goal stringlengths 69 172 | input stringlengths 140 332 | actions listlengths 1 18 | next_states listlengths 1 18 | source_file stringlengths 6 11 |
|---|---|---|---|---|
GOAL: (clear stfdq) (on drdco ydkbk) (on krcva iwnle) (arm-empty) (on-table iwnle) (on stfdq krcva) (clear drdco) (on-table ydkbk) | GOAL: (clear stfdq) (on drdco ydkbk) (on krcva iwnle) (arm-empty) (on-table iwnle) (on stfdq krcva) (clear drdco) (on-table ydkbk)
STATE: (clear stfdq) (on-table stfdq) (holding krcva) (on-table iwnle) (on drdco iwnle) (clear ydkbk) (clear drdco) (on-table ydkbk) | [
[
"put-down krcva"
],
[
"unstack drdco iwnle"
],
[
"stack drdco ydkbk"
],
[
"pick-up krcva"
],
[
"stack krcva iwnle"
],
[
"pick-up stfdq"
],
[
"stack stfdq krcva"
]
] | [
"(clear stfdq) (arm-empty) (on-table stfdq) (on-table krcva) (on-table iwnle) (on drdco iwnle) (clear ydkbk) (clear drdco) (on-table ydkbk) (clear krcva)",
"(holding drdco) (clear stfdq) (on-table stfdq) (on-table krcva) (clear iwnle) (on-table iwnle) (clear ydkbk) (on-table ydkbk) (clear krcva)",
"(clear stfdq) (on drdco ydkbk) (arm-empty) (on-table stfdq) (on-table krcva) (clear iwnle) (on-table iwnle) (clear drdco) (on-table ydkbk) (clear krcva)",
"(clear stfdq) (on drdco ydkbk) (on-table stfdq) (clear iwnle) (holding krcva) (on-table iwnle) (clear drdco) (on-table ydkbk)",
"(clear stfdq) (on drdco ydkbk) (on krcva iwnle) (on-table stfdq) (arm-empty) (on-table iwnle) (clear drdco) (on-table ydkbk) (clear krcva)",
"(on drdco ydkbk) (on krcva iwnle) (on-table iwnle) (holding stfdq) (clear drdco) (on-table ydkbk) (clear krcva)",
"(clear stfdq) (on drdco ydkbk) (on krcva iwnle) (arm-empty) (on-table iwnle) (on stfdq krcva) (clear drdco) (on-table ydkbk)"
] | file_12584 |
GOAL: (on hqrjt byrge) (on qiueb hqrjt) (on xhwge qiueb) (on-table fdrre) (arm-empty) (on byrge fdrre) (clear xhwge) | GOAL: (on hqrjt byrge) (on qiueb hqrjt) (on xhwge qiueb) (on-table fdrre) (arm-empty) (on byrge fdrre) (clear xhwge)
STATE: (clear fdrre) (arm-empty) (on-table fdrre) (on-table byrge) (on-table xhwge) (on qiueb xhwge) (on hqrjt qiueb) (clear hqrjt) (clear byrge) | [
[
"pick-up byrge"
],
[
"stack byrge fdrre"
],
[
"unstack hqrjt qiueb"
],
[
"stack hqrjt byrge"
],
[
"unstack qiueb xhwge"
],
[
"stack qiueb hqrjt"
],
[
"pick-up xhwge"
],
[
"stack xhwge qiueb"
]
] | [
"(clear fdrre) (on-table fdrre) (holding byrge) (on-table xhwge) (on qiueb xhwge) (on hqrjt qiueb) (clear hqrjt)",
"(arm-empty) (on-table fdrre) (on byrge fdrre) (on-table xhwge) (on qiueb xhwge) (on hqrjt qiueb) (clear hqrjt) (clear byrge)",
"(on-table fdrre) (on byrge fdrre) (on-table xhwge) (on qiueb xhwge) (holding hqrjt) (clear qiueb) (clear byrge)",
"(on hqrjt byrge) (arm-empty) (on-table fdrre) (on byrge fdrre) (on-table xhwge) (on qiueb xhwge) (clear hqrjt) (clear qiueb)",
"(holding qiueb) (on hqrjt byrge) (on-table fdrre) (on byrge fdrre) (clear xhwge) (on-table xhwge) (clear hqrjt)",
"(on hqrjt byrge) (on qiueb hqrjt) (arm-empty) (on-table fdrre) (on byrge fdrre) (clear xhwge) (on-table xhwge) (clear qiueb)",
"(on hqrjt byrge) (on qiueb hqrjt) (on-table fdrre) (holding xhwge) (on byrge fdrre) (clear qiueb)",
"(on hqrjt byrge) (on qiueb hqrjt) (on xhwge qiueb) (on-table fdrre) (arm-empty) (on byrge fdrre) (clear xhwge)"
] | file_65101 |
GOAL: (clear iqwtp) (arm-empty) (on-table ymiir) (on-table wniip) (on sroin wniip) (on uabqu sroin) (on iqwtp ymiir) (clear uabqu) | GOAL: (clear iqwtp) (arm-empty) (on-table ymiir) (on-table wniip) (on sroin wniip) (on uabqu sroin) (on iqwtp ymiir) (clear uabqu)
STATE: (on-table ymiir) (holding wniip) (on iqwtp ymiir) (clear uabqu) (on sroin iqwtp) (clear sroin) (on-table uabqu) | [
[
"put-down wniip"
],
[
"unstack sroin iqwtp"
],
[
"stack sroin wniip"
],
[
"pick-up uabqu"
],
[
"stack uabqu sroin"
]
] | [
"(arm-empty) (on-table ymiir) (clear wniip) (on iqwtp ymiir) (on sroin iqwtp) (on-table wniip) (clear uabqu) (clear sroin) (on-table uabqu)",
"(holding sroin) (clear iqwtp) (on-table ymiir) (clear wniip) (on-table wniip) (on iqwtp ymiir) (clear uabqu) (on-table uabqu)",
"(clear iqwtp) (arm-empty) (on-table ymiir) (on-table wniip) (on sroin wniip) (on iqwtp ymiir) (clear uabqu) (clear sroin) (on-table uabqu)",
"(clear iqwtp) (on-table ymiir) (on-table wniip) (on sroin wniip) (on iqwtp ymiir) (holding uabqu) (clear sroin)",
"(clear iqwtp) (arm-empty) (on-table ymiir) (on-table wniip) (on sroin wniip) (on uabqu sroin) (on iqwtp ymiir) (clear uabqu)"
] | file_159944 |
GOAL: (on-table uumtg) (on ebokb flgvy) (clear tukuu) (on tukuu ebokb) (holding idemo) (on flgvy uumtg) | GOAL: (on-table uumtg) (on ebokb flgvy) (clear tukuu) (on tukuu ebokb) (holding idemo) (on flgvy uumtg)
STATE: (clear flgvy) (on-table idemo) (holding tukuu) (on-table uumtg) (on flgvy uumtg) (clear ebokb) (on-table ebokb) (clear idemo) | [
[
"stack tukuu idemo"
],
[
"pick-up ebokb"
],
[
"stack ebokb flgvy"
],
[
"unstack tukuu idemo"
],
[
"stack tukuu ebokb"
],
[
"pick-up idemo"
]
] | [
"(clear flgvy) (arm-empty) (on-table idemo) (on tukuu idemo) (on-table uumtg) (clear tukuu) (on flgvy uumtg) (clear ebokb) (on-table ebokb)",
"(clear flgvy) (on-table idemo) (on tukuu idemo) (on-table uumtg) (clear tukuu) (on flgvy uumtg) (holding ebokb)",
"(arm-empty) (on-table idemo) (on-table uumtg) (on tukuu idemo) (on ebokb flgvy) (clear tukuu) (on flgvy uumtg) (clear ebokb)",
"(on-table idemo) (on-table uumtg) (holding tukuu) (on ebokb flgvy) (on flgvy uumtg) (clear ebokb) (clear idemo)",
"(arm-empty) (on-table idemo) (clear tukuu) (on flgvy uumtg) (clear idemo) (on-table uumtg) (on ebokb flgvy) (on tukuu ebokb)",
"(on-table uumtg) (on ebokb flgvy) (clear tukuu) (on tukuu ebokb) (holding idemo) (on flgvy uumtg)"
] | file_158060 |
GOAL: (on ushsj svutc) (clear byipo) (arm-empty) (on-table svutc) (on owhmu lgjzx) (on byipo owhmu) (clear ushsj) (on-table lgjzx) | GOAL: (on ushsj svutc) (clear byipo) (arm-empty) (on-table svutc) (on owhmu lgjzx) (on byipo owhmu) (clear ushsj) (on-table lgjzx)
STATE: (holding ushsj) (clear byipo) (on-table svutc) (on owhmu lgjzx) (on byipo owhmu) (on-table lgjzx) (clear svutc) | [
[
"stack ushsj svutc"
]
] | [
"(on ushsj svutc) (clear byipo) (arm-empty) (on-table svutc) (on owhmu lgjzx) (on byipo owhmu) (clear ushsj) (on-table lgjzx)"
] | file_133894 |
GOAL: (arm-empty) (on-table pzvxd) (on vyrcx pzvxd) (on qvqmo jmrys) (on fooab vyrcx) (clear qvqmo) (on-table jmrys) (clear fooab) | GOAL: (arm-empty) (on-table pzvxd) (on vyrcx pzvxd) (on qvqmo jmrys) (on fooab vyrcx) (clear qvqmo) (on-table jmrys) (clear fooab)
STATE: (on fooab pzvxd) (on-table jmrys) (clear vyrcx) (on pzvxd jmrys) (on-table vyrcx) (holding qvqmo) (clear fooab) | [
[
"put-down qvqmo"
],
[
"unstack fooab pzvxd"
],
[
"stack fooab qvqmo"
],
[
"unstack pzvxd jmrys"
],
[
"put-down pzvxd"
],
[
"pick-up vyrcx"
],
[
"stack vyrcx pzvxd"
],
[
"unstack fooab qvqmo"
],
[
"stack fooab vyrcx"
],
[
"pick-up qvqmo"
],
[
"stack qvqmo jmrys"
]
] | [
"(on fooab pzvxd) (arm-empty) (on-table qvqmo) (clear vyrcx) (clear qvqmo) (on-table jmrys) (on pzvxd jmrys) (on-table vyrcx) (clear fooab)",
"(clear qvqmo) (on-table qvqmo) (on-table jmrys) (clear vyrcx) (on pzvxd jmrys) (on-table vyrcx) (holding fooab) (clear pzvxd)",
"(arm-empty) (on-table qvqmo) (on-table jmrys) (on fooab qvqmo) (clear vyrcx) (on pzvxd jmrys) (on-table vyrcx) (clear fooab) (clear pzvxd)",
"(on-table qvqmo) (on-table jmrys) (on fooab qvqmo) (clear vyrcx) (holding pzvxd) (on-table vyrcx) (clear fooab) (clear jmrys)",
"(arm-empty) (on-table qvqmo) (on-table pzvxd) (on-table jmrys) (on fooab qvqmo) (clear vyrcx) (on-table vyrcx) (clear fooab) (clear jmrys) (clear pzvxd)",
"(on-table qvqmo) (on-table pzvxd) (on-table jmrys) (holding vyrcx) (on fooab qvqmo) (clear fooab) (clear jmrys) (clear pzvxd)",
"(arm-empty) (on-table qvqmo) (on-table pzvxd) (on-table jmrys) (on vyrcx pzvxd) (on fooab qvqmo) (clear vyrcx) (clear fooab) (clear jmrys)",
"(clear qvqmo) (on-table qvqmo) (on-table pzvxd) (on-table jmrys) (on vyrcx pzvxd) (clear vyrcx) (holding fooab) (clear jmrys)",
"(on fooab vyrcx) (clear qvqmo) (arm-empty) (on-table qvqmo) (on-table pzvxd) (on-table jmrys) (on vyrcx pzvxd) (clear fooab) (clear jmrys)",
"(on fooab vyrcx) (on-table pzvxd) (on-table jmrys) (on vyrcx pzvxd) (holding qvqmo) (clear fooab) (clear jmrys)",
"(arm-empty) (on-table pzvxd) (on vyrcx pzvxd) (on qvqmo jmrys) (on fooab vyrcx) (clear qvqmo) (on-table jmrys) (clear fooab)"
] | file_91198 |
GOAL: (on zqoot hkznu) (arm-empty) (on ijpen nkfav) (on hkznu ijpen) (on-table pxgpx) (on nkfav pxgpx) (clear zqoot) | GOAL: (on zqoot hkznu) (arm-empty) (on ijpen nkfav) (on hkznu ijpen) (on-table pxgpx) (on nkfav pxgpx) (clear zqoot)
STATE: (holding zqoot) (on hkznu nkfav) (on-table pxgpx) (on nkfav pxgpx) (clear ijpen) (on-table ijpen) (clear hkznu) | [
[
"put-down zqoot"
],
[
"pick-up ijpen"
],
[
"stack ijpen zqoot"
],
[
"unstack hkznu nkfav"
],
[
"put-down hkznu"
],
[
"unstack ijpen zqoot"
],
[
"stack ijpen nkfav"
],
[
"pick-up hkznu"
],
[
"stack hkznu ijpen"
],
[
"pick-up zqoot"
],
[
"stack zqoot hkznu"
]
] | [
"(arm-empty) (on hkznu nkfav) (on nkfav pxgpx) (clear hkznu) (on-table zqoot) (on-table pxgpx) (clear ijpen) (clear zqoot) (on-table ijpen)",
"(on-table zqoot) (on hkznu nkfav) (on-table pxgpx) (on nkfav pxgpx) (holding ijpen) (clear zqoot) (clear hkznu)",
"(arm-empty) (on-table zqoot) (on hkznu nkfav) (on nkfav pxgpx) (on-table pxgpx) (on ijpen zqoot) (clear ijpen) (clear hkznu)",
"(clear nkfav) (on-table zqoot) (on nkfav pxgpx) (holding hkznu) (on-table pxgpx) (on ijpen zqoot) (clear ijpen)",
"(arm-empty) (on-table hkznu) (on ijpen zqoot) (on nkfav pxgpx) (clear hkznu) (clear nkfav) (on-table zqoot) (on-table pxgpx) (clear ijpen)",
"(clear nkfav) (on-table hkznu) (on-table zqoot) (on nkfav pxgpx) (on-table pxgpx) (holding ijpen) (clear zqoot) (clear hkznu)",
"(arm-empty) (on-table hkznu) (on-table zqoot) (on ijpen nkfav) (on-table pxgpx) (on nkfav pxgpx) (clear ijpen) (clear zqoot) (clear hkznu)",
"(on-table zqoot) (on ijpen nkfav) (holding hkznu) (on-table pxgpx) (on nkfav pxgpx) (clear ijpen) (clear zqoot)",
"(arm-empty) (on-table zqoot) (on ijpen nkfav) (on hkznu ijpen) (on-table pxgpx) (on nkfav pxgpx) (clear zqoot) (clear hkznu)",
"(holding zqoot) (on ijpen nkfav) (on hkznu ijpen) (on-table pxgpx) (on nkfav pxgpx) (clear hkznu)",
"(on zqoot hkznu) (arm-empty) (on ijpen nkfav) (on hkznu ijpen) (on-table pxgpx) (on nkfav pxgpx) (clear zqoot)"
] | file_127041 |
GOAL: (on lgjtb dxejb) (on lvqhv lgjtb) (on-table ctdux) (on dxejb ctdux) (clear lvqhv) (holding hazbo) | GOAL: (on lgjtb dxejb) (on lvqhv lgjtb) (on-table ctdux) (on dxejb ctdux) (clear lvqhv) (holding hazbo)
STATE: (arm-empty) (on-table ctdux) (on lvqhv dxejb) (on dxejb ctdux) (on lgjtb lvqhv) (clear hazbo) (clear lgjtb) (on-table hazbo) | [
[
"unstack lgjtb lvqhv"
],
[
"stack lgjtb hazbo"
],
[
"unstack lvqhv dxejb"
],
[
"put-down lvqhv"
],
[
"unstack lgjtb hazbo"
],
[
"stack lgjtb dxejb"
],
[
"pick-up lvqhv"
],
[
"stack lvqhv lgjtb"
],
[
"pick-up hazbo"
]
] | [
"(holding lgjtb) (on-table ctdux) (on lvqhv dxejb) (on dxejb ctdux) (clear lvqhv) (clear hazbo) (on-table hazbo)",
"(on lgjtb hazbo) (arm-empty) (on-table ctdux) (on lvqhv dxejb) (on dxejb ctdux) (clear lvqhv) (clear lgjtb) (on-table hazbo)",
"(on lgjtb hazbo) (on-table ctdux) (holding lvqhv) (on dxejb ctdux) (clear lgjtb) (on-table hazbo) (clear dxejb)",
"(on lgjtb hazbo) (arm-empty) (on-table ctdux) (on dxejb ctdux) (clear lvqhv) (clear dxejb) (on-table lvqhv) (clear lgjtb) (on-table hazbo)",
"(holding lgjtb) (on-table ctdux) (on dxejb ctdux) (clear lvqhv) (on-table lvqhv) (clear hazbo) (on-table hazbo) (clear dxejb)",
"(on lgjtb dxejb) (arm-empty) (on-table ctdux) (on dxejb ctdux) (clear lvqhv) (on-table lvqhv) (clear hazbo) (clear lgjtb) (on-table hazbo)",
"(on lgjtb dxejb) (on-table ctdux) (holding lvqhv) (on dxejb ctdux) (clear hazbo) (clear lgjtb) (on-table hazbo)",
"(on lgjtb dxejb) (on lvqhv lgjtb) (arm-empty) (on-table ctdux) (on dxejb ctdux) (clear lvqhv) (clear hazbo) (on-table hazbo)",
"(on lgjtb dxejb) (on lvqhv lgjtb) (on-table ctdux) (on dxejb ctdux) (clear lvqhv) (holding hazbo)"
] | file_78213 |
GOAL: (holding ahlgp) (clear lammx) (on-table lammx) (on-table xlqvg) (clear jyaqq) (on-table jyaqq) (clear xpach) (on-table xpach) (clear xlqvg) | GOAL: (holding ahlgp) (clear lammx) (on-table lammx) (on-table xlqvg) (clear jyaqq) (on-table jyaqq) (clear xpach) (on-table xpach) (clear xlqvg)
STATE: (clear lammx) (on-table lammx) (on-table xlqvg) (on-table ahlgp) (clear jyaqq) (on-table jyaqq) (holding xpach) (clear ahlgp) (clear xlqvg) | [
[
"stack xpach lammx"
],
[
"pick-up ahlgp"
],
[
"stack ahlgp jyaqq"
],
[
"unstack xpach lammx"
],
[
"put-down xpach"
],
[
"unstack ahlgp jyaqq"
]
] | [
"(arm-empty) (on-table lammx) (on-table xlqvg) (on-table ahlgp) (on xpach lammx) (clear jyaqq) (on-table jyaqq) (clear xpach) (clear ahlgp) (clear xlqvg)",
"(holding ahlgp) (on-table lammx) (on-table xlqvg) (on xpach lammx) (clear jyaqq) (on-table jyaqq) (clear xpach) (clear xlqvg)",
"(arm-empty) (on-table lammx) (on-table xlqvg) (on xpach lammx) (on-table jyaqq) (on ahlgp jyaqq) (clear xpach) (clear ahlgp) (clear xlqvg)",
"(clear lammx) (on-table lammx) (on-table xlqvg) (on-table jyaqq) (on ahlgp jyaqq) (holding xpach) (clear ahlgp) (clear xlqvg)",
"(clear lammx) (arm-empty) (on-table lammx) (on-table xlqvg) (on-table jyaqq) (on ahlgp jyaqq) (clear xpach) (clear ahlgp) (on-table xpach) (clear xlqvg)",
"(holding ahlgp) (clear lammx) (on-table lammx) (on-table xlqvg) (clear jyaqq) (on-table jyaqq) (clear xpach) (on-table xpach) (clear xlqvg)"
] | file_115936 |
GOAL: (on-table nytgx) (on-table srgeg) (on-table gydao) (holding tydmu) (on dgknc nytgx) (clear dgknc) (clear gydao) (clear srgeg) | GOAL: (on-table nytgx) (on-table srgeg) (on-table gydao) (holding tydmu) (on dgknc nytgx) (clear dgknc) (clear gydao) (clear srgeg)
STATE: (clear nytgx) (arm-empty) (on dgknc srgeg) (on-table srgeg) (on-table gydao) (clear tydmu) (on-table tydmu) (on nytgx dgknc) (clear gydao) | [
[
"unstack nytgx dgknc"
],
[
"put-down nytgx"
],
[
"unstack dgknc srgeg"
],
[
"stack dgknc nytgx"
],
[
"pick-up gydao"
],
[
"stack gydao srgeg"
],
[
"pick-up tydmu"
],
[
"stack tydmu dgknc"
],
[
"unstack gydao srgeg"
],
[
"put-down gydao"
],
[
"unstack tydmu dgknc"
]
] | [
"(on dgknc srgeg) (on-table srgeg) (on-table gydao) (clear tydmu) (on-table tydmu) (holding nytgx) (clear dgknc) (clear gydao)",
"(on dgknc srgeg) (clear nytgx) (arm-empty) (on-table nytgx) (on-table srgeg) (on-table gydao) (clear tydmu) (on-table tydmu) (clear dgknc) (clear gydao)",
"(clear nytgx) (on-table nytgx) (on-table srgeg) (on-table gydao) (clear tydmu) (on-table tydmu) (holding dgknc) (clear gydao) (clear srgeg)",
"(arm-empty) (on-table nytgx) (on-table srgeg) (on-table gydao) (on dgknc nytgx) (clear tydmu) (on-table tydmu) (clear dgknc) (clear gydao) (clear srgeg)",
"(holding gydao) (on-table nytgx) (on-table srgeg) (on dgknc nytgx) (clear tydmu) (on-table tydmu) (clear dgknc) (clear srgeg)",
"(on gydao srgeg) (arm-empty) (on-table nytgx) (on-table srgeg) (on dgknc nytgx) (clear tydmu) (on-table tydmu) (clear dgknc) (clear gydao)",
"(on gydao srgeg) (on-table nytgx) (on-table srgeg) (holding tydmu) (on dgknc nytgx) (clear dgknc) (clear gydao)",
"(on gydao srgeg) (arm-empty) (on-table nytgx) (on-table srgeg) (on dgknc nytgx) (clear tydmu) (on tydmu dgknc) (clear gydao)",
"(holding gydao) (on-table nytgx) (on-table srgeg) (on dgknc nytgx) (clear tydmu) (on tydmu dgknc) (clear srgeg)",
"(arm-empty) (on-table nytgx) (on-table srgeg) (clear tydmu) (clear srgeg) (on-table gydao) (on dgknc nytgx) (on tydmu dgknc) (clear gydao)",
"(on-table nytgx) (on-table srgeg) (on-table gydao) (holding tydmu) (on dgknc nytgx) (clear dgknc) (clear gydao) (clear srgeg)"
] | file_227253 |
GOAL: (on pssaf tshhv) (on-table rjalf) (on-table trfaj) (on-table tshhv) (holding njclx) (clear pssaf) (clear trfaj) (clear rjalf) | GOAL: (on pssaf tshhv) (on-table rjalf) (on-table trfaj) (on-table tshhv) (holding njclx) (clear pssaf) (clear trfaj) (clear rjalf)
STATE: (holding trfaj) (on pssaf tshhv) (clear njclx) (on rjalf pssaf) (on-table tshhv) (on njclx rjalf) | [
[
"put-down trfaj"
],
[
"unstack njclx rjalf"
],
[
"stack njclx trfaj"
],
[
"unstack rjalf pssaf"
],
[
"put-down rjalf"
],
[
"unstack njclx trfaj"
]
] | [
"(arm-empty) (on rjalf pssaf) (on njclx rjalf) (on pssaf tshhv) (clear njclx) (on-table trfaj) (on-table tshhv) (clear trfaj)",
"(on pssaf tshhv) (on-table trfaj) (on rjalf pssaf) (on-table tshhv) (holding njclx) (clear trfaj) (clear rjalf)",
"(on pssaf tshhv) (clear njclx) (arm-empty) (on-table trfaj) (on rjalf pssaf) (on-table tshhv) (on njclx trfaj) (clear rjalf)",
"(on pssaf tshhv) (clear njclx) (on-table trfaj) (holding rjalf) (on-table tshhv) (on njclx trfaj) (clear pssaf)",
"(arm-empty) (on-table rjalf) (on njclx trfaj) (clear rjalf) (on pssaf tshhv) (clear njclx) (on-table trfaj) (on-table tshhv) (clear pssaf)",
"(on pssaf tshhv) (on-table rjalf) (on-table trfaj) (on-table tshhv) (holding njclx) (clear pssaf) (clear trfaj) (clear rjalf)"
] | file_203762 |
GOAL: (on gvuov erhtl) (on-table xkiye) (on-table erhtl) (holding sjezu) (clear gvuov) (on rqkxr xkiye) (clear rqkxr) | GOAL: (on gvuov erhtl) (on-table xkiye) (on-table erhtl) (holding sjezu) (clear gvuov) (on rqkxr xkiye) (clear rqkxr)
STATE: (on gvuov erhtl) (on sjezu rqkxr) (on rqkxr gvuov) (arm-empty) (on-table erhtl) (on-table xkiye) (clear xkiye) (clear sjezu) | [
[
"unstack sjezu rqkxr"
],
[
"put-down sjezu"
],
[
"unstack rqkxr gvuov"
],
[
"stack rqkxr xkiye"
],
[
"pick-up sjezu"
]
] | [
"(on gvuov erhtl) (on rqkxr gvuov) (on-table erhtl) (on-table xkiye) (clear xkiye) (holding sjezu) (clear rqkxr)",
"(on gvuov erhtl) (on rqkxr gvuov) (arm-empty) (on-table xkiye) (on-table erhtl) (clear sjezu) (clear xkiye) (on-table sjezu) (clear rqkxr)",
"(holding rqkxr) (on gvuov erhtl) (on-table xkiye) (on-table erhtl) (clear xkiye) (clear sjezu) (on-table sjezu) (clear gvuov)",
"(on gvuov erhtl) (arm-empty) (on-table xkiye) (on-table erhtl) (clear sjezu) (on-table sjezu) (clear gvuov) (on rqkxr xkiye) (clear rqkxr)",
"(on gvuov erhtl) (on-table xkiye) (on-table erhtl) (holding sjezu) (clear gvuov) (on rqkxr xkiye) (clear rqkxr)"
] | file_115239 |
GOAL: (on-table sjiau) (on-table sxodn) (on cptkw sjiau) (clear qujhc) (on qujhc cptkw) (holding hjepp) (clear sxodn) | GOAL: (on-table sjiau) (on-table sxodn) (on cptkw sjiau) (clear qujhc) (on qujhc cptkw) (holding hjepp) (clear sxodn)
STATE: (on sxodn hjepp) (on qujhc sxodn) (arm-empty) (on-table hjepp) (on cptkw sjiau) (on sjiau qujhc) (clear cptkw) | [
[
"unstack cptkw sjiau"
],
[
"put-down cptkw"
],
[
"unstack sjiau qujhc"
],
[
"put-down sjiau"
],
[
"unstack qujhc sxodn"
],
[
"put-down qujhc"
],
[
"pick-up cptkw"
],
[
"stack cptkw sjiau"
],
[
"pick-up qujhc"
],
[
"stack qujhc cptkw"
],
[
"unstack sxodn hjepp"
],
[
"put-down sxodn"
],
[
"pick-up hjepp"
]
] | [
"(on sxodn hjepp) (on qujhc sxodn) (on-table hjepp) (on sjiau qujhc) (clear sjiau) (holding cptkw)",
"(on sxodn hjepp) (on qujhc sxodn) (arm-empty) (on-table hjepp) (on sjiau qujhc) (clear sjiau) (clear cptkw) (on-table cptkw)",
"(on sxodn hjepp) (on qujhc sxodn) (on-table hjepp) (clear qujhc) (holding sjiau) (clear cptkw) (on-table cptkw)",
"(on sxodn hjepp) (on qujhc sxodn) (arm-empty) (on-table sjiau) (on-table hjepp) (clear qujhc) (clear sjiau) (clear cptkw) (on-table cptkw)",
"(on sxodn hjepp) (clear sjiau) (on-table sjiau) (on-table hjepp) (holding qujhc) (clear cptkw) (clear sxodn) (on-table cptkw)",
"(on sxodn hjepp) (clear sjiau) (arm-empty) (on-table sjiau) (on-table hjepp) (clear qujhc) (on-table qujhc) (clear cptkw) (clear sxodn) (on-table cptkw)",
"(on sxodn hjepp) (clear sjiau) (on-table sjiau) (on-table hjepp) (clear qujhc) (on-table qujhc) (holding cptkw) (clear sxodn)",
"(on sxodn hjepp) (arm-empty) (on-table sjiau) (on-table hjepp) (on cptkw sjiau) (clear qujhc) (on-table qujhc) (clear cptkw) (clear sxodn)",
"(on sxodn hjepp) (on-table sjiau) (on-table hjepp) (holding qujhc) (on cptkw sjiau) (clear cptkw) (clear sxodn)",
"(on sxodn hjepp) (arm-empty) (on-table sjiau) (on-table hjepp) (on cptkw sjiau) (clear qujhc) (on qujhc cptkw) (clear sxodn)",
"(holding sxodn) (on-table sjiau) (on-table hjepp) (on cptkw sjiau) (clear qujhc) (on qujhc cptkw) (clear hjepp)",
"(arm-empty) (on-table sjiau) (on-table hjepp) (clear qujhc) (clear hjepp) (on-table sxodn) (on cptkw sjiau) (on qujhc cptkw) (clear sxodn)",
"(on-table sjiau) (on-table sxodn) (on cptkw sjiau) (clear qujhc) (on qujhc cptkw) (holding hjepp) (clear sxodn)"
] | file_158382 |
GOAL: (on dfpef xmhvo) (clear jmpst) (on-table jmpst) (on-table sxlia) (holding yooue) (on-table xmhvo) (clear dfpef) (clear sxlia) | GOAL: (on dfpef xmhvo) (clear jmpst) (on-table jmpst) (on-table sxlia) (holding yooue) (on-table xmhvo) (clear dfpef) (clear sxlia)
STATE: (on dfpef yooue) (arm-empty) (on-table sxlia) (on yooue jmpst) (clear xmhvo) (on xmhvo dfpef) (on jmpst sxlia) | [
[
"unstack xmhvo dfpef"
],
[
"put-down xmhvo"
],
[
"unstack dfpef yooue"
],
[
"stack dfpef xmhvo"
],
[
"unstack yooue jmpst"
],
[
"stack yooue dfpef"
],
[
"unstack jmpst sxlia"
],
[
"put-down jmpst"
],
[
"unstack yooue dfpef"
]
] | [
"(holding xmhvo) (on dfpef yooue) (on-table sxlia) (on yooue jmpst) (clear dfpef) (on jmpst sxlia)",
"(on dfpef yooue) (arm-empty) (on yooue jmpst) (clear xmhvo) (on jmpst sxlia) (on-table sxlia) (on-table xmhvo) (clear dfpef)",
"(on-table sxlia) (on yooue jmpst) (clear xmhvo) (on-table xmhvo) (on jmpst sxlia) (holding dfpef) (clear yooue)",
"(on dfpef xmhvo) (arm-empty) (on-table sxlia) (on yooue jmpst) (on-table xmhvo) (on jmpst sxlia) (clear dfpef) (clear yooue)",
"(on dfpef xmhvo) (clear jmpst) (on-table sxlia) (holding yooue) (on-table xmhvo) (on jmpst sxlia) (clear dfpef)",
"(on dfpef xmhvo) (clear jmpst) (arm-empty) (on-table sxlia) (on yooue dfpef) (on-table xmhvo) (on jmpst sxlia) (clear yooue)",
"(on dfpef xmhvo) (on-table sxlia) (on yooue dfpef) (on-table xmhvo) (holding jmpst) (clear sxlia) (clear yooue)",
"(arm-empty) (on-table jmpst) (on yooue dfpef) (clear yooue) (on dfpef xmhvo) (clear jmpst) (on-table sxlia) (on-table xmhvo) (clear sxlia)",
"(on dfpef xmhvo) (clear jmpst) (on-table jmpst) (on-table sxlia) (holding yooue) (on-table xmhvo) (clear dfpef) (clear sxlia)"
] | file_92214 |
GOAL: (arm-empty) (on-table mhwxc) (on-table jrkru) (clear yzmol) (on-table yzmol) (on kfylf jxplq) (clear kfylf) (on jxplq mhwxc) (clear jrkru) | GOAL: (arm-empty) (on-table mhwxc) (on-table jrkru) (clear yzmol) (on-table yzmol) (on kfylf jxplq) (clear kfylf) (on jxplq mhwxc) (clear jrkru)
STATE: (on kfylf jrkru) (on-table mhwxc) (holding yzmol) (on jrkru jxplq) (clear kfylf) (on jxplq mhwxc) | [
[
"put-down yzmol"
],
[
"unstack kfylf jrkru"
],
[
"stack kfylf yzmol"
],
[
"unstack jrkru jxplq"
],
[
"put-down jrkru"
],
[
"unstack kfylf yzmol"
],
[
"stack kfylf jxplq"
]
] | [
"(on kfylf jrkru) (arm-empty) (on-table mhwxc) (clear yzmol) (on jxplq mhwxc) (on jrkru jxplq) (on-table yzmol) (clear kfylf)",
"(on-table mhwxc) (clear yzmol) (on jrkru jxplq) (on-table yzmol) (on jxplq mhwxc) (holding kfylf) (clear jrkru)",
"(on kfylf yzmol) (arm-empty) (on-table mhwxc) (on jrkru jxplq) (on-table yzmol) (clear kfylf) (on jxplq mhwxc) (clear jrkru)",
"(on kfylf yzmol) (on-table mhwxc) (holding jrkru) (on-table yzmol) (clear kfylf) (on jxplq mhwxc) (clear jxplq)",
"(arm-empty) (on-table mhwxc) (on-table jrkru) (on jxplq mhwxc) (clear jrkru) (on kfylf yzmol) (on-table yzmol) (clear kfylf) (clear jxplq)",
"(on-table mhwxc) (on-table jrkru) (clear yzmol) (on-table yzmol) (on jxplq mhwxc) (clear jxplq) (holding kfylf) (clear jrkru)",
"(arm-empty) (on-table mhwxc) (on-table jrkru) (clear yzmol) (on-table yzmol) (on kfylf jxplq) (clear kfylf) (on jxplq mhwxc) (clear jrkru)"
] | file_173838 |
GOAL: (holding gxsnx) (on qqpst xzybk) (on-table vrdov) (on xzybk vrdov) (clear wbaqo) (on-table wbaqo) (clear qqpst) | GOAL: (holding gxsnx) (on qqpst xzybk) (on-table vrdov) (on xzybk vrdov) (clear wbaqo) (on-table wbaqo) (clear qqpst)
STATE: (clear vrdov) (on-table gxsnx) (on xzybk wbaqo) (holding qqpst) (on wbaqo gxsnx) (on vrdov xzybk) | [
[
"put-down qqpst"
],
[
"unstack vrdov xzybk"
],
[
"put-down vrdov"
],
[
"unstack xzybk wbaqo"
],
[
"stack xzybk vrdov"
],
[
"pick-up qqpst"
],
[
"stack qqpst xzybk"
],
[
"unstack wbaqo gxsnx"
],
[
"put-down wbaqo"
],
[
"pick-up gxsnx"
]
] | [
"(arm-empty) (on-table qqpst) (on wbaqo gxsnx) (on vrdov xzybk) (clear qqpst) (clear vrdov) (on-table gxsnx) (on xzybk wbaqo)",
"(on-table qqpst) (on-table gxsnx) (clear xzybk) (on xzybk wbaqo) (holding vrdov) (on wbaqo gxsnx) (clear qqpst)",
"(arm-empty) (on-table vrdov) (on-table qqpst) (clear xzybk) (on wbaqo gxsnx) (clear qqpst) (clear vrdov) (on-table gxsnx) (on xzybk wbaqo)",
"(clear vrdov) (on-table vrdov) (on-table qqpst) (on-table gxsnx) (holding xzybk) (on wbaqo gxsnx) (clear wbaqo) (clear qqpst)",
"(arm-empty) (on-table vrdov) (on-table qqpst) (on-table gxsnx) (on xzybk vrdov) (clear xzybk) (on wbaqo gxsnx) (clear wbaqo) (clear qqpst)",
"(on-table vrdov) (on-table gxsnx) (clear xzybk) (on wbaqo gxsnx) (holding qqpst) (on xzybk vrdov) (clear wbaqo)",
"(arm-empty) (on qqpst xzybk) (on-table vrdov) (on-table gxsnx) (on wbaqo gxsnx) (on xzybk vrdov) (clear wbaqo) (clear qqpst)",
"(on qqpst xzybk) (on-table vrdov) (on-table gxsnx) (on xzybk vrdov) (holding wbaqo) (clear gxsnx) (clear qqpst)",
"(arm-empty) (on qqpst xzybk) (on-table vrdov) (clear qqpst) (on-table gxsnx) (on xzybk vrdov) (clear wbaqo) (clear gxsnx) (on-table wbaqo)",
"(holding gxsnx) (on qqpst xzybk) (on-table vrdov) (on xzybk vrdov) (clear wbaqo) (on-table wbaqo) (clear qqpst)"
] | file_96861 |
GOAL: (on qkioc uzdht) (on uzdht ndwrh) (holding ictyq) (on-table zspyn) (on ndwrh zspyn) (clear qkioc) | GOAL: (on qkioc uzdht) (on uzdht ndwrh) (holding ictyq) (on-table zspyn) (on ndwrh zspyn) (clear qkioc)
STATE: (clear qkioc) (on-table ictyq) (on-table zspyn) (on ndwrh zspyn) (holding uzdht) (on qkioc ndwrh) (clear ictyq) | [
[
"put-down uzdht"
],
[
"unstack qkioc ndwrh"
],
[
"stack qkioc ictyq"
],
[
"pick-up uzdht"
],
[
"stack uzdht ndwrh"
],
[
"unstack qkioc ictyq"
],
[
"stack qkioc uzdht"
],
[
"pick-up ictyq"
]
] | [
"(arm-empty) (on-table ictyq) (on ndwrh zspyn) (on qkioc ndwrh) (clear ictyq) (on-table zspyn) (clear uzdht) (clear qkioc) (on-table uzdht)",
"(holding qkioc) (clear ndwrh) (on-table ictyq) (on-table zspyn) (on ndwrh zspyn) (clear uzdht) (on-table uzdht) (clear ictyq)",
"(on qkioc ictyq) (clear ndwrh) (arm-empty) (on-table ictyq) (on-table zspyn) (on ndwrh zspyn) (clear uzdht) (clear qkioc) (on-table uzdht)",
"(on qkioc ictyq) (clear ndwrh) (on-table ictyq) (on-table zspyn) (on ndwrh zspyn) (holding uzdht) (clear qkioc)",
"(on qkioc ictyq) (arm-empty) (on-table ictyq) (on uzdht ndwrh) (on-table zspyn) (on ndwrh zspyn) (clear uzdht) (clear qkioc)",
"(holding qkioc) (on-table ictyq) (on uzdht ndwrh) (on-table zspyn) (on ndwrh zspyn) (clear uzdht) (clear ictyq)",
"(on qkioc uzdht) (arm-empty) (on-table ictyq) (on uzdht ndwrh) (on-table zspyn) (on ndwrh zspyn) (clear qkioc) (clear ictyq)",
"(on qkioc uzdht) (on uzdht ndwrh) (holding ictyq) (on-table zspyn) (on ndwrh zspyn) (clear qkioc)"
] | file_108650 |
GOAL: (on vvdua avhhd) (on avhhd dyagp) (arm-empty) (on-table dyagp) (on sqhov vvdua) (on skqao sqhov) (clear skqao) | GOAL: (on vvdua avhhd) (on avhhd dyagp) (arm-empty) (on-table dyagp) (on sqhov vvdua) (on skqao sqhov) (clear skqao)
STATE: (clear sqhov) (arm-empty) (on-table sqhov) (on-table skqao) (clear vvdua) (on dyagp avhhd) (on-table vvdua) (clear skqao) (on-table avhhd) (clear dyagp) | [
[
"pick-up vvdua"
],
[
"stack vvdua skqao"
],
[
"unstack dyagp avhhd"
],
[
"put-down dyagp"
],
[
"pick-up avhhd"
],
[
"stack avhhd dyagp"
],
[
"unstack vvdua skqao"
],
[
"stack vvdua avhhd"
],
[
"pick-up sqhov"
],
[
"stack sqhov vvdua"
],
[
"pick-up skqao"
],
[
"stack skqao sqhov"
]
] | [
"(clear sqhov) (on-table sqhov) (on-table skqao) (holding vvdua) (on dyagp avhhd) (clear skqao) (on-table avhhd) (clear dyagp)",
"(clear sqhov) (on vvdua skqao) (arm-empty) (on-table sqhov) (on-table skqao) (clear vvdua) (on dyagp avhhd) (on-table avhhd) (clear dyagp)",
"(clear sqhov) (on vvdua skqao) (on-table sqhov) (on-table skqao) (clear vvdua) (holding dyagp) (clear avhhd) (on-table avhhd)",
"(clear sqhov) (on vvdua skqao) (arm-empty) (on-table sqhov) (on-table dyagp) (on-table skqao) (clear vvdua) (clear avhhd) (on-table avhhd) (clear dyagp)",
"(clear sqhov) (on vvdua skqao) (on-table sqhov) (on-table dyagp) (on-table skqao) (clear vvdua) (holding avhhd) (clear dyagp)",
"(clear sqhov) (on vvdua skqao) (on avhhd dyagp) (on-table sqhov) (on-table dyagp) (on-table skqao) (arm-empty) (clear vvdua) (clear avhhd)",
"(clear sqhov) (on avhhd dyagp) (on-table sqhov) (on-table dyagp) (on-table skqao) (holding vvdua) (clear avhhd) (clear skqao)",
"(clear sqhov) (on avhhd dyagp) (arm-empty) (on-table sqhov) (on-table dyagp) (on-table skqao) (clear vvdua) (on vvdua avhhd) (clear skqao)",
"(on avhhd dyagp) (on-table dyagp) (on-table skqao) (clear vvdua) (on vvdua avhhd) (holding sqhov) (clear skqao)",
"(on avhhd dyagp) (arm-empty) (on-table dyagp) (on sqhov vvdua) (clear sqhov) (on-table skqao) (on vvdua avhhd) (clear skqao)",
"(holding skqao) (on avhhd dyagp) (clear sqhov) (on-table dyagp) (on vvdua avhhd) (on sqhov vvdua)",
"(on vvdua avhhd) (on avhhd dyagp) (arm-empty) (on-table dyagp) (on sqhov vvdua) (on skqao sqhov) (clear skqao)"
] | file_118532 |
GOAL: (clear tdfzk) (arm-empty) (on-table tdfzk) (on cemqo jhuyc) (on jhuyc txrlc) (on tlhfv cemqo) (clear tlhfv) (on-table txrlc) | GOAL: (clear tdfzk) (arm-empty) (on-table tdfzk) (on cemqo jhuyc) (on jhuyc txrlc) (on tlhfv cemqo) (clear tlhfv) (on-table txrlc)
STATE: (on txrlc cemqo) (on cemqo jhuyc) (on-table tlhfv) (on jhuyc tlhfv) (holding tdfzk) (clear txrlc) | [
[
"put-down tdfzk"
],
[
"unstack txrlc cemqo"
],
[
"put-down txrlc"
],
[
"unstack cemqo jhuyc"
],
[
"put-down cemqo"
],
[
"unstack jhuyc tlhfv"
],
[
"stack jhuyc txrlc"
],
[
"pick-up cemqo"
],
[
"stack cemqo jhuyc"
],
[
"pick-up tlhfv"
],
[
"stack tlhfv cemqo"
]
] | [
"(arm-empty) (on-table tdfzk) (on cemqo jhuyc) (on txrlc cemqo) (clear tdfzk) (on-table tlhfv) (on jhuyc tlhfv) (clear txrlc)",
"(clear tdfzk) (on-table tdfzk) (on cemqo jhuyc) (on-table tlhfv) (clear cemqo) (on jhuyc tlhfv) (holding txrlc)",
"(arm-empty) (on-table tdfzk) (on cemqo jhuyc) (clear cemqo) (clear tdfzk) (on-table tlhfv) (on jhuyc tlhfv) (clear txrlc) (on-table txrlc)",
"(clear tdfzk) (on-table tdfzk) (on-table tlhfv) (holding cemqo) (on jhuyc tlhfv) (clear txrlc) (on-table txrlc) (clear jhuyc)",
"(clear tdfzk) (arm-empty) (on-table tdfzk) (on-table tlhfv) (clear cemqo) (on jhuyc tlhfv) (on-table cemqo) (clear txrlc) (on-table txrlc) (clear jhuyc)",
"(clear tdfzk) (on-table tdfzk) (on-table tlhfv) (clear cemqo) (holding jhuyc) (on-table cemqo) (clear txrlc) (clear tlhfv) (on-table txrlc)",
"(clear tdfzk) (arm-empty) (on-table tdfzk) (on-table tlhfv) (clear cemqo) (on jhuyc txrlc) (on-table cemqo) (clear tlhfv) (on-table txrlc) (clear jhuyc)",
"(clear tdfzk) (on-table tdfzk) (on-table tlhfv) (holding cemqo) (on jhuyc txrlc) (clear tlhfv) (on-table txrlc) (clear jhuyc)",
"(clear tdfzk) (arm-empty) (on-table tdfzk) (on cemqo jhuyc) (on-table tlhfv) (clear cemqo) (on jhuyc txrlc) (clear tlhfv) (on-table txrlc)",
"(holding tlhfv) (clear tdfzk) (on-table tdfzk) (on cemqo jhuyc) (clear cemqo) (on jhuyc txrlc) (on-table txrlc)",
"(clear tdfzk) (arm-empty) (on-table tdfzk) (on cemqo jhuyc) (on jhuyc txrlc) (on tlhfv cemqo) (clear tlhfv) (on-table txrlc)"
] | file_40177 |
GOAL: (arm-empty) (on-table bnwso) (on zfnau ugcsz) (on-table ugcsz) (on udxet nmgpq) (clear udxet) (on nmgpq zfnau) (clear bnwso) | GOAL: (arm-empty) (on-table bnwso) (on zfnau ugcsz) (on-table ugcsz) (on udxet nmgpq) (clear udxet) (on nmgpq zfnau) (clear bnwso)
STATE: (arm-empty) (on bnwso nmgpq) (on-table ugcsz) (on zfnau ugcsz) (clear udxet) (on nmgpq zfnau) (on-table udxet) (clear bnwso) | [
[
"unstack bnwso nmgpq"
],
[
"put-down bnwso"
],
[
"pick-up udxet"
],
[
"stack udxet nmgpq"
]
] | [
"(holding bnwso) (on-table ugcsz) (on zfnau ugcsz) (clear udxet) (on nmgpq zfnau) (clear nmgpq) (on-table udxet)",
"(arm-empty) (on-table bnwso) (on zfnau ugcsz) (on nmgpq zfnau) (clear bnwso) (on-table ugcsz) (clear udxet) (clear nmgpq) (on-table udxet)",
"(on-table bnwso) (on-table ugcsz) (on zfnau ugcsz) (on nmgpq zfnau) (clear nmgpq) (holding udxet) (clear bnwso)",
"(arm-empty) (on-table bnwso) (on zfnau ugcsz) (on-table ugcsz) (on udxet nmgpq) (clear udxet) (on nmgpq zfnau) (clear bnwso)"
] | file_218838 |
GOAL: (arm-empty) (on-table rqozn) (on douds ovvjz) (clear rysnb) (on-table rysnb) (on ovvjz rqozn) (clear douds) | GOAL: (arm-empty) (on-table rqozn) (on douds ovvjz) (clear rysnb) (on-table rysnb) (on ovvjz rqozn) (clear douds)
STATE: (clear ovvjz) (arm-empty) (on-table rqozn) (clear rysnb) (on-table rysnb) (on ovvjz rqozn) (clear douds) (on-table douds) | [
[
"pick-up douds"
],
[
"stack douds ovvjz"
]
] | [
"(clear ovvjz) (on-table rqozn) (clear rysnb) (on-table rysnb) (on ovvjz rqozn) (holding douds)",
"(arm-empty) (on-table rqozn) (on douds ovvjz) (clear rysnb) (on-table rysnb) (on ovvjz rqozn) (clear douds)"
] | file_49813 |
GOAL: (arm-empty) (on-table jebok) (on jioru hoziy) (clear tncpq) (on-table tncpq) (on hoziy jebok) (clear gdyyf) (on-table gdyyf) (clear jioru) | GOAL: (arm-empty) (on-table jebok) (on jioru hoziy) (clear tncpq) (on-table tncpq) (on hoziy jebok) (clear gdyyf) (on-table gdyyf) (clear jioru)
STATE: (on-table jioru) (holding tncpq) (on-table jebok) (on gdyyf hoziy) (on hoziy jebok) (clear gdyyf) (clear jioru) | [
[
"put-down tncpq"
],
[
"pick-up jioru"
],
[
"stack jioru tncpq"
],
[
"unstack gdyyf hoziy"
],
[
"put-down gdyyf"
],
[
"unstack jioru tncpq"
],
[
"stack jioru hoziy"
]
] | [
"(arm-empty) (on-table jioru) (clear tncpq) (on hoziy jebok) (clear jioru) (on-table jebok) (on gdyyf hoziy) (on-table tncpq) (clear gdyyf)",
"(on-table jebok) (on gdyyf hoziy) (clear tncpq) (holding jioru) (on-table tncpq) (on hoziy jebok) (clear gdyyf)",
"(arm-empty) (on jioru tncpq) (on-table jebok) (on gdyyf hoziy) (on-table tncpq) (on hoziy jebok) (clear gdyyf) (clear jioru)",
"(clear hoziy) (on jioru tncpq) (on-table jebok) (on-table tncpq) (on hoziy jebok) (holding gdyyf) (clear jioru)",
"(arm-empty) (on jioru tncpq) (on hoziy jebok) (clear jioru) (clear hoziy) (on-table jebok) (on-table tncpq) (clear gdyyf) (on-table gdyyf)",
"(clear hoziy) (on-table jebok) (clear tncpq) (holding jioru) (on-table tncpq) (on hoziy jebok) (clear gdyyf) (on-table gdyyf)",
"(arm-empty) (on-table jebok) (on jioru hoziy) (clear tncpq) (on-table tncpq) (on hoziy jebok) (clear gdyyf) (on-table gdyyf) (clear jioru)"
] | file_1059 |
GOAL: (holding iqqgs) (on oyqfr pcwpe) (on-table lwpzh) (on yiyci oyqfr) (on pcwpe lwpzh) (clear yiyci) | GOAL: (holding iqqgs) (on oyqfr pcwpe) (on-table lwpzh) (on yiyci oyqfr) (on pcwpe lwpzh) (clear yiyci)
STATE: (arm-empty) (on-table lwpzh) (on-table yiyci) (on iqqgs pcwpe) (on pcwpe lwpzh) (clear oyqfr) (clear iqqgs) (on-table oyqfr) (clear yiyci) | [
[
"unstack iqqgs pcwpe"
],
[
"put-down iqqgs"
],
[
"pick-up yiyci"
],
[
"stack yiyci iqqgs"
],
[
"pick-up oyqfr"
],
[
"stack oyqfr pcwpe"
],
[
"unstack yiyci iqqgs"
],
[
"stack yiyci oyqfr"
],
[
"pick-up iqqgs"
]
] | [
"(holding iqqgs) (on-table lwpzh) (on-table yiyci) (clear pcwpe) (on pcwpe lwpzh) (clear oyqfr) (on-table oyqfr) (clear yiyci)",
"(arm-empty) (on-table lwpzh) (on-table yiyci) (on-table iqqgs) (clear pcwpe) (on pcwpe lwpzh) (clear oyqfr) (clear iqqgs) (on-table oyqfr) (clear yiyci)",
"(on-table lwpzh) (on-table iqqgs) (clear pcwpe) (holding yiyci) (on pcwpe lwpzh) (clear oyqfr) (clear iqqgs) (on-table oyqfr)",
"(arm-empty) (on-table lwpzh) (on-table iqqgs) (clear pcwpe) (on yiyci iqqgs) (on pcwpe lwpzh) (clear oyqfr) (on-table oyqfr) (clear yiyci)",
"(on-table lwpzh) (on-table iqqgs) (clear pcwpe) (on yiyci iqqgs) (on pcwpe lwpzh) (holding oyqfr) (clear yiyci)",
"(on oyqfr pcwpe) (arm-empty) (on-table lwpzh) (on-table iqqgs) (on yiyci iqqgs) (on pcwpe lwpzh) (clear oyqfr) (clear yiyci)",
"(on oyqfr pcwpe) (on-table lwpzh) (on-table iqqgs) (holding yiyci) (on pcwpe lwpzh) (clear oyqfr) (clear iqqgs)",
"(on oyqfr pcwpe) (arm-empty) (on-table lwpzh) (on-table iqqgs) (on yiyci oyqfr) (on pcwpe lwpzh) (clear iqqgs) (clear yiyci)",
"(holding iqqgs) (on oyqfr pcwpe) (on-table lwpzh) (on yiyci oyqfr) (on pcwpe lwpzh) (clear yiyci)"
] | file_168658 |
GOAL: (arm-empty) (on conmd eovwm) (clear hxrig) (on eovwm wsmgu) (clear conmd) (on-table wsmgu) (on-table hxrig) (clear ghhuk) (on-table ghhuk) | GOAL: (arm-empty) (on conmd eovwm) (clear hxrig) (on eovwm wsmgu) (clear conmd) (on-table wsmgu) (on-table hxrig) (clear ghhuk) (on-table ghhuk)
STATE: (clear eovwm) (on-table conmd) (on-table wsmgu) (clear hxrig) (on-table hxrig) (on eovwm wsmgu) (holding ghhuk) (clear conmd) | [
[
"stack ghhuk hxrig"
],
[
"pick-up conmd"
],
[
"stack conmd eovwm"
],
[
"unstack ghhuk hxrig"
],
[
"put-down ghhuk"
]
] | [
"(on ghhuk hxrig) (clear eovwm) (arm-empty) (on-table conmd) (on-table wsmgu) (on-table hxrig) (on eovwm wsmgu) (clear ghhuk) (clear conmd)",
"(on ghhuk hxrig) (clear eovwm) (on-table wsmgu) (holding conmd) (on-table hxrig) (on eovwm wsmgu) (clear ghhuk)",
"(on ghhuk hxrig) (arm-empty) (on-table wsmgu) (on conmd eovwm) (on-table hxrig) (on eovwm wsmgu) (clear ghhuk) (clear conmd)",
"(on-table wsmgu) (on conmd eovwm) (clear hxrig) (on-table hxrig) (on eovwm wsmgu) (holding ghhuk) (clear conmd)",
"(arm-empty) (on conmd eovwm) (clear hxrig) (on eovwm wsmgu) (clear conmd) (on-table wsmgu) (on-table hxrig) (clear ghhuk) (on-table ghhuk)"
] | file_71748 |
GOAL: (on sdqng pydcu) (arm-empty) (on-table kpbcx) (clear kumur) (on uveqh sdqng) (clear kpbcx) (on kumur uveqh) (on-table pydcu) | GOAL: (on sdqng pydcu) (arm-empty) (on-table kpbcx) (clear kumur) (on uveqh sdqng) (clear kpbcx) (on kumur uveqh) (on-table pydcu)
STATE: (clear uveqh) (arm-empty) (on-table uveqh) (on-table kpbcx) (on-table sdqng) (clear kumur) (on kumur pydcu) (clear sdqng) (on-table pydcu) (clear kpbcx) | [
[
"unstack kumur pydcu"
],
[
"stack kumur kpbcx"
],
[
"pick-up sdqng"
],
[
"stack sdqng pydcu"
],
[
"pick-up uveqh"
],
[
"stack uveqh sdqng"
],
[
"unstack kumur kpbcx"
],
[
"stack kumur uveqh"
]
] | [
"(clear uveqh) (on-table uveqh) (on-table kpbcx) (on-table sdqng) (holding kumur) (clear pydcu) (clear sdqng) (on-table pydcu) (clear kpbcx)",
"(clear uveqh) (arm-empty) (on-table uveqh) (on-table kpbcx) (on-table sdqng) (on kumur kpbcx) (clear kumur) (clear pydcu) (clear sdqng) (on-table pydcu)",
"(holding sdqng) (clear uveqh) (on-table uveqh) (on-table kpbcx) (on kumur kpbcx) (clear kumur) (clear pydcu) (on-table pydcu)",
"(clear uveqh) (on sdqng pydcu) (arm-empty) (on-table uveqh) (on-table kpbcx) (on kumur kpbcx) (clear kumur) (clear sdqng) (on-table pydcu)",
"(on sdqng pydcu) (on-table kpbcx) (on kumur kpbcx) (clear kumur) (holding uveqh) (clear sdqng) (on-table pydcu)",
"(on sdqng pydcu) (arm-empty) (on-table kpbcx) (on kumur kpbcx) (clear kumur) (on uveqh sdqng) (clear uveqh) (on-table pydcu)",
"(clear uveqh) (on sdqng pydcu) (on-table kpbcx) (holding kumur) (on uveqh sdqng) (on-table pydcu) (clear kpbcx)",
"(on sdqng pydcu) (arm-empty) (on-table kpbcx) (clear kumur) (on uveqh sdqng) (clear kpbcx) (on kumur uveqh) (on-table pydcu)"
] | file_194100 |
GOAL: (on teyqk gvvfn) (on gvvfn xsroa) (arm-empty) (clear hzqip) (on-table xsroa) (on hzqip dfeew) (on dfeew teyqk) | GOAL: (on teyqk gvvfn) (on gvvfn xsroa) (arm-empty) (clear hzqip) (on-table xsroa) (on hzqip dfeew) (on dfeew teyqk)
STATE: (on gvvfn xsroa) (clear dfeew) (on hzqip gvvfn) (on-table xsroa) (on dfeew hzqip) (holding teyqk) | [
[
"put-down teyqk"
],
[
"unstack dfeew hzqip"
],
[
"put-down dfeew"
],
[
"pick-up teyqk"
],
[
"stack teyqk dfeew"
],
[
"unstack hzqip gvvfn"
],
[
"put-down hzqip"
],
[
"unstack teyqk dfeew"
],
[
"stack teyqk gvvfn"
],
[
"pick-up dfeew"
],
[
"stack dfeew teyqk"
],
[
"pick-up hzqip"
],
[
"stack hzqip dfeew"
]
] | [
"(on gvvfn xsroa) (on hzqip gvvfn) (arm-empty) (on-table xsroa) (on dfeew hzqip) (clear dfeew) (clear teyqk) (on-table teyqk)",
"(on gvvfn xsroa) (on hzqip gvvfn) (on-table xsroa) (clear hzqip) (holding dfeew) (clear teyqk) (on-table teyqk)",
"(on gvvfn xsroa) (on hzqip gvvfn) (arm-empty) (on-table dfeew) (on-table xsroa) (clear hzqip) (clear dfeew) (clear teyqk) (on-table teyqk)",
"(on gvvfn xsroa) (clear dfeew) (on hzqip gvvfn) (on-table dfeew) (on-table xsroa) (clear hzqip) (holding teyqk)",
"(on gvvfn xsroa) (on hzqip gvvfn) (arm-empty) (on-table dfeew) (on-table xsroa) (on teyqk dfeew) (clear hzqip) (clear teyqk)",
"(on gvvfn xsroa) (on-table dfeew) (on-table xsroa) (holding hzqip) (on teyqk dfeew) (clear teyqk) (clear gvvfn)",
"(on gvvfn xsroa) (arm-empty) (on-table dfeew) (on-table xsroa) (clear hzqip) (on teyqk dfeew) (on-table hzqip) (clear teyqk) (clear gvvfn)",
"(on gvvfn xsroa) (clear dfeew) (on-table dfeew) (on-table xsroa) (clear hzqip) (on-table hzqip) (holding teyqk) (clear gvvfn)",
"(on gvvfn xsroa) (clear dfeew) (arm-empty) (on-table dfeew) (on-table xsroa) (clear hzqip) (on-table hzqip) (on teyqk gvvfn) (clear teyqk)",
"(on gvvfn xsroa) (on-table xsroa) (clear hzqip) (on-table hzqip) (holding dfeew) (on teyqk gvvfn) (clear teyqk)",
"(on gvvfn xsroa) (clear dfeew) (arm-empty) (on-table xsroa) (clear hzqip) (on-table hzqip) (on teyqk gvvfn) (on dfeew teyqk)",
"(on gvvfn xsroa) (clear dfeew) (on-table xsroa) (holding hzqip) (on teyqk gvvfn) (on dfeew teyqk)",
"(on teyqk gvvfn) (on gvvfn xsroa) (arm-empty) (clear hzqip) (on-table xsroa) (on hzqip dfeew) (on dfeew teyqk)"
] | file_130965 |
GOAL: (on qufqe dwrng) (on dwrng ubjao) (holding xdvex) (on-table ubjao) (clear qufqe) | GOAL: (on qufqe dwrng) (on dwrng ubjao) (holding xdvex) (on-table ubjao) (clear qufqe)
STATE: (arm-empty) (on-table xdvex) (on ubjao dwrng) (on dwrng xdvex) (clear qufqe) (clear ubjao) (on-table qufqe) | [
[
"unstack ubjao dwrng"
],
[
"put-down ubjao"
],
[
"unstack dwrng xdvex"
],
[
"stack dwrng ubjao"
],
[
"pick-up qufqe"
],
[
"stack qufqe dwrng"
],
[
"pick-up xdvex"
]
] | [
"(on-table xdvex) (clear dwrng) (holding ubjao) (on dwrng xdvex) (clear qufqe) (on-table qufqe)",
"(arm-empty) (on-table xdvex) (clear dwrng) (on-table ubjao) (on dwrng xdvex) (clear qufqe) (clear ubjao) (on-table qufqe)",
"(clear xdvex) (on-table xdvex) (on-table ubjao) (holding dwrng) (clear qufqe) (clear ubjao) (on-table qufqe)",
"(clear xdvex) (on dwrng ubjao) (arm-empty) (on-table xdvex) (on-table ubjao) (clear dwrng) (clear qufqe) (on-table qufqe)",
"(clear xdvex) (on dwrng ubjao) (on-table xdvex) (on-table ubjao) (clear dwrng) (holding qufqe)",
"(on qufqe dwrng) (clear xdvex) (on dwrng ubjao) (arm-empty) (on-table xdvex) (on-table ubjao) (clear qufqe)",
"(on qufqe dwrng) (on dwrng ubjao) (holding xdvex) (on-table ubjao) (clear qufqe)"
] | file_163949 |
GOAL: (on-table zpssz) (on-table hyiqf) (clear yhisr) (on-table yhisr) (holding hzond) (on which hyiqf) (clear which) (clear zpssz) | GOAL: (on-table zpssz) (on-table hyiqf) (clear yhisr) (on-table yhisr) (holding hzond) (on which hyiqf) (clear which) (clear zpssz)
STATE: (on-table zpssz) (holding yhisr) (on-table hyiqf) (on which hzond) (on hzond zpssz) (clear which) (clear hyiqf) | [
[
"put-down yhisr"
],
[
"unstack which hzond"
],
[
"stack which hyiqf"
],
[
"unstack hzond zpssz"
]
] | [
"(arm-empty) (on-table zpssz) (clear yhisr) (on hzond zpssz) (on-table hyiqf) (on which hzond) (on-table yhisr) (clear which) (clear hyiqf)",
"(clear hzond) (on-table zpssz) (on-table hyiqf) (clear yhisr) (on-table yhisr) (on hzond zpssz) (holding which) (clear hyiqf)",
"(clear hzond) (arm-empty) (on-table zpssz) (on-table hyiqf) (clear yhisr) (on-table yhisr) (on which hyiqf) (on hzond zpssz) (clear which)",
"(on-table zpssz) (on-table hyiqf) (clear yhisr) (on-table yhisr) (holding hzond) (on which hyiqf) (clear which) (clear zpssz)"
] | file_107399 |
GOAL: (holding jruhb) (on qzjzy itmij) (clear cmejn) (on-table cmejn) (on itmij cfkby) (on-table cfkby) (clear qzjzy) | GOAL: (holding jruhb) (on qzjzy itmij) (clear cmejn) (on-table cmejn) (on itmij cfkby) (on-table cfkby) (clear qzjzy)
STATE: (on jruhb qzjzy) (arm-empty) (on-table itmij) (on qzjzy itmij) (clear cmejn) (on-table cmejn) (clear cfkby) (clear jruhb) (on-table cfkby) | [
[
"unstack jruhb qzjzy"
],
[
"stack jruhb cmejn"
],
[
"unstack qzjzy itmij"
],
[
"stack qzjzy jruhb"
],
[
"pick-up itmij"
],
[
"stack itmij cfkby"
],
[
"unstack qzjzy jruhb"
],
[
"stack qzjzy itmij"
],
[
"unstack jruhb cmejn"
]
] | [
"(holding jruhb) (on-table itmij) (on qzjzy itmij) (clear cmejn) (on-table cmejn) (clear cfkby) (on-table cfkby) (clear qzjzy)",
"(arm-empty) (on-table itmij) (on qzjzy itmij) (on-table cmejn) (on jruhb cmejn) (clear cfkby) (clear jruhb) (on-table cfkby) (clear qzjzy)",
"(clear itmij) (on-table itmij) (holding qzjzy) (on-table cmejn) (on jruhb cmejn) (clear cfkby) (clear jruhb) (on-table cfkby)",
"(clear itmij) (arm-empty) (on-table itmij) (on qzjzy jruhb) (on-table cmejn) (on jruhb cmejn) (clear cfkby) (on-table cfkby) (clear qzjzy)",
"(holding itmij) (on qzjzy jruhb) (on-table cmejn) (on jruhb cmejn) (clear cfkby) (on-table cfkby) (clear qzjzy)",
"(clear itmij) (arm-empty) (on qzjzy jruhb) (on-table cmejn) (on jruhb cmejn) (on itmij cfkby) (on-table cfkby) (clear qzjzy)",
"(clear itmij) (holding qzjzy) (on-table cmejn) (on jruhb cmejn) (on itmij cfkby) (clear jruhb) (on-table cfkby)",
"(arm-empty) (on qzjzy itmij) (on-table cmejn) (on jruhb cmejn) (on itmij cfkby) (clear jruhb) (on-table cfkby) (clear qzjzy)",
"(holding jruhb) (on qzjzy itmij) (clear cmejn) (on-table cmejn) (on itmij cfkby) (on-table cfkby) (clear qzjzy)"
] | file_98441 |
GOAL: (clear gqrxr) (on qmqwx khucm) (on-table khucm) (holding ecekr) (on gqrxr qmqwx) (clear qmyuq) (on-table qmyuq) | GOAL: (clear gqrxr) (on qmqwx khucm) (on-table khucm) (holding ecekr) (on gqrxr qmqwx) (clear qmyuq) (on-table qmyuq)
STATE: (on qmqwx khucm) (arm-empty) (on-table khucm) (on ecekr gqrxr) (on gqrxr qmqwx) (clear qmyuq) (on-table qmyuq) (clear ecekr) | [
[
"unstack ecekr gqrxr"
]
] | [
"(clear gqrxr) (on qmqwx khucm) (on-table khucm) (holding ecekr) (on gqrxr qmqwx) (clear qmyuq) (on-table qmyuq)"
] | file_55801 |
GOAL: (arm-empty) (on oggxy gfavg) (on-table lolgg) (on gfavg sloze) (clear oggxy) (on sloze lolgg) (clear khukj) (on-table khukj) | GOAL: (arm-empty) (on oggxy gfavg) (on-table lolgg) (on gfavg sloze) (clear oggxy) (on sloze lolgg) (clear khukj) (on-table khukj)
STATE: (clear sloze) (on-table sloze) (on-table lolgg) (clear oggxy) (on oggxy khukj) (holding gfavg) (clear lolgg) (on-table khukj) | [
[
"stack gfavg oggxy"
],
[
"pick-up sloze"
],
[
"stack sloze lolgg"
],
[
"unstack gfavg oggxy"
],
[
"stack gfavg sloze"
],
[
"unstack oggxy khukj"
],
[
"stack oggxy gfavg"
]
] | [
"(clear sloze) (arm-empty) (on gfavg oggxy) (on-table sloze) (on-table lolgg) (on oggxy khukj) (clear lolgg) (on-table khukj) (clear gfavg)",
"(on gfavg oggxy) (on-table lolgg) (on oggxy khukj) (holding sloze) (clear lolgg) (on-table khukj) (clear gfavg)",
"(clear sloze) (arm-empty) (on gfavg oggxy) (on-table lolgg) (on oggxy khukj) (on sloze lolgg) (on-table khukj) (clear gfavg)",
"(clear sloze) (on-table lolgg) (clear oggxy) (on oggxy khukj) (holding gfavg) (on sloze lolgg) (on-table khukj)",
"(arm-empty) (on-table lolgg) (on gfavg sloze) (clear oggxy) (on oggxy khukj) (on sloze lolgg) (on-table khukj) (clear gfavg)",
"(on-table lolgg) (holding oggxy) (on gfavg sloze) (on sloze lolgg) (clear khukj) (on-table khukj) (clear gfavg)",
"(arm-empty) (on oggxy gfavg) (on-table lolgg) (on gfavg sloze) (clear oggxy) (on sloze lolgg) (clear khukj) (on-table khukj)"
] | file_142704 |
GOAL: (on pwhpl plesg) (on tavla pwhpl) (arm-empty) (on-table artuw) (on plesg itwrg) (clear tavla) (on itwrg artuw) | GOAL: (on pwhpl plesg) (on tavla pwhpl) (arm-empty) (on-table artuw) (on plesg itwrg) (clear tavla) (on itwrg artuw)
STATE: (on-table artuw) (holding tavla) (on itwrg artuw) (clear plesg) (on pwhpl itwrg) (clear pwhpl) (on-table plesg) | [
[
"put-down tavla"
],
[
"unstack pwhpl itwrg"
],
[
"stack pwhpl tavla"
],
[
"pick-up plesg"
],
[
"stack plesg itwrg"
],
[
"unstack pwhpl tavla"
],
[
"stack pwhpl plesg"
],
[
"pick-up tavla"
],
[
"stack tavla pwhpl"
]
] | [
"(arm-empty) (on-table artuw) (clear tavla) (on itwrg artuw) (on pwhpl itwrg) (on-table tavla) (clear plesg) (clear pwhpl) (on-table plesg)",
"(holding pwhpl) (clear itwrg) (on-table artuw) (clear tavla) (on-table tavla) (on itwrg artuw) (clear plesg) (on-table plesg)",
"(clear itwrg) (arm-empty) (on-table artuw) (on-table tavla) (on pwhpl tavla) (on itwrg artuw) (clear plesg) (clear pwhpl) (on-table plesg)",
"(clear itwrg) (on-table artuw) (on-table tavla) (on pwhpl tavla) (on itwrg artuw) (holding plesg) (clear pwhpl)",
"(arm-empty) (on-table artuw) (on plesg itwrg) (on-table tavla) (on pwhpl tavla) (on itwrg artuw) (clear plesg) (clear pwhpl)",
"(holding pwhpl) (on-table artuw) (on plesg itwrg) (clear tavla) (on-table tavla) (on itwrg artuw) (clear plesg)",
"(on pwhpl plesg) (arm-empty) (on-table artuw) (on plesg itwrg) (clear tavla) (on-table tavla) (on itwrg artuw) (clear pwhpl)",
"(on pwhpl plesg) (on-table artuw) (holding tavla) (on plesg itwrg) (on itwrg artuw) (clear pwhpl)",
"(on pwhpl plesg) (on tavla pwhpl) (arm-empty) (on-table artuw) (on plesg itwrg) (clear tavla) (on itwrg artuw)"
] | file_159921 |
GOAL: (on tfebc hnfgj) (on hnfgj ghfpm) (on-table ggsby) (on ghfpm ggsby) (holding uqiip) (clear tfebc) | GOAL: (on tfebc hnfgj) (on hnfgj ghfpm) (on-table ggsby) (on ghfpm ggsby) (holding uqiip) (clear tfebc)
STATE: (clear ggsby) (arm-empty) (on-table ggsby) (on-table hnfgj) (on ghfpm hnfgj) (on tfebc ghfpm) (clear uqiip) (clear tfebc) (on-table uqiip) | [
[
"unstack tfebc ghfpm"
],
[
"stack tfebc uqiip"
],
[
"unstack ghfpm hnfgj"
],
[
"stack ghfpm ggsby"
],
[
"pick-up hnfgj"
],
[
"stack hnfgj ghfpm"
],
[
"unstack tfebc uqiip"
],
[
"stack tfebc hnfgj"
],
[
"pick-up uqiip"
]
] | [
"(holding tfebc) (clear ggsby) (on-table ggsby) (on-table hnfgj) (on ghfpm hnfgj) (clear ghfpm) (clear uqiip) (on-table uqiip)",
"(clear ggsby) (on tfebc uqiip) (arm-empty) (on-table ggsby) (on-table hnfgj) (on ghfpm hnfgj) (clear ghfpm) (clear tfebc) (on-table uqiip)",
"(clear ggsby) (on tfebc uqiip) (on-table ggsby) (on-table hnfgj) (holding ghfpm) (clear tfebc) (on-table uqiip) (clear hnfgj)",
"(on tfebc uqiip) (arm-empty) (on-table ggsby) (on-table hnfgj) (clear ghfpm) (on ghfpm ggsby) (clear tfebc) (on-table uqiip) (clear hnfgj)",
"(on tfebc uqiip) (on-table ggsby) (clear ghfpm) (holding hnfgj) (on ghfpm ggsby) (clear tfebc) (on-table uqiip)",
"(on tfebc uqiip) (on hnfgj ghfpm) (on-table ggsby) (arm-empty) (on ghfpm ggsby) (clear tfebc) (on-table uqiip) (clear hnfgj)",
"(holding tfebc) (on hnfgj ghfpm) (on-table ggsby) (on ghfpm ggsby) (clear uqiip) (on-table uqiip) (clear hnfgj)",
"(on tfebc hnfgj) (arm-empty) (on hnfgj ghfpm) (on-table ggsby) (on ghfpm ggsby) (clear uqiip) (clear tfebc) (on-table uqiip)",
"(on tfebc hnfgj) (on hnfgj ghfpm) (on-table ggsby) (on ghfpm ggsby) (holding uqiip) (clear tfebc)"
] | file_228020 |
GOAL: (clear hhczw) (on-table abhhd) (clear yzjil) (holding wmbhq) (on-table yzjil) (on hhczw abhhd) (clear nqevv) (on-table nqevv) | GOAL: (clear hhczw) (on-table abhhd) (clear yzjil) (holding wmbhq) (on-table yzjil) (on hhczw abhhd) (clear nqevv) (on-table nqevv)
STATE: (holding abhhd) (clear hhczw) (clear yzjil) (on wmbhq nqevv) (on-table yzjil) (on hhczw wmbhq) (on-table nqevv) | [
[
"put-down abhhd"
],
[
"unstack hhczw wmbhq"
],
[
"stack hhczw abhhd"
],
[
"unstack wmbhq nqevv"
]
] | [
"(arm-empty) (clear yzjil) (on wmbhq nqevv) (on hhczw wmbhq) (clear hhczw) (on-table abhhd) (on-table yzjil) (clear abhhd) (on-table nqevv)",
"(on-table abhhd) (clear yzjil) (on wmbhq nqevv) (on-table yzjil) (holding hhczw) (clear abhhd) (on-table nqevv) (clear wmbhq)",
"(clear hhczw) (arm-empty) (on-table abhhd) (clear yzjil) (on wmbhq nqevv) (on-table yzjil) (on hhczw abhhd) (on-table nqevv) (clear wmbhq)",
"(clear hhczw) (on-table abhhd) (clear yzjil) (holding wmbhq) (on-table yzjil) (on hhczw abhhd) (clear nqevv) (on-table nqevv)"
] | file_90266 |
GOAL: (arm-empty) (on vxcfb xmaqi) (on-table nocat) (clear vxcfb) (on-table ulegj) (on xmaqi nocat) (clear amuaj) (clear ulegj) (on-table amuaj) | GOAL: (arm-empty) (on vxcfb xmaqi) (on-table nocat) (clear vxcfb) (on-table ulegj) (on xmaqi nocat) (clear amuaj) (clear ulegj) (on-table amuaj)
STATE: (arm-empty) (on-table nocat) (on-table vxcfb) (on-table ulegj) (clear xmaqi) (on xmaqi nocat) (clear amuaj) (clear ulegj) (on-table amuaj) (clear vxcfb) | [
[
"pick-up amuaj"
],
[
"stack amuaj ulegj"
],
[
"pick-up vxcfb"
],
[
"stack vxcfb xmaqi"
],
[
"unstack amuaj ulegj"
],
[
"put-down amuaj"
]
] | [
"(on-table nocat) (on-table vxcfb) (on-table ulegj) (clear xmaqi) (on xmaqi nocat) (holding amuaj) (clear ulegj) (clear vxcfb)",
"(arm-empty) (on-table nocat) (on-table vxcfb) (on-table ulegj) (clear xmaqi) (on amuaj ulegj) (on xmaqi nocat) (clear amuaj) (clear vxcfb)",
"(on-table nocat) (on-table ulegj) (on xmaqi nocat) (clear xmaqi) (holding vxcfb) (on amuaj ulegj) (clear amuaj)",
"(arm-empty) (on vxcfb xmaqi) (on-table nocat) (on-table ulegj) (on amuaj ulegj) (on xmaqi nocat) (clear amuaj) (clear vxcfb)",
"(on vxcfb xmaqi) (on-table nocat) (on-table ulegj) (on xmaqi nocat) (holding amuaj) (clear ulegj) (clear vxcfb)",
"(arm-empty) (on vxcfb xmaqi) (on-table nocat) (clear vxcfb) (on-table ulegj) (on xmaqi nocat) (clear amuaj) (clear ulegj) (on-table amuaj)"
] | file_17840 |
GOAL: (on phwkv radis) (arm-empty) (on-table ijwfu) (on radis uxtjh) (on uxtjh grzpg) (clear phwkv) (on grzpg ijwfu) | GOAL: (on phwkv radis) (arm-empty) (on-table ijwfu) (on radis uxtjh) (on uxtjh grzpg) (clear phwkv) (on grzpg ijwfu)
STATE: (on radis grzpg) (on-table uxtjh) (on-table grzpg) (clear radis) (holding ijwfu) (clear phwkv) (on-table phwkv) (clear uxtjh) | [
[
"put-down ijwfu"
],
[
"unstack radis grzpg"
],
[
"stack radis phwkv"
],
[
"pick-up grzpg"
],
[
"stack grzpg ijwfu"
],
[
"pick-up uxtjh"
],
[
"stack uxtjh grzpg"
],
[
"unstack radis phwkv"
],
[
"stack radis uxtjh"
],
[
"pick-up phwkv"
],
[
"stack phwkv radis"
]
] | [
"(clear ijwfu) (on radis grzpg) (arm-empty) (on-table ijwfu) (on-table uxtjh) (on-table grzpg) (clear radis) (clear phwkv) (on-table phwkv) (clear uxtjh)",
"(clear ijwfu) (on-table ijwfu) (on-table uxtjh) (on-table grzpg) (holding radis) (clear phwkv) (clear grzpg) (on-table phwkv) (clear uxtjh)",
"(clear ijwfu) (arm-empty) (on-table ijwfu) (on-table uxtjh) (on-table grzpg) (clear radis) (on radis phwkv) (clear grzpg) (on-table phwkv) (clear uxtjh)",
"(holding grzpg) (clear ijwfu) (on-table ijwfu) (on-table uxtjh) (clear radis) (on radis phwkv) (on-table phwkv) (clear uxtjh)",
"(arm-empty) (on-table ijwfu) (on-table uxtjh) (clear radis) (on radis phwkv) (on grzpg ijwfu) (clear grzpg) (on-table phwkv) (clear uxtjh)",
"(on-table ijwfu) (clear radis) (on radis phwkv) (holding uxtjh) (on grzpg ijwfu) (clear grzpg) (on-table phwkv)",
"(on radis phwkv) (on uxtjh grzpg) (arm-empty) (on-table ijwfu) (clear radis) (on grzpg ijwfu) (on-table phwkv) (clear uxtjh)",
"(on-table ijwfu) (holding radis) (on uxtjh grzpg) (clear phwkv) (on grzpg ijwfu) (on-table phwkv) (clear uxtjh)",
"(arm-empty) (on-table ijwfu) (on radis uxtjh) (clear radis) (on uxtjh grzpg) (clear phwkv) (on grzpg ijwfu) (on-table phwkv)",
"(on-table ijwfu) (on radis uxtjh) (clear radis) (on uxtjh grzpg) (on grzpg ijwfu) (holding phwkv)",
"(on phwkv radis) (arm-empty) (on-table ijwfu) (on radis uxtjh) (on uxtjh grzpg) (clear phwkv) (on grzpg ijwfu)"
] | file_190937 |
GOAL: (on zeiyj wxxvx) (on dursu zeiyj) (on-table ubkjc) (arm-empty) (on-table wxxvx) (on lhhvs ubkjc) (clear lhhvs) (clear dursu) | GOAL: (on zeiyj wxxvx) (on dursu zeiyj) (on-table ubkjc) (arm-empty) (on-table wxxvx) (on lhhvs ubkjc) (clear lhhvs) (clear dursu)
STATE: (on wxxvx dursu) (on lhhvs zeiyj) (on dursu lhhvs) (on-table zeiyj) (holding ubkjc) (clear wxxvx) | [
[
"put-down ubkjc"
],
[
"unstack wxxvx dursu"
],
[
"put-down wxxvx"
],
[
"unstack dursu lhhvs"
],
[
"put-down dursu"
],
[
"unstack lhhvs zeiyj"
],
[
"stack lhhvs ubkjc"
],
[
"pick-up zeiyj"
],
[
"stack zeiyj wxxvx"
],
[
"pick-up dursu"
],
[
"stack dursu zeiyj"
]
] | [
"(on wxxvx dursu) (on lhhvs zeiyj) (on-table zeiyj) (clear ubkjc) (on-table ubkjc) (arm-empty) (clear wxxvx) (on dursu lhhvs)",
"(holding wxxvx) (on lhhvs zeiyj) (clear ubkjc) (on-table ubkjc) (on dursu lhhvs) (on-table zeiyj) (clear dursu)",
"(arm-empty) (on-table ubkjc) (on dursu lhhvs) (clear dursu) (on lhhvs zeiyj) (clear ubkjc) (on-table wxxvx) (on-table zeiyj) (clear wxxvx)",
"(on lhhvs zeiyj) (clear ubkjc) (on-table ubkjc) (on-table wxxvx) (holding dursu) (on-table zeiyj) (clear lhhvs) (clear wxxvx)",
"(on lhhvs zeiyj) (clear ubkjc) (arm-empty) (on-table ubkjc) (on-table dursu) (on-table wxxvx) (on-table zeiyj) (clear lhhvs) (clear wxxvx) (clear dursu)",
"(clear ubkjc) (on-table ubkjc) (on-table dursu) (on-table wxxvx) (clear zeiyj) (on-table zeiyj) (holding lhhvs) (clear wxxvx) (clear dursu)",
"(arm-empty) (on-table ubkjc) (on-table dursu) (on-table wxxvx) (on lhhvs ubkjc) (clear zeiyj) (on-table zeiyj) (clear lhhvs) (clear wxxvx) (clear dursu)",
"(on-table ubkjc) (on-table dursu) (on-table wxxvx) (holding zeiyj) (on lhhvs ubkjc) (clear lhhvs) (clear wxxvx) (clear dursu)",
"(on zeiyj wxxvx) (arm-empty) (on-table ubkjc) (on-table dursu) (on-table wxxvx) (on lhhvs ubkjc) (clear zeiyj) (clear lhhvs) (clear dursu)",
"(on zeiyj wxxvx) (on-table ubkjc) (on-table wxxvx) (on lhhvs ubkjc) (clear zeiyj) (holding dursu) (clear lhhvs)",
"(on zeiyj wxxvx) (on dursu zeiyj) (on-table ubkjc) (arm-empty) (on-table wxxvx) (on lhhvs ubkjc) (clear lhhvs) (clear dursu)"
] | file_185473 |
GOAL: (clear axegl) (on-table axegl) (on-table pcacb) (on-table eoqol) (clear djsdk) (on-table djsdk) (holding baclr) (clear eoqol) (clear pcacb) | GOAL: (clear axegl) (on-table axegl) (on-table pcacb) (on-table eoqol) (clear djsdk) (on-table djsdk) (holding baclr) (clear eoqol) (clear pcacb)
STATE: (holding eoqol) (on-table axegl) (on baclr axegl) (clear djsdk) (on pcacb baclr) (on-table djsdk) (clear pcacb) | [
[
"stack eoqol djsdk"
],
[
"unstack pcacb baclr"
],
[
"put-down pcacb"
],
[
"unstack baclr axegl"
],
[
"put-down baclr"
],
[
"pick-up axegl"
],
[
"stack axegl eoqol"
],
[
"pick-up baclr"
],
[
"stack baclr pcacb"
],
[
"unstack axegl eoqol"
],
[
"put-down axegl"
],
[
"unstack eoqol djsdk"
],
[
"put-down eoqol"
],
[
"unstack baclr pcacb"
]
] | [
"(arm-empty) (on-table axegl) (on baclr axegl) (on pcacb baclr) (on-table djsdk) (on eoqol djsdk) (clear eoqol) (clear pcacb)",
"(on-table axegl) (on baclr axegl) (holding pcacb) (on-table djsdk) (on eoqol djsdk) (clear baclr) (clear eoqol)",
"(arm-empty) (on-table axegl) (on-table pcacb) (clear pcacb) (on baclr axegl) (on-table djsdk) (on eoqol djsdk) (clear baclr) (clear eoqol)",
"(clear axegl) (on-table axegl) (on-table pcacb) (on-table djsdk) (on eoqol djsdk) (holding baclr) (clear eoqol) (clear pcacb)",
"(clear axegl) (arm-empty) (on-table axegl) (on-table pcacb) (on-table djsdk) (on eoqol djsdk) (clear baclr) (clear eoqol) (on-table baclr) (clear pcacb)",
"(on-table pcacb) (holding axegl) (on-table djsdk) (on eoqol djsdk) (clear baclr) (clear eoqol) (on-table baclr) (clear pcacb)",
"(clear axegl) (arm-empty) (on-table pcacb) (clear pcacb) (on-table djsdk) (on axegl eoqol) (clear baclr) (on eoqol djsdk) (on-table baclr)",
"(clear axegl) (on-table pcacb) (on-table djsdk) (on eoqol djsdk) (on axegl eoqol) (holding baclr) (clear pcacb)",
"(clear axegl) (on baclr pcacb) (arm-empty) (on-table pcacb) (on-table djsdk) (on eoqol djsdk) (on axegl eoqol) (clear baclr)",
"(on baclr pcacb) (on-table pcacb) (holding axegl) (on-table djsdk) (on eoqol djsdk) (clear baclr) (clear eoqol)",
"(on baclr pcacb) (arm-empty) (on-table axegl) (on-table pcacb) (clear axegl) (on-table djsdk) (on eoqol djsdk) (clear baclr) (clear eoqol)",
"(holding eoqol) (on baclr pcacb) (clear axegl) (on-table axegl) (on-table pcacb) (clear djsdk) (on-table djsdk) (clear baclr)",
"(on baclr pcacb) (clear axegl) (arm-empty) (on-table axegl) (on-table pcacb) (on-table eoqol) (clear djsdk) (on-table djsdk) (clear baclr) (clear eoqol)",
"(clear axegl) (on-table axegl) (on-table pcacb) (on-table eoqol) (clear djsdk) (on-table djsdk) (holding baclr) (clear eoqol) (clear pcacb)"
] | file_9932 |
GOAL: (arm-empty) (on-table fjwjj) (clear tedmy) (clear fjwjj) (on-table tqpmj) (on-table tedmy) (clear tbuav) (clear tqpmj) (on-table tbuav) | GOAL: (arm-empty) (on-table fjwjj) (clear tedmy) (clear fjwjj) (on-table tqpmj) (on-table tedmy) (clear tbuav) (clear tqpmj) (on-table tbuav)
STATE: (holding tqpmj) (clear tedmy) (on tedmy fjwjj) (on fjwjj tbuav) (on-table tbuav) | [
[
"put-down tqpmj"
],
[
"unstack tedmy fjwjj"
],
[
"put-down tedmy"
],
[
"pick-up tqpmj"
],
[
"stack tqpmj tedmy"
],
[
"unstack fjwjj tbuav"
],
[
"put-down fjwjj"
],
[
"unstack tqpmj tedmy"
],
[
"put-down tqpmj"
]
] | [
"(on-table tqpmj) (arm-empty) (on fjwjj tbuav) (on tedmy fjwjj) (clear tedmy) (clear tqpmj) (on-table tbuav)",
"(holding tedmy) (clear fjwjj) (on-table tqpmj) (on fjwjj tbuav) (clear tqpmj) (on-table tbuav)",
"(arm-empty) (clear tedmy) (clear fjwjj) (on-table tqpmj) (on-table tedmy) (on fjwjj tbuav) (clear tqpmj) (on-table tbuav)",
"(holding tqpmj) (clear fjwjj) (clear tedmy) (on-table tedmy) (on fjwjj tbuav) (on-table tbuav)",
"(clear fjwjj) (arm-empty) (on-table tedmy) (on tqpmj tedmy) (on fjwjj tbuav) (clear tqpmj) (on-table tbuav)",
"(on tqpmj tedmy) (on-table tedmy) (holding fjwjj) (clear tbuav) (clear tqpmj) (on-table tbuav)",
"(arm-empty) (on-table fjwjj) (clear fjwjj) (on-table tedmy) (on tqpmj tedmy) (clear tbuav) (clear tqpmj) (on-table tbuav)",
"(holding tqpmj) (clear fjwjj) (on-table fjwjj) (clear tedmy) (on-table tedmy) (clear tbuav) (on-table tbuav)",
"(arm-empty) (on-table fjwjj) (clear tedmy) (clear fjwjj) (on-table tqpmj) (on-table tedmy) (clear tbuav) (clear tqpmj) (on-table tbuav)"
] | file_103513 |
GOAL: (arm-empty) (on-table egfeu) (on-table fazrx) (on eotbf fazrx) (clear eotbf) (on ritrf nunlv) (clear ritrf) (on nunlv egfeu) | GOAL: (arm-empty) (on-table egfeu) (on-table fazrx) (on eotbf fazrx) (clear eotbf) (on ritrf nunlv) (clear ritrf) (on nunlv egfeu)
STATE: (holding nunlv) (on ritrf eotbf) (clear egfeu) (on-table egfeu) (on-table fazrx) (on-table eotbf) (clear ritrf) (clear fazrx) | [
[
"stack nunlv egfeu"
],
[
"unstack ritrf eotbf"
],
[
"stack ritrf nunlv"
],
[
"pick-up eotbf"
],
[
"stack eotbf fazrx"
]
] | [
"(on ritrf eotbf) (arm-empty) (on-table egfeu) (on-table fazrx) (on-table eotbf) (clear ritrf) (on nunlv egfeu) (clear nunlv) (clear fazrx)",
"(on-table egfeu) (on-table fazrx) (clear eotbf) (on-table eotbf) (on nunlv egfeu) (clear nunlv) (holding ritrf) (clear fazrx)",
"(arm-empty) (on-table egfeu) (on-table fazrx) (clear eotbf) (on-table eotbf) (on ritrf nunlv) (clear ritrf) (on nunlv egfeu) (clear fazrx)",
"(on-table egfeu) (on-table fazrx) (holding eotbf) (on ritrf nunlv) (clear ritrf) (on nunlv egfeu) (clear fazrx)",
"(arm-empty) (on-table egfeu) (on-table fazrx) (on eotbf fazrx) (clear eotbf) (on ritrf nunlv) (clear ritrf) (on nunlv egfeu)"
] | file_95038 |
GOAL: (clear skrye) (on tngoz qavng) (arm-empty) (on-table qavng) (on-table kmzeb) (on hqqsc kmzeb) (on skrye hqqsc) (clear tngoz) | GOAL: (clear skrye) (on tngoz qavng) (arm-empty) (on-table qavng) (on-table kmzeb) (on hqqsc kmzeb) (on skrye hqqsc) (clear tngoz)
STATE: (on tngoz qavng) (arm-empty) (on qavng skrye) (on-table kmzeb) (on hqqsc kmzeb) (on skrye hqqsc) (clear tngoz) | [
[
"unstack tngoz qavng"
],
[
"put-down tngoz"
],
[
"unstack qavng skrye"
],
[
"put-down qavng"
],
[
"pick-up tngoz"
],
[
"stack tngoz qavng"
]
] | [
"(on qavng skrye) (on skrye hqqsc) (clear qavng) (on-table kmzeb) (on hqqsc kmzeb) (holding tngoz)",
"(arm-empty) (on qavng skrye) (on skrye hqqsc) (clear qavng) (on-table kmzeb) (on hqqsc kmzeb) (clear tngoz) (on-table tngoz)",
"(clear skrye) (holding qavng) (on-table kmzeb) (on hqqsc kmzeb) (on skrye hqqsc) (clear tngoz) (on-table tngoz)",
"(arm-empty) (on-table qavng) (on skrye hqqsc) (clear qavng) (clear skrye) (on-table kmzeb) (on hqqsc kmzeb) (clear tngoz) (on-table tngoz)",
"(clear skrye) (on-table qavng) (on-table kmzeb) (on hqqsc kmzeb) (on skrye hqqsc) (holding tngoz) (clear qavng)",
"(clear skrye) (on tngoz qavng) (arm-empty) (on-table qavng) (on-table kmzeb) (on hqqsc kmzeb) (on skrye hqqsc) (clear tngoz)"
] | file_66371 |
GOAL: (on wstya mkgjb) (arm-empty) (on-table tghyq) (on mkgjb bznwr) (on bznwr ejnhw) (clear wstya) (on ejnhw tghyq) | GOAL: (on wstya mkgjb) (arm-empty) (on-table tghyq) (on mkgjb bznwr) (on bznwr ejnhw) (clear wstya) (on ejnhw tghyq)
STATE: (on wstya bznwr) (on-table tghyq) (holding mkgjb) (on bznwr ejnhw) (clear wstya) (on ejnhw tghyq) | [
[
"put-down mkgjb"
],
[
"unstack wstya bznwr"
],
[
"put-down wstya"
],
[
"pick-up mkgjb"
],
[
"stack mkgjb bznwr"
],
[
"pick-up wstya"
],
[
"stack wstya mkgjb"
]
] | [
"(on wstya bznwr) (arm-empty) (on-table tghyq) (clear mkgjb) (on ejnhw tghyq) (on bznwr ejnhw) (on-table mkgjb) (clear wstya)",
"(on-table tghyq) (clear mkgjb) (on bznwr ejnhw) (on-table mkgjb) (on ejnhw tghyq) (holding wstya) (clear bznwr)",
"(arm-empty) (on-table tghyq) (clear mkgjb) (on ejnhw tghyq) (clear bznwr) (on bznwr ejnhw) (on-table mkgjb) (clear wstya) (on-table wstya)",
"(on-table tghyq) (holding mkgjb) (on bznwr ejnhw) (clear wstya) (on ejnhw tghyq) (on-table wstya) (clear bznwr)",
"(arm-empty) (on-table tghyq) (on mkgjb bznwr) (clear mkgjb) (on bznwr ejnhw) (clear wstya) (on ejnhw tghyq) (on-table wstya)",
"(on-table tghyq) (on mkgjb bznwr) (clear mkgjb) (on bznwr ejnhw) (on ejnhw tghyq) (holding wstya)",
"(on wstya mkgjb) (arm-empty) (on-table tghyq) (on mkgjb bznwr) (on bznwr ejnhw) (clear wstya) (on ejnhw tghyq)"
] | file_173747 |
GOAL: (arm-empty) (on clhyc dadtu) (on-table revpl) (on-table dadtu) (clear glpao) (on dgcng revpl) (clear dgcng) (on-table glpao) (clear clhyc) | GOAL: (arm-empty) (on clhyc dadtu) (on-table revpl) (on-table dadtu) (clear glpao) (on dgcng revpl) (clear dgcng) (on-table glpao) (clear clhyc)
STATE: (clear revpl) (arm-empty) (on-table revpl) (on dadtu clhyc) (on-table dgcng) (on-table clhyc) (clear dadtu) (clear glpao) (clear dgcng) (on-table glpao) | [
[
"unstack dadtu clhyc"
],
[
"stack dadtu revpl"
],
[
"pick-up clhyc"
],
[
"stack clhyc glpao"
],
[
"unstack dadtu revpl"
],
[
"put-down dadtu"
],
[
"unstack clhyc glpao"
],
[
"stack clhyc dadtu"
],
[
"pick-up dgcng"
],
[
"stack dgcng revpl"
]
] | [
"(clear revpl) (on-table revpl) (on-table dgcng) (on-table clhyc) (holding dadtu) (clear glpao) (clear dgcng) (on-table glpao) (clear clhyc)",
"(arm-empty) (on-table revpl) (on-table clhyc) (on-table dgcng) (clear dadtu) (on dadtu revpl) (clear glpao) (clear dgcng) (on-table glpao) (clear clhyc)",
"(on-table revpl) (on-table dgcng) (clear dadtu) (holding clhyc) (on dadtu revpl) (clear glpao) (clear dgcng) (on-table glpao)",
"(arm-empty) (on-table revpl) (on-table dgcng) (clear dadtu) (on clhyc glpao) (on dadtu revpl) (clear dgcng) (on-table glpao) (clear clhyc)",
"(clear revpl) (on-table revpl) (on-table dgcng) (holding dadtu) (on clhyc glpao) (clear dgcng) (on-table glpao) (clear clhyc)",
"(clear revpl) (arm-empty) (on-table revpl) (on-table dgcng) (clear dadtu) (on clhyc glpao) (on-table dadtu) (clear dgcng) (on-table glpao) (clear clhyc)",
"(clear revpl) (on-table revpl) (on-table dgcng) (clear dadtu) (holding clhyc) (on-table dadtu) (clear glpao) (clear dgcng) (on-table glpao)",
"(clear revpl) (arm-empty) (on clhyc dadtu) (on-table revpl) (on-table dgcng) (on-table dadtu) (clear glpao) (clear dgcng) (on-table glpao) (clear clhyc)",
"(holding dgcng) (clear revpl) (on clhyc dadtu) (on-table revpl) (on-table dadtu) (clear glpao) (on-table glpao) (clear clhyc)",
"(arm-empty) (on clhyc dadtu) (on-table revpl) (on-table dadtu) (clear glpao) (on dgcng revpl) (clear dgcng) (on-table glpao) (clear clhyc)"
] | file_21440 |
GOAL: (clear wqrnf) (arm-empty) (on johgf rllgj) (on nsnhh rzekm) (on rzekm johgf) (on wqrnf nsnhh) (on-table rllgj) | GOAL: (clear wqrnf) (arm-empty) (on johgf rllgj) (on nsnhh rzekm) (on rzekm johgf) (on wqrnf nsnhh) (on-table rllgj)
STATE: (on-table wqrnf) (on johgf nsnhh) (on-table rzekm) (on nsnhh wqrnf) (clear johgf) (holding rllgj) (clear rzekm) | [
[
"put-down rllgj"
],
[
"unstack johgf nsnhh"
],
[
"stack johgf rllgj"
],
[
"pick-up rzekm"
],
[
"stack rzekm johgf"
],
[
"unstack nsnhh wqrnf"
],
[
"stack nsnhh rzekm"
],
[
"pick-up wqrnf"
],
[
"stack wqrnf nsnhh"
]
] | [
"(arm-empty) (on-table wqrnf) (on johgf nsnhh) (on nsnhh wqrnf) (clear johgf) (on-table rzekm) (clear rllgj) (clear rzekm) (on-table rllgj)",
"(on-table wqrnf) (on-table rzekm) (holding johgf) (on nsnhh wqrnf) (clear rllgj) (clear rzekm) (on-table rllgj) (clear nsnhh)",
"(arm-empty) (on-table wqrnf) (on-table rzekm) (on nsnhh wqrnf) (clear johgf) (on johgf rllgj) (clear rzekm) (on-table rllgj) (clear nsnhh)",
"(holding rzekm) (on-table wqrnf) (on nsnhh wqrnf) (clear johgf) (on johgf rllgj) (on-table rllgj) (clear nsnhh)",
"(arm-empty) (on-table wqrnf) (on nsnhh wqrnf) (on johgf rllgj) (on rzekm johgf) (clear rzekm) (on-table rllgj) (clear nsnhh)",
"(clear wqrnf) (on-table wqrnf) (on johgf rllgj) (holding nsnhh) (on rzekm johgf) (clear rzekm) (on-table rllgj)",
"(arm-empty) (on-table wqrnf) (clear nsnhh) (clear wqrnf) (on johgf rllgj) (on nsnhh rzekm) (on rzekm johgf) (on-table rllgj)",
"(holding wqrnf) (on johgf rllgj) (on nsnhh rzekm) (on rzekm johgf) (on-table rllgj) (clear nsnhh)",
"(clear wqrnf) (arm-empty) (on johgf rllgj) (on nsnhh rzekm) (on rzekm johgf) (on wqrnf nsnhh) (on-table rllgj)"
] | file_80329 |
GOAL: (clear mfsrv) (arm-empty) (on-table mfsrv) (on-table btbgx) (clear gdbkf) (on zxkev gguoe) (on-table gdbkf) (clear btbgx) (on-table gguoe) (clear zxkev) | GOAL: (clear mfsrv) (arm-empty) (on-table mfsrv) (on-table btbgx) (clear gdbkf) (on zxkev gguoe) (on-table gdbkf) (clear btbgx) (on-table gguoe) (clear zxkev)
STATE: (arm-empty) (on-table zxkev) (on gguoe mfsrv) (on-table gdbkf) (on btbgx gdbkf) (on mfsrv btbgx) (clear gguoe) (clear zxkev) | [
[
"unstack gguoe mfsrv"
],
[
"put-down gguoe"
],
[
"pick-up zxkev"
],
[
"stack zxkev gguoe"
],
[
"unstack mfsrv btbgx"
],
[
"put-down mfsrv"
],
[
"unstack btbgx gdbkf"
],
[
"put-down btbgx"
]
] | [
"(clear mfsrv) (on-table zxkev) (on-table gdbkf) (on btbgx gdbkf) (on mfsrv btbgx) (holding gguoe) (clear zxkev)",
"(arm-empty) (on-table zxkev) (on mfsrv btbgx) (clear zxkev) (clear mfsrv) (on-table gdbkf) (on btbgx gdbkf) (clear gguoe) (on-table gguoe)",
"(clear mfsrv) (holding zxkev) (on-table gdbkf) (on btbgx gdbkf) (on mfsrv btbgx) (clear gguoe) (on-table gguoe)",
"(clear mfsrv) (arm-empty) (on zxkev gguoe) (on-table gdbkf) (on btbgx gdbkf) (on mfsrv btbgx) (on-table gguoe) (clear zxkev)",
"(holding mfsrv) (on zxkev gguoe) (on-table gdbkf) (on btbgx gdbkf) (clear btbgx) (on-table gguoe) (clear zxkev)",
"(arm-empty) (on-table mfsrv) (on zxkev gguoe) (clear zxkev) (clear mfsrv) (on-table gdbkf) (on btbgx gdbkf) (clear btbgx) (on-table gguoe)",
"(holding btbgx) (clear mfsrv) (on-table mfsrv) (clear gdbkf) (on zxkev gguoe) (on-table gdbkf) (on-table gguoe) (clear zxkev)",
"(clear mfsrv) (arm-empty) (on-table mfsrv) (on-table btbgx) (clear gdbkf) (on zxkev gguoe) (on-table gdbkf) (clear btbgx) (on-table gguoe) (clear zxkev)"
] | file_43817 |
GOAL: (on-table lzvda) (on mwhbr lzvda) (on-table jbmpu) (on krajb jbmpu) (holding uhfjs) (clear krajb) (clear mwhbr) | GOAL: (on-table lzvda) (on mwhbr lzvda) (on-table jbmpu) (on krajb jbmpu) (holding uhfjs) (clear krajb) (clear mwhbr)
STATE: (clear lzvda) (arm-empty) (on-table mwhbr) (on-table jbmpu) (on krajb jbmpu) (on uhfjs krajb) (on lzvda uhfjs) (clear mwhbr) | [
[
"unstack lzvda uhfjs"
],
[
"put-down lzvda"
],
[
"pick-up mwhbr"
],
[
"stack mwhbr lzvda"
],
[
"unstack uhfjs krajb"
]
] | [
"(on-table mwhbr) (holding lzvda) (on-table jbmpu) (on krajb jbmpu) (on uhfjs krajb) (clear uhfjs) (clear mwhbr)",
"(arm-empty) (on-table lzvda) (on-table mwhbr) (on uhfjs krajb) (clear mwhbr) (clear lzvda) (on-table jbmpu) (on krajb jbmpu) (clear uhfjs)",
"(clear lzvda) (on-table lzvda) (holding mwhbr) (on-table jbmpu) (on krajb jbmpu) (on uhfjs krajb) (clear uhfjs)",
"(arm-empty) (on-table lzvda) (on mwhbr lzvda) (on-table jbmpu) (on krajb jbmpu) (on uhfjs krajb) (clear uhfjs) (clear mwhbr)",
"(on-table lzvda) (on mwhbr lzvda) (on-table jbmpu) (on krajb jbmpu) (holding uhfjs) (clear krajb) (clear mwhbr)"
] | file_44681 |
GOAL: (holding jqdjz) (on-table dshvo) (on yltvy xtpgh) (clear yltvy) (on xtpgh dshvo) | GOAL: (holding jqdjz) (on-table dshvo) (on yltvy xtpgh) (clear yltvy) (on xtpgh dshvo)
STATE: (clear dshvo) (arm-empty) (on-table xtpgh) (on jqdjz yltvy) (on dshvo jqdjz) (clear xtpgh) (on-table yltvy) | [
[
"unstack dshvo jqdjz"
],
[
"stack dshvo xtpgh"
],
[
"unstack jqdjz yltvy"
],
[
"put-down jqdjz"
],
[
"pick-up yltvy"
],
[
"stack yltvy jqdjz"
],
[
"unstack dshvo xtpgh"
],
[
"put-down dshvo"
],
[
"pick-up xtpgh"
],
[
"stack xtpgh dshvo"
],
[
"unstack yltvy jqdjz"
],
[
"stack yltvy xtpgh"
],
[
"pick-up jqdjz"
]
] | [
"(clear jqdjz) (on-table xtpgh) (on jqdjz yltvy) (holding dshvo) (clear xtpgh) (on-table yltvy)",
"(clear dshvo) (arm-empty) (on-table xtpgh) (clear jqdjz) (on jqdjz yltvy) (on dshvo xtpgh) (on-table yltvy)",
"(holding jqdjz) (clear dshvo) (on-table xtpgh) (on dshvo xtpgh) (clear yltvy) (on-table yltvy)",
"(arm-empty) (clear jqdjz) (on dshvo xtpgh) (clear dshvo) (on-table xtpgh) (on-table jqdjz) (clear yltvy) (on-table yltvy)",
"(clear dshvo) (on-table xtpgh) (clear jqdjz) (on-table jqdjz) (on dshvo xtpgh) (holding yltvy)",
"(on yltvy jqdjz) (clear dshvo) (arm-empty) (on-table xtpgh) (on-table jqdjz) (on dshvo xtpgh) (clear yltvy)",
"(on yltvy jqdjz) (on-table xtpgh) (on-table jqdjz) (holding dshvo) (clear yltvy) (clear xtpgh)",
"(arm-empty) (on-table dshvo) (on yltvy jqdjz) (clear dshvo) (on-table xtpgh) (on-table jqdjz) (clear yltvy) (clear xtpgh)",
"(holding xtpgh) (on yltvy jqdjz) (clear dshvo) (on-table dshvo) (on-table jqdjz) (clear yltvy)",
"(on yltvy jqdjz) (arm-empty) (on-table dshvo) (on-table jqdjz) (clear yltvy) (on xtpgh dshvo) (clear xtpgh)",
"(on-table dshvo) (clear jqdjz) (on xtpgh dshvo) (on-table jqdjz) (holding yltvy) (clear xtpgh)",
"(arm-empty) (on-table dshvo) (clear jqdjz) (on-table jqdjz) (on yltvy xtpgh) (clear yltvy) (on xtpgh dshvo)",
"(holding jqdjz) (on-table dshvo) (on yltvy xtpgh) (clear yltvy) (on xtpgh dshvo)"
] | file_216456 |
GOAL: (on zceln bcuxm) (on bcuxm dvrcv) (arm-empty) (clear ydqnu) (on-table dvrcv) (on ydqnu qhckx) (on qhckx zceln) | GOAL: (on zceln bcuxm) (on bcuxm dvrcv) (arm-empty) (clear ydqnu) (on-table dvrcv) (on ydqnu qhckx) (on qhckx zceln)
STATE: (holding bcuxm) (on zceln ydqnu) (clear qhckx) (on-table qhckx) (on dvrcv zceln) (on-table ydqnu) (clear dvrcv) | [
[
"put-down bcuxm"
],
[
"unstack dvrcv zceln"
],
[
"put-down dvrcv"
],
[
"pick-up bcuxm"
],
[
"stack bcuxm dvrcv"
],
[
"unstack zceln ydqnu"
],
[
"stack zceln bcuxm"
],
[
"pick-up qhckx"
],
[
"stack qhckx zceln"
],
[
"pick-up ydqnu"
],
[
"stack ydqnu qhckx"
]
] | [
"(arm-empty) (on-table qhckx) (on dvrcv zceln) (clear dvrcv) (on zceln ydqnu) (clear qhckx) (on-table bcuxm) (on-table ydqnu) (clear bcuxm)",
"(on zceln ydqnu) (clear qhckx) (on-table qhckx) (on-table bcuxm) (holding dvrcv) (on-table ydqnu) (clear zceln) (clear bcuxm)",
"(on zceln ydqnu) (clear qhckx) (arm-empty) (on-table qhckx) (on-table dvrcv) (on-table bcuxm) (on-table ydqnu) (clear zceln) (clear bcuxm) (clear dvrcv)",
"(holding bcuxm) (on zceln ydqnu) (clear qhckx) (on-table qhckx) (on-table dvrcv) (on-table ydqnu) (clear zceln) (clear dvrcv)",
"(on zceln ydqnu) (clear qhckx) (on bcuxm dvrcv) (arm-empty) (on-table qhckx) (on-table dvrcv) (on-table ydqnu) (clear zceln) (clear bcuxm)",
"(clear qhckx) (on bcuxm dvrcv) (on-table qhckx) (on-table dvrcv) (clear ydqnu) (on-table ydqnu) (holding zceln) (clear bcuxm)",
"(on bcuxm dvrcv) (clear qhckx) (arm-empty) (on-table qhckx) (on-table dvrcv) (clear ydqnu) (on-table ydqnu) (on zceln bcuxm) (clear zceln)",
"(on bcuxm dvrcv) (on-table dvrcv) (clear ydqnu) (on-table ydqnu) (holding qhckx) (on zceln bcuxm) (clear zceln)",
"(on bcuxm dvrcv) (clear qhckx) (arm-empty) (on-table dvrcv) (clear ydqnu) (on-table ydqnu) (on zceln bcuxm) (on qhckx zceln)",
"(on bcuxm dvrcv) (clear qhckx) (on-table dvrcv) (holding ydqnu) (on zceln bcuxm) (on qhckx zceln)",
"(on zceln bcuxm) (on bcuxm dvrcv) (arm-empty) (clear ydqnu) (on-table dvrcv) (on ydqnu qhckx) (on qhckx zceln)"
] | file_4624 |
GOAL: (on yvnyq hdlwf) (on ydjzz nienf) (on nienf yvnyq) (on-table hdlwf) (holding izgbr) (clear ydjzz) | GOAL: (on yvnyq hdlwf) (on ydjzz nienf) (on nienf yvnyq) (on-table hdlwf) (holding izgbr) (clear ydjzz)
STATE: (on yvnyq hdlwf) (clear izgbr) (on ydjzz yvnyq) (arm-empty) (on nienf ydjzz) (on-table hdlwf) (on izgbr nienf) | [
[
"unstack izgbr nienf"
],
[
"put-down izgbr"
],
[
"unstack nienf ydjzz"
],
[
"put-down nienf"
],
[
"unstack ydjzz yvnyq"
],
[
"stack ydjzz izgbr"
],
[
"pick-up nienf"
],
[
"stack nienf yvnyq"
],
[
"unstack ydjzz izgbr"
],
[
"stack ydjzz nienf"
],
[
"pick-up izgbr"
]
] | [
"(on ydjzz yvnyq) (clear nienf) (on yvnyq hdlwf) (on nienf ydjzz) (on-table hdlwf) (holding izgbr)",
"(on nienf ydjzz) (on yvnyq hdlwf) (on-table hdlwf) (on ydjzz yvnyq) (clear izgbr) (on-table izgbr) (arm-empty) (clear nienf)",
"(on yvnyq hdlwf) (clear izgbr) (on ydjzz yvnyq) (on-table izgbr) (holding nienf) (on-table hdlwf) (clear ydjzz)",
"(on ydjzz yvnyq) (arm-empty) (on-table izgbr) (on-table nienf) (clear nienf) (on yvnyq hdlwf) (clear izgbr) (on-table hdlwf) (clear ydjzz)",
"(holding ydjzz) (on yvnyq hdlwf) (clear izgbr) (on-table izgbr) (on-table nienf) (on-table hdlwf) (clear yvnyq) (clear nienf)",
"(on yvnyq hdlwf) (arm-empty) (on-table izgbr) (on-table nienf) (on-table hdlwf) (clear yvnyq) (on ydjzz izgbr) (clear ydjzz) (clear nienf)",
"(on yvnyq hdlwf) (on-table izgbr) (holding nienf) (on-table hdlwf) (clear yvnyq) (on ydjzz izgbr) (clear ydjzz)",
"(on yvnyq hdlwf) (arm-empty) (on-table izgbr) (on nienf yvnyq) (on-table hdlwf) (on ydjzz izgbr) (clear ydjzz) (clear nienf)",
"(holding ydjzz) (on yvnyq hdlwf) (clear izgbr) (on-table izgbr) (on nienf yvnyq) (on-table hdlwf) (clear nienf)",
"(on yvnyq hdlwf) (clear izgbr) (on ydjzz nienf) (arm-empty) (on-table izgbr) (on nienf yvnyq) (on-table hdlwf) (clear ydjzz)",
"(on yvnyq hdlwf) (on ydjzz nienf) (on nienf yvnyq) (on-table hdlwf) (holding izgbr) (clear ydjzz)"
] | file_99786 |
GOAL: (clear ahihm) (on-table hvnlb) (on-table dzcxy) (clear wmgbe) (on-table wmgbe) (on ahihm dzcxy) (holding mrfyn) (clear hvnlb) | GOAL: (clear ahihm) (on-table hvnlb) (on-table dzcxy) (clear wmgbe) (on-table wmgbe) (on ahihm dzcxy) (holding mrfyn) (clear hvnlb)
STATE: (clear ahihm) (arm-empty) (on-table hvnlb) (on-table dzcxy) (on-table wmgbe) (on ahihm wmgbe) (clear mrfyn) (clear dzcxy) (on-table mrfyn) (clear hvnlb) | [
[
"unstack ahihm wmgbe"
],
[
"stack ahihm dzcxy"
],
[
"pick-up mrfyn"
]
] | [
"(on-table hvnlb) (on-table dzcxy) (clear wmgbe) (on-table wmgbe) (holding ahihm) (clear mrfyn) (clear dzcxy) (on-table mrfyn) (clear hvnlb)",
"(clear ahihm) (arm-empty) (on-table hvnlb) (on-table dzcxy) (clear wmgbe) (on-table wmgbe) (on ahihm dzcxy) (clear mrfyn) (on-table mrfyn) (clear hvnlb)",
"(clear ahihm) (on-table hvnlb) (on-table dzcxy) (clear wmgbe) (on-table wmgbe) (on ahihm dzcxy) (holding mrfyn) (clear hvnlb)"
] | file_113536 |
GOAL: (on-table mngmk) (clear ukvhj) (on-table ukvhj) (on cyrrz mngmk) (on opxgu cyrrz) (clear opxgu) (holding blaoy) | GOAL: (on-table mngmk) (clear ukvhj) (on-table ukvhj) (on cyrrz mngmk) (on opxgu cyrrz) (clear opxgu) (holding blaoy)
STATE: (on opxgu blaoy) (on-table mngmk) (holding ukvhj) (on blaoy cyrrz) (on cyrrz mngmk) (clear opxgu) | [
[
"put-down ukvhj"
],
[
"unstack opxgu blaoy"
],
[
"stack opxgu ukvhj"
],
[
"unstack blaoy cyrrz"
],
[
"put-down blaoy"
],
[
"unstack opxgu ukvhj"
],
[
"stack opxgu cyrrz"
],
[
"pick-up blaoy"
]
] | [
"(on opxgu blaoy) (arm-empty) (on-table mngmk) (clear ukvhj) (on cyrrz mngmk) (on blaoy cyrrz) (on-table ukvhj) (clear opxgu)",
"(holding opxgu) (on-table mngmk) (on blaoy cyrrz) (clear ukvhj) (on-table ukvhj) (on cyrrz mngmk) (clear blaoy)",
"(arm-empty) (on-table mngmk) (on blaoy cyrrz) (on-table ukvhj) (on opxgu ukvhj) (on cyrrz mngmk) (clear blaoy) (clear opxgu)",
"(clear cyrrz) (on-table mngmk) (on-table ukvhj) (on opxgu ukvhj) (on cyrrz mngmk) (holding blaoy) (clear opxgu)",
"(arm-empty) (on-table mngmk) (on cyrrz mngmk) (clear cyrrz) (on-table ukvhj) (on opxgu ukvhj) (clear blaoy) (clear opxgu) (on-table blaoy)",
"(holding opxgu) (clear cyrrz) (on-table mngmk) (clear ukvhj) (on-table ukvhj) (on cyrrz mngmk) (clear blaoy) (on-table blaoy)",
"(arm-empty) (on-table mngmk) (clear ukvhj) (on-table ukvhj) (on cyrrz mngmk) (clear blaoy) (on opxgu cyrrz) (clear opxgu) (on-table blaoy)",
"(on-table mngmk) (clear ukvhj) (on-table ukvhj) (on cyrrz mngmk) (on opxgu cyrrz) (clear opxgu) (holding blaoy)"
] | file_58706 |
GOAL: (on lnxpn csduz) (on vyusk lnxpn) (on ccvwd vyusk) (on-table wvtil) (on-table csduz) (arm-empty) (clear ccvwd) (clear wvtil) | GOAL: (on lnxpn csduz) (on vyusk lnxpn) (on ccvwd vyusk) (on-table wvtil) (on-table csduz) (arm-empty) (clear ccvwd) (clear wvtil)
STATE: (on lnxpn csduz) (arm-empty) (on-table csduz) (on ccvwd lnxpn) (on wvtil ccvwd) (on vyusk wvtil) (clear vyusk) | [
[
"unstack vyusk wvtil"
],
[
"put-down vyusk"
],
[
"unstack wvtil ccvwd"
],
[
"put-down wvtil"
],
[
"unstack ccvwd lnxpn"
],
[
"stack ccvwd wvtil"
],
[
"pick-up vyusk"
],
[
"stack vyusk lnxpn"
],
[
"unstack ccvwd wvtil"
],
[
"stack ccvwd vyusk"
]
] | [
"(on lnxpn csduz) (on-table csduz) (on wvtil ccvwd) (holding vyusk) (clear wvtil) (on ccvwd lnxpn)",
"(on lnxpn csduz) (arm-empty) (on-table csduz) (on wvtil ccvwd) (clear wvtil) (on-table vyusk) (on ccvwd lnxpn) (clear vyusk)",
"(on lnxpn csduz) (on-table csduz) (on-table vyusk) (clear ccvwd) (on ccvwd lnxpn) (holding wvtil) (clear vyusk)",
"(on lnxpn csduz) (arm-empty) (on-table wvtil) (on-table csduz) (clear ccvwd) (clear wvtil) (on-table vyusk) (on ccvwd lnxpn) (clear vyusk)",
"(on lnxpn csduz) (clear wvtil) (on-table wvtil) (on-table csduz) (on-table vyusk) (holding ccvwd) (clear lnxpn) (clear vyusk)",
"(on lnxpn csduz) (arm-empty) (on-table wvtil) (on-table csduz) (on-table vyusk) (clear ccvwd) (on ccvwd wvtil) (clear lnxpn) (clear vyusk)",
"(holding vyusk) (on lnxpn csduz) (on-table wvtil) (on-table csduz) (clear ccvwd) (on ccvwd wvtil) (clear lnxpn)",
"(on lnxpn csduz) (on vyusk lnxpn) (arm-empty) (on-table wvtil) (on-table csduz) (clear ccvwd) (on ccvwd wvtil) (clear vyusk)",
"(on lnxpn csduz) (on vyusk lnxpn) (on-table wvtil) (on-table csduz) (clear wvtil) (holding ccvwd) (clear vyusk)",
"(on lnxpn csduz) (on vyusk lnxpn) (on ccvwd vyusk) (on-table wvtil) (on-table csduz) (arm-empty) (clear ccvwd) (clear wvtil)"
] | file_166682 |
GOAL: (on rnksm vhinm) (on vhinm nauad) (arm-empty) (on-table nauad) (on cvbxc kjbao) (on kjbao rnksm) (clear cvbxc) | GOAL: (on rnksm vhinm) (on vhinm nauad) (arm-empty) (on-table nauad) (on cvbxc kjbao) (on kjbao rnksm) (clear cvbxc)
STATE: (on-table cvbxc) (holding vhinm) (on-table nauad) (on rnksm kjbao) (on kjbao cvbxc) (clear rnksm) (clear nauad) | [
[
"stack vhinm nauad"
],
[
"unstack rnksm kjbao"
],
[
"stack rnksm vhinm"
],
[
"unstack kjbao cvbxc"
],
[
"stack kjbao rnksm"
],
[
"pick-up cvbxc"
],
[
"stack cvbxc kjbao"
]
] | [
"(on vhinm nauad) (arm-empty) (on-table cvbxc) (on-table nauad) (on rnksm kjbao) (clear vhinm) (on kjbao cvbxc) (clear rnksm)",
"(clear kjbao) (on vhinm nauad) (on-table cvbxc) (on-table nauad) (clear vhinm) (on kjbao cvbxc) (holding rnksm)",
"(on rnksm vhinm) (clear kjbao) (on vhinm nauad) (arm-empty) (on-table cvbxc) (on-table nauad) (on kjbao cvbxc) (clear rnksm)",
"(on rnksm vhinm) (on vhinm nauad) (on-table cvbxc) (on-table nauad) (holding kjbao) (clear rnksm) (clear cvbxc)",
"(on rnksm vhinm) (clear kjbao) (on vhinm nauad) (arm-empty) (on-table cvbxc) (on-table nauad) (on kjbao rnksm) (clear cvbxc)",
"(on rnksm vhinm) (clear kjbao) (on vhinm nauad) (on-table nauad) (holding cvbxc) (on kjbao rnksm)",
"(on rnksm vhinm) (on vhinm nauad) (arm-empty) (on-table nauad) (on cvbxc kjbao) (on kjbao rnksm) (clear cvbxc)"
] | file_107140 |
GOAL: (arm-empty) (on-table cdqyx) (on-table efpjj) (clear efpjj) (clear cdqyx) (on qnkwp agquz) (on aeryk qnkwp) (clear aeryk) (on-table agquz) | GOAL: (arm-empty) (on-table cdqyx) (on-table efpjj) (clear efpjj) (clear cdqyx) (on qnkwp agquz) (on aeryk qnkwp) (clear aeryk) (on-table agquz)
STATE: (on agquz efpjj) (on aeryk agquz) (arm-empty) (on-table cdqyx) (on efpjj cdqyx) (clear qnkwp) (on-table qnkwp) (clear aeryk) | [
[
"unstack aeryk agquz"
],
[
"put-down aeryk"
],
[
"unstack agquz efpjj"
],
[
"put-down agquz"
],
[
"pick-up qnkwp"
],
[
"stack qnkwp agquz"
],
[
"pick-up aeryk"
],
[
"stack aeryk qnkwp"
],
[
"unstack efpjj cdqyx"
],
[
"put-down efpjj"
]
] | [
"(holding aeryk) (on agquz efpjj) (on-table cdqyx) (on efpjj cdqyx) (clear qnkwp) (on-table qnkwp) (clear agquz)",
"(on agquz efpjj) (arm-empty) (on-table cdqyx) (on efpjj cdqyx) (clear qnkwp) (on-table aeryk) (on-table qnkwp) (clear agquz) (clear aeryk)",
"(on-table cdqyx) (on-table aeryk) (on efpjj cdqyx) (clear qnkwp) (on-table qnkwp) (holding agquz) (clear aeryk) (clear efpjj)",
"(arm-empty) (on-table cdqyx) (on-table aeryk) (on efpjj cdqyx) (clear qnkwp) (on-table qnkwp) (clear agquz) (clear aeryk) (on-table agquz) (clear efpjj)",
"(on-table cdqyx) (on-table aeryk) (holding qnkwp) (on efpjj cdqyx) (clear agquz) (clear aeryk) (on-table agquz) (clear efpjj)",
"(arm-empty) (on-table cdqyx) (on-table aeryk) (on efpjj cdqyx) (clear qnkwp) (on qnkwp agquz) (clear aeryk) (on-table agquz) (clear efpjj)",
"(holding aeryk) (on-table cdqyx) (on efpjj cdqyx) (clear qnkwp) (on qnkwp agquz) (on-table agquz) (clear efpjj)",
"(arm-empty) (on-table cdqyx) (on efpjj cdqyx) (on qnkwp agquz) (on aeryk qnkwp) (clear aeryk) (on-table agquz) (clear efpjj)",
"(clear cdqyx) (on-table cdqyx) (on qnkwp agquz) (holding efpjj) (on aeryk qnkwp) (clear aeryk) (on-table agquz)",
"(arm-empty) (on-table cdqyx) (on-table efpjj) (clear efpjj) (clear cdqyx) (on qnkwp agquz) (on aeryk qnkwp) (clear aeryk) (on-table agquz)"
] | file_64033 |
GOAL: (arm-empty) (on fyirz pbvys) (on lkgfm nlxqt) (on-table fzfrv) (on nlxqt fzfrv) (on pbvys lkgfm) (clear fyirz) | GOAL: (arm-empty) (on fyirz pbvys) (on lkgfm nlxqt) (on-table fzfrv) (on nlxqt fzfrv) (on pbvys lkgfm) (clear fyirz)
STATE: (clear pbvys) (arm-empty) (on-table pbvys) (on-table lkgfm) (on-table fzfrv) (on nlxqt fzfrv) (clear fyirz) (clear nlxqt) (on-table fyirz) (clear lkgfm) | [
[
"pick-up lkgfm"
],
[
"stack lkgfm nlxqt"
],
[
"pick-up pbvys"
],
[
"stack pbvys lkgfm"
],
[
"pick-up fyirz"
],
[
"stack fyirz pbvys"
]
] | [
"(clear pbvys) (on-table pbvys) (holding lkgfm) (on-table fzfrv) (on nlxqt fzfrv) (clear fyirz) (clear nlxqt) (on-table fyirz)",
"(clear pbvys) (arm-empty) (on-table pbvys) (on lkgfm nlxqt) (on-table fzfrv) (on nlxqt fzfrv) (clear fyirz) (on-table fyirz) (clear lkgfm)",
"(holding pbvys) (on lkgfm nlxqt) (on-table fzfrv) (on nlxqt fzfrv) (clear fyirz) (on-table fyirz) (clear lkgfm)",
"(clear pbvys) (arm-empty) (on lkgfm nlxqt) (on-table fzfrv) (on nlxqt fzfrv) (on pbvys lkgfm) (clear fyirz) (on-table fyirz)",
"(clear pbvys) (on lkgfm nlxqt) (on-table fzfrv) (on nlxqt fzfrv) (on pbvys lkgfm) (holding fyirz)",
"(arm-empty) (on fyirz pbvys) (on lkgfm nlxqt) (on-table fzfrv) (on nlxqt fzfrv) (on pbvys lkgfm) (clear fyirz)"
] | file_132316 |
GOAL: (on punwh gkvrf) (on gkvrf mcgxu) (arm-empty) (clear zivgo) (on-table mcgxu) (on zivgo ljcly) (on ljcly punwh) | GOAL: (on punwh gkvrf) (on gkvrf mcgxu) (arm-empty) (clear zivgo) (on-table mcgxu) (on zivgo ljcly) (on ljcly punwh)
STATE: (on gkvrf mcgxu) (on punwh zivgo) (on zivgo gkvrf) (arm-empty) (on-table ljcly) (on-table mcgxu) (clear ljcly) (clear punwh) | [
[
"unstack punwh zivgo"
],
[
"stack punwh ljcly"
],
[
"unstack zivgo gkvrf"
],
[
"put-down zivgo"
],
[
"unstack punwh ljcly"
],
[
"stack punwh gkvrf"
],
[
"pick-up ljcly"
],
[
"stack ljcly punwh"
],
[
"pick-up zivgo"
],
[
"stack zivgo ljcly"
]
] | [
"(on gkvrf mcgxu) (on zivgo gkvrf) (on-table ljcly) (on-table mcgxu) (clear ljcly) (clear zivgo) (holding punwh)",
"(on gkvrf mcgxu) (on zivgo gkvrf) (arm-empty) (on-table ljcly) (on-table mcgxu) (on punwh ljcly) (clear zivgo) (clear punwh)",
"(on gkvrf mcgxu) (on-table ljcly) (on-table mcgxu) (holding zivgo) (on punwh ljcly) (clear punwh) (clear gkvrf)",
"(on gkvrf mcgxu) (arm-empty) (on-table ljcly) (on-table mcgxu) (clear zivgo) (on punwh ljcly) (on-table zivgo) (clear punwh) (clear gkvrf)",
"(on gkvrf mcgxu) (clear ljcly) (on-table ljcly) (on-table mcgxu) (clear zivgo) (on-table zivgo) (holding punwh) (clear gkvrf)",
"(on gkvrf mcgxu) (clear ljcly) (arm-empty) (on-table ljcly) (on-table mcgxu) (clear zivgo) (on-table zivgo) (on punwh gkvrf) (clear punwh)",
"(on gkvrf mcgxu) (on-table mcgxu) (clear zivgo) (on-table zivgo) (holding ljcly) (on punwh gkvrf) (clear punwh)",
"(on gkvrf mcgxu) (clear ljcly) (arm-empty) (on-table mcgxu) (clear zivgo) (on-table zivgo) (on punwh gkvrf) (on ljcly punwh)",
"(on gkvrf mcgxu) (clear ljcly) (on-table mcgxu) (holding zivgo) (on punwh gkvrf) (on ljcly punwh)",
"(on punwh gkvrf) (on gkvrf mcgxu) (arm-empty) (clear zivgo) (on-table mcgxu) (on zivgo ljcly) (on ljcly punwh)"
] | file_117683 |
GOAL: (on rbiof faauk) (on faauk qzlrq) (holding bqhlz) (on-table nrigh) (on qzlrq nrigh) (clear rbiof) | GOAL: (on rbiof faauk) (on faauk qzlrq) (holding bqhlz) (on-table nrigh) (on qzlrq nrigh) (clear rbiof)
STATE: (on rbiof bqhlz) (clear qzlrq) (on nrigh rbiof) (arm-empty) (on-table qzlrq) (on-table bqhlz) (clear nrigh) (clear faauk) (on-table faauk) | [
[
"pick-up faauk"
],
[
"stack faauk qzlrq"
],
[
"unstack nrigh rbiof"
],
[
"put-down nrigh"
],
[
"unstack faauk qzlrq"
],
[
"stack faauk rbiof"
],
[
"pick-up qzlrq"
],
[
"stack qzlrq nrigh"
],
[
"unstack faauk rbiof"
],
[
"stack faauk qzlrq"
],
[
"unstack rbiof bqhlz"
],
[
"stack rbiof faauk"
],
[
"pick-up bqhlz"
]
] | [
"(on rbiof bqhlz) (clear qzlrq) (on nrigh rbiof) (on-table qzlrq) (on-table bqhlz) (clear nrigh) (holding faauk)",
"(on rbiof bqhlz) (on nrigh rbiof) (arm-empty) (on-table qzlrq) (on-table bqhlz) (on faauk qzlrq) (clear nrigh) (clear faauk)",
"(on rbiof bqhlz) (on-table qzlrq) (on-table bqhlz) (holding nrigh) (on faauk qzlrq) (clear faauk) (clear rbiof)",
"(on rbiof bqhlz) (arm-empty) (on-table qzlrq) (on-table bqhlz) (clear nrigh) (on faauk qzlrq) (on-table nrigh) (clear faauk) (clear rbiof)",
"(on rbiof bqhlz) (clear qzlrq) (on-table qzlrq) (on-table bqhlz) (clear nrigh) (on-table nrigh) (holding faauk) (clear rbiof)",
"(on rbiof bqhlz) (clear qzlrq) (arm-empty) (on-table qzlrq) (on-table bqhlz) (clear nrigh) (on-table nrigh) (on faauk rbiof) (clear faauk)",
"(on rbiof bqhlz) (on-table bqhlz) (clear nrigh) (on-table nrigh) (holding qzlrq) (on faauk rbiof) (clear faauk)",
"(on rbiof bqhlz) (arm-empty) (on-table bqhlz) (on faauk rbiof) (on qzlrq nrigh) (clear qzlrq) (on-table nrigh) (clear faauk)",
"(on rbiof bqhlz) (clear qzlrq) (on-table bqhlz) (on qzlrq nrigh) (on-table nrigh) (holding faauk) (clear rbiof)",
"(on rbiof bqhlz) (arm-empty) (on-table bqhlz) (on faauk qzlrq) (on-table nrigh) (on qzlrq nrigh) (clear faauk) (clear rbiof)",
"(holding rbiof) (on-table bqhlz) (on faauk qzlrq) (on-table nrigh) (on qzlrq nrigh) (clear faauk) (clear bqhlz)",
"(on rbiof faauk) (arm-empty) (on-table bqhlz) (on faauk qzlrq) (on-table nrigh) (on qzlrq nrigh) (clear rbiof) (clear bqhlz)",
"(on rbiof faauk) (on faauk qzlrq) (holding bqhlz) (on-table nrigh) (on qzlrq nrigh) (clear rbiof)"
] | file_151908 |
GOAL: (clear lxypn) (on-table lxypn) (on-table xvuwe) (on-table zvhwf) (holding pxgfy) (on cznci zvhwf) (clear cznci) (clear xvuwe) | GOAL: (clear lxypn) (on-table lxypn) (on-table xvuwe) (on-table zvhwf) (holding pxgfy) (on cznci zvhwf) (clear cznci) (clear xvuwe)
STATE: (holding zvhwf) (clear lxypn) (on pxgfy xvuwe) (on xvuwe cznci) (on lxypn pxgfy) (on-table cznci) | [
[
"put-down zvhwf"
],
[
"unstack lxypn pxgfy"
],
[
"put-down lxypn"
],
[
"unstack pxgfy xvuwe"
],
[
"stack pxgfy lxypn"
],
[
"pick-up zvhwf"
],
[
"stack zvhwf pxgfy"
],
[
"unstack xvuwe cznci"
],
[
"put-down xvuwe"
],
[
"unstack zvhwf pxgfy"
],
[
"put-down zvhwf"
],
[
"pick-up cznci"
],
[
"stack cznci zvhwf"
],
[
"unstack pxgfy lxypn"
]
] | [
"(arm-empty) (on pxgfy xvuwe) (on xvuwe cznci) (on lxypn pxgfy) (clear lxypn) (on-table zvhwf) (clear zvhwf) (on-table cznci)",
"(on pxgfy xvuwe) (on-table zvhwf) (clear pxgfy) (on xvuwe cznci) (holding lxypn) (clear zvhwf) (on-table cznci)",
"(arm-empty) (on-table lxypn) (on pxgfy xvuwe) (clear pxgfy) (on xvuwe cznci) (clear lxypn) (on-table zvhwf) (clear zvhwf) (on-table cznci)",
"(clear lxypn) (on-table lxypn) (on-table zvhwf) (holding pxgfy) (on xvuwe cznci) (clear zvhwf) (on-table cznci) (clear xvuwe)",
"(arm-empty) (on-table lxypn) (on-table zvhwf) (clear pxgfy) (on xvuwe cznci) (on pxgfy lxypn) (clear zvhwf) (on-table cznci) (clear xvuwe)",
"(holding zvhwf) (on-table lxypn) (clear pxgfy) (on xvuwe cznci) (on pxgfy lxypn) (on-table cznci) (clear xvuwe)",
"(arm-empty) (on-table lxypn) (on xvuwe cznci) (on zvhwf pxgfy) (on pxgfy lxypn) (clear zvhwf) (on-table cznci) (clear xvuwe)",
"(on-table lxypn) (holding xvuwe) (on zvhwf pxgfy) (on pxgfy lxypn) (clear cznci) (clear zvhwf) (on-table cznci)",
"(arm-empty) (on-table lxypn) (on-table xvuwe) (clear xvuwe) (on zvhwf pxgfy) (on pxgfy lxypn) (clear cznci) (clear zvhwf) (on-table cznci)",
"(holding zvhwf) (on-table lxypn) (on-table xvuwe) (clear pxgfy) (on pxgfy lxypn) (clear cznci) (on-table cznci) (clear xvuwe)",
"(arm-empty) (on-table lxypn) (on-table xvuwe) (on-table zvhwf) (clear pxgfy) (on pxgfy lxypn) (clear cznci) (clear zvhwf) (on-table cznci) (clear xvuwe)",
"(on-table lxypn) (on-table xvuwe) (on-table zvhwf) (clear pxgfy) (on pxgfy lxypn) (holding cznci) (clear zvhwf) (clear xvuwe)",
"(arm-empty) (on-table lxypn) (on-table xvuwe) (on-table zvhwf) (clear pxgfy) (on cznci zvhwf) (on pxgfy lxypn) (clear cznci) (clear xvuwe)",
"(clear lxypn) (on-table lxypn) (on-table xvuwe) (on-table zvhwf) (holding pxgfy) (on cznci zvhwf) (clear cznci) (clear xvuwe)"
] | file_226141 |
GOAL: (on jyadg bgjbu) (on olzzo jyadg) (arm-empty) (on bgjbu xwmdl) (clear olzzo) (on xwmdl igjuk) (on-table igjuk) | GOAL: (on jyadg bgjbu) (on olzzo jyadg) (arm-empty) (on bgjbu xwmdl) (clear olzzo) (on xwmdl igjuk) (on-table igjuk)
STATE: (clear xwmdl) (arm-empty) (on-table xwmdl) (on-table bgjbu) (on olzzo bgjbu) (on jyadg olzzo) (clear igjuk) (clear jyadg) (on-table igjuk) | [
[
"pick-up xwmdl"
],
[
"stack xwmdl igjuk"
],
[
"unstack jyadg olzzo"
],
[
"put-down jyadg"
],
[
"unstack olzzo bgjbu"
],
[
"put-down olzzo"
],
[
"pick-up bgjbu"
],
[
"stack bgjbu xwmdl"
],
[
"pick-up jyadg"
],
[
"stack jyadg bgjbu"
],
[
"pick-up olzzo"
],
[
"stack olzzo jyadg"
]
] | [
"(on-table bgjbu) (on olzzo bgjbu) (holding xwmdl) (on jyadg olzzo) (clear igjuk) (clear jyadg) (on-table igjuk)",
"(clear xwmdl) (arm-empty) (on-table bgjbu) (on olzzo bgjbu) (on jyadg olzzo) (on xwmdl igjuk) (clear jyadg) (on-table igjuk)",
"(holding jyadg) (clear xwmdl) (on-table bgjbu) (on olzzo bgjbu) (clear olzzo) (on xwmdl igjuk) (on-table igjuk)",
"(arm-empty) (on-table bgjbu) (on olzzo bgjbu) (clear olzzo) (clear xwmdl) (on-table jyadg) (on xwmdl igjuk) (clear jyadg) (on-table igjuk)",
"(clear xwmdl) (on-table bgjbu) (holding olzzo) (on-table jyadg) (on xwmdl igjuk) (clear jyadg) (on-table igjuk) (clear bgjbu)",
"(clear xwmdl) (arm-empty) (on-table bgjbu) (on-table jyadg) (clear olzzo) (on-table olzzo) (on xwmdl igjuk) (clear jyadg) (on-table igjuk) (clear bgjbu)",
"(clear xwmdl) (on-table jyadg) (clear olzzo) (holding bgjbu) (on-table olzzo) (on xwmdl igjuk) (clear jyadg) (on-table igjuk)",
"(arm-empty) (on-table jyadg) (on bgjbu xwmdl) (clear olzzo) (on-table olzzo) (on xwmdl igjuk) (clear jyadg) (on-table igjuk) (clear bgjbu)",
"(holding jyadg) (on bgjbu xwmdl) (clear olzzo) (on-table olzzo) (on xwmdl igjuk) (on-table igjuk) (clear bgjbu)",
"(on jyadg bgjbu) (arm-empty) (on bgjbu xwmdl) (clear olzzo) (on-table olzzo) (on xwmdl igjuk) (clear jyadg) (on-table igjuk)",
"(on jyadg bgjbu) (holding olzzo) (on bgjbu xwmdl) (on xwmdl igjuk) (clear jyadg) (on-table igjuk)",
"(on jyadg bgjbu) (on olzzo jyadg) (arm-empty) (on bgjbu xwmdl) (clear olzzo) (on xwmdl igjuk) (on-table igjuk)"
] | file_228276 |
GOAL: (on eqinw kipwv) (on muusn eqinw) (on-table bbjcu) (arm-empty) (on-table kipwv) (on elbkl bbjcu) (clear elbkl) (clear muusn) | GOAL: (on eqinw kipwv) (on muusn eqinw) (on-table bbjcu) (arm-empty) (on-table kipwv) (on elbkl bbjcu) (clear elbkl) (clear muusn)
STATE: (on-table bbjcu) (on-table kipwv) (on elbkl bbjcu) (clear eqinw) (on eqinw elbkl) (holding muusn) (clear kipwv) | [
[
"put-down muusn"
],
[
"unstack eqinw elbkl"
],
[
"stack eqinw kipwv"
],
[
"pick-up muusn"
],
[
"stack muusn eqinw"
]
] | [
"(arm-empty) (on-table bbjcu) (on-table muusn) (clear eqinw) (clear muusn) (on-table kipwv) (on elbkl bbjcu) (on eqinw elbkl) (clear kipwv)",
"(on-table bbjcu) (on-table muusn) (on-table kipwv) (holding eqinw) (on elbkl bbjcu) (clear elbkl) (clear kipwv) (clear muusn)",
"(on eqinw kipwv) (arm-empty) (on-table bbjcu) (on-table muusn) (on-table kipwv) (on elbkl bbjcu) (clear eqinw) (clear elbkl) (clear muusn)",
"(on eqinw kipwv) (on-table bbjcu) (on-table kipwv) (on elbkl bbjcu) (clear eqinw) (holding muusn) (clear elbkl)",
"(on eqinw kipwv) (on muusn eqinw) (on-table bbjcu) (arm-empty) (on-table kipwv) (on elbkl bbjcu) (clear elbkl) (clear muusn)"
] | file_119424 |
GOAL: (on ohrmp mnody) (clear byhai) (arm-empty) (on-table mnody) (clear hszqy) (on-table hszqy) (on byhai etusi) (clear ohrmp) (on-table etusi) | GOAL: (on ohrmp mnody) (clear byhai) (arm-empty) (on-table mnody) (clear hszqy) (on-table hszqy) (on byhai etusi) (clear ohrmp) (on-table etusi)
STATE: (on ohrmp mnody) (on-table mnody) (clear hszqy) (on-table hszqy) (holding byhai) (clear etusi) (clear ohrmp) (on-table etusi) | [
[
"stack byhai etusi"
]
] | [
"(on ohrmp mnody) (clear byhai) (arm-empty) (on-table mnody) (clear hszqy) (on-table hszqy) (on byhai etusi) (clear ohrmp) (on-table etusi)"
] | file_189326 |
GOAL: (on-table rytix) (on-table njktl) (holding jezdm) (clear xptxt) (on uhheb rytix) (clear uhheb) (on-table xptxt) (clear njktl) | GOAL: (on-table rytix) (on-table njktl) (holding jezdm) (clear xptxt) (on uhheb rytix) (clear uhheb) (on-table xptxt) (clear njktl)
STATE: (holding uhheb) (clear rytix) (on-table rytix) (on-table njktl) (on jezdm njktl) (clear jezdm) (clear xptxt) (on-table xptxt) | [
[
"stack uhheb rytix"
],
[
"unstack jezdm njktl"
]
] | [
"(arm-empty) (on-table rytix) (on-table njktl) (on jezdm njktl) (clear jezdm) (clear xptxt) (on uhheb rytix) (clear uhheb) (on-table xptxt)",
"(on-table rytix) (on-table njktl) (holding jezdm) (clear xptxt) (on uhheb rytix) (clear uhheb) (on-table xptxt) (clear njktl)"
] | file_87377 |
GOAL: (on-table cnsub) (holding edaoj) (on vdcjg yzlpe) (on tgmjg cnsub) (clear vdcjg) (on yzlpe tgmjg) | GOAL: (on-table cnsub) (holding edaoj) (on vdcjg yzlpe) (on tgmjg cnsub) (clear vdcjg) (on yzlpe tgmjg)
STATE: (on yzlpe cnsub) (arm-empty) (on-table cnsub) (on vdcjg tgmjg) (clear edaoj) (on-table edaoj) (on tgmjg yzlpe) (clear vdcjg) | [
[
"unstack vdcjg tgmjg"
],
[
"stack vdcjg edaoj"
],
[
"unstack tgmjg yzlpe"
],
[
"put-down tgmjg"
],
[
"unstack yzlpe cnsub"
],
[
"stack yzlpe vdcjg"
],
[
"pick-up tgmjg"
],
[
"stack tgmjg cnsub"
],
[
"unstack yzlpe vdcjg"
],
[
"stack yzlpe tgmjg"
],
[
"unstack vdcjg edaoj"
],
[
"stack vdcjg yzlpe"
],
[
"pick-up edaoj"
]
] | [
"(on yzlpe cnsub) (clear tgmjg) (on-table cnsub) (clear edaoj) (on-table edaoj) (on tgmjg yzlpe) (holding vdcjg)",
"(on yzlpe cnsub) (clear tgmjg) (on vdcjg edaoj) (arm-empty) (on-table cnsub) (on-table edaoj) (on tgmjg yzlpe) (clear vdcjg)",
"(on yzlpe cnsub) (on vdcjg edaoj) (on-table cnsub) (on-table edaoj) (holding tgmjg) (clear vdcjg) (clear yzlpe)",
"(on yzlpe cnsub) (arm-empty) (on-table tgmjg) (on-table cnsub) (on vdcjg edaoj) (clear tgmjg) (on-table edaoj) (clear vdcjg) (clear yzlpe)",
"(holding yzlpe) (on vdcjg edaoj) (clear tgmjg) (on-table tgmjg) (on-table cnsub) (on-table edaoj) (clear vdcjg) (clear cnsub)",
"(on vdcjg edaoj) (clear tgmjg) (on yzlpe vdcjg) (arm-empty) (on-table tgmjg) (on-table cnsub) (on-table edaoj) (clear yzlpe) (clear cnsub)",
"(on vdcjg edaoj) (on yzlpe vdcjg) (on-table cnsub) (on-table edaoj) (holding tgmjg) (clear yzlpe) (clear cnsub)",
"(on vdcjg edaoj) (clear tgmjg) (on yzlpe vdcjg) (arm-empty) (on-table cnsub) (on-table edaoj) (on tgmjg cnsub) (clear yzlpe)",
"(holding yzlpe) (on vdcjg edaoj) (clear tgmjg) (on-table cnsub) (on-table edaoj) (on tgmjg cnsub) (clear vdcjg)",
"(on vdcjg edaoj) (arm-empty) (on-table cnsub) (on-table edaoj) (on tgmjg cnsub) (clear vdcjg) (on yzlpe tgmjg) (clear yzlpe)",
"(on-table cnsub) (clear edaoj) (on-table edaoj) (on tgmjg cnsub) (on yzlpe tgmjg) (clear yzlpe) (holding vdcjg)",
"(arm-empty) (on-table cnsub) (clear edaoj) (on-table edaoj) (on vdcjg yzlpe) (on tgmjg cnsub) (clear vdcjg) (on yzlpe tgmjg)",
"(on-table cnsub) (holding edaoj) (on vdcjg yzlpe) (on tgmjg cnsub) (clear vdcjg) (on yzlpe tgmjg)"
] | file_214039 |
GOAL: (clear qgurg) (on nziwm nexyp) (arm-empty) (on-table nexyp) (on napqw myemh) (on qgurg nziwm) (on-table myemh) (clear napqw) | GOAL: (clear qgurg) (on nziwm nexyp) (arm-empty) (on-table nexyp) (on napqw myemh) (on qgurg nziwm) (on-table myemh) (clear napqw)
STATE: (arm-empty) (on-table qgurg) (on nziwm qgurg) (on napqw myemh) (on nexyp nziwm) (on myemh nexyp) (clear napqw) | [
[
"unstack napqw myemh"
],
[
"put-down napqw"
],
[
"unstack myemh nexyp"
],
[
"put-down myemh"
],
[
"unstack nexyp nziwm"
],
[
"put-down nexyp"
],
[
"unstack nziwm qgurg"
],
[
"stack nziwm nexyp"
],
[
"pick-up napqw"
],
[
"stack napqw myemh"
],
[
"pick-up qgurg"
],
[
"stack qgurg nziwm"
]
] | [
"(on-table qgurg) (holding napqw) (on myemh nexyp) (on nexyp nziwm) (on nziwm qgurg) (clear myemh)",
"(arm-empty) (on-table qgurg) (on-table napqw) (on myemh nexyp) (clear napqw) (on nexyp nziwm) (on nziwm qgurg) (clear myemh)",
"(on-table qgurg) (on-table napqw) (on nziwm qgurg) (on nexyp nziwm) (holding myemh) (clear nexyp) (clear napqw)",
"(arm-empty) (on-table qgurg) (on-table napqw) (clear napqw) (on nexyp nziwm) (on nziwm qgurg) (clear myemh) (clear nexyp) (on-table myemh)",
"(holding nexyp) (on-table qgurg) (on-table napqw) (clear nziwm) (on nziwm qgurg) (clear myemh) (on-table myemh) (clear napqw)",
"(arm-empty) (on-table qgurg) (on-table napqw) (on-table nexyp) (clear nziwm) (on nziwm qgurg) (clear myemh) (clear nexyp) (on-table myemh) (clear napqw)",
"(clear qgurg) (on-table qgurg) (on-table napqw) (on-table nexyp) (holding nziwm) (clear myemh) (clear nexyp) (on-table myemh) (clear napqw)",
"(clear qgurg) (on nziwm nexyp) (arm-empty) (on-table qgurg) (on-table napqw) (on-table nexyp) (clear nziwm) (clear myemh) (on-table myemh) (clear napqw)",
"(clear qgurg) (on nziwm nexyp) (on-table qgurg) (on-table nexyp) (clear nziwm) (holding napqw) (clear myemh) (on-table myemh)",
"(clear qgurg) (on nziwm nexyp) (arm-empty) (on-table qgurg) (on-table nexyp) (clear nziwm) (on napqw myemh) (on-table myemh) (clear napqw)",
"(on nziwm nexyp) (on-table nexyp) (clear nziwm) (on napqw myemh) (holding qgurg) (on-table myemh) (clear napqw)",
"(clear qgurg) (on nziwm nexyp) (arm-empty) (on-table nexyp) (on napqw myemh) (on qgurg nziwm) (on-table myemh) (clear napqw)"
] | file_143918 |
GOAL: (arm-empty) (on-table sycck) (on-table kiesf) (on vpjmt sycck) (on hfyfc vbjru) (clear vpjmt) (on vbjru kiesf) (clear hfyfc) | GOAL: (arm-empty) (on-table sycck) (on-table kiesf) (on vpjmt sycck) (on hfyfc vbjru) (clear vpjmt) (on vbjru kiesf) (clear hfyfc)
STATE: (arm-empty) (on-table sycck) (on-table kiesf) (on hfyfc vbjru) (clear vpjmt) (on vpjmt hfyfc) (on vbjru kiesf) (clear sycck) | [
[
"unstack vpjmt hfyfc"
],
[
"put-down vpjmt"
],
[
"unstack hfyfc vbjru"
],
[
"put-down hfyfc"
],
[
"pick-up vpjmt"
],
[
"stack vpjmt sycck"
],
[
"pick-up hfyfc"
],
[
"stack hfyfc vbjru"
]
] | [
"(on-table sycck) (on-table kiesf) (holding vpjmt) (on hfyfc vbjru) (on vbjru kiesf) (clear hfyfc) (clear sycck)",
"(arm-empty) (on-table sycck) (clear vpjmt) (on vbjru kiesf) (clear sycck) (on-table kiesf) (on hfyfc vbjru) (on-table vpjmt) (clear hfyfc)",
"(clear vbjru) (on-table sycck) (on-table kiesf) (clear vpjmt) (on-table vpjmt) (on vbjru kiesf) (holding hfyfc) (clear sycck)",
"(clear vbjru) (arm-empty) (on-table sycck) (on-table kiesf) (clear vpjmt) (on-table vpjmt) (on vbjru kiesf) (clear hfyfc) (on-table hfyfc) (clear sycck)",
"(clear vbjru) (on-table sycck) (on-table kiesf) (holding vpjmt) (on vbjru kiesf) (clear hfyfc) (on-table hfyfc) (clear sycck)",
"(clear vbjru) (arm-empty) (on-table sycck) (on-table kiesf) (on vpjmt sycck) (clear vpjmt) (on vbjru kiesf) (clear hfyfc) (on-table hfyfc)",
"(clear vbjru) (on-table sycck) (on-table kiesf) (on vpjmt sycck) (clear vpjmt) (on vbjru kiesf) (holding hfyfc)",
"(arm-empty) (on-table sycck) (on-table kiesf) (on vpjmt sycck) (on hfyfc vbjru) (clear vpjmt) (on vbjru kiesf) (clear hfyfc)"
] | file_179981 |
GOAL: (clear xryhk) (on qzlsy eifog) (on eifog mrohu) (arm-empty) (on-table jtyzg) (on-table mrohu) (on xryhk jtyzg) (clear qzlsy) | GOAL: (clear xryhk) (on qzlsy eifog) (on eifog mrohu) (arm-empty) (on-table jtyzg) (on-table mrohu) (on xryhk jtyzg) (clear qzlsy)
STATE: (on qzlsy mrohu) (clear xryhk) (arm-empty) (on-table xryhk) (on-table eifog) (on-table jtyzg) (on-table mrohu) (clear qzlsy) (clear jtyzg) (clear eifog) | [
[
"pick-up xryhk"
],
[
"stack xryhk jtyzg"
],
[
"unstack qzlsy mrohu"
],
[
"stack qzlsy xryhk"
],
[
"pick-up eifog"
],
[
"stack eifog mrohu"
],
[
"unstack qzlsy xryhk"
],
[
"stack qzlsy eifog"
]
] | [
"(on qzlsy mrohu) (on-table eifog) (on-table jtyzg) (on-table mrohu) (holding xryhk) (clear qzlsy) (clear jtyzg) (clear eifog)",
"(on qzlsy mrohu) (clear xryhk) (arm-empty) (on-table eifog) (on-table jtyzg) (on-table mrohu) (on xryhk jtyzg) (clear qzlsy) (clear eifog)",
"(clear xryhk) (on-table eifog) (on-table jtyzg) (clear mrohu) (on-table mrohu) (on xryhk jtyzg) (holding qzlsy) (clear eifog)",
"(arm-empty) (on-table eifog) (on-table jtyzg) (on qzlsy xryhk) (clear mrohu) (on-table mrohu) (on xryhk jtyzg) (clear qzlsy) (clear eifog)",
"(on-table jtyzg) (on qzlsy xryhk) (clear mrohu) (holding eifog) (on-table mrohu) (on xryhk jtyzg) (clear qzlsy)",
"(arm-empty) (on eifog mrohu) (on-table jtyzg) (on qzlsy xryhk) (on-table mrohu) (on xryhk jtyzg) (clear qzlsy) (clear eifog)",
"(clear xryhk) (on eifog mrohu) (on-table jtyzg) (on-table mrohu) (on xryhk jtyzg) (holding qzlsy) (clear eifog)",
"(clear xryhk) (on qzlsy eifog) (on eifog mrohu) (arm-empty) (on-table jtyzg) (on-table mrohu) (on xryhk jtyzg) (clear qzlsy)"
] | file_141684 |
GOAL: (clear fsqww) (arm-empty) (on yesvi lzovo) (on egkcd aequt) (on aequt yesvi) (on fsqww egkcd) (on-table lzovo) | GOAL: (clear fsqww) (arm-empty) (on yesvi lzovo) (on egkcd aequt) (on aequt yesvi) (on fsqww egkcd) (on-table lzovo)
STATE: (arm-empty) (on-table fsqww) (on yesvi egkcd) (on egkcd fsqww) (on aequt yesvi) (clear lzovo) (clear aequt) (on-table lzovo) | [
[
"unstack aequt yesvi"
],
[
"put-down aequt"
],
[
"unstack yesvi egkcd"
],
[
"stack yesvi lzovo"
],
[
"pick-up aequt"
],
[
"stack aequt yesvi"
],
[
"unstack egkcd fsqww"
],
[
"stack egkcd aequt"
],
[
"pick-up fsqww"
],
[
"stack fsqww egkcd"
]
] | [
"(holding aequt) (on-table fsqww) (on yesvi egkcd) (on egkcd fsqww) (clear yesvi) (clear lzovo) (on-table lzovo)",
"(arm-empty) (on-table fsqww) (on yesvi egkcd) (on egkcd fsqww) (clear yesvi) (on-table aequt) (clear lzovo) (clear aequt) (on-table lzovo)",
"(on-table fsqww) (on-table aequt) (holding yesvi) (on egkcd fsqww) (clear lzovo) (clear aequt) (on-table lzovo) (clear egkcd)",
"(arm-empty) (on-table fsqww) (on-table aequt) (on egkcd fsqww) (clear yesvi) (on yesvi lzovo) (clear aequt) (on-table lzovo) (clear egkcd)",
"(holding aequt) (on-table fsqww) (on egkcd fsqww) (clear yesvi) (on yesvi lzovo) (on-table lzovo) (clear egkcd)",
"(arm-empty) (on-table fsqww) (on egkcd fsqww) (on yesvi lzovo) (on aequt yesvi) (clear aequt) (on-table lzovo) (clear egkcd)",
"(clear fsqww) (on-table fsqww) (on yesvi lzovo) (holding egkcd) (on aequt yesvi) (clear aequt) (on-table lzovo)",
"(arm-empty) (on-table fsqww) (clear egkcd) (clear fsqww) (on yesvi lzovo) (on egkcd aequt) (on aequt yesvi) (on-table lzovo)",
"(holding fsqww) (on yesvi lzovo) (on egkcd aequt) (on aequt yesvi) (on-table lzovo) (clear egkcd)",
"(clear fsqww) (arm-empty) (on yesvi lzovo) (on egkcd aequt) (on aequt yesvi) (on fsqww egkcd) (on-table lzovo)"
] | file_78061 |
GOAL: (on kgpls xdzfy) (arm-empty) (on xdzfy bcdqd) (on-table rbtep) (clear rbtep) (on-table opsni) (on-table bcdqd) (clear kgpls) (clear opsni) | GOAL: (on kgpls xdzfy) (arm-empty) (on xdzfy bcdqd) (on-table rbtep) (clear rbtep) (on-table opsni) (on-table bcdqd) (clear kgpls) (clear opsni)
STATE: (clear rbtep) (on kgpls xdzfy) (arm-empty) (on xdzfy bcdqd) (on-table opsni) (on-table bcdqd) (on rbtep kgpls) (clear opsni) | [
[
"unstack rbtep kgpls"
],
[
"put-down rbtep"
]
] | [
"(on kgpls xdzfy) (on xdzfy bcdqd) (on-table opsni) (on-table bcdqd) (holding rbtep) (clear kgpls) (clear opsni)",
"(on kgpls xdzfy) (arm-empty) (on xdzfy bcdqd) (on-table rbtep) (clear rbtep) (on-table opsni) (on-table bcdqd) (clear kgpls) (clear opsni)"
] | file_198601 |
GOAL: (holding qdmcm) (on icjhd iuxvl) (on-table sqixo) (on iuxvl sqixo) (clear jbmcs) (on jbmcs icjhd) | GOAL: (holding qdmcm) (on icjhd iuxvl) (on-table sqixo) (on iuxvl sqixo) (clear jbmcs) (on jbmcs icjhd)
STATE: (on icjhd iuxvl) (on jbmcs qdmcm) (on iuxvl jbmcs) (on-table sqixo) (arm-empty) (on-table qdmcm) (clear sqixo) (clear icjhd) | [
[
"unstack icjhd iuxvl"
],
[
"stack icjhd sqixo"
],
[
"unstack iuxvl jbmcs"
],
[
"put-down iuxvl"
],
[
"unstack icjhd sqixo"
],
[
"stack icjhd jbmcs"
],
[
"pick-up iuxvl"
],
[
"stack iuxvl sqixo"
],
[
"unstack icjhd jbmcs"
],
[
"stack icjhd iuxvl"
],
[
"unstack jbmcs qdmcm"
],
[
"stack jbmcs icjhd"
],
[
"pick-up qdmcm"
]
] | [
"(on jbmcs qdmcm) (on iuxvl jbmcs) (on-table sqixo) (on-table qdmcm) (clear sqixo) (holding icjhd) (clear iuxvl)",
"(on jbmcs qdmcm) (on iuxvl jbmcs) (on-table sqixo) (arm-empty) (on-table qdmcm) (on icjhd sqixo) (clear icjhd) (clear iuxvl)",
"(on jbmcs qdmcm) (on-table sqixo) (on-table qdmcm) (on icjhd sqixo) (clear jbmcs) (holding iuxvl) (clear icjhd)",
"(on jbmcs qdmcm) (arm-empty) (on-table sqixo) (on-table iuxvl) (clear jbmcs) (clear iuxvl) (on-table qdmcm) (on icjhd sqixo) (clear icjhd)",
"(clear sqixo) (on jbmcs qdmcm) (on-table sqixo) (on-table iuxvl) (on-table qdmcm) (clear jbmcs) (holding icjhd) (clear iuxvl)",
"(on icjhd jbmcs) (clear sqixo) (on jbmcs qdmcm) (arm-empty) (on-table sqixo) (on-table iuxvl) (on-table qdmcm) (clear icjhd) (clear iuxvl)",
"(on icjhd jbmcs) (clear sqixo) (on jbmcs qdmcm) (on-table sqixo) (on-table qdmcm) (holding iuxvl) (clear icjhd)",
"(on icjhd jbmcs) (on jbmcs qdmcm) (arm-empty) (on-table sqixo) (on-table qdmcm) (on iuxvl sqixo) (clear icjhd) (clear iuxvl)",
"(on jbmcs qdmcm) (on-table sqixo) (on-table qdmcm) (on iuxvl sqixo) (clear jbmcs) (holding icjhd) (clear iuxvl)",
"(on icjhd iuxvl) (on jbmcs qdmcm) (arm-empty) (on-table sqixo) (on-table qdmcm) (on iuxvl sqixo) (clear jbmcs) (clear icjhd)",
"(on icjhd iuxvl) (on-table sqixo) (on-table qdmcm) (holding jbmcs) (on iuxvl sqixo) (clear icjhd) (clear qdmcm)",
"(on icjhd iuxvl) (arm-empty) (on-table sqixo) (on iuxvl sqixo) (clear jbmcs) (on-table qdmcm) (on jbmcs icjhd) (clear qdmcm)",
"(holding qdmcm) (on icjhd iuxvl) (on-table sqixo) (on iuxvl sqixo) (clear jbmcs) (on jbmcs icjhd)"
] | file_158638 |
GOAL: (on myqvu ivbpb) (arm-empty) (on-table qicdg) (on-table snplc) (clear snplc) (on wndnm myqvu) (clear qicdg) (on-table ivbpb) (clear wndnm) | GOAL: (on myqvu ivbpb) (arm-empty) (on-table qicdg) (on-table snplc) (clear snplc) (on wndnm myqvu) (clear qicdg) (on-table ivbpb) (clear wndnm)
STATE: (on wndnm snplc) (arm-empty) (on-table qicdg) (on-table ivbpb) (on snplc qicdg) (clear myqvu) (on myqvu wndnm) (clear ivbpb) | [
[
"unstack myqvu wndnm"
],
[
"stack myqvu ivbpb"
],
[
"unstack wndnm snplc"
],
[
"stack wndnm myqvu"
],
[
"unstack snplc qicdg"
],
[
"put-down snplc"
]
] | [
"(on wndnm snplc) (on-table qicdg) (on-table ivbpb) (holding myqvu) (on snplc qicdg) (clear wndnm) (clear ivbpb)",
"(on wndnm snplc) (on myqvu ivbpb) (arm-empty) (on-table qicdg) (on-table ivbpb) (on snplc qicdg) (clear myqvu) (clear wndnm)",
"(on myqvu ivbpb) (on-table qicdg) (on-table ivbpb) (on snplc qicdg) (clear myqvu) (holding wndnm) (clear snplc)",
"(on wndnm myqvu) (on myqvu ivbpb) (arm-empty) (on-table qicdg) (on-table ivbpb) (on snplc qicdg) (clear wndnm) (clear snplc)",
"(on wndnm myqvu) (clear qicdg) (on myqvu ivbpb) (on-table qicdg) (on-table ivbpb) (holding snplc) (clear wndnm)",
"(on myqvu ivbpb) (arm-empty) (on-table qicdg) (on-table snplc) (clear snplc) (on wndnm myqvu) (clear qicdg) (on-table ivbpb) (clear wndnm)"
] | file_217031 |
GOAL: (on hyrls bhjoa) (arm-empty) (on-table yeekv) (clear dbojm) (clear yeekv) (on-table dbojm) (clear hyrls) (on-table bhjoa) | GOAL: (on hyrls bhjoa) (arm-empty) (on-table yeekv) (clear dbojm) (clear yeekv) (on-table dbojm) (clear hyrls) (on-table bhjoa)
STATE: (on-table yeekv) (on hyrls dbojm) (on dbojm yeekv) (holding bhjoa) (clear hyrls) | [
[
"put-down bhjoa"
],
[
"unstack hyrls dbojm"
],
[
"stack hyrls bhjoa"
],
[
"unstack dbojm yeekv"
],
[
"put-down dbojm"
]
] | [
"(arm-empty) (on-table yeekv) (on hyrls dbojm) (on dbojm yeekv) (clear bhjoa) (clear hyrls) (on-table bhjoa)",
"(on-table yeekv) (clear dbojm) (holding hyrls) (on dbojm yeekv) (clear bhjoa) (on-table bhjoa)",
"(on hyrls bhjoa) (arm-empty) (on-table yeekv) (clear dbojm) (on dbojm yeekv) (clear hyrls) (on-table bhjoa)",
"(clear yeekv) (on hyrls bhjoa) (on-table yeekv) (holding dbojm) (clear hyrls) (on-table bhjoa)",
"(on hyrls bhjoa) (arm-empty) (on-table yeekv) (clear dbojm) (clear yeekv) (on-table dbojm) (clear hyrls) (on-table bhjoa)"
] | file_46017 |
GOAL: (clear mnavz) (arm-empty) (on wcwln jvdtb) (on-table mnavz) (on-table kjynj) (on-table jvdtb) (clear knzsu) (clear kjynj) (on-table knzsu) (clear wcwln) | GOAL: (clear mnavz) (arm-empty) (on wcwln jvdtb) (on-table mnavz) (on-table kjynj) (on-table jvdtb) (clear knzsu) (clear kjynj) (on-table knzsu) (clear wcwln)
STATE: (clear mnavz) (arm-empty) (on-table mnavz) (on jvdtb wcwln) (on-table kjynj) (clear jvdtb) (on wcwln knzsu) (clear kjynj) (on-table knzsu) | [
[
"unstack jvdtb wcwln"
],
[
"put-down jvdtb"
],
[
"unstack wcwln knzsu"
],
[
"stack wcwln jvdtb"
]
] | [
"(clear mnavz) (on-table mnavz) (on-table kjynj) (holding jvdtb) (on wcwln knzsu) (clear kjynj) (on-table knzsu) (clear wcwln)",
"(clear mnavz) (arm-empty) (on-table mnavz) (on-table kjynj) (clear jvdtb) (on wcwln knzsu) (on-table jvdtb) (clear kjynj) (on-table knzsu) (clear wcwln)",
"(clear mnavz) (on-table mnavz) (on-table kjynj) (clear jvdtb) (holding wcwln) (on-table jvdtb) (clear knzsu) (clear kjynj) (on-table knzsu)",
"(clear mnavz) (arm-empty) (on wcwln jvdtb) (on-table mnavz) (on-table kjynj) (on-table jvdtb) (clear knzsu) (clear kjynj) (on-table knzsu) (clear wcwln)"
] | file_14869 |
GOAL: (clear cglfl) (on qgdzm aejoi) (arm-empty) (on-table rzopj) (on-table vgebu) (on cglfl vgebu) (clear qgdzm) (on-table aejoi) (clear rzopj) | GOAL: (clear cglfl) (on qgdzm aejoi) (arm-empty) (on-table rzopj) (on-table vgebu) (on cglfl vgebu) (clear qgdzm) (on-table aejoi) (clear rzopj)
STATE: (arm-empty) (on rzopj cglfl) (on vgebu aejoi) (on qgdzm vgebu) (on cglfl qgdzm) (on-table aejoi) (clear rzopj) | [
[
"unstack rzopj cglfl"
],
[
"put-down rzopj"
],
[
"unstack cglfl qgdzm"
],
[
"stack cglfl rzopj"
],
[
"unstack qgdzm vgebu"
],
[
"put-down qgdzm"
],
[
"unstack vgebu aejoi"
],
[
"stack vgebu cglfl"
],
[
"pick-up qgdzm"
],
[
"stack qgdzm aejoi"
],
[
"unstack vgebu cglfl"
],
[
"put-down vgebu"
],
[
"unstack cglfl rzopj"
],
[
"stack cglfl vgebu"
]
] | [
"(holding rzopj) (on cglfl qgdzm) (clear cglfl) (on vgebu aejoi) (on qgdzm vgebu) (on-table aejoi)",
"(arm-empty) (on-table rzopj) (on cglfl qgdzm) (clear rzopj) (clear cglfl) (on vgebu aejoi) (on qgdzm vgebu) (on-table aejoi)",
"(on-table rzopj) (holding cglfl) (on vgebu aejoi) (on qgdzm vgebu) (clear qgdzm) (on-table aejoi) (clear rzopj)",
"(clear cglfl) (arm-empty) (on-table rzopj) (on vgebu aejoi) (on qgdzm vgebu) (on cglfl rzopj) (clear qgdzm) (on-table aejoi)",
"(holding qgdzm) (clear cglfl) (on-table rzopj) (clear vgebu) (on vgebu aejoi) (on cglfl rzopj) (on-table aejoi)",
"(arm-empty) (on-table rzopj) (clear vgebu) (on cglfl rzopj) (clear cglfl) (on-table qgdzm) (on vgebu aejoi) (clear qgdzm) (on-table aejoi)",
"(clear cglfl) (on-table rzopj) (on-table qgdzm) (holding vgebu) (on cglfl rzopj) (clear aejoi) (clear qgdzm) (on-table aejoi)",
"(arm-empty) (on-table rzopj) (on-table qgdzm) (clear vgebu) (on vgebu cglfl) (on cglfl rzopj) (clear aejoi) (clear qgdzm) (on-table aejoi)",
"(holding qgdzm) (on-table rzopj) (clear vgebu) (on vgebu cglfl) (on cglfl rzopj) (clear aejoi) (on-table aejoi)",
"(on qgdzm aejoi) (arm-empty) (on-table rzopj) (clear vgebu) (on vgebu cglfl) (on cglfl rzopj) (clear qgdzm) (on-table aejoi)",
"(clear cglfl) (on qgdzm aejoi) (on-table rzopj) (holding vgebu) (on cglfl rzopj) (clear qgdzm) (on-table aejoi)",
"(on qgdzm aejoi) (arm-empty) (on-table rzopj) (clear vgebu) (on cglfl rzopj) (clear cglfl) (on-table vgebu) (clear qgdzm) (on-table aejoi)",
"(on qgdzm aejoi) (on-table rzopj) (clear vgebu) (on-table vgebu) (holding cglfl) (clear qgdzm) (on-table aejoi) (clear rzopj)",
"(clear cglfl) (on qgdzm aejoi) (arm-empty) (on-table rzopj) (on-table vgebu) (on cglfl vgebu) (clear qgdzm) (on-table aejoi) (clear rzopj)"
] | file_89495 |
GOAL: (on zgfyf qmfpl) (clear wrkar) (arm-empty) (on qmfpl qxban) (on-table tiyed) (on qxban tiyed) (on wrkar zgfyf) | GOAL: (on zgfyf qmfpl) (clear wrkar) (arm-empty) (on qmfpl qxban) (on-table tiyed) (on qxban tiyed) (on wrkar zgfyf)
STATE: (on-table tiyed) (clear qmfpl) (holding qxban) (on qmfpl wrkar) (on wrkar zgfyf) (clear tiyed) (on-table zgfyf) | [
[
"stack qxban tiyed"
],
[
"unstack qmfpl wrkar"
],
[
"stack qmfpl qxban"
],
[
"unstack wrkar zgfyf"
],
[
"put-down wrkar"
],
[
"pick-up zgfyf"
],
[
"stack zgfyf qmfpl"
],
[
"pick-up wrkar"
],
[
"stack wrkar zgfyf"
]
] | [
"(arm-empty) (on-table tiyed) (clear qmfpl) (on qxban tiyed) (on qmfpl wrkar) (on wrkar zgfyf) (on-table zgfyf) (clear qxban)",
"(clear wrkar) (on-table tiyed) (holding qmfpl) (on qxban tiyed) (on wrkar zgfyf) (on-table zgfyf) (clear qxban)",
"(clear wrkar) (arm-empty) (on qmfpl qxban) (on-table tiyed) (clear qmfpl) (on qxban tiyed) (on wrkar zgfyf) (on-table zgfyf)",
"(on qmfpl qxban) (on-table tiyed) (clear qmfpl) (on qxban tiyed) (holding wrkar) (clear zgfyf) (on-table zgfyf)",
"(arm-empty) (on-table wrkar) (on qmfpl qxban) (clear qmfpl) (clear wrkar) (on-table tiyed) (on qxban tiyed) (clear zgfyf) (on-table zgfyf)",
"(clear wrkar) (on-table wrkar) (on qmfpl qxban) (on-table tiyed) (clear qmfpl) (on qxban tiyed) (holding zgfyf)",
"(on zgfyf qmfpl) (clear wrkar) (arm-empty) (on-table wrkar) (on qmfpl qxban) (on-table tiyed) (on qxban tiyed) (clear zgfyf)",
"(on zgfyf qmfpl) (on qmfpl qxban) (on-table tiyed) (on qxban tiyed) (holding wrkar) (clear zgfyf)",
"(on zgfyf qmfpl) (clear wrkar) (arm-empty) (on qmfpl qxban) (on-table tiyed) (on qxban tiyed) (on wrkar zgfyf)"
] | file_226359 |
GOAL: (clear bmzoj) (arm-empty) (on-table urgxa) (on-table woina) (on ijota woina) (on vjwjc ijota) (on bmzoj vjwjc) (clear urgxa) | GOAL: (clear bmzoj) (arm-empty) (on-table urgxa) (on-table woina) (on ijota woina) (on vjwjc ijota) (on bmzoj vjwjc) (clear urgxa)
STATE: (on vjwjc urgxa) (on woina ijota) (arm-empty) (on-table urgxa) (clear woina) (on bmzoj vjwjc) (on ijota bmzoj) | [
[
"unstack woina ijota"
],
[
"put-down woina"
],
[
"unstack ijota bmzoj"
],
[
"stack ijota woina"
],
[
"unstack bmzoj vjwjc"
],
[
"put-down bmzoj"
],
[
"unstack vjwjc urgxa"
],
[
"stack vjwjc ijota"
],
[
"pick-up bmzoj"
],
[
"stack bmzoj vjwjc"
]
] | [
"(on vjwjc urgxa) (on-table urgxa) (holding woina) (on ijota bmzoj) (on bmzoj vjwjc) (clear ijota)",
"(on vjwjc urgxa) (on-table woina) (clear woina) (on bmzoj vjwjc) (on-table urgxa) (arm-empty) (on ijota bmzoj) (clear ijota)",
"(holding ijota) (on vjwjc urgxa) (clear bmzoj) (on-table urgxa) (clear woina) (on-table woina) (on bmzoj vjwjc)",
"(on vjwjc urgxa) (clear bmzoj) (arm-empty) (on-table urgxa) (on-table woina) (on ijota woina) (on bmzoj vjwjc) (clear ijota)",
"(on vjwjc urgxa) (on-table urgxa) (holding bmzoj) (on-table woina) (on ijota woina) (clear vjwjc) (clear ijota)",
"(on vjwjc urgxa) (arm-empty) (on-table bmzoj) (on-table urgxa) (clear bmzoj) (on-table woina) (on ijota woina) (clear vjwjc) (clear ijota)",
"(clear bmzoj) (on-table bmzoj) (on-table urgxa) (on-table woina) (on ijota woina) (holding vjwjc) (clear ijota) (clear urgxa)",
"(clear bmzoj) (arm-empty) (on-table bmzoj) (on-table urgxa) (on-table woina) (on ijota woina) (on vjwjc ijota) (clear vjwjc) (clear urgxa)",
"(on-table urgxa) (holding bmzoj) (on-table woina) (on ijota woina) (on vjwjc ijota) (clear vjwjc) (clear urgxa)",
"(clear bmzoj) (arm-empty) (on-table urgxa) (on-table woina) (on ijota woina) (on vjwjc ijota) (on bmzoj vjwjc) (clear urgxa)"
] | file_104227 |
GOAL: (clear acyyk) (on-table acyyk) (holding kkpnp) (on-table bgdfe) (on dhosv bgdfe) (clear rzunp) (clear dhosv) (on-table rzunp) | GOAL: (clear acyyk) (on-table acyyk) (holding kkpnp) (on-table bgdfe) (on dhosv bgdfe) (clear rzunp) (clear dhosv) (on-table rzunp)
STATE: (clear acyyk) (on rzunp kkpnp) (arm-empty) (on-table acyyk) (on kkpnp dhosv) (on-table bgdfe) (on dhosv bgdfe) (clear rzunp) | [
[
"unstack rzunp kkpnp"
],
[
"put-down rzunp"
],
[
"unstack kkpnp dhosv"
]
] | [
"(clear acyyk) (on-table acyyk) (on kkpnp dhosv) (on-table bgdfe) (on dhosv bgdfe) (holding rzunp) (clear kkpnp)",
"(arm-empty) (on-table acyyk) (clear kkpnp) (clear acyyk) (on kkpnp dhosv) (on-table bgdfe) (on dhosv bgdfe) (clear rzunp) (on-table rzunp)",
"(clear acyyk) (on-table acyyk) (holding kkpnp) (on-table bgdfe) (on dhosv bgdfe) (clear rzunp) (clear dhosv) (on-table rzunp)"
] | file_69733 |
GOAL: (holding braxf) (on pobwd pydxi) (clear igbmf) (on-table bymjd) (on-table pydxi) (on igbmf bymjd) (clear pobwd) | GOAL: (holding braxf) (on pobwd pydxi) (clear igbmf) (on-table bymjd) (on-table pydxi) (on igbmf bymjd) (clear pobwd)
STATE: (clear igbmf) (on-table braxf) (on pydxi pobwd) (holding bymjd) (on pobwd braxf) (on igbmf pydxi) | [
[
"put-down bymjd"
],
[
"unstack igbmf pydxi"
],
[
"stack igbmf bymjd"
],
[
"unstack pydxi pobwd"
],
[
"stack pydxi igbmf"
],
[
"unstack pobwd braxf"
],
[
"put-down pobwd"
],
[
"unstack pydxi igbmf"
],
[
"stack pydxi pobwd"
],
[
"pick-up braxf"
],
[
"stack braxf igbmf"
],
[
"unstack pydxi pobwd"
],
[
"put-down pydxi"
],
[
"pick-up pobwd"
],
[
"stack pobwd pydxi"
],
[
"unstack braxf igbmf"
]
] | [
"(arm-empty) (on-table bymjd) (on pobwd braxf) (on igbmf pydxi) (clear bymjd) (clear igbmf) (on-table braxf) (on pydxi pobwd)",
"(on-table bymjd) (on-table braxf) (clear pydxi) (on pydxi pobwd) (holding igbmf) (on pobwd braxf) (clear bymjd)",
"(clear igbmf) (arm-empty) (on-table bymjd) (on-table braxf) (clear pydxi) (on pydxi pobwd) (on pobwd braxf) (on igbmf bymjd)",
"(clear igbmf) (on-table bymjd) (on-table braxf) (holding pydxi) (on pobwd braxf) (on igbmf bymjd) (clear pobwd)",
"(arm-empty) (on-table bymjd) (on-table braxf) (clear pydxi) (on pobwd braxf) (on pydxi igbmf) (on igbmf bymjd) (clear pobwd)",
"(on-table bymjd) (on-table braxf) (clear pydxi) (on pydxi igbmf) (on igbmf bymjd) (holding pobwd) (clear braxf)",
"(arm-empty) (on-table bymjd) (clear pydxi) (on igbmf bymjd) (on-table braxf) (on pydxi igbmf) (clear pobwd) (clear braxf) (on-table pobwd)",
"(clear igbmf) (on-table bymjd) (on-table braxf) (holding pydxi) (on igbmf bymjd) (clear pobwd) (clear braxf) (on-table pobwd)",
"(clear igbmf) (arm-empty) (on-table bymjd) (on-table braxf) (clear pydxi) (on pydxi pobwd) (on igbmf bymjd) (clear braxf) (on-table pobwd)",
"(holding braxf) (clear igbmf) (on-table bymjd) (clear pydxi) (on pydxi pobwd) (on igbmf bymjd) (on-table pobwd)",
"(arm-empty) (on-table bymjd) (clear pydxi) (on pydxi pobwd) (on igbmf bymjd) (on braxf igbmf) (clear braxf) (on-table pobwd)",
"(on-table bymjd) (holding pydxi) (on igbmf bymjd) (clear pobwd) (on braxf igbmf) (clear braxf) (on-table pobwd)",
"(arm-empty) (on-table bymjd) (clear pydxi) (on igbmf bymjd) (on braxf igbmf) (on-table pydxi) (clear pobwd) (clear braxf) (on-table pobwd)",
"(on-table bymjd) (clear pydxi) (on-table pydxi) (on igbmf bymjd) (on braxf igbmf) (clear braxf) (holding pobwd)",
"(on pobwd pydxi) (arm-empty) (on-table bymjd) (on-table pydxi) (on igbmf bymjd) (clear pobwd) (on braxf igbmf) (clear braxf)",
"(holding braxf) (on pobwd pydxi) (clear igbmf) (on-table bymjd) (on-table pydxi) (on igbmf bymjd) (clear pobwd)"
] | file_96652 |
GOAL: (on lhbbj igfrf) (on hqjld lhbbj) (arm-empty) (on-table nysqm) (on-table igfrf) (clear hqjld) (clear nysqm) (clear ahqtg) (on-table ahqtg) | GOAL: (on lhbbj igfrf) (on hqjld lhbbj) (arm-empty) (on-table nysqm) (on-table igfrf) (clear hqjld) (clear nysqm) (clear ahqtg) (on-table ahqtg)
STATE: (on lhbbj igfrf) (clear nysqm) (on hqjld lhbbj) (on ahqtg hqjld) (arm-empty) (on-table igfrf) (on nysqm ahqtg) | [
[
"unstack nysqm ahqtg"
],
[
"put-down nysqm"
],
[
"unstack ahqtg hqjld"
],
[
"put-down ahqtg"
]
] | [
"(on lhbbj igfrf) (on hqjld lhbbj) (on-table igfrf) (on ahqtg hqjld) (holding nysqm) (clear ahqtg)",
"(on lhbbj igfrf) (on hqjld lhbbj) (arm-empty) (on-table nysqm) (on-table igfrf) (on ahqtg hqjld) (clear nysqm) (clear ahqtg)",
"(on lhbbj igfrf) (on hqjld lhbbj) (on-table nysqm) (on-table igfrf) (clear nysqm) (clear hqjld) (holding ahqtg)",
"(on lhbbj igfrf) (on hqjld lhbbj) (arm-empty) (on-table nysqm) (on-table igfrf) (clear hqjld) (clear nysqm) (clear ahqtg) (on-table ahqtg)"
] | file_41487 |
GOAL: (on ivhxk twedu) (arm-empty) (on-table kguri) (on-table pusgi) (clear tbryz) (on twedu pusgi) (on tbryz kguri) (clear ivhxk) | GOAL: (on ivhxk twedu) (arm-empty) (on-table kguri) (on-table pusgi) (clear tbryz) (on twedu pusgi) (on tbryz kguri) (clear ivhxk)
STATE: (clear kguri) (on-table kguri) (on-table pusgi) (clear tbryz) (holding twedu) (on-table tbryz) (clear ivhxk) (clear pusgi) (on-table ivhxk) | [
[
"stack twedu pusgi"
],
[
"pick-up ivhxk"
],
[
"stack ivhxk twedu"
],
[
"pick-up tbryz"
],
[
"stack tbryz kguri"
]
] | [
"(clear kguri) (arm-empty) (on-table kguri) (on-table pusgi) (clear tbryz) (on twedu pusgi) (on-table tbryz) (clear ivhxk) (on-table ivhxk) (clear twedu)",
"(clear kguri) (on-table kguri) (on-table pusgi) (clear tbryz) (on twedu pusgi) (on-table tbryz) (holding ivhxk) (clear twedu)",
"(clear kguri) (on ivhxk twedu) (arm-empty) (on-table kguri) (on-table pusgi) (clear tbryz) (on twedu pusgi) (on-table tbryz) (clear ivhxk)",
"(clear kguri) (on ivhxk twedu) (on-table kguri) (on-table pusgi) (holding tbryz) (on twedu pusgi) (clear ivhxk)",
"(on ivhxk twedu) (arm-empty) (on-table kguri) (on-table pusgi) (clear tbryz) (on twedu pusgi) (on tbryz kguri) (clear ivhxk)"
] | file_21609 |
GOAL: (on fyzan ujtpz) (on igxhx fyzan) (on-table iujqw) (on-table pwtlh) (arm-empty) (clear igxhx) (clear pwtlh) (clear iujqw) (on-table ujtpz) | GOAL: (on fyzan ujtpz) (on igxhx fyzan) (on-table iujqw) (on-table pwtlh) (arm-empty) (clear igxhx) (clear pwtlh) (clear iujqw) (on-table ujtpz)
STATE: (clear iujqw) (on-table iujqw) (on-table pwtlh) (holding igxhx) (on-table fyzan) (on ujtpz fyzan) (clear ujtpz) (clear pwtlh) | [
[
"stack igxhx ujtpz"
],
[
"pick-up pwtlh"
],
[
"stack pwtlh iujqw"
],
[
"unstack igxhx ujtpz"
],
[
"stack igxhx pwtlh"
],
[
"unstack ujtpz fyzan"
],
[
"put-down ujtpz"
],
[
"pick-up fyzan"
],
[
"stack fyzan ujtpz"
],
[
"unstack igxhx pwtlh"
],
[
"stack igxhx fyzan"
],
[
"unstack pwtlh iujqw"
],
[
"put-down pwtlh"
]
] | [
"(clear iujqw) (arm-empty) (on-table iujqw) (on-table pwtlh) (on-table fyzan) (clear igxhx) (on igxhx ujtpz) (on ujtpz fyzan) (clear pwtlh)",
"(clear iujqw) (on-table iujqw) (on-table fyzan) (clear igxhx) (on igxhx ujtpz) (holding pwtlh) (on ujtpz fyzan)",
"(arm-empty) (on-table iujqw) (on-table fyzan) (on pwtlh iujqw) (clear igxhx) (on igxhx ujtpz) (on ujtpz fyzan) (clear pwtlh)",
"(on-table iujqw) (on-table fyzan) (holding igxhx) (on pwtlh iujqw) (on ujtpz fyzan) (clear ujtpz) (clear pwtlh)",
"(arm-empty) (on-table iujqw) (on igxhx pwtlh) (on-table fyzan) (on pwtlh iujqw) (clear igxhx) (on ujtpz fyzan) (clear ujtpz)",
"(on-table iujqw) (on igxhx pwtlh) (on-table fyzan) (on pwtlh iujqw) (clear igxhx) (holding ujtpz) (clear fyzan)",
"(arm-empty) (on-table iujqw) (on igxhx pwtlh) (on pwtlh iujqw) (clear igxhx) (on-table fyzan) (clear ujtpz) (clear fyzan) (on-table ujtpz)",
"(holding fyzan) (on-table iujqw) (on igxhx pwtlh) (on pwtlh iujqw) (clear igxhx) (clear ujtpz) (on-table ujtpz)",
"(on fyzan ujtpz) (arm-empty) (on-table iujqw) (on igxhx pwtlh) (on pwtlh iujqw) (clear igxhx) (clear fyzan) (on-table ujtpz)",
"(on fyzan ujtpz) (on-table iujqw) (holding igxhx) (on pwtlh iujqw) (clear fyzan) (on-table ujtpz) (clear pwtlh)",
"(on fyzan ujtpz) (on igxhx fyzan) (on-table iujqw) (arm-empty) (on pwtlh iujqw) (clear igxhx) (on-table ujtpz) (clear pwtlh)",
"(clear iujqw) (on fyzan ujtpz) (on igxhx fyzan) (on-table iujqw) (clear igxhx) (holding pwtlh) (on-table ujtpz)",
"(on fyzan ujtpz) (on igxhx fyzan) (on-table iujqw) (on-table pwtlh) (arm-empty) (clear igxhx) (clear pwtlh) (clear iujqw) (on-table ujtpz)"
] | file_216114 |
GOAL: (on-table dfyhi) (clear hyihh) (on kkzqx dfyhi) (holding omqgn) (on hyihh ljhfl) (on ljhfl kkzqx) | GOAL: (on-table dfyhi) (clear hyihh) (on kkzqx dfyhi) (holding omqgn) (on hyihh ljhfl) (on ljhfl kkzqx)
STATE: (on kkzqx hyihh) (on hyihh dfyhi) (on-table omqgn) (on-table dfyhi) (holding ljhfl) (clear kkzqx) (clear omqgn) | [
[
"stack ljhfl omqgn"
],
[
"unstack kkzqx hyihh"
],
[
"put-down kkzqx"
],
[
"unstack ljhfl omqgn"
],
[
"stack ljhfl kkzqx"
],
[
"unstack hyihh dfyhi"
],
[
"put-down hyihh"
],
[
"unstack ljhfl kkzqx"
],
[
"stack ljhfl omqgn"
],
[
"pick-up kkzqx"
],
[
"stack kkzqx dfyhi"
],
[
"unstack ljhfl omqgn"
],
[
"stack ljhfl kkzqx"
],
[
"pick-up hyihh"
],
[
"stack hyihh ljhfl"
],
[
"pick-up omqgn"
]
] | [
"(on kkzqx hyihh) (clear ljhfl) (on hyihh dfyhi) (arm-empty) (on-table omqgn) (on-table dfyhi) (on ljhfl omqgn) (clear kkzqx)",
"(clear ljhfl) (on hyihh dfyhi) (on-table omqgn) (on-table dfyhi) (clear hyihh) (on ljhfl omqgn) (holding kkzqx)",
"(on hyihh dfyhi) (arm-empty) (on-table omqgn) (clear hyihh) (on ljhfl omqgn) (clear ljhfl) (on-table dfyhi) (clear kkzqx) (on-table kkzqx)",
"(on hyihh dfyhi) (on-table omqgn) (on-table dfyhi) (clear hyihh) (holding ljhfl) (clear kkzqx) (on-table kkzqx) (clear omqgn)",
"(clear ljhfl) (on hyihh dfyhi) (arm-empty) (on-table omqgn) (on-table dfyhi) (clear hyihh) (on ljhfl kkzqx) (on-table kkzqx) (clear omqgn)",
"(clear ljhfl) (on-table omqgn) (on-table dfyhi) (holding hyihh) (on ljhfl kkzqx) (clear dfyhi) (on-table kkzqx) (clear omqgn)",
"(clear ljhfl) (arm-empty) (on-table omqgn) (on-table dfyhi) (clear hyihh) (on-table hyihh) (on ljhfl kkzqx) (clear dfyhi) (on-table kkzqx) (clear omqgn)",
"(on-table omqgn) (on-table dfyhi) (clear hyihh) (on-table hyihh) (holding ljhfl) (clear kkzqx) (clear dfyhi) (on-table kkzqx) (clear omqgn)",
"(clear ljhfl) (arm-empty) (on-table omqgn) (on-table dfyhi) (clear hyihh) (on-table hyihh) (on ljhfl omqgn) (clear kkzqx) (clear dfyhi) (on-table kkzqx)",
"(clear ljhfl) (on-table omqgn) (on-table dfyhi) (clear hyihh) (on-table hyihh) (on ljhfl omqgn) (holding kkzqx) (clear dfyhi)",
"(clear ljhfl) (arm-empty) (on-table omqgn) (on-table dfyhi) (clear hyihh) (on-table hyihh) (on kkzqx dfyhi) (on ljhfl omqgn) (clear kkzqx)",
"(on-table omqgn) (on-table dfyhi) (clear hyihh) (on-table hyihh) (holding ljhfl) (on kkzqx dfyhi) (clear kkzqx) (clear omqgn)",
"(clear ljhfl) (arm-empty) (on-table omqgn) (on-table dfyhi) (clear hyihh) (on-table hyihh) (on kkzqx dfyhi) (on ljhfl kkzqx) (clear omqgn)",
"(clear ljhfl) (on-table omqgn) (on-table dfyhi) (holding hyihh) (on kkzqx dfyhi) (on ljhfl kkzqx) (clear omqgn)",
"(arm-empty) (on-table omqgn) (on-table dfyhi) (clear hyihh) (on kkzqx dfyhi) (on hyihh ljhfl) (on ljhfl kkzqx) (clear omqgn)",
"(on-table dfyhi) (clear hyihh) (on kkzqx dfyhi) (holding omqgn) (on hyihh ljhfl) (on ljhfl kkzqx)"
] | file_206867 |
GOAL: (on lhbzr ouktg) (clear huwck) (arm-empty) (on ouktg iasra) (on-table iclhs) (on iasra iclhs) (on huwck lhbzr) | GOAL: (on lhbzr ouktg) (clear huwck) (arm-empty) (on ouktg iasra) (on-table iclhs) (on iasra iclhs) (on huwck lhbzr)
STATE: (on-table huwck) (on-table iclhs) (clear ouktg) (holding iasra) (on ouktg huwck) (clear lhbzr) (clear iclhs) (on-table lhbzr) | [
[
"stack iasra iclhs"
],
[
"unstack ouktg huwck"
],
[
"stack ouktg iasra"
],
[
"pick-up lhbzr"
],
[
"stack lhbzr ouktg"
],
[
"pick-up huwck"
],
[
"stack huwck lhbzr"
]
] | [
"(arm-empty) (on-table huwck) (on-table iclhs) (clear ouktg) (on iasra iclhs) (on ouktg huwck) (clear lhbzr) (on-table lhbzr) (clear iasra)",
"(clear huwck) (on-table huwck) (on-table iclhs) (holding ouktg) (on iasra iclhs) (clear lhbzr) (on-table lhbzr) (clear iasra)",
"(clear huwck) (arm-empty) (on-table huwck) (on ouktg iasra) (on-table iclhs) (clear ouktg) (on iasra iclhs) (clear lhbzr) (on-table lhbzr)",
"(clear huwck) (on-table huwck) (on ouktg iasra) (on-table iclhs) (clear ouktg) (on iasra iclhs) (holding lhbzr)",
"(on lhbzr ouktg) (clear huwck) (arm-empty) (on-table huwck) (on ouktg iasra) (on-table iclhs) (on iasra iclhs) (clear lhbzr)",
"(on lhbzr ouktg) (on ouktg iasra) (on-table iclhs) (on iasra iclhs) (holding huwck) (clear lhbzr)",
"(on lhbzr ouktg) (clear huwck) (arm-empty) (on ouktg iasra) (on-table iclhs) (on iasra iclhs) (on huwck lhbzr)"
] | file_87141 |
GOAL: (clear zfywu) (on yapqe ceebo) (holding nedbn) (on-table zfywu) (on ceebo tbpyr) (clear yapqe) (on-table tbpyr) | GOAL: (clear zfywu) (on yapqe ceebo) (holding nedbn) (on-table zfywu) (on ceebo tbpyr) (clear yapqe) (on-table tbpyr)
STATE: (on yapqe nedbn) (clear ceebo) (on-table ceebo) (on-table nedbn) (holding zfywu) (clear tbpyr) (clear yapqe) (on-table tbpyr) | [
[
"put-down zfywu"
],
[
"pick-up ceebo"
],
[
"stack ceebo tbpyr"
],
[
"unstack yapqe nedbn"
],
[
"stack yapqe ceebo"
],
[
"pick-up nedbn"
]
] | [
"(on yapqe nedbn) (clear ceebo) (arm-empty) (on-table ceebo) (on-table nedbn) (clear zfywu) (on-table zfywu) (clear tbpyr) (clear yapqe) (on-table tbpyr)",
"(on yapqe nedbn) (on-table nedbn) (clear zfywu) (on-table zfywu) (holding ceebo) (clear tbpyr) (clear yapqe) (on-table tbpyr)",
"(on yapqe nedbn) (clear ceebo) (arm-empty) (on-table nedbn) (clear zfywu) (on-table zfywu) (on ceebo tbpyr) (clear yapqe) (on-table tbpyr)",
"(holding yapqe) (clear ceebo) (on-table nedbn) (clear zfywu) (on-table zfywu) (on ceebo tbpyr) (on-table tbpyr) (clear nedbn)",
"(clear yapqe) (arm-empty) (on-table nedbn) (clear zfywu) (on-table zfywu) (on ceebo tbpyr) (on yapqe ceebo) (on-table tbpyr) (clear nedbn)",
"(clear zfywu) (on yapqe ceebo) (holding nedbn) (on-table zfywu) (on ceebo tbpyr) (clear yapqe) (on-table tbpyr)"
] | file_37325 |
GOAL: (on mbhwu vfrci) (on-table rbqka) (on-table vfrci) (clear midiq) (on midiq rbqka) (holding nwjta) (clear mbhwu) | GOAL: (on mbhwu vfrci) (on-table rbqka) (on-table vfrci) (clear midiq) (on midiq rbqka) (holding nwjta) (clear mbhwu)
STATE: (holding mbhwu) (clear rbqka) (on-table rbqka) (on-table vfrci) (clear midiq) (on-table midiq) (clear nwjta) (on-table nwjta) (clear vfrci) | [
[
"stack mbhwu nwjta"
],
[
"pick-up vfrci"
],
[
"stack vfrci mbhwu"
],
[
"pick-up midiq"
],
[
"stack midiq rbqka"
],
[
"unstack vfrci mbhwu"
],
[
"put-down vfrci"
],
[
"unstack mbhwu nwjta"
],
[
"stack mbhwu vfrci"
],
[
"pick-up nwjta"
]
] | [
"(clear rbqka) (on mbhwu nwjta) (arm-empty) (on-table rbqka) (on-table vfrci) (clear midiq) (on-table midiq) (clear mbhwu) (on-table nwjta) (clear vfrci)",
"(clear rbqka) (on mbhwu nwjta) (on-table rbqka) (clear midiq) (holding vfrci) (on-table midiq) (clear mbhwu) (on-table nwjta)",
"(clear rbqka) (on mbhwu nwjta) (arm-empty) (on-table rbqka) (clear midiq) (on vfrci mbhwu) (on-table midiq) (on-table nwjta) (clear vfrci)",
"(clear rbqka) (on mbhwu nwjta) (on-table rbqka) (holding midiq) (on vfrci mbhwu) (on-table nwjta) (clear vfrci)",
"(on mbhwu nwjta) (arm-empty) (on-table rbqka) (clear midiq) (clear vfrci) (on vfrci mbhwu) (on midiq rbqka) (on-table nwjta)",
"(on mbhwu nwjta) (on-table rbqka) (clear midiq) (holding vfrci) (on midiq rbqka) (clear mbhwu) (on-table nwjta)",
"(on mbhwu nwjta) (arm-empty) (on-table rbqka) (on-table vfrci) (clear midiq) (clear vfrci) (on midiq rbqka) (clear mbhwu) (on-table nwjta)",
"(holding mbhwu) (on-table rbqka) (on-table vfrci) (clear midiq) (on midiq rbqka) (clear nwjta) (on-table nwjta) (clear vfrci)",
"(on mbhwu vfrci) (arm-empty) (on-table rbqka) (on-table vfrci) (clear midiq) (on midiq rbqka) (clear nwjta) (clear mbhwu) (on-table nwjta)",
"(on mbhwu vfrci) (on-table rbqka) (on-table vfrci) (clear midiq) (on midiq rbqka) (holding nwjta) (clear mbhwu)"
] | file_25208 |
GOAL: (on ocukw opiuh) (arm-empty) (on opiuh lgxyl) (on gjeao dbfws) (on lgxyl gjeao) (clear ocukw) (on-table dbfws) | GOAL: (on ocukw opiuh) (arm-empty) (on opiuh lgxyl) (on gjeao dbfws) (on lgxyl gjeao) (clear ocukw) (on-table dbfws)
STATE: (on-table opiuh) (on-table ocukw) (clear gjeao) (on-table gjeao) (holding lgxyl) (clear dbfws) (clear ocukw) (on-table dbfws) (clear opiuh) | [
[
"stack lgxyl opiuh"
],
[
"pick-up gjeao"
],
[
"stack gjeao dbfws"
],
[
"unstack lgxyl opiuh"
],
[
"stack lgxyl gjeao"
],
[
"pick-up opiuh"
],
[
"stack opiuh lgxyl"
],
[
"pick-up ocukw"
],
[
"stack ocukw opiuh"
]
] | [
"(clear lgxyl) (arm-empty) (on-table opiuh) (on-table ocukw) (clear gjeao) (on-table gjeao) (on lgxyl opiuh) (clear dbfws) (clear ocukw) (on-table dbfws)",
"(clear lgxyl) (on-table opiuh) (on-table ocukw) (holding gjeao) (on lgxyl opiuh) (clear dbfws) (clear ocukw) (on-table dbfws)",
"(clear lgxyl) (arm-empty) (on-table opiuh) (on-table ocukw) (clear gjeao) (on gjeao dbfws) (on lgxyl opiuh) (clear ocukw) (on-table dbfws)",
"(on-table opiuh) (on-table ocukw) (clear gjeao) (on gjeao dbfws) (holding lgxyl) (clear ocukw) (on-table dbfws) (clear opiuh)",
"(clear lgxyl) (arm-empty) (on-table opiuh) (on-table ocukw) (on gjeao dbfws) (on lgxyl gjeao) (clear ocukw) (on-table dbfws) (clear opiuh)",
"(clear lgxyl) (on-table ocukw) (on gjeao dbfws) (holding opiuh) (on lgxyl gjeao) (clear ocukw) (on-table dbfws)",
"(arm-empty) (on-table ocukw) (on opiuh lgxyl) (on gjeao dbfws) (on lgxyl gjeao) (clear ocukw) (on-table dbfws) (clear opiuh)",
"(holding ocukw) (on opiuh lgxyl) (on gjeao dbfws) (on lgxyl gjeao) (on-table dbfws) (clear opiuh)",
"(on ocukw opiuh) (arm-empty) (on opiuh lgxyl) (on gjeao dbfws) (on lgxyl gjeao) (clear ocukw) (on-table dbfws)"
] | file_91754 |
GOAL: (on ygucr zmzqu) (on jdhuk ygucr) (on-table aptxa) (arm-empty) (on zmzqu aptxa) (clear jdhuk) | GOAL: (on ygucr zmzqu) (on jdhuk ygucr) (on-table aptxa) (arm-empty) (on zmzqu aptxa) (clear jdhuk)
STATE: (holding ygucr) (on zmzqu jdhuk) (clear aptxa) (on-table aptxa) (on-table jdhuk) (clear zmzqu) | [
[
"put-down ygucr"
],
[
"unstack zmzqu jdhuk"
],
[
"stack zmzqu aptxa"
],
[
"pick-up ygucr"
],
[
"stack ygucr zmzqu"
],
[
"pick-up jdhuk"
],
[
"stack jdhuk ygucr"
]
] | [
"(arm-empty) (on-table aptxa) (on zmzqu jdhuk) (clear aptxa) (on-table ygucr) (on-table jdhuk) (clear zmzqu) (clear ygucr)",
"(clear aptxa) (on-table aptxa) (on-table ygucr) (clear jdhuk) (on-table jdhuk) (holding zmzqu) (clear ygucr)",
"(arm-empty) (on-table aptxa) (on-table ygucr) (on zmzqu aptxa) (clear jdhuk) (on-table jdhuk) (clear zmzqu) (clear ygucr)",
"(holding ygucr) (on-table aptxa) (on zmzqu aptxa) (clear jdhuk) (on-table jdhuk) (clear zmzqu)",
"(on ygucr zmzqu) (arm-empty) (on-table aptxa) (on zmzqu aptxa) (clear jdhuk) (on-table jdhuk) (clear ygucr)",
"(on ygucr zmzqu) (on-table aptxa) (holding jdhuk) (on zmzqu aptxa) (clear ygucr)",
"(on ygucr zmzqu) (on jdhuk ygucr) (on-table aptxa) (arm-empty) (on zmzqu aptxa) (clear jdhuk)"
] | file_133607 |
GOAL: (clear ipumt) (on qpohg utmtm) (on nsmoj qpohg) (on-table ipumt) (arm-empty) (on-table utmtm) (clear wqies) (on-table wqies) (clear nsmoj) | GOAL: (clear ipumt) (on qpohg utmtm) (on nsmoj qpohg) (on-table ipumt) (arm-empty) (on-table utmtm) (clear wqies) (on-table wqies) (clear nsmoj)
STATE: (clear ipumt) (on qpohg utmtm) (on-table ipumt) (on-table nsmoj) (on-table utmtm) (clear qpohg) (holding wqies) (clear nsmoj) | [
[
"put-down wqies"
],
[
"pick-up nsmoj"
],
[
"stack nsmoj qpohg"
]
] | [
"(clear ipumt) (on qpohg utmtm) (arm-empty) (on-table ipumt) (on-table nsmoj) (on-table utmtm) (clear qpohg) (clear wqies) (on-table wqies) (clear nsmoj)",
"(clear ipumt) (on qpohg utmtm) (on-table ipumt) (on-table utmtm) (clear qpohg) (holding nsmoj) (clear wqies) (on-table wqies)",
"(clear ipumt) (on qpohg utmtm) (on nsmoj qpohg) (on-table ipumt) (arm-empty) (on-table utmtm) (clear wqies) (on-table wqies) (clear nsmoj)"
] | file_74787 |
GOAL: (clear mcamf) (arm-empty) (on-table auumr) (on-table oplmt) (on qptjd auumr) (clear qptjd) (on mcamf fhqes) (clear oplmt) (on-table fhqes) | GOAL: (clear mcamf) (arm-empty) (on-table auumr) (on-table oplmt) (on qptjd auumr) (clear qptjd) (on mcamf fhqes) (clear oplmt) (on-table fhqes)
STATE: (clear mcamf) (on-table oplmt) (clear qptjd) (holding auumr) (on-table qptjd) (on mcamf oplmt) (clear fhqes) (on-table fhqes) | [
[
"stack auumr qptjd"
],
[
"unstack mcamf oplmt"
],
[
"stack mcamf fhqes"
],
[
"unstack auumr qptjd"
],
[
"stack auumr oplmt"
],
[
"pick-up qptjd"
],
[
"stack qptjd mcamf"
],
[
"unstack auumr oplmt"
],
[
"put-down auumr"
],
[
"unstack qptjd mcamf"
],
[
"stack qptjd auumr"
]
] | [
"(clear mcamf) (arm-empty) (on auumr qptjd) (on-table oplmt) (on-table qptjd) (on mcamf oplmt) (clear fhqes) (on-table fhqes) (clear auumr)",
"(on auumr qptjd) (on-table oplmt) (on-table qptjd) (holding mcamf) (clear fhqes) (clear oplmt) (on-table fhqes) (clear auumr)",
"(clear mcamf) (arm-empty) (on auumr qptjd) (on-table oplmt) (on-table qptjd) (on mcamf fhqes) (clear oplmt) (on-table fhqes) (clear auumr)",
"(clear mcamf) (on-table oplmt) (clear qptjd) (holding auumr) (on-table qptjd) (on mcamf fhqes) (clear oplmt) (on-table fhqes)",
"(clear mcamf) (arm-empty) (on-table oplmt) (clear qptjd) (on auumr oplmt) (on-table qptjd) (on mcamf fhqes) (on-table fhqes) (clear auumr)",
"(clear mcamf) (on-table oplmt) (holding qptjd) (on auumr oplmt) (on mcamf fhqes) (on-table fhqes) (clear auumr)",
"(arm-empty) (on-table oplmt) (clear qptjd) (on auumr oplmt) (on qptjd mcamf) (on mcamf fhqes) (on-table fhqes) (clear auumr)",
"(on-table oplmt) (clear qptjd) (holding auumr) (on qptjd mcamf) (on mcamf fhqes) (clear oplmt) (on-table fhqes)",
"(arm-empty) (on-table auumr) (clear qptjd) (clear auumr) (on-table oplmt) (on qptjd mcamf) (on mcamf fhqes) (clear oplmt) (on-table fhqes)",
"(clear mcamf) (on-table auumr) (on-table oplmt) (holding qptjd) (on mcamf fhqes) (clear oplmt) (on-table fhqes) (clear auumr)",
"(clear mcamf) (arm-empty) (on-table auumr) (on-table oplmt) (on qptjd auumr) (clear qptjd) (on mcamf fhqes) (clear oplmt) (on-table fhqes)"
] | file_134151 |
GOAL: (holding mnbpt) (on plpue xhysi) (on kqjmk plpue) (on gpaga kqjmk) (clear gpaga) (on-table xhysi) | GOAL: (holding mnbpt) (on plpue xhysi) (on kqjmk plpue) (on gpaga kqjmk) (clear gpaga) (on-table xhysi)
STATE: (clear kqjmk) (arm-empty) (on-table kqjmk) (on mnbpt plpue) (on plpue xhysi) (on gpaga mnbpt) (clear gpaga) (on-table xhysi) | [
[
"unstack gpaga mnbpt"
],
[
"stack gpaga kqjmk"
],
[
"unstack mnbpt plpue"
],
[
"put-down mnbpt"
],
[
"unstack gpaga kqjmk"
],
[
"stack gpaga mnbpt"
],
[
"pick-up kqjmk"
],
[
"stack kqjmk plpue"
],
[
"unstack gpaga mnbpt"
],
[
"stack gpaga kqjmk"
],
[
"pick-up mnbpt"
]
] | [
"(holding gpaga) (clear kqjmk) (on-table kqjmk) (on mnbpt plpue) (clear mnbpt) (on plpue xhysi) (on-table xhysi)",
"(arm-empty) (on-table kqjmk) (on mnbpt plpue) (clear mnbpt) (on plpue xhysi) (on gpaga kqjmk) (clear gpaga) (on-table xhysi)",
"(on-table kqjmk) (holding mnbpt) (on plpue xhysi) (on gpaga kqjmk) (clear gpaga) (on-table xhysi) (clear plpue)",
"(arm-empty) (on-table kqjmk) (clear mnbpt) (on plpue xhysi) (on gpaga kqjmk) (clear plpue) (on-table mnbpt) (clear gpaga) (on-table xhysi)",
"(holding gpaga) (clear kqjmk) (on-table kqjmk) (clear mnbpt) (on plpue xhysi) (on-table mnbpt) (on-table xhysi) (clear plpue)",
"(clear kqjmk) (arm-empty) (on-table kqjmk) (on plpue xhysi) (on-table mnbpt) (on gpaga mnbpt) (clear gpaga) (on-table xhysi) (clear plpue)",
"(holding kqjmk) (on plpue xhysi) (on-table mnbpt) (on gpaga mnbpt) (clear gpaga) (on-table xhysi) (clear plpue)",
"(clear kqjmk) (arm-empty) (on plpue xhysi) (on-table mnbpt) (on gpaga mnbpt) (on kqjmk plpue) (clear gpaga) (on-table xhysi)",
"(holding gpaga) (clear kqjmk) (clear mnbpt) (on plpue xhysi) (on-table mnbpt) (on kqjmk plpue) (on-table xhysi)",
"(arm-empty) (clear mnbpt) (on plpue xhysi) (on-table mnbpt) (on kqjmk plpue) (on gpaga kqjmk) (clear gpaga) (on-table xhysi)",
"(holding mnbpt) (on plpue xhysi) (on kqjmk plpue) (on gpaga kqjmk) (clear gpaga) (on-table xhysi)"
] | file_193362 |
GOAL: (clear hkmxe) (arm-empty) (on tqfzo qvnrs) (on-table lbvvh) (on-table qvnrs) (on hkmxe tqfzo) (clear adoxu) (clear lbvvh) (on-table adoxu) | GOAL: (clear hkmxe) (arm-empty) (on tqfzo qvnrs) (on-table lbvvh) (on-table qvnrs) (on hkmxe tqfzo) (clear adoxu) (clear lbvvh) (on-table adoxu)
STATE: (clear lbvvh) (arm-empty) (on-table tqfzo) (clear qvnrs) (on-table qvnrs) (on hkmxe adoxu) (on lbvvh hkmxe) (on-table adoxu) (clear tqfzo) | [
[
"pick-up tqfzo"
],
[
"stack tqfzo qvnrs"
],
[
"unstack lbvvh hkmxe"
],
[
"put-down lbvvh"
],
[
"unstack hkmxe adoxu"
],
[
"stack hkmxe tqfzo"
]
] | [
"(clear lbvvh) (clear qvnrs) (holding tqfzo) (on-table qvnrs) (on hkmxe adoxu) (on lbvvh hkmxe) (on-table adoxu)",
"(arm-empty) (on tqfzo qvnrs) (on-table qvnrs) (on hkmxe adoxu) (on lbvvh hkmxe) (clear lbvvh) (on-table adoxu) (clear tqfzo)",
"(holding lbvvh) (clear hkmxe) (on tqfzo qvnrs) (on-table qvnrs) (on hkmxe adoxu) (on-table adoxu) (clear tqfzo)",
"(arm-empty) (on tqfzo qvnrs) (clear tqfzo) (clear hkmxe) (on-table lbvvh) (on-table qvnrs) (on hkmxe adoxu) (clear lbvvh) (on-table adoxu)",
"(on tqfzo qvnrs) (on-table lbvvh) (on-table qvnrs) (holding hkmxe) (clear adoxu) (clear lbvvh) (on-table adoxu) (clear tqfzo)",
"(clear hkmxe) (arm-empty) (on tqfzo qvnrs) (on-table lbvvh) (on-table qvnrs) (on hkmxe tqfzo) (clear adoxu) (clear lbvvh) (on-table adoxu)"
] | file_102606 |
GOAL: (on bppev psvmh) (clear eqwzc) (on-table psvmh) (clear ygsym) (on-table ygsym) (on eqwzc bppev) (holding ogeaa) | GOAL: (on bppev psvmh) (clear eqwzc) (on-table psvmh) (clear ygsym) (on-table ygsym) (on eqwzc bppev) (holding ogeaa)
STATE: (holding bppev) (clear eqwzc) (on-table psvmh) (clear ygsym) (on-table ygsym) (on eqwzc ogeaa) (on-table ogeaa) (clear psvmh) | [
[
"stack bppev ygsym"
],
[
"unstack eqwzc ogeaa"
],
[
"put-down eqwzc"
],
[
"unstack bppev ygsym"
],
[
"stack bppev psvmh"
],
[
"pick-up eqwzc"
],
[
"stack eqwzc bppev"
],
[
"pick-up ogeaa"
]
] | [
"(clear eqwzc) (arm-empty) (on-table psvmh) (on-table ygsym) (on bppev ygsym) (on eqwzc ogeaa) (clear bppev) (on-table ogeaa) (clear psvmh)",
"(on-table psvmh) (holding eqwzc) (on-table ygsym) (on bppev ygsym) (clear ogeaa) (clear bppev) (on-table ogeaa) (clear psvmh)",
"(clear eqwzc) (arm-empty) (on-table eqwzc) (on-table psvmh) (clear psvmh) (on-table ygsym) (clear ogeaa) (on bppev ygsym) (on-table ogeaa) (clear bppev)",
"(holding bppev) (clear eqwzc) (on-table eqwzc) (on-table psvmh) (clear ygsym) (on-table ygsym) (clear ogeaa) (on-table ogeaa) (clear psvmh)",
"(on bppev psvmh) (clear eqwzc) (arm-empty) (on-table eqwzc) (on-table psvmh) (clear ygsym) (on-table ygsym) (clear ogeaa) (clear bppev) (on-table ogeaa)",
"(on bppev psvmh) (on-table psvmh) (clear ygsym) (on-table ygsym) (holding eqwzc) (clear ogeaa) (clear bppev) (on-table ogeaa)",
"(on bppev psvmh) (clear eqwzc) (arm-empty) (on-table psvmh) (clear ygsym) (on-table ygsym) (on eqwzc bppev) (clear ogeaa) (on-table ogeaa)",
"(on bppev psvmh) (clear eqwzc) (on-table psvmh) (clear ygsym) (on-table ygsym) (on eqwzc bppev) (holding ogeaa)"
] | file_182752 |
GOAL: (clear mtblp) (on-table mtblp) (holding nkmbx) (on-table exubo) (on eruuo exubo) (clear nkujw) (clear eruuo) (on-table nkujw) | GOAL: (clear mtblp) (on-table mtblp) (holding nkmbx) (on-table exubo) (on eruuo exubo) (clear nkujw) (clear eruuo) (on-table nkujw)
STATE: (on eruuo nkmbx) (arm-empty) (on nkmbx mtblp) (on mtblp exubo) (on-table exubo) (on nkujw eruuo) (clear nkujw) | [
[
"unstack nkujw eruuo"
],
[
"put-down nkujw"
],
[
"unstack eruuo nkmbx"
],
[
"stack eruuo nkujw"
],
[
"unstack nkmbx mtblp"
],
[
"stack nkmbx eruuo"
],
[
"unstack mtblp exubo"
],
[
"put-down mtblp"
],
[
"unstack nkmbx eruuo"
],
[
"stack nkmbx mtblp"
],
[
"unstack eruuo nkujw"
],
[
"stack eruuo exubo"
],
[
"unstack nkmbx mtblp"
]
] | [
"(on eruuo nkmbx) (on nkmbx mtblp) (on mtblp exubo) (on-table exubo) (holding nkujw) (clear eruuo)",
"(on eruuo nkmbx) (arm-empty) (on nkmbx mtblp) (on mtblp exubo) (on-table exubo) (clear nkujw) (clear eruuo) (on-table nkujw)",
"(holding eruuo) (on nkmbx mtblp) (on-table exubo) (on mtblp exubo) (clear nkujw) (on-table nkujw) (clear nkmbx)",
"(on eruuo nkujw) (arm-empty) (on nkmbx mtblp) (on-table exubo) (on mtblp exubo) (clear eruuo) (on-table nkujw) (clear nkmbx)",
"(clear mtblp) (on eruuo nkujw) (holding nkmbx) (on-table exubo) (on mtblp exubo) (clear eruuo) (on-table nkujw)",
"(clear mtblp) (on eruuo nkujw) (arm-empty) (on nkmbx eruuo) (on-table exubo) (on mtblp exubo) (on-table nkujw) (clear nkmbx)",
"(on eruuo nkujw) (clear exubo) (on nkmbx eruuo) (on-table exubo) (holding mtblp) (on-table nkujw) (clear nkmbx)",
"(on eruuo nkujw) (arm-empty) (on-table mtblp) (clear exubo) (clear nkmbx) (clear mtblp) (on nkmbx eruuo) (on-table exubo) (on-table nkujw)",
"(clear mtblp) (on eruuo nkujw) (on-table mtblp) (clear exubo) (holding nkmbx) (on-table exubo) (clear eruuo) (on-table nkujw)",
"(on eruuo nkujw) (arm-empty) (on-table mtblp) (on nkmbx mtblp) (clear exubo) (on-table exubo) (clear eruuo) (on-table nkujw) (clear nkmbx)",
"(holding eruuo) (on-table mtblp) (on nkmbx mtblp) (clear exubo) (on-table exubo) (clear nkujw) (on-table nkujw) (clear nkmbx)",
"(arm-empty) (on-table mtblp) (on nkmbx mtblp) (on-table exubo) (on eruuo exubo) (clear nkujw) (clear eruuo) (on-table nkujw) (clear nkmbx)",
"(clear mtblp) (on-table mtblp) (holding nkmbx) (on-table exubo) (on eruuo exubo) (clear nkujw) (clear eruuo) (on-table nkujw)"
] | file_111014 |
GOAL: (clear bihhu) (arm-empty) (on-table bihhu) (on-table jsgst) (clear mrmqk) (on utjcv nnekb) (on-table mrmqk) (clear jsgst) (on-table nnekb) (clear utjcv) | GOAL: (clear bihhu) (arm-empty) (on-table bihhu) (on-table jsgst) (clear mrmqk) (on utjcv nnekb) (on-table mrmqk) (clear jsgst) (on-table nnekb) (clear utjcv)
STATE: (on nnekb utjcv) (on mrmqk jsgst) (on utjcv mrmqk) (on-table bihhu) (arm-empty) (clear nnekb) (on jsgst bihhu) | [
[
"unstack nnekb utjcv"
],
[
"put-down nnekb"
],
[
"unstack utjcv mrmqk"
],
[
"stack utjcv nnekb"
],
[
"unstack mrmqk jsgst"
],
[
"put-down mrmqk"
],
[
"unstack jsgst bihhu"
],
[
"put-down jsgst"
]
] | [
"(on mrmqk jsgst) (on utjcv mrmqk) (on-table bihhu) (on jsgst bihhu) (clear utjcv) (holding nnekb)",
"(on mrmqk jsgst) (on utjcv mrmqk) (on-table bihhu) (arm-empty) (clear nnekb) (on jsgst bihhu) (on-table nnekb) (clear utjcv)",
"(on mrmqk jsgst) (on-table bihhu) (clear mrmqk) (holding utjcv) (clear nnekb) (on jsgst bihhu) (on-table nnekb)",
"(on mrmqk jsgst) (arm-empty) (on-table bihhu) (clear mrmqk) (on utjcv nnekb) (on jsgst bihhu) (on-table nnekb) (clear utjcv)",
"(on-table bihhu) (holding mrmqk) (on utjcv nnekb) (on jsgst bihhu) (clear jsgst) (on-table nnekb) (clear utjcv)",
"(arm-empty) (on-table bihhu) (clear mrmqk) (on utjcv nnekb) (on jsgst bihhu) (clear utjcv) (on-table mrmqk) (clear jsgst) (on-table nnekb)",
"(holding jsgst) (clear bihhu) (on-table bihhu) (clear mrmqk) (on utjcv nnekb) (on-table mrmqk) (on-table nnekb) (clear utjcv)",
"(clear bihhu) (arm-empty) (on-table bihhu) (on-table jsgst) (clear mrmqk) (on utjcv nnekb) (on-table mrmqk) (clear jsgst) (on-table nnekb) (clear utjcv)"
] | file_86345 |
GOAL: (clear fthgd) (arm-empty) (on hzofr lixmj) (on-table odqpi) (clear hzofr) (on lixmj bzxje) (on fthgd odqpi) (on-table bzxje) | GOAL: (clear fthgd) (arm-empty) (on hzofr lixmj) (on-table odqpi) (clear hzofr) (on lixmj bzxje) (on fthgd odqpi) (on-table bzxje)
STATE: (on bzxje hzofr) (arm-empty) (on hzofr lixmj) (on-table odqpi) (on lixmj fthgd) (on fthgd odqpi) (clear bzxje) | [
[
"unstack bzxje hzofr"
],
[
"put-down bzxje"
],
[
"unstack hzofr lixmj"
],
[
"put-down hzofr"
],
[
"unstack lixmj fthgd"
],
[
"stack lixmj bzxje"
],
[
"pick-up hzofr"
],
[
"stack hzofr lixmj"
]
] | [
"(on hzofr lixmj) (on lixmj fthgd) (clear hzofr) (on fthgd odqpi) (on-table odqpi) (holding bzxje)",
"(arm-empty) (on hzofr lixmj) (on-table odqpi) (on lixmj fthgd) (clear bzxje) (clear hzofr) (on fthgd odqpi) (on-table bzxje)",
"(on-table odqpi) (holding hzofr) (on lixmj fthgd) (on fthgd odqpi) (clear bzxje) (on-table bzxje) (clear lixmj)",
"(arm-empty) (on lixmj fthgd) (clear hzofr) (on fthgd odqpi) (clear lixmj) (on-table odqpi) (on-table hzofr) (clear bzxje) (on-table bzxje)",
"(clear fthgd) (on-table odqpi) (clear hzofr) (holding lixmj) (on-table hzofr) (on fthgd odqpi) (clear bzxje) (on-table bzxje)",
"(clear fthgd) (arm-empty) (on-table odqpi) (clear hzofr) (on lixmj bzxje) (on-table hzofr) (on fthgd odqpi) (on-table bzxje) (clear lixmj)",
"(clear fthgd) (on-table odqpi) (holding hzofr) (on lixmj bzxje) (on fthgd odqpi) (on-table bzxje) (clear lixmj)",
"(clear fthgd) (arm-empty) (on hzofr lixmj) (on-table odqpi) (clear hzofr) (on lixmj bzxje) (on fthgd odqpi) (on-table bzxje)"
] | file_64818 |
GOAL: (clear fueso) (on fzgvo ajtcs) (on zoqbu fzgvo) (on-table fueso) (on-table ajtcs) (holding kgrme) (clear zoqbu) | GOAL: (clear fueso) (on fzgvo ajtcs) (on zoqbu fzgvo) (on-table fueso) (on-table ajtcs) (holding kgrme) (clear zoqbu)
STATE: (clear fueso) (on-table fueso) (on-table zoqbu) (on-table ajtcs) (on fzgvo zoqbu) (clear fzgvo) (holding kgrme) (clear ajtcs) | [
[
"put-down kgrme"
],
[
"unstack fzgvo zoqbu"
],
[
"stack fzgvo ajtcs"
],
[
"pick-up zoqbu"
],
[
"stack zoqbu fzgvo"
],
[
"pick-up kgrme"
]
] | [
"(clear fueso) (arm-empty) (on-table fueso) (on-table zoqbu) (on-table ajtcs) (on fzgvo zoqbu) (clear fzgvo) (clear kgrme) (clear ajtcs) (on-table kgrme)",
"(clear fueso) (on-table fueso) (on-table zoqbu) (on-table ajtcs) (holding fzgvo) (clear kgrme) (clear ajtcs) (on-table kgrme) (clear zoqbu)",
"(clear fueso) (on fzgvo ajtcs) (arm-empty) (on-table fueso) (on-table zoqbu) (on-table ajtcs) (clear fzgvo) (clear kgrme) (on-table kgrme) (clear zoqbu)",
"(clear fueso) (on fzgvo ajtcs) (on-table fueso) (on-table ajtcs) (clear fzgvo) (holding zoqbu) (clear kgrme) (on-table kgrme)",
"(clear fueso) (on fzgvo ajtcs) (on zoqbu fzgvo) (on-table fueso) (arm-empty) (on-table ajtcs) (clear kgrme) (on-table kgrme) (clear zoqbu)",
"(clear fueso) (on fzgvo ajtcs) (on zoqbu fzgvo) (on-table fueso) (on-table ajtcs) (holding kgrme) (clear zoqbu)"
] | file_149432 |
GOAL: (on bryqe wjirz) (clear atrce) (on wjirz yjzyn) (on-table atrce) (on-table yjzyn) (holding qrhzl) (clear bryqe) | GOAL: (on bryqe wjirz) (clear atrce) (on wjirz yjzyn) (on-table atrce) (on-table yjzyn) (holding qrhzl) (clear bryqe)
STATE: (on bryqe wjirz) (on wjirz yjzyn) (on-table qrhzl) (on-table yjzyn) (holding atrce) (clear bryqe) (clear qrhzl) | [
[
"put-down atrce"
],
[
"pick-up qrhzl"
]
] | [
"(on wjirz yjzyn) (arm-empty) (on-table atrce) (on-table qrhzl) (clear qrhzl) (on bryqe wjirz) (clear atrce) (on-table yjzyn) (clear bryqe)",
"(on bryqe wjirz) (clear atrce) (on wjirz yjzyn) (on-table atrce) (on-table yjzyn) (holding qrhzl) (clear bryqe)"
] | file_206757 |
GOAL: (on hjvqz mfuaz) (on-table xqpgf) (on-table mfuaz) (holding afrru) (on rmskq xqpgf) (clear rmskq) (clear hjvqz) | GOAL: (on hjvqz mfuaz) (on-table xqpgf) (on-table mfuaz) (holding afrru) (on rmskq xqpgf) (clear rmskq) (clear hjvqz)
STATE: (on-table xqpgf) (clear mfuaz) (on hjvqz rmskq) (on-table mfuaz) (holding afrru) (on rmskq xqpgf) (clear hjvqz) | [
[
"put-down afrru"
],
[
"unstack hjvqz rmskq"
],
[
"stack hjvqz mfuaz"
],
[
"pick-up afrru"
]
] | [
"(arm-empty) (on-table afrru) (clear mfuaz) (on hjvqz rmskq) (on rmskq xqpgf) (clear hjvqz) (clear afrru) (on-table xqpgf) (on-table mfuaz)",
"(clear afrru) (on-table afrru) (on-table xqpgf) (clear mfuaz) (holding hjvqz) (on-table mfuaz) (on rmskq xqpgf) (clear rmskq)",
"(clear afrru) (arm-empty) (on hjvqz mfuaz) (on-table afrru) (on-table xqpgf) (on-table mfuaz) (on rmskq xqpgf) (clear rmskq) (clear hjvqz)",
"(on hjvqz mfuaz) (on-table xqpgf) (on-table mfuaz) (holding afrru) (on rmskq xqpgf) (clear rmskq) (clear hjvqz)"
] | file_171092 |
GOAL: (holding pubbu) (clear hbkig) (on-table hbkig) (on-table yawyy) (clear wpwlc) (on wpwlc ogtog) (on-table ogtog) (clear yawyy) | GOAL: (holding pubbu) (clear hbkig) (on-table hbkig) (on-table yawyy) (clear wpwlc) (on wpwlc ogtog) (on-table ogtog) (clear yawyy)
STATE: (holding pubbu) (on yawyy hbkig) (on wpwlc ogtog) (on hbkig wpwlc) (on-table ogtog) (clear yawyy) | [
[
"put-down pubbu"
],
[
"unstack yawyy hbkig"
],
[
"put-down yawyy"
],
[
"unstack hbkig wpwlc"
],
[
"put-down hbkig"
],
[
"pick-up pubbu"
]
] | [
"(arm-empty) (on yawyy hbkig) (on hbkig wpwlc) (clear yawyy) (on-table pubbu) (on wpwlc ogtog) (clear pubbu) (on-table ogtog)",
"(clear hbkig) (on-table pubbu) (on wpwlc ogtog) (holding yawyy) (on hbkig wpwlc) (clear pubbu) (on-table ogtog)",
"(arm-empty) (on-table yawyy) (on hbkig wpwlc) (clear yawyy) (clear hbkig) (on-table pubbu) (on wpwlc ogtog) (clear pubbu) (on-table ogtog)",
"(on-table yawyy) (on-table pubbu) (clear wpwlc) (on wpwlc ogtog) (holding hbkig) (clear pubbu) (on-table ogtog) (clear yawyy)",
"(clear hbkig) (arm-empty) (on-table hbkig) (on-table yawyy) (on-table pubbu) (clear wpwlc) (on wpwlc ogtog) (clear pubbu) (on-table ogtog) (clear yawyy)",
"(holding pubbu) (clear hbkig) (on-table hbkig) (on-table yawyy) (clear wpwlc) (on wpwlc ogtog) (on-table ogtog) (clear yawyy)"
] | file_203025 |
GOAL: (clear bsynu) (on hobng ncilh) (on-table iyxjj) (on-table ncilh) (on bsynu iyxjj) (holding eaoai) (clear hobng) | GOAL: (clear bsynu) (on hobng ncilh) (on-table iyxjj) (on-table ncilh) (on bsynu iyxjj) (holding eaoai) (clear hobng)
STATE: (clear bsynu) (arm-empty) (on hobng ncilh) (on-table iyxjj) (on-table ncilh) (on bsynu hobng) (clear eaoai) (clear iyxjj) (on-table eaoai) | [
[
"unstack bsynu hobng"
],
[
"stack bsynu iyxjj"
],
[
"pick-up eaoai"
]
] | [
"(on hobng ncilh) (on-table iyxjj) (on-table ncilh) (holding bsynu) (clear eaoai) (clear iyxjj) (on-table eaoai) (clear hobng)",
"(clear bsynu) (arm-empty) (on hobng ncilh) (on-table iyxjj) (on-table ncilh) (on bsynu iyxjj) (clear eaoai) (on-table eaoai) (clear hobng)",
"(clear bsynu) (on hobng ncilh) (on-table iyxjj) (on-table ncilh) (on bsynu iyxjj) (holding eaoai) (clear hobng)"
] | file_128819 |
GOAL: (on alqfy mfewt) (on-table mfewt) (on kslyx zhfqe) (holding vfpeq) (on zhfqe alqfy) (clear kslyx) | GOAL: (on alqfy mfewt) (on-table mfewt) (on kslyx zhfqe) (holding vfpeq) (on zhfqe alqfy) (clear kslyx)
STATE: (on kslyx alqfy) (clear zhfqe) (on mfewt kslyx) (arm-empty) (on-table zhfqe) (on-table vfpeq) (on-table alqfy) (clear mfewt) (clear vfpeq) | [
[
"unstack mfewt kslyx"
],
[
"stack mfewt zhfqe"
],
[
"unstack kslyx alqfy"
],
[
"put-down kslyx"
],
[
"unstack mfewt zhfqe"
],
[
"put-down mfewt"
],
[
"pick-up alqfy"
],
[
"stack alqfy mfewt"
],
[
"pick-up zhfqe"
],
[
"stack zhfqe alqfy"
],
[
"pick-up kslyx"
],
[
"stack kslyx zhfqe"
],
[
"pick-up vfpeq"
]
] | [
"(holding mfewt) (on kslyx alqfy) (clear zhfqe) (on-table zhfqe) (on-table vfpeq) (on-table alqfy) (clear kslyx) (clear vfpeq)",
"(on kslyx alqfy) (arm-empty) (on-table zhfqe) (on-table vfpeq) (on-table alqfy) (clear kslyx) (on mfewt zhfqe) (clear mfewt) (clear vfpeq)",
"(on-table zhfqe) (on-table vfpeq) (clear alqfy) (on-table alqfy) (on mfewt zhfqe) (clear mfewt) (holding kslyx) (clear vfpeq)",
"(arm-empty) (on-table zhfqe) (on-table vfpeq) (clear alqfy) (on-table alqfy) (clear kslyx) (on mfewt zhfqe) (clear mfewt) (on-table kslyx) (clear vfpeq)",
"(holding mfewt) (clear zhfqe) (on-table zhfqe) (on-table vfpeq) (clear alqfy) (on-table alqfy) (clear kslyx) (on-table kslyx) (clear vfpeq)",
"(clear zhfqe) (arm-empty) (on-table zhfqe) (on-table vfpeq) (on-table mfewt) (clear alqfy) (on-table alqfy) (clear kslyx) (clear mfewt) (on-table kslyx) (clear vfpeq)",
"(clear zhfqe) (on-table zhfqe) (on-table vfpeq) (on-table mfewt) (holding alqfy) (clear kslyx) (clear mfewt) (on-table kslyx) (clear vfpeq)",
"(clear zhfqe) (on alqfy mfewt) (arm-empty) (on-table zhfqe) (on-table vfpeq) (on-table mfewt) (clear alqfy) (clear kslyx) (on-table kslyx) (clear vfpeq)",
"(on alqfy mfewt) (on-table vfpeq) (on-table mfewt) (clear alqfy) (holding zhfqe) (clear kslyx) (on-table kslyx) (clear vfpeq)",
"(clear zhfqe) (on alqfy mfewt) (arm-empty) (on-table vfpeq) (on-table mfewt) (on zhfqe alqfy) (clear kslyx) (on-table kslyx) (clear vfpeq)",
"(clear zhfqe) (on alqfy mfewt) (on-table vfpeq) (on-table mfewt) (on zhfqe alqfy) (holding kslyx) (clear vfpeq)",
"(on alqfy mfewt) (arm-empty) (on-table vfpeq) (on-table mfewt) (on kslyx zhfqe) (on zhfqe alqfy) (clear kslyx) (clear vfpeq)",
"(on alqfy mfewt) (on-table mfewt) (on kslyx zhfqe) (holding vfpeq) (on zhfqe alqfy) (clear kslyx)"
] | file_120533 |
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