goal stringlengths 69 172 | input stringlengths 140 332 | actions listlengths 1 18 | next_states listlengths 1 18 | source_file stringlengths 6 11 |
|---|---|---|---|---|
GOAL: (on pnhwl fwyzj) (arm-empty) (on-table kavmu) (on-table fwyzj) (on npjjg rxlig) (clear pnhwl) (on rxlig kavmu) (clear npjjg) | GOAL: (on pnhwl fwyzj) (arm-empty) (on-table kavmu) (on-table fwyzj) (on npjjg rxlig) (clear pnhwl) (on rxlig kavmu) (clear npjjg)
STATE: (clear rxlig) (on pnhwl fwyzj) (on kavmu pnhwl) (arm-empty) (on-table fwyzj) (on rxlig kavmu) (clear npjjg) (on-table npjjg) | [
[
"unstack rxlig kavmu"
],
[
"stack rxlig npjjg"
],
[
"unstack kavmu pnhwl"
],
[
"put-down kavmu"
],
[
"unstack rxlig npjjg"
],
[
"put-down rxlig"
],
[
"pick-up npjjg"
],
[
"stack npjjg pnhwl"
],
[
"pick-up rxlig"
],
[
"stack rxlig kavmu"
],
[
"unstack npjjg pnhwl"
],
[
"stack npjjg rxlig"
]
] | [
"(on pnhwl fwyzj) (on kavmu pnhwl) (on-table fwyzj) (holding rxlig) (clear npjjg) (on-table npjjg) (clear kavmu)",
"(clear rxlig) (on pnhwl fwyzj) (on kavmu pnhwl) (arm-empty) (on-table fwyzj) (on rxlig npjjg) (on-table npjjg) (clear kavmu)",
"(clear rxlig) (on pnhwl fwyzj) (on-table fwyzj) (clear pnhwl) (holding kavmu) (on rxlig npjjg) (on-table npjjg)",
"(on pnhwl fwyzj) (arm-empty) (on-table kavmu) (clear pnhwl) (clear kavmu) (clear rxlig) (on-table fwyzj) (on rxlig npjjg) (on-table npjjg)",
"(on pnhwl fwyzj) (on-table kavmu) (on-table fwyzj) (clear pnhwl) (holding rxlig) (clear npjjg) (on-table npjjg) (clear kavmu)",
"(clear rxlig) (on pnhwl fwyzj) (arm-empty) (on-table rxlig) (on-table kavmu) (on-table fwyzj) (clear pnhwl) (clear npjjg) (on-table npjjg) (clear kavmu)",
"(clear rxlig) (on pnhwl fwyzj) (on-table rxlig) (on-table kavmu) (on-table fwyzj) (clear pnhwl) (holding npjjg) (clear kavmu)",
"(on npjjg pnhwl) (clear rxlig) (on pnhwl fwyzj) (arm-empty) (on-table rxlig) (on-table kavmu) (on-table fwyzj) (clear npjjg) (clear kavmu)",
"(on npjjg pnhwl) (on pnhwl fwyzj) (on-table kavmu) (on-table fwyzj) (holding rxlig) (clear npjjg) (clear kavmu)",
"(on npjjg pnhwl) (clear rxlig) (on pnhwl fwyzj) (arm-empty) (on-table kavmu) (on-table fwyzj) (on rxlig kavmu) (clear npjjg)",
"(clear rxlig) (on pnhwl fwyzj) (on-table kavmu) (on-table fwyzj) (clear pnhwl) (on rxlig kavmu) (holding npjjg)",
"(on pnhwl fwyzj) (arm-empty) (on-table kavmu) (on-table fwyzj) (on npjjg rxlig) (clear pnhwl) (on rxlig kavmu) (clear npjjg)"
] | file_132892 |
GOAL: (arm-empty) (on-table eiufn) (on-table mlfss) (on hdwri eiufn) (on-table dzzei) (on ybvpd dzzei) (clear hdwri) (clear ybvpd) (clear mlfss) | GOAL: (arm-empty) (on-table eiufn) (on-table mlfss) (on hdwri eiufn) (on-table dzzei) (on ybvpd dzzei) (clear hdwri) (clear ybvpd) (clear mlfss)
STATE: (arm-empty) (on-table eiufn) (on-table mlfss) (on-table ybvpd) (on hdwri eiufn) (clear dzzei) (on dzzei hdwri) (clear ybvpd) (clear mlfss) | [
[
"unstack dzzei hdwri"
],
[
"put-down dzzei"
],
[
"pick-up ybvpd"
],
[
"stack ybvpd dzzei"
]
] | [
"(on-table eiufn) (on-table mlfss) (on-table ybvpd) (holding dzzei) (on hdwri eiufn) (clear hdwri) (clear ybvpd) (clear mlfss)",
"(arm-empty) (on-table eiufn) (on-table mlfss) (on-table ybvpd) (on hdwri eiufn) (clear dzzei) (on-table dzzei) (clear hdwri) (clear ybvpd) (clear mlfss)",
"(holding ybvpd) (on-table eiufn) (on-table mlfss) (on hdwri eiufn) (clear dzzei) (on-table dzzei) (clear hdwri) (clear mlfss)",
"(arm-empty) (on-table eiufn) (on-table mlfss) (on hdwri eiufn) (on-table dzzei) (on ybvpd dzzei) (clear hdwri) (clear ybvpd) (clear mlfss)"
] | file_6576 |
GOAL: (clear ffdsa) (on nwcna obulg) (arm-empty) (on-table ffdsa) (clear uwpba) (on-table uwpba) (clear nwcna) (on-table obulg) | GOAL: (clear ffdsa) (on nwcna obulg) (arm-empty) (on-table ffdsa) (clear uwpba) (on-table uwpba) (clear nwcna) (on-table obulg)
STATE: (on nwcna obulg) (clear uwpba) (on-table uwpba) (holding ffdsa) (clear nwcna) (on-table obulg) | [
[
"stack ffdsa uwpba"
],
[
"unstack nwcna obulg"
],
[
"put-down nwcna"
],
[
"unstack ffdsa uwpba"
],
[
"put-down ffdsa"
],
[
"pick-up nwcna"
],
[
"stack nwcna obulg"
]
] | [
"(clear ffdsa) (on nwcna obulg) (arm-empty) (on-table uwpba) (on ffdsa uwpba) (clear nwcna) (on-table obulg)",
"(on ffdsa uwpba) (holding nwcna) (clear ffdsa) (on-table uwpba) (clear obulg) (on-table obulg)",
"(arm-empty) (on ffdsa uwpba) (clear ffdsa) (on-table nwcna) (on-table uwpba) (clear obulg) (clear nwcna) (on-table obulg)",
"(on-table nwcna) (clear uwpba) (on-table uwpba) (holding ffdsa) (clear obulg) (clear nwcna) (on-table obulg)",
"(arm-empty) (on-table ffdsa) (clear uwpba) (clear ffdsa) (on-table nwcna) (on-table uwpba) (clear obulg) (clear nwcna) (on-table obulg)",
"(holding nwcna) (clear ffdsa) (on-table ffdsa) (clear uwpba) (on-table uwpba) (clear obulg) (on-table obulg)",
"(clear ffdsa) (on nwcna obulg) (arm-empty) (on-table ffdsa) (clear uwpba) (on-table uwpba) (clear nwcna) (on-table obulg)"
] | file_33423 |
GOAL: (on apzzj jxsuj) (on ndbye bduxi) (on-table idycx) (arm-empty) (on bduxi idycx) (clear apzzj) (on-table jxsuj) (clear ndbye) | GOAL: (on apzzj jxsuj) (on ndbye bduxi) (on-table idycx) (arm-empty) (on bduxi idycx) (clear apzzj) (on-table jxsuj) (clear ndbye)
STATE: (arm-empty) (on bduxi ndbye) (on ndbye jxsuj) (on idycx bduxi) (on apzzj idycx) (clear apzzj) (on-table jxsuj) | [
[
"unstack apzzj idycx"
],
[
"put-down apzzj"
],
[
"unstack idycx bduxi"
],
[
"put-down idycx"
],
[
"unstack bduxi ndbye"
],
[
"stack bduxi idycx"
],
[
"unstack ndbye jxsuj"
],
[
"stack ndbye bduxi"
],
[
"pick-up apzzj"
],
[
"stack apzzj jxsuj"
]
] | [
"(on bduxi ndbye) (on ndbye jxsuj) (on idycx bduxi) (holding apzzj) (clear idycx) (on-table jxsuj)",
"(arm-empty) (on bduxi ndbye) (on ndbye jxsuj) (on idycx bduxi) (clear idycx) (on-table apzzj) (clear apzzj) (on-table jxsuj)",
"(on bduxi ndbye) (on-table apzzj) (clear bduxi) (on ndbye jxsuj) (holding idycx) (clear apzzj) (on-table jxsuj)",
"(arm-empty) (on-table idycx) (on bduxi ndbye) (clear bduxi) (on ndbye jxsuj) (clear idycx) (on-table apzzj) (clear apzzj) (on-table jxsuj)",
"(clear idycx) (on-table idycx) (on-table apzzj) (holding bduxi) (on ndbye jxsuj) (clear apzzj) (on-table jxsuj) (clear ndbye)",
"(arm-empty) (on-table idycx) (on-table apzzj) (clear bduxi) (on ndbye jxsuj) (on bduxi idycx) (clear apzzj) (on-table jxsuj) (clear ndbye)",
"(on-table idycx) (on-table apzzj) (clear bduxi) (holding ndbye) (on bduxi idycx) (clear jxsuj) (clear apzzj) (on-table jxsuj)",
"(arm-empty) (on ndbye bduxi) (on-table idycx) (on-table apzzj) (on bduxi idycx) (clear jxsuj) (clear apzzj) (on-table jxsuj) (clear ndbye)",
"(holding apzzj) (on ndbye bduxi) (on-table idycx) (on bduxi idycx) (clear jxsuj) (on-table jxsuj) (clear ndbye)",
"(on apzzj jxsuj) (on ndbye bduxi) (on-table idycx) (arm-empty) (on bduxi idycx) (clear apzzj) (on-table jxsuj) (clear ndbye)"
] | file_9554 |
GOAL: (on-table jalhf) (on riopr jvdhp) (on jvdhp ikqtv) (on ikqtv jalhf) (holding tldzt) (clear riopr) | GOAL: (on-table jalhf) (on riopr jvdhp) (on jvdhp ikqtv) (on ikqtv jalhf) (holding tldzt) (clear riopr)
STATE: (on jvdhp riopr) (on-table jalhf) (clear jvdhp) (on ikqtv jalhf) (holding tldzt) (on riopr ikqtv) | [
[
"put-down tldzt"
],
[
"unstack jvdhp riopr"
],
[
"stack jvdhp tldzt"
],
[
"unstack riopr ikqtv"
],
[
"put-down riopr"
],
[
"unstack jvdhp tldzt"
],
[
"stack jvdhp ikqtv"
],
[
"pick-up riopr"
],
[
"stack riopr jvdhp"
],
[
"pick-up tldzt"
]
] | [
"(on jvdhp riopr) (arm-empty) (on-table jalhf) (on ikqtv jalhf) (clear tldzt) (clear jvdhp) (on riopr ikqtv) (on-table tldzt)",
"(on-table jalhf) (holding jvdhp) (on ikqtv jalhf) (clear tldzt) (on riopr ikqtv) (clear riopr) (on-table tldzt)",
"(arm-empty) (on-table jalhf) (clear jvdhp) (on jvdhp tldzt) (on ikqtv jalhf) (on riopr ikqtv) (clear riopr) (on-table tldzt)",
"(holding riopr) (clear ikqtv) (on-table jalhf) (clear jvdhp) (on jvdhp tldzt) (on ikqtv jalhf) (on-table tldzt)",
"(arm-empty) (on-table jalhf) (clear jvdhp) (on ikqtv jalhf) (clear ikqtv) (on-table riopr) (on jvdhp tldzt) (clear riopr) (on-table tldzt)",
"(clear ikqtv) (on-table jalhf) (on-table riopr) (holding jvdhp) (on ikqtv jalhf) (clear tldzt) (clear riopr) (on-table tldzt)",
"(arm-empty) (on-table jalhf) (on-table riopr) (clear jvdhp) (on jvdhp ikqtv) (on ikqtv jalhf) (clear tldzt) (clear riopr) (on-table tldzt)",
"(holding riopr) (on-table jalhf) (clear jvdhp) (on jvdhp ikqtv) (on ikqtv jalhf) (clear tldzt) (on-table tldzt)",
"(arm-empty) (on-table jalhf) (on riopr jvdhp) (on jvdhp ikqtv) (on ikqtv jalhf) (clear tldzt) (clear riopr) (on-table tldzt)",
"(on-table jalhf) (on riopr jvdhp) (on jvdhp ikqtv) (on ikqtv jalhf) (holding tldzt) (clear riopr)"
] | file_12740 |
GOAL: (on qirjv jawdp) (arm-empty) (on jawdp kvarc) (on-table vanhb) (on kvarc vanhb) (clear wqfrc) (clear qirjv) (on-table wqfrc) | GOAL: (on qirjv jawdp) (arm-empty) (on jawdp kvarc) (on-table vanhb) (on kvarc vanhb) (clear wqfrc) (clear qirjv) (on-table wqfrc)
STATE: (on wqfrc kvarc) (clear vanhb) (on qirjv wqfrc) (arm-empty) (on-table vanhb) (on kvarc jawdp) (on-table jawdp) (clear qirjv) | [
[
"unstack qirjv wqfrc"
],
[
"put-down qirjv"
],
[
"unstack wqfrc kvarc"
],
[
"stack wqfrc qirjv"
],
[
"unstack kvarc jawdp"
],
[
"stack kvarc vanhb"
],
[
"pick-up jawdp"
],
[
"stack jawdp kvarc"
],
[
"unstack wqfrc qirjv"
],
[
"put-down wqfrc"
],
[
"pick-up qirjv"
],
[
"stack qirjv jawdp"
]
] | [
"(holding qirjv) (on wqfrc kvarc) (clear vanhb) (on-table vanhb) (on kvarc jawdp) (on-table jawdp) (clear wqfrc)",
"(arm-empty) (on-table vanhb) (on kvarc jawdp) (on-table jawdp) (on wqfrc kvarc) (clear vanhb) (on-table qirjv) (clear wqfrc) (clear qirjv)",
"(clear vanhb) (on-table vanhb) (on kvarc jawdp) (on-table jawdp) (on-table qirjv) (clear kvarc) (holding wqfrc) (clear qirjv)",
"(clear vanhb) (arm-empty) (on-table vanhb) (on kvarc jawdp) (on-table jawdp) (on-table qirjv) (clear kvarc) (on wqfrc qirjv) (clear wqfrc)",
"(clear vanhb) (on-table vanhb) (on-table jawdp) (on-table qirjv) (holding kvarc) (on wqfrc qirjv) (clear wqfrc) (clear jawdp)",
"(arm-empty) (on-table vanhb) (on-table jawdp) (on-table qirjv) (on kvarc vanhb) (clear kvarc) (on wqfrc qirjv) (clear wqfrc) (clear jawdp)",
"(on-table vanhb) (on-table qirjv) (clear kvarc) (on wqfrc qirjv) (holding jawdp) (on kvarc vanhb) (clear wqfrc)",
"(arm-empty) (on jawdp kvarc) (on-table vanhb) (on-table qirjv) (on wqfrc qirjv) (on kvarc vanhb) (clear wqfrc) (clear jawdp)",
"(on jawdp kvarc) (on-table vanhb) (on-table qirjv) (on kvarc vanhb) (holding wqfrc) (clear qirjv) (clear jawdp)",
"(arm-empty) (on jawdp kvarc) (on-table vanhb) (clear jawdp) (on-table qirjv) (on kvarc vanhb) (clear wqfrc) (clear qirjv) (on-table wqfrc)",
"(holding qirjv) (on jawdp kvarc) (on-table vanhb) (on kvarc vanhb) (clear wqfrc) (on-table wqfrc) (clear jawdp)",
"(on qirjv jawdp) (arm-empty) (on jawdp kvarc) (on-table vanhb) (on kvarc vanhb) (clear wqfrc) (clear qirjv) (on-table wqfrc)"
] | file_177076 |
GOAL: (arm-empty) (on-table qbtvn) (clear wjxyo) (on wjxyo cxvbb) (on xygal qbtvn) (clear xygal) (on-table cxvbb) | GOAL: (arm-empty) (on-table qbtvn) (clear wjxyo) (on wjxyo cxvbb) (on xygal qbtvn) (clear xygal) (on-table cxvbb)
STATE: (clear qbtvn) (arm-empty) (on-table xygal) (clear wjxyo) (on-table wjxyo) (on qbtvn xygal) (clear cxvbb) (on-table cxvbb) | [
[
"pick-up wjxyo"
],
[
"stack wjxyo cxvbb"
],
[
"unstack qbtvn xygal"
],
[
"put-down qbtvn"
],
[
"pick-up xygal"
],
[
"stack xygal qbtvn"
]
] | [
"(clear qbtvn) (on-table xygal) (holding wjxyo) (on qbtvn xygal) (clear cxvbb) (on-table cxvbb)",
"(on wjxyo cxvbb) (clear qbtvn) (arm-empty) (on-table xygal) (on qbtvn xygal) (clear wjxyo) (on-table cxvbb)",
"(clear wjxyo) (on-table xygal) (on wjxyo cxvbb) (holding qbtvn) (clear xygal) (on-table cxvbb)",
"(arm-empty) (on-table qbtvn) (clear wjxyo) (clear qbtvn) (on-table xygal) (on wjxyo cxvbb) (clear xygal) (on-table cxvbb)",
"(holding xygal) (clear qbtvn) (on-table qbtvn) (clear wjxyo) (on wjxyo cxvbb) (on-table cxvbb)",
"(arm-empty) (on-table qbtvn) (clear wjxyo) (on wjxyo cxvbb) (on xygal qbtvn) (clear xygal) (on-table cxvbb)"
] | file_49963 |
GOAL: (arm-empty) (on-table wzekb) (on ypbvn fxtvx) (clear wzekb) (on-table kxpsw) (on-table fxtvx) (clear ypbvn) (clear kxpsw) | GOAL: (arm-empty) (on-table wzekb) (on ypbvn fxtvx) (clear wzekb) (on-table kxpsw) (on-table fxtvx) (clear ypbvn) (clear kxpsw)
STATE: (on ypbvn fxtvx) (clear wzekb) (on kxpsw ypbvn) (arm-empty) (on-table fxtvx) (on wzekb kxpsw) | [
[
"unstack wzekb kxpsw"
],
[
"put-down wzekb"
],
[
"unstack kxpsw ypbvn"
],
[
"put-down kxpsw"
]
] | [
"(on ypbvn fxtvx) (on kxpsw ypbvn) (on-table fxtvx) (holding wzekb) (clear kxpsw)",
"(on ypbvn fxtvx) (on-table fxtvx) (on kxpsw ypbvn) (clear wzekb) (on-table wzekb) (arm-empty) (clear kxpsw)",
"(on-table wzekb) (holding kxpsw) (on ypbvn fxtvx) (clear wzekb) (on-table fxtvx) (clear ypbvn)",
"(arm-empty) (on-table wzekb) (on ypbvn fxtvx) (clear wzekb) (on-table kxpsw) (on-table fxtvx) (clear ypbvn) (clear kxpsw)"
] | file_51620 |
GOAL: (on kxipt xljkd) (arm-empty) (on-table dvfed) (clear ytmza) (on dbqvz dvfed) (on ytmza dbqvz) (clear kxipt) (on-table xljkd) | GOAL: (on kxipt xljkd) (arm-empty) (on-table dvfed) (clear ytmza) (on dbqvz dvfed) (on ytmza dbqvz) (clear kxipt) (on-table xljkd)
STATE: (on ytmza kxipt) (on dvfed ytmza) (on-table dbqvz) (on kxipt dbqvz) (holding xljkd) (clear dvfed) | [
[
"put-down xljkd"
],
[
"unstack dvfed ytmza"
],
[
"put-down dvfed"
],
[
"unstack ytmza kxipt"
],
[
"put-down ytmza"
],
[
"unstack kxipt dbqvz"
],
[
"stack kxipt xljkd"
],
[
"pick-up dbqvz"
],
[
"stack dbqvz dvfed"
],
[
"pick-up ytmza"
],
[
"stack ytmza dbqvz"
]
] | [
"(on ytmza kxipt) (on dvfed ytmza) (on-table dbqvz) (arm-empty) (clear xljkd) (on kxipt dbqvz) (on-table xljkd) (clear dvfed)",
"(on ytmza kxipt) (on-table dbqvz) (clear ytmza) (holding dvfed) (clear xljkd) (on kxipt dbqvz) (on-table xljkd)",
"(on ytmza kxipt) (arm-empty) (on-table dbqvz) (on-table dvfed) (clear ytmza) (on kxipt dbqvz) (clear dvfed) (clear xljkd) (on-table xljkd)",
"(on-table dbqvz) (on-table dvfed) (holding ytmza) (clear xljkd) (on kxipt dbqvz) (clear kxipt) (on-table xljkd) (clear dvfed)",
"(arm-empty) (on-table dbqvz) (on-table dvfed) (clear ytmza) (on-table ytmza) (clear xljkd) (on kxipt dbqvz) (clear kxipt) (on-table xljkd) (clear dvfed)",
"(holding kxipt) (clear dbqvz) (on-table dbqvz) (on-table dvfed) (clear ytmza) (on-table ytmza) (clear xljkd) (on-table xljkd) (clear dvfed)",
"(clear dbqvz) (on kxipt xljkd) (arm-empty) (on-table dbqvz) (on-table dvfed) (clear ytmza) (on-table ytmza) (clear kxipt) (on-table xljkd) (clear dvfed)",
"(on kxipt xljkd) (on-table dvfed) (clear ytmza) (on-table ytmza) (holding dbqvz) (clear kxipt) (on-table xljkd) (clear dvfed)",
"(clear dbqvz) (on kxipt xljkd) (arm-empty) (on-table dvfed) (clear ytmza) (on-table ytmza) (on dbqvz dvfed) (clear kxipt) (on-table xljkd)",
"(clear dbqvz) (on kxipt xljkd) (on-table dvfed) (holding ytmza) (on dbqvz dvfed) (clear kxipt) (on-table xljkd)",
"(on kxipt xljkd) (arm-empty) (on-table dvfed) (clear ytmza) (on dbqvz dvfed) (on ytmza dbqvz) (clear kxipt) (on-table xljkd)"
] | file_27679 |
GOAL: (on fyqhp ityya) (clear xrcsy) (arm-empty) (on-table xrcsy) (on-table ityya) (clear hbmrm) (on-table hbmrm) (clear xmtaw) (clear fyqhp) (on-table xmtaw) | GOAL: (on fyqhp ityya) (clear xrcsy) (arm-empty) (on-table xrcsy) (on-table ityya) (clear hbmrm) (on-table hbmrm) (clear xmtaw) (clear fyqhp) (on-table xmtaw)
STATE: (arm-empty) (on-table xrcsy) (on-table fyqhp) (on ityya xrcsy) (clear hbmrm) (on-table hbmrm) (clear xmtaw) (clear fyqhp) (on-table xmtaw) (clear ityya) | [
[
"pick-up xmtaw"
],
[
"stack xmtaw hbmrm"
],
[
"unstack ityya xrcsy"
],
[
"put-down ityya"
],
[
"pick-up fyqhp"
],
[
"stack fyqhp ityya"
],
[
"unstack xmtaw hbmrm"
],
[
"put-down xmtaw"
]
] | [
"(on-table xrcsy) (on-table fyqhp) (on ityya xrcsy) (clear hbmrm) (on-table hbmrm) (holding xmtaw) (clear fyqhp) (clear ityya)",
"(on xmtaw hbmrm) (arm-empty) (on-table xrcsy) (on-table fyqhp) (on ityya xrcsy) (on-table hbmrm) (clear xmtaw) (clear fyqhp) (clear ityya)",
"(on xmtaw hbmrm) (clear xrcsy) (on-table xrcsy) (on-table fyqhp) (holding ityya) (on-table hbmrm) (clear xmtaw) (clear fyqhp)",
"(on xmtaw hbmrm) (clear xrcsy) (arm-empty) (on-table xrcsy) (on-table ityya) (on-table fyqhp) (on-table hbmrm) (clear xmtaw) (clear fyqhp) (clear ityya)",
"(holding fyqhp) (on xmtaw hbmrm) (clear xrcsy) (on-table xrcsy) (on-table ityya) (on-table hbmrm) (clear xmtaw) (clear ityya)",
"(on xmtaw hbmrm) (clear xrcsy) (on fyqhp ityya) (arm-empty) (on-table xrcsy) (on-table ityya) (on-table hbmrm) (clear xmtaw) (clear fyqhp)",
"(clear xrcsy) (on fyqhp ityya) (on-table xrcsy) (on-table ityya) (clear hbmrm) (on-table hbmrm) (holding xmtaw) (clear fyqhp)",
"(on fyqhp ityya) (clear xrcsy) (arm-empty) (on-table xrcsy) (on-table ityya) (clear hbmrm) (on-table hbmrm) (clear xmtaw) (clear fyqhp) (on-table xmtaw)"
] | file_70652 |
GOAL: (arm-empty) (on-table fndvn) (clear ernem) (on twrts epbpc) (on-table ernem) (clear vxycf) (on epbpc fndvn) (on-table vxycf) (clear twrts) | GOAL: (arm-empty) (on-table fndvn) (clear ernem) (on twrts epbpc) (on-table ernem) (clear vxycf) (on epbpc fndvn) (on-table vxycf) (clear twrts)
STATE: (arm-empty) (on-table fndvn) (on-table twrts) (clear ernem) (on ernem vxycf) (on vxycf epbpc) (on epbpc fndvn) (clear twrts) | [
[
"unstack ernem vxycf"
],
[
"put-down ernem"
],
[
"pick-up twrts"
],
[
"stack twrts ernem"
],
[
"unstack vxycf epbpc"
],
[
"put-down vxycf"
],
[
"unstack twrts ernem"
],
[
"stack twrts epbpc"
]
] | [
"(on-table fndvn) (on-table twrts) (holding ernem) (on vxycf epbpc) (clear vxycf) (on epbpc fndvn) (clear twrts)",
"(arm-empty) (on-table fndvn) (on-table twrts) (clear ernem) (on vxycf epbpc) (on epbpc fndvn) (clear twrts) (on-table ernem) (clear vxycf)",
"(on-table fndvn) (clear ernem) (holding twrts) (on-table ernem) (on vxycf epbpc) (clear vxycf) (on epbpc fndvn)",
"(arm-empty) (on twrts ernem) (on-table fndvn) (on-table ernem) (on vxycf epbpc) (clear vxycf) (on epbpc fndvn) (clear twrts)",
"(on twrts ernem) (on-table fndvn) (on-table ernem) (on epbpc fndvn) (clear epbpc) (holding vxycf) (clear twrts)",
"(arm-empty) (on twrts ernem) (on-table fndvn) (on epbpc fndvn) (clear twrts) (on-table ernem) (clear vxycf) (clear epbpc) (on-table vxycf)",
"(on-table fndvn) (clear ernem) (holding twrts) (on-table ernem) (clear vxycf) (on epbpc fndvn) (clear epbpc) (on-table vxycf)",
"(arm-empty) (on-table fndvn) (clear ernem) (on twrts epbpc) (on-table ernem) (clear vxycf) (on epbpc fndvn) (on-table vxycf) (clear twrts)"
] | file_169351 |
GOAL: (on uampg ylpkr) (on yject uampg) (on-table spwud) (arm-empty) (on ylpkr spwud) (clear yject) | GOAL: (on uampg ylpkr) (on yject uampg) (on-table spwud) (arm-empty) (on ylpkr spwud) (clear yject)
STATE: (on ylpkr yject) (clear spwud) (arm-empty) (on-table spwud) (on-table uampg) (on-table yject) (clear ylpkr) (clear uampg) | [
[
"unstack ylpkr yject"
],
[
"stack ylpkr spwud"
],
[
"pick-up uampg"
],
[
"stack uampg ylpkr"
],
[
"pick-up yject"
],
[
"stack yject uampg"
]
] | [
"(clear spwud) (on-table spwud) (on-table uampg) (clear yject) (on-table yject) (holding ylpkr) (clear uampg)",
"(arm-empty) (on-table spwud) (on-table uampg) (on ylpkr spwud) (clear yject) (on-table yject) (clear ylpkr) (clear uampg)",
"(holding uampg) (on-table spwud) (on ylpkr spwud) (clear yject) (on-table yject) (clear ylpkr)",
"(on uampg ylpkr) (arm-empty) (on-table spwud) (on ylpkr spwud) (clear yject) (on-table yject) (clear uampg)",
"(on uampg ylpkr) (on-table spwud) (holding yject) (on ylpkr spwud) (clear uampg)",
"(on uampg ylpkr) (on yject uampg) (on-table spwud) (arm-empty) (on ylpkr spwud) (clear yject)"
] | file_172601 |
GOAL: (on hmxka tovfp) (on-table evaub) (on tovfp bstoa) (holding gizys) (on bstoa evaub) (clear hmxka) | GOAL: (on hmxka tovfp) (on-table evaub) (on tovfp bstoa) (holding gizys) (on bstoa evaub) (clear hmxka)
STATE: (holding evaub) (on bstoa tovfp) (clear gizys) (on-table hmxka) (on tovfp hmxka) (on gizys bstoa) | [
[
"put-down evaub"
],
[
"unstack gizys bstoa"
],
[
"put-down gizys"
],
[
"unstack bstoa tovfp"
],
[
"stack bstoa evaub"
],
[
"unstack tovfp hmxka"
],
[
"stack tovfp bstoa"
],
[
"pick-up hmxka"
],
[
"stack hmxka tovfp"
],
[
"pick-up gizys"
]
] | [
"(arm-empty) (on-table hmxka) (on tovfp hmxka) (on bstoa tovfp) (clear gizys) (on-table evaub) (on gizys bstoa) (clear evaub)",
"(on bstoa tovfp) (on-table hmxka) (on tovfp hmxka) (on-table evaub) (holding gizys) (clear bstoa) (clear evaub)",
"(arm-empty) (on-table gizys) (on-table hmxka) (on tovfp hmxka) (on bstoa tovfp) (clear gizys) (on-table evaub) (clear bstoa) (clear evaub)",
"(clear gizys) (on-table gizys) (on-table hmxka) (on tovfp hmxka) (on-table evaub) (clear tovfp) (holding bstoa) (clear evaub)",
"(clear gizys) (arm-empty) (on-table gizys) (on-table hmxka) (on tovfp hmxka) (on-table evaub) (clear tovfp) (on bstoa evaub) (clear bstoa)",
"(clear gizys) (on-table gizys) (on-table hmxka) (holding tovfp) (on-table evaub) (on bstoa evaub) (clear bstoa) (clear hmxka)",
"(clear gizys) (arm-empty) (on-table gizys) (on-table hmxka) (on-table evaub) (clear tovfp) (on tovfp bstoa) (on bstoa evaub) (clear hmxka)",
"(clear gizys) (on-table gizys) (on-table evaub) (clear tovfp) (on tovfp bstoa) (holding hmxka) (on bstoa evaub)",
"(clear gizys) (arm-empty) (on hmxka tovfp) (on-table gizys) (on-table evaub) (on tovfp bstoa) (on bstoa evaub) (clear hmxka)",
"(on hmxka tovfp) (on-table evaub) (on tovfp bstoa) (holding gizys) (on bstoa evaub) (clear hmxka)"
] | file_22520 |
GOAL: (clear chifo) (arm-empty) (on-table lmahx) (clear lmahx) (on-table pexfc) (on chifo qrqjn) (clear qpatn) (on qrqjn pexfc) (on-table qpatn) | GOAL: (clear chifo) (arm-empty) (on-table lmahx) (clear lmahx) (on-table pexfc) (on chifo qrqjn) (clear qpatn) (on qrqjn pexfc) (on-table qpatn)
STATE: (on-table lmahx) (on-table qrqjn) (clear pexfc) (on pexfc chifo) (on chifo qrqjn) (holding qpatn) (clear lmahx) | [
[
"put-down qpatn"
],
[
"unstack pexfc chifo"
],
[
"put-down pexfc"
],
[
"unstack chifo qrqjn"
],
[
"put-down chifo"
],
[
"pick-up qrqjn"
],
[
"stack qrqjn pexfc"
],
[
"pick-up chifo"
],
[
"stack chifo qrqjn"
]
] | [
"(arm-empty) (on-table lmahx) (clear pexfc) (on chifo qrqjn) (clear lmahx) (on-table qrqjn) (on pexfc chifo) (clear qpatn) (on-table qpatn)",
"(clear chifo) (on-table lmahx) (on-table qrqjn) (holding pexfc) (on chifo qrqjn) (clear qpatn) (on-table qpatn) (clear lmahx)",
"(clear chifo) (arm-empty) (on-table lmahx) (on-table qrqjn) (clear pexfc) (on-table pexfc) (on chifo qrqjn) (clear qpatn) (on-table qpatn) (clear lmahx)",
"(on-table lmahx) (on-table qrqjn) (clear pexfc) (on-table pexfc) (holding chifo) (clear qpatn) (clear qrqjn) (on-table qpatn) (clear lmahx)",
"(clear chifo) (arm-empty) (on-table chifo) (on-table lmahx) (on-table qrqjn) (clear pexfc) (on-table pexfc) (clear qpatn) (clear qrqjn) (on-table qpatn) (clear lmahx)",
"(holding qrqjn) (clear chifo) (on-table chifo) (on-table lmahx) (clear pexfc) (on-table pexfc) (clear qpatn) (on-table qpatn) (clear lmahx)",
"(clear chifo) (arm-empty) (on-table chifo) (on-table lmahx) (on-table pexfc) (on qrqjn pexfc) (clear qpatn) (clear qrqjn) (on-table qpatn) (clear lmahx)",
"(on-table lmahx) (holding chifo) (on-table pexfc) (on qrqjn pexfc) (clear qpatn) (clear qrqjn) (on-table qpatn) (clear lmahx)",
"(clear chifo) (arm-empty) (on-table lmahx) (clear lmahx) (on-table pexfc) (on chifo qrqjn) (clear qpatn) (on qrqjn pexfc) (on-table qpatn)"
] | file_224936 |
GOAL: (holding bnfkj) (clear guxzn) (on-table lyfbe) (on qookp lyfbe) (clear qookp) (on guxzn gjawx) (on-table gjawx) | GOAL: (holding bnfkj) (clear guxzn) (on-table lyfbe) (on qookp lyfbe) (clear qookp) (on guxzn gjawx) (on-table gjawx)
STATE: (arm-empty) (on-table lyfbe) (on-table bnfkj) (on gjawx guxzn) (clear qookp) (on-table qookp) (on guxzn bnfkj) (clear gjawx) (clear lyfbe) | [
[
"pick-up lyfbe"
],
[
"stack lyfbe qookp"
],
[
"unstack gjawx guxzn"
],
[
"put-down gjawx"
],
[
"unstack guxzn bnfkj"
],
[
"stack guxzn gjawx"
],
[
"unstack lyfbe qookp"
],
[
"put-down lyfbe"
],
[
"pick-up qookp"
],
[
"stack qookp lyfbe"
],
[
"pick-up bnfkj"
]
] | [
"(on-table bnfkj) (on gjawx guxzn) (clear qookp) (holding lyfbe) (on-table qookp) (on guxzn bnfkj) (clear gjawx)",
"(arm-empty) (on lyfbe qookp) (on-table bnfkj) (on gjawx guxzn) (on-table qookp) (on guxzn bnfkj) (clear gjawx) (clear lyfbe)",
"(clear guxzn) (on lyfbe qookp) (on-table bnfkj) (on-table qookp) (on guxzn bnfkj) (holding gjawx) (clear lyfbe)",
"(arm-empty) (on lyfbe qookp) (on guxzn bnfkj) (clear lyfbe) (clear guxzn) (on-table bnfkj) (on-table qookp) (clear gjawx) (on-table gjawx)",
"(on lyfbe qookp) (on-table bnfkj) (on-table qookp) (holding guxzn) (clear gjawx) (clear bnfkj) (on-table gjawx) (clear lyfbe)",
"(clear guxzn) (arm-empty) (on lyfbe qookp) (on-table bnfkj) (on-table qookp) (on guxzn gjawx) (clear bnfkj) (on-table gjawx) (clear lyfbe)",
"(clear guxzn) (on-table bnfkj) (clear qookp) (holding lyfbe) (on-table qookp) (on guxzn gjawx) (clear bnfkj) (on-table gjawx)",
"(clear guxzn) (arm-empty) (on-table lyfbe) (on-table bnfkj) (clear qookp) (on-table qookp) (on guxzn gjawx) (clear bnfkj) (on-table gjawx) (clear lyfbe)",
"(clear guxzn) (on-table lyfbe) (on-table bnfkj) (holding qookp) (on guxzn gjawx) (clear bnfkj) (on-table gjawx) (clear lyfbe)",
"(clear guxzn) (arm-empty) (on-table lyfbe) (on-table bnfkj) (on qookp lyfbe) (clear qookp) (on guxzn gjawx) (clear bnfkj) (on-table gjawx)",
"(holding bnfkj) (clear guxzn) (on-table lyfbe) (on qookp lyfbe) (clear qookp) (on guxzn gjawx) (on-table gjawx)"
] | file_10743 |
GOAL: (on sgmel atrxu) (clear hecwo) (on-table atrxu) (holding vycqs) (on hecwo fahjn) (clear sgmel) (on-table fahjn) | GOAL: (on sgmel atrxu) (clear hecwo) (on-table atrxu) (holding vycqs) (on hecwo fahjn) (clear sgmel) (on-table fahjn)
STATE: (arm-empty) (on-table atrxu) (on vycqs atrxu) (on fahjn hecwo) (on sgmel vycqs) (on hecwo sgmel) (clear fahjn) | [
[
"unstack fahjn hecwo"
],
[
"put-down fahjn"
],
[
"unstack hecwo sgmel"
],
[
"stack hecwo fahjn"
],
[
"unstack sgmel vycqs"
],
[
"put-down sgmel"
],
[
"unstack vycqs atrxu"
],
[
"put-down vycqs"
],
[
"pick-up sgmel"
],
[
"stack sgmel atrxu"
],
[
"pick-up vycqs"
]
] | [
"(on-table atrxu) (on vycqs atrxu) (on hecwo sgmel) (clear hecwo) (on sgmel vycqs) (holding fahjn)",
"(arm-empty) (on-table atrxu) (on vycqs atrxu) (on hecwo sgmel) (clear hecwo) (on sgmel vycqs) (clear fahjn) (on-table fahjn)",
"(on-table atrxu) (on vycqs atrxu) (holding hecwo) (on sgmel vycqs) (clear fahjn) (clear sgmel) (on-table fahjn)",
"(clear hecwo) (arm-empty) (on-table atrxu) (on vycqs atrxu) (on sgmel vycqs) (on hecwo fahjn) (clear sgmel) (on-table fahjn)",
"(holding sgmel) (clear hecwo) (on-table atrxu) (on vycqs atrxu) (clear vycqs) (on hecwo fahjn) (on-table fahjn)",
"(arm-empty) (on-table atrxu) (on vycqs atrxu) (clear vycqs) (clear hecwo) (on-table sgmel) (on hecwo fahjn) (clear sgmel) (on-table fahjn)",
"(clear hecwo) (on-table atrxu) (holding vycqs) (on-table sgmel) (on hecwo fahjn) (clear sgmel) (on-table fahjn) (clear atrxu)",
"(clear hecwo) (arm-empty) (on-table atrxu) (on-table sgmel) (clear vycqs) (on-table vycqs) (on hecwo fahjn) (clear sgmel) (on-table fahjn) (clear atrxu)",
"(holding sgmel) (clear hecwo) (on-table atrxu) (clear vycqs) (on-table vycqs) (on hecwo fahjn) (on-table fahjn) (clear atrxu)",
"(on sgmel atrxu) (clear hecwo) (arm-empty) (on-table atrxu) (clear vycqs) (on-table vycqs) (on hecwo fahjn) (clear sgmel) (on-table fahjn)",
"(on sgmel atrxu) (clear hecwo) (on-table atrxu) (holding vycqs) (on hecwo fahjn) (clear sgmel) (on-table fahjn)"
] | file_70362 |
GOAL: (on taaow bfmfc) (on bfmfc wrhhf) (arm-empty) (on-table hyxxb) (on-table wrhhf) (on teoue hyxxb) (clear taaow) (clear teoue) | GOAL: (on taaow bfmfc) (on bfmfc wrhhf) (arm-empty) (on-table hyxxb) (on-table wrhhf) (on teoue hyxxb) (clear taaow) (clear teoue)
STATE: (arm-empty) (on-table hyxxb) (on bfmfc teoue) (on-table wrhhf) (on taaow hyxxb) (clear bfmfc) (on teoue taaow) (clear wrhhf) | [
[
"unstack bfmfc teoue"
],
[
"stack bfmfc wrhhf"
],
[
"unstack teoue taaow"
],
[
"put-down teoue"
],
[
"unstack taaow hyxxb"
],
[
"stack taaow bfmfc"
],
[
"pick-up teoue"
],
[
"stack teoue hyxxb"
]
] | [
"(on-table hyxxb) (on-table wrhhf) (holding bfmfc) (on taaow hyxxb) (on teoue taaow) (clear wrhhf) (clear teoue)",
"(on bfmfc wrhhf) (arm-empty) (on-table hyxxb) (on-table wrhhf) (on taaow hyxxb) (clear bfmfc) (on teoue taaow) (clear teoue)",
"(on bfmfc wrhhf) (on-table hyxxb) (on-table wrhhf) (on taaow hyxxb) (clear bfmfc) (holding teoue) (clear taaow)",
"(on bfmfc wrhhf) (arm-empty) (on-table hyxxb) (on-table teoue) (clear bfmfc) (clear teoue) (on-table wrhhf) (on taaow hyxxb) (clear taaow)",
"(clear hyxxb) (on bfmfc wrhhf) (on-table hyxxb) (on-table teoue) (on-table wrhhf) (clear bfmfc) (holding taaow) (clear teoue)",
"(on taaow bfmfc) (clear hyxxb) (on bfmfc wrhhf) (arm-empty) (on-table hyxxb) (on-table teoue) (on-table wrhhf) (clear taaow) (clear teoue)",
"(on taaow bfmfc) (clear hyxxb) (on bfmfc wrhhf) (on-table hyxxb) (on-table wrhhf) (holding teoue) (clear taaow)",
"(on taaow bfmfc) (on bfmfc wrhhf) (arm-empty) (on-table hyxxb) (on-table wrhhf) (on teoue hyxxb) (clear taaow) (clear teoue)"
] | file_204467 |
GOAL: (on igovj nzdgi) (arm-empty) (on-table nzdgi) (on lmgft pobyt) (clear igovj) (on pobyt ndbgv) (on-table ndbgv) (clear lmgft) | GOAL: (on igovj nzdgi) (arm-empty) (on-table nzdgi) (on lmgft pobyt) (clear igovj) (on pobyt ndbgv) (on-table ndbgv) (clear lmgft)
STATE: (on ndbgv lmgft) (on igovj nzdgi) (on lmgft igovj) (on-table pobyt) (arm-empty) (on-table nzdgi) (clear pobyt) (clear ndbgv) | [
[
"unstack ndbgv lmgft"
],
[
"put-down ndbgv"
],
[
"pick-up pobyt"
],
[
"stack pobyt ndbgv"
],
[
"unstack lmgft igovj"
],
[
"stack lmgft pobyt"
]
] | [
"(on igovj nzdgi) (on lmgft igovj) (on-table pobyt) (on-table nzdgi) (clear pobyt) (holding ndbgv) (clear lmgft)",
"(on igovj nzdgi) (on lmgft igovj) (on-table pobyt) (arm-empty) (clear lmgft) (clear pobyt) (on-table nzdgi) (clear ndbgv) (on-table ndbgv)",
"(on igovj nzdgi) (on lmgft igovj) (on-table nzdgi) (holding pobyt) (clear ndbgv) (on-table ndbgv) (clear lmgft)",
"(clear pobyt) (on igovj nzdgi) (on lmgft igovj) (arm-empty) (on-table nzdgi) (on pobyt ndbgv) (on-table ndbgv) (clear lmgft)",
"(clear pobyt) (on igovj nzdgi) (on-table nzdgi) (clear igovj) (holding lmgft) (on pobyt ndbgv) (on-table ndbgv)",
"(on igovj nzdgi) (arm-empty) (on-table nzdgi) (on lmgft pobyt) (clear igovj) (on pobyt ndbgv) (on-table ndbgv) (clear lmgft)"
] | file_158595 |
GOAL: (on kgqng jotjd) (on jotjd fdltc) (on-table bfxpr) (on-table scxpt) (arm-empty) (clear kgqng) (clear scxpt) (clear bfxpr) (on-table fdltc) | GOAL: (on kgqng jotjd) (on jotjd fdltc) (on-table bfxpr) (on-table scxpt) (arm-empty) (clear kgqng) (clear scxpt) (clear bfxpr) (on-table fdltc)
STATE: (clear bfxpr) (on kgqng jotjd) (on jotjd fdltc) (on scxpt kgqng) (arm-empty) (on bfxpr scxpt) (on-table fdltc) | [
[
"unstack bfxpr scxpt"
],
[
"put-down bfxpr"
],
[
"unstack scxpt kgqng"
],
[
"put-down scxpt"
]
] | [
"(on kgqng jotjd) (on jotjd fdltc) (on scxpt kgqng) (clear scxpt) (holding bfxpr) (on-table fdltc)",
"(clear bfxpr) (on kgqng jotjd) (on jotjd fdltc) (on scxpt kgqng) (on-table bfxpr) (arm-empty) (on-table fdltc) (clear scxpt)",
"(clear bfxpr) (on kgqng jotjd) (on jotjd fdltc) (on-table bfxpr) (clear kgqng) (holding scxpt) (on-table fdltc)",
"(on kgqng jotjd) (on jotjd fdltc) (on-table bfxpr) (on-table scxpt) (arm-empty) (clear kgqng) (clear scxpt) (clear bfxpr) (on-table fdltc)"
] | file_183901 |
GOAL: (clear zrvla) (on-table zrvla) (on-table guqbw) (holding fddgn) (on rkeaz nkktn) (on nkktn guqbw) (clear rkeaz) | GOAL: (clear zrvla) (on-table zrvla) (on-table guqbw) (holding fddgn) (on rkeaz nkktn) (on nkktn guqbw) (clear rkeaz)
STATE: (on-table rkeaz) (on-table guqbw) (clear fddgn) (on fddgn nkktn) (holding zrvla) (on nkktn guqbw) (clear rkeaz) | [
[
"put-down zrvla"
],
[
"unstack fddgn nkktn"
],
[
"stack fddgn zrvla"
],
[
"pick-up rkeaz"
],
[
"stack rkeaz nkktn"
],
[
"unstack fddgn zrvla"
]
] | [
"(arm-empty) (on-table zrvla) (on-table rkeaz) (clear fddgn) (on nkktn guqbw) (clear rkeaz) (clear zrvla) (on-table guqbw) (on fddgn nkktn)",
"(clear zrvla) (on-table zrvla) (on-table rkeaz) (on-table guqbw) (holding fddgn) (on nkktn guqbw) (clear nkktn) (clear rkeaz)",
"(arm-empty) (on-table zrvla) (on-table rkeaz) (on-table guqbw) (on fddgn zrvla) (clear fddgn) (on nkktn guqbw) (clear nkktn) (clear rkeaz)",
"(on-table zrvla) (on-table guqbw) (clear fddgn) (on nkktn guqbw) (holding rkeaz) (on fddgn zrvla) (clear nkktn)",
"(arm-empty) (on-table zrvla) (on-table guqbw) (clear fddgn) (on rkeaz nkktn) (on nkktn guqbw) (on fddgn zrvla) (clear rkeaz)",
"(clear zrvla) (on-table zrvla) (on-table guqbw) (holding fddgn) (on rkeaz nkktn) (on nkktn guqbw) (clear rkeaz)"
] | file_71184 |
GOAL: (clear gxvxw) (on-table fhgyz) (holding otooq) (on fbuqq zrwqf) (on zrwqf fhgyz) (on gxvxw fbuqq) | GOAL: (clear gxvxw) (on-table fhgyz) (holding otooq) (on fbuqq zrwqf) (on zrwqf fhgyz) (on gxvxw fbuqq)
STATE: (holding fhgyz) (on zrwqf otooq) (on-table gxvxw) (on otooq fbuqq) (on fbuqq gxvxw) (clear zrwqf) | [
[
"put-down fhgyz"
],
[
"unstack zrwqf otooq"
],
[
"stack zrwqf fhgyz"
],
[
"unstack otooq fbuqq"
],
[
"put-down otooq"
],
[
"unstack fbuqq gxvxw"
],
[
"stack fbuqq zrwqf"
],
[
"pick-up gxvxw"
],
[
"stack gxvxw fbuqq"
],
[
"pick-up otooq"
]
] | [
"(arm-empty) (on-table gxvxw) (on otooq fbuqq) (on fbuqq gxvxw) (on zrwqf otooq) (on-table fhgyz) (clear zrwqf) (clear fhgyz)",
"(on-table gxvxw) (on otooq fbuqq) (on-table fhgyz) (on fbuqq gxvxw) (clear otooq) (holding zrwqf) (clear fhgyz)",
"(arm-empty) (on-table gxvxw) (on otooq fbuqq) (on-table fhgyz) (on fbuqq gxvxw) (clear otooq) (on zrwqf fhgyz) (clear zrwqf)",
"(on-table gxvxw) (on-table fhgyz) (holding otooq) (on fbuqq gxvxw) (on zrwqf fhgyz) (clear zrwqf) (clear fbuqq)",
"(arm-empty) (on-table gxvxw) (on fbuqq gxvxw) (clear otooq) (on zrwqf fhgyz) (clear fbuqq) (on-table fhgyz) (on-table otooq) (clear zrwqf)",
"(clear gxvxw) (on-table gxvxw) (on-table fhgyz) (clear otooq) (holding fbuqq) (on-table otooq) (on zrwqf fhgyz) (clear zrwqf)",
"(clear gxvxw) (arm-empty) (on-table gxvxw) (on-table fhgyz) (clear otooq) (on fbuqq zrwqf) (on-table otooq) (on zrwqf fhgyz) (clear fbuqq)",
"(on-table fhgyz) (clear otooq) (on fbuqq zrwqf) (on-table otooq) (holding gxvxw) (on zrwqf fhgyz) (clear fbuqq)",
"(clear gxvxw) (arm-empty) (on-table fhgyz) (clear otooq) (on fbuqq zrwqf) (on-table otooq) (on zrwqf fhgyz) (on gxvxw fbuqq)",
"(clear gxvxw) (on-table fhgyz) (holding otooq) (on fbuqq zrwqf) (on zrwqf fhgyz) (on gxvxw fbuqq)"
] | file_101559 |
GOAL: (on-table gmrpb) (holding zmqwj) (on iamit mgdob) (on slxqm iamit) (clear slxqm) (on-table mgdob) (clear gmrpb) | GOAL: (on-table gmrpb) (holding zmqwj) (on iamit mgdob) (on slxqm iamit) (clear slxqm) (on-table mgdob) (clear gmrpb)
STATE: (clear iamit) (arm-empty) (on zmqwj gmrpb) (on-table slxqm) (on gmrpb slxqm) (on iamit zmqwj) (clear mgdob) (on-table mgdob) | [
[
"unstack iamit zmqwj"
],
[
"stack iamit mgdob"
],
[
"unstack zmqwj gmrpb"
],
[
"put-down zmqwj"
],
[
"unstack gmrpb slxqm"
],
[
"stack gmrpb zmqwj"
],
[
"pick-up slxqm"
],
[
"stack slxqm iamit"
],
[
"unstack gmrpb zmqwj"
],
[
"put-down gmrpb"
],
[
"pick-up zmqwj"
]
] | [
"(on zmqwj gmrpb) (on-table slxqm) (clear zmqwj) (on gmrpb slxqm) (holding iamit) (clear mgdob) (on-table mgdob)",
"(clear iamit) (arm-empty) (on zmqwj gmrpb) (on-table slxqm) (clear zmqwj) (on gmrpb slxqm) (on iamit mgdob) (on-table mgdob)",
"(clear iamit) (on-table slxqm) (holding zmqwj) (on gmrpb slxqm) (on iamit mgdob) (on-table mgdob) (clear gmrpb)",
"(arm-empty) (clear zmqwj) (clear gmrpb) (clear iamit) (on-table slxqm) (on gmrpb slxqm) (on-table zmqwj) (on iamit mgdob) (on-table mgdob)",
"(clear iamit) (on-table slxqm) (clear zmqwj) (holding gmrpb) (on-table zmqwj) (on iamit mgdob) (clear slxqm) (on-table mgdob)",
"(clear iamit) (arm-empty) (on gmrpb zmqwj) (on-table slxqm) (on-table zmqwj) (on iamit mgdob) (clear slxqm) (on-table mgdob) (clear gmrpb)",
"(holding slxqm) (clear iamit) (on gmrpb zmqwj) (on-table zmqwj) (on iamit mgdob) (on-table mgdob) (clear gmrpb)",
"(arm-empty) (on gmrpb zmqwj) (on slxqm iamit) (on-table zmqwj) (on iamit mgdob) (clear slxqm) (on-table mgdob) (clear gmrpb)",
"(clear zmqwj) (on slxqm iamit) (holding gmrpb) (on-table zmqwj) (on iamit mgdob) (clear slxqm) (on-table mgdob)",
"(arm-empty) (on-table gmrpb) (clear zmqwj) (on slxqm iamit) (clear gmrpb) (on-table zmqwj) (on iamit mgdob) (clear slxqm) (on-table mgdob)",
"(on-table gmrpb) (holding zmqwj) (on iamit mgdob) (on slxqm iamit) (clear slxqm) (on-table mgdob) (clear gmrpb)"
] | file_98835 |
GOAL: (arm-empty) (on tijbm tnfdr) (on-table tnfdr) (on-table kfurb) (on ugpjl ajykk) (clear tijbm) (on ajykk kfurb) (clear ugpjl) | GOAL: (arm-empty) (on tijbm tnfdr) (on-table tnfdr) (on-table kfurb) (on ugpjl ajykk) (clear tijbm) (on ajykk kfurb) (clear ugpjl)
STATE: (on-table kfurb) (on ugpjl ajykk) (clear tijbm) (on tijbm ugpjl) (holding tnfdr) (on ajykk kfurb) | [
[
"put-down tnfdr"
],
[
"unstack tijbm ugpjl"
],
[
"stack tijbm tnfdr"
]
] | [
"(arm-empty) (on-table tnfdr) (clear tijbm) (on ajykk kfurb) (clear tnfdr) (on-table kfurb) (on ugpjl ajykk) (on tijbm ugpjl)",
"(on-table tnfdr) (on-table kfurb) (holding tijbm) (on ugpjl ajykk) (on ajykk kfurb) (clear ugpjl) (clear tnfdr)",
"(arm-empty) (on tijbm tnfdr) (on-table tnfdr) (on-table kfurb) (on ugpjl ajykk) (clear tijbm) (on ajykk kfurb) (clear ugpjl)"
] | file_183386 |
GOAL: (clear ersaf) (on-table ersaf) (on-table dsdyv) (on-table omwbr) (on rpsxa omwbr) (holding hgeqs) (clear rpsxa) (clear dsdyv) | GOAL: (clear ersaf) (on-table ersaf) (on-table dsdyv) (on-table omwbr) (on rpsxa omwbr) (holding hgeqs) (clear rpsxa) (clear dsdyv)
STATE: (arm-empty) (on-table dsdyv) (on hgeqs ersaf) (on-table omwbr) (on rpsxa omwbr) (on ersaf rpsxa) (clear hgeqs) (clear dsdyv) | [
[
"unstack hgeqs ersaf"
],
[
"stack hgeqs dsdyv"
],
[
"unstack ersaf rpsxa"
],
[
"put-down ersaf"
],
[
"unstack hgeqs dsdyv"
]
] | [
"(clear ersaf) (on-table dsdyv) (on-table omwbr) (on rpsxa omwbr) (on ersaf rpsxa) (holding hgeqs) (clear dsdyv)",
"(clear ersaf) (on hgeqs dsdyv) (arm-empty) (on-table dsdyv) (on-table omwbr) (on rpsxa omwbr) (on ersaf rpsxa) (clear hgeqs)",
"(on hgeqs dsdyv) (on-table dsdyv) (holding ersaf) (on-table omwbr) (on rpsxa omwbr) (clear hgeqs) (clear rpsxa)",
"(on hgeqs dsdyv) (arm-empty) (on-table ersaf) (on-table dsdyv) (clear ersaf) (on-table omwbr) (on rpsxa omwbr) (clear hgeqs) (clear rpsxa)",
"(clear ersaf) (on-table ersaf) (on-table dsdyv) (on-table omwbr) (on rpsxa omwbr) (holding hgeqs) (clear rpsxa) (clear dsdyv)"
] | file_43806 |
GOAL: (on mixlx xiyfv) (clear kfjoj) (arm-empty) (on xiyfv oakkh) (on-table izopt) (on oakkh izopt) (on kfjoj mixlx) | GOAL: (on mixlx xiyfv) (clear kfjoj) (arm-empty) (on xiyfv oakkh) (on-table izopt) (on oakkh izopt) (on kfjoj mixlx)
STATE: (arm-empty) (on-table kfjoj) (on izopt xiyfv) (on-table oakkh) (on xiyfv kfjoj) (clear izopt) (clear mixlx) (clear oakkh) (on-table mixlx) | [
[
"pick-up oakkh"
],
[
"stack oakkh mixlx"
],
[
"unstack izopt xiyfv"
],
[
"put-down izopt"
],
[
"unstack oakkh mixlx"
],
[
"stack oakkh izopt"
],
[
"unstack xiyfv kfjoj"
],
[
"stack xiyfv oakkh"
],
[
"pick-up mixlx"
],
[
"stack mixlx xiyfv"
],
[
"pick-up kfjoj"
],
[
"stack kfjoj mixlx"
]
] | [
"(holding oakkh) (on-table kfjoj) (on izopt xiyfv) (on xiyfv kfjoj) (clear izopt) (clear mixlx) (on-table mixlx)",
"(on oakkh mixlx) (arm-empty) (on-table kfjoj) (on izopt xiyfv) (on xiyfv kfjoj) (clear izopt) (clear oakkh) (on-table mixlx)",
"(on oakkh mixlx) (on-table kfjoj) (holding izopt) (on xiyfv kfjoj) (clear oakkh) (on-table mixlx) (clear xiyfv)",
"(on oakkh mixlx) (arm-empty) (on-table kfjoj) (on xiyfv kfjoj) (clear izopt) (clear xiyfv) (on-table izopt) (clear oakkh) (on-table mixlx)",
"(holding oakkh) (on-table kfjoj) (on xiyfv kfjoj) (clear izopt) (on-table izopt) (clear mixlx) (on-table mixlx) (clear xiyfv)",
"(arm-empty) (on-table kfjoj) (on xiyfv kfjoj) (on-table izopt) (on oakkh izopt) (clear mixlx) (clear oakkh) (on-table mixlx) (clear xiyfv)",
"(clear kfjoj) (on-table kfjoj) (holding xiyfv) (on-table izopt) (on oakkh izopt) (clear mixlx) (clear oakkh) (on-table mixlx)",
"(clear kfjoj) (arm-empty) (on-table kfjoj) (on xiyfv oakkh) (on-table izopt) (on oakkh izopt) (clear mixlx) (on-table mixlx) (clear xiyfv)",
"(clear kfjoj) (on-table kfjoj) (on xiyfv oakkh) (on-table izopt) (on oakkh izopt) (holding mixlx) (clear xiyfv)",
"(clear kfjoj) (on mixlx xiyfv) (arm-empty) (on-table kfjoj) (on xiyfv oakkh) (on-table izopt) (on oakkh izopt) (clear mixlx)",
"(on mixlx xiyfv) (holding kfjoj) (on xiyfv oakkh) (on-table izopt) (on oakkh izopt) (clear mixlx)",
"(on mixlx xiyfv) (clear kfjoj) (arm-empty) (on xiyfv oakkh) (on-table izopt) (on oakkh izopt) (on kfjoj mixlx)"
] | file_23573 |
GOAL: (arm-empty) (on-table rqlga) (on aqujl hcjes) (on hcjes rqlga) (clear nuwxn) (clear aqujl) (on-table nuwxn) | GOAL: (arm-empty) (on-table rqlga) (on aqujl hcjes) (on hcjes rqlga) (clear nuwxn) (clear aqujl) (on-table nuwxn)
STATE: (arm-empty) (on-table rqlga) (clear hcjes) (on-table hcjes) (clear nuwxn) (on aqujl rqlga) (clear aqujl) (on-table nuwxn) | [
[
"unstack aqujl rqlga"
],
[
"put-down aqujl"
],
[
"pick-up hcjes"
],
[
"stack hcjes rqlga"
],
[
"pick-up aqujl"
],
[
"stack aqujl hcjes"
]
] | [
"(holding aqujl) (clear rqlga) (on-table rqlga) (clear hcjes) (on-table hcjes) (clear nuwxn) (on-table nuwxn)",
"(arm-empty) (on-table rqlga) (clear hcjes) (clear rqlga) (on-table aqujl) (on-table hcjes) (clear nuwxn) (clear aqujl) (on-table nuwxn)",
"(clear rqlga) (on-table rqlga) (on-table aqujl) (holding hcjes) (clear nuwxn) (clear aqujl) (on-table nuwxn)",
"(arm-empty) (on-table rqlga) (on-table aqujl) (clear hcjes) (on hcjes rqlga) (clear nuwxn) (clear aqujl) (on-table nuwxn)",
"(holding aqujl) (on-table rqlga) (clear hcjes) (on hcjes rqlga) (clear nuwxn) (on-table nuwxn)",
"(arm-empty) (on-table rqlga) (on aqujl hcjes) (on hcjes rqlga) (clear nuwxn) (clear aqujl) (on-table nuwxn)"
] | file_207030 |
GOAL: (on kbhqf ushcy) (arm-empty) (on-table sgsbk) (on-table ushcy) (on okgbu sgsbk) (clear zgtlc) (on-table zgtlc) (clear okgbu) (clear kbhqf) | GOAL: (on kbhqf ushcy) (arm-empty) (on-table sgsbk) (on-table ushcy) (on okgbu sgsbk) (clear zgtlc) (on-table zgtlc) (clear okgbu) (clear kbhqf)
STATE: (arm-empty) (on ushcy sgsbk) (on-table zgtlc) (on kbhqf zgtlc) (on sgsbk kbhqf) (clear okgbu) (on-table okgbu) (clear ushcy) | [
[
"unstack ushcy sgsbk"
],
[
"stack ushcy okgbu"
],
[
"unstack sgsbk kbhqf"
],
[
"put-down sgsbk"
],
[
"unstack ushcy okgbu"
],
[
"put-down ushcy"
],
[
"pick-up okgbu"
],
[
"stack okgbu sgsbk"
],
[
"unstack kbhqf zgtlc"
],
[
"stack kbhqf ushcy"
]
] | [
"(clear sgsbk) (holding ushcy) (on-table zgtlc) (on kbhqf zgtlc) (on sgsbk kbhqf) (clear okgbu) (on-table okgbu)",
"(clear sgsbk) (arm-empty) (on ushcy okgbu) (on-table zgtlc) (on kbhqf zgtlc) (on sgsbk kbhqf) (on-table okgbu) (clear ushcy)",
"(holding sgsbk) (on ushcy okgbu) (on-table zgtlc) (on kbhqf zgtlc) (clear kbhqf) (on-table okgbu) (clear ushcy)",
"(arm-empty) (on-table sgsbk) (on ushcy okgbu) (clear ushcy) (clear sgsbk) (on-table zgtlc) (on kbhqf zgtlc) (clear kbhqf) (on-table okgbu)",
"(clear sgsbk) (on-table sgsbk) (holding ushcy) (on-table zgtlc) (on kbhqf zgtlc) (clear okgbu) (clear kbhqf) (on-table okgbu)",
"(clear sgsbk) (arm-empty) (on-table sgsbk) (on-table ushcy) (on-table zgtlc) (on kbhqf zgtlc) (clear okgbu) (clear kbhqf) (on-table okgbu) (clear ushcy)",
"(clear sgsbk) (on-table sgsbk) (on-table ushcy) (on-table zgtlc) (on kbhqf zgtlc) (holding okgbu) (clear kbhqf) (clear ushcy)",
"(arm-empty) (on-table sgsbk) (on-table ushcy) (on okgbu sgsbk) (on-table zgtlc) (on kbhqf zgtlc) (clear okgbu) (clear kbhqf) (clear ushcy)",
"(holding kbhqf) (on-table sgsbk) (on-table ushcy) (on okgbu sgsbk) (clear zgtlc) (on-table zgtlc) (clear okgbu) (clear ushcy)",
"(on kbhqf ushcy) (arm-empty) (on-table sgsbk) (on-table ushcy) (on okgbu sgsbk) (clear zgtlc) (on-table zgtlc) (clear okgbu) (clear kbhqf)"
] | file_185175 |
GOAL: (on lkony otrqp) (on kmsdh lkony) (on-table mrqze) (clear kmsdh) (holding hdpyl) (on-table otrqp) (clear mrqze) | GOAL: (on lkony otrqp) (on kmsdh lkony) (on-table mrqze) (clear kmsdh) (holding hdpyl) (on-table otrqp) (clear mrqze)
STATE: (on lkony mrqze) (clear hdpyl) (on-table hdpyl) (on-table mrqze) (holding kmsdh) (on otrqp lkony) (clear otrqp) | [
[
"stack kmsdh hdpyl"
],
[
"unstack otrqp lkony"
],
[
"put-down otrqp"
],
[
"unstack lkony mrqze"
],
[
"stack lkony otrqp"
],
[
"unstack kmsdh hdpyl"
],
[
"stack kmsdh lkony"
],
[
"pick-up hdpyl"
]
] | [
"(on lkony mrqze) (arm-empty) (on-table hdpyl) (on-table mrqze) (clear kmsdh) (on otrqp lkony) (on kmsdh hdpyl) (clear otrqp)",
"(on lkony mrqze) (on-table hdpyl) (on-table mrqze) (on kmsdh hdpyl) (clear kmsdh) (holding otrqp) (clear lkony)",
"(on lkony mrqze) (arm-empty) (on-table hdpyl) (on-table mrqze) (clear kmsdh) (on kmsdh hdpyl) (clear otrqp) (clear lkony) (on-table otrqp)",
"(holding lkony) (on-table hdpyl) (on-table mrqze) (clear kmsdh) (on kmsdh hdpyl) (clear otrqp) (on-table otrqp) (clear mrqze)",
"(on lkony otrqp) (arm-empty) (on-table hdpyl) (on-table mrqze) (clear kmsdh) (on kmsdh hdpyl) (clear lkony) (on-table otrqp) (clear mrqze)",
"(clear hdpyl) (on lkony otrqp) (on-table hdpyl) (on-table mrqze) (holding kmsdh) (clear lkony) (on-table otrqp) (clear mrqze)",
"(clear hdpyl) (on lkony otrqp) (on kmsdh lkony) (on-table hdpyl) (on-table mrqze) (arm-empty) (clear kmsdh) (on-table otrqp) (clear mrqze)",
"(on lkony otrqp) (on kmsdh lkony) (on-table mrqze) (clear kmsdh) (holding hdpyl) (on-table otrqp) (clear mrqze)"
] | file_186187 |
GOAL: (arm-empty) (clear axgbc) (on nyxcs cjuke) (on-table axgbc) (on bxyyr nyxcs) (on sjjbb bxyyr) (clear sjjbb) (on-table cjuke) | GOAL: (arm-empty) (clear axgbc) (on nyxcs cjuke) (on-table axgbc) (on bxyyr nyxcs) (on sjjbb bxyyr) (clear sjjbb) (on-table cjuke)
STATE: (clear bxyyr) (on-table nyxcs) (holding axgbc) (on-table sjjbb) (on bxyyr sjjbb) (clear cjuke) (on-table cjuke) (clear nyxcs) | [
[
"stack axgbc cjuke"
],
[
"pick-up nyxcs"
],
[
"stack nyxcs bxyyr"
],
[
"unstack axgbc cjuke"
],
[
"put-down axgbc"
],
[
"unstack nyxcs bxyyr"
],
[
"stack nyxcs cjuke"
],
[
"unstack bxyyr sjjbb"
],
[
"stack bxyyr nyxcs"
],
[
"pick-up sjjbb"
],
[
"stack sjjbb bxyyr"
]
] | [
"(clear bxyyr) (arm-empty) (on-table nyxcs) (on-table sjjbb) (clear axgbc) (on axgbc cjuke) (on bxyyr sjjbb) (on-table cjuke) (clear nyxcs)",
"(clear bxyyr) (on-table sjjbb) (clear axgbc) (on axgbc cjuke) (holding nyxcs) (on bxyyr sjjbb) (on-table cjuke)",
"(arm-empty) (on-table sjjbb) (on nyxcs bxyyr) (clear axgbc) (on axgbc cjuke) (on bxyyr sjjbb) (on-table cjuke) (clear nyxcs)",
"(on-table sjjbb) (holding axgbc) (on nyxcs bxyyr) (on bxyyr sjjbb) (clear cjuke) (on-table cjuke) (clear nyxcs)",
"(arm-empty) (on nyxcs bxyyr) (clear axgbc) (on bxyyr sjjbb) (clear nyxcs) (on-table sjjbb) (on-table axgbc) (clear cjuke) (on-table cjuke)",
"(clear bxyyr) (on-table sjjbb) (clear axgbc) (holding nyxcs) (on-table axgbc) (on bxyyr sjjbb) (clear cjuke) (on-table cjuke)",
"(clear bxyyr) (arm-empty) (on-table sjjbb) (clear axgbc) (on nyxcs cjuke) (on-table axgbc) (on bxyyr sjjbb) (on-table cjuke) (clear nyxcs)",
"(on-table sjjbb) (clear axgbc) (on nyxcs cjuke) (on-table axgbc) (holding bxyyr) (clear sjjbb) (on-table cjuke) (clear nyxcs)",
"(clear bxyyr) (arm-empty) (on-table sjjbb) (clear axgbc) (on nyxcs cjuke) (on-table axgbc) (on bxyyr nyxcs) (clear sjjbb) (on-table cjuke)",
"(holding sjjbb) (clear bxyyr) (clear axgbc) (on nyxcs cjuke) (on-table axgbc) (on bxyyr nyxcs) (on-table cjuke)",
"(arm-empty) (clear axgbc) (on nyxcs cjuke) (on-table axgbc) (on bxyyr nyxcs) (on sjjbb bxyyr) (clear sjjbb) (on-table cjuke)"
] | file_157801 |
GOAL: (on xueck wiyxl) (on vqtxv ckdhy) (on-table ckdhy) (on-table wiyxl) (holding swfok) (clear xueck) (clear vqtxv) | GOAL: (on xueck wiyxl) (on vqtxv ckdhy) (on-table ckdhy) (on-table wiyxl) (holding swfok) (clear xueck) (clear vqtxv)
STATE: (on xueck wiyxl) (on vqtxv xueck) (arm-empty) (on ckdhy swfok) (on-table wiyxl) (on swfok vqtxv) (clear ckdhy) | [
[
"unstack ckdhy swfok"
],
[
"put-down ckdhy"
],
[
"unstack swfok vqtxv"
],
[
"put-down swfok"
],
[
"unstack vqtxv xueck"
],
[
"stack vqtxv ckdhy"
],
[
"pick-up swfok"
]
] | [
"(on vqtxv xueck) (holding ckdhy) (on swfok vqtxv) (on xueck wiyxl) (clear swfok) (on-table wiyxl)",
"(on vqtxv xueck) (arm-empty) (on-table ckdhy) (on swfok vqtxv) (clear ckdhy) (on xueck wiyxl) (clear swfok) (on-table wiyxl)",
"(on xueck wiyxl) (on vqtxv xueck) (on-table ckdhy) (on-table wiyxl) (holding swfok) (clear vqtxv) (clear ckdhy)",
"(on vqtxv xueck) (arm-empty) (on-table swfok) (on-table ckdhy) (clear ckdhy) (on xueck wiyxl) (clear swfok) (on-table wiyxl) (clear vqtxv)",
"(holding vqtxv) (on xueck wiyxl) (clear swfok) (on-table swfok) (on-table ckdhy) (on-table wiyxl) (clear xueck) (clear ckdhy)",
"(on xueck wiyxl) (clear swfok) (on vqtxv ckdhy) (arm-empty) (on-table swfok) (on-table ckdhy) (on-table wiyxl) (clear xueck) (clear vqtxv)",
"(on xueck wiyxl) (on vqtxv ckdhy) (on-table ckdhy) (on-table wiyxl) (holding swfok) (clear xueck) (clear vqtxv)"
] | file_29053 |
GOAL: (clear njzpx) (arm-empty) (on-table ogywx) (on jwdqw ogywx) (on-table pyzme) (on njzpx pyzme) (clear kdoit) (on-table kdoit) (clear jwdqw) | GOAL: (clear njzpx) (arm-empty) (on-table ogywx) (on jwdqw ogywx) (on-table pyzme) (on njzpx pyzme) (clear kdoit) (on-table kdoit) (clear jwdqw)
STATE: (on kdoit jwdqw) (arm-empty) (on jwdqw ogywx) (on-table pyzme) (on njzpx pyzme) (clear kdoit) (on ogywx njzpx) | [
[
"unstack kdoit jwdqw"
],
[
"put-down kdoit"
],
[
"unstack jwdqw ogywx"
],
[
"stack jwdqw kdoit"
],
[
"unstack ogywx njzpx"
],
[
"put-down ogywx"
],
[
"unstack jwdqw kdoit"
],
[
"stack jwdqw ogywx"
]
] | [
"(on njzpx pyzme) (on ogywx njzpx) (clear jwdqw) (on jwdqw ogywx) (on-table pyzme) (holding kdoit)",
"(on jwdqw ogywx) (on-table pyzme) (arm-empty) (on njzpx pyzme) (clear kdoit) (on ogywx njzpx) (on-table kdoit) (clear jwdqw)",
"(holding jwdqw) (on-table pyzme) (on njzpx pyzme) (clear kdoit) (on ogywx njzpx) (clear ogywx) (on-table kdoit)",
"(arm-empty) (on jwdqw kdoit) (on-table pyzme) (on njzpx pyzme) (on ogywx njzpx) (clear ogywx) (on-table kdoit) (clear jwdqw)",
"(holding ogywx) (clear njzpx) (on jwdqw kdoit) (on-table pyzme) (on njzpx pyzme) (on-table kdoit) (clear jwdqw)",
"(arm-empty) (on jwdqw kdoit) (on njzpx pyzme) (clear jwdqw) (clear njzpx) (on-table ogywx) (on-table pyzme) (clear ogywx) (on-table kdoit)",
"(clear njzpx) (on-table ogywx) (holding jwdqw) (on-table pyzme) (on njzpx pyzme) (clear kdoit) (clear ogywx) (on-table kdoit)",
"(clear njzpx) (arm-empty) (on-table ogywx) (on jwdqw ogywx) (on-table pyzme) (on njzpx pyzme) (clear kdoit) (on-table kdoit) (clear jwdqw)"
] | file_105630 |
GOAL: (arm-empty) (on hzspa bkodf) (on jqglc hzspa) (on-table qtkqb) (on rngiz qtkqb) (on bkodf rngiz) (clear jqglc) | GOAL: (arm-empty) (on hzspa bkodf) (on jqglc hzspa) (on-table qtkqb) (on rngiz qtkqb) (on bkodf rngiz) (clear jqglc)
STATE: (holding rngiz) (on hzspa qtkqb) (clear bkodf) (on-table bkodf) (on-table jqglc) (on-table qtkqb) (clear hzspa) (clear jqglc) | [
[
"stack rngiz bkodf"
],
[
"unstack hzspa qtkqb"
],
[
"put-down hzspa"
],
[
"unstack rngiz bkodf"
],
[
"stack rngiz qtkqb"
],
[
"pick-up bkodf"
],
[
"stack bkodf rngiz"
],
[
"pick-up hzspa"
],
[
"stack hzspa bkodf"
],
[
"pick-up jqglc"
],
[
"stack jqglc hzspa"
]
] | [
"(on hzspa qtkqb) (arm-empty) (on-table bkodf) (on-table jqglc) (on-table qtkqb) (clear hzspa) (on rngiz bkodf) (clear rngiz) (clear jqglc)",
"(on-table bkodf) (on-table jqglc) (clear qtkqb) (on-table qtkqb) (on rngiz bkodf) (clear rngiz) (holding hzspa) (clear jqglc)",
"(arm-empty) (on-table bkodf) (on-table jqglc) (clear qtkqb) (on-table qtkqb) (clear hzspa) (on rngiz bkodf) (clear rngiz) (on-table hzspa) (clear jqglc)",
"(holding rngiz) (clear bkodf) (on-table bkodf) (on-table jqglc) (clear qtkqb) (on-table qtkqb) (clear hzspa) (on-table hzspa) (clear jqglc)",
"(clear bkodf) (arm-empty) (on-table bkodf) (on-table jqglc) (on-table qtkqb) (on rngiz qtkqb) (clear hzspa) (clear rngiz) (on-table hzspa) (clear jqglc)",
"(on-table jqglc) (holding bkodf) (on-table qtkqb) (on rngiz qtkqb) (clear hzspa) (clear rngiz) (on-table hzspa) (clear jqglc)",
"(clear bkodf) (arm-empty) (on-table jqglc) (clear jqglc) (on-table qtkqb) (on bkodf rngiz) (clear hzspa) (on rngiz qtkqb) (on-table hzspa)",
"(clear bkodf) (on-table jqglc) (on-table qtkqb) (on rngiz qtkqb) (on bkodf rngiz) (holding hzspa) (clear jqglc)",
"(arm-empty) (on-table jqglc) (on hzspa bkodf) (on-table qtkqb) (on rngiz qtkqb) (on bkodf rngiz) (clear hzspa) (clear jqglc)",
"(on hzspa bkodf) (holding jqglc) (on-table qtkqb) (on rngiz qtkqb) (on bkodf rngiz) (clear hzspa)",
"(arm-empty) (on hzspa bkodf) (on jqglc hzspa) (on-table qtkqb) (on rngiz qtkqb) (on bkodf rngiz) (clear jqglc)"
] | file_95019 |
GOAL: (on vgdux pvhzn) (on vjabz vgdux) (on xoxam vjabz) (on-table pvhzn) (holding zvvtl) (clear xoxam) | GOAL: (on vgdux pvhzn) (on vjabz vgdux) (on xoxam vjabz) (on-table pvhzn) (holding zvvtl) (clear xoxam)
STATE: (on vjabz xoxam) (on pvhzn vjabz) (arm-empty) (on-table zvvtl) (on xoxam zvvtl) (clear pvhzn) (clear vgdux) (on-table vgdux) | [
[
"unstack pvhzn vjabz"
],
[
"put-down pvhzn"
],
[
"pick-up vgdux"
],
[
"stack vgdux pvhzn"
],
[
"unstack vjabz xoxam"
],
[
"stack vjabz vgdux"
],
[
"unstack xoxam zvvtl"
],
[
"stack xoxam vjabz"
],
[
"pick-up zvvtl"
]
] | [
"(on vjabz xoxam) (on-table zvvtl) (holding pvhzn) (on xoxam zvvtl) (clear vgdux) (clear vjabz) (on-table vgdux)",
"(on vjabz xoxam) (arm-empty) (on-table zvvtl) (on xoxam zvvtl) (clear pvhzn) (on-table pvhzn) (clear vgdux) (clear vjabz) (on-table vgdux)",
"(on vjabz xoxam) (on-table zvvtl) (on xoxam zvvtl) (clear pvhzn) (on-table pvhzn) (holding vgdux) (clear vjabz)",
"(on vjabz xoxam) (on vgdux pvhzn) (arm-empty) (on-table zvvtl) (on xoxam zvvtl) (on-table pvhzn) (clear vgdux) (clear vjabz)",
"(holding vjabz) (on vgdux pvhzn) (on-table zvvtl) (on xoxam zvvtl) (on-table pvhzn) (clear vgdux) (clear xoxam)",
"(on vgdux pvhzn) (on vjabz vgdux) (arm-empty) (on-table zvvtl) (on xoxam zvvtl) (on-table pvhzn) (clear vjabz) (clear xoxam)",
"(on vgdux pvhzn) (clear zvvtl) (on vjabz vgdux) (on-table zvvtl) (holding xoxam) (on-table pvhzn) (clear vjabz)",
"(on vgdux pvhzn) (clear zvvtl) (on vjabz vgdux) (arm-empty) (on-table zvvtl) (on xoxam vjabz) (on-table pvhzn) (clear xoxam)",
"(on vgdux pvhzn) (on vjabz vgdux) (on xoxam vjabz) (on-table pvhzn) (holding zvvtl) (clear xoxam)"
] | file_1270 |
GOAL: (on lfjjm njhcu) (clear zwcup) (on-table zwcup) (on-table gwtiv) (holding hklib) (on-table njhcu) (clear lfjjm) (clear gwtiv) | GOAL: (on lfjjm njhcu) (clear zwcup) (on-table zwcup) (on-table gwtiv) (holding hklib) (on-table njhcu) (clear lfjjm) (clear gwtiv)
STATE: (holding gwtiv) (on lfjjm njhcu) (clear zwcup) (on-table zwcup) (on hklib lfjjm) (on-table njhcu) (clear hklib) | [
[
"put-down gwtiv"
],
[
"unstack hklib lfjjm"
]
] | [
"(arm-empty) (on-table zwcup) (on hklib lfjjm) (clear hklib) (on lfjjm njhcu) (clear zwcup) (on-table gwtiv) (on-table njhcu) (clear gwtiv)",
"(on lfjjm njhcu) (clear zwcup) (on-table zwcup) (on-table gwtiv) (holding hklib) (on-table njhcu) (clear lfjjm) (clear gwtiv)"
] | file_4505 |
GOAL: (clear mpyoq) (on-table rchdl) (on-table sslha) (holding hrvfi) (on mpyoq rchdl) (clear giuuy) (clear sslha) (on-table giuuy) | GOAL: (clear mpyoq) (on-table rchdl) (on-table sslha) (holding hrvfi) (on mpyoq rchdl) (clear giuuy) (clear sslha) (on-table giuuy)
STATE: (on hrvfi sslha) (arm-empty) (on-table rchdl) (clear hrvfi) (on mpyoq rchdl) (clear giuuy) (on sslha mpyoq) (on-table giuuy) | [
[
"unstack hrvfi sslha"
],
[
"stack hrvfi giuuy"
],
[
"unstack sslha mpyoq"
],
[
"put-down sslha"
],
[
"unstack hrvfi giuuy"
]
] | [
"(on-table rchdl) (holding hrvfi) (on mpyoq rchdl) (clear giuuy) (on sslha mpyoq) (clear sslha) (on-table giuuy)",
"(arm-empty) (on-table rchdl) (clear hrvfi) (on hrvfi giuuy) (on mpyoq rchdl) (on sslha mpyoq) (clear sslha) (on-table giuuy)",
"(holding sslha) (clear mpyoq) (on-table rchdl) (clear hrvfi) (on hrvfi giuuy) (on mpyoq rchdl) (on-table giuuy)",
"(arm-empty) (on-table rchdl) (clear hrvfi) (on mpyoq rchdl) (clear mpyoq) (on-table sslha) (on hrvfi giuuy) (clear sslha) (on-table giuuy)",
"(clear mpyoq) (on-table rchdl) (on-table sslha) (holding hrvfi) (on mpyoq rchdl) (clear giuuy) (clear sslha) (on-table giuuy)"
] | file_121342 |
GOAL: (on icezh uctum) (clear vrkpo) (on woobl rwpaw) (arm-empty) (on-table uctum) (on-table rwpaw) (clear woobl) (on vrkpo icezh) | GOAL: (on icezh uctum) (clear vrkpo) (on woobl rwpaw) (arm-empty) (on-table uctum) (on-table rwpaw) (clear woobl) (on vrkpo icezh)
STATE: (arm-empty) (on icezh vrkpo) (on uctum icezh) (on-table woobl) (on rwpaw woobl) (on vrkpo rwpaw) (clear uctum) | [
[
"unstack uctum icezh"
],
[
"put-down uctum"
],
[
"unstack icezh vrkpo"
],
[
"stack icezh uctum"
],
[
"unstack vrkpo rwpaw"
],
[
"stack vrkpo icezh"
],
[
"unstack rwpaw woobl"
],
[
"put-down rwpaw"
],
[
"pick-up woobl"
],
[
"stack woobl rwpaw"
]
] | [
"(holding uctum) (on vrkpo rwpaw) (on icezh vrkpo) (on-table woobl) (on rwpaw woobl) (clear icezh)",
"(arm-empty) (on-table uctum) (on vrkpo rwpaw) (clear uctum) (on icezh vrkpo) (on-table woobl) (on rwpaw woobl) (clear icezh)",
"(clear vrkpo) (on-table uctum) (on-table woobl) (on rwpaw woobl) (on vrkpo rwpaw) (holding icezh) (clear uctum)",
"(clear vrkpo) (on icezh uctum) (arm-empty) (on-table uctum) (on-table woobl) (on rwpaw woobl) (on vrkpo rwpaw) (clear icezh)",
"(on icezh uctum) (on-table uctum) (holding vrkpo) (on-table woobl) (on rwpaw woobl) (clear icezh) (clear rwpaw)",
"(on icezh uctum) (clear vrkpo) (arm-empty) (on-table uctum) (on-table woobl) (on rwpaw woobl) (on vrkpo icezh) (clear rwpaw)",
"(holding rwpaw) (on icezh uctum) (clear vrkpo) (on-table uctum) (clear woobl) (on-table woobl) (on vrkpo icezh)",
"(on icezh uctum) (arm-empty) (on-table uctum) (clear woobl) (clear vrkpo) (on-table rwpaw) (on-table woobl) (on vrkpo icezh) (clear rwpaw)",
"(on icezh uctum) (clear vrkpo) (on-table uctum) (on-table rwpaw) (holding woobl) (on vrkpo icezh) (clear rwpaw)",
"(on icezh uctum) (clear vrkpo) (on woobl rwpaw) (arm-empty) (on-table uctum) (on-table rwpaw) (clear woobl) (on vrkpo icezh)"
] | file_99978 |
GOAL: (clear zscrb) (on khrnh fzivs) (on txvbt mayyt) (arm-empty) (on-table mayyt) (on zscrb txvbt) (clear khrnh) (on-table fzivs) | GOAL: (clear zscrb) (on khrnh fzivs) (on txvbt mayyt) (arm-empty) (on-table mayyt) (on zscrb txvbt) (clear khrnh) (on-table fzivs)
STATE: (on-table zscrb) (clear mayyt) (holding txvbt) (on-table mayyt) (clear fzivs) (on khrnh zscrb) (clear khrnh) (on-table fzivs) | [
[
"put-down txvbt"
],
[
"pick-up mayyt"
],
[
"stack mayyt txvbt"
],
[
"unstack khrnh zscrb"
],
[
"stack khrnh fzivs"
],
[
"pick-up zscrb"
],
[
"stack zscrb khrnh"
],
[
"unstack mayyt txvbt"
],
[
"put-down mayyt"
],
[
"pick-up txvbt"
],
[
"stack txvbt mayyt"
],
[
"unstack zscrb khrnh"
],
[
"stack zscrb txvbt"
]
] | [
"(arm-empty) (on-table zscrb) (on-table txvbt) (clear mayyt) (on-table mayyt) (clear fzivs) (on khrnh zscrb) (clear khrnh) (on-table fzivs) (clear txvbt)",
"(on-table zscrb) (on-table txvbt) (holding mayyt) (clear fzivs) (on khrnh zscrb) (clear khrnh) (on-table fzivs) (clear txvbt)",
"(arm-empty) (on-table zscrb) (on-table txvbt) (on mayyt txvbt) (clear mayyt) (clear fzivs) (on khrnh zscrb) (clear khrnh) (on-table fzivs)",
"(holding khrnh) (clear zscrb) (on-table zscrb) (on-table txvbt) (on mayyt txvbt) (clear mayyt) (clear fzivs) (on-table fzivs)",
"(clear zscrb) (on khrnh fzivs) (arm-empty) (on-table zscrb) (on-table txvbt) (on mayyt txvbt) (clear mayyt) (clear khrnh) (on-table fzivs)",
"(on khrnh fzivs) (on-table txvbt) (on mayyt txvbt) (clear mayyt) (holding zscrb) (clear khrnh) (on-table fzivs)",
"(on khrnh fzivs) (arm-empty) (on-table txvbt) (on mayyt txvbt) (clear mayyt) (on zscrb khrnh) (clear zscrb) (on-table fzivs)",
"(clear zscrb) (on khrnh fzivs) (on-table txvbt) (holding mayyt) (on zscrb khrnh) (on-table fzivs) (clear txvbt)",
"(on khrnh fzivs) (arm-empty) (on-table txvbt) (clear mayyt) (on zscrb khrnh) (clear txvbt) (clear zscrb) (on-table mayyt) (on-table fzivs)",
"(clear zscrb) (on khrnh fzivs) (clear mayyt) (holding txvbt) (on-table mayyt) (on zscrb khrnh) (on-table fzivs)",
"(clear zscrb) (on khrnh fzivs) (on txvbt mayyt) (arm-empty) (on-table mayyt) (on zscrb khrnh) (on-table fzivs) (clear txvbt)",
"(on khrnh fzivs) (on txvbt mayyt) (on-table mayyt) (holding zscrb) (clear khrnh) (on-table fzivs) (clear txvbt)",
"(clear zscrb) (on khrnh fzivs) (on txvbt mayyt) (arm-empty) (on-table mayyt) (on zscrb txvbt) (clear khrnh) (on-table fzivs)"
] | file_141921 |
GOAL: (on onygi canbg) (on zptpe izuyb) (arm-empty) (on canbg upkcq) (on-table izuyb) (on upkcq zptpe) (clear onygi) | GOAL: (on onygi canbg) (on zptpe izuyb) (arm-empty) (on canbg upkcq) (on-table izuyb) (on upkcq zptpe) (clear onygi)
STATE: (holding onygi) (on izuyb zptpe) (on zptpe upkcq) (clear izuyb) (on upkcq canbg) (on-table canbg) | [
[
"put-down onygi"
],
[
"unstack izuyb zptpe"
],
[
"put-down izuyb"
],
[
"unstack zptpe upkcq"
],
[
"stack zptpe izuyb"
],
[
"unstack upkcq canbg"
],
[
"stack upkcq zptpe"
],
[
"pick-up canbg"
],
[
"stack canbg upkcq"
],
[
"pick-up onygi"
],
[
"stack onygi canbg"
]
] | [
"(arm-empty) (on izuyb zptpe) (on zptpe upkcq) (clear izuyb) (on-table onygi) (on upkcq canbg) (clear onygi) (on-table canbg)",
"(on-table onygi) (holding izuyb) (on zptpe upkcq) (on upkcq canbg) (clear onygi) (on-table canbg) (clear zptpe)",
"(arm-empty) (on zptpe upkcq) (clear izuyb) (clear zptpe) (on-table onygi) (on-table izuyb) (on upkcq canbg) (clear onygi) (on-table canbg)",
"(clear upkcq) (on-table onygi) (clear izuyb) (holding zptpe) (on-table izuyb) (on upkcq canbg) (clear onygi) (on-table canbg)",
"(clear upkcq) (arm-empty) (on zptpe izuyb) (on-table onygi) (on-table izuyb) (on upkcq canbg) (clear onygi) (on-table canbg) (clear zptpe)",
"(on zptpe izuyb) (on-table onygi) (on-table izuyb) (holding upkcq) (clear canbg) (clear onygi) (on-table canbg) (clear zptpe)",
"(clear upkcq) (arm-empty) (on zptpe izuyb) (on-table onygi) (on-table izuyb) (on upkcq zptpe) (clear canbg) (clear onygi) (on-table canbg)",
"(clear upkcq) (on zptpe izuyb) (on-table onygi) (on-table izuyb) (on upkcq zptpe) (holding canbg) (clear onygi)",
"(arm-empty) (on zptpe izuyb) (on-table onygi) (on canbg upkcq) (on-table izuyb) (on upkcq zptpe) (clear canbg) (clear onygi)",
"(holding onygi) (on zptpe izuyb) (on canbg upkcq) (on-table izuyb) (on upkcq zptpe) (clear canbg)",
"(on onygi canbg) (on zptpe izuyb) (arm-empty) (on canbg upkcq) (on-table izuyb) (on upkcq zptpe) (clear onygi)"
] | file_95945 |
GOAL: (clear jhgvo) (holding sgajl) (on-table lxepr) (on bafjt lxepr) (on jhgvo xolyk) (clear bafjt) (on-table xolyk) | GOAL: (clear jhgvo) (holding sgajl) (on-table lxepr) (on bafjt lxepr) (on jhgvo xolyk) (clear bafjt) (on-table xolyk)
STATE: (on bafjt sgajl) (on lxepr bafjt) (arm-empty) (on-table jhgvo) (on xolyk jhgvo) (clear lxepr) (on sgajl xolyk) | [
[
"unstack lxepr bafjt"
],
[
"put-down lxepr"
],
[
"unstack bafjt sgajl"
],
[
"stack bafjt lxepr"
],
[
"unstack sgajl xolyk"
],
[
"stack sgajl bafjt"
],
[
"unstack xolyk jhgvo"
],
[
"put-down xolyk"
],
[
"pick-up jhgvo"
],
[
"stack jhgvo xolyk"
],
[
"unstack sgajl bafjt"
]
] | [
"(on bafjt sgajl) (on-table jhgvo) (holding lxepr) (on sgajl xolyk) (on xolyk jhgvo) (clear bafjt)",
"(on bafjt sgajl) (arm-empty) (on-table jhgvo) (clear lxepr) (on sgajl xolyk) (on xolyk jhgvo) (on-table lxepr) (clear bafjt)",
"(holding bafjt) (on-table jhgvo) (on xolyk jhgvo) (clear lxepr) (on sgajl xolyk) (on-table lxepr) (clear sgajl)",
"(arm-empty) (on-table jhgvo) (on xolyk jhgvo) (on sgajl xolyk) (on-table lxepr) (on bafjt lxepr) (clear bafjt) (clear sgajl)",
"(on-table jhgvo) (on xolyk jhgvo) (holding sgajl) (on-table lxepr) (on bafjt lxepr) (clear xolyk) (clear bafjt)",
"(arm-empty) (on-table jhgvo) (on xolyk jhgvo) (on sgajl bafjt) (on-table lxepr) (on bafjt lxepr) (clear xolyk) (clear sgajl)",
"(clear jhgvo) (on-table jhgvo) (on sgajl bafjt) (on-table lxepr) (on bafjt lxepr) (holding xolyk) (clear sgajl)",
"(arm-empty) (on-table jhgvo) (clear sgajl) (clear jhgvo) (on sgajl bafjt) (on-table lxepr) (on bafjt lxepr) (clear xolyk) (on-table xolyk)",
"(holding jhgvo) (on sgajl bafjt) (on-table lxepr) (on bafjt lxepr) (clear xolyk) (on-table xolyk) (clear sgajl)",
"(clear jhgvo) (arm-empty) (on sgajl bafjt) (on-table lxepr) (on bafjt lxepr) (on jhgvo xolyk) (on-table xolyk) (clear sgajl)",
"(clear jhgvo) (holding sgajl) (on-table lxepr) (on bafjt lxepr) (on jhgvo xolyk) (clear bafjt) (on-table xolyk)"
] | file_77586 |
GOAL: (clear trpzj) (on qlqss oykqm) (on wxkxn qlqss) (on lxonu wxkxn) (arm-empty) (on trpzj lxonu) (on-table oykqm) | GOAL: (clear trpzj) (on qlqss oykqm) (on wxkxn qlqss) (on lxonu wxkxn) (arm-empty) (on trpzj lxonu) (on-table oykqm)
STATE: (on-table lxonu) (on qlqss wxkxn) (on wxkxn trpzj) (on trpzj lxonu) (holding oykqm) (clear qlqss) | [
[
"put-down oykqm"
],
[
"unstack qlqss wxkxn"
],
[
"stack qlqss oykqm"
],
[
"unstack wxkxn trpzj"
],
[
"stack wxkxn qlqss"
],
[
"unstack trpzj lxonu"
],
[
"put-down trpzj"
],
[
"pick-up lxonu"
],
[
"stack lxonu wxkxn"
],
[
"pick-up trpzj"
],
[
"stack trpzj lxonu"
]
] | [
"(arm-empty) (on-table lxonu) (on trpzj lxonu) (on qlqss wxkxn) (on wxkxn trpzj) (clear oykqm) (clear qlqss) (on-table oykqm)",
"(holding qlqss) (on-table lxonu) (clear wxkxn) (on wxkxn trpzj) (on trpzj lxonu) (clear oykqm) (on-table oykqm)",
"(on qlqss oykqm) (arm-empty) (on-table lxonu) (clear wxkxn) (on wxkxn trpzj) (on trpzj lxonu) (clear qlqss) (on-table oykqm)",
"(clear trpzj) (on qlqss oykqm) (on-table lxonu) (holding wxkxn) (on trpzj lxonu) (clear qlqss) (on-table oykqm)",
"(clear trpzj) (on qlqss oykqm) (on wxkxn qlqss) (arm-empty) (on-table lxonu) (clear wxkxn) (on trpzj lxonu) (on-table oykqm)",
"(on qlqss oykqm) (on wxkxn qlqss) (on-table lxonu) (clear wxkxn) (holding trpzj) (on-table oykqm) (clear lxonu)",
"(on qlqss oykqm) (on wxkxn qlqss) (on-table trpzj) (on-table lxonu) (arm-empty) (clear wxkxn) (clear lxonu) (clear trpzj) (on-table oykqm)",
"(clear trpzj) (on qlqss oykqm) (on wxkxn qlqss) (on-table trpzj) (clear wxkxn) (holding lxonu) (on-table oykqm)",
"(clear trpzj) (on qlqss oykqm) (on wxkxn qlqss) (on-table trpzj) (on lxonu wxkxn) (arm-empty) (on-table oykqm) (clear lxonu)",
"(on qlqss oykqm) (on wxkxn qlqss) (on lxonu wxkxn) (holding trpzj) (on-table oykqm) (clear lxonu)",
"(clear trpzj) (on qlqss oykqm) (on wxkxn qlqss) (on lxonu wxkxn) (arm-empty) (on trpzj lxonu) (on-table oykqm)"
] | file_77145 |
GOAL: (on hevqv wgonw) (on-table eqiss) (on wgonw pdtme) (holding xzxsl) (clear eqiss) (on-table pdtme) (clear hevqv) | GOAL: (on hevqv wgonw) (on-table eqiss) (on wgonw pdtme) (holding xzxsl) (clear eqiss) (on-table pdtme) (clear hevqv)
STATE: (clear xzxsl) (arm-empty) (on hevqv wgonw) (on-table eqiss) (on wgonw pdtme) (on xzxsl hevqv) (clear eqiss) (on-table pdtme) | [
[
"unstack xzxsl hevqv"
]
] | [
"(on hevqv wgonw) (on-table eqiss) (on wgonw pdtme) (holding xzxsl) (clear eqiss) (on-table pdtme) (clear hevqv)"
] | file_151019 |
GOAL: (on khiga ohegt) (on pbslr khiga) (arm-empty) (on-table cfvmf) (on-table ohegt) (clear dmxah) (on dmxah cfvmf) (clear pbslr) | GOAL: (on khiga ohegt) (on pbslr khiga) (arm-empty) (on-table cfvmf) (on-table ohegt) (clear dmxah) (on dmxah cfvmf) (clear pbslr)
STATE: (holding ohegt) (on pbslr dmxah) (on dmxah cfvmf) (on cfvmf khiga) (clear pbslr) (on-table khiga) | [
[
"put-down ohegt"
],
[
"unstack pbslr dmxah"
],
[
"stack pbslr ohegt"
],
[
"unstack dmxah cfvmf"
],
[
"stack dmxah pbslr"
],
[
"unstack cfvmf khiga"
],
[
"put-down cfvmf"
],
[
"unstack dmxah pbslr"
],
[
"stack dmxah cfvmf"
],
[
"unstack pbslr ohegt"
],
[
"stack pbslr dmxah"
],
[
"pick-up khiga"
],
[
"stack khiga ohegt"
],
[
"unstack pbslr dmxah"
],
[
"stack pbslr khiga"
]
] | [
"(arm-empty) (on-table ohegt) (clear ohegt) (on pbslr dmxah) (on dmxah cfvmf) (on cfvmf khiga) (clear pbslr) (on-table khiga)",
"(holding pbslr) (on-table ohegt) (clear dmxah) (on dmxah cfvmf) (on cfvmf khiga) (on-table khiga) (clear ohegt)",
"(on pbslr ohegt) (arm-empty) (on-table ohegt) (clear dmxah) (on dmxah cfvmf) (on cfvmf khiga) (clear pbslr) (on-table khiga)",
"(on pbslr ohegt) (clear cfvmf) (on-table ohegt) (holding dmxah) (on cfvmf khiga) (clear pbslr) (on-table khiga)",
"(on pbslr ohegt) (clear cfvmf) (on dmxah pbslr) (arm-empty) (on-table ohegt) (clear dmxah) (on cfvmf khiga) (on-table khiga)",
"(on pbslr ohegt) (on dmxah pbslr) (on-table ohegt) (clear dmxah) (holding cfvmf) (clear khiga) (on-table khiga)",
"(on pbslr ohegt) (on dmxah pbslr) (arm-empty) (on-table cfvmf) (on-table ohegt) (clear dmxah) (clear cfvmf) (clear khiga) (on-table khiga)",
"(on pbslr ohegt) (clear cfvmf) (on-table cfvmf) (on-table ohegt) (holding dmxah) (clear khiga) (clear pbslr) (on-table khiga)",
"(on pbslr ohegt) (arm-empty) (on-table cfvmf) (on-table ohegt) (clear dmxah) (on dmxah cfvmf) (clear khiga) (clear pbslr) (on-table khiga)",
"(holding pbslr) (on-table cfvmf) (on-table ohegt) (clear dmxah) (on dmxah cfvmf) (clear khiga) (on-table khiga) (clear ohegt)",
"(arm-empty) (on-table cfvmf) (on-table ohegt) (on pbslr dmxah) (on dmxah cfvmf) (clear khiga) (clear pbslr) (on-table khiga) (clear ohegt)",
"(on-table cfvmf) (on-table ohegt) (on pbslr dmxah) (on dmxah cfvmf) (holding khiga) (clear pbslr) (clear ohegt)",
"(on khiga ohegt) (arm-empty) (on-table cfvmf) (on-table ohegt) (on pbslr dmxah) (on dmxah cfvmf) (clear khiga) (clear pbslr)",
"(holding pbslr) (on khiga ohegt) (on-table cfvmf) (on-table ohegt) (clear dmxah) (on dmxah cfvmf) (clear khiga)",
"(on khiga ohegt) (on pbslr khiga) (arm-empty) (on-table cfvmf) (on-table ohegt) (clear dmxah) (on dmxah cfvmf) (clear pbslr)"
] | file_142480 |
GOAL: (on epfwk urvak) (clear bmaea) (holding hmisn) (on urvak pkvry) (on bmaea epfwk) (on-table pkvry) | GOAL: (on epfwk urvak) (clear bmaea) (holding hmisn) (on urvak pkvry) (on bmaea epfwk) (on-table pkvry)
STATE: (on epfwk urvak) (arm-empty) (on urvak bmaea) (on bmaea hmisn) (on-table hmisn) (on pkvry epfwk) (clear pkvry) | [
[
"unstack pkvry epfwk"
],
[
"put-down pkvry"
],
[
"unstack epfwk urvak"
],
[
"put-down epfwk"
],
[
"unstack urvak bmaea"
],
[
"stack urvak pkvry"
],
[
"pick-up epfwk"
],
[
"stack epfwk urvak"
],
[
"unstack bmaea hmisn"
],
[
"stack bmaea epfwk"
],
[
"pick-up hmisn"
]
] | [
"(on epfwk urvak) (on urvak bmaea) (on bmaea hmisn) (on-table hmisn) (holding pkvry) (clear epfwk)",
"(on epfwk urvak) (arm-empty) (on urvak bmaea) (on bmaea hmisn) (on-table hmisn) (clear pkvry) (clear epfwk) (on-table pkvry)",
"(holding epfwk) (on urvak bmaea) (on-table hmisn) (on bmaea hmisn) (clear pkvry) (on-table pkvry) (clear urvak)",
"(arm-empty) (on urvak bmaea) (on bmaea hmisn) (clear urvak) (on-table epfwk) (on-table hmisn) (clear pkvry) (clear epfwk) (on-table pkvry)",
"(clear bmaea) (on-table epfwk) (holding urvak) (on-table hmisn) (on bmaea hmisn) (clear pkvry) (clear epfwk) (on-table pkvry)",
"(clear bmaea) (arm-empty) (on-table epfwk) (on urvak pkvry) (on-table hmisn) (on bmaea hmisn) (clear epfwk) (on-table pkvry) (clear urvak)",
"(holding epfwk) (clear bmaea) (on urvak pkvry) (on-table hmisn) (on bmaea hmisn) (on-table pkvry) (clear urvak)",
"(on epfwk urvak) (clear bmaea) (arm-empty) (on urvak pkvry) (on-table hmisn) (on bmaea hmisn) (clear epfwk) (on-table pkvry)",
"(on epfwk urvak) (clear hmisn) (on urvak pkvry) (on-table hmisn) (holding bmaea) (clear epfwk) (on-table pkvry)",
"(on epfwk urvak) (arm-empty) (clear hmisn) (on urvak pkvry) (on bmaea epfwk) (clear bmaea) (on-table hmisn) (on-table pkvry)",
"(on epfwk urvak) (clear bmaea) (holding hmisn) (on urvak pkvry) (on bmaea epfwk) (on-table pkvry)"
] | file_111199 |
GOAL: (on nlyfl zicvy) (clear nxjww) (on qeoek phmen) (arm-empty) (on-table nxjww) (on-table zicvy) (on-table phmen) (clear qeoek) (clear nlyfl) | GOAL: (on nlyfl zicvy) (clear nxjww) (on qeoek phmen) (arm-empty) (on-table nxjww) (on-table zicvy) (on-table phmen) (clear qeoek) (clear nlyfl)
STATE: (on nlyfl zicvy) (on qeoek phmen) (on phmen nlyfl) (arm-empty) (on-table nxjww) (on-table zicvy) (clear nxjww) (clear qeoek) | [
[
"unstack qeoek phmen"
],
[
"put-down qeoek"
],
[
"unstack phmen nlyfl"
],
[
"put-down phmen"
],
[
"pick-up qeoek"
],
[
"stack qeoek phmen"
]
] | [
"(on nlyfl zicvy) (on phmen nlyfl) (on-table nxjww) (on-table zicvy) (clear nxjww) (clear phmen) (holding qeoek)",
"(on nlyfl zicvy) (on phmen nlyfl) (arm-empty) (on-table nxjww) (on-table zicvy) (clear phmen) (clear nxjww) (clear qeoek) (on-table qeoek)",
"(on nlyfl zicvy) (clear nxjww) (on-table nxjww) (on-table zicvy) (holding phmen) (clear qeoek) (clear nlyfl) (on-table qeoek)",
"(on nlyfl zicvy) (clear nxjww) (arm-empty) (on-table nxjww) (on-table zicvy) (clear phmen) (on-table phmen) (clear qeoek) (clear nlyfl) (on-table qeoek)",
"(on nlyfl zicvy) (clear nxjww) (on-table nxjww) (on-table zicvy) (clear phmen) (on-table phmen) (holding qeoek) (clear nlyfl)",
"(on nlyfl zicvy) (clear nxjww) (on qeoek phmen) (arm-empty) (on-table nxjww) (on-table zicvy) (on-table phmen) (clear qeoek) (clear nlyfl)"
] | file_117839 |
GOAL: (on hxatz npshm) (arm-empty) (on-table npshm) (clear xakty) (on-table xakty) (on zkicr hxatz) (on vhyvi zkicr) (clear vhyvi) | GOAL: (on hxatz npshm) (arm-empty) (on-table npshm) (clear xakty) (on-table xakty) (on zkicr hxatz) (on vhyvi zkicr) (clear vhyvi)
STATE: (clear zkicr) (on hxatz npshm) (arm-empty) (on-table npshm) (on-table vhyvi) (on xakty hxatz) (on zkicr xakty) (clear vhyvi) | [
[
"unstack zkicr xakty"
],
[
"put-down zkicr"
],
[
"unstack xakty hxatz"
],
[
"stack xakty zkicr"
],
[
"pick-up vhyvi"
],
[
"stack vhyvi hxatz"
],
[
"unstack xakty zkicr"
],
[
"put-down xakty"
],
[
"unstack vhyvi hxatz"
],
[
"stack vhyvi xakty"
],
[
"pick-up zkicr"
],
[
"stack zkicr hxatz"
],
[
"unstack vhyvi xakty"
],
[
"stack vhyvi zkicr"
]
] | [
"(on hxatz npshm) (on-table npshm) (on-table vhyvi) (clear xakty) (on xakty hxatz) (holding zkicr) (clear vhyvi)",
"(on hxatz npshm) (arm-empty) (on-table zkicr) (on-table npshm) (clear xakty) (clear zkicr) (on-table vhyvi) (on xakty hxatz) (clear vhyvi)",
"(on hxatz npshm) (clear zkicr) (on-table zkicr) (on-table npshm) (on-table vhyvi) (holding xakty) (clear hxatz) (clear vhyvi)",
"(on hxatz npshm) (arm-empty) (on-table zkicr) (on-table npshm) (on-table vhyvi) (clear xakty) (on xakty zkicr) (clear hxatz) (clear vhyvi)",
"(holding vhyvi) (on hxatz npshm) (on-table zkicr) (on-table npshm) (clear xakty) (on xakty zkicr) (clear hxatz)",
"(on hxatz npshm) (on vhyvi hxatz) (arm-empty) (on-table zkicr) (on-table npshm) (clear xakty) (on xakty zkicr) (clear vhyvi)",
"(on hxatz npshm) (on vhyvi hxatz) (on-table zkicr) (on-table npshm) (clear zkicr) (holding xakty) (clear vhyvi)",
"(on hxatz npshm) (on vhyvi hxatz) (arm-empty) (on-table zkicr) (on-table npshm) (clear xakty) (clear zkicr) (on-table xakty) (clear vhyvi)",
"(holding vhyvi) (on hxatz npshm) (on-table zkicr) (on-table npshm) (clear zkicr) (clear xakty) (on-table xakty) (clear hxatz)",
"(on hxatz npshm) (clear zkicr) (arm-empty) (on-table zkicr) (on-table npshm) (on-table xakty) (on vhyvi xakty) (clear hxatz) (clear vhyvi)",
"(on hxatz npshm) (on-table npshm) (holding zkicr) (on-table xakty) (on vhyvi xakty) (clear hxatz) (clear vhyvi)",
"(on hxatz npshm) (clear zkicr) (arm-empty) (on-table npshm) (on-table xakty) (on vhyvi xakty) (on zkicr hxatz) (clear vhyvi)",
"(holding vhyvi) (on hxatz npshm) (clear zkicr) (on-table npshm) (clear xakty) (on-table xakty) (on zkicr hxatz)",
"(on hxatz npshm) (arm-empty) (on-table npshm) (clear xakty) (on-table xakty) (on zkicr hxatz) (on vhyvi zkicr) (clear vhyvi)"
] | file_149207 |
GOAL: (on ygzfn aquqo) (on-table fmkzv) (clear bpcqc) (on-table bpcqc) (holding peqtl) (clear ygzfn) (on-table aquqo) (clear fmkzv) | GOAL: (on ygzfn aquqo) (on-table fmkzv) (clear bpcqc) (on-table bpcqc) (holding peqtl) (clear ygzfn) (on-table aquqo) (clear fmkzv)
STATE: (on ygzfn aquqo) (clear bpcqc) (on fmkzv ygzfn) (on-table bpcqc) (holding peqtl) (on-table aquqo) (clear fmkzv) | [
[
"put-down peqtl"
],
[
"unstack fmkzv ygzfn"
],
[
"put-down fmkzv"
],
[
"pick-up peqtl"
]
] | [
"(on ygzfn aquqo) (arm-empty) (on-table peqtl) (clear bpcqc) (clear fmkzv) (clear peqtl) (on fmkzv ygzfn) (on-table bpcqc) (on-table aquqo)",
"(clear peqtl) (on ygzfn aquqo) (on-table peqtl) (clear bpcqc) (holding fmkzv) (on-table bpcqc) (clear ygzfn) (on-table aquqo)",
"(clear peqtl) (on ygzfn aquqo) (arm-empty) (on-table peqtl) (on-table fmkzv) (clear bpcqc) (on-table bpcqc) (clear ygzfn) (on-table aquqo) (clear fmkzv)",
"(on ygzfn aquqo) (on-table fmkzv) (clear bpcqc) (on-table bpcqc) (holding peqtl) (clear ygzfn) (on-table aquqo) (clear fmkzv)"
] | file_213082 |
GOAL: (holding fisjh) (on maqzb macah) (clear vxrrv) (on eapes maqzb) (on-table macah) (on vxrrv eapes) | GOAL: (holding fisjh) (on maqzb macah) (clear vxrrv) (on eapes maqzb) (on-table macah) (on vxrrv eapes)
STATE: (on maqzb eapes) (arm-empty) (on-table vxrrv) (clear macah) (on eapes fisjh) (on-table macah) (clear maqzb) (on fisjh vxrrv) | [
[
"unstack maqzb eapes"
],
[
"stack maqzb macah"
],
[
"unstack eapes fisjh"
],
[
"stack eapes maqzb"
],
[
"unstack fisjh vxrrv"
],
[
"put-down fisjh"
],
[
"pick-up vxrrv"
],
[
"stack vxrrv eapes"
],
[
"pick-up fisjh"
]
] | [
"(on-table vxrrv) (clear macah) (on eapes fisjh) (on-table macah) (on fisjh vxrrv) (holding maqzb) (clear eapes)",
"(on maqzb macah) (arm-empty) (on-table vxrrv) (on eapes fisjh) (on-table macah) (clear maqzb) (on fisjh vxrrv) (clear eapes)",
"(on maqzb macah) (on-table vxrrv) (holding eapes) (on-table macah) (clear maqzb) (on fisjh vxrrv) (clear fisjh)",
"(on maqzb macah) (arm-empty) (on-table vxrrv) (on eapes maqzb) (on-table macah) (on fisjh vxrrv) (clear fisjh) (clear eapes)",
"(holding fisjh) (on maqzb macah) (clear vxrrv) (on-table vxrrv) (on eapes maqzb) (on-table macah) (clear eapes)",
"(arm-empty) (on-table vxrrv) (on eapes maqzb) (clear eapes) (on maqzb macah) (clear vxrrv) (on-table fisjh) (on-table macah) (clear fisjh)",
"(on maqzb macah) (on-table fisjh) (on eapes maqzb) (on-table macah) (holding vxrrv) (clear fisjh) (clear eapes)",
"(on maqzb macah) (clear vxrrv) (arm-empty) (on-table fisjh) (on eapes maqzb) (on-table macah) (on vxrrv eapes) (clear fisjh)",
"(holding fisjh) (on maqzb macah) (clear vxrrv) (on eapes maqzb) (on-table macah) (on vxrrv eapes)"
] | file_14147 |
GOAL: (arm-empty) (on-table xlzik) (clear gukhj) (clear xlzik) (on-table ckwwu) (on-table gukhj) (clear mftsh) (clear ckwwu) (on-table mftsh) | GOAL: (arm-empty) (on-table xlzik) (clear gukhj) (clear xlzik) (on-table ckwwu) (on-table gukhj) (clear mftsh) (clear ckwwu) (on-table mftsh)
STATE: (holding ckwwu) (on mftsh xlzik) (on-table gukhj) (on xlzik gukhj) (clear mftsh) | [
[
"put-down ckwwu"
],
[
"unstack mftsh xlzik"
],
[
"put-down mftsh"
],
[
"unstack xlzik gukhj"
],
[
"stack xlzik ckwwu"
],
[
"pick-up mftsh"
],
[
"stack mftsh gukhj"
],
[
"unstack xlzik ckwwu"
],
[
"put-down xlzik"
],
[
"unstack mftsh gukhj"
],
[
"put-down mftsh"
]
] | [
"(on-table gukhj) (arm-empty) (clear mftsh) (on xlzik gukhj) (on mftsh xlzik) (on-table ckwwu) (clear ckwwu)",
"(on xlzik gukhj) (clear xlzik) (on-table ckwwu) (on-table gukhj) (holding mftsh) (clear ckwwu)",
"(clear xlzik) (on-table gukhj) (arm-empty) (on xlzik gukhj) (clear mftsh) (on-table ckwwu) (clear ckwwu) (on-table mftsh)",
"(on-table ckwwu) (clear gukhj) (on-table gukhj) (holding xlzik) (clear mftsh) (clear ckwwu) (on-table mftsh)",
"(clear xlzik) (arm-empty) (on-table ckwwu) (clear gukhj) (on-table gukhj) (on xlzik ckwwu) (clear mftsh) (on-table mftsh)",
"(clear xlzik) (on-table ckwwu) (clear gukhj) (on-table gukhj) (on xlzik ckwwu) (holding mftsh)",
"(on mftsh gukhj) (clear xlzik) (arm-empty) (on-table ckwwu) (on-table gukhj) (on xlzik ckwwu) (clear mftsh)",
"(on mftsh gukhj) (on-table ckwwu) (on-table gukhj) (holding xlzik) (clear mftsh) (clear ckwwu)",
"(arm-empty) (on-table xlzik) (on mftsh gukhj) (clear xlzik) (on-table ckwwu) (on-table gukhj) (clear mftsh) (clear ckwwu)",
"(clear xlzik) (on-table xlzik) (on-table ckwwu) (clear gukhj) (on-table gukhj) (holding mftsh) (clear ckwwu)",
"(arm-empty) (on-table xlzik) (clear gukhj) (clear xlzik) (on-table ckwwu) (on-table gukhj) (clear mftsh) (clear ckwwu) (on-table mftsh)"
] | file_94608 |
GOAL: (on exxtu nmgdf) (on ulhpy exxtu) (arm-empty) (on-table smvlk) (on nmgdf aocsd) (clear ulhpy) (on aocsd smvlk) | GOAL: (on exxtu nmgdf) (on ulhpy exxtu) (arm-empty) (on-table smvlk) (on nmgdf aocsd) (clear ulhpy) (on aocsd smvlk)
STATE: (on ulhpy exxtu) (on exxtu nmgdf) (on smvlk ulhpy) (on-table aocsd) (arm-empty) (on nmgdf aocsd) (clear smvlk) | [
[
"unstack smvlk ulhpy"
],
[
"put-down smvlk"
],
[
"unstack ulhpy exxtu"
],
[
"put-down ulhpy"
],
[
"unstack exxtu nmgdf"
],
[
"stack exxtu ulhpy"
],
[
"unstack nmgdf aocsd"
],
[
"put-down nmgdf"
],
[
"pick-up aocsd"
],
[
"stack aocsd smvlk"
],
[
"pick-up nmgdf"
],
[
"stack nmgdf aocsd"
],
[
"unstack exxtu ulhpy"
],
[
"stack exxtu nmgdf"
],
[
"pick-up ulhpy"
],
[
"stack ulhpy exxtu"
]
] | [
"(on ulhpy exxtu) (on exxtu nmgdf) (on-table aocsd) (clear ulhpy) (holding smvlk) (on nmgdf aocsd)",
"(on ulhpy exxtu) (on exxtu nmgdf) (on-table aocsd) (on-table smvlk) (arm-empty) (clear ulhpy) (clear smvlk) (on nmgdf aocsd)",
"(on exxtu nmgdf) (on-table aocsd) (on-table smvlk) (holding ulhpy) (on nmgdf aocsd) (clear exxtu) (clear smvlk)",
"(on exxtu nmgdf) (arm-empty) (on-table aocsd) (on-table smvlk) (clear ulhpy) (clear smvlk) (on nmgdf aocsd) (on-table ulhpy) (clear exxtu)",
"(holding exxtu) (on-table aocsd) (on-table smvlk) (on nmgdf aocsd) (clear ulhpy) (on-table ulhpy) (clear nmgdf) (clear smvlk)",
"(arm-empty) (on-table aocsd) (on-table smvlk) (on nmgdf aocsd) (on-table ulhpy) (on exxtu ulhpy) (clear nmgdf) (clear exxtu) (clear smvlk)",
"(clear aocsd) (on-table aocsd) (on-table smvlk) (on-table ulhpy) (on exxtu ulhpy) (holding nmgdf) (clear exxtu) (clear smvlk)",
"(clear aocsd) (arm-empty) (on-table aocsd) (on-table smvlk) (on-table ulhpy) (on exxtu ulhpy) (clear nmgdf) (clear exxtu) (on-table nmgdf) (clear smvlk)",
"(on-table smvlk) (holding aocsd) (on-table ulhpy) (on exxtu ulhpy) (clear nmgdf) (clear exxtu) (on-table nmgdf) (clear smvlk)",
"(clear aocsd) (arm-empty) (on-table smvlk) (on-table ulhpy) (on aocsd smvlk) (clear nmgdf) (on exxtu ulhpy) (on-table nmgdf) (clear exxtu)",
"(clear aocsd) (on-table smvlk) (on-table ulhpy) (on exxtu ulhpy) (on aocsd smvlk) (holding nmgdf) (clear exxtu)",
"(arm-empty) (on-table smvlk) (on nmgdf aocsd) (on-table ulhpy) (on exxtu ulhpy) (on aocsd smvlk) (clear nmgdf) (clear exxtu)",
"(holding exxtu) (on-table smvlk) (on nmgdf aocsd) (clear ulhpy) (on-table ulhpy) (on aocsd smvlk) (clear nmgdf)",
"(on exxtu nmgdf) (arm-empty) (on-table smvlk) (on nmgdf aocsd) (clear ulhpy) (on-table ulhpy) (on aocsd smvlk) (clear exxtu)",
"(on exxtu nmgdf) (on-table smvlk) (holding ulhpy) (on nmgdf aocsd) (on aocsd smvlk) (clear exxtu)",
"(on exxtu nmgdf) (on ulhpy exxtu) (arm-empty) (on-table smvlk) (on nmgdf aocsd) (clear ulhpy) (on aocsd smvlk)"
] | file_89789 |
GOAL: (on eepva fgmqh) (on afxyf eepva) (arm-empty) (on-table yajvx) (on fgmqh sxfpn) (on sxfpn yajvx) (clear afxyf) | GOAL: (on eepva fgmqh) (on afxyf eepva) (arm-empty) (on-table yajvx) (on fgmqh sxfpn) (on sxfpn yajvx) (clear afxyf)
STATE: (holding fgmqh) (on-table afxyf) (on yajvx sxfpn) (on eepva afxyf) (on sxfpn eepva) (clear yajvx) | [
[
"put-down fgmqh"
],
[
"unstack yajvx sxfpn"
],
[
"put-down yajvx"
],
[
"unstack sxfpn eepva"
],
[
"stack sxfpn yajvx"
],
[
"pick-up fgmqh"
],
[
"stack fgmqh sxfpn"
],
[
"unstack eepva afxyf"
],
[
"stack eepva fgmqh"
],
[
"pick-up afxyf"
],
[
"stack afxyf eepva"
]
] | [
"(arm-empty) (on yajvx sxfpn) (clear fgmqh) (on eepva afxyf) (clear yajvx) (on-table afxyf) (on-table fgmqh) (on sxfpn eepva)",
"(clear sxfpn) (on-table afxyf) (clear fgmqh) (holding yajvx) (on-table fgmqh) (on eepva afxyf) (on sxfpn eepva)",
"(arm-empty) (on-table yajvx) (clear fgmqh) (on eepva afxyf) (clear yajvx) (clear sxfpn) (on-table afxyf) (on-table fgmqh) (on sxfpn eepva)",
"(on-table yajvx) (on-table afxyf) (clear fgmqh) (on-table fgmqh) (holding sxfpn) (on eepva afxyf) (clear eepva) (clear yajvx)",
"(clear sxfpn) (arm-empty) (on-table yajvx) (on-table afxyf) (clear fgmqh) (on-table fgmqh) (on eepva afxyf) (on sxfpn yajvx) (clear eepva)",
"(clear sxfpn) (on-table yajvx) (on-table afxyf) (holding fgmqh) (on eepva afxyf) (on sxfpn yajvx) (clear eepva)",
"(arm-empty) (on-table yajvx) (on-table afxyf) (clear fgmqh) (on eepva afxyf) (on fgmqh sxfpn) (on sxfpn yajvx) (clear eepva)",
"(on-table yajvx) (on-table afxyf) (clear fgmqh) (on fgmqh sxfpn) (on sxfpn yajvx) (holding eepva) (clear afxyf)",
"(on eepva fgmqh) (arm-empty) (on-table yajvx) (on-table afxyf) (on fgmqh sxfpn) (on sxfpn yajvx) (clear eepva) (clear afxyf)",
"(holding afxyf) (on eepva fgmqh) (on-table yajvx) (on fgmqh sxfpn) (on sxfpn yajvx) (clear eepva)",
"(on eepva fgmqh) (on afxyf eepva) (arm-empty) (on-table yajvx) (on fgmqh sxfpn) (on sxfpn yajvx) (clear afxyf)"
] | file_177842 |
GOAL: (on lraqw cgpic) (arm-empty) (on-table agclo) (on-table tucuf) (on cgpic vbbvl) (on vbbvl agclo) (clear lraqw) (clear tucuf) | GOAL: (on lraqw cgpic) (arm-empty) (on-table agclo) (on-table tucuf) (on cgpic vbbvl) (on vbbvl agclo) (clear lraqw) (clear tucuf)
STATE: (arm-empty) (on-table tucuf) (on agclo vbbvl) (on cgpic lraqw) (on lraqw tucuf) (on vbbvl cgpic) (clear agclo) | [
[
"unstack agclo vbbvl"
],
[
"put-down agclo"
],
[
"unstack vbbvl cgpic"
],
[
"stack vbbvl agclo"
],
[
"unstack cgpic lraqw"
],
[
"stack cgpic vbbvl"
],
[
"unstack lraqw tucuf"
],
[
"stack lraqw cgpic"
]
] | [
"(holding agclo) (on lraqw tucuf) (on vbbvl cgpic) (clear vbbvl) (on-table tucuf) (on cgpic lraqw)",
"(arm-empty) (on-table agclo) (on lraqw tucuf) (on vbbvl cgpic) (clear agclo) (clear vbbvl) (on-table tucuf) (on cgpic lraqw)",
"(on-table agclo) (on-table tucuf) (clear cgpic) (on cgpic lraqw) (holding vbbvl) (on lraqw tucuf) (clear agclo)",
"(clear vbbvl) (arm-empty) (on-table agclo) (on-table tucuf) (clear cgpic) (on cgpic lraqw) (on lraqw tucuf) (on vbbvl agclo)",
"(clear vbbvl) (on-table agclo) (on-table tucuf) (holding cgpic) (on lraqw tucuf) (on vbbvl agclo) (clear lraqw)",
"(arm-empty) (on-table agclo) (on-table tucuf) (clear cgpic) (on lraqw tucuf) (on cgpic vbbvl) (on vbbvl agclo) (clear lraqw)",
"(on-table agclo) (on-table tucuf) (clear cgpic) (on cgpic vbbvl) (on vbbvl agclo) (holding lraqw) (clear tucuf)",
"(on lraqw cgpic) (arm-empty) (on-table agclo) (on-table tucuf) (on cgpic vbbvl) (on vbbvl agclo) (clear lraqw) (clear tucuf)"
] | file_208373 |
GOAL: (arm-empty) (on onith qxkje) (on sciaf befpz) (on befpz snowo) (on snowo onith) (clear sciaf) (on-table qxkje) | GOAL: (arm-empty) (on onith qxkje) (on sciaf befpz) (on befpz snowo) (on snowo onith) (clear sciaf) (on-table qxkje)
STATE: (on sciaf onith) (clear snowo) (arm-empty) (on-table snowo) (clear befpz) (on onith qxkje) (on-table befpz) (clear sciaf) (on-table qxkje) | [
[
"pick-up snowo"
],
[
"stack snowo befpz"
],
[
"unstack sciaf onith"
],
[
"put-down sciaf"
],
[
"unstack snowo befpz"
],
[
"put-down snowo"
],
[
"pick-up befpz"
],
[
"stack befpz sciaf"
],
[
"pick-up snowo"
],
[
"stack snowo onith"
],
[
"unstack befpz sciaf"
],
[
"stack befpz snowo"
],
[
"pick-up sciaf"
],
[
"stack sciaf befpz"
]
] | [
"(on sciaf onith) (clear befpz) (on onith qxkje) (on-table befpz) (holding snowo) (clear sciaf) (on-table qxkje)",
"(on sciaf onith) (clear snowo) (arm-empty) (on onith qxkje) (on-table befpz) (on snowo befpz) (clear sciaf) (on-table qxkje)",
"(holding sciaf) (clear snowo) (on onith qxkje) (on-table befpz) (on snowo befpz) (on-table qxkje) (clear onith)",
"(arm-empty) (on onith qxkje) (on snowo befpz) (clear onith) (clear snowo) (on-table sciaf) (on-table befpz) (clear sciaf) (on-table qxkje)",
"(on-table sciaf) (clear befpz) (on onith qxkje) (on-table befpz) (holding snowo) (clear sciaf) (on-table qxkje) (clear onith)",
"(clear snowo) (arm-empty) (on-table snowo) (on-table sciaf) (clear befpz) (on onith qxkje) (on-table befpz) (clear sciaf) (on-table qxkje) (clear onith)",
"(clear snowo) (on-table snowo) (on-table sciaf) (holding befpz) (on onith qxkje) (clear sciaf) (on-table qxkje) (clear onith)",
"(clear snowo) (on befpz sciaf) (arm-empty) (on-table snowo) (on-table sciaf) (clear befpz) (on onith qxkje) (on-table qxkje) (clear onith)",
"(on befpz sciaf) (on-table sciaf) (clear befpz) (on onith qxkje) (holding snowo) (on-table qxkje) (clear onith)",
"(clear snowo) (on befpz sciaf) (arm-empty) (on-table sciaf) (clear befpz) (on onith qxkje) (on snowo onith) (on-table qxkje)",
"(clear snowo) (on-table sciaf) (holding befpz) (on onith qxkje) (on snowo onith) (clear sciaf) (on-table qxkje)",
"(arm-empty) (on-table sciaf) (clear befpz) (on onith qxkje) (on befpz snowo) (on snowo onith) (clear sciaf) (on-table qxkje)",
"(holding sciaf) (clear befpz) (on onith qxkje) (on befpz snowo) (on snowo onith) (on-table qxkje)",
"(arm-empty) (on onith qxkje) (on sciaf befpz) (on befpz snowo) (on snowo onith) (clear sciaf) (on-table qxkje)"
] | file_33707 |
GOAL: (holding sfrqq) (clear ntjep) (on-table uqcve) (on ytjbb uqcve) (on ntjep ytjbb) | GOAL: (holding sfrqq) (clear ntjep) (on-table uqcve) (on ytjbb uqcve) (on ntjep ytjbb)
STATE: (on-table uqcve) (clear sfrqq) (on-table sfrqq) (holding ytjbb) (clear ntjep) (clear uqcve) (on-table ntjep) | [
[
"stack ytjbb uqcve"
],
[
"pick-up ntjep"
],
[
"stack ntjep ytjbb"
],
[
"pick-up sfrqq"
]
] | [
"(clear ytjbb) (arm-empty) (on-table uqcve) (clear sfrqq) (on-table sfrqq) (on ytjbb uqcve) (clear ntjep) (on-table ntjep)",
"(clear ytjbb) (on-table uqcve) (clear sfrqq) (on-table sfrqq) (on ytjbb uqcve) (holding ntjep)",
"(arm-empty) (on-table uqcve) (on ntjep ytjbb) (clear sfrqq) (on-table sfrqq) (on ytjbb uqcve) (clear ntjep)",
"(holding sfrqq) (clear ntjep) (on-table uqcve) (on ytjbb uqcve) (on ntjep ytjbb)"
] | file_187837 |
GOAL: (on puxju lghvr) (clear zcwmz) (on oatyy puxju) (arm-empty) (on-table zcwmz) (on-table totig) (on lghvr totig) (clear oatyy) | GOAL: (on puxju lghvr) (clear zcwmz) (on oatyy puxju) (arm-empty) (on-table zcwmz) (on-table totig) (on lghvr totig) (clear oatyy)
STATE: (on puxju lghvr) (arm-empty) (on-table totig) (on-table oatyy) (on lghvr zcwmz) (on zcwmz oatyy) (clear puxju) (clear totig) | [
[
"unstack puxju lghvr"
],
[
"put-down puxju"
],
[
"unstack lghvr zcwmz"
],
[
"stack lghvr totig"
],
[
"pick-up puxju"
],
[
"stack puxju lghvr"
],
[
"unstack zcwmz oatyy"
],
[
"put-down zcwmz"
],
[
"pick-up oatyy"
],
[
"stack oatyy puxju"
]
] | [
"(on-table totig) (on-table oatyy) (clear lghvr) (on lghvr zcwmz) (on zcwmz oatyy) (holding puxju) (clear totig)",
"(arm-empty) (on-table totig) (clear lghvr) (on zcwmz oatyy) (clear totig) (on-table oatyy) (on lghvr zcwmz) (clear puxju) (on-table puxju)",
"(clear zcwmz) (on-table totig) (on-table oatyy) (holding lghvr) (on zcwmz oatyy) (clear puxju) (on-table puxju) (clear totig)",
"(clear zcwmz) (arm-empty) (on-table totig) (on-table oatyy) (on lghvr totig) (clear lghvr) (on zcwmz oatyy) (clear puxju) (on-table puxju)",
"(clear zcwmz) (on-table totig) (on-table oatyy) (on lghvr totig) (clear lghvr) (on zcwmz oatyy) (holding puxju)",
"(on puxju lghvr) (clear zcwmz) (arm-empty) (on-table totig) (on-table oatyy) (on lghvr totig) (on zcwmz oatyy) (clear puxju)",
"(on puxju lghvr) (on-table totig) (on-table oatyy) (on lghvr totig) (holding zcwmz) (clear puxju) (clear oatyy)",
"(arm-empty) (on-table zcwmz) (on-table totig) (on lghvr totig) (on puxju lghvr) (clear zcwmz) (on-table oatyy) (clear puxju) (clear oatyy)",
"(holding oatyy) (on puxju lghvr) (clear zcwmz) (on-table zcwmz) (on-table totig) (on lghvr totig) (clear puxju)",
"(on puxju lghvr) (clear zcwmz) (on oatyy puxju) (arm-empty) (on-table zcwmz) (on-table totig) (on lghvr totig) (clear oatyy)"
] | file_34532 |
GOAL: (arm-empty) (on-table ivmyv) (on ngrve ivmyv) (on mvont ngrve) (on-table jhjes) (on uytzi jhjes) (clear uytzi) (clear mvont) | GOAL: (arm-empty) (on-table ivmyv) (on ngrve ivmyv) (on mvont ngrve) (on-table jhjes) (on uytzi jhjes) (clear uytzi) (clear mvont)
STATE: (on uytzi ngrve) (on-table ivmyv) (on ngrve ivmyv) (clear jhjes) (holding mvont) (on-table jhjes) (clear uytzi) | [
[
"put-down mvont"
],
[
"unstack uytzi ngrve"
],
[
"stack uytzi jhjes"
],
[
"pick-up mvont"
],
[
"stack mvont ngrve"
]
] | [
"(on uytzi ngrve) (arm-empty) (on-table ivmyv) (on-table mvont) (clear jhjes) (clear mvont) (on ngrve ivmyv) (on-table jhjes) (clear uytzi)",
"(holding uytzi) (on-table ivmyv) (on-table mvont) (on ngrve ivmyv) (clear jhjes) (on-table jhjes) (clear ngrve) (clear mvont)",
"(arm-empty) (on-table ivmyv) (on-table mvont) (on ngrve ivmyv) (on-table jhjes) (on uytzi jhjes) (clear ngrve) (clear uytzi) (clear mvont)",
"(on-table ivmyv) (on ngrve ivmyv) (holding mvont) (on-table jhjes) (on uytzi jhjes) (clear ngrve) (clear uytzi)",
"(arm-empty) (on-table ivmyv) (on ngrve ivmyv) (on mvont ngrve) (on-table jhjes) (on uytzi jhjes) (clear uytzi) (clear mvont)"
] | file_11996 |
GOAL: (clear hrdml) (on duxey ibmks) (on qjokv duxey) (on-table hrdml) (clear qjokv) (holding hzqlg) (on-table ibmks) | GOAL: (clear hrdml) (on duxey ibmks) (on qjokv duxey) (on-table hrdml) (clear qjokv) (holding hzqlg) (on-table ibmks)
STATE: (on ibmks qjokv) (clear hrdml) (arm-empty) (on-table hrdml) (on qjokv hzqlg) (on-table duxey) (on hzqlg duxey) (clear ibmks) | [
[
"unstack ibmks qjokv"
],
[
"stack ibmks hrdml"
],
[
"unstack qjokv hzqlg"
],
[
"put-down qjokv"
],
[
"unstack ibmks hrdml"
],
[
"put-down ibmks"
],
[
"unstack hzqlg duxey"
],
[
"stack hzqlg hrdml"
],
[
"pick-up duxey"
],
[
"stack duxey ibmks"
],
[
"pick-up qjokv"
],
[
"stack qjokv duxey"
],
[
"unstack hzqlg hrdml"
]
] | [
"(clear hrdml) (on-table hrdml) (on qjokv hzqlg) (on-table duxey) (clear qjokv) (on hzqlg duxey) (holding ibmks)",
"(arm-empty) (on-table hrdml) (on qjokv hzqlg) (on-table duxey) (on ibmks hrdml) (clear qjokv) (on hzqlg duxey) (clear ibmks)",
"(on-table hrdml) (on-table duxey) (holding qjokv) (on ibmks hrdml) (on hzqlg duxey) (clear ibmks) (clear hzqlg)",
"(arm-empty) (on-table hrdml) (clear qjokv) (clear hzqlg) (on-table duxey) (on ibmks hrdml) (on hzqlg duxey) (on-table qjokv) (clear ibmks)",
"(clear hrdml) (on-table hrdml) (on-table duxey) (clear qjokv) (on hzqlg duxey) (on-table qjokv) (holding ibmks) (clear hzqlg)",
"(clear hrdml) (arm-empty) (on-table hrdml) (on-table duxey) (clear qjokv) (on hzqlg duxey) (on-table qjokv) (clear ibmks) (on-table ibmks) (clear hzqlg)",
"(clear hrdml) (on-table hrdml) (on-table duxey) (clear qjokv) (holding hzqlg) (on-table qjokv) (clear ibmks) (clear duxey) (on-table ibmks)",
"(arm-empty) (on-table hrdml) (on-table duxey) (on hzqlg hrdml) (clear qjokv) (on-table qjokv) (clear ibmks) (clear duxey) (on-table ibmks) (clear hzqlg)",
"(holding duxey) (on-table hrdml) (on hzqlg hrdml) (clear qjokv) (on-table qjokv) (clear ibmks) (on-table ibmks) (clear hzqlg)",
"(on duxey ibmks) (arm-empty) (on-table hrdml) (on hzqlg hrdml) (clear qjokv) (on-table qjokv) (clear duxey) (on-table ibmks) (clear hzqlg)",
"(on duxey ibmks) (on-table hrdml) (holding qjokv) (on hzqlg hrdml) (clear duxey) (on-table ibmks) (clear hzqlg)",
"(on duxey ibmks) (on qjokv duxey) (on-table hrdml) (arm-empty) (on hzqlg hrdml) (clear qjokv) (on-table ibmks) (clear hzqlg)",
"(clear hrdml) (on duxey ibmks) (on qjokv duxey) (on-table hrdml) (clear qjokv) (holding hzqlg) (on-table ibmks)"
] | file_159433 |
GOAL: (arm-empty) (on-table pljep) (clear vkfut) (on atled etsyi) (clear pljep) (on-table etsyi) (on vkfut atled) (clear mgoxb) (on-table mgoxb) | GOAL: (arm-empty) (on-table pljep) (clear vkfut) (on atled etsyi) (clear pljep) (on-table etsyi) (on vkfut atled) (clear mgoxb) (on-table mgoxb)
STATE: (on mgoxb vkfut) (on-table etsyi) (holding pljep) (on vkfut atled) (on atled etsyi) (clear mgoxb) | [
[
"put-down pljep"
],
[
"unstack mgoxb vkfut"
],
[
"put-down mgoxb"
]
] | [
"(arm-empty) (on-table pljep) (on atled etsyi) (clear pljep) (on mgoxb vkfut) (on-table etsyi) (on vkfut atled) (clear mgoxb)",
"(on-table pljep) (on-table etsyi) (clear vkfut) (on vkfut atled) (on atled etsyi) (holding mgoxb) (clear pljep)",
"(arm-empty) (on-table pljep) (clear vkfut) (on atled etsyi) (clear pljep) (on-table etsyi) (on vkfut atled) (clear mgoxb) (on-table mgoxb)"
] | file_167221 |
GOAL: (on wezis fjfeo) (on closz ftavi) (arm-empty) (on-table ftavi) (on fjfeo cftvy) (on cftvy closz) (clear wezis) | GOAL: (on wezis fjfeo) (on closz ftavi) (arm-empty) (on-table ftavi) (on fjfeo cftvy) (on cftvy closz) (clear wezis)
STATE: (on wezis closz) (clear cftvy) (on closz ftavi) (arm-empty) (on-table cftvy) (on-table fjfeo) (on-table ftavi) (clear wezis) (clear fjfeo) | [
[
"unstack wezis closz"
],
[
"put-down wezis"
],
[
"pick-up cftvy"
],
[
"stack cftvy closz"
],
[
"pick-up fjfeo"
],
[
"stack fjfeo cftvy"
],
[
"pick-up wezis"
],
[
"stack wezis fjfeo"
]
] | [
"(clear cftvy) (on closz ftavi) (on-table cftvy) (on-table fjfeo) (on-table ftavi) (clear closz) (holding wezis) (clear fjfeo)",
"(clear cftvy) (on closz ftavi) (arm-empty) (on-table cftvy) (on-table fjfeo) (on-table ftavi) (clear closz) (clear wezis) (on-table wezis) (clear fjfeo)",
"(on closz ftavi) (on-table fjfeo) (on-table ftavi) (clear closz) (holding cftvy) (clear wezis) (on-table wezis) (clear fjfeo)",
"(clear cftvy) (on closz ftavi) (arm-empty) (on-table fjfeo) (on-table ftavi) (on cftvy closz) (clear wezis) (on-table wezis) (clear fjfeo)",
"(clear cftvy) (on closz ftavi) (on-table ftavi) (holding fjfeo) (on cftvy closz) (clear wezis) (on-table wezis)",
"(on closz ftavi) (arm-empty) (on-table ftavi) (on fjfeo cftvy) (on cftvy closz) (clear wezis) (on-table wezis) (clear fjfeo)",
"(on closz ftavi) (on-table ftavi) (on fjfeo cftvy) (on cftvy closz) (holding wezis) (clear fjfeo)",
"(on wezis fjfeo) (on closz ftavi) (arm-empty) (on-table ftavi) (on fjfeo cftvy) (on cftvy closz) (clear wezis)"
] | file_218560 |
GOAL: (arm-empty) (on-table iolve) (on-table ocrfy) (on vmnpr ocrfy) (on sjmio vmnpr) (clear iolve) (on-table wyuwf) (clear sjmio) (clear wyuwf) | GOAL: (arm-empty) (on-table iolve) (on-table ocrfy) (on vmnpr ocrfy) (on sjmio vmnpr) (clear iolve) (on-table wyuwf) (clear sjmio) (clear wyuwf)
STATE: (clear iolve) (on-table iolve) (on-table ocrfy) (holding vmnpr) (on-table wyuwf) (clear sjmio) (clear wyuwf) (on-table sjmio) (clear ocrfy) | [
[
"stack vmnpr ocrfy"
],
[
"pick-up iolve"
],
[
"stack iolve wyuwf"
],
[
"pick-up sjmio"
],
[
"stack sjmio vmnpr"
],
[
"unstack iolve wyuwf"
],
[
"put-down iolve"
]
] | [
"(clear iolve) (arm-empty) (on-table iolve) (on-table ocrfy) (on vmnpr ocrfy) (on-table wyuwf) (clear vmnpr) (clear sjmio) (clear wyuwf) (on-table sjmio)",
"(on-table ocrfy) (on vmnpr ocrfy) (on-table wyuwf) (clear vmnpr) (holding iolve) (clear sjmio) (clear wyuwf) (on-table sjmio)",
"(clear iolve) (arm-empty) (on-table ocrfy) (on vmnpr ocrfy) (on-table wyuwf) (clear vmnpr) (on iolve wyuwf) (clear sjmio) (on-table sjmio)",
"(clear iolve) (on-table ocrfy) (on vmnpr ocrfy) (on-table wyuwf) (clear vmnpr) (on iolve wyuwf) (holding sjmio)",
"(on sjmio vmnpr) (clear iolve) (arm-empty) (on-table ocrfy) (on-table wyuwf) (on vmnpr ocrfy) (on iolve wyuwf) (clear sjmio)",
"(on sjmio vmnpr) (on-table ocrfy) (on-table wyuwf) (on vmnpr ocrfy) (holding iolve) (clear sjmio) (clear wyuwf)",
"(arm-empty) (on-table iolve) (on-table ocrfy) (on vmnpr ocrfy) (on sjmio vmnpr) (clear iolve) (on-table wyuwf) (clear sjmio) (clear wyuwf)"
] | file_184250 |
GOAL: (clear nwbok) (arm-empty) (on-table nwbok) (on-table jqjwd) (on rugdo jqjwd) (on aahmz rugdo) (clear aahmz) | GOAL: (clear nwbok) (arm-empty) (on-table nwbok) (on-table jqjwd) (on rugdo jqjwd) (on aahmz rugdo) (clear aahmz)
STATE: (clear nwbok) (on-table nwbok) (on-table rugdo) (clear jqjwd) (on-table jqjwd) (holding aahmz) (clear rugdo) | [
[
"stack aahmz nwbok"
],
[
"pick-up rugdo"
],
[
"stack rugdo jqjwd"
],
[
"unstack aahmz nwbok"
],
[
"stack aahmz rugdo"
]
] | [
"(arm-empty) (on-table nwbok) (on-table rugdo) (on aahmz nwbok) (clear jqjwd) (on-table jqjwd) (clear aahmz) (clear rugdo)",
"(holding rugdo) (on-table nwbok) (on aahmz nwbok) (clear jqjwd) (on-table jqjwd) (clear aahmz)",
"(arm-empty) (on-table nwbok) (on aahmz nwbok) (on-table jqjwd) (on rugdo jqjwd) (clear aahmz) (clear rugdo)",
"(on-table nwbok) (clear nwbok) (on-table jqjwd) (on rugdo jqjwd) (holding aahmz) (clear rugdo)",
"(clear nwbok) (arm-empty) (on-table nwbok) (on-table jqjwd) (on rugdo jqjwd) (on aahmz rugdo) (clear aahmz)"
] | file_214583 |
GOAL: (arm-empty) (on-table lquqc) (on-table pouks) (on ffsiw pouks) (on owcyl lquqc) (on yxcjn ffsiw) (clear owcyl) (clear yxcjn) | GOAL: (arm-empty) (on-table lquqc) (on-table pouks) (on ffsiw pouks) (on owcyl lquqc) (on yxcjn ffsiw) (clear owcyl) (clear yxcjn)
STATE: (on owcyl ffsiw) (on yxcjn pouks) (arm-empty) (on-table lquqc) (on pouks owcyl) (on ffsiw lquqc) (clear yxcjn) | [
[
"unstack yxcjn pouks"
],
[
"put-down yxcjn"
],
[
"unstack pouks owcyl"
],
[
"put-down pouks"
],
[
"unstack owcyl ffsiw"
],
[
"put-down owcyl"
],
[
"unstack ffsiw lquqc"
],
[
"stack ffsiw pouks"
],
[
"pick-up owcyl"
],
[
"stack owcyl lquqc"
],
[
"pick-up yxcjn"
],
[
"stack yxcjn ffsiw"
]
] | [
"(on-table lquqc) (on pouks owcyl) (clear pouks) (holding yxcjn) (on owcyl ffsiw) (on ffsiw lquqc)",
"(arm-empty) (on-table lquqc) (on pouks owcyl) (clear pouks) (on owcyl ffsiw) (on-table yxcjn) (on ffsiw lquqc) (clear yxcjn)",
"(on owcyl ffsiw) (on-table lquqc) (on-table yxcjn) (holding pouks) (on ffsiw lquqc) (clear owcyl) (clear yxcjn)",
"(arm-empty) (on-table lquqc) (on-table pouks) (clear pouks) (on owcyl ffsiw) (on-table yxcjn) (on ffsiw lquqc) (clear owcyl) (clear yxcjn)",
"(on-table lquqc) (on-table pouks) (on-table yxcjn) (clear ffsiw) (on ffsiw lquqc) (holding owcyl) (clear yxcjn) (clear pouks)",
"(arm-empty) (on-table lquqc) (on-table pouks) (on-table yxcjn) (clear ffsiw) (on ffsiw lquqc) (clear owcyl) (clear yxcjn) (on-table owcyl) (clear pouks)",
"(clear lquqc) (on-table lquqc) (on-table pouks) (on-table yxcjn) (holding ffsiw) (clear owcyl) (clear yxcjn) (on-table owcyl) (clear pouks)",
"(clear lquqc) (arm-empty) (on-table lquqc) (on-table pouks) (on-table yxcjn) (on ffsiw pouks) (clear ffsiw) (clear owcyl) (clear yxcjn) (on-table owcyl)",
"(clear lquqc) (on-table lquqc) (on-table pouks) (on-table yxcjn) (on ffsiw pouks) (clear ffsiw) (holding owcyl) (clear yxcjn)",
"(arm-empty) (on-table lquqc) (on-table pouks) (on-table yxcjn) (on ffsiw pouks) (on owcyl lquqc) (clear ffsiw) (clear owcyl) (clear yxcjn)",
"(holding yxcjn) (on-table lquqc) (on-table pouks) (on ffsiw pouks) (on owcyl lquqc) (clear ffsiw) (clear owcyl)",
"(arm-empty) (on-table lquqc) (on-table pouks) (on ffsiw pouks) (on owcyl lquqc) (on yxcjn ffsiw) (clear owcyl) (clear yxcjn)"
] | file_123103 |
GOAL: (clear cjsif) (on lsofq aszca) (arm-empty) (on-table cjsif) (on-table aszca) (clear lsofq) (on oeoym usmpp) (on-table usmpp) (clear oeoym) | GOAL: (clear cjsif) (on lsofq aszca) (arm-empty) (on-table cjsif) (on-table aszca) (clear lsofq) (on oeoym usmpp) (on-table usmpp) (clear oeoym)
STATE: (on-table aszca) (on oeoym cjsif) (clear lsofq) (on-table lsofq) (on cjsif aszca) (holding usmpp) (clear oeoym) | [
[
"put-down usmpp"
],
[
"unstack oeoym cjsif"
],
[
"stack oeoym usmpp"
],
[
"unstack cjsif aszca"
],
[
"put-down cjsif"
],
[
"pick-up lsofq"
],
[
"stack lsofq aszca"
]
] | [
"(arm-empty) (on oeoym cjsif) (clear lsofq) (on cjsif aszca) (clear oeoym) (on-table aszca) (on-table lsofq) (clear usmpp) (on-table usmpp)",
"(clear cjsif) (on-table aszca) (clear lsofq) (holding oeoym) (on-table lsofq) (on cjsif aszca) (clear usmpp) (on-table usmpp)",
"(clear cjsif) (arm-empty) (on-table aszca) (clear lsofq) (on oeoym usmpp) (on-table lsofq) (on cjsif aszca) (on-table usmpp) (clear oeoym)",
"(on-table aszca) (clear lsofq) (on oeoym usmpp) (on-table lsofq) (holding cjsif) (clear aszca) (on-table usmpp) (clear oeoym)",
"(clear cjsif) (arm-empty) (on-table cjsif) (on-table aszca) (clear lsofq) (on oeoym usmpp) (on-table lsofq) (clear aszca) (on-table usmpp) (clear oeoym)",
"(clear cjsif) (on-table cjsif) (on-table aszca) (holding lsofq) (on oeoym usmpp) (clear aszca) (on-table usmpp) (clear oeoym)",
"(clear cjsif) (on lsofq aszca) (arm-empty) (on-table cjsif) (on-table aszca) (clear lsofq) (on oeoym usmpp) (on-table usmpp) (clear oeoym)"
] | file_3976 |
GOAL: (on nrjuw buagh) (arm-empty) (on buagh hlmrp) (on-table hlmrp) (on xncvw nrjuw) (on wdzoh xncvw) (clear wdzoh) | GOAL: (on nrjuw buagh) (arm-empty) (on buagh hlmrp) (on-table hlmrp) (on xncvw nrjuw) (on wdzoh xncvw) (clear wdzoh)
STATE: (clear xncvw) (on nrjuw buagh) (on wdzoh nrjuw) (on buagh hlmrp) (arm-empty) (on-table hlmrp) (on xncvw wdzoh) | [
[
"unstack xncvw wdzoh"
],
[
"put-down xncvw"
],
[
"unstack wdzoh nrjuw"
],
[
"put-down wdzoh"
],
[
"pick-up xncvw"
],
[
"stack xncvw nrjuw"
],
[
"pick-up wdzoh"
],
[
"stack wdzoh xncvw"
]
] | [
"(on nrjuw buagh) (on wdzoh nrjuw) (on buagh hlmrp) (on-table hlmrp) (holding xncvw) (clear wdzoh)",
"(on nrjuw buagh) (on wdzoh nrjuw) (on buagh hlmrp) (on-table hlmrp) (on-table xncvw) (clear xncvw) (arm-empty) (clear wdzoh)",
"(holding wdzoh) (on nrjuw buagh) (on buagh hlmrp) (on-table xncvw) (clear xncvw) (on-table hlmrp) (clear nrjuw)",
"(on nrjuw buagh) (arm-empty) (on buagh hlmrp) (on-table xncvw) (clear xncvw) (on-table wdzoh) (on-table hlmrp) (clear nrjuw) (clear wdzoh)",
"(on nrjuw buagh) (on buagh hlmrp) (on-table wdzoh) (on-table hlmrp) (holding xncvw) (clear nrjuw) (clear wdzoh)",
"(on nrjuw buagh) (clear xncvw) (on buagh hlmrp) (arm-empty) (on-table wdzoh) (on-table hlmrp) (on xncvw nrjuw) (clear wdzoh)",
"(holding wdzoh) (on nrjuw buagh) (clear xncvw) (on buagh hlmrp) (on-table hlmrp) (on xncvw nrjuw)",
"(on nrjuw buagh) (arm-empty) (on buagh hlmrp) (on-table hlmrp) (on xncvw nrjuw) (on wdzoh xncvw) (clear wdzoh)"
] | file_180010 |
GOAL: (on ffcxd hixre) (on fhife ffcxd) (arm-empty) (on-table hixre) (on sfvla znpbd) (on znpbd fhife) (clear sfvla) | GOAL: (on ffcxd hixre) (on fhife ffcxd) (arm-empty) (on-table hixre) (on sfvla znpbd) (on znpbd fhife) (clear sfvla)
STATE: (holding hixre) (on-table znpbd) (on fhife znpbd) (clear ffcxd) (on-table ffcxd) (clear sfvla) (on-table sfvla) (clear fhife) | [
[
"stack hixre fhife"
],
[
"pick-up ffcxd"
],
[
"stack ffcxd sfvla"
],
[
"unstack hixre fhife"
],
[
"put-down hixre"
],
[
"unstack ffcxd sfvla"
],
[
"stack ffcxd hixre"
],
[
"unstack fhife znpbd"
],
[
"stack fhife ffcxd"
],
[
"pick-up znpbd"
],
[
"stack znpbd fhife"
],
[
"pick-up sfvla"
],
[
"stack sfvla znpbd"
]
] | [
"(on hixre fhife) (arm-empty) (on-table znpbd) (on fhife znpbd) (clear ffcxd) (on-table ffcxd) (clear sfvla) (clear hixre) (on-table sfvla)",
"(on hixre fhife) (on-table znpbd) (holding ffcxd) (on fhife znpbd) (clear sfvla) (clear hixre) (on-table sfvla)",
"(on hixre fhife) (arm-empty) (on-table znpbd) (on fhife znpbd) (clear ffcxd) (on ffcxd sfvla) (clear hixre) (on-table sfvla)",
"(holding hixre) (on-table znpbd) (on fhife znpbd) (clear ffcxd) (on ffcxd sfvla) (on-table sfvla) (clear fhife)",
"(arm-empty) (on-table znpbd) (on fhife znpbd) (clear ffcxd) (clear fhife) (on-table hixre) (on ffcxd sfvla) (clear hixre) (on-table sfvla)",
"(on-table znpbd) (on-table hixre) (holding ffcxd) (on fhife znpbd) (clear sfvla) (clear hixre) (on-table sfvla) (clear fhife)",
"(on ffcxd hixre) (arm-empty) (on-table znpbd) (on-table hixre) (on fhife znpbd) (clear ffcxd) (clear sfvla) (on-table sfvla) (clear fhife)",
"(clear znpbd) (on ffcxd hixre) (on-table znpbd) (on-table hixre) (clear ffcxd) (holding fhife) (clear sfvla) (on-table sfvla)",
"(clear znpbd) (on ffcxd hixre) (on fhife ffcxd) (on-table znpbd) (arm-empty) (on-table hixre) (clear sfvla) (on-table sfvla) (clear fhife)",
"(on ffcxd hixre) (on fhife ffcxd) (on-table hixre) (holding znpbd) (clear sfvla) (on-table sfvla) (clear fhife)",
"(clear znpbd) (on ffcxd hixre) (on fhife ffcxd) (arm-empty) (on-table hixre) (on znpbd fhife) (clear sfvla) (on-table sfvla)",
"(clear znpbd) (on ffcxd hixre) (on fhife ffcxd) (on-table hixre) (on znpbd fhife) (holding sfvla)",
"(on ffcxd hixre) (on fhife ffcxd) (arm-empty) (on-table hixre) (on sfvla znpbd) (on znpbd fhife) (clear sfvla)"
] | file_223242 |
GOAL: (clear yoiqh) (on qvhva buvrm) (on-table yoiqh) (on-table iippe) (holding hvsyg) (clear qvhva) (on-table buvrm) (clear iippe) | GOAL: (clear yoiqh) (on qvhva buvrm) (on-table yoiqh) (on-table iippe) (holding hvsyg) (clear qvhva) (on-table buvrm) (clear iippe)
STATE: (holding qvhva) (clear yoiqh) (on buvrm iippe) (on-table yoiqh) (on-table iippe) (clear hvsyg) (on-table hvsyg) (clear buvrm) | [
[
"stack qvhva yoiqh"
],
[
"unstack buvrm iippe"
],
[
"put-down buvrm"
],
[
"unstack qvhva yoiqh"
],
[
"stack qvhva buvrm"
],
[
"pick-up hvsyg"
]
] | [
"(on buvrm iippe) (arm-empty) (on-table yoiqh) (on-table iippe) (clear hvsyg) (on-table hvsyg) (clear buvrm) (on qvhva yoiqh) (clear qvhva)",
"(on-table yoiqh) (on-table iippe) (clear hvsyg) (on-table hvsyg) (on qvhva yoiqh) (clear qvhva) (holding buvrm) (clear iippe)",
"(arm-empty) (on-table yoiqh) (on-table iippe) (clear hvsyg) (on-table hvsyg) (clear buvrm) (on qvhva yoiqh) (clear qvhva) (on-table buvrm) (clear iippe)",
"(holding qvhva) (clear yoiqh) (on-table yoiqh) (on-table iippe) (clear hvsyg) (on-table hvsyg) (clear buvrm) (on-table buvrm) (clear iippe)",
"(clear yoiqh) (on qvhva buvrm) (arm-empty) (on-table yoiqh) (on-table iippe) (clear hvsyg) (on-table hvsyg) (clear qvhva) (on-table buvrm) (clear iippe)",
"(clear yoiqh) (on qvhva buvrm) (on-table yoiqh) (on-table iippe) (holding hvsyg) (clear qvhva) (on-table buvrm) (clear iippe)"
] | file_45359 |
GOAL: (on yrzjj kgawj) (on-table gcizk) (holding qfyzi) (on kgawj ovugw) (on ovugw gcizk) (clear yrzjj) | GOAL: (on yrzjj kgawj) (on-table gcizk) (holding qfyzi) (on kgawj ovugw) (on ovugw gcizk) (clear yrzjj)
STATE: (on yrzjj qfyzi) (on-table qfyzi) (on-table gcizk) (clear kgawj) (on kgawj yrzjj) (holding ovugw) (clear gcizk) | [
[
"stack ovugw gcizk"
],
[
"unstack kgawj yrzjj"
],
[
"stack kgawj ovugw"
],
[
"unstack yrzjj qfyzi"
],
[
"stack yrzjj kgawj"
],
[
"pick-up qfyzi"
]
] | [
"(on yrzjj qfyzi) (clear ovugw) (arm-empty) (on-table qfyzi) (on-table gcizk) (clear kgawj) (on kgawj yrzjj) (on ovugw gcizk)",
"(on yrzjj qfyzi) (clear ovugw) (on-table qfyzi) (on-table gcizk) (holding kgawj) (on ovugw gcizk) (clear yrzjj)",
"(on yrzjj qfyzi) (arm-empty) (on-table qfyzi) (on-table gcizk) (clear kgawj) (on kgawj ovugw) (on ovugw gcizk) (clear yrzjj)",
"(on-table qfyzi) (on-table gcizk) (clear kgawj) (on kgawj ovugw) (on ovugw gcizk) (holding yrzjj) (clear qfyzi)",
"(on yrzjj kgawj) (arm-empty) (on-table qfyzi) (on-table gcizk) (on kgawj ovugw) (on ovugw gcizk) (clear yrzjj) (clear qfyzi)",
"(on yrzjj kgawj) (on-table gcizk) (holding qfyzi) (on kgawj ovugw) (on ovugw gcizk) (clear yrzjj)"
] | file_217788 |
GOAL: (clear cqmhs) (on-table cqmhs) (holding ntztb) (on-table tiokc) (on xxucs tiokc) (clear lzakp) (clear xxucs) (on-table lzakp) | GOAL: (clear cqmhs) (on-table cqmhs) (holding ntztb) (on-table tiokc) (on xxucs tiokc) (clear lzakp) (clear xxucs) (on-table lzakp)
STATE: (on-table cqmhs) (on tiokc ntztb) (on ntztb cqmhs) (on xxucs tiokc) (holding lzakp) (clear xxucs) | [
[
"put-down lzakp"
],
[
"unstack xxucs tiokc"
],
[
"stack xxucs lzakp"
],
[
"unstack tiokc ntztb"
],
[
"put-down tiokc"
],
[
"unstack xxucs lzakp"
],
[
"stack xxucs tiokc"
],
[
"unstack ntztb cqmhs"
]
] | [
"(arm-empty) (on-table cqmhs) (on tiokc ntztb) (on ntztb cqmhs) (on xxucs tiokc) (clear lzakp) (clear xxucs) (on-table lzakp)",
"(holding xxucs) (on-table cqmhs) (on tiokc ntztb) (on ntztb cqmhs) (clear tiokc) (clear lzakp) (on-table lzakp)",
"(on xxucs lzakp) (arm-empty) (on-table cqmhs) (on tiokc ntztb) (on ntztb cqmhs) (clear tiokc) (clear xxucs) (on-table lzakp)",
"(on xxucs lzakp) (on-table cqmhs) (holding tiokc) (on ntztb cqmhs) (clear xxucs) (on-table lzakp) (clear ntztb)",
"(on xxucs lzakp) (arm-empty) (on-table cqmhs) (on ntztb cqmhs) (clear tiokc) (clear ntztb) (on-table tiokc) (clear xxucs) (on-table lzakp)",
"(holding xxucs) (on-table cqmhs) (on ntztb cqmhs) (clear tiokc) (on-table tiokc) (clear lzakp) (on-table lzakp) (clear ntztb)",
"(arm-empty) (on-table cqmhs) (on ntztb cqmhs) (on-table tiokc) (on xxucs tiokc) (clear lzakp) (clear xxucs) (on-table lzakp) (clear ntztb)",
"(clear cqmhs) (on-table cqmhs) (holding ntztb) (on-table tiokc) (on xxucs tiokc) (clear lzakp) (clear xxucs) (on-table lzakp)"
] | file_188243 |
GOAL: (on gnuzq luqxh) (on ssmvq gnuzq) (arm-empty) (on luqxh licjt) (clear ssmvq) (on licjt fzmvv) (on-table fzmvv) | GOAL: (on gnuzq luqxh) (on ssmvq gnuzq) (arm-empty) (on luqxh licjt) (clear ssmvq) (on licjt fzmvv) (on-table fzmvv)
STATE: (clear licjt) (on fzmvv luqxh) (on gnuzq fzmvv) (arm-empty) (on-table luqxh) (clear ssmvq) (on-table ssmvq) (on licjt gnuzq) | [
[
"unstack licjt gnuzq"
],
[
"stack licjt ssmvq"
],
[
"unstack gnuzq fzmvv"
],
[
"put-down gnuzq"
],
[
"unstack fzmvv luqxh"
],
[
"put-down fzmvv"
],
[
"unstack licjt ssmvq"
],
[
"stack licjt fzmvv"
],
[
"pick-up luqxh"
],
[
"stack luqxh licjt"
],
[
"pick-up gnuzq"
],
[
"stack gnuzq luqxh"
],
[
"pick-up ssmvq"
],
[
"stack ssmvq gnuzq"
]
] | [
"(on fzmvv luqxh) (on gnuzq fzmvv) (on-table luqxh) (clear ssmvq) (on-table ssmvq) (holding licjt) (clear gnuzq)",
"(on fzmvv luqxh) (on gnuzq fzmvv) (clear licjt) (arm-empty) (on-table luqxh) (on-table ssmvq) (on licjt ssmvq) (clear gnuzq)",
"(holding gnuzq) (on fzmvv luqxh) (clear licjt) (on-table luqxh) (on-table ssmvq) (on licjt ssmvq) (clear fzmvv)",
"(on fzmvv luqxh) (arm-empty) (on-table luqxh) (on licjt ssmvq) (clear licjt) (on-table gnuzq) (on-table ssmvq) (clear fzmvv) (clear gnuzq)",
"(clear licjt) (on-table luqxh) (on-table gnuzq) (on-table ssmvq) (on licjt ssmvq) (holding fzmvv) (clear gnuzq) (clear luqxh)",
"(clear licjt) (arm-empty) (on-table luqxh) (on-table gnuzq) (on-table ssmvq) (on licjt ssmvq) (clear fzmvv) (clear gnuzq) (on-table fzmvv) (clear luqxh)",
"(on-table luqxh) (on-table gnuzq) (clear ssmvq) (on-table ssmvq) (holding licjt) (clear fzmvv) (clear gnuzq) (on-table fzmvv) (clear luqxh)",
"(clear licjt) (arm-empty) (on-table luqxh) (on-table gnuzq) (clear ssmvq) (on-table ssmvq) (on licjt fzmvv) (clear gnuzq) (on-table fzmvv) (clear luqxh)",
"(clear licjt) (on-table gnuzq) (clear ssmvq) (holding luqxh) (on-table ssmvq) (on licjt fzmvv) (clear gnuzq) (on-table fzmvv)",
"(arm-empty) (on-table gnuzq) (on luqxh licjt) (clear ssmvq) (on-table ssmvq) (on licjt fzmvv) (clear gnuzq) (on-table fzmvv) (clear luqxh)",
"(holding gnuzq) (on luqxh licjt) (clear ssmvq) (on-table ssmvq) (on licjt fzmvv) (on-table fzmvv) (clear luqxh)",
"(on gnuzq luqxh) (arm-empty) (on luqxh licjt) (clear ssmvq) (on-table ssmvq) (on licjt fzmvv) (clear gnuzq) (on-table fzmvv)",
"(on gnuzq luqxh) (holding ssmvq) (on luqxh licjt) (on licjt fzmvv) (clear gnuzq) (on-table fzmvv)",
"(on gnuzq luqxh) (on ssmvq gnuzq) (arm-empty) (on luqxh licjt) (clear ssmvq) (on licjt fzmvv) (on-table fzmvv)"
] | file_154277 |
GOAL: (holding fgato) (clear odzzp) (on-table ticjn) (on odzzp ticjn) (clear fdpru) (on-table fdpru) | GOAL: (holding fgato) (clear odzzp) (on-table ticjn) (on odzzp ticjn) (clear fdpru) (on-table fdpru)
STATE: (clear odzzp) (arm-empty) (on-table odzzp) (on-table fgato) (clear ticjn) (on-table ticjn) (on fdpru fgato) (clear fdpru) | [
[
"pick-up odzzp"
],
[
"stack odzzp ticjn"
],
[
"unstack fdpru fgato"
],
[
"put-down fdpru"
],
[
"pick-up fgato"
]
] | [
"(on-table fgato) (clear ticjn) (on-table ticjn) (holding odzzp) (on fdpru fgato) (clear fdpru)",
"(clear odzzp) (arm-empty) (on-table fgato) (on odzzp ticjn) (on-table ticjn) (on fdpru fgato) (clear fdpru)",
"(on odzzp ticjn) (clear odzzp) (on-table fgato) (on-table ticjn) (holding fdpru) (clear fgato)",
"(clear odzzp) (on-table ticjn) (arm-empty) (on odzzp ticjn) (clear fdpru) (on-table fgato) (clear fgato) (on-table fdpru)",
"(holding fgato) (clear odzzp) (on-table ticjn) (on odzzp ticjn) (clear fdpru) (on-table fdpru)"
] | file_95222 |
GOAL: (arm-empty) (on-table wtlpz) (on whaqy eoala) (on-table eoala) (on iuxvu qeqto) (clear iuxvu) (on qeqto whaqy) (clear wtlpz) | GOAL: (arm-empty) (on-table wtlpz) (on whaqy eoala) (on-table eoala) (on iuxvu qeqto) (clear iuxvu) (on qeqto whaqy) (clear wtlpz)
STATE: (on iuxvu wtlpz) (arm-empty) (on-table wtlpz) (clear eoala) (on-table eoala) (on whaqy iuxvu) (on qeqto whaqy) (clear qeqto) | [
[
"unstack qeqto whaqy"
],
[
"put-down qeqto"
],
[
"unstack whaqy iuxvu"
],
[
"stack whaqy eoala"
],
[
"pick-up qeqto"
],
[
"stack qeqto whaqy"
],
[
"unstack iuxvu wtlpz"
],
[
"stack iuxvu qeqto"
]
] | [
"(holding qeqto) (on iuxvu wtlpz) (clear whaqy) (on-table wtlpz) (clear eoala) (on-table eoala) (on whaqy iuxvu)",
"(on iuxvu wtlpz) (arm-empty) (on-table wtlpz) (clear eoala) (clear whaqy) (on-table qeqto) (on-table eoala) (on whaqy iuxvu) (clear qeqto)",
"(on iuxvu wtlpz) (on-table wtlpz) (on-table qeqto) (clear eoala) (on-table eoala) (holding whaqy) (clear iuxvu) (clear qeqto)",
"(on iuxvu wtlpz) (clear whaqy) (arm-empty) (on-table wtlpz) (on-table qeqto) (on-table eoala) (on whaqy eoala) (clear iuxvu) (clear qeqto)",
"(holding qeqto) (on iuxvu wtlpz) (clear whaqy) (on-table wtlpz) (on-table eoala) (on whaqy eoala) (clear iuxvu)",
"(on iuxvu wtlpz) (arm-empty) (on-table wtlpz) (on-table eoala) (on whaqy eoala) (clear iuxvu) (on qeqto whaqy) (clear qeqto)",
"(on-table wtlpz) (on-table eoala) (on whaqy eoala) (on qeqto whaqy) (clear qeqto) (holding iuxvu) (clear wtlpz)",
"(arm-empty) (on-table wtlpz) (on whaqy eoala) (on-table eoala) (on iuxvu qeqto) (clear iuxvu) (on qeqto whaqy) (clear wtlpz)"
] | file_25653 |
GOAL: (on hogzf aisui) (clear judrs) (on-table aisui) (holding lugpz) (on judrs joiqd) (clear hogzf) (on-table joiqd) | GOAL: (on hogzf aisui) (clear judrs) (on-table aisui) (holding lugpz) (on judrs joiqd) (clear hogzf) (on-table joiqd)
STATE: (clear judrs) (on lugpz hogzf) (on-table judrs) (on-table hogzf) (clear lugpz) (holding aisui) (clear joiqd) (on-table joiqd) | [
[
"put-down aisui"
],
[
"unstack lugpz hogzf"
],
[
"put-down lugpz"
],
[
"pick-up hogzf"
],
[
"stack hogzf aisui"
],
[
"pick-up judrs"
],
[
"stack judrs joiqd"
],
[
"pick-up lugpz"
]
] | [
"(clear judrs) (on lugpz hogzf) (arm-empty) (on-table judrs) (on-table aisui) (on-table hogzf) (clear lugpz) (clear joiqd) (on-table joiqd) (clear aisui)",
"(clear judrs) (on-table judrs) (on-table aisui) (on-table hogzf) (holding lugpz) (clear joiqd) (clear hogzf) (on-table joiqd) (clear aisui)",
"(clear judrs) (arm-empty) (on-table judrs) (on-table aisui) (on-table hogzf) (clear lugpz) (on-table lugpz) (clear joiqd) (clear hogzf) (on-table joiqd) (clear aisui)",
"(holding hogzf) (clear judrs) (on-table judrs) (on-table aisui) (clear lugpz) (on-table lugpz) (clear joiqd) (on-table joiqd) (clear aisui)",
"(on hogzf aisui) (clear judrs) (arm-empty) (on-table judrs) (on-table aisui) (clear lugpz) (on-table lugpz) (clear joiqd) (clear hogzf) (on-table joiqd)",
"(on hogzf aisui) (on-table aisui) (clear lugpz) (on-table lugpz) (holding judrs) (clear joiqd) (clear hogzf) (on-table joiqd)",
"(on hogzf aisui) (clear judrs) (arm-empty) (on-table aisui) (clear lugpz) (on-table lugpz) (on judrs joiqd) (clear hogzf) (on-table joiqd)",
"(on hogzf aisui) (clear judrs) (on-table aisui) (holding lugpz) (on judrs joiqd) (clear hogzf) (on-table joiqd)"
] | file_181601 |
GOAL: (on xmcpk szyyv) (arm-empty) (on-table wotwy) (on-table szyyv) (on-table wqocj) (clear yojjs) (on yojjs wotwy) (clear xmcpk) (clear wqocj) | GOAL: (on xmcpk szyyv) (arm-empty) (on-table wotwy) (on-table szyyv) (on-table wqocj) (clear yojjs) (on yojjs wotwy) (clear xmcpk) (clear wqocj)
STATE: (on wqocj szyyv) (clear wotwy) (arm-empty) (on-table szyyv) (on yojjs xmcpk) (on xmcpk wqocj) (on wotwy yojjs) | [
[
"unstack wotwy yojjs"
],
[
"put-down wotwy"
],
[
"unstack yojjs xmcpk"
],
[
"stack yojjs wotwy"
],
[
"unstack xmcpk wqocj"
],
[
"stack xmcpk yojjs"
],
[
"unstack wqocj szyyv"
],
[
"put-down wqocj"
],
[
"unstack xmcpk yojjs"
],
[
"stack xmcpk szyyv"
]
] | [
"(on yojjs xmcpk) (on wqocj szyyv) (on-table szyyv) (on xmcpk wqocj) (clear yojjs) (holding wotwy)",
"(on wqocj szyyv) (arm-empty) (on-table wotwy) (on-table szyyv) (clear yojjs) (on xmcpk wqocj) (clear wotwy) (on yojjs xmcpk)",
"(on wqocj szyyv) (clear wotwy) (on-table wotwy) (on-table szyyv) (holding yojjs) (on xmcpk wqocj) (clear xmcpk)",
"(on wqocj szyyv) (arm-empty) (on-table wotwy) (on-table szyyv) (clear yojjs) (on xmcpk wqocj) (on yojjs wotwy) (clear xmcpk)",
"(on wqocj szyyv) (on-table wotwy) (on-table szyyv) (on yojjs wotwy) (clear yojjs) (holding xmcpk) (clear wqocj)",
"(on wqocj szyyv) (on xmcpk yojjs) (arm-empty) (on-table wotwy) (on-table szyyv) (on yojjs wotwy) (clear xmcpk) (clear wqocj)",
"(holding wqocj) (on xmcpk yojjs) (on-table wotwy) (on-table szyyv) (on yojjs wotwy) (clear xmcpk) (clear szyyv)",
"(arm-empty) (on-table wotwy) (on-table szyyv) (clear szyyv) (on xmcpk yojjs) (on-table wqocj) (on yojjs wotwy) (clear xmcpk) (clear wqocj)",
"(on-table wotwy) (on-table szyyv) (on-table wqocj) (clear yojjs) (on yojjs wotwy) (holding xmcpk) (clear wqocj) (clear szyyv)",
"(on xmcpk szyyv) (arm-empty) (on-table wotwy) (on-table szyyv) (on-table wqocj) (clear yojjs) (on yojjs wotwy) (clear xmcpk) (clear wqocj)"
] | file_90581 |
GOAL: (arm-empty) (clear bjldt) (on gbqnm fidpt) (clear gbqnm) (on-table fidpt) (on-table bjldt) (clear azgeo) (on-table azgeo) | GOAL: (arm-empty) (clear bjldt) (on gbqnm fidpt) (clear gbqnm) (on-table fidpt) (on-table bjldt) (clear azgeo) (on-table azgeo)
STATE: (holding fidpt) (on azgeo bjldt) (clear gbqnm) (on-table gbqnm) (on-table bjldt) (clear azgeo) | [
[
"stack fidpt gbqnm"
],
[
"unstack azgeo bjldt"
],
[
"put-down azgeo"
],
[
"pick-up bjldt"
],
[
"stack bjldt azgeo"
],
[
"unstack fidpt gbqnm"
],
[
"put-down fidpt"
],
[
"pick-up gbqnm"
],
[
"stack gbqnm fidpt"
],
[
"unstack bjldt azgeo"
],
[
"put-down bjldt"
]
] | [
"(on azgeo bjldt) (arm-empty) (on-table gbqnm) (on-table bjldt) (clear azgeo) (on fidpt gbqnm) (clear fidpt)",
"(on-table gbqnm) (clear bjldt) (on fidpt gbqnm) (on-table bjldt) (holding azgeo) (clear fidpt)",
"(on-table bjldt) (arm-empty) (on-table gbqnm) (clear azgeo) (clear bjldt) (on fidpt gbqnm) (on-table azgeo) (clear fidpt)",
"(on-table gbqnm) (holding bjldt) (clear azgeo) (on fidpt gbqnm) (clear fidpt) (on-table azgeo)",
"(arm-empty) (on-table gbqnm) (clear bjldt) (on bjldt azgeo) (on fidpt gbqnm) (clear fidpt) (on-table azgeo)",
"(on-table gbqnm) (clear bjldt) (holding fidpt) (clear gbqnm) (on bjldt azgeo) (on-table azgeo)",
"(arm-empty) (on-table gbqnm) (clear bjldt) (clear gbqnm) (on-table fidpt) (on bjldt azgeo) (clear fidpt) (on-table azgeo)",
"(on-table fidpt) (clear bjldt) (on bjldt azgeo) (holding gbqnm) (clear fidpt) (on-table azgeo)",
"(clear gbqnm) (arm-empty) (on-table fidpt) (clear bjldt) (on bjldt azgeo) (on gbqnm fidpt) (on-table azgeo)",
"(holding bjldt) (clear gbqnm) (on-table fidpt) (on gbqnm fidpt) (clear azgeo) (on-table azgeo)",
"(arm-empty) (clear bjldt) (on gbqnm fidpt) (clear gbqnm) (on-table fidpt) (on-table bjldt) (clear azgeo) (on-table azgeo)"
] | file_133778 |
GOAL: (on jxuur rjgcw) (arm-empty) (on-table wdxuy) (on rjgcw wdxuy) (on dlvvx jxuur) (on qvspl dlvvx) (clear qvspl) | GOAL: (on jxuur rjgcw) (arm-empty) (on-table wdxuy) (on rjgcw wdxuy) (on dlvvx jxuur) (on qvspl dlvvx) (clear qvspl)
STATE: (on jxuur rjgcw) (clear dlvvx) (arm-empty) (on-table wdxuy) (on rjgcw wdxuy) (on-table qvspl) (on dlvvx jxuur) (clear qvspl) | [
[
"pick-up qvspl"
],
[
"stack qvspl dlvvx"
]
] | [
"(holding qvspl) (on jxuur rjgcw) (clear dlvvx) (on-table wdxuy) (on rjgcw wdxuy) (on dlvvx jxuur)",
"(on jxuur rjgcw) (arm-empty) (on-table wdxuy) (on rjgcw wdxuy) (on dlvvx jxuur) (on qvspl dlvvx) (clear qvspl)"
] | file_148501 |
GOAL: (arm-empty) (on-table ljpos) (clear lrrjw) (on ujper oxefc) (on-table lrrjw) (on hrznd ljpos) (clear hrznd) (on-table oxefc) (clear ujper) | GOAL: (arm-empty) (on-table ljpos) (clear lrrjw) (on ujper oxefc) (on-table lrrjw) (on hrznd ljpos) (clear hrznd) (on-table oxefc) (clear ujper)
STATE: (on hrznd ujper) (clear ljpos) (on lrrjw hrznd) (arm-empty) (on ujper oxefc) (on ljpos lrrjw) (on-table oxefc) | [
[
"unstack ljpos lrrjw"
],
[
"put-down ljpos"
],
[
"unstack lrrjw hrznd"
],
[
"put-down lrrjw"
],
[
"unstack hrznd ujper"
],
[
"stack hrznd ljpos"
]
] | [
"(on hrznd ujper) (on lrrjw hrznd) (clear lrrjw) (on ujper oxefc) (holding ljpos) (on-table oxefc)",
"(on hrznd ujper) (on lrrjw hrznd) (arm-empty) (on-table ljpos) (clear lrrjw) (on ujper oxefc) (clear ljpos) (on-table oxefc)",
"(on hrznd ujper) (clear ljpos) (on-table ljpos) (holding lrrjw) (on ujper oxefc) (clear hrznd) (on-table oxefc)",
"(on hrznd ujper) (arm-empty) (on-table ljpos) (clear lrrjw) (on ujper oxefc) (clear ljpos) (on-table lrrjw) (clear hrznd) (on-table oxefc)",
"(holding hrznd) (clear ljpos) (on-table ljpos) (clear lrrjw) (on ujper oxefc) (on-table lrrjw) (on-table oxefc) (clear ujper)",
"(arm-empty) (on-table ljpos) (clear lrrjw) (on ujper oxefc) (on-table lrrjw) (on hrznd ljpos) (clear hrznd) (on-table oxefc) (clear ujper)"
] | file_190207 |
GOAL: (on nrkyr fovyp) (on fovyp bslgi) (on yjqdn nrkyr) (holding bdfbt) (clear yjqdn) (on-table bslgi) | GOAL: (on nrkyr fovyp) (on fovyp bslgi) (on yjqdn nrkyr) (holding bdfbt) (clear yjqdn) (on-table bslgi)
STATE: (arm-empty) (on nrkyr fovyp) (on fovyp bslgi) (on yjqdn nrkyr) (on bdfbt yjqdn) (clear bdfbt) (on-table bslgi) | [
[
"unstack bdfbt yjqdn"
]
] | [
"(on nrkyr fovyp) (on fovyp bslgi) (on yjqdn nrkyr) (holding bdfbt) (clear yjqdn) (on-table bslgi)"
] | file_9314 |
GOAL: (arm-empty) (on-table tjtle) (on-table lryzl) (on tozvf tjtle) (clear ofkcp) (on ofkcp xwqhk) (clear lryzl) (on-table xwqhk) (clear tozvf) | GOAL: (arm-empty) (on-table tjtle) (on-table lryzl) (on tozvf tjtle) (clear ofkcp) (on ofkcp xwqhk) (clear lryzl) (on-table xwqhk) (clear tozvf)
STATE: (holding lryzl) (clear tjtle) (on tozvf ofkcp) (on ofkcp xwqhk) (on tjtle tozvf) (on-table xwqhk) | [
[
"put-down lryzl"
],
[
"unstack tjtle tozvf"
],
[
"put-down tjtle"
],
[
"unstack tozvf ofkcp"
],
[
"stack tozvf tjtle"
]
] | [
"(arm-empty) (on tozvf ofkcp) (on tjtle tozvf) (clear tjtle) (on-table lryzl) (on ofkcp xwqhk) (clear lryzl) (on-table xwqhk)",
"(on tozvf ofkcp) (on-table lryzl) (on ofkcp xwqhk) (holding tjtle) (clear lryzl) (on-table xwqhk) (clear tozvf)",
"(arm-empty) (on tozvf ofkcp) (on-table tjtle) (clear tozvf) (clear tjtle) (on-table lryzl) (on ofkcp xwqhk) (clear lryzl) (on-table xwqhk)",
"(clear tjtle) (on-table tjtle) (on-table lryzl) (clear ofkcp) (on ofkcp xwqhk) (holding tozvf) (clear lryzl) (on-table xwqhk)",
"(arm-empty) (on-table tjtle) (on-table lryzl) (on tozvf tjtle) (clear ofkcp) (on ofkcp xwqhk) (clear lryzl) (on-table xwqhk) (clear tozvf)"
] | file_21189 |
GOAL: (clear blape) (arm-empty) (on-table twgye) (on-table mxqtr) (on wglvu mxqtr) (on qfusa wglvu) (on blape twgye) (clear qfusa) | GOAL: (clear blape) (arm-empty) (on-table twgye) (on-table mxqtr) (on wglvu mxqtr) (on qfusa wglvu) (on blape twgye) (clear qfusa)
STATE: (clear blape) (arm-empty) (on twgye qfusa) (on-table mxqtr) (on wglvu mxqtr) (on qfusa wglvu) (on blape twgye) | [
[
"unstack blape twgye"
],
[
"put-down blape"
],
[
"unstack twgye qfusa"
],
[
"put-down twgye"
],
[
"pick-up blape"
],
[
"stack blape twgye"
]
] | [
"(holding blape) (on twgye qfusa) (on qfusa wglvu) (clear twgye) (on-table mxqtr) (on wglvu mxqtr)",
"(arm-empty) (on-table blape) (on twgye qfusa) (on qfusa wglvu) (clear twgye) (clear blape) (on-table mxqtr) (on wglvu mxqtr)",
"(clear blape) (on-table blape) (holding twgye) (on-table mxqtr) (on wglvu mxqtr) (on qfusa wglvu) (clear qfusa)",
"(arm-empty) (on-table blape) (on-table twgye) (on qfusa wglvu) (clear twgye) (clear blape) (on-table mxqtr) (on wglvu mxqtr) (clear qfusa)",
"(on-table twgye) (holding blape) (on-table mxqtr) (on wglvu mxqtr) (on qfusa wglvu) (clear qfusa) (clear twgye)",
"(clear blape) (arm-empty) (on-table twgye) (on-table mxqtr) (on wglvu mxqtr) (on qfusa wglvu) (on blape twgye) (clear qfusa)"
] | file_99314 |
GOAL: (on-table bafvj) (holding onxet) (on bstzk luoyd) (on bbxuy bstzk) (on luoyd bafvj) (clear bbxuy) | GOAL: (on-table bafvj) (holding onxet) (on bstzk luoyd) (on bbxuy bstzk) (on luoyd bafvj) (clear bbxuy)
STATE: (on-table bafvj) (on bstzk luoyd) (clear onxet) (holding bbxuy) (on-table onxet) (on luoyd bafvj) (clear bstzk) | [
[
"stack bbxuy bstzk"
],
[
"pick-up onxet"
]
] | [
"(arm-empty) (on-table bafvj) (on bstzk luoyd) (clear onxet) (on bbxuy bstzk) (on-table onxet) (on luoyd bafvj) (clear bbxuy)",
"(on-table bafvj) (holding onxet) (on bstzk luoyd) (on bbxuy bstzk) (on luoyd bafvj) (clear bbxuy)"
] | file_111911 |
GOAL: (arm-empty) (on-table avkfq) (on cmyyq avkfq) (on dtggs cmyyq) (clear ceyjk) (on hdyiv dtggs) (clear hdyiv) (on-table ceyjk) | GOAL: (arm-empty) (on-table avkfq) (on cmyyq avkfq) (on dtggs cmyyq) (clear ceyjk) (on hdyiv dtggs) (clear hdyiv) (on-table ceyjk)
STATE: (arm-empty) (on avkfq cmyyq) (on-table hdyiv) (on cmyyq dtggs) (on ceyjk hdyiv) (on dtggs ceyjk) (clear avkfq) | [
[
"unstack avkfq cmyyq"
],
[
"put-down avkfq"
],
[
"unstack cmyyq dtggs"
],
[
"stack cmyyq avkfq"
],
[
"unstack dtggs ceyjk"
],
[
"stack dtggs cmyyq"
],
[
"unstack ceyjk hdyiv"
],
[
"put-down ceyjk"
],
[
"pick-up hdyiv"
],
[
"stack hdyiv dtggs"
]
] | [
"(on cmyyq dtggs) (on ceyjk hdyiv) (holding avkfq) (clear cmyyq) (on-table hdyiv) (on dtggs ceyjk)",
"(arm-empty) (on-table avkfq) (clear cmyyq) (on ceyjk hdyiv) (clear avkfq) (on-table hdyiv) (on cmyyq dtggs) (on dtggs ceyjk)",
"(clear dtggs) (on-table avkfq) (on-table hdyiv) (holding cmyyq) (on ceyjk hdyiv) (on dtggs ceyjk) (clear avkfq)",
"(clear dtggs) (arm-empty) (on-table avkfq) (on-table hdyiv) (on cmyyq avkfq) (clear cmyyq) (on ceyjk hdyiv) (on dtggs ceyjk)",
"(on-table avkfq) (on-table hdyiv) (on cmyyq avkfq) (clear cmyyq) (holding dtggs) (on ceyjk hdyiv) (clear ceyjk)",
"(arm-empty) (on-table avkfq) (on cmyyq avkfq) (on ceyjk hdyiv) (on dtggs cmyyq) (clear dtggs) (on-table hdyiv) (clear ceyjk)",
"(clear dtggs) (on-table avkfq) (on cmyyq avkfq) (on-table hdyiv) (on dtggs cmyyq) (holding ceyjk) (clear hdyiv)",
"(arm-empty) (on-table avkfq) (on cmyyq avkfq) (on dtggs cmyyq) (clear dtggs) (on-table hdyiv) (clear ceyjk) (clear hdyiv) (on-table ceyjk)",
"(holding hdyiv) (clear dtggs) (on-table avkfq) (on cmyyq avkfq) (on dtggs cmyyq) (clear ceyjk) (on-table ceyjk)",
"(arm-empty) (on-table avkfq) (on cmyyq avkfq) (on dtggs cmyyq) (clear ceyjk) (on hdyiv dtggs) (clear hdyiv) (on-table ceyjk)"
] | file_222675 |
GOAL: (clear yzzgs) (on bxlfd sadae) (arm-empty) (on-table sadae) (clear bxlfd) (on bryyi ebtum) (on yzzgs bryyi) (on-table ebtum) | GOAL: (clear yzzgs) (on bxlfd sadae) (arm-empty) (on-table sadae) (clear bxlfd) (on bryyi ebtum) (on yzzgs bryyi) (on-table ebtum)
STATE: (clear yzzgs) (arm-empty) (on-table sadae) (clear bxlfd) (on bryyi ebtum) (on-table bxlfd) (on yzzgs bryyi) (clear sadae) (on-table ebtum) | [
[
"pick-up bxlfd"
],
[
"stack bxlfd sadae"
]
] | [
"(clear yzzgs) (on-table sadae) (holding bxlfd) (on bryyi ebtum) (on yzzgs bryyi) (clear sadae) (on-table ebtum)",
"(clear yzzgs) (on bxlfd sadae) (arm-empty) (on-table sadae) (clear bxlfd) (on bryyi ebtum) (on yzzgs bryyi) (on-table ebtum)"
] | file_172872 |
GOAL: (clear ljlqk) (arm-empty) (on-table ljlqk) (on-table bobtt) (on-table ehvzb) (clear brkxt) (on brkxt nyhkb) (on nyhkb ehvzb) (clear bobtt) | GOAL: (clear ljlqk) (arm-empty) (on-table ljlqk) (on-table bobtt) (on-table ehvzb) (clear brkxt) (on brkxt nyhkb) (on nyhkb ehvzb) (clear bobtt)
STATE: (clear ljlqk) (on-table ljlqk) (on-table ehvzb) (clear brkxt) (on brkxt nyhkb) (holding bobtt) (on nyhkb ehvzb) | [
[
"stack bobtt ljlqk"
],
[
"unstack brkxt nyhkb"
],
[
"put-down brkxt"
],
[
"unstack bobtt ljlqk"
],
[
"stack bobtt nyhkb"
],
[
"pick-up ljlqk"
],
[
"stack ljlqk brkxt"
],
[
"unstack bobtt nyhkb"
],
[
"put-down bobtt"
],
[
"unstack ljlqk brkxt"
],
[
"put-down ljlqk"
],
[
"pick-up brkxt"
],
[
"stack brkxt nyhkb"
]
] | [
"(arm-empty) (on-table ljlqk) (on-table ehvzb) (on bobtt ljlqk) (clear brkxt) (on brkxt nyhkb) (on nyhkb ehvzb) (clear bobtt)",
"(on-table ljlqk) (on-table ehvzb) (holding brkxt) (on bobtt ljlqk) (on nyhkb ehvzb) (clear nyhkb) (clear bobtt)",
"(arm-empty) (on-table ljlqk) (on bobtt ljlqk) (clear brkxt) (on nyhkb ehvzb) (clear bobtt) (on-table ehvzb) (on-table brkxt) (clear nyhkb)",
"(clear ljlqk) (on-table ljlqk) (on-table ehvzb) (clear brkxt) (holding bobtt) (on-table brkxt) (on nyhkb ehvzb) (clear nyhkb)",
"(clear ljlqk) (arm-empty) (on-table ljlqk) (on-table ehvzb) (clear brkxt) (on bobtt nyhkb) (on-table brkxt) (on nyhkb ehvzb) (clear bobtt)",
"(on-table ehvzb) (clear brkxt) (on bobtt nyhkb) (on-table brkxt) (holding ljlqk) (on nyhkb ehvzb) (clear bobtt)",
"(clear ljlqk) (arm-empty) (on-table ehvzb) (on ljlqk brkxt) (on bobtt nyhkb) (on-table brkxt) (on nyhkb ehvzb) (clear bobtt)",
"(clear ljlqk) (on-table ehvzb) (on ljlqk brkxt) (holding bobtt) (on-table brkxt) (on nyhkb ehvzb) (clear nyhkb)",
"(arm-empty) (on-table bobtt) (on nyhkb ehvzb) (on ljlqk brkxt) (clear bobtt) (clear ljlqk) (on-table ehvzb) (on-table brkxt) (clear nyhkb)",
"(on-table bobtt) (on-table ehvzb) (clear brkxt) (on-table brkxt) (holding ljlqk) (on nyhkb ehvzb) (clear nyhkb) (clear bobtt)",
"(clear ljlqk) (arm-empty) (on-table ljlqk) (on-table bobtt) (on-table ehvzb) (clear brkxt) (on-table brkxt) (on nyhkb ehvzb) (clear nyhkb) (clear bobtt)",
"(clear ljlqk) (on-table ljlqk) (on-table bobtt) (on-table ehvzb) (holding brkxt) (on nyhkb ehvzb) (clear nyhkb) (clear bobtt)",
"(clear ljlqk) (arm-empty) (on-table ljlqk) (on-table bobtt) (on-table ehvzb) (clear brkxt) (on brkxt nyhkb) (on nyhkb ehvzb) (clear bobtt)"
] | file_208616 |
GOAL: (clear mwxmb) (on itfnp ygdcj) (arm-empty) (on-table mwxmb) (on-table spydx) (on-table ygdcj) (clear itfnp) (clear yeyiz) (on-table yeyiz) (clear spydx) | GOAL: (clear mwxmb) (on itfnp ygdcj) (arm-empty) (on-table mwxmb) (on-table spydx) (on-table ygdcj) (clear itfnp) (clear yeyiz) (on-table yeyiz) (clear spydx)
STATE: (clear mwxmb) (on-table spydx) (on-table ygdcj) (on-table itfnp) (on mwxmb itfnp) (holding yeyiz) (clear ygdcj) (clear spydx) | [
[
"stack yeyiz spydx"
],
[
"unstack mwxmb itfnp"
],
[
"stack mwxmb yeyiz"
],
[
"pick-up itfnp"
],
[
"stack itfnp ygdcj"
],
[
"unstack mwxmb yeyiz"
],
[
"stack mwxmb itfnp"
],
[
"unstack yeyiz spydx"
],
[
"put-down yeyiz"
],
[
"unstack mwxmb itfnp"
],
[
"put-down mwxmb"
]
] | [
"(clear mwxmb) (on yeyiz spydx) (arm-empty) (on-table spydx) (on-table ygdcj) (on-table itfnp) (on mwxmb itfnp) (clear yeyiz) (clear ygdcj)",
"(on yeyiz spydx) (on-table spydx) (on-table ygdcj) (clear itfnp) (on-table itfnp) (holding mwxmb) (clear yeyiz) (clear ygdcj)",
"(on yeyiz spydx) (clear mwxmb) (arm-empty) (on-table spydx) (on-table ygdcj) (clear itfnp) (on-table itfnp) (on mwxmb yeyiz) (clear ygdcj)",
"(on yeyiz spydx) (clear mwxmb) (on-table spydx) (on-table ygdcj) (holding itfnp) (on mwxmb yeyiz) (clear ygdcj)",
"(on yeyiz spydx) (clear mwxmb) (on itfnp ygdcj) (arm-empty) (on-table spydx) (on-table ygdcj) (clear itfnp) (on mwxmb yeyiz)",
"(on yeyiz spydx) (on itfnp ygdcj) (on-table spydx) (on-table ygdcj) (clear itfnp) (holding mwxmb) (clear yeyiz)",
"(on yeyiz spydx) (on itfnp ygdcj) (arm-empty) (on-table spydx) (on mwxmb itfnp) (clear mwxmb) (on-table ygdcj) (clear yeyiz)",
"(on itfnp ygdcj) (clear mwxmb) (on-table spydx) (on-table ygdcj) (on mwxmb itfnp) (holding yeyiz) (clear spydx)",
"(on itfnp ygdcj) (arm-empty) (on-table spydx) (on mwxmb itfnp) (clear spydx) (clear mwxmb) (on-table ygdcj) (clear yeyiz) (on-table yeyiz)",
"(on itfnp ygdcj) (on-table spydx) (on-table ygdcj) (clear itfnp) (holding mwxmb) (clear yeyiz) (on-table yeyiz) (clear spydx)",
"(clear mwxmb) (on itfnp ygdcj) (arm-empty) (on-table mwxmb) (on-table spydx) (on-table ygdcj) (clear itfnp) (clear yeyiz) (on-table yeyiz) (clear spydx)"
] | file_126179 |
GOAL: (holding titju) (clear ijvtg) (on-table ecrfm) (on zbhox ecrfm) (on ijvtg zbhox) (clear ksjid) (on-table ksjid) | GOAL: (holding titju) (clear ijvtg) (on-table ecrfm) (on zbhox ecrfm) (on ijvtg zbhox) (clear ksjid) (on-table ksjid)
STATE: (on titju ksjid) (arm-empty) (on zbhox ecrfm) (on ecrfm ijvtg) (clear zbhox) (on ijvtg titju) (on-table ksjid) | [
[
"unstack zbhox ecrfm"
],
[
"put-down zbhox"
],
[
"unstack ecrfm ijvtg"
],
[
"put-down ecrfm"
],
[
"pick-up zbhox"
],
[
"stack zbhox ecrfm"
],
[
"unstack ijvtg titju"
],
[
"stack ijvtg zbhox"
],
[
"unstack titju ksjid"
]
] | [
"(on titju ksjid) (holding zbhox) (on ecrfm ijvtg) (on ijvtg titju) (clear ecrfm) (on-table ksjid)",
"(on titju ksjid) (arm-empty) (on ecrfm ijvtg) (clear zbhox) (on ijvtg titju) (clear ecrfm) (on-table zbhox) (on-table ksjid)",
"(clear ijvtg) (on titju ksjid) (clear zbhox) (holding ecrfm) (on-table zbhox) (on ijvtg titju) (on-table ksjid)",
"(on titju ksjid) (arm-empty) (on-table ecrfm) (clear zbhox) (on ijvtg titju) (clear ecrfm) (clear ijvtg) (on-table zbhox) (on-table ksjid)",
"(clear ijvtg) (on titju ksjid) (on-table ecrfm) (holding zbhox) (on ijvtg titju) (on-table ksjid) (clear ecrfm)",
"(clear ijvtg) (on titju ksjid) (arm-empty) (on zbhox ecrfm) (on-table ecrfm) (clear zbhox) (on ijvtg titju) (on-table ksjid)",
"(on titju ksjid) (on zbhox ecrfm) (on-table ecrfm) (clear zbhox) (holding ijvtg) (clear titju) (on-table ksjid)",
"(clear ijvtg) (on titju ksjid) (arm-empty) (on-table ecrfm) (on zbhox ecrfm) (on ijvtg zbhox) (clear titju) (on-table ksjid)",
"(holding titju) (clear ijvtg) (on-table ecrfm) (on zbhox ecrfm) (on ijvtg zbhox) (clear ksjid) (on-table ksjid)"
] | file_184879 |
GOAL: (on-table cmkcu) (on qrecr cmkcu) (on qdrwk qrecr) (clear qdrwk) (holding wfljf) | GOAL: (on-table cmkcu) (on qrecr cmkcu) (on qdrwk qrecr) (clear qdrwk) (holding wfljf)
STATE: (on qdrwk wfljf) (on-table qrecr) (holding cmkcu) (on wfljf qrecr) (clear qdrwk) | [
[
"put-down cmkcu"
],
[
"unstack qdrwk wfljf"
],
[
"put-down qdrwk"
],
[
"unstack wfljf qrecr"
],
[
"put-down wfljf"
],
[
"pick-up qdrwk"
],
[
"stack qdrwk wfljf"
],
[
"pick-up qrecr"
],
[
"stack qrecr cmkcu"
],
[
"unstack qdrwk wfljf"
],
[
"stack qdrwk qrecr"
],
[
"pick-up wfljf"
]
] | [
"(on-table cmkcu) (on qdrwk wfljf) (arm-empty) (on-table qrecr) (on wfljf qrecr) (clear cmkcu) (clear qdrwk)",
"(on-table qrecr) (clear cmkcu) (holding qdrwk) (on wfljf qrecr) (on-table cmkcu) (clear wfljf)",
"(arm-empty) (on-table qrecr) (clear cmkcu) (on-table qdrwk) (on wfljf qrecr) (on-table cmkcu) (clear wfljf) (clear qdrwk)",
"(clear qrecr) (on-table qrecr) (on-table qdrwk) (clear cmkcu) (on-table cmkcu) (holding wfljf) (clear qdrwk)",
"(arm-empty) (on-table qrecr) (clear cmkcu) (clear qrecr) (on-table qdrwk) (on-table cmkcu) (clear wfljf) (clear qdrwk) (on-table wfljf)",
"(holding qdrwk) (clear qrecr) (on-table qrecr) (clear cmkcu) (on-table cmkcu) (clear wfljf) (on-table wfljf)",
"(clear qrecr) (on qdrwk wfljf) (arm-empty) (on-table qrecr) (clear cmkcu) (on-table cmkcu) (clear qdrwk) (on-table wfljf)",
"(on qdrwk wfljf) (clear cmkcu) (on-table cmkcu) (holding qrecr) (clear qdrwk) (on-table wfljf)",
"(clear qrecr) (on qdrwk wfljf) (arm-empty) (on-table cmkcu) (on qrecr cmkcu) (clear qdrwk) (on-table wfljf)",
"(on qrecr cmkcu) (holding qdrwk) (clear qrecr) (on-table cmkcu) (clear wfljf) (on-table wfljf)",
"(arm-empty) (on-table cmkcu) (on qrecr cmkcu) (clear wfljf) (on qdrwk qrecr) (clear qdrwk) (on-table wfljf)",
"(on-table cmkcu) (on qrecr cmkcu) (on qdrwk qrecr) (clear qdrwk) (holding wfljf)"
] | file_28791 |
GOAL: (arm-empty) (on-table purgn) (on-table mhoso) (on hbvra purgn) (clear gwzkl) (on gwzkl ihpuq) (clear mhoso) (on-table ihpuq) (clear hbvra) | GOAL: (arm-empty) (on-table purgn) (on-table mhoso) (on hbvra purgn) (clear gwzkl) (on gwzkl ihpuq) (clear mhoso) (on-table ihpuq) (clear hbvra)
STATE: (on mhoso hbvra) (on-table purgn) (on hbvra purgn) (clear gwzkl) (on-table gwzkl) (holding ihpuq) (clear mhoso) | [
[
"stack ihpuq gwzkl"
],
[
"unstack mhoso hbvra"
],
[
"put-down mhoso"
],
[
"unstack ihpuq gwzkl"
],
[
"stack ihpuq hbvra"
],
[
"pick-up gwzkl"
],
[
"stack gwzkl mhoso"
],
[
"unstack ihpuq hbvra"
],
[
"put-down ihpuq"
],
[
"unstack gwzkl mhoso"
],
[
"stack gwzkl ihpuq"
]
] | [
"(on mhoso hbvra) (on ihpuq gwzkl) (arm-empty) (on-table purgn) (on hbvra purgn) (on-table gwzkl) (clear ihpuq) (clear mhoso)",
"(holding mhoso) (on ihpuq gwzkl) (on-table purgn) (on hbvra purgn) (on-table gwzkl) (clear ihpuq) (clear hbvra)",
"(arm-empty) (on-table purgn) (on hbvra purgn) (clear hbvra) (on ihpuq gwzkl) (on-table mhoso) (on-table gwzkl) (clear ihpuq) (clear mhoso)",
"(on-table purgn) (on-table mhoso) (on hbvra purgn) (clear gwzkl) (on-table gwzkl) (holding ihpuq) (clear mhoso) (clear hbvra)",
"(on ihpuq hbvra) (arm-empty) (on-table purgn) (on-table mhoso) (on hbvra purgn) (clear gwzkl) (on-table gwzkl) (clear ihpuq) (clear mhoso)",
"(on ihpuq hbvra) (on-table purgn) (on-table mhoso) (holding gwzkl) (on hbvra purgn) (clear ihpuq) (clear mhoso)",
"(on ihpuq hbvra) (on gwzkl mhoso) (arm-empty) (on-table purgn) (on-table mhoso) (on hbvra purgn) (clear gwzkl) (clear ihpuq)",
"(on gwzkl mhoso) (on-table purgn) (on-table mhoso) (on hbvra purgn) (clear gwzkl) (holding ihpuq) (clear hbvra)",
"(on gwzkl mhoso) (arm-empty) (on-table purgn) (on hbvra purgn) (clear gwzkl) (clear hbvra) (on-table mhoso) (clear ihpuq) (on-table ihpuq)",
"(on-table purgn) (on-table mhoso) (holding gwzkl) (on hbvra purgn) (clear ihpuq) (clear mhoso) (on-table ihpuq) (clear hbvra)",
"(arm-empty) (on-table purgn) (on-table mhoso) (on hbvra purgn) (clear gwzkl) (on gwzkl ihpuq) (clear mhoso) (on-table ihpuq) (clear hbvra)"
] | file_157339 |
GOAL: (arm-empty) (on-table oxwlj) (on-table kpeju) (clear ngkfq) (on ngkfq ehcin) (on dhnrn oxwlj) (clear dhnrn) (on-table ehcin) (clear kpeju) | GOAL: (arm-empty) (on-table oxwlj) (on-table kpeju) (clear ngkfq) (on ngkfq ehcin) (on dhnrn oxwlj) (clear dhnrn) (on-table ehcin) (clear kpeju)
STATE: (holding dhnrn) (clear oxwlj) (on-table oxwlj) (on-table kpeju) (on ngkfq kpeju) (clear ngkfq) (clear ehcin) (on-table ehcin) | [
[
"stack dhnrn oxwlj"
],
[
"unstack ngkfq kpeju"
],
[
"stack ngkfq ehcin"
]
] | [
"(arm-empty) (on-table oxwlj) (on-table kpeju) (on ngkfq kpeju) (clear ngkfq) (clear ehcin) (on dhnrn oxwlj) (clear dhnrn) (on-table ehcin)",
"(on-table oxwlj) (on-table kpeju) (holding ngkfq) (clear ehcin) (on dhnrn oxwlj) (clear dhnrn) (on-table ehcin) (clear kpeju)",
"(arm-empty) (on-table oxwlj) (on-table kpeju) (clear ngkfq) (on ngkfq ehcin) (on dhnrn oxwlj) (clear dhnrn) (on-table ehcin) (clear kpeju)"
] | file_87360 |
GOAL: (on wazrf guttk) (on guttk myhpv) (arm-empty) (on-table nbiaa) (on myhpv eksju) (clear wazrf) (on eksju nbiaa) | GOAL: (on wazrf guttk) (on guttk myhpv) (arm-empty) (on-table nbiaa) (on myhpv eksju) (clear wazrf) (on eksju nbiaa)
STATE: (on guttk wazrf) (arm-empty) (on-table myhpv) (on-table nbiaa) (on wazrf eksju) (on eksju nbiaa) (clear guttk) (clear myhpv) | [
[
"unstack guttk wazrf"
],
[
"put-down guttk"
],
[
"unstack wazrf eksju"
],
[
"put-down wazrf"
],
[
"pick-up myhpv"
],
[
"stack myhpv eksju"
],
[
"pick-up guttk"
],
[
"stack guttk myhpv"
],
[
"pick-up wazrf"
],
[
"stack wazrf guttk"
]
] | [
"(on-table myhpv) (on-table nbiaa) (clear wazrf) (on wazrf eksju) (on eksju nbiaa) (holding guttk) (clear myhpv)",
"(arm-empty) (on-table myhpv) (clear wazrf) (on eksju nbiaa) (clear myhpv) (on-table nbiaa) (on wazrf eksju) (clear guttk) (on-table guttk)",
"(clear eksju) (on-table myhpv) (on-table nbiaa) (holding wazrf) (on eksju nbiaa) (clear guttk) (on-table guttk) (clear myhpv)",
"(clear eksju) (arm-empty) (on-table myhpv) (on-table nbiaa) (clear wazrf) (on-table wazrf) (on eksju nbiaa) (clear guttk) (on-table guttk) (clear myhpv)",
"(clear eksju) (on-table nbiaa) (clear wazrf) (holding myhpv) (on-table wazrf) (on eksju nbiaa) (clear guttk) (on-table guttk)",
"(arm-empty) (on-table nbiaa) (on myhpv eksju) (clear wazrf) (on-table wazrf) (on eksju nbiaa) (clear guttk) (on-table guttk) (clear myhpv)",
"(on-table nbiaa) (on myhpv eksju) (clear wazrf) (on-table wazrf) (on eksju nbiaa) (holding guttk) (clear myhpv)",
"(on guttk myhpv) (arm-empty) (on-table nbiaa) (on myhpv eksju) (clear wazrf) (on-table wazrf) (on eksju nbiaa) (clear guttk)",
"(on guttk myhpv) (on-table nbiaa) (holding wazrf) (on myhpv eksju) (on eksju nbiaa) (clear guttk)",
"(on wazrf guttk) (on guttk myhpv) (arm-empty) (on-table nbiaa) (on myhpv eksju) (clear wazrf) (on eksju nbiaa)"
] | file_34559 |
GOAL: (clear wzkid) (arm-empty) (on-table fsopq) (on-table wxtur) (clear fnxjo) (on-table fnxjo) (on hcrce wxtur) (on wzkid fsopq) (clear hcrce) | GOAL: (clear wzkid) (arm-empty) (on-table fsopq) (on-table wxtur) (clear fnxjo) (on-table fnxjo) (on hcrce wxtur) (on wzkid fsopq) (clear hcrce)
STATE: (holding wxtur) (on hcrce fsopq) (on-table wzkid) (on fsopq wzkid) (clear fnxjo) (on-table fnxjo) (clear hcrce) | [
[
"stack wxtur fnxjo"
],
[
"unstack hcrce fsopq"
],
[
"stack hcrce wxtur"
],
[
"unstack fsopq wzkid"
],
[
"put-down fsopq"
],
[
"pick-up wzkid"
],
[
"stack wzkid fsopq"
],
[
"unstack hcrce wxtur"
],
[
"stack hcrce wzkid"
],
[
"unstack wxtur fnxjo"
],
[
"put-down wxtur"
],
[
"unstack hcrce wzkid"
],
[
"stack hcrce wxtur"
]
] | [
"(on hcrce fsopq) (arm-empty) (on-table wzkid) (on fsopq wzkid) (on-table fnxjo) (on wxtur fnxjo) (clear hcrce) (clear wxtur)",
"(on-table wzkid) (on fsopq wzkid) (on-table fnxjo) (on wxtur fnxjo) (holding hcrce) (clear wxtur) (clear fsopq)",
"(arm-empty) (on-table wzkid) (on fsopq wzkid) (on-table fnxjo) (on wxtur fnxjo) (on hcrce wxtur) (clear hcrce) (clear fsopq)",
"(clear wzkid) (on-table wzkid) (holding fsopq) (on-table fnxjo) (on wxtur fnxjo) (on hcrce wxtur) (clear hcrce)",
"(arm-empty) (on-table wzkid) (on-table fsopq) (on hcrce wxtur) (clear fsopq) (clear wzkid) (on-table fnxjo) (on wxtur fnxjo) (clear hcrce)",
"(on-table fsopq) (holding wzkid) (on-table fnxjo) (on wxtur fnxjo) (on hcrce wxtur) (clear hcrce) (clear fsopq)",
"(clear wzkid) (arm-empty) (on-table fsopq) (on-table fnxjo) (on wxtur fnxjo) (on hcrce wxtur) (on wzkid fsopq) (clear hcrce)",
"(clear wzkid) (on-table fsopq) (on-table fnxjo) (on wxtur fnxjo) (on wzkid fsopq) (holding hcrce) (clear wxtur)",
"(arm-empty) (on-table fsopq) (on hcrce wzkid) (on-table fnxjo) (on wxtur fnxjo) (on wzkid fsopq) (clear hcrce) (clear wxtur)",
"(holding wxtur) (on-table fsopq) (on hcrce wzkid) (clear fnxjo) (on-table fnxjo) (on wzkid fsopq) (clear hcrce)",
"(arm-empty) (on-table fsopq) (clear fnxjo) (on wzkid fsopq) (on-table wxtur) (on hcrce wzkid) (on-table fnxjo) (clear hcrce) (clear wxtur)",
"(clear wzkid) (on-table fsopq) (on-table wxtur) (clear fnxjo) (on-table fnxjo) (on wzkid fsopq) (holding hcrce) (clear wxtur)",
"(clear wzkid) (arm-empty) (on-table fsopq) (on-table wxtur) (clear fnxjo) (on-table fnxjo) (on hcrce wxtur) (on wzkid fsopq) (clear hcrce)"
] | file_208114 |
GOAL: (clear tspjx) (on-table rsrlz) (holding vedsh) (on tspjx utrfo) (clear rsrlz) (on-table utrfo) | GOAL: (clear tspjx) (on-table rsrlz) (holding vedsh) (on tspjx utrfo) (clear rsrlz) (on-table utrfo)
STATE: (clear tspjx) (arm-empty) (on-table vedsh) (on rsrlz vedsh) (on tspjx rsrlz) (clear utrfo) (on-table utrfo) | [
[
"unstack tspjx rsrlz"
],
[
"stack tspjx utrfo"
],
[
"unstack rsrlz vedsh"
],
[
"put-down rsrlz"
],
[
"pick-up vedsh"
]
] | [
"(on rsrlz vedsh) (on-table vedsh) (holding tspjx) (clear utrfo) (clear rsrlz) (on-table utrfo)",
"(clear tspjx) (arm-empty) (on-table vedsh) (on rsrlz vedsh) (on tspjx utrfo) (clear rsrlz) (on-table utrfo)",
"(clear vedsh) (holding rsrlz) (clear tspjx) (on-table vedsh) (on tspjx utrfo) (on-table utrfo)",
"(arm-empty) (clear vedsh) (clear tspjx) (on-table rsrlz) (on-table vedsh) (on tspjx utrfo) (clear rsrlz) (on-table utrfo)",
"(clear tspjx) (on-table rsrlz) (holding vedsh) (on tspjx utrfo) (clear rsrlz) (on-table utrfo)"
] | file_18025 |
GOAL: (on csepj kwbym) (clear sunyd) (arm-empty) (on-table kwbym) (clear hvhmp) (on-table hvhmp) (on sunyd csepj) (clear jegqy) (on-table jegqy) | GOAL: (on csepj kwbym) (clear sunyd) (arm-empty) (on-table kwbym) (clear hvhmp) (on-table hvhmp) (on sunyd csepj) (clear jegqy) (on-table jegqy)
STATE: (on csepj kwbym) (on-table kwbym) (clear hvhmp) (on-table hvhmp) (holding sunyd) (clear jegqy) (clear csepj) (on-table jegqy) | [
[
"stack sunyd csepj"
]
] | [
"(on csepj kwbym) (clear sunyd) (arm-empty) (on-table kwbym) (clear hvhmp) (on-table hvhmp) (on sunyd csepj) (clear jegqy) (on-table jegqy)"
] | file_189351 |
GOAL: (arm-empty) (on-table jjmlf) (on-table dfbxc) (clear tqfgd) (on tqfgd dgrln) (on dgrln soclr) (clear dfbxc) (on-table soclr) (clear jjmlf) | GOAL: (arm-empty) (on-table jjmlf) (on-table dfbxc) (clear tqfgd) (on tqfgd dgrln) (on dgrln soclr) (clear dfbxc) (on-table soclr) (clear jjmlf)
STATE: (on-table jjmlf) (holding tqfgd) (on-table dfbxc) (on soclr dgrln) (on dgrln jjmlf) (clear soclr) (clear dfbxc) | [
[
"stack tqfgd dfbxc"
],
[
"unstack soclr dgrln"
],
[
"put-down soclr"
],
[
"unstack dgrln jjmlf"
],
[
"stack dgrln soclr"
],
[
"unstack tqfgd dfbxc"
],
[
"stack tqfgd dgrln"
]
] | [
"(on tqfgd dfbxc) (arm-empty) (on-table jjmlf) (on-table dfbxc) (on soclr dgrln) (clear tqfgd) (on dgrln jjmlf) (clear soclr)",
"(clear dgrln) (on tqfgd dfbxc) (on-table jjmlf) (on-table dfbxc) (clear tqfgd) (on dgrln jjmlf) (holding soclr)",
"(on tqfgd dfbxc) (arm-empty) (on-table jjmlf) (clear tqfgd) (on dgrln jjmlf) (clear dgrln) (on-table dfbxc) (clear soclr) (on-table soclr)",
"(on tqfgd dfbxc) (on-table jjmlf) (on-table dfbxc) (clear tqfgd) (holding dgrln) (clear soclr) (on-table soclr) (clear jjmlf)",
"(clear dgrln) (on tqfgd dfbxc) (arm-empty) (on-table jjmlf) (on-table dfbxc) (clear tqfgd) (on dgrln soclr) (on-table soclr) (clear jjmlf)",
"(clear dgrln) (on-table jjmlf) (on-table dfbxc) (holding tqfgd) (on dgrln soclr) (clear dfbxc) (on-table soclr) (clear jjmlf)",
"(arm-empty) (on-table jjmlf) (on-table dfbxc) (clear tqfgd) (on tqfgd dgrln) (on dgrln soclr) (clear dfbxc) (on-table soclr) (clear jjmlf)"
] | file_107114 |
GOAL: (clear musak) (on-table ncxgl) (on-table zpkzk) (holding wfuzc) (on musak zpkzk) (clear zujgg) (on-table zujgg) (clear ncxgl) | GOAL: (clear musak) (on-table ncxgl) (on-table zpkzk) (holding wfuzc) (on musak zpkzk) (clear zujgg) (on-table zujgg) (clear ncxgl)
STATE: (holding zpkzk) (clear musak) (on ncxgl wfuzc) (on-table musak) (on-table wfuzc) (clear zujgg) (on-table zujgg) (clear ncxgl) | [
[
"put-down zpkzk"
],
[
"pick-up musak"
],
[
"stack musak zpkzk"
],
[
"unstack ncxgl wfuzc"
],
[
"put-down ncxgl"
],
[
"pick-up wfuzc"
]
] | [
"(clear musak) (arm-empty) (on ncxgl wfuzc) (on-table musak) (on-table zpkzk) (on-table wfuzc) (clear zujgg) (clear zpkzk) (on-table zujgg) (clear ncxgl)",
"(on ncxgl wfuzc) (on-table zpkzk) (on-table wfuzc) (holding musak) (clear zujgg) (clear zpkzk) (on-table zujgg) (clear ncxgl)",
"(clear musak) (arm-empty) (on ncxgl wfuzc) (on-table zpkzk) (on-table wfuzc) (on musak zpkzk) (clear zujgg) (on-table zujgg) (clear ncxgl)",
"(clear musak) (on-table zpkzk) (clear wfuzc) (holding ncxgl) (on-table wfuzc) (on musak zpkzk) (clear zujgg) (on-table zujgg)",
"(clear musak) (arm-empty) (on-table ncxgl) (on-table zpkzk) (clear wfuzc) (on-table wfuzc) (on musak zpkzk) (clear zujgg) (on-table zujgg) (clear ncxgl)",
"(clear musak) (on-table ncxgl) (on-table zpkzk) (holding wfuzc) (on musak zpkzk) (clear zujgg) (on-table zujgg) (clear ncxgl)"
] | file_76462 |
GOAL: (on dgyqc whioo) (clear tfzkl) (on dagad dgyqc) (arm-empty) (on-table sbcta) (on-table whioo) (on tfzkl sbcta) (clear dagad) | GOAL: (on dgyqc whioo) (clear tfzkl) (on dagad dgyqc) (arm-empty) (on-table sbcta) (on-table whioo) (on tfzkl sbcta) (clear dagad)
STATE: (clear tfzkl) (on-table sbcta) (holding whioo) (on-table dagad) (on tfzkl dagad) (clear dgyqc) (on-table dgyqc) (clear sbcta) | [
[
"stack whioo dgyqc"
],
[
"pick-up sbcta"
],
[
"stack sbcta tfzkl"
],
[
"unstack whioo dgyqc"
],
[
"put-down whioo"
],
[
"unstack sbcta tfzkl"
],
[
"put-down sbcta"
],
[
"pick-up dgyqc"
],
[
"stack dgyqc whioo"
],
[
"unstack tfzkl dagad"
],
[
"stack tfzkl sbcta"
],
[
"pick-up dagad"
],
[
"stack dagad dgyqc"
]
] | [
"(clear tfzkl) (arm-empty) (on-table sbcta) (on-table dagad) (clear whioo) (on whioo dgyqc) (on tfzkl dagad) (on-table dgyqc) (clear sbcta)",
"(clear tfzkl) (on-table dagad) (clear whioo) (on whioo dgyqc) (holding sbcta) (on tfzkl dagad) (on-table dgyqc)",
"(arm-empty) (on-table dagad) (on sbcta tfzkl) (clear whioo) (on whioo dgyqc) (on tfzkl dagad) (on-table dgyqc) (clear sbcta)",
"(on-table dagad) (holding whioo) (on sbcta tfzkl) (on tfzkl dagad) (clear dgyqc) (on-table dgyqc) (clear sbcta)",
"(arm-empty) (on sbcta tfzkl) (clear whioo) (on tfzkl dagad) (clear sbcta) (on-table dagad) (on-table whioo) (clear dgyqc) (on-table dgyqc)",
"(clear tfzkl) (on-table dagad) (clear whioo) (holding sbcta) (on-table whioo) (on tfzkl dagad) (clear dgyqc) (on-table dgyqc)",
"(clear tfzkl) (arm-empty) (on-table sbcta) (on-table dagad) (clear whioo) (on-table whioo) (on tfzkl dagad) (clear dgyqc) (on-table dgyqc) (clear sbcta)",
"(clear tfzkl) (on-table sbcta) (on-table dagad) (clear whioo) (on-table whioo) (on tfzkl dagad) (holding dgyqc) (clear sbcta)",
"(on dgyqc whioo) (clear tfzkl) (arm-empty) (on-table sbcta) (on-table dagad) (on-table whioo) (on tfzkl dagad) (clear dgyqc) (clear sbcta)",
"(on dgyqc whioo) (on-table sbcta) (on-table dagad) (on-table whioo) (holding tfzkl) (clear dgyqc) (clear dagad) (clear sbcta)",
"(on dgyqc whioo) (clear tfzkl) (arm-empty) (on-table sbcta) (on-table dagad) (on-table whioo) (on tfzkl sbcta) (clear dgyqc) (clear dagad)",
"(holding dagad) (on dgyqc whioo) (clear tfzkl) (on-table sbcta) (on-table whioo) (on tfzkl sbcta) (clear dgyqc)",
"(on dgyqc whioo) (clear tfzkl) (on dagad dgyqc) (arm-empty) (on-table sbcta) (on-table whioo) (on tfzkl sbcta) (clear dagad)"
] | file_157930 |
GOAL: (clear ixxrj) (on xqrkz rroec) (on-table nsvlf) (holding tkkhk) (on ixxrj nsvlf) (clear xqrkz) (on-table rroec) | GOAL: (clear ixxrj) (on xqrkz rroec) (on-table nsvlf) (holding tkkhk) (on ixxrj nsvlf) (clear xqrkz) (on-table rroec)
STATE: (clear ixxrj) (on-table nsvlf) (on-table xqrkz) (clear tkkhk) (on-table tkkhk) (on ixxrj nsvlf) (holding rroec) (clear xqrkz) | [
[
"put-down rroec"
],
[
"pick-up xqrkz"
],
[
"stack xqrkz rroec"
],
[
"pick-up tkkhk"
]
] | [
"(clear ixxrj) (arm-empty) (on-table nsvlf) (on-table xqrkz) (clear tkkhk) (on-table tkkhk) (on ixxrj nsvlf) (clear rroec) (clear xqrkz) (on-table rroec)",
"(holding xqrkz) (clear ixxrj) (on-table nsvlf) (clear tkkhk) (on-table tkkhk) (on ixxrj nsvlf) (clear rroec) (on-table rroec)",
"(clear ixxrj) (on xqrkz rroec) (arm-empty) (on-table nsvlf) (clear tkkhk) (on-table tkkhk) (on ixxrj nsvlf) (clear xqrkz) (on-table rroec)",
"(clear ixxrj) (on xqrkz rroec) (on-table nsvlf) (holding tkkhk) (on ixxrj nsvlf) (clear xqrkz) (on-table rroec)"
] | file_121636 |
GOAL: (on axldo ybtea) (arm-empty) (on-table kgfht) (on-table jqbbl) (on ybtea jqbbl) (clear axldo) (on rqgol kgfht) (clear rqgol) | GOAL: (on axldo ybtea) (arm-empty) (on-table kgfht) (on-table jqbbl) (on ybtea jqbbl) (clear axldo) (on rqgol kgfht) (clear rqgol)
STATE: (on axldo jqbbl) (on jqbbl ybtea) (on-table rqgol) (on-table ybtea) (holding kgfht) (clear axldo) (clear rqgol) | [
[
"put-down kgfht"
],
[
"pick-up rqgol"
],
[
"stack rqgol kgfht"
],
[
"unstack axldo jqbbl"
],
[
"stack axldo rqgol"
],
[
"unstack jqbbl ybtea"
],
[
"put-down jqbbl"
],
[
"unstack axldo rqgol"
],
[
"put-down axldo"
],
[
"pick-up ybtea"
],
[
"stack ybtea jqbbl"
],
[
"pick-up axldo"
],
[
"stack axldo ybtea"
]
] | [
"(on axldo jqbbl) (arm-empty) (on jqbbl ybtea) (on-table kgfht) (clear kgfht) (on-table rqgol) (on-table ybtea) (clear axldo) (clear rqgol)",
"(holding rqgol) (on axldo jqbbl) (on jqbbl ybtea) (on-table kgfht) (clear kgfht) (on-table ybtea) (clear axldo)",
"(on axldo jqbbl) (arm-empty) (on jqbbl ybtea) (on-table kgfht) (on-table ybtea) (clear axldo) (on rqgol kgfht) (clear rqgol)",
"(on jqbbl ybtea) (on-table kgfht) (on-table ybtea) (on rqgol kgfht) (clear rqgol) (holding axldo) (clear jqbbl)",
"(arm-empty) (on jqbbl ybtea) (on-table kgfht) (on-table ybtea) (on axldo rqgol) (clear axldo) (on rqgol kgfht) (clear jqbbl)",
"(on-table kgfht) (clear ybtea) (holding jqbbl) (on-table ybtea) (on axldo rqgol) (clear axldo) (on rqgol kgfht)",
"(arm-empty) (on-table kgfht) (on-table jqbbl) (clear ybtea) (on axldo rqgol) (on rqgol kgfht) (clear jqbbl) (on-table ybtea) (clear axldo)",
"(on-table kgfht) (on-table jqbbl) (clear ybtea) (on-table ybtea) (on rqgol kgfht) (clear rqgol) (holding axldo) (clear jqbbl)",
"(arm-empty) (on-table kgfht) (on-table jqbbl) (clear ybtea) (on-table ybtea) (clear axldo) (on rqgol kgfht) (clear rqgol) (on-table axldo) (clear jqbbl)",
"(on-table kgfht) (on-table jqbbl) (holding ybtea) (clear axldo) (on rqgol kgfht) (clear rqgol) (on-table axldo) (clear jqbbl)",
"(arm-empty) (on-table kgfht) (on-table jqbbl) (on ybtea jqbbl) (clear ybtea) (clear axldo) (on rqgol kgfht) (clear rqgol) (on-table axldo)",
"(on-table kgfht) (on-table jqbbl) (on ybtea jqbbl) (clear ybtea) (on rqgol kgfht) (clear rqgol) (holding axldo)",
"(on axldo ybtea) (arm-empty) (on-table kgfht) (on-table jqbbl) (on ybtea jqbbl) (clear axldo) (on rqgol kgfht) (clear rqgol)"
] | file_155694 |
GOAL: (clear bqsnt) (holding bqyuu) (on-table qjxgd) (on btqws qjxgd) (on bqsnt btqws) (clear maimi) (on-table maimi) | GOAL: (clear bqsnt) (holding bqyuu) (on-table qjxgd) (on btqws qjxgd) (on bqsnt btqws) (clear maimi) (on-table maimi)
STATE: (holding btqws) (clear bqsnt) (on-table bqsnt) (on qjxgd bqyuu) (clear qjxgd) (on bqyuu maimi) (on-table maimi) | [
[
"stack btqws bqsnt"
],
[
"unstack qjxgd bqyuu"
],
[
"put-down qjxgd"
],
[
"unstack btqws bqsnt"
],
[
"stack btqws qjxgd"
],
[
"pick-up bqsnt"
],
[
"stack bqsnt btqws"
],
[
"unstack bqyuu maimi"
]
] | [
"(arm-empty) (on-table bqsnt) (on qjxgd bqyuu) (clear qjxgd) (on bqyuu maimi) (on btqws bqsnt) (clear btqws) (on-table maimi)",
"(on-table bqsnt) (holding qjxgd) (on bqyuu maimi) (on btqws bqsnt) (clear btqws) (on-table maimi) (clear bqyuu)",
"(arm-empty) (on-table bqsnt) (clear qjxgd) (on bqyuu maimi) (on btqws bqsnt) (clear bqyuu) (on-table qjxgd) (clear btqws) (on-table maimi)",
"(holding btqws) (clear bqsnt) (on-table bqsnt) (clear qjxgd) (on bqyuu maimi) (on-table qjxgd) (on-table maimi) (clear bqyuu)",
"(clear bqsnt) (arm-empty) (on-table bqsnt) (on bqyuu maimi) (on-table qjxgd) (on btqws qjxgd) (clear btqws) (on-table maimi) (clear bqyuu)",
"(holding bqsnt) (on bqyuu maimi) (on-table qjxgd) (on btqws qjxgd) (clear btqws) (on-table maimi) (clear bqyuu)",
"(clear bqsnt) (arm-empty) (on bqyuu maimi) (on-table qjxgd) (on btqws qjxgd) (on bqsnt btqws) (on-table maimi) (clear bqyuu)",
"(clear bqsnt) (holding bqyuu) (on-table qjxgd) (on btqws qjxgd) (on bqsnt btqws) (clear maimi) (on-table maimi)"
] | file_60072 |
GOAL: (arm-empty) (on-table iggfc) (on yazaj mmfcg) (on zvyfe yazaj) (clear iggfc) (on-table mmfcg) (clear pzepa) (clear zvyfe) (on-table pzepa) | GOAL: (arm-empty) (on-table iggfc) (on yazaj mmfcg) (on zvyfe yazaj) (clear iggfc) (on-table mmfcg) (clear pzepa) (clear zvyfe) (on-table pzepa)
STATE: (arm-empty) (on-table zvyfe) (on iggfc yazaj) (on-table mmfcg) (on yazaj mmfcg) (clear pzepa) (clear zvyfe) (on-table pzepa) (clear iggfc) | [
[
"unstack iggfc yazaj"
],
[
"put-down iggfc"
],
[
"pick-up pzepa"
],
[
"stack pzepa iggfc"
],
[
"pick-up zvyfe"
],
[
"stack zvyfe yazaj"
],
[
"unstack pzepa iggfc"
],
[
"put-down pzepa"
]
] | [
"(clear yazaj) (on-table zvyfe) (holding iggfc) (on-table mmfcg) (on yazaj mmfcg) (clear pzepa) (clear zvyfe) (on-table pzepa)",
"(clear yazaj) (arm-empty) (on-table iggfc) (on-table zvyfe) (on-table mmfcg) (on yazaj mmfcg) (clear pzepa) (clear zvyfe) (on-table pzepa) (clear iggfc)",
"(clear yazaj) (on-table iggfc) (on-table zvyfe) (on-table mmfcg) (on yazaj mmfcg) (holding pzepa) (clear zvyfe) (clear iggfc)",
"(clear yazaj) (on pzepa iggfc) (arm-empty) (on-table iggfc) (on-table zvyfe) (on-table mmfcg) (on yazaj mmfcg) (clear pzepa) (clear zvyfe)",
"(holding zvyfe) (clear yazaj) (on pzepa iggfc) (on-table iggfc) (on-table mmfcg) (on yazaj mmfcg) (clear pzepa)",
"(on pzepa iggfc) (arm-empty) (on-table iggfc) (on-table mmfcg) (on yazaj mmfcg) (clear pzepa) (on zvyfe yazaj) (clear zvyfe)",
"(on-table iggfc) (on-table mmfcg) (on yazaj mmfcg) (on zvyfe yazaj) (clear zvyfe) (holding pzepa) (clear iggfc)",
"(arm-empty) (on-table iggfc) (on yazaj mmfcg) (on zvyfe yazaj) (clear iggfc) (on-table mmfcg) (clear pzepa) (clear zvyfe) (on-table pzepa)"
] | file_134859 |
GOAL: (clear fxykn) (arm-empty) (on dklcq ksinr) (on-table vwyop) (on adbhm vwyop) (on ksinr adbhm) (on fxykn dklcq) | GOAL: (clear fxykn) (arm-empty) (on dklcq ksinr) (on-table vwyop) (on adbhm vwyop) (on ksinr adbhm) (on fxykn dklcq)
STATE: (clear fxykn) (on ksinr dklcq) (arm-empty) (on-table fxykn) (on dklcq adbhm) (on-table vwyop) (on adbhm vwyop) (clear ksinr) | [
[
"unstack ksinr dklcq"
],
[
"put-down ksinr"
],
[
"unstack dklcq adbhm"
],
[
"stack dklcq fxykn"
],
[
"pick-up ksinr"
],
[
"stack ksinr adbhm"
],
[
"unstack dklcq fxykn"
],
[
"stack dklcq ksinr"
],
[
"pick-up fxykn"
],
[
"stack fxykn dklcq"
]
] | [
"(clear fxykn) (on-table fxykn) (on dklcq adbhm) (on-table vwyop) (on adbhm vwyop) (holding ksinr) (clear dklcq)",
"(arm-empty) (on-table fxykn) (clear dklcq) (clear fxykn) (on dklcq adbhm) (on-table vwyop) (on adbhm vwyop) (clear ksinr) (on-table ksinr)",
"(clear fxykn) (on-table fxykn) (holding dklcq) (on-table vwyop) (on adbhm vwyop) (clear ksinr) (clear adbhm) (on-table ksinr)",
"(arm-empty) (on-table fxykn) (on dklcq fxykn) (on-table vwyop) (on adbhm vwyop) (clear ksinr) (clear adbhm) (on-table ksinr) (clear dklcq)",
"(on-table fxykn) (on dklcq fxykn) (on-table vwyop) (on adbhm vwyop) (holding ksinr) (clear adbhm) (clear dklcq)",
"(arm-empty) (on-table fxykn) (on dklcq fxykn) (on-table vwyop) (on adbhm vwyop) (on ksinr adbhm) (clear ksinr) (clear dklcq)",
"(clear fxykn) (on-table fxykn) (holding dklcq) (on-table vwyop) (on adbhm vwyop) (on ksinr adbhm) (clear ksinr)",
"(clear fxykn) (arm-empty) (on-table fxykn) (on dklcq ksinr) (on-table vwyop) (on adbhm vwyop) (on ksinr adbhm) (clear dklcq)",
"(holding fxykn) (on dklcq ksinr) (on-table vwyop) (on adbhm vwyop) (on ksinr adbhm) (clear dklcq)",
"(clear fxykn) (arm-empty) (on dklcq ksinr) (on-table vwyop) (on adbhm vwyop) (on ksinr adbhm) (on fxykn dklcq)"
] | file_69608 |
GOAL: (on ijvup hcefo) (arm-empty) (on-table hcefo) (on ubplg inawi) (clear ukovt) (on-table ukovt) (on inawi ijvup) (clear ubplg) | GOAL: (on ijvup hcefo) (arm-empty) (on-table hcefo) (on ubplg inawi) (clear ukovt) (on-table ukovt) (on inawi ijvup) (clear ubplg)
STATE: (clear inawi) (on-table inawi) (on-table hcefo) (on-table ijvup) (on ukovt hcefo) (clear ukovt) (holding ubplg) (clear ijvup) | [
[
"put-down ubplg"
],
[
"unstack ukovt hcefo"
],
[
"put-down ukovt"
],
[
"pick-up ubplg"
],
[
"stack ubplg inawi"
],
[
"pick-up ijvup"
],
[
"stack ijvup hcefo"
],
[
"unstack ubplg inawi"
],
[
"stack ubplg ukovt"
],
[
"pick-up inawi"
],
[
"stack inawi ijvup"
],
[
"unstack ubplg ukovt"
],
[
"stack ubplg inawi"
]
] | [
"(clear inawi) (arm-empty) (on-table inawi) (on-table hcefo) (on-table ijvup) (on ukovt hcefo) (clear ukovt) (clear ubplg) (clear ijvup) (on-table ubplg)",
"(clear inawi) (on-table inawi) (on-table hcefo) (on-table ijvup) (holding ukovt) (clear ubplg) (clear ijvup) (on-table ubplg) (clear hcefo)",
"(clear inawi) (arm-empty) (on-table inawi) (on-table hcefo) (on-table ijvup) (clear ukovt) (on-table ukovt) (clear ubplg) (clear ijvup) (on-table ubplg) (clear hcefo)",
"(clear inawi) (on-table inawi) (on-table hcefo) (on-table ijvup) (clear ukovt) (on-table ukovt) (holding ubplg) (clear ijvup) (clear hcefo)",
"(arm-empty) (on-table inawi) (on-table hcefo) (on-table ijvup) (on ubplg inawi) (clear ukovt) (on-table ukovt) (clear ubplg) (clear ijvup) (clear hcefo)",
"(holding ijvup) (on-table inawi) (on-table hcefo) (on ubplg inawi) (clear ukovt) (on-table ukovt) (clear ubplg) (clear hcefo)",
"(on ijvup hcefo) (arm-empty) (on-table inawi) (on-table hcefo) (on ubplg inawi) (clear ukovt) (on-table ukovt) (clear ubplg) (clear ijvup)",
"(on ijvup hcefo) (clear inawi) (on-table inawi) (on-table hcefo) (clear ukovt) (on-table ukovt) (holding ubplg) (clear ijvup)",
"(on ijvup hcefo) (clear inawi) (on ubplg ukovt) (arm-empty) (on-table inawi) (on-table hcefo) (on-table ukovt) (clear ubplg) (clear ijvup)",
"(on ijvup hcefo) (on ubplg ukovt) (on-table hcefo) (on-table ukovt) (holding inawi) (clear ubplg) (clear ijvup)",
"(on ijvup hcefo) (on ubplg ukovt) (clear inawi) (arm-empty) (on-table hcefo) (on-table ukovt) (on inawi ijvup) (clear ubplg)",
"(on ijvup hcefo) (clear inawi) (on-table hcefo) (clear ukovt) (on-table ukovt) (on inawi ijvup) (holding ubplg)",
"(on ijvup hcefo) (arm-empty) (on-table hcefo) (on ubplg inawi) (clear ukovt) (on-table ukovt) (on inawi ijvup) (clear ubplg)"
] | file_149697 |
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