjnuh tolcq"
]
] | [
"(arm-empty) (on-table sfnrh) (on-table tolcq) (clear tolcq) (clear sfnrh) (on nfnzi lmlbz) (on xjnuh nfnzi) (clear xjnuh) (on-table lmlbz)",
"(holding xjnuh) (clear sfnrh) (on-table sfnrh) (on-table tolcq) (clear nfnzi) (on nfnzi lmlbz) (on-table lmlbz) (clear tolcq)",
"(arm-empty) (on-table sfnrh) (on-table tolcq) (clear nfnzi) (on nfnzi lmlbz) (on xjnuh sfnrh) (clear xjnuh) (on-table lmlbz) (clear tolcq)",
"(on-table sfnrh) (on-table tolcq) (holding nfnzi) (clear lmlbz) (on xjnuh sfnrh) (clear xjnuh) (on-table lmlbz) (clear tolcq)",
"(arm-empty) (on-table sfnrh) (on-table tolcq) (clear nfnzi) (on-table nfnzi) (clear lmlbz) (on xjnuh sfnrh) (clear xjnuh) (on-table lmlbz) (clear tolcq)",
"(on-table sfnrh) (clear nfnzi) (holding tolcq) (on-table nfnzi) (clear lmlbz) (on xjnuh sfnrh) (clear xjnuh) (on-table lmlbz)",
"(arm-empty) (on tolcq nfnzi) (on-table sfnrh) (on-table nfnzi) (clear lmlbz) (on xjnuh sfnrh) (clear xjnuh) (on-table lmlbz) (clear tolcq)",
"(holding xjnuh) (clear sfnrh) (on tolcq nfnzi) (on-table sfnrh) (on-table nfnzi) (clear lmlbz) (on-table lmlbz) (clear tolcq)",
"(on xjnuh tolcq) (clear sfnrh) (arm-empty) (on tolcq nfnzi) (on-table sfnrh) (on-table nfnzi) (clear lmlbz) (clear xjnuh) (on-table lmlbz)"
] | file_6796 |
GOAL: (on yggdx msfzg) (on-table ttowm) (on msfzg eisbe) (holding joxju) (clear ttowm) (on-table eisbe) (clear yggdx) | GOAL: (on yggdx msfzg) (on-table ttowm) (on msfzg eisbe) (holding joxju) (clear ttowm) (on-table eisbe) (clear yggdx)
STATE: (clear joxju) (on-table yggdx) (holding msfzg) (on-table ttowm) (on joxju ttowm) (clear eisbe) (on-table eisbe) (clear yggdx) | [
[
"stack msfzg eisbe"
],
[
"pick-up yggdx"
],
[
"stack yggdx msfzg"
],
[
"unstack joxju ttowm"
]
] | [
"(clear joxju) (arm-empty) (on-table yggdx) (on-table ttowm) (clear msfzg) (on msfzg eisbe) (on joxju ttowm) (on-table eisbe) (clear yggdx)",
"(clear joxju) (on-table ttowm) (clear msfzg) (on msfzg eisbe) (holding yggdx) (on joxju ttowm) (on-table eisbe)",
"(clear joxju) (arm-empty) (on yggdx msfzg) (on-table ttowm) (on msfzg eisbe) (on joxju ttowm) (on-table eisbe) (clear yggdx)",
"(on yggdx msfzg) (on-table ttowm) (on msfzg eisbe) (holding joxju) (clear ttowm) (on-table eisbe) (clear yggdx)"
] | file_157896 |
GOAL: (on-table tajor) (on-table mldms) (clear combh) (on-table combh) (holding vmyws) (on eylox mldms) (clear eylox) (clear tajor) | GOAL: (on-table tajor) (on-table mldms) (clear combh) (on-table combh) (holding vmyws) (on eylox mldms) (clear eylox) (clear tajor)
STATE: (on-table tajor) (on-table combh) (holding vmyws) (on eylox mldms) (clear eylox) (on mldms combh) (clear tajor) | [
[
"stack vmyws tajor"
],
[
"unstack eylox mldms"
],
[
"stack eylox vmyws"
],
[
"unstack mldms combh"
],
[
"put-down mldms"
],
[
"unstack eylox vmyws"
],
[
"stack eylox combh"
],
[
"unstack vmyws tajor"
],
[
"stack vmyws mldms"
],
[
"unstack eylox combh"
],
[
"stack eylox tajor"
],
[
"unstack vmyws mldms"
],
[
"stack vmyws combh"
],
[
"unstack eylox tajor"
],
[
"stack eylox mldms"
],
[
"unstack vmyws combh"
]
] | [
"(clear vmyws) (arm-empty) (on-table tajor) (on-table combh) (on mldms combh) (on eylox mldms) (on vmyws tajor) (clear eylox)",
"(clear vmyws) (on-table tajor) (on-table combh) (on mldms combh) (on vmyws tajor) (holding eylox) (clear mldms)",
"(arm-empty) (on-table tajor) (on eylox vmyws) (on-table combh) (on mldms combh) (on vmyws tajor) (clear eylox) (clear mldms)",
"(holding mldms) (on-table tajor) (on eylox vmyws) (clear combh) (on-table combh) (on vmyws tajor) (clear eylox)",
"(arm-empty) (on-table tajor) (clear combh) (on vmyws tajor) (on-table mldms) (on eylox vmyws) (on-table combh) (clear eylox) (clear mldms)",
"(clear vmyws) (on-table tajor) (on-table mldms) (clear combh) (on-table combh) (on vmyws tajor) (holding eylox) (clear mldms)",
"(on eylox combh) (clear vmyws) (arm-empty) (on-table tajor) (on-table mldms) (on-table combh) (on vmyws tajor) (clear eylox) (clear mldms)",
"(on eylox combh) (on-table tajor) (on-table mldms) (on-table combh) (holding vmyws) (clear eylox) (clear mldms) (clear tajor)",
"(on eylox combh) (clear vmyws) (arm-empty) (on-table tajor) (on-table mldms) (on-table combh) (on vmyws mldms) (clear eylox) (clear tajor)",
"(clear vmyws) (on-table tajor) (on-table mldms) (clear combh) (on-table combh) (on vmyws mldms) (holding eylox) (clear tajor)",
"(clear vmyws) (on eylox tajor) (arm-empty) (on-table tajor) (on-table mldms) (clear combh) (on-table combh) (on vmyws mldms) (clear eylox)",
"(on eylox tajor) (on-table tajor) (on-table mldms) (clear combh) (on-table combh) (holding vmyws) (clear eylox) (clear mldms)",
"(on eylox tajor) (clear vmyws) (arm-empty) (on-table tajor) (on-table mldms) (on-table combh) (on vmyws combh) (clear eylox) (clear mldms)",
"(clear vmyws) (on-table tajor) (on-table mldms) (on-table combh) (on vmyws combh) (holding eylox) (clear mldms) (clear tajor)",
"(clear vmyws) (arm-empty) (on-table tajor) (on-table mldms) (on eylox mldms) (on-table combh) (on vmyws combh) (clear eylox) (clear tajor)",
"(on-table tajor) (on-table mldms) (clear combh) (on-table combh) (holding vmyws) (on eylox mldms) (clear eylox) (clear tajor)"
] | file_49442 |
GOAL: (on-table qtuzd) (on svcxf qtuzd) (clear svcxf) (holding ravmr) | GOAL: (on-table qtuzd) (on svcxf qtuzd) (clear svcxf) (holding ravmr)
STATE: (on svcxf ravmr) (clear svcxf) (on-table ravmr) (holding qtuzd) | [
[
"put-down qtuzd"
],
[
"unstack svcxf ravmr"
],
[
"stack svcxf qtuzd"
],
[
"pick-up ravmr"
]
] | [
"(clear qtuzd) (on svcxf ravmr) (arm-empty) (on-table qtuzd) (clear svcxf) (on-table ravmr)",
"(holding svcxf) (clear qtuzd) (on-table qtuzd) (clear ravmr) (on-table ravmr)",
"(arm-empty) (on-table qtuzd) (clear ravmr) (on svcxf qtuzd) (clear svcxf) (on-table ravmr)",
"(on-table qtuzd) (on svcxf qtuzd) (clear svcxf) (holding ravmr)"
] | file_85891 |
GOAL: (arm-empty) (on-table qawes) (on-table qkyif) (on punwe qkyif) (clear llfzk) (on bdvtm punwe) (clear bdvtm) (on-table llfzk) (clear qawes) | GOAL: (arm-empty) (on-table qawes) (on-table qkyif) (on punwe qkyif) (clear llfzk) (on bdvtm punwe) (clear bdvtm) (on-table llfzk) (clear qawes)
STATE: (on bdvtm qawes) (clear punwe) (arm-empty) (on-table qawes) (clear qkyif) (on-table qkyif) (on llfzk bdvtm) (on punwe llfzk) | [
[
"unstack punwe llfzk"
],
[
"stack punwe qkyif"
],
[
"unstack llfzk bdvtm"
],
[
"put-down llfzk"
],
[
"unstack bdvtm qawes"
],
[
"stack bdvtm punwe"
]
] | [
"(on bdvtm qawes) (on-table qawes) (clear qkyif) (on-table qkyif) (holding punwe) (on llfzk bdvtm) (clear llfzk)",
"(on bdvtm qawes) (arm-empty) (on-table qawes) (on llfzk bdvtm) (on punwe qkyif) (clear punwe) (on-table qkyif) (clear llfzk)",
"(on bdvtm qawes) (clear punwe) (on-table qawes) (on punwe qkyif) (on-table qkyif) (holding llfzk) (clear bdvtm)",
"(on bdvtm qawes) (arm-empty) (on-table qawes) (on punwe qkyif) (clear punwe) (on-table qkyif) (clear llfzk) (clear bdvtm) (on-table llfzk)",
"(holding bdvtm) (clear punwe) (on-table qawes) (on-table qkyif) (on punwe qkyif) (clear llfzk) (on-table llfzk) (clear qawes)",
"(arm-empty) (on-table qawes) (on-table qkyif) (on punwe qkyif) (clear llfzk) (on bdvtm punwe) (clear bdvtm) (on-table llfzk) (clear qawes)"
] | file_38567 |
GOAL: (on tiylv qwpln) (arm-empty) (on-table pnnpc) (clear sifkr) (on sifkr omfkm) (on omfkm pnnpc) (clear tiylv) (on-table qwpln) | GOAL: (on tiylv qwpln) (arm-empty) (on-table pnnpc) (clear sifkr) (on sifkr omfkm) (on omfkm pnnpc) (clear tiylv) (on-table qwpln)
STATE: (clear omfkm) (arm-empty) (on-table omfkm) (on-table pnnpc) (on-table tiylv) (clear sifkr) (on sifkr qwpln) (on qwpln tiylv) (clear pnnpc) | [
[
"pick-up omfkm"
],
[
"stack omfkm pnnpc"
],
[
"unstack sifkr qwpln"
],
[
"stack sifkr omfkm"
],
[
"unstack qwpln tiylv"
],
[
"put-down qwpln"
],
[
"pick-up tiylv"
],
[
"stack tiylv qwpln"
]
] | [
"(on-table pnnpc) (on-table tiylv) (clear sifkr) (on sifkr qwpln) (holding omfkm) (on qwpln tiylv) (clear pnnpc)",
"(clear omfkm) (arm-empty) (on-table pnnpc) (on-table tiylv) (clear sifkr) (on sifkr qwpln) (on qwpln tiylv) (on omfkm pnnpc)",
"(clear omfkm) (on-table pnnpc) (on-table tiylv) (holding sifkr) (on qwpln tiylv) (on omfkm pnnpc) (clear qwpln)",
"(arm-empty) (on-table pnnpc) (on-table tiylv) (clear sifkr) (on qwpln tiylv) (on sifkr omfkm) (on omfkm pnnpc) (clear qwpln)",
"(on-table pnnpc) (on-table tiylv) (clear sifkr) (on sifkr omfkm) (on omfkm pnnpc) (holding qwpln) (clear tiylv)",
"(arm-empty) (on-table pnnpc) (clear sifkr) (on omfkm pnnpc) (on-table tiylv) (on sifkr omfkm) (clear qwpln) (clear tiylv) (on-table qwpln)",
"(holding tiylv) (on-table pnnpc) (clear sifkr) (on sifkr omfkm) (on omfkm pnnpc) (clear qwpln) (on-table qwpln)",
"(on tiylv qwpln) (arm-empty) (on-table pnnpc) (clear sifkr) (on sifkr omfkm) (on omfkm pnnpc) (clear tiylv) (on-table qwpln)"
] | file_197777 |
GOAL: (on bsudt tzbck) (on tzbck vwadj) (holding ntodl) (on-table vwadj) (clear bsudt) | GOAL: (on bsudt tzbck) (on tzbck vwadj) (holding ntodl) (on-table vwadj) (clear bsudt)
STATE: (arm-empty) (on-table ntodl) (on-table vwadj) (on bsudt ntodl) (clear tzbck) (on-table tzbck) (clear bsudt) (clear vwadj) | [
[
"pick-up tzbck"
],
[
"stack tzbck vwadj"
],
[
"unstack bsudt ntodl"
],
[
"stack bsudt tzbck"
],
[
"pick-up ntodl"
]
] | [
"(on-table ntodl) (on-table vwadj) (holding tzbck) (on bsudt ntodl) (clear bsudt) (clear vwadj)",
"(on tzbck vwadj) (arm-empty) (on-table ntodl) (on-table vwadj) (on bsudt ntodl) (clear tzbck) (clear bsudt)",
"(on tzbck vwadj) (on-table ntodl) (clear tzbck) (clear ntodl) (on-table vwadj) (holding bsudt)",
"(on bsudt tzbck) (clear ntodl) (on tzbck vwadj) (arm-empty) (on-table ntodl) (on-table vwadj) (clear bsudt)",
"(on bsudt tzbck) (on tzbck vwadj) (holding ntodl) (on-table vwadj) (clear bsudt)"
] | file_66645 |
GOAL: (arm-empty) (on-table keuci) (on-table eirut) (on vqkzg keuci) (on-table yubpb) (on zkknl yubpb) (clear vqkzg) (clear zkknl) (clear eirut) | GOAL: (arm-empty) (on-table keuci) (on-table eirut) (on vqkzg keuci) (on-table yubpb) (on zkknl yubpb) (clear vqkzg) (clear zkknl) (clear eirut)
STATE: (on eirut yubpb) (on-table zkknl) (on-table yubpb) (holding keuci) (clear vqkzg) (clear zkknl) (on-table vqkzg) (clear eirut) | [
[
"put-down keuci"
],
[
"pick-up vqkzg"
],
[
"stack vqkzg keuci"
],
[
"unstack eirut yubpb"
],
[
"put-down eirut"
],
[
"pick-up zkknl"
],
[
"stack zkknl yubpb"
]
] | [
"(clear keuci) (arm-empty) (on eirut yubpb) (on-table keuci) (on-table zkknl) (on-table yubpb) (clear vqkzg) (clear zkknl) (on-table vqkzg) (clear eirut)",
"(clear keuci) (on eirut yubpb) (on-table keuci) (on-table zkknl) (on-table yubpb) (holding vqkzg) (clear zkknl) (clear eirut)",
"(arm-empty) (on eirut yubpb) (on-table keuci) (on-table zkknl) (on vqkzg keuci) (on-table yubpb) (clear vqkzg) (clear zkknl) (clear eirut)",
"(on-table keuci) (on-table zkknl) (on vqkzg keuci) (clear yubpb) (holding eirut) (on-table yubpb) (clear vqkzg) (clear zkknl)",
"(arm-empty) (on-table keuci) (on-table eirut) (on-table zkknl) (on vqkzg keuci) (clear yubpb) (on-table yubpb) (clear vqkzg) (clear zkknl) (clear eirut)",
"(holding zkknl) (on-table keuci) (on-table eirut) (on vqkzg keuci) (clear yubpb) (on-table yubpb) (clear vqkzg) (clear eirut)",
"(arm-empty) (on-table keuci) (on-table eirut) (on vqkzg keuci) (on-table yubpb) (on zkknl yubpb) (clear vqkzg) (clear zkknl) (clear eirut)"
] | file_34438 |
GOAL: (arm-empty) (on egldj gcqbc) (on gcqbc mldlr) (on omzpa egldj) (on rsnlc omzpa) (clear rsnlc) (on-table mldlr) | GOAL: (arm-empty) (on egldj gcqbc) (on gcqbc mldlr) (on omzpa egldj) (on rsnlc omzpa) (clear rsnlc) (on-table mldlr)
STATE: (on egldj rsnlc) (on gcqbc egldj) (on-table omzpa) (arm-empty) (clear mldlr) (on rsnlc omzpa) (on-table mldlr) (clear gcqbc) | [
[
"unstack gcqbc egldj"
],
[
"stack gcqbc mldlr"
],
[
"unstack egldj rsnlc"
],
[
"stack egldj gcqbc"
],
[
"unstack rsnlc omzpa"
],
[
"put-down rsnlc"
],
[
"pick-up omzpa"
],
[
"stack omzpa egldj"
],
[
"pick-up rsnlc"
],
[
"stack rsnlc omzpa"
]
] | [
"(on egldj rsnlc) (on-table omzpa) (clear egldj) (holding gcqbc) (clear mldlr) (on rsnlc omzpa) (on-table mldlr)",
"(on egldj rsnlc) (arm-empty) (on-table omzpa) (clear egldj) (on gcqbc mldlr) (on rsnlc omzpa) (on-table mldlr) (clear gcqbc)",
"(on-table omzpa) (holding egldj) (on gcqbc mldlr) (on rsnlc omzpa) (clear rsnlc) (on-table mldlr) (clear gcqbc)",
"(arm-empty) (on-table omzpa) (on egldj gcqbc) (clear egldj) (on gcqbc mldlr) (on rsnlc omzpa) (clear rsnlc) (on-table mldlr)",
"(holding rsnlc) (clear omzpa) (on-table omzpa) (on egldj gcqbc) (clear egldj) (on gcqbc mldlr) (on-table mldlr)",
"(arm-empty) (on-table omzpa) (on egldj gcqbc) (clear egldj) (on gcqbc mldlr) (clear omzpa) (on-table rsnlc) (clear rsnlc) (on-table mldlr)",
"(on egldj gcqbc) (on-table rsnlc) (clear egldj) (on gcqbc mldlr) (holding omzpa) (clear rsnlc) (on-table mldlr)",
"(arm-empty) (on egldj gcqbc) (on gcqbc mldlr) (on omzpa egldj) (clear omzpa) (on-table rsnlc) (clear rsnlc) (on-table mldlr)",
"(holding rsnlc) (clear omzpa) (on egldj gcqbc) (on gcqbc mldlr) (on omzpa egldj) (on-table mldlr)",
"(arm-empty) (on egldj gcqbc) (on gcqbc mldlr) (on omzpa egldj) (on rsnlc omzpa) (clear rsnlc) (on-table mldlr)"
] | file_196513 |
GOAL: (on gouot azvvu) (arm-empty) (on-table avxrt) (on azvvu avxrt) (on-table udffw) (on vjidi udffw) (clear gouot) (clear vjidi) | GOAL: (on gouot azvvu) (arm-empty) (on-table avxrt) (on azvvu avxrt) (on-table udffw) (on vjidi udffw) (clear gouot) (clear vjidi)
STATE: (holding vjidi) (on gouot azvvu) (on-table avxrt) (on azvvu avxrt) (clear udffw) (on-table udffw) (clear gouot) | [
[
"stack vjidi udffw"
]
] | [
"(on gouot azvvu) (arm-empty) (on-table avxrt) (on azvvu avxrt) (on-table udffw) (on vjidi udffw) (clear gouot) (clear vjidi)"
] | file_207906 |
GOAL: (on yaygt wjldq) (clear wppka) (on wjldq rmagu) (arm-empty) (on-table psgyr) (on-table rmagu) (on wppka psgyr) (clear yaygt) | GOAL: (on yaygt wjldq) (clear wppka) (on wjldq rmagu) (arm-empty) (on-table psgyr) (on-table rmagu) (on wppka psgyr) (clear yaygt)
STATE: (on yaygt wjldq) (clear wppka) (on wjldq rmagu) (arm-empty) (on-table rmagu) (on psgyr yaygt) (on wppka psgyr) | [
[
"unstack wppka psgyr"
],
[
"put-down wppka"
],
[
"unstack psgyr yaygt"
],
[
"put-down psgyr"
],
[
"pick-up wppka"
],
[
"stack wppka psgyr"
]
] | [
"(on wjldq rmagu) (on psgyr yaygt) (clear psgyr) (on yaygt wjldq) (on-table rmagu) (holding wppka)",
"(on wjldq rmagu) (arm-empty) (on-table wppka) (on psgyr yaygt) (clear psgyr) (on yaygt wjldq) (clear wppka) (on-table rmagu)",
"(on yaygt wjldq) (clear wppka) (on wjldq rmagu) (on-table wppka) (on-table rmagu) (holding psgyr) (clear yaygt)",
"(on wjldq rmagu) (arm-empty) (on-table wppka) (on-table psgyr) (clear psgyr) (on yaygt wjldq) (clear wppka) (on-table rmagu) (clear yaygt)",
"(on yaygt wjldq) (on wjldq rmagu) (on-table psgyr) (on-table rmagu) (holding wppka) (clear yaygt) (clear psgyr)",
"(on yaygt wjldq) (clear wppka) (on wjldq rmagu) (arm-empty) (on-table psgyr) (on-table rmagu) (on wppka psgyr) (clear yaygt)"
] | file_173212 |
GOAL: (arm-empty) (on-table ylnmf) (on-table zobbn) (on pwzpc ylnmf) (clear zobbn) (on wjnxs bjazu) (on-table bjazu) (clear wjnxs) (clear pwzpc) | GOAL: (arm-empty) (on-table ylnmf) (on-table zobbn) (on pwzpc ylnmf) (clear zobbn) (on wjnxs bjazu) (on-table bjazu) (clear wjnxs) (clear pwzpc)
STATE: (on pwzpc zobbn) (on zobbn bjazu) (on bjazu wjnxs) (holding ylnmf) (clear pwzpc) (on-table wjnxs) | [
[
"put-down ylnmf"
],
[
"unstack pwzpc zobbn"
],
[
"stack pwzpc ylnmf"
],
[
"unstack zobbn bjazu"
],
[
"stack zobbn pwzpc"
],
[
"unstack bjazu wjnxs"
],
[
"put-down bjazu"
],
[
"pick-up wjnxs"
],
[
"stack wjnxs bjazu"
],
[
"unstack zobbn pwzpc"
],
[
"put-down zobbn"
]
] | [
"(on pwzpc zobbn) (arm-empty) (on zobbn bjazu) (on-table ylnmf) (clear ylnmf) (on bjazu wjnxs) (clear pwzpc) (on-table wjnxs)",
"(holding pwzpc) (clear ylnmf) (on zobbn bjazu) (on-table ylnmf) (on bjazu wjnxs) (on-table wjnxs) (clear zobbn)",
"(arm-empty) (on zobbn bjazu) (on-table ylnmf) (on bjazu wjnxs) (on pwzpc ylnmf) (clear pwzpc) (on-table wjnxs) (clear zobbn)",
"(on-table ylnmf) (clear bjazu) (on bjazu wjnxs) (holding zobbn) (on pwzpc ylnmf) (clear pwzpc) (on-table wjnxs)",
"(on bjazu wjnxs) (on zobbn pwzpc) (arm-empty) (on-table ylnmf) (clear bjazu) (on pwzpc ylnmf) (on-table wjnxs) (clear zobbn)",
"(on-table ylnmf) (holding bjazu) (on zobbn pwzpc) (clear wjnxs) (on pwzpc ylnmf) (on-table wjnxs) (clear zobbn)",
"(arm-empty) (on-table ylnmf) (clear bjazu) (on pwzpc ylnmf) (clear zobbn) (on zobbn pwzpc) (on-table bjazu) (clear wjnxs) (on-table wjnxs)",
"(on-table ylnmf) (clear bjazu) (on zobbn pwzpc) (on-table bjazu) (on pwzpc ylnmf) (holding wjnxs) (clear zobbn)",
"(on wjnxs bjazu) (arm-empty) (on-table ylnmf) (on zobbn pwzpc) (on-table bjazu) (clear wjnxs) (on pwzpc ylnmf) (clear zobbn)",
"(on wjnxs bjazu) (on-table ylnmf) (holding zobbn) (on-table bjazu) (clear wjnxs) (on pwzpc ylnmf) (clear pwzpc)",
"(arm-empty) (on-table ylnmf) (on-table zobbn) (on pwzpc ylnmf) (clear zobbn) (on wjnxs bjazu) (on-table bjazu) (clear wjnxs) (clear pwzpc)"
] | file_51975 |
GOAL: (arm-empty) (on-table gegzn) (on-table incfi) (on-table dnnuw) (clear zbiyz) (on pkbmz dnnuw) (on zbiyz gegzn) (clear pkbmz) (clear incfi) | GOAL: (arm-empty) (on-table gegzn) (on-table incfi) (on-table dnnuw) (clear zbiyz) (on pkbmz dnnuw) (on zbiyz gegzn) (clear pkbmz) (clear incfi)
STATE: (holding dnnuw) (clear gegzn) (on pkbmz incfi) (on-table gegzn) (on-table incfi) (clear zbiyz) (on-table zbiyz) (clear pkbmz) | [
[
"put-down dnnuw"
],
[
"pick-up zbiyz"
],
[
"stack zbiyz gegzn"
],
[
"unstack pkbmz incfi"
],
[
"stack pkbmz dnnuw"
]
] | [
"(clear gegzn) (on pkbmz incfi) (arm-empty) (on-table gegzn) (on-table incfi) (on-table dnnuw) (clear zbiyz) (on-table zbiyz) (clear pkbmz) (clear dnnuw)",
"(clear gegzn) (on pkbmz incfi) (on-table gegzn) (on-table incfi) (on-table dnnuw) (holding zbiyz) (clear pkbmz) (clear dnnuw)",
"(on pkbmz incfi) (arm-empty) (on-table gegzn) (on-table incfi) (on-table dnnuw) (clear zbiyz) (on zbiyz gegzn) (clear pkbmz) (clear dnnuw)",
"(on-table gegzn) (on-table incfi) (on-table dnnuw) (clear zbiyz) (on zbiyz gegzn) (holding pkbmz) (clear dnnuw) (clear incfi)",
"(arm-empty) (on-table gegzn) (on-table incfi) (on-table dnnuw) (clear zbiyz) (on pkbmz dnnuw) (on zbiyz gegzn) (clear pkbmz) (clear incfi)"
] | file_45321 |
GOAL: (clear xmbcd) (arm-empty) (on-table ohfav) (clear bwzjb) (on bzees ixkpf) (on-table bwzjb) (on xmbcd bzees) (clear ohfav) (on-table ixkpf) | GOAL: (clear xmbcd) (arm-empty) (on-table ohfav) (clear bwzjb) (on bzees ixkpf) (on-table bwzjb) (on xmbcd bzees) (clear ohfav) (on-table ixkpf)
STATE: (holding ohfav) (clear xmbcd) (on bwzjb bzees) (on bzees ixkpf) (on xmbcd bwzjb) (on-table ixkpf) | [
[
"put-down ohfav"
],
[
"unstack xmbcd bwzjb"
],
[
"stack xmbcd ohfav"
],
[
"unstack bwzjb bzees"
],
[
"put-down bwzjb"
],
[
"unstack xmbcd ohfav"
],
[
"stack xmbcd bzees"
]
] | [
"(arm-empty) (on bwzjb bzees) (on bzees ixkpf) (on xmbcd bwzjb) (clear xmbcd) (on-table ohfav) (clear ohfav) (on-table ixkpf)",
"(on bwzjb bzees) (on-table ohfav) (clear bwzjb) (on bzees ixkpf) (holding xmbcd) (clear ohfav) (on-table ixkpf)",
"(arm-empty) (on bwzjb bzees) (clear bwzjb) (on bzees ixkpf) (on xmbcd ohfav) (clear xmbcd) (on-table ohfav) (on-table ixkpf)",
"(clear xmbcd) (on-table ohfav) (holding bwzjb) (on bzees ixkpf) (on xmbcd ohfav) (on-table ixkpf) (clear bzees)",
"(arm-empty) (clear bwzjb) (on bzees ixkpf) (on xmbcd ohfav) (clear bzees) (clear xmbcd) (on-table ohfav) (on-table bwzjb) (on-table ixkpf)",
"(on-table ohfav) (clear bwzjb) (on bzees ixkpf) (on-table bwzjb) (holding xmbcd) (clear ohfav) (on-table ixkpf) (clear bzees)",
"(clear xmbcd) (arm-empty) (on-table ohfav) (clear bwzjb) (on bzees ixkpf) (on-table bwzjb) (on xmbcd bzees) (clear ohfav) (on-table ixkpf)"
] | file_225920 |
GOAL: (on kcfnq tqfwt) (on whsag kcfnq) (arm-empty) (on-table ljytq) (on mfidd whsag) (on tqfwt ljytq) (clear mfidd) | GOAL: (on kcfnq tqfwt) (on whsag kcfnq) (arm-empty) (on-table ljytq) (on mfidd whsag) (on tqfwt ljytq) (clear mfidd)
STATE: (clear ljytq) (arm-empty) (on-table ljytq) (on tqfwt mfidd) (on-table whsag) (clear tqfwt) (on mfidd whsag) (clear kcfnq) (on-table kcfnq) | [
[
"unstack tqfwt mfidd"
],
[
"stack tqfwt ljytq"
],
[
"pick-up kcfnq"
],
[
"stack kcfnq tqfwt"
],
[
"unstack mfidd whsag"
],
[
"put-down mfidd"
],
[
"pick-up whsag"
],
[
"stack whsag kcfnq"
],
[
"pick-up mfidd"
],
[
"stack mfidd whsag"
]
] | [
"(clear ljytq) (on-table ljytq) (on-table whsag) (holding tqfwt) (on mfidd whsag) (clear kcfnq) (on-table kcfnq) (clear mfidd)",
"(arm-empty) (on-table ljytq) (on-table whsag) (clear tqfwt) (on mfidd whsag) (on tqfwt ljytq) (clear kcfnq) (on-table kcfnq) (clear mfidd)",
"(on-table ljytq) (on-table whsag) (clear tqfwt) (on mfidd whsag) (on tqfwt ljytq) (holding kcfnq) (clear mfidd)",
"(on kcfnq tqfwt) (arm-empty) (on-table ljytq) (on-table whsag) (on mfidd whsag) (on tqfwt ljytq) (clear kcfnq) (clear mfidd)",
"(on kcfnq tqfwt) (on-table ljytq) (on-table whsag) (holding mfidd) (on tqfwt ljytq) (clear kcfnq) (clear whsag)",
"(arm-empty) (on-table ljytq) (on-table mfidd) (clear mfidd) (on kcfnq tqfwt) (on-table whsag) (on tqfwt ljytq) (clear kcfnq) (clear whsag)",
"(holding whsag) (on kcfnq tqfwt) (on-table ljytq) (on-table mfidd) (on tqfwt ljytq) (clear kcfnq) (clear mfidd)",
"(on kcfnq tqfwt) (on whsag kcfnq) (arm-empty) (on-table ljytq) (on-table mfidd) (on tqfwt ljytq) (clear whsag) (clear mfidd)",
"(on kcfnq tqfwt) (on whsag kcfnq) (on-table ljytq) (holding mfidd) (on tqfwt ljytq) (clear whsag)",
"(on kcfnq tqfwt) (on whsag kcfnq) (arm-empty) (on-table ljytq) (on mfidd whsag) (on tqfwt ljytq) (clear mfidd)"
] | file_143523 |
GOAL: (on fzyet wjwyk) (arm-empty) (clear niisx) (on niisx vfujn) (on vfujn fzyet) (on-table ejake) (on wjwyk ejake) | GOAL: (on fzyet wjwyk) (arm-empty) (clear niisx) (on niisx vfujn) (on vfujn fzyet) (on-table ejake) (on wjwyk ejake)
STATE: (arm-empty) (on-table fzyet) (on wjwyk vfujn) (on-table niisx) (on vfujn niisx) (clear ejake) (clear fzyet) (on-table ejake) (clear wjwyk) | [
[
"unstack wjwyk vfujn"
],
[
"stack wjwyk ejake"
],
[
"pick-up fzyet"
],
[
"stack fzyet wjwyk"
],
[
"unstack vfujn niisx"
],
[
"stack vfujn fzyet"
],
[
"pick-up niisx"
],
[
"stack niisx vfujn"
]
] | [
"(clear vfujn) (on-table fzyet) (holding wjwyk) (on-table niisx) (on vfujn niisx) (clear ejake) (clear fzyet) (on-table ejake)",
"(clear vfujn) (arm-empty) (on-table fzyet) (on wjwyk ejake) (on-table niisx) (on vfujn niisx) (clear fzyet) (on-table ejake) (clear wjwyk)",
"(holding fzyet) (clear vfujn) (on wjwyk ejake) (on-table niisx) (on vfujn niisx) (on-table ejake) (clear wjwyk)",
"(on fzyet wjwyk) (clear vfujn) (arm-empty) (on wjwyk ejake) (on-table niisx) (on vfujn niisx) (clear fzyet) (on-table ejake)",
"(on fzyet wjwyk) (clear niisx) (on wjwyk ejake) (on-table niisx) (holding vfujn) (clear fzyet) (on-table ejake)",
"(on fzyet wjwyk) (arm-empty) (clear niisx) (on wjwyk ejake) (on vfujn fzyet) (clear vfujn) (on-table niisx) (on-table ejake)",
"(on fzyet wjwyk) (clear vfujn) (holding niisx) (on wjwyk ejake) (on vfujn fzyet) (on-table ejake)",
"(on fzyet wjwyk) (arm-empty) (clear niisx) (on niisx vfujn) (on vfujn fzyet) (on-table ejake) (on wjwyk ejake)"
] | file_134925 |
GOAL: (holding ktvwq) (clear egwtx) (on nqatt ouwwx) (on-table uhzpy) (on egwtx uhzpy) (on-table ouwwx) (clear nqatt) | GOAL: (holding ktvwq) (clear egwtx) (on nqatt ouwwx) (on-table uhzpy) (on egwtx uhzpy) (on-table ouwwx) (clear nqatt)
STATE: (on ktvwq ouwwx) (arm-empty) (on-table nqatt) (on uhzpy nqatt) (on ouwwx egwtx) (on egwtx uhzpy) (clear ktvwq) | [
[
"unstack ktvwq ouwwx"
],
[
"put-down ktvwq"
],
[
"unstack ouwwx egwtx"
],
[
"put-down ouwwx"
],
[
"unstack egwtx uhzpy"
],
[
"stack egwtx ktvwq"
],
[
"unstack uhzpy nqatt"
],
[
"put-down uhzpy"
],
[
"pick-up nqatt"
],
[
"stack nqatt ouwwx"
],
[
"unstack egwtx ktvwq"
],
[
"stack egwtx uhzpy"
],
[
"pick-up ktvwq"
]
] | [
"(on-table nqatt) (on uhzpy nqatt) (on egwtx uhzpy) (holding ktvwq) (on ouwwx egwtx) (clear ouwwx)",
"(arm-empty) (on-table nqatt) (on uhzpy nqatt) (on egwtx uhzpy) (on-table ktvwq) (on ouwwx egwtx) (clear ouwwx) (clear ktvwq)",
"(clear egwtx) (on-table nqatt) (on uhzpy nqatt) (on-table ktvwq) (on egwtx uhzpy) (holding ouwwx) (clear ktvwq)",
"(arm-empty) (on-table nqatt) (on uhzpy nqatt) (on egwtx uhzpy) (clear egwtx) (on-table ktvwq) (clear ouwwx) (clear ktvwq) (on-table ouwwx)",
"(on-table nqatt) (on uhzpy nqatt) (on-table ktvwq) (clear uhzpy) (holding egwtx) (clear ouwwx) (clear ktvwq) (on-table ouwwx)",
"(clear egwtx) (arm-empty) (on-table nqatt) (on uhzpy nqatt) (on-table ktvwq) (clear uhzpy) (on egwtx ktvwq) (clear ouwwx) (on-table ouwwx)",
"(clear egwtx) (on-table nqatt) (holding uhzpy) (on-table ktvwq) (on egwtx ktvwq) (clear ouwwx) (on-table ouwwx) (clear nqatt)",
"(clear egwtx) (arm-empty) (on-table nqatt) (on-table ktvwq) (clear uhzpy) (on-table uhzpy) (on egwtx ktvwq) (clear ouwwx) (on-table ouwwx) (clear nqatt)",
"(clear egwtx) (on-table ktvwq) (clear uhzpy) (holding nqatt) (on-table uhzpy) (on egwtx ktvwq) (clear ouwwx) (on-table ouwwx)",
"(clear egwtx) (arm-empty) (on-table ktvwq) (clear uhzpy) (on nqatt ouwwx) (on-table uhzpy) (on egwtx ktvwq) (on-table ouwwx) (clear nqatt)",
"(on-table ktvwq) (clear uhzpy) (on nqatt ouwwx) (on-table uhzpy) (holding egwtx) (clear ktvwq) (on-table ouwwx) (clear nqatt)",
"(clear egwtx) (arm-empty) (on-table ktvwq) (on nqatt ouwwx) (on-table uhzpy) (on egwtx uhzpy) (clear ktvwq) (on-table ouwwx) (clear nqatt)",
"(holding ktvwq) (clear egwtx) (on nqatt ouwwx) (on-table uhzpy) (on egwtx uhzpy) (on-table ouwwx) (clear nqatt)"
] | file_150045 |
GOAL: (on wkybg zrgaa) (on xozdo wkybg) (clear xozdo) (on zrgaa oawdp) (holding kpuka) (on-table oawdp) | GOAL: (on wkybg zrgaa) (on xozdo wkybg) (clear xozdo) (on zrgaa oawdp) (holding kpuka) (on-table oawdp)
STATE: (clear kpuka) (holding xozdo) (on-table wkybg) (on zrgaa oawdp) (on kpuka zrgaa) (clear wkybg) (on-table oawdp) | [
[
"stack xozdo wkybg"
],
[
"unstack kpuka zrgaa"
],
[
"put-down kpuka"
],
[
"unstack xozdo wkybg"
],
[
"stack xozdo kpuka"
],
[
"pick-up wkybg"
],
[
"stack wkybg zrgaa"
],
[
"unstack xozdo kpuka"
],
[
"stack xozdo wkybg"
],
[
"pick-up kpuka"
]
] | [
"(clear kpuka) (on xozdo wkybg) (arm-empty) (on-table wkybg) (clear xozdo) (on zrgaa oawdp) (on kpuka zrgaa) (on-table oawdp)",
"(on xozdo wkybg) (on-table wkybg) (clear xozdo) (on zrgaa oawdp) (holding kpuka) (on-table oawdp) (clear zrgaa)",
"(on xozdo wkybg) (arm-empty) (on-table kpuka) (clear xozdo) (on zrgaa oawdp) (clear zrgaa) (clear kpuka) (on-table wkybg) (on-table oawdp)",
"(clear kpuka) (on-table kpuka) (on-table wkybg) (holding xozdo) (on zrgaa oawdp) (clear wkybg) (on-table oawdp) (clear zrgaa)",
"(arm-empty) (on-table kpuka) (on-table wkybg) (clear xozdo) (on zrgaa oawdp) (on xozdo kpuka) (clear wkybg) (on-table oawdp) (clear zrgaa)",
"(holding wkybg) (on-table kpuka) (clear xozdo) (on zrgaa oawdp) (on xozdo kpuka) (on-table oawdp) (clear zrgaa)",
"(on wkybg zrgaa) (arm-empty) (on-table kpuka) (clear xozdo) (on zrgaa oawdp) (on xozdo kpuka) (clear wkybg) (on-table oawdp)",
"(on wkybg zrgaa) (clear kpuka) (on-table kpuka) (holding xozdo) (on zrgaa oawdp) (clear wkybg) (on-table oawdp)",
"(on wkybg zrgaa) (clear kpuka) (on xozdo wkybg) (arm-empty) (on-table kpuka) (clear xozdo) (on zrgaa oawdp) (on-table oawdp)",
"(on wkybg zrgaa) (on xozdo wkybg) (clear xozdo) (on zrgaa oawdp) (holding kpuka) (on-table oawdp)"
] | file_111741 |
GOAL: (on ouptu qpukp) (on xjneo ouptu) (arm-empty) (on qpukp pgfhy) (on-table xsnme) (on pgfhy xsnme) (clear xjneo) | GOAL: (on ouptu qpukp) (on xjneo ouptu) (arm-empty) (on qpukp pgfhy) (on-table xsnme) (on pgfhy xsnme) (clear xjneo)
STATE: (clear pgfhy) (on-table qpukp) (on-table xjneo) (on-table xsnme) (on pgfhy xsnme) (holding ouptu) (clear xjneo) (clear qpukp) | [
[
"stack ouptu xjneo"
],
[
"pick-up qpukp"
],
[
"stack qpukp pgfhy"
],
[
"unstack ouptu xjneo"
],
[
"stack ouptu qpukp"
],
[
"pick-up xjneo"
],
[
"stack xjneo ouptu"
]
] | [
"(clear pgfhy) (arm-empty) (on-table qpukp) (on-table xjneo) (on ouptu xjneo) (on-table xsnme) (on pgfhy xsnme) (clear ouptu) (clear qpukp)",
"(clear pgfhy) (on-table xjneo) (on pgfhy xsnme) (holding qpukp) (on-table xsnme) (on ouptu xjneo) (clear ouptu)",
"(arm-empty) (on-table xjneo) (on qpukp pgfhy) (on pgfhy xsnme) (on-table xsnme) (on ouptu xjneo) (clear ouptu) (clear qpukp)",
"(on-table xjneo) (on qpukp pgfhy) (on pgfhy xsnme) (on-table xsnme) (holding ouptu) (clear xjneo) (clear qpukp)",
"(on ouptu qpukp) (arm-empty) (on-table xjneo) (on qpukp pgfhy) (on-table xsnme) (on pgfhy xsnme) (clear ouptu) (clear xjneo)",
"(holding xjneo) (on ouptu qpukp) (on qpukp pgfhy) (on-table xsnme) (on pgfhy xsnme) (clear ouptu)",
"(on ouptu qpukp) (on xjneo ouptu) (arm-empty) (on qpukp pgfhy) (on-table xsnme) (on pgfhy xsnme) (clear xjneo)"
] | file_126081 |
GOAL: (on zyesg fjawx) (on ragbt vpfbr) (arm-empty) (on-table fjawx) (on vpfbr kzvvh) (on kzvvh zyesg) (clear ragbt) | GOAL: (on zyesg fjawx) (on ragbt vpfbr) (arm-empty) (on-table fjawx) (on vpfbr kzvvh) (on kzvvh zyesg) (clear ragbt)
STATE: (on fjawx zyesg) (on-table vpfbr) (on kzvvh vpfbr) (holding ragbt) (on zyesg kzvvh) (clear fjawx) | [
[
"put-down ragbt"
],
[
"unstack fjawx zyesg"
],
[
"put-down fjawx"
],
[
"unstack zyesg kzvvh"
],
[
"stack zyesg fjawx"
],
[
"unstack kzvvh vpfbr"
],
[
"stack kzvvh zyesg"
],
[
"pick-up vpfbr"
],
[
"stack vpfbr kzvvh"
],
[
"pick-up ragbt"
],
[
"stack ragbt vpfbr"
]
] | [
"(arm-empty) (on kzvvh vpfbr) (on zyesg kzvvh) (clear fjawx) (on fjawx zyesg) (on-table vpfbr) (clear ragbt) (on-table ragbt)",
"(holding fjawx) (on-table vpfbr) (on kzvvh vpfbr) (clear ragbt) (on zyesg kzvvh) (clear zyesg) (on-table ragbt)",
"(arm-empty) (on-table fjawx) (on kzvvh vpfbr) (on zyesg kzvvh) (clear fjawx) (on-table vpfbr) (clear ragbt) (clear zyesg) (on-table ragbt)",
"(holding zyesg) (clear kzvvh) (on-table fjawx) (on-table vpfbr) (on kzvvh vpfbr) (clear ragbt) (on-table ragbt) (clear fjawx)",
"(on zyesg fjawx) (clear kzvvh) (arm-empty) (on-table fjawx) (on-table vpfbr) (on kzvvh vpfbr) (clear ragbt) (clear zyesg) (on-table ragbt)",
"(on zyesg fjawx) (on-table fjawx) (clear vpfbr) (on-table vpfbr) (holding kzvvh) (clear ragbt) (clear zyesg) (on-table ragbt)",
"(on zyesg fjawx) (clear kzvvh) (arm-empty) (on-table fjawx) (clear vpfbr) (on-table vpfbr) (on kzvvh zyesg) (clear ragbt) (on-table ragbt)",
"(on zyesg fjawx) (clear kzvvh) (on-table fjawx) (holding vpfbr) (on kzvvh zyesg) (clear ragbt) (on-table ragbt)",
"(on zyesg fjawx) (arm-empty) (on-table fjawx) (clear vpfbr) (on kzvvh zyesg) (on vpfbr kzvvh) (clear ragbt) (on-table ragbt)",
"(on zyesg fjawx) (on-table fjawx) (clear vpfbr) (on vpfbr kzvvh) (on kzvvh zyesg) (holding ragbt)",
"(on zyesg fjawx) (on ragbt vpfbr) (arm-empty) (on-table fjawx) (on vpfbr kzvvh) (on kzvvh zyesg) (clear ragbt)"
] | file_52247 |
GOAL: (holding nkxmg) (on avrml ltaar) (clear bthfj) (on-table ltaar) (clear oulti) (on-table oulti) (on bthfj avrml) | GOAL: (holding nkxmg) (on avrml ltaar) (clear bthfj) (on-table ltaar) (clear oulti) (on-table oulti) (on bthfj avrml)
STATE: (clear bthfj) (on-table ltaar) (on-table nkxmg) (on-table oulti) (on bthfj oulti) (holding avrml) (clear nkxmg) (clear ltaar) | [
[
"stack avrml ltaar"
],
[
"unstack bthfj oulti"
],
[
"stack bthfj avrml"
],
[
"pick-up nkxmg"
]
] | [
"(clear bthfj) (on avrml ltaar) (arm-empty) (on-table ltaar) (on-table nkxmg) (on-table oulti) (on bthfj oulti) (clear avrml) (clear nkxmg)",
"(on avrml ltaar) (on-table ltaar) (on-table nkxmg) (clear oulti) (on-table oulti) (holding bthfj) (clear avrml) (clear nkxmg)",
"(on avrml ltaar) (clear bthfj) (arm-empty) (on-table ltaar) (on-table nkxmg) (clear oulti) (on-table oulti) (on bthfj avrml) (clear nkxmg)",
"(holding nkxmg) (on avrml ltaar) (clear bthfj) (on-table ltaar) (clear oulti) (on-table oulti) (on bthfj avrml)"
] | file_126077 |
GOAL: (clear xahuy) (on-table xahuy) (on-table rtpfw) (clear opjqf) (on opjqf shgrs) (holding bdknc) (on shgrs rtpfw) | GOAL: (clear xahuy) (on-table xahuy) (on-table rtpfw) (clear opjqf) (on opjqf shgrs) (holding bdknc) (on shgrs rtpfw)
STATE: (on opjqf rtpfw) (on rtpfw shgrs) (on bdknc opjqf) (on-table xahuy) (arm-empty) (on shgrs xahuy) (clear bdknc) | [
[
"unstack bdknc opjqf"
],
[
"put-down bdknc"
],
[
"unstack opjqf rtpfw"
],
[
"stack opjqf bdknc"
],
[
"unstack rtpfw shgrs"
],
[
"put-down rtpfw"
],
[
"unstack shgrs xahuy"
],
[
"stack shgrs rtpfw"
],
[
"unstack opjqf bdknc"
],
[
"stack opjqf shgrs"
],
[
"pick-up bdknc"
]
] | [
"(on opjqf rtpfw) (on rtpfw shgrs) (on-table xahuy) (clear opjqf) (holding bdknc) (on shgrs xahuy)",
"(on opjqf rtpfw) (on rtpfw shgrs) (on-table xahuy) (on-table bdknc) (arm-empty) (clear opjqf) (clear bdknc) (on shgrs xahuy)",
"(on rtpfw shgrs) (on-table xahuy) (on-table bdknc) (holding opjqf) (on shgrs xahuy) (clear rtpfw) (clear bdknc)",
"(on rtpfw shgrs) (arm-empty) (on-table xahuy) (on-table bdknc) (on opjqf bdknc) (on shgrs xahuy) (clear opjqf) (clear rtpfw)",
"(holding rtpfw) (on-table xahuy) (on-table bdknc) (on opjqf bdknc) (on shgrs xahuy) (clear opjqf) (clear shgrs)",
"(arm-empty) (on-table xahuy) (on-table bdknc) (on opjqf bdknc) (clear opjqf) (on-table rtpfw) (on shgrs xahuy) (clear shgrs) (clear rtpfw)",
"(clear xahuy) (on-table xahuy) (on-table bdknc) (on opjqf bdknc) (on-table rtpfw) (clear opjqf) (holding shgrs) (clear rtpfw)",
"(clear xahuy) (arm-empty) (on-table xahuy) (on-table bdknc) (on opjqf bdknc) (on-table rtpfw) (clear opjqf) (on shgrs rtpfw) (clear shgrs)",
"(clear xahuy) (on-table xahuy) (on-table bdknc) (holding opjqf) (on-table rtpfw) (on shgrs rtpfw) (clear shgrs) (clear bdknc)",
"(clear xahuy) (arm-empty) (on-table xahuy) (on-table bdknc) (on-table rtpfw) (clear opjqf) (on opjqf shgrs) (on shgrs rtpfw) (clear bdknc)",
"(clear xahuy) (on-table xahuy) (on-table rtpfw) (clear opjqf) (on opjqf shgrs) (holding bdknc) (on shgrs rtpfw)"
] | file_89724 |
GOAL: (arm-empty) (on-table wldfc) (on nsbwg wldfc) (clear nsbwg) (on cfekx sexfy) (on czzdi cfekx) (on-table sexfy) (clear czzdi) | GOAL: (arm-empty) (on-table wldfc) (on nsbwg wldfc) (clear nsbwg) (on cfekx sexfy) (on czzdi cfekx) (on-table sexfy) (clear czzdi)
STATE: (clear cfekx) (on nsbwg czzdi) (arm-empty) (on-table wldfc) (on-table czzdi) (on cfekx nsbwg) (clear sexfy) (on-table sexfy) (clear wldfc) | [
[
"unstack cfekx nsbwg"
],
[
"stack cfekx sexfy"
],
[
"unstack nsbwg czzdi"
],
[
"stack nsbwg wldfc"
],
[
"pick-up czzdi"
],
[
"stack czzdi cfekx"
]
] | [
"(on nsbwg czzdi) (on-table wldfc) (on-table czzdi) (clear nsbwg) (holding cfekx) (clear sexfy) (on-table sexfy) (clear wldfc)",
"(clear cfekx) (on nsbwg czzdi) (arm-empty) (on-table wldfc) (on-table czzdi) (clear nsbwg) (on cfekx sexfy) (on-table sexfy) (clear wldfc)",
"(clear cfekx) (on-table wldfc) (on-table czzdi) (holding nsbwg) (on cfekx sexfy) (clear czzdi) (on-table sexfy) (clear wldfc)",
"(clear cfekx) (arm-empty) (on-table wldfc) (on-table czzdi) (on nsbwg wldfc) (clear nsbwg) (on cfekx sexfy) (clear czzdi) (on-table sexfy)",
"(holding czzdi) (clear cfekx) (on-table wldfc) (on nsbwg wldfc) (clear nsbwg) (on cfekx sexfy) (on-table sexfy)",
"(arm-empty) (on-table wldfc) (on nsbwg wldfc) (clear nsbwg) (on cfekx sexfy) (on czzdi cfekx) (on-table sexfy) (clear czzdi)"
] | file_39306 |
GOAL: (arm-empty) (on-table uszgx) (on uszjs uvpkb) (on ikvcz tjuuh) (on tjuuh uszgx) (clear ikvcz) (on-table uvpkb) (clear uszjs) | GOAL: (arm-empty) (on-table uszgx) (on uszjs uvpkb) (on ikvcz tjuuh) (on tjuuh uszgx) (clear ikvcz) (on-table uvpkb) (clear uszjs)
STATE: (on ikvcz uszjs) (clear uszgx) (arm-empty) (on-table uszgx) (on-table uszjs) (clear tjuuh) (on-table tjuuh) (clear uvpkb) (clear ikvcz) (on-table uvpkb) | [
[
"pick-up tjuuh"
],
[
"stack tjuuh uszgx"
],
[
"unstack ikvcz uszjs"
],
[
"stack ikvcz tjuuh"
],
[
"pick-up uszjs"
],
[
"stack uszjs uvpkb"
]
] | [
"(on ikvcz uszjs) (clear uszgx) (on-table uszgx) (on-table uszjs) (holding tjuuh) (clear uvpkb) (clear ikvcz) (on-table uvpkb)",
"(on ikvcz uszjs) (arm-empty) (on-table uszgx) (on-table uszjs) (clear tjuuh) (on tjuuh uszgx) (clear uvpkb) (clear ikvcz) (on-table uvpkb)",
"(holding ikvcz) (on-table uszgx) (on-table uszjs) (clear tjuuh) (on tjuuh uszgx) (clear uvpkb) (on-table uvpkb) (clear uszjs)",
"(arm-empty) (on-table uszgx) (on-table uszjs) (on ikvcz tjuuh) (on tjuuh uszgx) (clear uvpkb) (clear ikvcz) (on-table uvpkb) (clear uszjs)",
"(on-table uszgx) (holding uszjs) (on ikvcz tjuuh) (on tjuuh uszgx) (clear uvpkb) (clear ikvcz) (on-table uvpkb)",
"(arm-empty) (on-table uszgx) (on uszjs uvpkb) (on ikvcz tjuuh) (on tjuuh uszgx) (clear ikvcz) (on-table uvpkb) (clear uszjs)"
] | file_181149 |
GOAL: (on figrd okvkp) (on-table xyezg) (clear bruyx) (on okvkp xyezg) (on-table bruyx) (holding gvgcd) (clear figrd) | GOAL: (on figrd okvkp) (on-table xyezg) (clear bruyx) (on okvkp xyezg) (on-table bruyx) (holding gvgcd) (clear figrd)
STATE: (on figrd bruyx) (arm-empty) (on okvkp figrd) (on-table bruyx) (on gvgcd okvkp) (on xyezg gvgcd) (clear xyezg) | [
[
"unstack xyezg gvgcd"
],
[
"put-down xyezg"
],
[
"unstack gvgcd okvkp"
],
[
"put-down gvgcd"
],
[
"unstack okvkp figrd"
],
[
"put-down okvkp"
],
[
"unstack figrd bruyx"
],
[
"stack figrd gvgcd"
],
[
"pick-up okvkp"
],
[
"stack okvkp xyezg"
],
[
"unstack figrd gvgcd"
],
[
"stack figrd okvkp"
],
[
"pick-up gvgcd"
]
] | [
"(on okvkp figrd) (on gvgcd okvkp) (holding xyezg) (on figrd bruyx) (clear gvgcd) (on-table bruyx)",
"(arm-empty) (on okvkp figrd) (on gvgcd okvkp) (on figrd bruyx) (clear gvgcd) (on-table xyezg) (on-table bruyx) (clear xyezg)",
"(on figrd bruyx) (on-table xyezg) (on okvkp figrd) (on-table bruyx) (holding gvgcd) (clear xyezg) (clear okvkp)",
"(arm-empty) (on-table gvgcd) (on okvkp figrd) (clear okvkp) (on figrd bruyx) (clear gvgcd) (on-table xyezg) (on-table bruyx) (clear xyezg)",
"(on figrd bruyx) (clear gvgcd) (on-table gvgcd) (on-table xyezg) (holding okvkp) (on-table bruyx) (clear figrd) (clear xyezg)",
"(on figrd bruyx) (clear gvgcd) (arm-empty) (on-table gvgcd) (on-table okvkp) (on-table xyezg) (on-table bruyx) (clear figrd) (clear xyezg) (clear okvkp)",
"(clear gvgcd) (on-table gvgcd) (on-table okvkp) (on-table xyezg) (clear bruyx) (on-table bruyx) (holding figrd) (clear xyezg) (clear okvkp)",
"(arm-empty) (on-table gvgcd) (on-table okvkp) (on-table xyezg) (on figrd gvgcd) (clear bruyx) (on-table bruyx) (clear figrd) (clear xyezg) (clear okvkp)",
"(on-table gvgcd) (on-table xyezg) (on figrd gvgcd) (clear bruyx) (holding okvkp) (on-table bruyx) (clear figrd) (clear xyezg)",
"(arm-empty) (on-table gvgcd) (on-table xyezg) (on figrd gvgcd) (clear bruyx) (on okvkp xyezg) (on-table bruyx) (clear figrd) (clear okvkp)",
"(clear gvgcd) (on-table gvgcd) (on-table xyezg) (clear bruyx) (on okvkp xyezg) (on-table bruyx) (holding figrd) (clear okvkp)",
"(clear gvgcd) (on figrd okvkp) (arm-empty) (on-table gvgcd) (on-table xyezg) (clear bruyx) (on okvkp xyezg) (on-table bruyx) (clear figrd)",
"(on figrd okvkp) (on-table xyezg) (clear bruyx) (on okvkp xyezg) (on-table bruyx) (holding gvgcd) (clear figrd)"
] | file_219065 |
GOAL: (arm-empty) (on wwnse dexpb) (clear rxdar) (clear wwnse) (on-table tktep) (on-table rxdar) (on dexpb zqkhk) (clear tktep) (on-table zqkhk) | GOAL: (arm-empty) (on wwnse dexpb) (clear rxdar) (clear wwnse) (on-table tktep) (on-table rxdar) (on dexpb zqkhk) (clear tktep) (on-table zqkhk)
STATE: (clear dexpb) (on zqkhk wwnse) (on rxdar tktep) (on wwnse rxdar) (arm-empty) (on-table tktep) (on dexpb zqkhk) | [
[
"unstack dexpb zqkhk"
],
[
"put-down dexpb"
],
[
"unstack zqkhk wwnse"
],
[
"put-down zqkhk"
],
[
"pick-up dexpb"
],
[
"stack dexpb zqkhk"
],
[
"unstack wwnse rxdar"
],
[
"stack wwnse dexpb"
],
[
"unstack rxdar tktep"
],
[
"put-down rxdar"
]
] | [
"(on zqkhk wwnse) (on rxdar tktep) (on wwnse rxdar) (on-table tktep) (holding dexpb) (clear zqkhk)",
"(on zqkhk wwnse) (on rxdar tktep) (on wwnse rxdar) (on-table dexpb) (clear dexpb) (on-table tktep) (arm-empty) (clear zqkhk)",
"(on rxdar tktep) (on wwnse rxdar) (on-table dexpb) (clear dexpb) (on-table tktep) (holding zqkhk) (clear wwnse)",
"(on rxdar tktep) (on wwnse rxdar) (on-table dexpb) (arm-empty) (clear wwnse) (clear dexpb) (on-table tktep) (clear zqkhk) (on-table zqkhk)",
"(on rxdar tktep) (on wwnse rxdar) (on-table tktep) (holding dexpb) (clear zqkhk) (on-table zqkhk) (clear wwnse)",
"(clear dexpb) (on rxdar tktep) (on wwnse rxdar) (arm-empty) (on-table tktep) (on dexpb zqkhk) (on-table zqkhk) (clear wwnse)",
"(clear dexpb) (on rxdar tktep) (on-table tktep) (clear rxdar) (holding wwnse) (on dexpb zqkhk) (on-table zqkhk)",
"(on rxdar tktep) (arm-empty) (on-table tktep) (on wwnse dexpb) (clear rxdar) (on dexpb zqkhk) (on-table zqkhk) (clear wwnse)",
"(on-table tktep) (holding rxdar) (on wwnse dexpb) (on dexpb zqkhk) (clear tktep) (on-table zqkhk) (clear wwnse)",
"(arm-empty) (on wwnse dexpb) (clear rxdar) (clear wwnse) (on-table tktep) (on-table rxdar) (on dexpb zqkhk) (clear tktep) (on-table zqkhk)"
] | file_63664 |
GOAL: (on-table rikkf) (on-table lwuwp) (holding fvnpc) (on yomiq rikkf) (on kxvrz yomiq) (clear lwuwp) (clear kxvrz) | GOAL: (on-table rikkf) (on-table lwuwp) (holding fvnpc) (on yomiq rikkf) (on kxvrz yomiq) (clear lwuwp) (clear kxvrz)
STATE: (on yomiq kxvrz) (holding rikkf) (on kxvrz lwuwp) (on-table fvnpc) (on lwuwp fvnpc) (clear yomiq) | [
[
"put-down rikkf"
],
[
"unstack yomiq kxvrz"
],
[
"stack yomiq rikkf"
],
[
"unstack kxvrz lwuwp"
],
[
"stack kxvrz yomiq"
],
[
"unstack lwuwp fvnpc"
],
[
"put-down lwuwp"
],
[
"pick-up fvnpc"
]
] | [
"(on kxvrz lwuwp) (on yomiq kxvrz) (on-table fvnpc) (clear rikkf) (on-table rikkf) (arm-empty) (clear yomiq) (on lwuwp fvnpc)",
"(clear rikkf) (on-table rikkf) (on kxvrz lwuwp) (on-table fvnpc) (on lwuwp fvnpc) (holding yomiq) (clear kxvrz)",
"(arm-empty) (on-table rikkf) (on yomiq rikkf) (on kxvrz lwuwp) (on-table fvnpc) (on lwuwp fvnpc) (clear yomiq) (clear kxvrz)",
"(on-table rikkf) (on yomiq rikkf) (holding kxvrz) (on-table fvnpc) (on lwuwp fvnpc) (clear yomiq) (clear lwuwp)",
"(arm-empty) (on-table rikkf) (on yomiq rikkf) (on kxvrz yomiq) (on-table fvnpc) (on lwuwp fvnpc) (clear lwuwp) (clear kxvrz)",
"(holding lwuwp) (on-table rikkf) (on yomiq rikkf) (clear fvnpc) (on kxvrz yomiq) (on-table fvnpc) (clear kxvrz)",
"(arm-empty) (on-table rikkf) (clear fvnpc) (on kxvrz yomiq) (clear kxvrz) (on-table lwuwp) (on yomiq rikkf) (on-table fvnpc) (clear lwuwp)",
"(on-table rikkf) (on-table lwuwp) (holding fvnpc) (on yomiq rikkf) (on kxvrz yomiq) (clear lwuwp) (clear kxvrz)"
] | file_176715 |
GOAL: (holding rakno) (clear uatcx) (on-table uatcx) (on-table lqdol) (on audlf lqdol) (clear audlf) (clear ldbzh) (on-table ldbzh) | GOAL: (holding rakno) (clear uatcx) (on-table uatcx) (on-table lqdol) (on audlf lqdol) (clear audlf) (clear ldbzh) (on-table ldbzh)
STATE: (on-table lqdol) (on audlf lqdol) (on uatcx audlf) (holding ldbzh) (on rakno uatcx) (clear rakno) | [
[
"put-down ldbzh"
],
[
"unstack rakno uatcx"
],
[
"stack rakno ldbzh"
],
[
"unstack uatcx audlf"
],
[
"put-down uatcx"
],
[
"unstack rakno ldbzh"
]
] | [
"(arm-empty) (on-table lqdol) (on audlf lqdol) (on uatcx audlf) (on rakno uatcx) (clear ldbzh) (clear rakno) (on-table ldbzh)",
"(holding rakno) (clear uatcx) (on-table lqdol) (on audlf lqdol) (on uatcx audlf) (clear ldbzh) (on-table ldbzh)",
"(clear uatcx) (on rakno ldbzh) (arm-empty) (on-table lqdol) (on audlf lqdol) (on uatcx audlf) (clear rakno) (on-table ldbzh)",
"(on rakno ldbzh) (on-table lqdol) (on audlf lqdol) (clear audlf) (holding uatcx) (clear rakno) (on-table ldbzh)",
"(on rakno ldbzh) (arm-empty) (on-table uatcx) (on-table lqdol) (on audlf lqdol) (clear audlf) (clear uatcx) (clear rakno) (on-table ldbzh)",
"(holding rakno) (clear uatcx) (on-table uatcx) (on-table lqdol) (on audlf lqdol) (clear audlf) (clear ldbzh) (on-table ldbzh)"
] | file_139001 |
GOAL: (holding neerc) (on hajrf gbbmo) (clear smhsa) (on-table smhsa) (on-table gbbmo) (clear tzumz) (on tzumz hajrf) | GOAL: (holding neerc) (on hajrf gbbmo) (clear smhsa) (on-table smhsa) (on-table gbbmo) (clear tzumz) (on tzumz hajrf)
STATE: (clear smhsa) (on neerc hajrf) (arm-empty) (on-table smhsa) (on-table gbbmo) (clear tzumz) (on-table tzumz) (clear neerc) (on-table hajrf) (clear gbbmo) | [
[
"unstack neerc hajrf"
],
[
"stack neerc smhsa"
],
[
"pick-up hajrf"
],
[
"stack hajrf gbbmo"
],
[
"pick-up tzumz"
],
[
"stack tzumz hajrf"
],
[
"unstack neerc smhsa"
]
] | [
"(holding neerc) (clear smhsa) (on-table smhsa) (on-table gbbmo) (clear tzumz) (on-table tzumz) (clear hajrf) (on-table hajrf) (clear gbbmo)",
"(arm-empty) (on-table smhsa) (on-table gbbmo) (clear tzumz) (on-table tzumz) (clear hajrf) (on neerc smhsa) (clear neerc) (on-table hajrf) (clear gbbmo)",
"(on-table smhsa) (on-table gbbmo) (clear tzumz) (on-table tzumz) (on neerc smhsa) (clear neerc) (holding hajrf) (clear gbbmo)",
"(on hajrf gbbmo) (arm-empty) (on-table smhsa) (on-table gbbmo) (clear tzumz) (on-table tzumz) (clear hajrf) (on neerc smhsa) (clear neerc)",
"(on hajrf gbbmo) (on-table smhsa) (on-table gbbmo) (holding tzumz) (clear hajrf) (on neerc smhsa) (clear neerc)",
"(on hajrf gbbmo) (arm-empty) (on-table smhsa) (on-table gbbmo) (clear tzumz) (on tzumz hajrf) (on neerc smhsa) (clear neerc)",
"(holding neerc) (on hajrf gbbmo) (clear smhsa) (on-table smhsa) (on-table gbbmo) (clear tzumz) (on tzumz hajrf)"
] | file_209842 |
GOAL: (on geqvb ribuh) (arm-empty) (on-table ribuh) (clear zfpib) (on zfpib vywdx) (on vywdx kyrnf) (clear geqvb) (on-table kyrnf) | GOAL: (on geqvb ribuh) (arm-empty) (on-table ribuh) (clear zfpib) (on zfpib vywdx) (on vywdx kyrnf) (clear geqvb) (on-table kyrnf)
STATE: (on geqvb ribuh) (on ribuh zfpib) (on zfpib kyrnf) (holding vywdx) (clear geqvb) (on-table kyrnf) | [
[
"put-down vywdx"
],
[
"unstack geqvb ribuh"
],
[
"put-down geqvb"
],
[
"unstack ribuh zfpib"
],
[
"put-down ribuh"
],
[
"pick-up geqvb"
],
[
"stack geqvb ribuh"
],
[
"unstack zfpib kyrnf"
],
[
"stack zfpib geqvb"
],
[
"pick-up vywdx"
],
[
"stack vywdx kyrnf"
],
[
"unstack zfpib geqvb"
],
[
"stack zfpib vywdx"
]
] | [
"(on geqvb ribuh) (arm-empty) (on ribuh zfpib) (on-table vywdx) (clear vywdx) (on zfpib kyrnf) (clear geqvb) (on-table kyrnf)",
"(holding geqvb) (clear vywdx) (on ribuh zfpib) (on-table vywdx) (on zfpib kyrnf) (on-table kyrnf) (clear ribuh)",
"(arm-empty) (on ribuh zfpib) (on-table vywdx) (clear ribuh) (clear vywdx) (on-table geqvb) (on zfpib kyrnf) (clear geqvb) (on-table kyrnf)",
"(clear vywdx) (on-table vywdx) (on-table geqvb) (clear zfpib) (on zfpib kyrnf) (holding ribuh) (clear geqvb) (on-table kyrnf)",
"(clear vywdx) (arm-empty) (on-table vywdx) (on-table ribuh) (on-table geqvb) (clear zfpib) (on zfpib kyrnf) (clear geqvb) (on-table kyrnf) (clear ribuh)",
"(holding geqvb) (clear vywdx) (on-table vywdx) (on-table ribuh) (clear zfpib) (on zfpib kyrnf) (on-table kyrnf) (clear ribuh)",
"(on geqvb ribuh) (clear vywdx) (arm-empty) (on-table vywdx) (on-table ribuh) (clear zfpib) (on zfpib kyrnf) (clear geqvb) (on-table kyrnf)",
"(on geqvb ribuh) (clear vywdx) (on-table vywdx) (on-table ribuh) (holding zfpib) (clear kyrnf) (clear geqvb) (on-table kyrnf)",
"(on geqvb ribuh) (clear vywdx) (on zfpib geqvb) (arm-empty) (on-table vywdx) (on-table ribuh) (clear zfpib) (clear kyrnf) (on-table kyrnf)",
"(on geqvb ribuh) (on zfpib geqvb) (on-table ribuh) (clear zfpib) (holding vywdx) (clear kyrnf) (on-table kyrnf)",
"(on geqvb ribuh) (clear vywdx) (on zfpib geqvb) (arm-empty) (on-table ribuh) (clear zfpib) (on vywdx kyrnf) (on-table kyrnf)",
"(on geqvb ribuh) (clear vywdx) (on-table ribuh) (holding zfpib) (on vywdx kyrnf) (clear geqvb) (on-table kyrnf)",
"(on geqvb ribuh) (arm-empty) (on-table ribuh) (clear zfpib) (on zfpib vywdx) (on vywdx kyrnf) (clear geqvb) (on-table kyrnf)"
] | file_51933 |
GOAL: (arm-empty) (on-table wglqt) (on rsrrq wglqt) (on pavmg rsrrq) (on ytvub szayc) (clear ytvub) (on szayc pavmg) | GOAL: (arm-empty) (on-table wglqt) (on rsrrq wglqt) (on pavmg rsrrq) (on ytvub szayc) (clear ytvub) (on szayc pavmg)
STATE: (arm-empty) (on-table pavmg) (on-table wglqt) (clear rsrrq) (on-table rsrrq) (on ytvub szayc) (clear ytvub) (on szayc pavmg) (clear wglqt) | [
[
"pick-up rsrrq"
],
[
"stack rsrrq wglqt"
],
[
"unstack ytvub szayc"
],
[
"put-down ytvub"
],
[
"unstack szayc pavmg"
],
[
"stack szayc ytvub"
],
[
"pick-up pavmg"
],
[
"stack pavmg rsrrq"
],
[
"unstack szayc ytvub"
],
[
"stack szayc pavmg"
],
[
"pick-up ytvub"
],
[
"stack ytvub szayc"
]
] | [
"(on-table pavmg) (on-table wglqt) (holding rsrrq) (on ytvub szayc) (clear ytvub) (on szayc pavmg) (clear wglqt)",
"(arm-empty) (on-table pavmg) (on-table wglqt) (on rsrrq wglqt) (clear rsrrq) (on ytvub szayc) (clear ytvub) (on szayc pavmg)",
"(on-table pavmg) (on-table wglqt) (on rsrrq wglqt) (clear rsrrq) (on szayc pavmg) (clear szayc) (holding ytvub)",
"(arm-empty) (on-table pavmg) (on-table wglqt) (on rsrrq wglqt) (clear rsrrq) (on szayc pavmg) (clear ytvub) (clear szayc) (on-table ytvub)",
"(holding szayc) (clear pavmg) (on-table pavmg) (on-table wglqt) (on rsrrq wglqt) (clear rsrrq) (clear ytvub) (on-table ytvub)",
"(clear pavmg) (on szayc ytvub) (arm-empty) (on-table pavmg) (on-table wglqt) (on rsrrq wglqt) (clear rsrrq) (clear szayc) (on-table ytvub)",
"(on szayc ytvub) (on-table wglqt) (on rsrrq wglqt) (clear rsrrq) (holding pavmg) (clear szayc) (on-table ytvub)",
"(clear pavmg) (on szayc ytvub) (arm-empty) (on-table wglqt) (on rsrrq wglqt) (on pavmg rsrrq) (clear szayc) (on-table ytvub)",
"(holding szayc) (clear pavmg) (on-table wglqt) (on rsrrq wglqt) (on pavmg rsrrq) (clear ytvub) (on-table ytvub)",
"(arm-empty) (on-table wglqt) (on rsrrq wglqt) (on pavmg rsrrq) (clear ytvub) (on szayc pavmg) (clear szayc) (on-table ytvub)",
"(on-table wglqt) (on rsrrq wglqt) (on pavmg rsrrq) (on szayc pavmg) (clear szayc) (holding ytvub)",
"(arm-empty) (on-table wglqt) (on rsrrq wglqt) (on pavmg rsrrq) (on ytvub szayc) (clear ytvub) (on szayc pavmg)"
] | file_1743 |
GOAL: (on xeqal bxoog) (on-table geevw) (on bxoog luipd) (on luipd geevw) (holding ywicq) (clear xeqal) | GOAL: (on xeqal bxoog) (on-table geevw) (on bxoog luipd) (on luipd geevw) (holding ywicq) (clear xeqal)
STATE: (clear luipd) (arm-empty) (on-table luipd) (on xeqal geevw) (on-table bxoog) (on geevw bxoog) (clear ywicq) (on-table ywicq) (clear xeqal) | [
[
"unstack xeqal geevw"
],
[
"stack xeqal ywicq"
],
[
"pick-up luipd"
],
[
"stack luipd xeqal"
],
[
"unstack geevw bxoog"
],
[
"put-down geevw"
],
[
"unstack luipd xeqal"
],
[
"stack luipd geevw"
],
[
"pick-up bxoog"
],
[
"stack bxoog luipd"
],
[
"unstack xeqal ywicq"
],
[
"stack xeqal bxoog"
],
[
"pick-up ywicq"
]
] | [
"(clear luipd) (on-table luipd) (holding xeqal) (on-table bxoog) (on geevw bxoog) (clear ywicq) (clear geevw) (on-table ywicq)",
"(clear luipd) (arm-empty) (on-table luipd) (on xeqal ywicq) (on-table bxoog) (on geevw bxoog) (clear geevw) (on-table ywicq) (clear xeqal)",
"(holding luipd) (on xeqal ywicq) (on-table bxoog) (on geevw bxoog) (clear geevw) (on-table ywicq) (clear xeqal)",
"(clear luipd) (arm-empty) (on xeqal ywicq) (on-table bxoog) (on geevw bxoog) (on luipd xeqal) (clear geevw) (on-table ywicq)",
"(holding geevw) (clear luipd) (clear bxoog) (on xeqal ywicq) (on-table bxoog) (on luipd xeqal) (on-table ywicq)",
"(arm-empty) (clear bxoog) (on xeqal ywicq) (on luipd xeqal) (clear luipd) (on-table geevw) (on-table bxoog) (clear geevw) (on-table ywicq)",
"(on-table geevw) (clear bxoog) (on xeqal ywicq) (on-table bxoog) (holding luipd) (clear geevw) (on-table ywicq) (clear xeqal)",
"(clear luipd) (arm-empty) (on-table geevw) (clear bxoog) (on xeqal ywicq) (on-table bxoog) (on luipd geevw) (on-table ywicq) (clear xeqal)",
"(clear luipd) (on-table geevw) (holding bxoog) (on xeqal ywicq) (on luipd geevw) (on-table ywicq) (clear xeqal)",
"(arm-empty) (on-table geevw) (clear bxoog) (on xeqal ywicq) (on bxoog luipd) (on luipd geevw) (on-table ywicq) (clear xeqal)",
"(on-table geevw) (clear bxoog) (holding xeqal) (on bxoog luipd) (on luipd geevw) (clear ywicq) (on-table ywicq)",
"(arm-empty) (on xeqal bxoog) (on-table geevw) (on bxoog luipd) (on luipd geevw) (clear ywicq) (on-table ywicq) (clear xeqal)",
"(on xeqal bxoog) (on-table geevw) (on bxoog luipd) (on luipd geevw) (holding ywicq) (clear xeqal)"
] | file_146507 |
GOAL: (on nblkr efemp) (arm-empty) (on efemp duouz) (on-table dnpru) (on qopwa dnpru) (clear nblkr) (on duouz qopwa) | GOAL: (on nblkr efemp) (arm-empty) (on efemp duouz) (on-table dnpru) (on qopwa dnpru) (clear nblkr) (on duouz qopwa)
STATE: (on-table efemp) (on-table duouz) (clear dnpru) (on dnpru qopwa) (on qopwa efemp) (holding nblkr) (clear duouz) | [
[
"put-down nblkr"
],
[
"pick-up duouz"
],
[
"stack duouz nblkr"
],
[
"unstack dnpru qopwa"
],
[
"put-down dnpru"
],
[
"unstack qopwa efemp"
],
[
"stack qopwa dnpru"
],
[
"unstack duouz nblkr"
],
[
"stack duouz qopwa"
],
[
"pick-up efemp"
],
[
"stack efemp duouz"
],
[
"pick-up nblkr"
],
[
"stack nblkr efemp"
]
] | [
"(arm-empty) (on-table efemp) (clear dnpru) (on qopwa efemp) (on-table duouz) (on dnpru qopwa) (clear nblkr) (clear duouz) (on-table nblkr)",
"(holding duouz) (on-table efemp) (clear dnpru) (on dnpru qopwa) (on qopwa efemp) (clear nblkr) (on-table nblkr)",
"(on duouz nblkr) (arm-empty) (on-table efemp) (clear dnpru) (on dnpru qopwa) (on qopwa efemp) (clear duouz) (on-table nblkr)",
"(clear qopwa) (on duouz nblkr) (on-table efemp) (holding dnpru) (on qopwa efemp) (clear duouz) (on-table nblkr)",
"(on duouz nblkr) (arm-empty) (on-table efemp) (clear dnpru) (on qopwa efemp) (clear qopwa) (on-table dnpru) (clear duouz) (on-table nblkr)",
"(on duouz nblkr) (on-table efemp) (clear dnpru) (on-table dnpru) (holding qopwa) (clear duouz) (on-table nblkr) (clear efemp)",
"(clear qopwa) (on duouz nblkr) (arm-empty) (on-table efemp) (on-table dnpru) (on qopwa dnpru) (clear duouz) (on-table nblkr) (clear efemp)",
"(holding duouz) (clear qopwa) (on-table efemp) (on-table dnpru) (on qopwa dnpru) (clear nblkr) (on-table nblkr) (clear efemp)",
"(arm-empty) (on-table efemp) (on-table dnpru) (on qopwa dnpru) (clear nblkr) (on duouz qopwa) (clear duouz) (on-table nblkr) (clear efemp)",
"(holding efemp) (on-table dnpru) (on qopwa dnpru) (clear nblkr) (on duouz qopwa) (clear duouz) (on-table nblkr)",
"(arm-empty) (on efemp duouz) (on-table dnpru) (on qopwa dnpru) (clear nblkr) (on duouz qopwa) (on-table nblkr) (clear efemp)",
"(on efemp duouz) (on-table dnpru) (on qopwa dnpru) (on duouz qopwa) (holding nblkr) (clear efemp)",
"(on nblkr efemp) (arm-empty) (on efemp duouz) (on-table dnpru) (on qopwa dnpru) (clear nblkr) (on duouz qopwa)"
] | file_208993 |
GOAL: (arm-empty) (clear lhdyf) (on uyfht uxxeg) (on-table lhdyf) (on gqkfb uyfht) (on dsfas gqkfb) (clear dsfas) (on-table uxxeg) | GOAL: (arm-empty) (clear lhdyf) (on uyfht uxxeg) (on-table lhdyf) (on gqkfb uyfht) (on dsfas gqkfb) (clear dsfas) (on-table uxxeg)
STATE: (clear gqkfb) (arm-empty) (on-table dsfas) (clear lhdyf) (on uyfht uxxeg) (on-table lhdyf) (on gqkfb uyfht) (clear dsfas) (on-table uxxeg) | [
[
"pick-up dsfas"
],
[
"stack dsfas gqkfb"
]
] | [
"(holding dsfas) (clear gqkfb) (clear lhdyf) (on uyfht uxxeg) (on-table lhdyf) (on gqkfb uyfht) (on-table uxxeg)",
"(arm-empty) (clear lhdyf) (on uyfht uxxeg) (on-table lhdyf) (on gqkfb uyfht) (on dsfas gqkfb) (clear dsfas) (on-table uxxeg)"
] | file_172810 |
GOAL: (clear oiine) (arm-empty) (on-table mrdgc) (on-table bbequ) (on prkmb bbequ) (on-table wfckg) (on oiine wfckg) (clear prkmb) (clear mrdgc) | GOAL: (clear oiine) (arm-empty) (on-table mrdgc) (on-table bbequ) (on prkmb bbequ) (on-table wfckg) (on oiine wfckg) (clear prkmb) (clear mrdgc)
STATE: (on bbequ prkmb) (arm-empty) (on-table mrdgc) (on prkmb oiine) (on-table wfckg) (on oiine wfckg) (clear bbequ) (clear mrdgc) | [
[
"unstack bbequ prkmb"
],
[
"put-down bbequ"
],
[
"unstack prkmb oiine"
],
[
"stack prkmb bbequ"
]
] | [
"(holding bbequ) (on-table mrdgc) (on prkmb oiine) (on-table wfckg) (on oiine wfckg) (clear prkmb) (clear mrdgc)",
"(arm-empty) (on-table mrdgc) (on oiine wfckg) (clear mrdgc) (on-table bbequ) (on prkmb oiine) (on-table wfckg) (clear prkmb) (clear bbequ)",
"(clear oiine) (on-table mrdgc) (on-table bbequ) (on-table wfckg) (on oiine wfckg) (holding prkmb) (clear bbequ) (clear mrdgc)",
"(clear oiine) (arm-empty) (on-table mrdgc) (on-table bbequ) (on prkmb bbequ) (on-table wfckg) (on oiine wfckg) (clear prkmb) (clear mrdgc)"
] | file_81522 |
GOAL: (on tvbay udzvt) (clear zobxk) (on udzvt ddxba) (on-table ddxba) (holding wipwt) (on zobxk tvbay) | GOAL: (on tvbay udzvt) (clear zobxk) (on udzvt ddxba) (on-table ddxba) (holding wipwt) (on zobxk tvbay)
STATE: (arm-empty) (on-table ddxba) (on wipwt zobxk) (clear udzvt) (on-table udzvt) (on tvbay ddxba) (on zobxk tvbay) (clear wipwt) | [
[
"unstack wipwt zobxk"
],
[
"put-down wipwt"
],
[
"unstack zobxk tvbay"
],
[
"put-down zobxk"
],
[
"unstack tvbay ddxba"
],
[
"put-down tvbay"
],
[
"pick-up zobxk"
],
[
"stack zobxk tvbay"
],
[
"pick-up udzvt"
],
[
"stack udzvt ddxba"
],
[
"unstack zobxk tvbay"
],
[
"stack zobxk wipwt"
],
[
"pick-up tvbay"
],
[
"stack tvbay udzvt"
],
[
"unstack zobxk wipwt"
],
[
"stack zobxk tvbay"
],
[
"pick-up wipwt"
]
] | [
"(clear zobxk) (on-table ddxba) (clear udzvt) (holding wipwt) (on-table udzvt) (on tvbay ddxba) (on zobxk tvbay)",
"(arm-empty) (on-table wipwt) (clear udzvt) (on tvbay ddxba) (clear wipwt) (clear zobxk) (on-table ddxba) (on-table udzvt) (on zobxk tvbay)",
"(on-table wipwt) (on-table ddxba) (clear udzvt) (on-table udzvt) (holding zobxk) (on tvbay ddxba) (clear tvbay) (clear wipwt)",
"(clear zobxk) (arm-empty) (on-table zobxk) (on-table wipwt) (on-table ddxba) (clear udzvt) (on-table udzvt) (on tvbay ddxba) (clear tvbay) (clear wipwt)",
"(clear zobxk) (on-table zobxk) (on-table wipwt) (on-table ddxba) (clear udzvt) (on-table udzvt) (holding tvbay) (clear ddxba) (clear wipwt)",
"(clear zobxk) (arm-empty) (on-table zobxk) (on-table wipwt) (on-table ddxba) (clear udzvt) (on-table udzvt) (clear tvbay) (clear ddxba) (on-table tvbay) (clear wipwt)",
"(on-table wipwt) (on-table ddxba) (clear udzvt) (on-table udzvt) (holding zobxk) (clear tvbay) (clear ddxba) (on-table tvbay) (clear wipwt)",
"(clear zobxk) (arm-empty) (on-table wipwt) (on-table ddxba) (clear udzvt) (on-table udzvt) (on zobxk tvbay) (clear ddxba) (on-table tvbay) (clear wipwt)",
"(clear zobxk) (on-table wipwt) (on-table ddxba) (holding udzvt) (on zobxk tvbay) (clear ddxba) (on-table tvbay) (clear wipwt)",
"(clear zobxk) (on udzvt ddxba) (arm-empty) (on-table wipwt) (on-table ddxba) (clear udzvt) (on zobxk tvbay) (on-table tvbay) (clear wipwt)",
"(on udzvt ddxba) (on-table wipwt) (on-table ddxba) (clear udzvt) (holding zobxk) (clear tvbay) (on-table tvbay) (clear wipwt)",
"(clear zobxk) (on udzvt ddxba) (arm-empty) (on-table wipwt) (on-table ddxba) (clear udzvt) (on zobxk wipwt) (clear tvbay) (on-table tvbay)",
"(clear zobxk) (on udzvt ddxba) (on-table wipwt) (on-table ddxba) (clear udzvt) (on zobxk wipwt) (holding tvbay)",
"(on tvbay udzvt) (clear zobxk) (on udzvt ddxba) (arm-empty) (on-table wipwt) (on-table ddxba) (on zobxk wipwt) (clear tvbay)",
"(on tvbay udzvt) (on udzvt ddxba) (on-table wipwt) (on-table ddxba) (holding zobxk) (clear tvbay) (clear wipwt)",
"(on tvbay udzvt) (clear zobxk) (on udzvt ddxba) (arm-empty) (on-table wipwt) (on-table ddxba) (on zobxk tvbay) (clear wipwt)",
"(on tvbay udzvt) (clear zobxk) (on udzvt ddxba) (on-table ddxba) (holding wipwt) (on zobxk tvbay)"
] | file_24633 |
GOAL: (on bwutl ediox) (on aapno bwutl) (on lxhod aapno) (on-table lkkth) (arm-empty) (on ediox lkkth) (clear lxhod) | GOAL: (on bwutl ediox) (on aapno bwutl) (on lxhod aapno) (on-table lkkth) (arm-empty) (on ediox lkkth) (clear lxhod)
STATE: (clear lkkth) (arm-empty) (on-table lkkth) (on ediox aapno) (on-table lxhod) (on aapno lxhod) (clear bwutl) (on-table bwutl) (clear ediox) | [
[
"unstack ediox aapno"
],
[
"stack ediox lkkth"
],
[
"pick-up bwutl"
],
[
"stack bwutl ediox"
],
[
"unstack aapno lxhod"
],
[
"stack aapno bwutl"
],
[
"pick-up lxhod"
],
[
"stack lxhod aapno"
]
] | [
"(clear lkkth) (on-table lkkth) (holding ediox) (on-table lxhod) (on aapno lxhod) (clear bwutl) (clear aapno) (on-table bwutl)",
"(arm-empty) (on-table lkkth) (on ediox lkkth) (on-table lxhod) (on aapno lxhod) (clear bwutl) (clear aapno) (on-table bwutl) (clear ediox)",
"(on-table lkkth) (on ediox lkkth) (on-table lxhod) (on aapno lxhod) (holding bwutl) (clear aapno) (clear ediox)",
"(on bwutl ediox) (arm-empty) (on-table lkkth) (on ediox lkkth) (on-table lxhod) (on aapno lxhod) (clear bwutl) (clear aapno)",
"(holding aapno) (on bwutl ediox) (on-table lkkth) (on ediox lkkth) (clear lxhod) (on-table lxhod) (clear bwutl)",
"(on bwutl ediox) (on aapno bwutl) (arm-empty) (on-table lkkth) (on ediox lkkth) (clear lxhod) (on-table lxhod) (clear aapno)",
"(on bwutl ediox) (on aapno bwutl) (on-table lkkth) (holding lxhod) (on ediox lkkth) (clear aapno)",
"(on bwutl ediox) (on aapno bwutl) (on lxhod aapno) (on-table lkkth) (arm-empty) (on ediox lkkth) (clear lxhod)"
] | file_146443 |
GOAL: (on vgthk hmrnq) (on qyqwd vgthk) (arm-empty) (on-table ziqvy) (on ltqcc ziqvy) (clear qyqwd) (on hmrnq ltqcc) | GOAL: (on vgthk hmrnq) (on qyqwd vgthk) (arm-empty) (on-table ziqvy) (on ltqcc ziqvy) (clear qyqwd) (on hmrnq ltqcc)
STATE: (on vgthk hmrnq) (on-table ziqvy) (holding qyqwd) (on ltqcc ziqvy) (on hmrnq ltqcc) (clear vgthk) | [
[
"stack qyqwd vgthk"
]
] | [
"(on vgthk hmrnq) (on qyqwd vgthk) (arm-empty) (on-table ziqvy) (on ltqcc ziqvy) (clear qyqwd) (on hmrnq ltqcc)"
] | file_203103 |
GOAL: (holding kyput) (on qulhl hoigu) (clear ftjcz) (on-table hoigu) (on dqtdp qulhl) (on ftjcz dqtdp) | GOAL: (holding kyput) (on qulhl hoigu) (clear ftjcz) (on-table hoigu) (on dqtdp qulhl) (on ftjcz dqtdp)
STATE: (clear ftjcz) (on qulhl hoigu) (on-table hoigu) (holding dqtdp) (on-table kyput) (on ftjcz qulhl) (clear kyput) | [
[
"put-down dqtdp"
],
[
"unstack ftjcz qulhl"
],
[
"stack ftjcz kyput"
],
[
"pick-up dqtdp"
],
[
"stack dqtdp qulhl"
],
[
"unstack ftjcz kyput"
],
[
"stack ftjcz dqtdp"
],
[
"pick-up kyput"
]
] | [
"(on qulhl hoigu) (arm-empty) (on-table hoigu) (clear dqtdp) (clear ftjcz) (on-table kyput) (on-table dqtdp) (on ftjcz qulhl) (clear kyput)",
"(on qulhl hoigu) (on-table hoigu) (on-table kyput) (clear dqtdp) (on-table dqtdp) (holding ftjcz) (clear qulhl) (clear kyput)",
"(on qulhl hoigu) (clear ftjcz) (arm-empty) (on-table hoigu) (on-table kyput) (clear dqtdp) (on-table dqtdp) (on ftjcz kyput) (clear qulhl)",
"(on qulhl hoigu) (clear ftjcz) (on-table hoigu) (on-table kyput) (holding dqtdp) (on ftjcz kyput) (clear qulhl)",
"(on qulhl hoigu) (arm-empty) (on-table hoigu) (clear dqtdp) (on ftjcz kyput) (clear ftjcz) (on-table kyput) (on dqtdp qulhl)",
"(on qulhl hoigu) (on-table hoigu) (on-table kyput) (clear dqtdp) (on dqtdp qulhl) (holding ftjcz) (clear kyput)",
"(on qulhl hoigu) (arm-empty) (on-table hoigu) (on ftjcz dqtdp) (clear ftjcz) (on-table kyput) (on dqtdp qulhl) (clear kyput)",
"(holding kyput) (on qulhl hoigu) (clear ftjcz) (on-table hoigu) (on dqtdp qulhl) (on ftjcz dqtdp)"
] | file_103365 |
GOAL: (on dlcbl ogecd) (on ogecd fhkac) (arm-empty) (on-table fhkac) (on xboor nraqe) (on nraqe dlcbl) (clear xboor) | GOAL: (on dlcbl ogecd) (on ogecd fhkac) (arm-empty) (on-table fhkac) (on xboor nraqe) (on nraqe dlcbl) (clear xboor)
STATE: (clear nraqe) (on ogecd fhkac) (on xboor ogecd) (on-table nraqe) (arm-empty) (on-table fhkac) (clear dlcbl) (on-table dlcbl) (clear xboor) | [
[
"unstack xboor ogecd"
],
[
"put-down xboor"
],
[
"pick-up dlcbl"
],
[
"stack dlcbl ogecd"
],
[
"pick-up nraqe"
],
[
"stack nraqe dlcbl"
],
[
"pick-up xboor"
],
[
"stack xboor nraqe"
]
] | [
"(clear nraqe) (on ogecd fhkac) (on-table nraqe) (on-table fhkac) (clear ogecd) (holding xboor) (clear dlcbl) (on-table dlcbl)",
"(clear nraqe) (on ogecd fhkac) (arm-empty) (on-table nraqe) (on-table xboor) (on-table fhkac) (clear ogecd) (clear dlcbl) (on-table dlcbl) (clear xboor)",
"(clear nraqe) (on ogecd fhkac) (on-table nraqe) (on-table xboor) (on-table fhkac) (clear ogecd) (holding dlcbl) (clear xboor)",
"(on dlcbl ogecd) (clear nraqe) (on ogecd fhkac) (arm-empty) (on-table nraqe) (on-table xboor) (on-table fhkac) (clear dlcbl) (clear xboor)",
"(on dlcbl ogecd) (on ogecd fhkac) (on-table xboor) (on-table fhkac) (holding nraqe) (clear dlcbl) (clear xboor)",
"(on dlcbl ogecd) (clear nraqe) (on ogecd fhkac) (arm-empty) (on-table xboor) (on-table fhkac) (on nraqe dlcbl) (clear xboor)",
"(on dlcbl ogecd) (clear nraqe) (on ogecd fhkac) (on-table fhkac) (holding xboor) (on nraqe dlcbl)",
"(on dlcbl ogecd) (on ogecd fhkac) (arm-empty) (on-table fhkac) (on xboor nraqe) (on nraqe dlcbl) (clear xboor)"
] | file_200238 |
GOAL: (clear vstjh) (arm-empty) (on esaum xople) (on-table vstjh) (on-table qgpsh) (on-table xople) (clear aiyqd) (clear qgpsh) (on-table aiyqd) (clear esaum) | GOAL: (clear vstjh) (arm-empty) (on esaum xople) (on-table vstjh) (on-table qgpsh) (on-table xople) (clear aiyqd) (clear qgpsh) (on-table aiyqd) (clear esaum)
STATE: (clear vstjh) (on aiyqd esaum) (on-table esaum) (holding xople) (on-table qgpsh) (on vstjh aiyqd) (clear qgpsh) | [
[
"stack xople qgpsh"
],
[
"unstack vstjh aiyqd"
],
[
"put-down vstjh"
],
[
"unstack aiyqd esaum"
],
[
"stack aiyqd vstjh"
],
[
"unstack xople qgpsh"
],
[
"put-down xople"
],
[
"unstack aiyqd vstjh"
],
[
"stack aiyqd qgpsh"
],
[
"pick-up esaum"
],
[
"stack esaum xople"
],
[
"unstack aiyqd qgpsh"
],
[
"put-down aiyqd"
]
] | [
"(on aiyqd esaum) (on xople qgpsh) (arm-empty) (on-table esaum) (clear xople) (clear vstjh) (on-table qgpsh) (on vstjh aiyqd)",
"(on aiyqd esaum) (on xople qgpsh) (on-table esaum) (on-table qgpsh) (clear xople) (holding vstjh) (clear aiyqd)",
"(on aiyqd esaum) (on xople qgpsh) (arm-empty) (on-table vstjh) (on-table esaum) (clear xople) (clear vstjh) (on-table qgpsh) (clear aiyqd)",
"(on xople qgpsh) (on-table vstjh) (on-table esaum) (clear vstjh) (on-table qgpsh) (clear xople) (holding aiyqd) (clear esaum)",
"(on xople qgpsh) (arm-empty) (on-table vstjh) (on-table esaum) (on-table qgpsh) (on aiyqd vstjh) (clear xople) (clear aiyqd) (clear esaum)",
"(on-table vstjh) (on-table esaum) (on-table qgpsh) (holding xople) (on aiyqd vstjh) (clear aiyqd) (clear qgpsh) (clear esaum)",
"(arm-empty) (on-table vstjh) (on-table esaum) (on-table qgpsh) (on aiyqd vstjh) (clear xople) (on-table xople) (clear aiyqd) (clear qgpsh) (clear esaum)",
"(clear vstjh) (on-table vstjh) (on-table esaum) (on-table qgpsh) (clear xople) (on-table xople) (holding aiyqd) (clear qgpsh) (clear esaum)",
"(clear vstjh) (arm-empty) (on-table vstjh) (on-table esaum) (on-table qgpsh) (clear xople) (on-table xople) (on aiyqd qgpsh) (clear aiyqd) (clear esaum)",
"(clear vstjh) (on-table vstjh) (on-table qgpsh) (clear xople) (holding esaum) (on-table xople) (on aiyqd qgpsh) (clear aiyqd)",
"(clear vstjh) (arm-empty) (on esaum xople) (on-table vstjh) (on-table qgpsh) (on-table xople) (on aiyqd qgpsh) (clear aiyqd) (clear esaum)",
"(clear vstjh) (on esaum xople) (on-table vstjh) (on-table qgpsh) (on-table xople) (holding aiyqd) (clear qgpsh) (clear esaum)",
"(clear vstjh) (arm-empty) (on esaum xople) (on-table vstjh) (on-table qgpsh) (on-table xople) (clear aiyqd) (clear qgpsh) (on-table aiyqd) (clear esaum)"
] | file_103464 |
GOAL: (on kvjrs buspi) (on buspi qitor) (arm-empty) (on-table wuaqd) (on twgsv wuaqd) (clear kvjrs) (on qitor twgsv) | GOAL: (on kvjrs buspi) (on buspi qitor) (arm-empty) (on-table wuaqd) (on twgsv wuaqd) (clear kvjrs) (on qitor twgsv)
STATE: (on-table wuaqd) (holding buspi) (on twgsv wuaqd) (clear kvjrs) (on qitor twgsv) (clear qitor) (on-table kvjrs) | [
[
"stack buspi qitor"
],
[
"pick-up kvjrs"
],
[
"stack kvjrs buspi"
]
] | [
"(on buspi qitor) (arm-empty) (on-table wuaqd) (clear buspi) (on twgsv wuaqd) (clear kvjrs) (on qitor twgsv) (on-table kvjrs)",
"(on buspi qitor) (on-table wuaqd) (clear buspi) (on twgsv wuaqd) (on qitor twgsv) (holding kvjrs)",
"(on kvjrs buspi) (on buspi qitor) (arm-empty) (on-table wuaqd) (on twgsv wuaqd) (clear kvjrs) (on qitor twgsv)"
] | file_159908 |
GOAL: (on xvfhf rucem) (on qipdk oarkn) (arm-empty) (on-table imoty) (on oarkn xvfhf) (on rucem imoty) (clear qipdk) | GOAL: (on xvfhf rucem) (on qipdk oarkn) (arm-empty) (on-table imoty) (on oarkn xvfhf) (on rucem imoty) (clear qipdk)
STATE: (clear imoty) (on xvfhf oarkn) (arm-empty) (on-table imoty) (on-table qipdk) (on-table oarkn) (clear xvfhf) (clear rucem) (on-table rucem) (clear qipdk) | [
[
"pick-up rucem"
],
[
"stack rucem imoty"
],
[
"unstack xvfhf oarkn"
],
[
"stack xvfhf rucem"
],
[
"pick-up oarkn"
],
[
"stack oarkn xvfhf"
],
[
"pick-up qipdk"
],
[
"stack qipdk oarkn"
]
] | [
"(clear imoty) (on xvfhf oarkn) (on-table imoty) (on-table qipdk) (on-table oarkn) (clear xvfhf) (holding rucem) (clear qipdk)",
"(on xvfhf oarkn) (arm-empty) (on-table imoty) (on-table qipdk) (on-table oarkn) (on rucem imoty) (clear xvfhf) (clear rucem) (clear qipdk)",
"(on-table imoty) (on-table qipdk) (on-table oarkn) (holding xvfhf) (on rucem imoty) (clear rucem) (clear oarkn) (clear qipdk)",
"(arm-empty) (on-table imoty) (on-table qipdk) (on-table oarkn) (on rucem imoty) (clear xvfhf) (on xvfhf rucem) (clear oarkn) (clear qipdk)",
"(holding oarkn) (on-table imoty) (on-table qipdk) (on rucem imoty) (clear xvfhf) (on xvfhf rucem) (clear qipdk)",
"(arm-empty) (on-table imoty) (on-table qipdk) (on rucem imoty) (on xvfhf rucem) (on oarkn xvfhf) (clear oarkn) (clear qipdk)",
"(on-table imoty) (on rucem imoty) (on xvfhf rucem) (holding qipdk) (on oarkn xvfhf) (clear oarkn)",
"(on xvfhf rucem) (on qipdk oarkn) (arm-empty) (on-table imoty) (on oarkn xvfhf) (on rucem imoty) (clear qipdk)"
] | file_154723 |
GOAL: (on tysyw yytwy) (on-table kedea) (on-table yytwy) (holding rliij) (clear jlugt) (clear kedea) (on-table jlugt) (clear tysyw) | GOAL: (on tysyw yytwy) (on-table kedea) (on-table yytwy) (holding rliij) (clear jlugt) (clear kedea) (on-table jlugt) (clear tysyw)
STATE: (clear rliij) (arm-empty) (on-table rliij) (on-table tysyw) (on-table kedea) (clear yytwy) (on yytwy jlugt) (clear kedea) (on-table jlugt) (clear tysyw) | [
[
"unstack yytwy jlugt"
],
[
"put-down yytwy"
],
[
"pick-up tysyw"
],
[
"stack tysyw yytwy"
],
[
"pick-up rliij"
]
] | [
"(clear rliij) (on-table rliij) (on-table tysyw) (on-table kedea) (holding yytwy) (clear jlugt) (clear kedea) (on-table jlugt) (clear tysyw)",
"(clear rliij) (arm-empty) (on-table rliij) (on-table tysyw) (on-table kedea) (clear yytwy) (on-table yytwy) (clear jlugt) (clear kedea) (on-table jlugt) (clear tysyw)",
"(clear rliij) (on-table rliij) (on-table kedea) (clear yytwy) (holding tysyw) (on-table yytwy) (clear jlugt) (clear kedea) (on-table jlugt)",
"(clear rliij) (arm-empty) (on tysyw yytwy) (on-table rliij) (on-table kedea) (on-table yytwy) (clear jlugt) (clear kedea) (on-table jlugt) (clear tysyw)",
"(on tysyw yytwy) (on-table kedea) (on-table yytwy) (holding rliij) (clear jlugt) (clear kedea) (on-table jlugt) (clear tysyw)"
] | file_194356 |
GOAL: (clear qdpkd) (on-table qmdng) (holding pnmwa) (on-table tbyxp) (on qdpkd tbyxp) (clear fjyxy) (clear qmdng) (on-table fjyxy) | GOAL: (clear qdpkd) (on-table qmdng) (holding pnmwa) (on-table tbyxp) (on qdpkd tbyxp) (clear fjyxy) (clear qmdng) (on-table fjyxy)
STATE: (clear qdpkd) (holding tbyxp) (on-table qmdng) (on pnmwa qmdng) (on qdpkd pnmwa) (clear fjyxy) (on-table fjyxy) | [
[
"put-down tbyxp"
],
[
"unstack qdpkd pnmwa"
],
[
"stack qdpkd tbyxp"
],
[
"unstack pnmwa qmdng"
]
] | [
"(arm-empty) (clear tbyxp) (on qdpkd pnmwa) (clear qdpkd) (on-table qmdng) (on pnmwa qmdng) (on-table tbyxp) (clear fjyxy) (on-table fjyxy)",
"(on-table qmdng) (clear tbyxp) (on pnmwa qmdng) (on-table tbyxp) (holding qdpkd) (clear fjyxy) (on-table fjyxy) (clear pnmwa)",
"(clear qdpkd) (arm-empty) (on-table qmdng) (on pnmwa qmdng) (on-table tbyxp) (on qdpkd tbyxp) (clear fjyxy) (on-table fjyxy) (clear pnmwa)",
"(clear qdpkd) (on-table qmdng) (holding pnmwa) (on-table tbyxp) (on qdpkd tbyxp) (clear fjyxy) (clear qmdng) (on-table fjyxy)"
] | file_109820 |
GOAL: (on jnzre fttxz) (clear wpjbb) (arm-empty) (on-table wpjbb) (on-table kiqld) (on-table mjgox) (on-table fttxz) (clear jnzre) (clear mjgox) (clear kiqld) | GOAL: (on jnzre fttxz) (clear wpjbb) (arm-empty) (on-table wpjbb) (on-table kiqld) (on-table mjgox) (on-table fttxz) (clear jnzre) (clear mjgox) (clear kiqld)
STATE: (clear wpjbb) (arm-empty) (on-table wpjbb) (on-table kiqld) (on-table mjgox) (clear fttxz) (on fttxz jnzre) (on jnzre mjgox) (clear kiqld) | [
[
"unstack fttxz jnzre"
],
[
"put-down fttxz"
],
[
"unstack jnzre mjgox"
],
[
"stack jnzre fttxz"
]
] | [
"(clear wpjbb) (on-table wpjbb) (on-table kiqld) (on-table mjgox) (holding fttxz) (on jnzre mjgox) (clear jnzre) (clear kiqld)",
"(clear wpjbb) (arm-empty) (on-table wpjbb) (on-table kiqld) (on-table mjgox) (clear fttxz) (on-table fttxz) (on jnzre mjgox) (clear jnzre) (clear kiqld)",
"(clear wpjbb) (on-table wpjbb) (on-table kiqld) (on-table mjgox) (clear fttxz) (on-table fttxz) (holding jnzre) (clear mjgox) (clear kiqld)",
"(on jnzre fttxz) (clear wpjbb) (arm-empty) (on-table wpjbb) (on-table kiqld) (on-table mjgox) (on-table fttxz) (clear jnzre) (clear mjgox) (clear kiqld)"
] | file_197724 |
GOAL: (arm-empty) (on ojbws fcxfv) (on fcxfv fjbis) (on ywjsh ojbws) (on mqgty ywjsh) (clear mqgty) (on-table fjbis) | GOAL: (arm-empty) (on ojbws fcxfv) (on fcxfv fjbis) (on ywjsh ojbws) (on mqgty ywjsh) (clear mqgty) (on-table fjbis)
STATE: (on fjbis ojbws) (arm-empty) (on-table fcxfv) (on-table mqgty) (on ojbws ywjsh) (on ywjsh mqgty) (clear fjbis) (clear fcxfv) | [
[
"unstack fjbis ojbws"
],
[
"put-down fjbis"
],
[
"pick-up fcxfv"
],
[
"stack fcxfv fjbis"
],
[
"unstack ojbws ywjsh"
],
[
"stack ojbws fcxfv"
],
[
"unstack ywjsh mqgty"
],
[
"stack ywjsh ojbws"
],
[
"pick-up mqgty"
],
[
"stack mqgty ywjsh"
]
] | [
"(on-table fcxfv) (on-table mqgty) (clear ojbws) (on ojbws ywjsh) (on ywjsh mqgty) (holding fjbis) (clear fcxfv)",
"(arm-empty) (on-table fcxfv) (clear ojbws) (on ywjsh mqgty) (clear fcxfv) (on-table mqgty) (on ojbws ywjsh) (clear fjbis) (on-table fjbis)",
"(on-table mqgty) (clear ojbws) (holding fcxfv) (on ojbws ywjsh) (on ywjsh mqgty) (clear fjbis) (on-table fjbis)",
"(arm-empty) (on-table mqgty) (clear ojbws) (on fcxfv fjbis) (on ojbws ywjsh) (on ywjsh mqgty) (on-table fjbis) (clear fcxfv)",
"(clear ywjsh) (on-table mqgty) (holding ojbws) (on fcxfv fjbis) (on ywjsh mqgty) (on-table fjbis) (clear fcxfv)",
"(clear ywjsh) (arm-empty) (on ojbws fcxfv) (on-table mqgty) (clear ojbws) (on fcxfv fjbis) (on ywjsh mqgty) (on-table fjbis)",
"(on ojbws fcxfv) (on-table mqgty) (clear ojbws) (on fcxfv fjbis) (holding ywjsh) (clear mqgty) (on-table fjbis)",
"(arm-empty) (on ojbws fcxfv) (on fcxfv fjbis) (on ywjsh ojbws) (clear ywjsh) (on-table mqgty) (clear mqgty) (on-table fjbis)",
"(holding mqgty) (clear ywjsh) (on ojbws fcxfv) (on fcxfv fjbis) (on ywjsh ojbws) (on-table fjbis)",
"(arm-empty) (on ojbws fcxfv) (on fcxfv fjbis) (on ywjsh ojbws) (on mqgty ywjsh) (clear mqgty) (on-table fjbis)"
] | file_34630 |
GOAL: (holding phguj) (on bhpgi gwlwl) (on-table xcxpk) (on mwszd xcxpk) (on-table gwlwl) (clear bhpgi) (clear mwszd) | GOAL: (holding phguj) (on bhpgi gwlwl) (on-table xcxpk) (on mwszd xcxpk) (on-table gwlwl) (clear bhpgi) (clear mwszd)
STATE: (on bhpgi gwlwl) (clear xcxpk) (on gwlwl phguj) (arm-empty) (on-table mwszd) (on-table phguj) (on xcxpk bhpgi) (clear mwszd) | [
[
"unstack xcxpk bhpgi"
],
[
"put-down xcxpk"
],
[
"pick-up mwszd"
],
[
"stack mwszd xcxpk"
],
[
"unstack bhpgi gwlwl"
],
[
"put-down bhpgi"
],
[
"unstack gwlwl phguj"
],
[
"put-down gwlwl"
],
[
"pick-up bhpgi"
],
[
"stack bhpgi gwlwl"
],
[
"pick-up phguj"
]
] | [
"(on bhpgi gwlwl) (on gwlwl phguj) (on-table mwszd) (on-table phguj) (holding xcxpk) (clear bhpgi) (clear mwszd)",
"(on gwlwl phguj) (arm-empty) (on-table xcxpk) (on-table mwszd) (clear mwszd) (on bhpgi gwlwl) (clear xcxpk) (on-table phguj) (clear bhpgi)",
"(on bhpgi gwlwl) (clear xcxpk) (on gwlwl phguj) (on-table xcxpk) (on-table phguj) (holding mwszd) (clear bhpgi)",
"(on bhpgi gwlwl) (on gwlwl phguj) (arm-empty) (on-table xcxpk) (on-table phguj) (on mwszd xcxpk) (clear bhpgi) (clear mwszd)",
"(on gwlwl phguj) (on-table xcxpk) (on-table phguj) (on mwszd xcxpk) (clear gwlwl) (holding bhpgi) (clear mwszd)",
"(on gwlwl phguj) (arm-empty) (on-table xcxpk) (on mwszd xcxpk) (clear gwlwl) (clear mwszd) (on-table phguj) (clear bhpgi) (on-table bhpgi)",
"(on-table xcxpk) (on-table phguj) (holding gwlwl) (on mwszd xcxpk) (clear bhpgi) (clear phguj) (on-table bhpgi) (clear mwszd)",
"(arm-empty) (on-table xcxpk) (on-table phguj) (on mwszd xcxpk) (clear gwlwl) (on-table gwlwl) (clear bhpgi) (clear phguj) (on-table bhpgi) (clear mwszd)",
"(on-table xcxpk) (on-table phguj) (on mwszd xcxpk) (clear gwlwl) (on-table gwlwl) (holding bhpgi) (clear phguj) (clear mwszd)",
"(on bhpgi gwlwl) (arm-empty) (on-table xcxpk) (on-table phguj) (on mwszd xcxpk) (on-table gwlwl) (clear bhpgi) (clear phguj) (clear mwszd)",
"(holding phguj) (on bhpgi gwlwl) (on-table xcxpk) (on mwszd xcxpk) (on-table gwlwl) (clear bhpgi) (clear mwszd)"
] | file_16234 |
GOAL: (clear xcvyv) (on-table xcvyv) (holding enlvi) (on-table whctx) (on dahhb whctx) (clear shxbz) (clear dahhb) (on-table shxbz) | GOAL: (clear xcvyv) (on-table xcvyv) (holding enlvi) (on-table whctx) (on dahhb whctx) (clear shxbz) (clear dahhb) (on-table shxbz)
STATE: (on shxbz whctx) (on whctx dahhb) (arm-empty) (on-table xcvyv) (on enlvi shxbz) (on dahhb xcvyv) (clear enlvi) | [
[
"unstack enlvi shxbz"
],
[
"put-down enlvi"
],
[
"unstack shxbz whctx"
],
[
"stack shxbz enlvi"
],
[
"unstack whctx dahhb"
],
[
"put-down whctx"
],
[
"unstack shxbz enlvi"
],
[
"put-down shxbz"
],
[
"pick-up enlvi"
],
[
"stack enlvi shxbz"
],
[
"unstack dahhb xcvyv"
],
[
"stack dahhb whctx"
],
[
"unstack enlvi shxbz"
]
] | [
"(on whctx dahhb) (on-table xcvyv) (holding enlvi) (on dahhb xcvyv) (on shxbz whctx) (clear shxbz)",
"(on whctx dahhb) (arm-empty) (on-table xcvyv) (on-table enlvi) (on dahhb xcvyv) (clear enlvi) (on shxbz whctx) (clear shxbz)",
"(on whctx dahhb) (on-table xcvyv) (on-table enlvi) (clear whctx) (on dahhb xcvyv) (holding shxbz) (clear enlvi)",
"(on shxbz enlvi) (on whctx dahhb) (arm-empty) (on-table xcvyv) (on-table enlvi) (clear whctx) (clear shxbz) (on dahhb xcvyv)",
"(on shxbz enlvi) (on-table xcvyv) (on-table enlvi) (holding whctx) (clear shxbz) (on dahhb xcvyv) (clear dahhb)",
"(on shxbz enlvi) (arm-empty) (on-table xcvyv) (on-table enlvi) (clear whctx) (on dahhb xcvyv) (on-table whctx) (clear shxbz) (clear dahhb)",
"(on-table xcvyv) (on-table enlvi) (clear whctx) (on-table whctx) (on dahhb xcvyv) (clear dahhb) (holding shxbz) (clear enlvi)",
"(arm-empty) (on-table xcvyv) (on-table enlvi) (clear whctx) (on-table whctx) (clear shxbz) (on dahhb xcvyv) (clear dahhb) (on-table shxbz) (clear enlvi)",
"(on-table xcvyv) (clear whctx) (holding enlvi) (on-table whctx) (clear shxbz) (on dahhb xcvyv) (clear dahhb) (on-table shxbz)",
"(arm-empty) (on-table xcvyv) (clear whctx) (on enlvi shxbz) (on-table whctx) (on dahhb xcvyv) (clear dahhb) (on-table shxbz) (clear enlvi)",
"(holding dahhb) (clear xcvyv) (on-table xcvyv) (clear whctx) (on enlvi shxbz) (on-table whctx) (on-table shxbz) (clear enlvi)",
"(clear xcvyv) (arm-empty) (on-table xcvyv) (on enlvi shxbz) (on-table whctx) (on dahhb whctx) (clear dahhb) (on-table shxbz) (clear enlvi)",
"(clear xcvyv) (on-table xcvyv) (holding enlvi) (on-table whctx) (on dahhb whctx) (clear shxbz) (clear dahhb) (on-table shxbz)"
] | file_115088 |
GOAL: (on yeejs pbotf) (on sbhsu sbpeo) (on sbpeo yeejs) (arm-empty) (on-table gwntf) (on pbotf gwntf) (clear sbhsu) | GOAL: (on yeejs pbotf) (on sbhsu sbpeo) (on sbpeo yeejs) (arm-empty) (on-table gwntf) (on pbotf gwntf) (clear sbhsu)
STATE: (on yeejs pbotf) (on sbpeo yeejs) (arm-empty) (on-table gwntf) (on pbotf gwntf) (clear sbpeo) (clear sbhsu) (on-table sbhsu) | [
[
"pick-up sbhsu"
],
[
"stack sbhsu sbpeo"
]
] | [
"(on yeejs pbotf) (on sbpeo yeejs) (on-table gwntf) (on pbotf gwntf) (clear sbpeo) (holding sbhsu)",
"(on yeejs pbotf) (on sbhsu sbpeo) (on sbpeo yeejs) (arm-empty) (on-table gwntf) (on pbotf gwntf) (clear sbhsu)"
] | file_1203 |
GOAL: (arm-empty) (on-table vifss) (clear oqmip) (on-table oqmip) (on duchj vajbb) (on qqtee vifss) (clear duchj) (on vajbb qqtee) | GOAL: (arm-empty) (on-table vifss) (clear oqmip) (on-table oqmip) (on duchj vajbb) (on qqtee vifss) (clear duchj) (on vajbb qqtee)
STATE: (clear qqtee) (arm-empty) (on oqmip duchj) (on vifss vajbb) (on vajbb oqmip) (on qqtee vifss) (on-table duchj) | [
[
"unstack qqtee vifss"
],
[
"put-down qqtee"
],
[
"unstack vifss vajbb"
],
[
"put-down vifss"
],
[
"pick-up qqtee"
],
[
"stack qqtee vifss"
],
[
"unstack vajbb oqmip"
],
[
"stack vajbb qqtee"
],
[
"unstack oqmip duchj"
],
[
"put-down oqmip"
],
[
"pick-up duchj"
],
[
"stack duchj vajbb"
]
] | [
"(holding qqtee) (clear vifss) (on oqmip duchj) (on vifss vajbb) (on vajbb oqmip) (on-table duchj)",
"(arm-empty) (on-table qqtee) (clear vifss) (clear qqtee) (on oqmip duchj) (on vifss vajbb) (on vajbb oqmip) (on-table duchj)",
"(clear qqtee) (on-table qqtee) (on oqmip duchj) (holding vifss) (on vajbb oqmip) (clear vajbb) (on-table duchj)",
"(arm-empty) (on-table qqtee) (on-table vifss) (clear vifss) (clear qqtee) (on oqmip duchj) (on vajbb oqmip) (clear vajbb) (on-table duchj)",
"(on-table vifss) (holding qqtee) (on oqmip duchj) (on vajbb oqmip) (clear vajbb) (on-table duchj) (clear vifss)",
"(clear qqtee) (arm-empty) (on-table vifss) (on oqmip duchj) (on vajbb oqmip) (on qqtee vifss) (clear vajbb) (on-table duchj)",
"(holding vajbb) (clear qqtee) (on-table vifss) (clear oqmip) (on oqmip duchj) (on qqtee vifss) (on-table duchj)",
"(arm-empty) (on-table vifss) (clear oqmip) (on oqmip duchj) (on qqtee vifss) (on vajbb qqtee) (clear vajbb) (on-table duchj)",
"(on-table vifss) (holding oqmip) (on qqtee vifss) (clear duchj) (on vajbb qqtee) (clear vajbb) (on-table duchj)",
"(arm-empty) (on-table vifss) (clear oqmip) (on qqtee vifss) (on vajbb qqtee) (on-table oqmip) (clear duchj) (clear vajbb) (on-table duchj)",
"(on-table vifss) (clear oqmip) (on-table oqmip) (on qqtee vifss) (on vajbb qqtee) (clear vajbb) (holding duchj)",
"(arm-empty) (on-table vifss) (clear oqmip) (on-table oqmip) (on duchj vajbb) (on qqtee vifss) (clear duchj) (on vajbb qqtee)"
] | file_156769 |
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