goal stringlengths 64 162 | input stringlengths 130 312 | actions listlengths 1 18 | next_states listlengths 1 18 | source_file stringlengths 6 11 |
|---|---|---|---|---|
GOAL: (on mdf1 fiq4) (on-table fiq4) (holding wof2) (clear rjw3) (clear mdf1) (on-table rjw3) | GOAL: (on mdf1 fiq4) (on-table fiq4) (holding wof2) (clear rjw3) (clear mdf1) (on-table rjw3)
STATE: (on-table wof2) (on-table mdf1) (clear fiq4) (on fiq4 wof2) (holding rjw3) (clear mdf1) | [
[
"put-down rjw3"
],
[
"pick-up mdf1"
],
[
"stack mdf1 rjw3"
],
[
"unstack fiq4 wof2"
],
[
"put-down fiq4"
],
[
"unstack mdf1 rjw3"
],
[
"put-down mdf1"
],
[
"pick-up wof2"
],
[
"stack wof2 rjw3"
],
[
"pick-up mdf1"
],
[
"stack mdf1... | [
"(on fiq4 wof2) (arm-empty) (on-table wof2) (on-table mdf1) (clear rjw3) (clear fiq4) (clear mdf1) (on-table rjw3)",
"(holding mdf1) (on-table wof2) (clear fiq4) (on fiq4 wof2) (clear rjw3) (on-table rjw3)",
"(on mdf1 rjw3) (arm-empty) (on-table wof2) (clear fiq4) (on fiq4 wof2) (clear mdf1) (on-table rjw3)",
... | file_224391 |
GOAL: (on-table osy4) (on owz1 osy4) (on ecz3 owz1) (clear ecz3) (holding ngg2) | GOAL: (on-table osy4) (on owz1 osy4) (on ecz3 owz1) (clear ecz3) (holding ngg2)
STATE: (holding owz1) (clear ngg2) (clear osy4) (on-table osy4) (on ngg2 ecz3) (on-table ecz3) | [
[
"stack owz1 osy4"
],
[
"unstack ngg2 ecz3"
],
[
"put-down ngg2"
],
[
"pick-up ecz3"
],
[
"stack ecz3 owz1"
],
[
"pick-up ngg2"
]
] | [
"(clear ngg2) (arm-empty) (on-table osy4) (on owz1 osy4) (on ngg2 ecz3) (clear owz1) (on-table ecz3)",
"(on owz1 osy4) (on-table osy4) (holding ngg2) (clear ecz3) (clear owz1) (on-table ecz3)",
"(arm-empty) (on-table ngg2) (clear ngg2) (on-table osy4) (on owz1 osy4) (clear ecz3) (clear owz1) (on-table ecz3)",
... | file_136596 |
GOAL: (clear bxz4) (holding own1) (clear vxe2) (on-table bxz4) (on vxe2 msl3) (on-table msl3) | GOAL: (clear bxz4) (holding own1) (clear vxe2) (on-table bxz4) (on vxe2 msl3) (on-table msl3)
STATE: (on-table vxe2) (clear bxz4) (on-table bxz4) (on own1 vxe2) (clear own1) (holding msl3) | [
[
"put-down msl3"
],
[
"unstack own1 vxe2"
],
[
"stack own1 bxz4"
],
[
"pick-up vxe2"
],
[
"stack vxe2 msl3"
],
[
"unstack own1 bxz4"
]
] | [
"(on-table bxz4) (arm-empty) (on-table vxe2) (clear msl3) (clear bxz4) (on own1 vxe2) (on-table msl3) (clear own1)",
"(holding own1) (clear vxe2) (on-table vxe2) (clear bxz4) (on-table bxz4) (clear msl3) (on-table msl3)",
"(clear vxe2) (arm-empty) (on-table vxe2) (on-table bxz4) (on own1 bxz4) (clear msl3) (cle... | file_212395 |
GOAL: (holding wqs1) (on hlu5 wrn4) (on cbk3 xay2) (on-table wrn4) (on xay2 hlu5) (clear cbk3) | GOAL: (holding wqs1) (on hlu5 wrn4) (on cbk3 xay2) (on-table wrn4) (on xay2 hlu5) (clear cbk3)
STATE: (clear xay2) (on-table wqs1) (clear wrn4) (holding hlu5) (on-table wrn4) (on cbk3 wqs1) (on xay2 cbk3) | [
[
"stack hlu5 wrn4"
],
[
"unstack xay2 cbk3"
],
[
"stack xay2 hlu5"
],
[
"unstack cbk3 wqs1"
],
[
"stack cbk3 xay2"
],
[
"pick-up wqs1"
]
] | [
"(clear xay2) (arm-empty) (on hlu5 wrn4) (on-table wqs1) (on-table wrn4) (on cbk3 wqs1) (on xay2 cbk3) (clear hlu5)",
"(on hlu5 wrn4) (on-table wqs1) (on-table wrn4) (holding xay2) (on cbk3 wqs1) (clear cbk3) (clear hlu5)",
"(clear xay2) (arm-empty) (on hlu5 wrn4) (on-table wqs1) (on-table wrn4) (on cbk3 wqs1) ... | file_112344 |
GOAL: (on lyi4 zoe1) (on cje5 lyi4) (on-table qhg2) (arm-empty) (clear ywr3) (on zoe1 qhg2) (on-table ywr3) (clear cje5) | GOAL: (on lyi4 zoe1) (on cje5 lyi4) (on-table qhg2) (arm-empty) (clear ywr3) (on zoe1 qhg2) (on-table ywr3) (clear cje5)
STATE: (holding zoe1) (clear qhg2) (on-table qhg2) (on-table cje5) (clear lyi4) (on-table lyi4) (clear ywr3) (on-table ywr3) (clear cje5) | [
[
"stack zoe1 qhg2"
],
[
"pick-up lyi4"
],
[
"stack lyi4 zoe1"
],
[
"pick-up cje5"
],
[
"stack cje5 lyi4"
]
] | [
"(arm-empty) (on-table qhg2) (on-table cje5) (clear lyi4) (on-table lyi4) (clear ywr3) (on zoe1 qhg2) (clear zoe1) (on-table ywr3) (clear cje5)",
"(on-table qhg2) (on-table cje5) (holding lyi4) (clear ywr3) (on zoe1 qhg2) (clear zoe1) (on-table ywr3) (clear cje5)",
"(on lyi4 zoe1) (arm-empty) (on-table qhg2) (o... | file_25225 |
GOAL: (on cnz4 qsb3) (arm-empty) (on nre2 cnz4) (on flz1 nre2) (clear flz1) (on-table qsb3) | GOAL: (on cnz4 qsb3) (arm-empty) (on nre2 cnz4) (on flz1 nre2) (clear flz1) (on-table qsb3)
STATE: (arm-empty) (on-table flz1) (on qsb3 nre2) (clear cnz4) (on-table cnz4) (on nre2 flz1) (clear qsb3) | [
[
"unstack qsb3 nre2"
],
[
"put-down qsb3"
],
[
"unstack nre2 flz1"
],
[
"put-down nre2"
],
[
"pick-up cnz4"
],
[
"stack cnz4 qsb3"
],
[
"pick-up nre2"
],
[
"stack nre2 cnz4"
],
[
"pick-up flz1"
],
[
"stack flz1 nre2"
]
] | [
"(clear cnz4) (on nre2 flz1) (clear nre2) (on-table flz1) (on-table cnz4) (holding qsb3)",
"(clear nre2) (on-table cnz4) (arm-empty) (on-table flz1) (on nre2 flz1) (clear qsb3) (clear cnz4) (on-table qsb3)",
"(on-table flz1) (clear cnz4) (on-table cnz4) (holding nre2) (clear qsb3) (clear flz1) (on-table qsb3)",... | file_119774 |
GOAL: (arm-empty) (on-table qmi5) (clear syn4) (on roj2 kro1) (clear qmi5) (on-table kro1) (on lou3 roj2) (on-table syn4) (clear lou3) | GOAL: (arm-empty) (on-table qmi5) (clear syn4) (on roj2 kro1) (clear qmi5) (on-table kro1) (on lou3 roj2) (on-table syn4) (clear lou3)
STATE: (arm-empty) (on syn4 qmi5) (on-table kro1) (on lou3 roj2) (clear syn4) (on qmi5 lou3) (on roj2 kro1) | [
[
"unstack syn4 qmi5"
],
[
"put-down syn4"
],
[
"unstack qmi5 lou3"
],
[
"put-down qmi5"
]
] | [
"(holding syn4) (on qmi5 lou3) (on roj2 kro1) (clear qmi5) (on-table kro1) (on lou3 roj2)",
"(arm-empty) (clear syn4) (on qmi5 lou3) (on roj2 kro1) (clear qmi5) (on-table kro1) (on lou3 roj2) (on-table syn4)",
"(on-table kro1) (on lou3 roj2) (clear syn4) (holding qmi5) (on-table syn4) (on roj2 kro1) (clear lou3... | file_192608 |
GOAL: (on qnb1 btl5) (clear izg2) (on-table izg2) (on-table btl5) (holding skm4) (on hen3 qnb1) (clear hen3) | GOAL: (on qnb1 btl5) (clear izg2) (on-table izg2) (on-table btl5) (holding skm4) (on hen3 qnb1) (clear hen3)
STATE: (holding qnb1) (clear izg2) (on-table btl5) (on-table skm4) (on izg2 skm4) (clear hen3) (on-table hen3) (clear btl5) | [
[
"stack qnb1 btl5"
],
[
"pick-up hen3"
],
[
"stack hen3 qnb1"
],
[
"unstack izg2 skm4"
],
[
"put-down izg2"
],
[
"pick-up skm4"
]
] | [
"(on qnb1 btl5) (clear izg2) (arm-empty) (on-table btl5) (on-table skm4) (on izg2 skm4) (clear hen3) (clear qnb1) (on-table hen3)",
"(on qnb1 btl5) (clear izg2) (on-table btl5) (on-table skm4) (on izg2 skm4) (holding hen3) (clear qnb1)",
"(on qnb1 btl5) (clear izg2) (arm-empty) (on-table btl5) (on izg2 skm4) (o... | file_165324 |
GOAL: (clear kwi2) (on jvn1 byw3) (on shx5 xfy4) (arm-empty) (on-table xfy4) (on kwi2 jvn1) (on-table byw3) (clear shx5) | GOAL: (clear kwi2) (on jvn1 byw3) (on shx5 xfy4) (arm-empty) (on-table xfy4) (on kwi2 jvn1) (on-table byw3) (clear shx5)
STATE: (clear kwi2) (on xfy4 jvn1) (on jvn1 byw3) (on shx5 xfy4) (arm-empty) (on-table kwi2) (on-table byw3) (clear shx5) | [
[
"unstack shx5 xfy4"
],
[
"stack shx5 kwi2"
],
[
"unstack xfy4 jvn1"
],
[
"put-down xfy4"
],
[
"unstack shx5 kwi2"
],
[
"stack shx5 xfy4"
],
[
"pick-up kwi2"
],
[
"stack kwi2 jvn1"
]
] | [
"(clear kwi2) (on xfy4 jvn1) (on jvn1 byw3) (on-table kwi2) (clear xfy4) (holding shx5) (on-table byw3)",
"(on xfy4 jvn1) (on jvn1 byw3) (on-table kwi2) (arm-empty) (on shx5 kwi2) (clear xfy4) (on-table byw3) (clear shx5)",
"(on jvn1 byw3) (on-table kwi2) (holding xfy4) (on shx5 kwi2) (clear jvn1) (on-table byw... | file_62756 |
GOAL: (on nve3 gfl4) (arm-empty) (on-table oza5) (on gfl4 oza5) (on tsw2 nve3) (on dhx1 tsw2) (clear dhx1) | GOAL: (on nve3 gfl4) (arm-empty) (on-table oza5) (on gfl4 oza5) (on tsw2 nve3) (on dhx1 tsw2) (clear dhx1)
STATE: (clear tsw2) (on-table tsw2) (on-table oza5) (on-table dhx1) (on gfl4 oza5) (clear gfl4) (holding nve3) (clear dhx1) | [
[
"stack nve3 gfl4"
],
[
"pick-up tsw2"
],
[
"stack tsw2 nve3"
],
[
"pick-up dhx1"
],
[
"stack dhx1 tsw2"
]
] | [
"(on nve3 gfl4) (clear tsw2) (arm-empty) (on-table tsw2) (on-table oza5) (on-table dhx1) (on gfl4 oza5) (clear nve3) (clear dhx1)",
"(on nve3 gfl4) (on-table oza5) (on-table dhx1) (on gfl4 oza5) (holding tsw2) (clear nve3) (clear dhx1)",
"(on nve3 gfl4) (clear tsw2) (arm-empty) (on-table oza5) (on-table dhx1) (... | file_149426 |
GOAL: (clear vlb2) (arm-empty) (on-table vlb2) (on-table yxq5) (on-table cba1) (clear slq4) (on-table slq4) (clear bof3) (clear cba1) (on-table bof3) (clear yxq5) | GOAL: (clear vlb2) (arm-empty) (on-table vlb2) (on-table yxq5) (on-table cba1) (clear slq4) (on-table slq4) (clear bof3) (clear cba1) (on-table bof3) (clear yxq5)
STATE: (holding cba1) (on bof3 yxq5) (on yxq5 vlb2) (on-table slq4) (on vlb2 slq4) (clear bof3) | [
[
"put-down cba1"
],
[
"unstack bof3 yxq5"
],
[
"stack bof3 cba1"
],
[
"unstack yxq5 vlb2"
],
[
"put-down yxq5"
],
[
"unstack bof3 cba1"
],
[
"stack bof3 vlb2"
],
[
"pick-up cba1"
],
[
"stack cba1 yxq5"
],
[
"unstack bof3 vlb2"
],
[
... | [
"(on bof3 yxq5) (arm-empty) (on yxq5 vlb2) (on vlb2 slq4) (on-table cba1) (on-table slq4) (clear bof3) (clear cba1)",
"(on-table cba1) (on yxq5 vlb2) (on-table slq4) (on vlb2 slq4) (holding bof3) (clear cba1) (clear yxq5)",
"(arm-empty) (on-table cba1) (on yxq5 vlb2) (on vlb2 slq4) (on-table slq4) (on bof3 cba1... | file_88942 |
GOAL: (arm-empty) (on gxu5 ddr4) (on-table lik2) (on-table xia1) (on ddr4 lik2) (clear ozb3) (clear xia1) (on-table ozb3) (clear gxu5) | GOAL: (arm-empty) (on gxu5 ddr4) (on-table lik2) (on-table xia1) (on ddr4 lik2) (clear ozb3) (clear xia1) (on-table ozb3) (clear gxu5)
STATE: (holding xia1) (on-table lik2) (on gxu5 lik2) (clear ddr4) (on-table ddr4) (clear ozb3) (on-table ozb3) (clear gxu5) | [
[
"put-down xia1"
],
[
"unstack gxu5 lik2"
],
[
"stack gxu5 xia1"
],
[
"pick-up ddr4"
],
[
"stack ddr4 lik2"
],
[
"unstack gxu5 xia1"
],
[
"stack gxu5 ddr4"
]
] | [
"(arm-empty) (on-table lik2) (on-table xia1) (on gxu5 lik2) (clear ddr4) (on-table ddr4) (clear ozb3) (clear xia1) (on-table ozb3) (clear gxu5)",
"(clear lik2) (on-table lik2) (on-table xia1) (clear ddr4) (holding gxu5) (on-table ddr4) (clear ozb3) (clear xia1) (on-table ozb3)",
"(clear lik2) (arm-empty) (on-ta... | file_223482 |
GOAL: (holding xqt1) (clear thz2) (on phn5 jqp3) (on-table xnz4) (on thz2 xnz4) (on-table jqp3) (clear phn5) | GOAL: (holding xqt1) (clear thz2) (on phn5 jqp3) (on-table xnz4) (on thz2 xnz4) (on-table jqp3) (clear phn5)
STATE: (arm-empty) (on-table xqt1) (on phn5 thz2) (clear xnz4) (on-table xnz4) (on thz2 xqt1) (clear jqp3) (on-table jqp3) (clear phn5) | [
[
"unstack phn5 thz2"
],
[
"put-down phn5"
],
[
"unstack thz2 xqt1"
],
[
"stack thz2 xnz4"
],
[
"pick-up phn5"
],
[
"stack phn5 jqp3"
],
[
"pick-up xqt1"
]
] | [
"(clear thz2) (on-table xqt1) (clear xnz4) (holding phn5) (on-table xnz4) (on thz2 xqt1) (clear jqp3) (on-table jqp3)",
"(clear thz2) (arm-empty) (on-table phn5) (on-table xqt1) (clear xnz4) (on-table xnz4) (on thz2 xqt1) (clear jqp3) (on-table jqp3) (clear phn5)",
"(on-table phn5) (on-table xqt1) (clear xnz4) ... | file_196129 |
GOAL: (on ohy3 glh5) (arm-empty) (on-table glh5) (on zqg2 nhk4) (clear zqg2) (on-table akv1) (on-table nhk4) (clear ohy3) (clear akv1) | GOAL: (on ohy3 glh5) (arm-empty) (on-table glh5) (on zqg2 nhk4) (clear zqg2) (on-table akv1) (on-table nhk4) (clear ohy3) (clear akv1)
STATE: (on ohy3 glh5) (arm-empty) (on glh5 akv1) (on-table nhk4) (on zqg2 nhk4) (clear ohy3) (on akv1 zqg2) | [
[
"unstack ohy3 glh5"
],
[
"put-down ohy3"
],
[
"unstack glh5 akv1"
],
[
"put-down glh5"
],
[
"pick-up ohy3"
],
[
"stack ohy3 glh5"
],
[
"unstack akv1 zqg2"
],
[
"put-down akv1"
]
] | [
"(on zqg2 nhk4) (on akv1 zqg2) (clear glh5) (on glh5 akv1) (on-table nhk4) (holding ohy3)",
"(on glh5 akv1) (on-table nhk4) (arm-empty) (on zqg2 nhk4) (clear ohy3) (on akv1 zqg2) (on-table ohy3) (clear glh5)",
"(holding glh5) (on-table nhk4) (on zqg2 nhk4) (clear ohy3) (on akv1 zqg2) (clear akv1) (on-table ohy3... | file_105877 |
GOAL: (on vsh3 vxt5) (clear vnq2) (arm-empty) (on-table vnq2) (on-table vxt5) (on-table rxw1) (clear jzk4) (on-table jzk4) (clear vsh3) (clear rxw1) | GOAL: (on vsh3 vxt5) (clear vnq2) (arm-empty) (on-table vnq2) (on-table vxt5) (on-table rxw1) (clear jzk4) (on-table jzk4) (clear vsh3) (clear rxw1)
STATE: (on vsh3 jzk4) (on-table vnq2) (on-table rxw1) (holding vxt5) (on jzk4 vnq2) (clear vsh3) (clear rxw1) | [
[
"put-down vxt5"
],
[
"unstack vsh3 jzk4"
],
[
"stack vsh3 vxt5"
],
[
"unstack jzk4 vnq2"
],
[
"put-down jzk4"
]
] | [
"(arm-empty) (on-table vnq2) (on-table vxt5) (clear vxt5) (on vsh3 jzk4) (on-table rxw1) (on jzk4 vnq2) (clear vsh3) (clear rxw1)",
"(on-table vnq2) (on-table vxt5) (on-table rxw1) (clear jzk4) (on jzk4 vnq2) (holding vsh3) (clear rxw1) (clear vxt5)",
"(on vsh3 vxt5) (arm-empty) (on-table vnq2) (on-table vxt5) ... | file_94486 |
GOAL: (arm-empty) (on-table mbs2) (on-table zyf5) (on-table fkc1) (clear mmb4) (on kqv3 fkc1) (on mmb4 mbs2) (clear kqv3) (clear zyf5) | GOAL: (arm-empty) (on-table mbs2) (on-table zyf5) (on-table fkc1) (clear mmb4) (on kqv3 fkc1) (on mmb4 mbs2) (clear kqv3) (clear zyf5)
STATE: (holding fkc1) (clear mbs2) (on-table mbs2) (on mmb4 zyf5) (clear mmb4) (on zyf5 kqv3) (on-table kqv3) | [
[
"put-down fkc1"
],
[
"unstack mmb4 zyf5"
],
[
"stack mmb4 mbs2"
],
[
"unstack zyf5 kqv3"
],
[
"put-down zyf5"
],
[
"pick-up kqv3"
],
[
"stack kqv3 fkc1"
]
] | [
"(arm-empty) (on-table mbs2) (on mmb4 zyf5) (clear mmb4) (on zyf5 kqv3) (clear mbs2) (on-table fkc1) (clear fkc1) (on-table kqv3)",
"(clear mbs2) (on-table mbs2) (on-table fkc1) (holding mmb4) (on zyf5 kqv3) (clear fkc1) (on-table kqv3) (clear zyf5)",
"(arm-empty) (on-table mbs2) (on-table fkc1) (clear mmb4) (o... | file_60063 |
GOAL: (on-table anm1) (on cne3 lae2) (holding alk5) (on-table awx4) (on lae2 awx4) (clear cne3) (clear anm1) | GOAL: (on-table anm1) (on cne3 lae2) (holding alk5) (on-table awx4) (on lae2 awx4) (clear cne3) (clear anm1)
STATE: (holding anm1) (on-table alk5) (on cne3 lae2) (clear awx4) (on awx4 cne3) (on lae2 alk5) | [
[
"put-down anm1"
],
[
"unstack awx4 cne3"
],
[
"put-down awx4"
],
[
"unstack cne3 lae2"
],
[
"stack cne3 anm1"
],
[
"unstack lae2 alk5"
],
[
"stack lae2 awx4"
],
[
"unstack cne3 anm1"
],
[
"stack cne3 lae2"
],
[
"pick-up alk5"
]
] | [
"(arm-empty) (on-table alk5) (clear awx4) (on lae2 alk5) (on-table anm1) (on cne3 lae2) (on awx4 cne3) (clear anm1)",
"(on-table alk5) (on-table anm1) (holding awx4) (on cne3 lae2) (on lae2 alk5) (clear cne3) (clear anm1)",
"(arm-empty) (on-table alk5) (clear awx4) (on lae2 alk5) (on-table anm1) (on cne3 lae2) ... | file_159832 |
GOAL: (on lnz1 xch5) (on zax4 lnz1) (on-table enu2) (on xch5 enu2) (clear zax4) (holding ciq3) | GOAL: (on lnz1 xch5) (on zax4 lnz1) (on-table enu2) (on xch5 enu2) (clear zax4) (holding ciq3)
STATE: (on ciq3 zax4) (on zax4 lnz1) (on-table lnz1) (on xch5 ciq3) (holding enu2) (clear xch5) | [
[
"put-down enu2"
],
[
"unstack xch5 ciq3"
],
[
"stack xch5 enu2"
],
[
"unstack ciq3 zax4"
],
[
"put-down ciq3"
],
[
"unstack zax4 lnz1"
],
[
"stack zax4 ciq3"
],
[
"pick-up lnz1"
],
[
"stack lnz1 xch5"
],
[
"unstack zax4 ciq3"
],
[
... | [
"(on zax4 lnz1) (arm-empty) (on-table enu2) (on xch5 ciq3) (clear xch5) (on ciq3 zax4) (clear enu2) (on-table lnz1)",
"(on ciq3 zax4) (clear enu2) (on zax4 lnz1) (on-table enu2) (on-table lnz1) (holding xch5) (clear ciq3)",
"(on ciq3 zax4) (on zax4 lnz1) (arm-empty) (on-table enu2) (on-table lnz1) (on xch5 enu2... | file_195549 |
GOAL: (on aum4 cvu1) (on-table wgh2) (on-table cvu1) (on qei5 wgh2) (clear aum4) (holding tei3) (clear qei5) | GOAL: (on aum4 cvu1) (on-table wgh2) (on-table cvu1) (on qei5 wgh2) (clear aum4) (holding tei3) (clear qei5)
STATE: (on cvu1 qei5) (arm-empty) (on-table wgh2) (on qei5 wgh2) (clear aum4) (on-table aum4) (clear tei3) (clear cvu1) (on-table tei3) | [
[
"unstack cvu1 qei5"
],
[
"put-down cvu1"
],
[
"pick-up tei3"
],
[
"stack tei3 qei5"
],
[
"pick-up aum4"
],
[
"stack aum4 cvu1"
],
[
"unstack tei3 qei5"
]
] | [
"(holding cvu1) (on-table wgh2) (on qei5 wgh2) (clear aum4) (on-table aum4) (clear tei3) (on-table tei3) (clear qei5)",
"(arm-empty) (on-table wgh2) (on-table cvu1) (on qei5 wgh2) (clear aum4) (on-table aum4) (clear tei3) (clear cvu1) (on-table tei3) (clear qei5)",
"(on-table wgh2) (on-table cvu1) (on qei5 wgh2... | file_98680 |
GOAL: (on tly3 hrv5) (on-table hrv5) (on-table jvg1) (clear bcg4) (on-table bcg4) (holding mfc2) (clear tly3) (clear jvg1) | GOAL: (on tly3 hrv5) (on-table hrv5) (on-table jvg1) (clear bcg4) (on-table bcg4) (holding mfc2) (clear tly3) (clear jvg1)
STATE: (holding bcg4) (on-table jvg1) (on tly3 mfc2) (on hrv5 tly3) (on mfc2 jvg1) (clear hrv5) | [
[
"put-down bcg4"
],
[
"unstack hrv5 tly3"
],
[
"put-down hrv5"
],
[
"unstack tly3 mfc2"
],
[
"stack tly3 hrv5"
],
[
"unstack mfc2 jvg1"
]
] | [
"(arm-empty) (clear bcg4) (on hrv5 tly3) (on mfc2 jvg1) (clear hrv5) (on-table jvg1) (on tly3 mfc2) (on-table bcg4)",
"(on-table jvg1) (on tly3 mfc2) (clear bcg4) (holding hrv5) (on-table bcg4) (on mfc2 jvg1) (clear tly3)",
"(arm-empty) (on-table hrv5) (clear bcg4) (on mfc2 jvg1) (clear hrv5) (on-table jvg1) (o... | file_81966 |
GOAL: (on ybh1 sgx5) (arm-empty) (on-table sxh2) (on sgx5 sxh2) (clear qvd4) (on qvd4 qds3) (on qds3 ybh1) | GOAL: (on ybh1 sgx5) (arm-empty) (on-table sxh2) (on sgx5 sxh2) (clear qvd4) (on qvd4 qds3) (on qds3 ybh1)
STATE: (holding ybh1) (clear sxh2) (on-table sxh2) (clear qvd4) (on sgx5 qds3) (on-table qvd4) (on-table qds3) (clear sgx5) | [
[
"stack ybh1 qvd4"
],
[
"unstack sgx5 qds3"
],
[
"stack sgx5 sxh2"
],
[
"unstack ybh1 qvd4"
],
[
"stack ybh1 sgx5"
],
[
"pick-up qds3"
],
[
"stack qds3 ybh1"
],
[
"pick-up qvd4"
],
[
"stack qvd4 qds3"
]
] | [
"(clear sxh2) (arm-empty) (on-table sxh2) (on sgx5 qds3) (on-table qvd4) (on ybh1 qvd4) (clear ybh1) (on-table qds3) (clear sgx5)",
"(clear sxh2) (on-table sxh2) (holding sgx5) (on-table qvd4) (on ybh1 qvd4) (clear qds3) (clear ybh1) (on-table qds3)",
"(arm-empty) (on-table sxh2) (on sgx5 sxh2) (on-table qvd4) ... | file_219849 |
GOAL: (on voe3 jcc5) (on-table jcc5) (on-table ozk1) (clear yhb4) (on-table yhb4) (holding utc2) (clear voe3) (clear ozk1) | GOAL: (on voe3 jcc5) (on-table jcc5) (on-table ozk1) (clear yhb4) (on-table yhb4) (holding utc2) (clear voe3) (clear ozk1)
STATE: (on voe3 jcc5) (on ozk1 voe3) (on-table jcc5) (clear yhb4) (on-table yhb4) (holding utc2) (clear ozk1) | [
[
"put-down utc2"
],
[
"unstack ozk1 voe3"
],
[
"put-down ozk1"
],
[
"pick-up utc2"
]
] | [
"(on voe3 jcc5) (on ozk1 voe3) (arm-empty) (on-table utc2) (on-table jcc5) (clear yhb4) (clear utc2) (on-table yhb4) (clear ozk1)",
"(holding ozk1) (on voe3 jcc5) (on-table utc2) (on-table jcc5) (clear utc2) (clear yhb4) (on-table yhb4) (clear voe3)",
"(on voe3 jcc5) (clear utc2) (arm-empty) (on-table utc2) (on... | file_105146 |
GOAL: (on olk3 tba5) (arm-empty) (on-table tba5) (clear jdc4) (on-table jdc4) (on fyx2 olk3) (on zbd1 fyx2) (clear zbd1) | GOAL: (on olk3 tba5) (arm-empty) (on-table tba5) (clear jdc4) (on-table jdc4) (on fyx2 olk3) (on zbd1 fyx2) (clear zbd1)
STATE: (arm-empty) (on-table zbd1) (on tba5 fyx2) (clear jdc4) (on-table jdc4) (on fyx2 olk3) (clear zbd1) (on-table olk3) (clear tba5) | [
[
"unstack tba5 fyx2"
],
[
"put-down tba5"
],
[
"unstack fyx2 olk3"
],
[
"stack fyx2 jdc4"
],
[
"pick-up olk3"
],
[
"stack olk3 tba5"
],
[
"unstack fyx2 jdc4"
],
[
"stack fyx2 olk3"
],
[
"pick-up zbd1"
],
[
"stack zbd1 fyx2"
]
] | [
"(clear fyx2) (on-table zbd1) (clear jdc4) (holding tba5) (on-table jdc4) (on fyx2 olk3) (clear zbd1) (on-table olk3)",
"(clear fyx2) (arm-empty) (on-table tba5) (on-table zbd1) (clear jdc4) (on-table jdc4) (on fyx2 olk3) (clear zbd1) (on-table olk3) (clear tba5)",
"(on-table tba5) (on-table zbd1) (clear jdc4) ... | file_223960 |
GOAL: (on pbh1 eda3) (arm-empty) (on-table hbk2) (on-table mee5) (clear mee5) (on eda3 men4) (clear hbk2) (on-table men4) (clear pbh1) | GOAL: (on pbh1 eda3) (arm-empty) (on-table hbk2) (on-table mee5) (clear mee5) (on eda3 men4) (clear hbk2) (on-table men4) (clear pbh1)
STATE: (on eda3 men4) (on-table mee5) (on-table pbh1) (on-table men4) (holding hbk2) (clear eda3) (clear pbh1) (clear mee5) | [
[
"stack hbk2 mee5"
],
[
"pick-up pbh1"
],
[
"stack pbh1 eda3"
],
[
"unstack hbk2 mee5"
],
[
"put-down hbk2"
]
] | [
"(on eda3 men4) (clear hbk2) (arm-empty) (on-table mee5) (on-table pbh1) (on-table men4) (on hbk2 mee5) (clear eda3) (clear pbh1)",
"(holding pbh1) (on eda3 men4) (clear hbk2) (on-table mee5) (on-table men4) (on hbk2 mee5) (clear eda3)",
"(on eda3 men4) (clear hbk2) (on pbh1 eda3) (arm-empty) (on-table mee5) (o... | file_156966 |
GOAL: (on mli3 tot4) (on-table pkt1) (holding aue5) (on tot4 cxu2) (on cxu2 pkt1) (clear mli3) | GOAL: (on mli3 tot4) (on-table pkt1) (holding aue5) (on tot4 cxu2) (on cxu2 pkt1) (clear mli3)
STATE: (on tot4 pkt1) (on aue5 tot4) (on-table pkt1) (holding cxu2) (clear mli3) (on-table mli3) (clear aue5) | [
[
"put-down cxu2"
],
[
"unstack aue5 tot4"
],
[
"stack aue5 cxu2"
],
[
"unstack tot4 pkt1"
],
[
"stack tot4 mli3"
],
[
"unstack aue5 cxu2"
],
[
"stack aue5 tot4"
],
[
"pick-up cxu2"
],
[
"stack cxu2 pkt1"
],
[
"unstack aue5 tot4"
],
[
... | [
"(on tot4 pkt1) (on aue5 tot4) (on-table cxu2) (arm-empty) (clear aue5) (clear cxu2) (on-table pkt1) (clear mli3) (on-table mli3)",
"(clear cxu2) (on tot4 pkt1) (on-table cxu2) (on-table pkt1) (clear tot4) (holding aue5) (clear mli3) (on-table mli3)",
"(on tot4 pkt1) (arm-empty) (on-table cxu2) (on-table pkt1) ... | file_50166 |
GOAL: (on ozd3 vie4) (on-table sfz2) (on-table juu1) (holding cqi5) (on vie4 sfz2) (clear ozd3) (clear juu1) | GOAL: (on ozd3 vie4) (on-table sfz2) (on-table juu1) (holding cqi5) (on vie4 sfz2) (clear ozd3) (clear juu1)
STATE: (holding juu1) (on ozd3 vie4) (on-table sfz2) (on-table cqi5) (on vie4 sfz2) (clear ozd3) (clear cqi5) | [
[
"put-down juu1"
],
[
"pick-up cqi5"
]
] | [
"(arm-empty) (on-table sfz2) (on-table cqi5) (clear cqi5) (on ozd3 vie4) (on-table juu1) (on vie4 sfz2) (clear ozd3) (clear juu1)",
"(on ozd3 vie4) (on-table sfz2) (on-table juu1) (holding cqi5) (on vie4 sfz2) (clear ozd3) (clear juu1)"
] | file_178202 |
GOAL: (arm-empty) (on-table qpk2) (clear wtt5) (clear qpk2) (on wtt5 ivp1) (on-table mlc4) (on ivp1 mlc4) (clear dha3) (on-table dha3) | GOAL: (arm-empty) (on-table qpk2) (clear wtt5) (clear qpk2) (on wtt5 ivp1) (on-table mlc4) (on ivp1 mlc4) (clear dha3) (on-table dha3)
STATE: (on-table qpk2) (on-table ivp1) (on dha3 qpk2) (clear mlc4) (on mlc4 dha3) (holding wtt5) (clear ivp1) | [
[
"put-down wtt5"
],
[
"pick-up ivp1"
],
[
"stack ivp1 wtt5"
],
[
"unstack mlc4 dha3"
],
[
"put-down mlc4"
],
[
"unstack ivp1 wtt5"
],
[
"stack ivp1 mlc4"
],
[
"pick-up wtt5"
],
[
"stack wtt5 ivp1"
],
[
"unstack dha3 qpk2"
],
[
"put... | [
"(arm-empty) (on-table qpk2) (on-table wtt5) (clear mlc4) (clear wtt5) (on-table ivp1) (on dha3 qpk2) (on mlc4 dha3) (clear ivp1)",
"(holding ivp1) (on-table qpk2) (on-table wtt5) (on dha3 qpk2) (clear mlc4) (on mlc4 dha3) (clear wtt5)",
"(on ivp1 wtt5) (arm-empty) (on-table qpk2) (on-table wtt5) (on dha3 qpk2)... | file_119689 |
GOAL: (clear krt2) (on-table krt2) (on-table kir5) (on gge4 kir5) (on-table qqh1) (clear gge4) (holding zon3) (clear qqh1) | GOAL: (clear krt2) (on-table krt2) (on-table kir5) (on gge4 kir5) (on-table qqh1) (clear gge4) (holding zon3) (clear qqh1)
STATE: (on qqh1 kir5) (holding gge4) (on kir5 krt2) (on krt2 zon3) (clear qqh1) (on-table zon3) | [
[
"put-down gge4"
],
[
"unstack qqh1 kir5"
],
[
"stack qqh1 gge4"
],
[
"unstack kir5 krt2"
],
[
"put-down kir5"
],
[
"unstack qqh1 gge4"
],
[
"stack qqh1 krt2"
],
[
"pick-up gge4"
],
[
"stack gge4 kir5"
],
[
"unstack qqh1 krt2"
],
[
... | [
"(on qqh1 kir5) (arm-empty) (on kir5 krt2) (clear gge4) (on-table gge4) (on krt2 zon3) (clear qqh1) (on-table zon3)",
"(holding qqh1) (on kir5 krt2) (clear gge4) (on-table gge4) (on krt2 zon3) (on-table zon3) (clear kir5)",
"(arm-empty) (on kir5 krt2) (on-table gge4) (on qqh1 gge4) (on krt2 zon3) (clear qqh1) (... | file_194008 |
GOAL: (on rnu3 iua5) (on ymv1 rnu3) (on-table cro2) (on-table iua5) (clear cro2) (holding fnx4) (clear ymv1) | GOAL: (on rnu3 iua5) (on ymv1 rnu3) (on-table cro2) (on-table iua5) (clear cro2) (holding fnx4) (clear ymv1)
STATE: (clear cro2) (on rnu3 iua5) (on ymv1 rnu3) (on-table iua5) (holding fnx4) (on cro2 ymv1) | [
[
"put-down fnx4"
],
[
"unstack cro2 ymv1"
],
[
"put-down cro2"
],
[
"pick-up fnx4"
]
] | [
"(clear cro2) (on rnu3 iua5) (on ymv1 rnu3) (on-table fnx4) (on-table iua5) (arm-empty) (on cro2 ymv1) (clear fnx4)",
"(on rnu3 iua5) (on ymv1 rnu3) (on-table iua5) (clear fnx4) (on-table fnx4) (holding cro2) (clear ymv1)",
"(on rnu3 iua5) (on ymv1 rnu3) (arm-empty) (on-table cro2) (on-table iua5) (clear fnx4) ... | file_140177 |
GOAL: (clear ueg2) (arm-empty) (on yeg5 hdd4) (on-table ueg2) (on-table lui1) (on-table hdd4) (clear yri3) (clear lui1) (on-table yri3) (clear yeg5) | GOAL: (clear ueg2) (arm-empty) (on yeg5 hdd4) (on-table ueg2) (on-table lui1) (on-table hdd4) (clear yri3) (clear lui1) (on-table yri3) (clear yeg5)
STATE: (on yri3 hdd4) (arm-empty) (on-table ueg2) (on hdd4 yeg5) (on-table lui1) (on yeg5 ueg2) (clear yri3) (clear lui1) | [
[
"unstack yri3 hdd4"
],
[
"put-down yri3"
],
[
"pick-up lui1"
],
[
"stack lui1 yri3"
],
[
"unstack hdd4 yeg5"
],
[
"put-down hdd4"
],
[
"unstack lui1 yri3"
],
[
"put-down lui1"
],
[
"unstack yeg5 ueg2"
],
[
"stack yeg5 hdd4"
]
] | [
"(on-table ueg2) (on hdd4 yeg5) (on-table lui1) (on yeg5 ueg2) (clear hdd4) (holding yri3) (clear lui1)",
"(arm-empty) (on-table ueg2) (on hdd4 yeg5) (on yeg5 ueg2) (clear hdd4) (on-table lui1) (clear yri3) (clear lui1) (on-table yri3)",
"(holding lui1) (on-table ueg2) (on hdd4 yeg5) (on yeg5 ueg2) (clear hdd4)... | file_188604 |
GOAL: (holding bzn1) (on fhy3 luw4) (on-table fjh2) (on qmx5 fjh2) (on-table luw4) (clear fhy3) (clear qmx5) | GOAL: (holding bzn1) (on fhy3 luw4) (on-table fjh2) (on qmx5 fjh2) (on-table luw4) (clear fhy3) (clear qmx5)
STATE: (on-table bzn1) (clear luw4) (on qmx5 bzn1) (on-table luw4) (holding fjh2) (clear fhy3) (on-table fhy3) (clear qmx5) | [
[
"stack fjh2 qmx5"
],
[
"pick-up fhy3"
],
[
"stack fhy3 luw4"
],
[
"unstack fjh2 qmx5"
],
[
"stack fjh2 fhy3"
],
[
"unstack qmx5 bzn1"
],
[
"put-down qmx5"
],
[
"unstack fjh2 fhy3"
],
[
"put-down fjh2"
],
[
"pick-up bzn1"
],
[
"sta... | [
"(clear fjh2) (arm-empty) (on-table bzn1) (clear luw4) (on qmx5 bzn1) (on-table luw4) (on fjh2 qmx5) (clear fhy3) (on-table fhy3)",
"(clear fjh2) (on-table bzn1) (clear luw4) (on qmx5 bzn1) (on-table luw4) (on fjh2 qmx5) (holding fhy3)",
"(on fhy3 luw4) (clear fjh2) (arm-empty) (on-table bzn1) (on qmx5 bzn1) (o... | file_210361 |
GOAL: (clear rsr4) (on jql2 odp1) (clear jql2) (on-table odp1) (on-table rsr4) (holding kir3) | GOAL: (clear rsr4) (on jql2 odp1) (clear jql2) (on-table odp1) (on-table rsr4) (holding kir3)
STATE: (holding odp1) (clear rsr4) (on rsr4 jql2) (on jql2 kir3) (on-table kir3) | [
[
"put-down odp1"
],
[
"unstack rsr4 jql2"
],
[
"stack rsr4 odp1"
],
[
"unstack jql2 kir3"
],
[
"put-down jql2"
],
[
"unstack rsr4 odp1"
],
[
"stack rsr4 jql2"
],
[
"pick-up kir3"
],
[
"stack kir3 odp1"
],
[
"unstack rsr4 jql2"
],
[
... | [
"(on-table odp1) (arm-empty) (on jql2 kir3) (on rsr4 jql2) (clear rsr4) (clear odp1) (on-table kir3)",
"(holding rsr4) (clear jql2) (on-table odp1) (on jql2 kir3) (clear odp1) (on-table kir3)",
"(clear jql2) (on rsr4 odp1) (arm-empty) (on-table odp1) (clear rsr4) (on jql2 kir3) (on-table kir3)",
"(on rsr4 odp... | file_103603 |
GOAL: (on lpv3 fap5) (on-table rpe1) (holding xmg4) (on fap5 uod2) (on uod2 rpe1) (clear lpv3) | GOAL: (on lpv3 fap5) (on-table rpe1) (holding xmg4) (on fap5 uod2) (on uod2 rpe1) (clear lpv3)
STATE: (clear uod2) (on-table rpe1) (clear xmg4) (holding fap5) (on-table xmg4) (on uod2 rpe1) (clear lpv3) (on-table lpv3) | [
[
"stack fap5 uod2"
],
[
"pick-up lpv3"
],
[
"stack lpv3 fap5"
],
[
"pick-up xmg4"
]
] | [
"(arm-empty) (on-table rpe1) (on fap5 uod2) (clear xmg4) (on-table xmg4) (on uod2 rpe1) (clear lpv3) (on-table lpv3) (clear fap5)",
"(on-table rpe1) (on fap5 uod2) (clear xmg4) (on-table xmg4) (on uod2 rpe1) (holding lpv3) (clear fap5)",
"(on lpv3 fap5) (arm-empty) (on-table rpe1) (on fap5 uod2) (clear xmg4) (o... | file_134224 |
GOAL: (on nsw1 taw3) (arm-empty) (on mui4 giz5) (on giz5 qha2) (clear mui4) (on qha2 nsw1) (on-table taw3) | GOAL: (on nsw1 taw3) (arm-empty) (on mui4 giz5) (on giz5 qha2) (clear mui4) (on qha2 nsw1) (on-table taw3)
STATE: (on nsw1 giz5) (arm-empty) (on giz5 qha2) (on qha2 mui4) (on-table mui4) (on taw3 nsw1) (clear taw3) | [
[
"unstack taw3 nsw1"
],
[
"put-down taw3"
],
[
"unstack nsw1 giz5"
],
[
"stack nsw1 taw3"
],
[
"unstack giz5 qha2"
],
[
"put-down giz5"
],
[
"unstack qha2 mui4"
],
[
"stack qha2 nsw1"
],
[
"pick-up giz5"
],
[
"stack giz5 qha2"
],
[
... | [
"(on nsw1 giz5) (on giz5 qha2) (on qha2 mui4) (on-table mui4) (holding taw3) (clear nsw1)",
"(on nsw1 giz5) (arm-empty) (on giz5 qha2) (on qha2 mui4) (on-table mui4) (clear taw3) (clear nsw1) (on-table taw3)",
"(holding nsw1) (on giz5 qha2) (on-table mui4) (on qha2 mui4) (clear taw3) (on-table taw3) (clear giz5... | file_111126 |
GOAL: (on sfm3 rnz5) (arm-empty) (on rnz5 hsb2) (on-table vvl4) (on xyg1 vvl4) (on hsb2 xyg1) (clear sfm3) | GOAL: (on sfm3 rnz5) (arm-empty) (on rnz5 hsb2) (on-table vvl4) (on xyg1 vvl4) (on hsb2 xyg1) (clear sfm3)
STATE: (on-table rnz5) (on-table vvl4) (holding hsb2) (on sfm3 xyg1) (clear sfm3) (on xyg1 vvl4) (clear rnz5) | [
[
"put-down hsb2"
],
[
"pick-up rnz5"
],
[
"stack rnz5 hsb2"
],
[
"unstack sfm3 xyg1"
],
[
"put-down sfm3"
],
[
"unstack rnz5 hsb2"
],
[
"stack rnz5 sfm3"
],
[
"pick-up hsb2"
],
[
"stack hsb2 xyg1"
],
[
"unstack rnz5 sfm3"
],
[
"sta... | [
"(arm-empty) (on-table hsb2) (on-table rnz5) (on sfm3 xyg1) (clear rnz5) (clear hsb2) (on-table vvl4) (on xyg1 vvl4) (clear sfm3)",
"(clear hsb2) (on-table hsb2) (holding rnz5) (on-table vvl4) (on xyg1 vvl4) (on sfm3 xyg1) (clear sfm3)",
"(arm-empty) (on-table hsb2) (on rnz5 hsb2) (on-table vvl4) (on xyg1 vvl4)... | file_49247 |
GOAL: (clear ohn2) (arm-empty) (on hup5 dys4) (on-table kud1) (on-table dys4) (on ohn2 kud1) (clear sfm3) (on-table sfm3) (clear hup5) | GOAL: (clear ohn2) (arm-empty) (on hup5 dys4) (on-table kud1) (on-table dys4) (on ohn2 kud1) (clear sfm3) (on-table sfm3) (clear hup5)
STATE: (clear ohn2) (arm-empty) (on-table hup5) (on-table kud1) (on-table dys4) (on ohn2 dys4) (clear sfm3) (clear kud1) (on-table sfm3) (clear hup5) | [
[
"unstack ohn2 dys4"
],
[
"stack ohn2 kud1"
],
[
"pick-up hup5"
],
[
"stack hup5 dys4"
]
] | [
"(on-table hup5) (on-table kud1) (clear dys4) (on-table dys4) (holding ohn2) (clear sfm3) (clear kud1) (on-table sfm3) (clear hup5)",
"(clear ohn2) (arm-empty) (on-table hup5) (on-table kud1) (clear dys4) (on-table dys4) (on ohn2 kud1) (clear sfm3) (on-table sfm3) (clear hup5)",
"(clear ohn2) (on-table kud1) (c... | file_113512 |
GOAL: (clear nup2) (on-table vdu1) (clear xee4) (on xee4 jtu3) (holding czg5) (on nup2 vdu1) (on-table jtu3) | GOAL: (clear nup2) (on-table vdu1) (clear xee4) (on xee4 jtu3) (holding czg5) (on nup2 vdu1) (on-table jtu3)
STATE: (holding vdu1) (clear nup2) (on jtu3 czg5) (on-table nup2) (on-table czg5) (clear xee4) (on xee4 jtu3) | [
[
"put-down vdu1"
],
[
"pick-up nup2"
],
[
"stack nup2 vdu1"
],
[
"unstack xee4 jtu3"
],
[
"put-down xee4"
],
[
"unstack jtu3 czg5"
],
[
"stack jtu3 nup2"
],
[
"pick-up xee4"
],
[
"stack xee4 czg5"
],
[
"unstack jtu3 nup2"
],
[
"put... | [
"(on jtu3 czg5) (arm-empty) (on-table nup2) (on-table czg5) (clear xee4) (clear nup2) (on-table vdu1) (on xee4 jtu3) (clear vdu1)",
"(on jtu3 czg5) (on-table czg5) (on-table vdu1) (clear xee4) (on xee4 jtu3) (holding nup2) (clear vdu1)",
"(on jtu3 czg5) (clear nup2) (arm-empty) (on-table czg5) (on-table vdu1) (... | file_25951 |
GOAL: (clear njq2) (on slq1 tmk3) (arm-empty) (on-table tuj4) (on njq2 tuj4) (clear slq1) (on-table tmk3) | GOAL: (clear njq2) (on slq1 tmk3) (arm-empty) (on-table tuj4) (on njq2 tuj4) (clear slq1) (on-table tmk3)
STATE: (on-table tuj4) (on njq2 tuj4) (holding tmk3) (on slq1 njq2) (clear slq1) | [
[
"put-down tmk3"
],
[
"unstack slq1 njq2"
],
[
"stack slq1 tmk3"
]
] | [
"(on-table tuj4) (arm-empty) (on njq2 tuj4) (clear tmk3) (on slq1 njq2) (on-table tmk3) (clear slq1)",
"(on njq2 tuj4) (holding slq1) (clear njq2) (on-table tuj4) (clear tmk3) (on-table tmk3)",
"(clear njq2) (on slq1 tmk3) (arm-empty) (on-table tuj4) (on njq2 tuj4) (clear slq1) (on-table tmk3)"
] | file_139205 |
GOAL: (holding qoi1) (on jot3 hie4) (on hqq5 ipj2) (on-table hie4) (on ipj2 jot3) (clear hqq5) | GOAL: (holding qoi1) (on jot3 hie4) (on hqq5 ipj2) (on-table hie4) (on ipj2 jot3) (clear hqq5)
STATE: (clear ipj2) (arm-empty) (on-table qoi1) (clear hie4) (on hqq5 qoi1) (on-table hie4) (on ipj2 hqq5) (clear jot3) (on-table jot3) | [
[
"pick-up jot3"
],
[
"stack jot3 hie4"
],
[
"unstack ipj2 hqq5"
],
[
"stack ipj2 jot3"
],
[
"unstack hqq5 qoi1"
],
[
"stack hqq5 ipj2"
],
[
"pick-up qoi1"
]
] | [
"(clear ipj2) (on-table qoi1) (clear hie4) (on hqq5 qoi1) (on-table hie4) (on ipj2 hqq5) (holding jot3)",
"(on jot3 hie4) (clear ipj2) (arm-empty) (on-table qoi1) (on hqq5 qoi1) (on-table hie4) (on ipj2 hqq5) (clear jot3)",
"(on jot3 hie4) (on-table qoi1) (on hqq5 qoi1) (on-table hie4) (holding ipj2) (clear jot... | file_170162 |
GOAL: (on dao1 csj3) (on vva5 dly4) (arm-empty) (on dly4 xxc2) (on xxc2 dao1) (on-table csj3) (clear vva5) | GOAL: (on dao1 csj3) (on vva5 dly4) (arm-empty) (on dly4 xxc2) (on xxc2 dao1) (on-table csj3) (clear vva5)
STATE: (arm-empty) (on vva5 dly4) (on-table dly4) (on xxc2 vva5) (clear csj3) (on dao1 xxc2) (clear dao1) (on-table csj3) | [
[
"unstack dao1 xxc2"
],
[
"stack dao1 csj3"
],
[
"unstack xxc2 vva5"
],
[
"stack xxc2 dao1"
],
[
"unstack vva5 dly4"
],
[
"put-down vva5"
],
[
"pick-up dly4"
],
[
"stack dly4 xxc2"
],
[
"pick-up vva5"
],
[
"stack vva5 dly4"
]
] | [
"(holding dao1) (clear xxc2) (on vva5 dly4) (on-table dly4) (on xxc2 vva5) (clear csj3) (on-table csj3)",
"(clear xxc2) (on dao1 csj3) (on vva5 dly4) (arm-empty) (on-table dly4) (on xxc2 vva5) (clear dao1) (on-table csj3)",
"(on dao1 csj3) (on vva5 dly4) (on-table dly4) (holding xxc2) (clear dao1) (on-table csj... | file_139597 |
GOAL: (clear wvd2) (on ubb1 wuj3) (arm-empty) (on uhw4 eop5) (on-table eop5) (clear uhw4) (on wvd2 ubb1) (on-table wuj3) | GOAL: (clear wvd2) (on ubb1 wuj3) (arm-empty) (on uhw4 eop5) (on-table eop5) (clear uhw4) (on wvd2 ubb1) (on-table wuj3)
STATE: (on ubb1 wuj3) (clear uhw4) (holding eop5) (on uhw4 wvd2) (on wvd2 ubb1) (on-table wuj3) | [
[
"put-down eop5"
],
[
"unstack uhw4 wvd2"
],
[
"stack uhw4 eop5"
]
] | [
"(on ubb1 wuj3) (arm-empty) (on-table eop5) (clear uhw4) (on wvd2 ubb1) (clear eop5) (on uhw4 wvd2) (on-table wuj3)",
"(clear wvd2) (on ubb1 wuj3) (on-table eop5) (holding uhw4) (on wvd2 ubb1) (on-table wuj3) (clear eop5)",
"(clear wvd2) (on ubb1 wuj3) (arm-empty) (on uhw4 eop5) (on-table eop5) (clear uhw4) (on... | file_60906 |
GOAL: (arm-empty) (on-table cig2) (on-table ydc5) (on-table ylm1) (on opl3 cig2) (clear abw4) (on-table abw4) (clear opl3) (clear ylm1) (clear ydc5) | GOAL: (arm-empty) (on-table cig2) (on-table ydc5) (on-table ylm1) (on opl3 cig2) (clear abw4) (on-table abw4) (clear opl3) (clear ylm1) (clear ydc5)
STATE: (on ylm1 ydc5) (clear cig2) (arm-empty) (on ydc5 abw4) (on-table abw4) (on opl3 ylm1) (on cig2 opl3) | [
[
"unstack cig2 opl3"
],
[
"put-down cig2"
],
[
"unstack opl3 ylm1"
],
[
"stack opl3 cig2"
],
[
"unstack ylm1 ydc5"
],
[
"put-down ylm1"
],
[
"unstack ydc5 abw4"
],
[
"put-down ydc5"
]
] | [
"(on ylm1 ydc5) (on ydc5 abw4) (on opl3 ylm1) (on-table abw4) (holding cig2) (clear opl3)",
"(on ylm1 ydc5) (on-table abw4) (clear cig2) (on ydc5 abw4) (on-table cig2) (arm-empty) (on opl3 ylm1) (clear opl3)",
"(on ylm1 ydc5) (clear cig2) (on ydc5 abw4) (on-table cig2) (on-table abw4) (holding opl3) (clear ylm1... | file_153490 |
GOAL: (on bkg5 mwf4) (on-table vhx1) (on mwf4 plh3) (holding beh2) (clear vhx1) (on-table plh3) (clear bkg5) | GOAL: (on bkg5 mwf4) (on-table vhx1) (on mwf4 plh3) (holding beh2) (clear vhx1) (on-table plh3) (clear bkg5)
STATE: (clear beh2) (arm-empty) (on-table beh2) (on-table bkg5) (on mwf4 plh3) (on vhx1 mwf4) (clear vhx1) (on-table plh3) (clear bkg5) | [
[
"unstack vhx1 mwf4"
],
[
"stack vhx1 beh2"
],
[
"pick-up bkg5"
],
[
"stack bkg5 mwf4"
],
[
"unstack vhx1 beh2"
],
[
"put-down vhx1"
],
[
"pick-up beh2"
]
] | [
"(holding vhx1) (clear beh2) (on-table beh2) (on-table bkg5) (clear mwf4) (on mwf4 plh3) (on-table plh3) (clear bkg5)",
"(arm-empty) (on-table beh2) (on-table bkg5) (clear mwf4) (on mwf4 plh3) (on vhx1 beh2) (clear vhx1) (on-table plh3) (clear bkg5)",
"(on-table beh2) (clear mwf4) (on mwf4 plh3) (holding bkg5) ... | file_107635 |
GOAL: (on-table riz5) (on-table sij1) (clear czp4) (on-table czp4) (holding kgq2) (on gsm3 sij1) (clear gsm3) (clear riz5) | GOAL: (on-table riz5) (on-table sij1) (clear czp4) (on-table czp4) (holding kgq2) (on gsm3 sij1) (clear gsm3) (clear riz5)
STATE: (on sij1 gsm3) (arm-empty) (on-table kgq2) (on czp4 riz5) (on gsm3 kgq2) (clear czp4) (on riz5 sij1) | [
[
"unstack czp4 riz5"
],
[
"put-down czp4"
],
[
"unstack riz5 sij1"
],
[
"put-down riz5"
],
[
"pick-up czp4"
],
[
"stack czp4 riz5"
],
[
"unstack sij1 gsm3"
],
[
"put-down sij1"
],
[
"unstack gsm3 kgq2"
],
[
"stack gsm3 sij1"
],
[
"... | [
"(on sij1 gsm3) (on-table kgq2) (holding czp4) (clear riz5) (on gsm3 kgq2) (on riz5 sij1)",
"(on sij1 gsm3) (arm-empty) (on-table kgq2) (clear czp4) (clear riz5) (on gsm3 kgq2) (on riz5 sij1) (on-table czp4)",
"(on sij1 gsm3) (on-table kgq2) (on gsm3 kgq2) (clear czp4) (holding riz5) (on-table czp4) (clear sij1... | file_27392 |
GOAL: (clear vil2) (on-table vil2) (on-table ktr5) (on-table bjh1) (clear lwj4) (on-table lwj4) (holding jpk3) (clear bjh1) (clear ktr5) | GOAL: (clear vil2) (on-table vil2) (on-table ktr5) (on-table bjh1) (clear lwj4) (on-table lwj4) (holding jpk3) (clear bjh1) (clear ktr5)
STATE: (on lwj4 bjh1) (arm-empty) (on-table ktr5) (on-table bjh1) (on jpk3 vil2) (on vil2 lwj4) (clear jpk3) (clear ktr5) | [
[
"unstack jpk3 vil2"
],
[
"stack jpk3 ktr5"
],
[
"unstack vil2 lwj4"
],
[
"stack vil2 jpk3"
],
[
"unstack lwj4 bjh1"
],
[
"put-down lwj4"
],
[
"unstack vil2 jpk3"
],
[
"put-down vil2"
],
[
"unstack jpk3 ktr5"
]
] | [
"(clear vil2) (on lwj4 bjh1) (on-table ktr5) (on-table bjh1) (on vil2 lwj4) (holding jpk3) (clear ktr5)",
"(clear vil2) (on lwj4 bjh1) (on jpk3 ktr5) (arm-empty) (on-table ktr5) (on-table bjh1) (on vil2 lwj4) (clear jpk3)",
"(on lwj4 bjh1) (on jpk3 ktr5) (on-table ktr5) (on-table bjh1) (clear lwj4) (holding vil... | file_126742 |
GOAL: (arm-empty) (on-table fxi2) (clear peg4) (clear szs5) (on-table jfa1) (on qhs3 fxi2) (on peg4 qhs3) (on szs5 jfa1) | GOAL: (arm-empty) (on-table fxi2) (clear peg4) (clear szs5) (on-table jfa1) (on qhs3 fxi2) (on peg4 qhs3) (on szs5 jfa1)
STATE: (on qhs3 peg4) (arm-empty) (on szs5 jfa1) (on-table peg4) (on fxi2 qhs3) (on jfa1 fxi2) (clear szs5) | [
[
"unstack szs5 jfa1"
],
[
"put-down szs5"
],
[
"unstack jfa1 fxi2"
],
[
"put-down jfa1"
],
[
"unstack fxi2 qhs3"
],
[
"put-down fxi2"
],
[
"unstack qhs3 peg4"
],
[
"stack qhs3 fxi2"
],
[
"pick-up peg4"
],
[
"stack peg4 qhs3"
],
[
"... | [
"(holding szs5) (on jfa1 fxi2) (on qhs3 peg4) (on-table peg4) (on fxi2 qhs3) (clear jfa1)",
"(arm-empty) (on-table szs5) (on jfa1 fxi2) (clear szs5) (on qhs3 peg4) (on-table peg4) (on fxi2 qhs3) (clear jfa1)",
"(holding jfa1) (on qhs3 peg4) (clear fxi2) (on-table szs5) (on-table peg4) (on fxi2 qhs3) (clear szs5... | file_220793 |
GOAL: (on dba4 awn1) (arm-empty) (on-table her5) (on ced2 dba4) (clear her5) (clear ced2) (on-table awn1) (clear zwv3) (on-table zwv3) | GOAL: (on dba4 awn1) (arm-empty) (on-table her5) (on ced2 dba4) (clear her5) (clear ced2) (on-table awn1) (clear zwv3) (on-table zwv3)
STATE: (on dba4 awn1) (arm-empty) (on-table awn1) (on her5 ced2) (on ced2 dba4) (clear zwv3) (on-table zwv3) (clear her5) | [
[
"unstack her5 ced2"
],
[
"put-down her5"
]
] | [
"(clear ced2) (on dba4 awn1) (on-table awn1) (holding her5) (on ced2 dba4) (clear zwv3) (on-table zwv3)",
"(on dba4 awn1) (arm-empty) (on-table her5) (on ced2 dba4) (clear her5) (clear ced2) (on-table awn1) (clear zwv3) (on-table zwv3)"
] | file_55823 |
GOAL: (on ohq4 oeh1) (arm-empty) (on-table rbe2) (on-table iug5) (clear iug5) (on zfx3 ohq4) (clear rbe2) (on-table oeh1) (clear zfx3) | GOAL: (on ohq4 oeh1) (arm-empty) (on-table rbe2) (on-table iug5) (clear iug5) (on zfx3 ohq4) (clear rbe2) (on-table oeh1) (clear zfx3)
STATE: (on ohq4 oeh1) (on-table iug5) (on-table oeh1) (clear ohq4) (holding rbe2) (clear zfx3) (on-table zfx3) (clear iug5) | [
[
"stack rbe2 iug5"
],
[
"pick-up zfx3"
],
[
"stack zfx3 ohq4"
],
[
"unstack rbe2 iug5"
],
[
"put-down rbe2"
]
] | [
"(clear rbe2) (on ohq4 oeh1) (arm-empty) (on-table iug5) (on-table oeh1) (clear ohq4) (on rbe2 iug5) (clear zfx3) (on-table zfx3)",
"(clear rbe2) (on ohq4 oeh1) (on-table iug5) (on-table oeh1) (clear ohq4) (on rbe2 iug5) (holding zfx3)",
"(on zfx3 ohq4) (clear rbe2) (on ohq4 oeh1) (arm-empty) (on-table iug5) (o... | file_190931 |
GOAL: (holding jzx1) (clear kpq2) (on xbr3 blk5) (on-table kpq2) (on-table blk5) (clear pfe4) (on-table pfe4) (clear xbr3) | GOAL: (holding jzx1) (clear kpq2) (on xbr3 blk5) (on-table kpq2) (on-table blk5) (clear pfe4) (on-table pfe4) (clear xbr3)
STATE: (on xbr3 pfe4) (on-table blk5) (on-table jzx1) (on-table pfe4) (holding kpq2) (clear xbr3) (clear jzx1) (clear blk5) | [
[
"put-down kpq2"
],
[
"unstack xbr3 pfe4"
],
[
"stack xbr3 blk5"
],
[
"pick-up jzx1"
]
] | [
"(on xbr3 pfe4) (clear kpq2) (arm-empty) (on-table kpq2) (on-table blk5) (on-table jzx1) (on-table pfe4) (clear xbr3) (clear jzx1) (clear blk5)",
"(clear kpq2) (on-table kpq2) (on-table blk5) (on-table jzx1) (clear pfe4) (on-table pfe4) (holding xbr3) (clear jzx1) (clear blk5)",
"(clear kpq2) (on xbr3 blk5) (ar... | file_157085 |
GOAL: (clear buz2) (on-table mzd5) (on-table ovw1) (holding zly4) (on buz2 eek3) (clear ovw1) (on-table eek3) (clear mzd5) | GOAL: (clear buz2) (on-table mzd5) (on-table ovw1) (holding zly4) (on buz2 eek3) (clear ovw1) (on-table eek3) (clear mzd5)
STATE: (clear buz2) (arm-empty) (on-table mzd5) (on-table zly4) (on ovw1 zly4) (on eek3 ovw1) (on buz2 eek3) (clear mzd5) | [
[
"unstack buz2 eek3"
],
[
"stack buz2 mzd5"
],
[
"unstack eek3 ovw1"
],
[
"stack eek3 buz2"
],
[
"unstack ovw1 zly4"
],
[
"put-down ovw1"
],
[
"pick-up zly4"
],
[
"stack zly4 ovw1"
],
[
"unstack eek3 buz2"
],
[
"put-down eek3"
],
[
... | [
"(on-table mzd5) (holding buz2) (on-table zly4) (on ovw1 zly4) (on eek3 ovw1) (clear eek3) (clear mzd5)",
"(clear buz2) (arm-empty) (on-table mzd5) (on-table zly4) (on ovw1 zly4) (on eek3 ovw1) (on buz2 mzd5) (clear eek3)",
"(clear buz2) (on-table mzd5) (on-table zly4) (on ovw1 zly4) (on buz2 mzd5) (holding eek... | file_44466 |
GOAL: (on dse1 goa5) (clear hua2) (arm-empty) (on-table goa5) (on hua2 qpr4) (on-table qpr4) (on pnh3 dse1) (clear pnh3) | GOAL: (on dse1 goa5) (clear hua2) (arm-empty) (on-table goa5) (on hua2 qpr4) (on-table qpr4) (on pnh3 dse1) (clear pnh3)
STATE: (arm-empty) (on-table dse1) (on pnh3 hua2) (on goa5 pnh3) (on-table qpr4) (on hua2 qpr4) (clear dse1) (clear goa5) | [
[
"unstack goa5 pnh3"
],
[
"put-down goa5"
],
[
"pick-up dse1"
],
[
"stack dse1 goa5"
],
[
"unstack pnh3 hua2"
],
[
"stack pnh3 dse1"
]
] | [
"(on-table dse1) (on pnh3 hua2) (holding goa5) (on-table qpr4) (on hua2 qpr4) (clear pnh3) (clear dse1)",
"(arm-empty) (on-table goa5) (on hua2 qpr4) (clear goa5) (on-table dse1) (on pnh3 hua2) (on-table qpr4) (clear pnh3) (clear dse1)",
"(holding dse1) (on-table goa5) (on pnh3 hua2) (on-table qpr4) (on hua2 qp... | file_164707 |
GOAL: (arm-empty) (on xtf1 pjs4) (on pjs4 bon2) (on bon2 amw3) (clear xtf1) (on-table amw3) | GOAL: (arm-empty) (on xtf1 pjs4) (on pjs4 bon2) (on bon2 amw3) (clear xtf1) (on-table amw3)
STATE: (arm-empty) (on-table bon2) (clear pjs4) (on pjs4 amw3) (on amw3 xtf1) (on xtf1 bon2) | [
[
"unstack pjs4 amw3"
],
[
"put-down pjs4"
],
[
"unstack amw3 xtf1"
],
[
"put-down amw3"
],
[
"unstack xtf1 bon2"
],
[
"put-down xtf1"
],
[
"pick-up bon2"
],
[
"stack bon2 amw3"
],
[
"pick-up pjs4"
],
[
"stack pjs4 bon2"
],
[
"pick-... | [
"(holding pjs4) (on-table bon2) (on amw3 xtf1) (clear amw3) (on xtf1 bon2)",
"(on amw3 xtf1) (on-table pjs4) (arm-empty) (clear pjs4) (on-table bon2) (clear amw3) (on xtf1 bon2)",
"(on-table bon2) (clear pjs4) (on xtf1 bon2) (on-table pjs4) (holding amw3) (clear xtf1)",
"(on-table pjs4) (arm-empty) (on-table ... | file_127580 |
GOAL: (on-table ppk5) (on-table mpl1) (on llj4 ppk5) (clear llj4) (holding rni2) (on ikx3 mpl1) (clear ikx3) | GOAL: (on-table ppk5) (on-table mpl1) (on llj4 ppk5) (clear llj4) (holding rni2) (on ikx3 mpl1) (clear ikx3)
STATE: (arm-empty) (on-table rni2) (on ppk5 mpl1) (on mpl1 llj4) (on llj4 rni2) (clear ikx3) (on-table ikx3) (clear ppk5) | [
[
"unstack ppk5 mpl1"
],
[
"put-down ppk5"
],
[
"pick-up ikx3"
],
[
"stack ikx3 ppk5"
],
[
"unstack mpl1 llj4"
],
[
"put-down mpl1"
],
[
"unstack ikx3 ppk5"
],
[
"stack ikx3 mpl1"
],
[
"unstack llj4 rni2"
],
[
"stack llj4 ppk5"
],
[
... | [
"(on-table rni2) (holding ppk5) (on mpl1 llj4) (on llj4 rni2) (clear ikx3) (clear mpl1) (on-table ikx3)",
"(arm-empty) (on-table rni2) (on-table ppk5) (clear ppk5) (on mpl1 llj4) (on llj4 rni2) (clear ikx3) (clear mpl1) (on-table ikx3)",
"(on-table rni2) (on-table ppk5) (on mpl1 llj4) (on llj4 rni2) (holding ik... | file_83556 |
GOAL: (on tuf4 pbv3) (on pbv3 awz1) (clear fox2) (arm-empty) (on-table fox2) (on-table awz1) (clear tuf4) | GOAL: (on tuf4 pbv3) (on pbv3 awz1) (clear fox2) (arm-empty) (on-table fox2) (on-table awz1) (clear tuf4)
STATE: (holding awz1) (on pbv3 tuf4) (clear fox2) (on-table tuf4) (on fox2 pbv3) | [
[
"put-down awz1"
],
[
"unstack fox2 pbv3"
],
[
"put-down fox2"
],
[
"unstack pbv3 tuf4"
],
[
"stack pbv3 awz1"
],
[
"pick-up tuf4"
],
[
"stack tuf4 pbv3"
]
] | [
"(on pbv3 tuf4) (clear fox2) (on-table tuf4) (arm-empty) (on-table awz1) (on fox2 pbv3) (clear awz1)",
"(on pbv3 tuf4) (on-table awz1) (on-table tuf4) (holding fox2) (clear pbv3) (clear awz1)",
"(arm-empty) (on-table fox2) (on pbv3 tuf4) (clear fox2) (on-table awz1) (on-table tuf4) (clear pbv3) (clear awz1)",
... | file_22344 |
GOAL: (on jjs1 ltk5) (clear pmk2) (holding ecm4) (on ltk5 fni3) (on pmk2 jjs1) (on-table fni3) | GOAL: (on jjs1 ltk5) (clear pmk2) (holding ecm4) (on ltk5 fni3) (on pmk2 jjs1) (on-table fni3)
STATE: (arm-empty) (on-table ltk5) (on-table jjs1) (clear ecm4) (on ecm4 pmk2) (on pmk2 fni3) (clear jjs1) (on-table fni3) (clear ltk5) | [
[
"pick-up ltk5"
],
[
"stack ltk5 jjs1"
],
[
"unstack ecm4 pmk2"
],
[
"put-down ecm4"
],
[
"unstack pmk2 fni3"
],
[
"stack pmk2 ecm4"
],
[
"unstack ltk5 jjs1"
],
[
"stack ltk5 fni3"
],
[
"pick-up jjs1"
],
[
"stack jjs1 ltk5"
],
[
"u... | [
"(on-table jjs1) (clear ecm4) (holding ltk5) (on ecm4 pmk2) (on pmk2 fni3) (clear jjs1) (on-table fni3)",
"(arm-empty) (on-table jjs1) (clear ecm4) (on ltk5 jjs1) (on ecm4 pmk2) (on pmk2 fni3) (on-table fni3) (clear ltk5)",
"(clear pmk2) (on-table jjs1) (holding ecm4) (on ltk5 jjs1) (on pmk2 fni3) (on-table fni... | file_31186 |
GOAL: (on-table ixi1) (clear gxb4) (on lpt5 ixi1) (on-table gxb4) (holding qbc2) (clear kft3) (on-table kft3) (clear lpt5) | GOAL: (on-table ixi1) (clear gxb4) (on lpt5 ixi1) (on-table gxb4) (holding qbc2) (clear kft3) (on-table kft3) (clear lpt5)
STATE: (clear qbc2) (arm-empty) (on-table qbc2) (on gxb4 lpt5) (on-table ixi1) (clear gxb4) (on lpt5 ixi1) (clear kft3) (on-table kft3) | [
[
"unstack gxb4 lpt5"
],
[
"put-down gxb4"
],
[
"pick-up qbc2"
]
] | [
"(clear qbc2) (on-table qbc2) (on-table ixi1) (holding gxb4) (on lpt5 ixi1) (clear kft3) (on-table kft3) (clear lpt5)",
"(clear qbc2) (arm-empty) (on-table qbc2) (on-table ixi1) (clear gxb4) (on lpt5 ixi1) (on-table gxb4) (clear kft3) (on-table kft3) (clear lpt5)",
"(on-table ixi1) (clear gxb4) (on lpt5 ixi1) (... | file_143465 |
GOAL: (clear uez2) (arm-empty) (on hxk5 evn3) (on-table kpx4) (on zir1 kpx4) (on uez2 zir1) (on-table evn3) (clear hxk5) | GOAL: (clear uez2) (arm-empty) (on hxk5 evn3) (on-table kpx4) (on zir1 kpx4) (on uez2 zir1) (on-table evn3) (clear hxk5)
STATE: (on evn3 hxk5) (arm-empty) (on-table uez2) (clear kpx4) (on hxk5 zir1) (on kpx4 evn3) (on zir1 uez2) | [
[
"unstack kpx4 evn3"
],
[
"put-down kpx4"
],
[
"unstack evn3 hxk5"
],
[
"put-down evn3"
],
[
"unstack hxk5 zir1"
],
[
"stack hxk5 evn3"
],
[
"unstack zir1 uez2"
],
[
"stack zir1 kpx4"
],
[
"pick-up uez2"
],
[
"stack uez2 zir1"
]
] | [
"(on evn3 hxk5) (on-table uez2) (holding kpx4) (on zir1 uez2) (on hxk5 zir1) (clear evn3)",
"(on evn3 hxk5) (arm-empty) (on-table uez2) (clear kpx4) (on zir1 uez2) (on hxk5 zir1) (on-table kpx4) (clear evn3)",
"(on-table uez2) (clear kpx4) (on hxk5 zir1) (on-table kpx4) (on zir1 uez2) (holding evn3) (clear hxk5... | file_59546 |
GOAL: (on vrc3 dsj5) (arm-empty) (on-table ite2) (on-table dsj5) (clear lia4) (on-table lia4) (clear vrc3) (on pwb1 ite2) (clear pwb1) | GOAL: (on vrc3 dsj5) (arm-empty) (on-table ite2) (on-table dsj5) (clear lia4) (on-table lia4) (clear vrc3) (on pwb1 ite2) (clear pwb1)
STATE: (arm-empty) (on ite2 lia4) (on dsj5 vrc3) (on-table lia4) (on vrc3 pwb1) (on pwb1 ite2) (clear dsj5) | [
[
"unstack dsj5 vrc3"
],
[
"put-down dsj5"
],
[
"unstack vrc3 pwb1"
],
[
"stack vrc3 dsj5"
],
[
"unstack pwb1 ite2"
],
[
"stack pwb1 vrc3"
],
[
"unstack ite2 lia4"
],
[
"put-down ite2"
],
[
"unstack pwb1 vrc3"
],
[
"stack pwb1 ite2"
]
] | [
"(holding dsj5) (on vrc3 pwb1) (on ite2 lia4) (on pwb1 ite2) (on-table lia4) (clear vrc3)",
"(arm-empty) (on-table dsj5) (on vrc3 pwb1) (on ite2 lia4) (on pwb1 ite2) (clear dsj5) (on-table lia4) (clear vrc3)",
"(on-table dsj5) (on ite2 lia4) (on-table lia4) (on pwb1 ite2) (clear pwb1) (holding vrc3) (clear dsj5... | file_49117 |
GOAL: (arm-empty) (on-table nev2) (clear ofb4) (on yzl5 ypw3) (on-table ofb4) (on ypw3 cue1) (on cue1 nev2) (clear yzl5) | GOAL: (arm-empty) (on-table nev2) (clear ofb4) (on yzl5 ypw3) (on-table ofb4) (on ypw3 cue1) (on cue1 nev2) (clear yzl5)
STATE: (holding cue1) (clear nev2) (on ypw3 yzl5) (on yzl5 ofb4) (on-table ofb4) (on nev2 ypw3) | [
[
"put-down cue1"
],
[
"unstack nev2 ypw3"
],
[
"stack nev2 cue1"
],
[
"unstack ypw3 yzl5"
],
[
"put-down ypw3"
],
[
"unstack nev2 cue1"
],
[
"put-down nev2"
],
[
"pick-up cue1"
],
[
"stack cue1 nev2"
],
[
"pick-up ypw3"
],
[
"stack... | [
"(on ypw3 yzl5) (arm-empty) (on yzl5 ofb4) (clear nev2) (on-table cue1) (on-table ofb4) (on nev2 ypw3) (clear cue1)",
"(on ypw3 yzl5) (on yzl5 ofb4) (on-table cue1) (on-table ofb4) (holding nev2) (clear ypw3) (clear cue1)",
"(on ypw3 yzl5) (clear nev2) (on yzl5 ofb4) (arm-empty) (on-table cue1) (on-table ofb4) ... | file_91212 |
GOAL: (clear vyn2) (on nfs1 lmx3) (on-table vyn2) (holding hpg4) (on mts5 nfs1) (on-table lmx3) (clear mts5) | GOAL: (clear vyn2) (on nfs1 lmx3) (on-table vyn2) (holding hpg4) (on mts5 nfs1) (on-table lmx3) (clear mts5)
STATE: (arm-empty) (on-table nfs1) (on mts5 vyn2) (on-table hpg4) (on vyn2 hpg4) (clear lmx3) (clear nfs1) (on-table lmx3) (clear mts5) | [
[
"pick-up nfs1"
],
[
"stack nfs1 lmx3"
],
[
"unstack mts5 vyn2"
],
[
"stack mts5 nfs1"
],
[
"unstack vyn2 hpg4"
],
[
"put-down vyn2"
],
[
"pick-up hpg4"
]
] | [
"(holding nfs1) (on mts5 vyn2) (on-table hpg4) (on vyn2 hpg4) (clear lmx3) (on-table lmx3) (clear mts5)",
"(on nfs1 lmx3) (arm-empty) (on mts5 vyn2) (on-table hpg4) (on vyn2 hpg4) (clear nfs1) (on-table lmx3) (clear mts5)",
"(clear vyn2) (on nfs1 lmx3) (holding mts5) (on-table hpg4) (on vyn2 hpg4) (clear nfs1) ... | file_134772 |
GOAL: (on-table tft5) (on-table ayc1) (clear lmu4) (on lmu4 qev3) (holding kfz2) (clear ayc1) (on-table qev3) (clear tft5) | GOAL: (on-table tft5) (on-table ayc1) (clear lmu4) (on lmu4 qev3) (holding kfz2) (clear ayc1) (on-table qev3) (clear tft5)
STATE: (clear kfz2) (arm-empty) (on-table tft5) (on lmu4 qev3) (on ayc1 lmu4) (on kfz2 ayc1) (on-table qev3) (clear tft5) | [
[
"unstack kfz2 ayc1"
],
[
"stack kfz2 tft5"
],
[
"unstack ayc1 lmu4"
],
[
"put-down ayc1"
],
[
"unstack kfz2 tft5"
]
] | [
"(on-table tft5) (holding kfz2) (on lmu4 qev3) (on ayc1 lmu4) (clear ayc1) (on-table qev3) (clear tft5)",
"(clear kfz2) (arm-empty) (on-table tft5) (on lmu4 qev3) (on ayc1 lmu4) (on kfz2 tft5) (clear ayc1) (on-table qev3)",
"(holding ayc1) (clear kfz2) (on-table tft5) (clear lmu4) (on lmu4 qev3) (on kfz2 tft5) ... | file_144752 |
GOAL: (on-table ejo5) (on-table qoy1) (holding gcq4) (on qrl3 gut2) (on gut2 qoy1) (clear qrl3) (clear ejo5) | GOAL: (on-table ejo5) (on-table qoy1) (holding gcq4) (on qrl3 gut2) (on gut2 qoy1) (clear qrl3) (clear ejo5)
STATE: (on qrl3 ejo5) (on-table ejo5) (holding gcq4) (on gut2 qrl3) (on qoy1 gut2) (clear qoy1) | [
[
"put-down gcq4"
],
[
"unstack qoy1 gut2"
],
[
"put-down qoy1"
],
[
"unstack gut2 qrl3"
],
[
"stack gut2 qoy1"
],
[
"unstack qrl3 ejo5"
],
[
"stack qrl3 gut2"
],
[
"pick-up gcq4"
]
] | [
"(on qrl3 ejo5) (arm-empty) (on-table ejo5) (clear gcq4) (on qoy1 gut2) (on-table gcq4) (on gut2 qrl3) (clear qoy1)",
"(holding qoy1) (on qrl3 ejo5) (clear gut2) (on-table ejo5) (clear gcq4) (on-table gcq4) (on gut2 qrl3)",
"(on qrl3 ejo5) (arm-empty) (on-table ejo5) (clear gcq4) (clear gut2) (on-table qoy1) (o... | file_137758 |
GOAL: (arm-empty) (on-table rbe2) (on-table fxi5) (on ymn3 rbe2) (on kqr4 ymn3) (on oqu1 kqr4) (clear oqu1) (clear fxi5) | GOAL: (arm-empty) (on-table rbe2) (on-table fxi5) (on ymn3 rbe2) (on kqr4 ymn3) (on oqu1 kqr4) (clear oqu1) (clear fxi5)
STATE: (clear rbe2) (on ymn3 fxi5) (arm-empty) (on-table fxi5) (on kqr4 ymn3) (on oqu1 kqr4) (on rbe2 oqu1) | [
[
"unstack rbe2 oqu1"
],
[
"put-down rbe2"
],
[
"unstack oqu1 kqr4"
],
[
"put-down oqu1"
],
[
"unstack kqr4 ymn3"
],
[
"put-down kqr4"
],
[
"unstack ymn3 fxi5"
],
[
"stack ymn3 rbe2"
],
[
"pick-up kqr4"
],
[
"stack kqr4 ymn3"
],
[
"... | [
"(on ymn3 fxi5) (on-table fxi5) (on oqu1 kqr4) (on kqr4 ymn3) (holding rbe2) (clear oqu1)",
"(on kqr4 ymn3) (on ymn3 fxi5) (clear rbe2) (arm-empty) (on-table rbe2) (on-table fxi5) (on oqu1 kqr4) (clear oqu1)",
"(holding oqu1) (on ymn3 fxi5) (clear rbe2) (on-table rbe2) (on-table fxi5) (clear kqr4) (on kqr4 ymn3... | file_24036 |
GOAL: (on sel1 cla5) (clear pme2) (on-table pme2) (on-table cla5) (clear veu4) (on-table veu4) (holding jhg3) (clear sel1) | GOAL: (on sel1 cla5) (clear pme2) (on-table pme2) (on-table cla5) (clear veu4) (on-table veu4) (holding jhg3) (clear sel1)
STATE: (on sel1 cla5) (clear pme2) (on veu4 sel1) (arm-empty) (on-table pme2) (on-table cla5) (clear veu4) (clear jhg3) (on-table jhg3) | [
[
"unstack veu4 sel1"
],
[
"put-down veu4"
],
[
"pick-up jhg3"
]
] | [
"(on sel1 cla5) (clear pme2) (on-table pme2) (on-table cla5) (holding veu4) (clear jhg3) (clear sel1) (on-table jhg3)",
"(on sel1 cla5) (clear pme2) (arm-empty) (on-table pme2) (on-table cla5) (clear veu4) (on-table veu4) (clear jhg3) (clear sel1) (on-table jhg3)",
"(on sel1 cla5) (clear pme2) (on-table pme2) (... | file_151806 |
GOAL: (on uui4 mwn1) (on ipu5 uui4) (arm-empty) (on-table mwn1) (on bec3 got2) (on got2 ipu5) (clear bec3) | GOAL: (on uui4 mwn1) (on ipu5 uui4) (arm-empty) (on-table mwn1) (on bec3 got2) (on got2 ipu5) (clear bec3)
STATE: (on bec3 ipu5) (on uui4 mwn1) (on ipu5 uui4) (on-table mwn1) (holding got2) (clear bec3) | [
[
"put-down got2"
],
[
"unstack bec3 ipu5"
],
[
"put-down bec3"
],
[
"pick-up got2"
],
[
"stack got2 ipu5"
],
[
"pick-up bec3"
],
[
"stack bec3 got2"
]
] | [
"(on bec3 ipu5) (on uui4 mwn1) (on ipu5 uui4) (on-table got2) (clear got2) (on-table mwn1) (arm-empty) (clear bec3)",
"(on uui4 mwn1) (on ipu5 uui4) (on-table got2) (clear got2) (on-table mwn1) (holding bec3) (clear ipu5)",
"(on uui4 mwn1) (on ipu5 uui4) (on-table got2) (arm-empty) (clear ipu5) (clear got2) (on... | file_52861 |
GOAL: (holding kta1) (clear tqz2) (on-table tqz2) (on-table khb5) (clear fcr4) (on-table fcr4) (clear xis3) (on-table xis3) (clear khb5) | GOAL: (holding kta1) (clear tqz2) (on-table tqz2) (on-table khb5) (clear fcr4) (on-table fcr4) (clear xis3) (on-table xis3) (clear khb5)
STATE: (holding kta1) (on khb5 fcr4) (on-table tqz2) (on xis3 tqz2) (on fcr4 xis3) (clear khb5) | [
[
"put-down kta1"
],
[
"unstack khb5 fcr4"
],
[
"put-down khb5"
],
[
"pick-up kta1"
],
[
"stack kta1 khb5"
],
[
"unstack fcr4 xis3"
],
[
"put-down fcr4"
],
[
"unstack kta1 khb5"
],
[
"put-down kta1"
],
[
"unstack xis3 tqz2"
],
[
"pu... | [
"(arm-empty) (on khb5 fcr4) (on-table tqz2) (clear khb5) (on-table kta1) (on xis3 tqz2) (on fcr4 xis3) (clear kta1)",
"(on-table tqz2) (on-table kta1) (on xis3 tqz2) (clear fcr4) (on fcr4 xis3) (holding khb5) (clear kta1)",
"(arm-empty) (on-table tqz2) (on-table khb5) (clear fcr4) (clear khb5) (on-table kta1) (... | file_55154 |
GOAL: (holding gtc1) (on-table dbi5) (clear fdv4) (on fdv4 fyk2) (on fyk2 ski3) (on-table ski3) (clear dbi5) | GOAL: (holding gtc1) (on-table dbi5) (clear fdv4) (on fdv4 fyk2) (on fyk2 ski3) (on-table ski3) (clear dbi5)
STATE: (on dbi5 fdv4) (on-table gtc1) (on-table fdv4) (holding fyk2) (clear ski3) (clear gtc1) (on-table ski3) (clear dbi5) | [
[
"stack fyk2 ski3"
],
[
"unstack dbi5 fdv4"
],
[
"put-down dbi5"
],
[
"pick-up gtc1"
],
[
"stack gtc1 dbi5"
],
[
"pick-up fdv4"
],
[
"stack fdv4 fyk2"
],
[
"unstack gtc1 dbi5"
]
] | [
"(clear fyk2) (arm-empty) (on dbi5 fdv4) (on-table gtc1) (on-table fdv4) (on fyk2 ski3) (clear gtc1) (on-table ski3) (clear dbi5)",
"(clear fyk2) (on-table gtc1) (clear fdv4) (holding dbi5) (on-table fdv4) (on fyk2 ski3) (clear gtc1) (on-table ski3)",
"(clear fyk2) (arm-empty) (on-table dbi5) (on-table gtc1) (c... | file_34471 |
GOAL: (on nqg3 orx4) (on wrk1 nqg3) (on-table sui5) (on orx4 sui5) (holding yui2) (clear wrk1) | GOAL: (on nqg3 orx4) (on wrk1 nqg3) (on-table sui5) (on orx4 sui5) (holding yui2) (clear wrk1)
STATE: (on nqg3 orx4) (on orx4 wrk1) (arm-empty) (on-table yui2) (on-table sui5) (clear nqg3) (on wrk1 yui2) (clear sui5) | [
[
"unstack nqg3 orx4"
],
[
"stack nqg3 sui5"
],
[
"unstack orx4 wrk1"
],
[
"put-down orx4"
],
[
"unstack nqg3 sui5"
],
[
"stack nqg3 wrk1"
],
[
"pick-up orx4"
],
[
"stack orx4 sui5"
],
[
"unstack nqg3 wrk1"
],
[
"stack nqg3 orx4"
],
[
... | [
"(on orx4 wrk1) (on-table yui2) (on-table sui5) (clear orx4) (on wrk1 yui2) (holding nqg3) (clear sui5)",
"(on nqg3 sui5) (on orx4 wrk1) (arm-empty) (on-table yui2) (on-table sui5) (clear orx4) (clear nqg3) (on wrk1 yui2)",
"(on nqg3 sui5) (on-table yui2) (on-table sui5) (holding orx4) (clear nqg3) (on wrk1 yui... | file_84499 |
GOAL: (on oik1 xuf5) (clear ige2) (arm-empty) (on xuf5 ock3) (on-table btx4) (on ige2 btx4) (clear oik1) (on-table ock3) | GOAL: (on oik1 xuf5) (clear ige2) (arm-empty) (on xuf5 ock3) (on-table btx4) (on ige2 btx4) (clear oik1) (on-table ock3)
STATE: (holding oik1) (on ock3 ige2) (on xuf5 ock3) (on-table btx4) (on ige2 btx4) (clear xuf5) | [
[
"put-down oik1"
],
[
"unstack xuf5 ock3"
],
[
"put-down xuf5"
],
[
"unstack ock3 ige2"
],
[
"put-down ock3"
],
[
"pick-up xuf5"
],
[
"stack xuf5 ock3"
],
[
"pick-up oik1"
],
[
"stack oik1 xuf5"
]
] | [
"(arm-empty) (on xuf5 ock3) (on ige2 btx4) (clear xuf5) (on-table oik1) (on ock3 ige2) (on-table btx4) (clear oik1)",
"(on-table oik1) (on ock3 ige2) (holding xuf5) (on-table btx4) (on ige2 btx4) (clear ock3) (clear oik1)",
"(arm-empty) (on-table xuf5) (on ige2 btx4) (clear xuf5) (on-table oik1) (on ock3 ige2) ... | file_120023 |
GOAL: (on swn4 yob3) (on yob3 eph1) (holding xxe2) (on-table eph1) (clear swn4) | GOAL: (on swn4 yob3) (on yob3 eph1) (holding xxe2) (on-table eph1) (clear swn4)
STATE: (clear xxe2) (arm-empty) (on-table xxe2) (on-table eph1) (clear swn4) (on swn4 yob3) (on yob3 eph1) | [
[
"pick-up xxe2"
]
] | [
"(on swn4 yob3) (on yob3 eph1) (holding xxe2) (on-table eph1) (clear swn4)"
] | file_177910 |
GOAL: (on-table tkk2) (on-table jqh1) (on thp3 tkk2) (clear trs4) (on trs4 thp3) (holding ocn5) (clear jqh1) | GOAL: (on-table tkk2) (on-table jqh1) (on thp3 tkk2) (clear trs4) (on trs4 thp3) (holding ocn5) (clear jqh1)
STATE: (clear tkk2) (on thp3 ocn5) (on-table tkk2) (holding trs4) (on-table jqh1) (on ocn5 jqh1) (clear thp3) | [
[
"put-down trs4"
],
[
"unstack thp3 ocn5"
],
[
"put-down thp3"
],
[
"pick-up trs4"
],
[
"stack trs4 ocn5"
],
[
"pick-up thp3"
],
[
"stack thp3 tkk2"
],
[
"unstack trs4 ocn5"
],
[
"stack trs4 thp3"
],
[
"unstack ocn5 jqh1"
]
] | [
"(on thp3 ocn5) (arm-empty) (on-table tkk2) (clear trs4) (clear tkk2) (on-table jqh1) (on ocn5 jqh1) (on-table trs4) (clear thp3)",
"(clear tkk2) (on-table tkk2) (on-table jqh1) (clear trs4) (on ocn5 jqh1) (on-table trs4) (holding thp3) (clear ocn5)",
"(clear tkk2) (arm-empty) (on-table tkk2) (on-table jqh1) (c... | file_184578 |
GOAL: (arm-empty) (on-table yns2) (on-table pdw5) (clear ouw4) (on bij3 tto1) (on tto1 yns2) (clear pdw5) (on-table ouw4) (clear bij3) | GOAL: (arm-empty) (on-table yns2) (on-table pdw5) (clear ouw4) (on bij3 tto1) (on tto1 yns2) (clear pdw5) (on-table ouw4) (clear bij3)
STATE: (on-table yns2) (holding ouw4) (on pdw5 bij3) (on bij3 tto1) (on tto1 yns2) (clear pdw5) | [
[
"put-down ouw4"
],
[
"unstack pdw5 bij3"
],
[
"put-down pdw5"
]
] | [
"(arm-empty) (on-table yns2) (clear ouw4) (on pdw5 bij3) (on bij3 tto1) (on tto1 yns2) (clear pdw5) (on-table ouw4)",
"(on-table yns2) (clear ouw4) (holding pdw5) (on-table ouw4) (on bij3 tto1) (clear bij3) (on tto1 yns2)",
"(arm-empty) (on-table yns2) (on-table pdw5) (clear ouw4) (on bij3 tto1) (on tto1 yns2) ... | file_72308 |
GOAL: (on sun1 puz5) (on-table puz5) (clear tuh4) (on tuh4 zny3) (holding gnu2) (clear sun1) (on-table zny3) | GOAL: (on sun1 puz5) (on-table puz5) (clear tuh4) (on tuh4 zny3) (holding gnu2) (clear sun1) (on-table zny3)
STATE: (on sun1 puz5) (clear gnu2) (on tuh4 sun1) (arm-empty) (on-table puz5) (on gnu2 tuh4) (clear zny3) (on-table zny3) | [
[
"unstack gnu2 tuh4"
],
[
"put-down gnu2"
],
[
"unstack tuh4 sun1"
],
[
"stack tuh4 zny3"
],
[
"pick-up gnu2"
]
] | [
"(on sun1 puz5) (on tuh4 sun1) (on-table puz5) (clear tuh4) (holding gnu2) (clear zny3) (on-table zny3)",
"(on sun1 puz5) (on tuh4 sun1) (arm-empty) (on-table gnu2) (on-table puz5) (clear tuh4) (clear gnu2) (clear zny3) (on-table zny3)",
"(on sun1 puz5) (clear gnu2) (on-table gnu2) (on-table puz5) (holding tuh4... | file_137059 |
GOAL: (clear nzn2) (on emr4 arn1) (on-table nzn2) (on-table arn1) (clear emr4) (holding urv5) (clear xlq3) (on-table xlq3) | GOAL: (clear nzn2) (on emr4 arn1) (on-table nzn2) (on-table arn1) (clear emr4) (holding urv5) (clear xlq3) (on-table xlq3)
STATE: (on xlq3 emr4) (on emr4 arn1) (on-table arn1) (on urv5 xlq3) (holding nzn2) (clear urv5) | [
[
"put-down nzn2"
],
[
"unstack urv5 xlq3"
],
[
"stack urv5 nzn2"
],
[
"unstack xlq3 emr4"
],
[
"put-down xlq3"
],
[
"unstack urv5 nzn2"
]
] | [
"(on emr4 arn1) (arm-empty) (on-table nzn2) (on urv5 xlq3) (clear urv5) (on xlq3 emr4) (clear nzn2) (on-table arn1)",
"(on xlq3 emr4) (clear nzn2) (on emr4 arn1) (on-table nzn2) (on-table arn1) (holding urv5) (clear xlq3)",
"(on xlq3 emr4) (on emr4 arn1) (arm-empty) (on-table nzn2) (on-table arn1) (on urv5 nzn2... | file_195519 |
GOAL: (holding sre1) (on cfd4 rdk3) (on-table sru2) (on rdk3 sru2) (clear cfd4) | GOAL: (holding sre1) (on cfd4 rdk3) (on-table sru2) (on rdk3 sru2) (clear cfd4)
STATE: (clear sru2) (on cfd4 sre1) (arm-empty) (on-table sru2) (on-table sre1) (clear cfd4) (clear rdk3) (on-table rdk3) | [
[
"pick-up rdk3"
],
[
"stack rdk3 sru2"
],
[
"unstack cfd4 sre1"
],
[
"stack cfd4 rdk3"
],
[
"pick-up sre1"
]
] | [
"(clear sru2) (on cfd4 sre1) (on-table sru2) (on-table sre1) (clear cfd4) (holding rdk3)",
"(on cfd4 sre1) (arm-empty) (on-table sru2) (on-table sre1) (on rdk3 sru2) (clear cfd4) (clear rdk3)",
"(on-table sru2) (holding cfd4) (on-table sre1) (on rdk3 sru2) (clear rdk3) (clear sre1)",
"(arm-empty) (on-table sr... | file_187238 |
GOAL: (holding bbh1) (clear pms2) (on-table pms2) (clear lov4) (on lov4 qxc3) (on-table qxc3) | GOAL: (holding bbh1) (clear pms2) (on-table pms2) (clear lov4) (on lov4 qxc3) (on-table qxc3)
STATE: (on-table bbh1) (clear lov4) (on lov4 pms2) (on pms2 bbh1) (holding qxc3) | [
[
"put-down qxc3"
],
[
"unstack lov4 pms2"
],
[
"stack lov4 qxc3"
],
[
"unstack pms2 bbh1"
],
[
"put-down pms2"
],
[
"pick-up bbh1"
]
] | [
"(on lov4 pms2) (arm-empty) (on-table bbh1) (on pms2 bbh1) (clear qxc3) (clear lov4) (on-table qxc3)",
"(holding lov4) (on pms2 bbh1) (clear pms2) (on-table bbh1) (clear qxc3) (on-table qxc3)",
"(clear pms2) (arm-empty) (on-table bbh1) (clear lov4) (on lov4 qxc3) (on pms2 bbh1) (on-table qxc3)",
"(clear lov4)... | file_150666 |
GOAL: (arm-empty) (on-table lxr2) (on-table jqs1) (clear bpz4) (on rlg5 jry3) (on bpz4 lxr2) (clear jqs1) (on-table jry3) (clear rlg5) | GOAL: (arm-empty) (on-table lxr2) (on-table jqs1) (clear bpz4) (on rlg5 jry3) (on bpz4 lxr2) (clear jqs1) (on-table jry3) (clear rlg5)
STATE: (on jqs1 rlg5) (arm-empty) (on rlg5 bpz4) (on bpz4 lxr2) (on lxr2 jry3) (clear jqs1) (on-table jry3) | [
[
"unstack jqs1 rlg5"
],
[
"put-down jqs1"
],
[
"unstack rlg5 bpz4"
],
[
"put-down rlg5"
],
[
"unstack bpz4 lxr2"
],
[
"stack bpz4 jqs1"
],
[
"pick-up rlg5"
],
[
"stack rlg5 bpz4"
],
[
"unstack lxr2 jry3"
],
[
"put-down lxr2"
],
[
"... | [
"(on rlg5 bpz4) (clear rlg5) (holding jqs1) (on bpz4 lxr2) (on lxr2 jry3) (on-table jry3)",
"(arm-empty) (on rlg5 bpz4) (clear rlg5) (on-table jqs1) (on bpz4 lxr2) (on lxr2 jry3) (clear jqs1) (on-table jry3)",
"(on-table jqs1) (clear bpz4) (holding rlg5) (on bpz4 lxr2) (on lxr2 jry3) (clear jqs1) (on-table jry3... | file_168931 |
GOAL: (on iee3 zbu4) (on zbu4 tfk1) (arm-empty) (on-table ius2) (on-table tfk1) (on knn5 ius2) (clear iee3) (clear knn5) | GOAL: (on iee3 zbu4) (on zbu4 tfk1) (arm-empty) (on-table ius2) (on-table tfk1) (on knn5 ius2) (clear iee3) (clear knn5)
STATE: (on iee3 zbu4) (on zbu4 tfk1) (arm-empty) (on-table tfk1) (on knn5 ius2) (on ius2 iee3) (clear knn5) | [
[
"unstack knn5 ius2"
],
[
"put-down knn5"
],
[
"unstack ius2 iee3"
],
[
"put-down ius2"
],
[
"pick-up knn5"
],
[
"stack knn5 ius2"
]
] | [
"(on zbu4 tfk1) (holding knn5) (on iee3 zbu4) (clear ius2) (on-table tfk1) (on ius2 iee3)",
"(on zbu4 tfk1) (arm-empty) (on-table knn5) (clear knn5) (on iee3 zbu4) (clear ius2) (on-table tfk1) (on ius2 iee3)",
"(on iee3 zbu4) (on zbu4 tfk1) (on-table knn5) (on-table tfk1) (holding ius2) (clear iee3) (clear knn5... | file_5463 |
GOAL: (on dqa3 znk4) (clear tdr2) (on-table sut1) (holding uqr5) (on-table znk4) (on tdr2 dqa3) (clear sut1) | GOAL: (on dqa3 znk4) (clear tdr2) (on-table sut1) (holding uqr5) (on-table znk4) (on tdr2 dqa3) (clear sut1)
STATE: (holding sut1) (on-table tdr2) (on-table uqr5) (on dqa3 tdr2) (clear znk4) (on-table znk4) (clear dqa3) (clear uqr5) | [
[
"put-down sut1"
],
[
"pick-up znk4"
],
[
"stack znk4 dqa3"
],
[
"pick-up uqr5"
],
[
"stack uqr5 sut1"
],
[
"unstack znk4 dqa3"
],
[
"put-down znk4"
],
[
"unstack dqa3 tdr2"
],
[
"stack dqa3 znk4"
],
[
"pick-up tdr2"
],
[
"stack td... | [
"(arm-empty) (on-table tdr2) (on-table uqr5) (on-table sut1) (on dqa3 tdr2) (clear znk4) (on-table znk4) (clear dqa3) (clear sut1) (clear uqr5)",
"(on-table tdr2) (on-table uqr5) (on-table sut1) (holding znk4) (on dqa3 tdr2) (clear dqa3) (clear sut1) (clear uqr5)",
"(arm-empty) (on-table tdr2) (on-table uqr5) (... | file_191459 |
GOAL: (on-table dwe2) (on sfl4 cmf5) (on-table bhs1) (on cmf5 dwe2) (clear sfl4) (holding ryf3) (clear bhs1) | GOAL: (on-table dwe2) (on sfl4 cmf5) (on-table bhs1) (on cmf5 dwe2) (clear sfl4) (holding ryf3) (clear bhs1)
STATE: (clear dwe2) (on sfl4 bhs1) (on bhs1 ryf3) (on cmf5 sfl4) (arm-empty) (on-table dwe2) (on-table ryf3) (clear cmf5) | [
[
"unstack cmf5 sfl4"
],
[
"stack cmf5 dwe2"
],
[
"unstack sfl4 bhs1"
],
[
"stack sfl4 cmf5"
],
[
"unstack bhs1 ryf3"
],
[
"put-down bhs1"
],
[
"pick-up ryf3"
]
] | [
"(clear dwe2) (on sfl4 bhs1) (on bhs1 ryf3) (on-table dwe2) (clear sfl4) (holding cmf5) (on-table ryf3)",
"(on sfl4 bhs1) (on bhs1 ryf3) (on-table dwe2) (arm-empty) (on cmf5 dwe2) (clear sfl4) (on-table ryf3) (clear cmf5)",
"(on bhs1 ryf3) (on-table dwe2) (holding sfl4) (on cmf5 dwe2) (clear bhs1) (on-table ryf... | file_62802 |
GOAL: (holding pjh1) (on-table pmj2) (on nnb5 pmj2) (clear mjc4) (on mjc4 yiy3) (on-table yiy3) (clear nnb5) | GOAL: (holding pjh1) (on-table pmj2) (on nnb5 pmj2) (clear mjc4) (on mjc4 yiy3) (on-table yiy3) (clear nnb5)
STATE: (on yiy3 mjc4) (arm-empty) (on-table pmj2) (on mjc4 nnb5) (on-table pjh1) (on nnb5 pmj2) (clear yiy3) (clear pjh1) | [
[
"unstack yiy3 mjc4"
],
[
"put-down yiy3"
],
[
"unstack mjc4 nnb5"
],
[
"stack mjc4 yiy3"
],
[
"pick-up pjh1"
]
] | [
"(on-table pmj2) (on mjc4 nnb5) (on-table pjh1) (on nnb5 pmj2) (clear mjc4) (holding yiy3) (clear pjh1)",
"(arm-empty) (on-table pmj2) (on mjc4 nnb5) (on nnb5 pmj2) (clear mjc4) (on-table pjh1) (clear yiy3) (clear pjh1) (on-table yiy3)",
"(on-table pmj2) (on-table pjh1) (holding mjc4) (on nnb5 pmj2) (clear yiy3... | file_188670 |
GOAL: (arm-empty) (on-table bzf2) (on-table med5) (clear fub4) (on kja3 mxf1) (clear med5) (clear bzf2) (on-table mxf1) (on fub4 kja3) | GOAL: (arm-empty) (on-table bzf2) (on-table med5) (clear fub4) (on kja3 mxf1) (clear med5) (clear bzf2) (on-table mxf1) (on fub4 kja3)
STATE: (clear bzf2) (on-table mxf1) (on fub4 kja3) (holding med5) (on kja3 mxf1) (on bzf2 fub4) | [
[
"put-down med5"
],
[
"unstack bzf2 fub4"
],
[
"put-down bzf2"
]
] | [
"(arm-empty) (on-table med5) (on kja3 mxf1) (on bzf2 fub4) (clear med5) (clear bzf2) (on-table mxf1) (on fub4 kja3)",
"(on-table med5) (on-table mxf1) (clear fub4) (on fub4 kja3) (holding bzf2) (on kja3 mxf1) (clear med5)",
"(arm-empty) (on-table bzf2) (on-table med5) (clear fub4) (on kja3 mxf1) (clear med5) (c... | file_96601 |
GOAL: (clear rkk2) (arm-empty) (on-table pmz4) (on jjj1 pmz4) (on rkk2 jjj1) (clear ckv3) (on-table ckv3) | GOAL: (clear rkk2) (arm-empty) (on-table pmz4) (on jjj1 pmz4) (on rkk2 jjj1) (clear ckv3) (on-table ckv3)
STATE: (arm-empty) (on jjj1 pmz4) (on pmz4 rkk2) (on rkk2 ckv3) (clear jjj1) (on-table ckv3) | [
[
"unstack jjj1 pmz4"
],
[
"put-down jjj1"
],
[
"unstack pmz4 rkk2"
],
[
"put-down pmz4"
],
[
"unstack rkk2 ckv3"
],
[
"put-down rkk2"
],
[
"pick-up ckv3"
],
[
"stack ckv3 pmz4"
],
[
"pick-up jjj1"
],
[
"stack jjj1 rkk2"
],
[
"unsta... | [
"(holding jjj1) (clear pmz4) (on pmz4 rkk2) (on rkk2 ckv3) (on-table ckv3)",
"(on-table jjj1) (arm-empty) (on rkk2 ckv3) (on pmz4 rkk2) (clear pmz4) (clear jjj1) (on-table ckv3)",
"(holding pmz4) (clear rkk2) (on-table jjj1) (on rkk2 ckv3) (clear jjj1) (on-table ckv3)",
"(arm-empty) (clear pmz4) (clear rkk2) ... | file_183621 |
GOAL: (on ezj3 hwy5) (arm-empty) (on-table yfm2) (clear gig4) (on hwy5 hdi1) (on-table gig4) (clear ezj3) (on hdi1 yfm2) | GOAL: (on ezj3 hwy5) (arm-empty) (on-table yfm2) (clear gig4) (on hwy5 hdi1) (on-table gig4) (clear ezj3) (on hdi1 yfm2)
STATE: (on-table yfm2) (clear gig4) (holding hwy5) (on-table gig4) (on ezj3 hdi1) (clear ezj3) (on hdi1 yfm2) | [
[
"stack hwy5 gig4"
],
[
"unstack ezj3 hdi1"
],
[
"put-down ezj3"
],
[
"unstack hwy5 gig4"
],
[
"stack hwy5 hdi1"
],
[
"pick-up ezj3"
],
[
"stack ezj3 hwy5"
]
] | [
"(arm-empty) (on hwy5 gig4) (on-table yfm2) (on-table gig4) (on ezj3 hdi1) (clear ezj3) (on hdi1 yfm2) (clear hwy5)",
"(on hwy5 gig4) (on-table yfm2) (on-table gig4) (on hdi1 yfm2) (clear hdi1) (holding ezj3) (clear hwy5)",
"(arm-empty) (on hwy5 gig4) (on-table yfm2) (on hdi1 yfm2) (clear hwy5) (on-table gig4) ... | file_83287 |
GOAL: (on abw1 qgr5) (on ueu3 rqc4) (arm-empty) (on-table wcr2) (on-table qgr5) (on rqc4 wcr2) (clear ueu3) (clear abw1) | GOAL: (on abw1 qgr5) (on ueu3 rqc4) (arm-empty) (on-table wcr2) (on-table qgr5) (on rqc4 wcr2) (clear ueu3) (clear abw1)
STATE: (holding abw1) (on-table wcr2) (on-table qgr5) (on ueu3 wcr2) (clear rqc4) (on rqc4 ueu3) (clear qgr5) | [
[
"stack abw1 qgr5"
],
[
"unstack rqc4 ueu3"
],
[
"stack rqc4 abw1"
],
[
"unstack ueu3 wcr2"
],
[
"put-down ueu3"
],
[
"unstack rqc4 abw1"
],
[
"stack rqc4 wcr2"
],
[
"pick-up ueu3"
],
[
"stack ueu3 rqc4"
]
] | [
"(on abw1 qgr5) (arm-empty) (on-table wcr2) (on-table qgr5) (on ueu3 wcr2) (clear rqc4) (on rqc4 ueu3) (clear abw1)",
"(on abw1 qgr5) (on-table wcr2) (on-table qgr5) (holding rqc4) (on ueu3 wcr2) (clear ueu3) (clear abw1)",
"(on abw1 qgr5) (on rqc4 abw1) (arm-empty) (on-table wcr2) (on-table qgr5) (on ueu3 wcr2... | file_24473 |
GOAL: (arm-empty) (on-table hek5) (on-table zvg1) (clear qrg4) (on qrg4 eff2) (on eff2 xsi3) (clear zvg1) (on-table xsi3) (clear hek5) | GOAL: (arm-empty) (on-table hek5) (on-table zvg1) (clear qrg4) (on qrg4 eff2) (on eff2 xsi3) (clear zvg1) (on-table xsi3) (clear hek5)
STATE: (on qrg4 zvg1) (on hek5 qrg4) (arm-empty) (on eff2 xsi3) (on zvg1 eff2) (on-table xsi3) (clear hek5) | [
[
"unstack hek5 qrg4"
],
[
"put-down hek5"
],
[
"unstack qrg4 zvg1"
],
[
"stack qrg4 hek5"
],
[
"unstack zvg1 eff2"
],
[
"put-down zvg1"
],
[
"unstack qrg4 hek5"
],
[
"stack qrg4 eff2"
]
] | [
"(holding hek5) (on qrg4 zvg1) (clear qrg4) (on eff2 xsi3) (on zvg1 eff2) (on-table xsi3)",
"(on qrg4 zvg1) (arm-empty) (on-table hek5) (clear qrg4) (on zvg1 eff2) (clear hek5) (on eff2 xsi3) (on-table xsi3)",
"(on-table hek5) (holding qrg4) (on eff2 xsi3) (on zvg1 eff2) (clear zvg1) (on-table xsi3) (clear hek5... | file_64364 |
GOAL: (holding tho1) (on-table yxz2) (on rdl5 yxz2) (clear wvj4) (on-table wvj4) (clear jtm3) (on-table jtm3) (clear rdl5) | GOAL: (holding tho1) (on-table yxz2) (on rdl5 yxz2) (clear wvj4) (on-table wvj4) (clear jtm3) (on-table jtm3) (clear rdl5)
STATE: (on tho1 jtm3) (clear wvj4) (holding rdl5) (on wvj4 yxz2) (on yxz2 tho1) (on-table jtm3) | [
[
"put-down rdl5"
],
[
"unstack wvj4 yxz2"
],
[
"put-down wvj4"
],
[
"pick-up rdl5"
],
[
"stack rdl5 wvj4"
],
[
"unstack yxz2 tho1"
],
[
"put-down yxz2"
],
[
"unstack rdl5 wvj4"
],
[
"stack rdl5 yxz2"
],
[
"unstack tho1 jtm3"
]
] | [
"(on tho1 jtm3) (arm-empty) (on-table rdl5) (clear wvj4) (on yxz2 tho1) (clear rdl5) (on wvj4 yxz2) (on-table jtm3)",
"(clear yxz2) (on tho1 jtm3) (on-table rdl5) (holding wvj4) (on yxz2 tho1) (on-table jtm3) (clear rdl5)",
"(on tho1 jtm3) (arm-empty) (on-table rdl5) (clear wvj4) (on yxz2 tho1) (clear rdl5) (cl... | file_61043 |
GOAL: (holding ibu1) (on zxg3 zzf4) (clear qhw2) (on-table qhw2) (on-table oau5) (on-table zzf4) (clear zxg3) (clear oau5) | GOAL: (holding ibu1) (on zxg3 zzf4) (clear qhw2) (on-table qhw2) (on-table oau5) (on-table zzf4) (clear zxg3) (clear oau5)
STATE: (on zxg3 oau5) (on-table qhw2) (holding zzf4) (on oau5 ibu1) (clear zxg3) (on ibu1 qhw2) | [
[
"put-down zzf4"
],
[
"unstack zxg3 oau5"
],
[
"stack zxg3 zzf4"
],
[
"unstack oau5 ibu1"
],
[
"put-down oau5"
],
[
"unstack ibu1 qhw2"
]
] | [
"(on zxg3 oau5) (arm-empty) (on-table qhw2) (clear zzf4) (on ibu1 qhw2) (on oau5 ibu1) (on-table zzf4) (clear zxg3)",
"(on-table qhw2) (clear zzf4) (on oau5 ibu1) (on-table zzf4) (on ibu1 qhw2) (holding zxg3) (clear oau5)",
"(on zxg3 zzf4) (arm-empty) (on-table qhw2) (on oau5 ibu1) (on-table zzf4) (clear zxg3) ... | file_173859 |
GOAL: (on qwi3 eqt4) (on eqt4 fvm1) (holding fvx2) (on-table fvm1) (clear qwi3) | GOAL: (on qwi3 eqt4) (on eqt4 fvm1) (holding fvx2) (on-table fvm1) (clear qwi3)
STATE: (clear fvx2) (on fvm1 qwi3) (on-table fvx2) (holding eqt4) (clear fvm1) (on-table qwi3) | [
[
"stack eqt4 fvx2"
],
[
"unstack fvm1 qwi3"
],
[
"put-down fvm1"
],
[
"unstack eqt4 fvx2"
],
[
"stack eqt4 fvm1"
],
[
"pick-up qwi3"
],
[
"stack qwi3 eqt4"
],
[
"pick-up fvx2"
]
] | [
"(on fvm1 qwi3) (arm-empty) (on-table fvx2) (on eqt4 fvx2) (clear eqt4) (clear fvm1) (on-table qwi3)",
"(on-table fvx2) (clear eqt4) (holding fvm1) (on eqt4 fvx2) (clear qwi3) (on-table qwi3)",
"(arm-empty) (on-table fvx2) (clear eqt4) (on-table fvm1) (on eqt4 fvx2) (clear qwi3) (clear fvm1) (on-table qwi3)",
... | file_34845 |
GOAL: (on ypi3 nql1) (holding uzy4) (clear euq2) (on euq2 ypi3) (on-table nql1) | GOAL: (on ypi3 nql1) (holding uzy4) (clear euq2) (on euq2 ypi3) (on-table nql1)
STATE: (on ypi3 uzy4) (arm-empty) (on-table euq2) (on-table nql1) (on uzy4 euq2) (clear ypi3) (clear nql1) | [
[
"unstack ypi3 uzy4"
],
[
"stack ypi3 nql1"
],
[
"unstack uzy4 euq2"
],
[
"put-down uzy4"
],
[
"pick-up euq2"
],
[
"stack euq2 ypi3"
],
[
"pick-up uzy4"
]
] | [
"(on-table euq2) (clear uzy4) (on-table nql1) (on uzy4 euq2) (holding ypi3) (clear nql1)",
"(arm-empty) (on-table euq2) (on-table nql1) (clear uzy4) (on ypi3 nql1) (on uzy4 euq2) (clear ypi3)",
"(on-table euq2) (holding uzy4) (on ypi3 nql1) (clear euq2) (on-table nql1) (clear ypi3)",
"(arm-empty) (on-table eu... | file_120943 |
GOAL: (clear fpg1) (arm-empty) (on-table gyr5) (clear uag4) (on-table uag4) (on ptd2 cng3) (on fpg1 ptd2) (on-table cng3) (clear gyr5) | GOAL: (clear fpg1) (arm-empty) (on-table gyr5) (clear uag4) (on-table uag4) (on ptd2 cng3) (on fpg1 ptd2) (on-table cng3) (clear gyr5)
STATE: (on cng3 gyr5) (on uag4 fpg1) (on fpg1 cng3) (on-table ptd2) (arm-empty) (on gyr5 ptd2) (clear uag4) | [
[
"unstack uag4 fpg1"
],
[
"put-down uag4"
],
[
"unstack fpg1 cng3"
],
[
"stack fpg1 uag4"
],
[
"unstack cng3 gyr5"
],
[
"put-down cng3"
],
[
"unstack gyr5 ptd2"
],
[
"put-down gyr5"
],
[
"pick-up ptd2"
],
[
"stack ptd2 cng3"
],
[
"... | [
"(on cng3 gyr5) (on fpg1 cng3) (on-table ptd2) (holding uag4) (on gyr5 ptd2) (clear fpg1)",
"(on cng3 gyr5) (on fpg1 cng3) (arm-empty) (on-table ptd2) (on gyr5 ptd2) (clear uag4) (on-table uag4) (clear fpg1)",
"(holding fpg1) (on cng3 gyr5) (on-table ptd2) (on gyr5 ptd2) (clear uag4) (on-table uag4) (clear cng3... | file_23755 |
GOAL: (on cgi5 ksb2) (on-table ikt4) (on mbh1 ikt4) (on ksb2 mbh1) (holding xtv3) (clear cgi5) | GOAL: (on cgi5 ksb2) (on-table ikt4) (on mbh1 ikt4) (on ksb2 mbh1) (holding xtv3) (clear cgi5)
STATE: (clear ksb2) (on ikt4 mbh1) (on mbh1 xtv3) (on-table ksb2) (arm-empty) (on-table cgi5) (clear ikt4) (on-table xtv3) (clear cgi5) | [
[
"unstack ikt4 mbh1"
],
[
"stack ikt4 cgi5"
],
[
"unstack mbh1 xtv3"
],
[
"stack mbh1 ksb2"
],
[
"unstack ikt4 cgi5"
],
[
"put-down ikt4"
],
[
"unstack mbh1 ksb2"
],
[
"stack mbh1 ikt4"
],
[
"pick-up ksb2"
],
[
"stack ksb2 mbh1"
],
[
... | [
"(clear ksb2) (on mbh1 xtv3) (on-table ksb2) (on-table cgi5) (holding ikt4) (clear mbh1) (on-table xtv3) (clear cgi5)",
"(clear ksb2) (on mbh1 xtv3) (arm-empty) (on-table ksb2) (on-table cgi5) (on ikt4 cgi5) (clear ikt4) (clear mbh1) (on-table xtv3)",
"(holding mbh1) (clear ksb2) (on-table ksb2) (on-table cgi5)... | file_202544 |
GOAL: (on plv3 wnd4) (on-table tzw1) (on ihl5 tzw1) (on-table wnd4) (holding ngt2) (clear plv3) (clear ihl5) | GOAL: (on plv3 wnd4) (on-table tzw1) (on ihl5 tzw1) (on-table wnd4) (holding ngt2) (clear plv3) (clear ihl5)
STATE: (holding tzw1) (on-table ngt2) (on-table ihl5) (on plv3 ngt2) (clear wnd4) (on wnd4 plv3) (clear ihl5) | [
[
"put-down tzw1"
],
[
"pick-up ihl5"
],
[
"stack ihl5 tzw1"
],
[
"unstack wnd4 plv3"
],
[
"put-down wnd4"
],
[
"unstack plv3 ngt2"
],
[
"stack plv3 wnd4"
],
[
"pick-up ngt2"
]
] | [
"(arm-empty) (on-table ngt2) (on-table ihl5) (clear wnd4) (clear ihl5) (on-table tzw1) (on plv3 ngt2) (on wnd4 plv3) (clear tzw1)",
"(on-table ngt2) (on-table tzw1) (on plv3 ngt2) (clear wnd4) (on wnd4 plv3) (holding ihl5) (clear tzw1)",
"(arm-empty) (on-table ngt2) (clear wnd4) (clear ihl5) (on-table tzw1) (on... | file_24598 |
GOAL: (clear cdh2) (on fxl4 ldv1) (on-table ldv1) (holding npl5) (on cdh2 fxl4) (clear rdr3) (on-table rdr3) | GOAL: (clear cdh2) (on fxl4 ldv1) (on-table ldv1) (holding npl5) (on cdh2 fxl4) (clear rdr3) (on-table rdr3)
STATE: (clear cdh2) (on-table npl5) (holding fxl4) (on-table ldv1) (on cdh2 rdr3) (clear ldv1) (on-table rdr3) (clear npl5) | [
[
"stack fxl4 ldv1"
],
[
"unstack cdh2 rdr3"
],
[
"stack cdh2 fxl4"
],
[
"pick-up npl5"
]
] | [
"(clear cdh2) (on fxl4 ldv1) (arm-empty) (on-table npl5) (on-table ldv1) (clear fxl4) (on cdh2 rdr3) (on-table rdr3) (clear npl5)",
"(on fxl4 ldv1) (on-table npl5) (on-table ldv1) (clear fxl4) (holding cdh2) (clear rdr3) (on-table rdr3) (clear npl5)",
"(clear cdh2) (on fxl4 ldv1) (arm-empty) (on-table npl5) (on... | file_213723 |
GOAL: (clear yyg2) (arm-empty) (on-table ibz5) (on clb4 tna3) (on jae1 clb4) (on yyg2 ibz5) (clear jae1) (on-table tna3) | GOAL: (clear yyg2) (arm-empty) (on-table ibz5) (on clb4 tna3) (on jae1 clb4) (on yyg2 ibz5) (clear jae1) (on-table tna3)
STATE: (clear yyg2) (on-table yyg2) (on clb4 tna3) (holding ibz5) (on jae1 clb4) (clear jae1) (on-table tna3) | [
[
"put-down ibz5"
],
[
"pick-up yyg2"
],
[
"stack yyg2 ibz5"
]
] | [
"(arm-empty) (on-table yyg2) (on-table ibz5) (clear ibz5) (clear yyg2) (on clb4 tna3) (on jae1 clb4) (clear jae1) (on-table tna3)",
"(on-table ibz5) (holding yyg2) (on clb4 tna3) (on jae1 clb4) (clear jae1) (on-table tna3) (clear ibz5)",
"(clear yyg2) (arm-empty) (on-table ibz5) (on clb4 tna3) (on jae1 clb4) (o... | file_204920 |
GOAL: (on tbn3 bcl4) (arm-empty) (on-table wsh1) (on emn5 cko2) (on-table bcl4) (on cko2 wsh1) (clear tbn3) (clear emn5) | GOAL: (on tbn3 bcl4) (arm-empty) (on-table wsh1) (on emn5 cko2) (on-table bcl4) (on cko2 wsh1) (clear tbn3) (clear emn5)
STATE: (on tbn3 bcl4) (on-table emn5) (on-table wsh1) (on-table bcl4) (holding cko2) (clear tbn3) (clear wsh1) (clear emn5) | [
[
"stack cko2 wsh1"
],
[
"pick-up emn5"
],
[
"stack emn5 cko2"
]
] | [
"(on tbn3 bcl4) (clear cko2) (arm-empty) (on-table emn5) (on-table wsh1) (on-table bcl4) (on cko2 wsh1) (clear tbn3) (clear emn5)",
"(on tbn3 bcl4) (clear cko2) (on-table wsh1) (holding emn5) (on-table bcl4) (on cko2 wsh1) (clear tbn3)",
"(on tbn3 bcl4) (arm-empty) (on-table wsh1) (on emn5 cko2) (on-table bcl4)... | file_156924 |
GOAL: (on uwi1 hlz3) (on-table nsr5) (clear nwe4) (on-table nwe4) (holding mxh2) (clear uwi1) (on-table hlz3) (clear nsr5) | GOAL: (on uwi1 hlz3) (on-table nsr5) (clear nwe4) (on-table nwe4) (holding mxh2) (clear uwi1) (on-table hlz3) (clear nsr5)
STATE: (arm-empty) (on mxh2 nwe4) (on nsr5 hlz3) (on-table nwe4) (on hlz3 uwi1) (on uwi1 mxh2) (clear nsr5) | [
[
"unstack nsr5 hlz3"
],
[
"put-down nsr5"
],
[
"unstack hlz3 uwi1"
],
[
"put-down hlz3"
],
[
"unstack uwi1 mxh2"
],
[
"stack uwi1 hlz3"
],
[
"unstack mxh2 nwe4"
]
] | [
"(holding nsr5) (on hlz3 uwi1) (on mxh2 nwe4) (on uwi1 mxh2) (on-table nwe4) (clear hlz3)",
"(arm-empty) (on-table nsr5) (on hlz3 uwi1) (on mxh2 nwe4) (on uwi1 mxh2) (clear nsr5) (on-table nwe4) (clear hlz3)",
"(on-table nsr5) (on mxh2 nwe4) (on-table nwe4) (on uwi1 mxh2) (clear uwi1) (holding hlz3) (clear nsr5... | file_48908 |
GOAL: (on ytr4 opk3) (on-table slx1) (clear dky2) (arm-empty) (on opk3 slx1) (on dky2 ytr4) | GOAL: (on ytr4 opk3) (on-table slx1) (clear dky2) (arm-empty) (on opk3 slx1) (on dky2 ytr4)
STATE: (clear dky2) (on-table slx1) (on-table ytr4) (on dky2 ytr4) (holding opk3) (clear slx1) | [
[
"stack opk3 slx1"
],
[
"unstack dky2 ytr4"
],
[
"put-down dky2"
],
[
"pick-up ytr4"
],
[
"stack ytr4 opk3"
],
[
"pick-up dky2"
],
[
"stack dky2 ytr4"
]
] | [
"(clear dky2) (arm-empty) (on-table slx1) (on dky2 ytr4) (on-table ytr4) (on opk3 slx1) (clear opk3)",
"(clear ytr4) (on opk3 slx1) (on-table slx1) (on-table ytr4) (holding dky2) (clear opk3)",
"(arm-empty) (on-table dky2) (clear ytr4) (on opk3 slx1) (clear dky2) (on-table slx1) (on-table ytr4) (clear opk3)",
... | file_149949 |
GOAL: (on wir3 nga5) (on ytx4 ncv1) (on nga5 ytx4) (on-table vhh2) (arm-empty) (clear wir3) (on ncv1 vhh2) | GOAL: (on wir3 nga5) (on ytx4 ncv1) (on nga5 ytx4) (on-table vhh2) (arm-empty) (clear wir3) (on ncv1 vhh2)
STATE: (clear vhh2) (arm-empty) (on-table vhh2) (on ytx4 nga5) (on nga5 wir3) (on ncv1 ytx4) (clear ncv1) (on-table wir3) | [
[
"unstack ncv1 ytx4"
],
[
"stack ncv1 vhh2"
],
[
"unstack ytx4 nga5"
],
[
"stack ytx4 ncv1"
],
[
"unstack nga5 wir3"
],
[
"stack nga5 ytx4"
],
[
"pick-up wir3"
],
[
"stack wir3 nga5"
]
] | [
"(holding ncv1) (clear vhh2) (on-table vhh2) (on ytx4 nga5) (clear ytx4) (on nga5 wir3) (on-table wir3)",
"(arm-empty) (on-table vhh2) (on ytx4 nga5) (clear ytx4) (on nga5 wir3) (on ncv1 vhh2) (clear ncv1) (on-table wir3)",
"(on-table vhh2) (holding ytx4) (on nga5 wir3) (on ncv1 vhh2) (clear ncv1) (on-table wir... | file_193207 |
GOAL: (on tyi4 bct3) (on bct3 gez5) (arm-empty) (on-table gez5) (on wty2 tyi4) (on plo1 wty2) (clear plo1) | GOAL: (on tyi4 bct3) (on bct3 gez5) (arm-empty) (on-table gez5) (on wty2 tyi4) (on plo1 wty2) (clear plo1)
STATE: (clear wty2) (on bct3 gez5) (on plo1 bct3) (arm-empty) (on-table gez5) (clear tyi4) (on-table tyi4) (on wty2 plo1) | [
[
"unstack wty2 plo1"
],
[
"put-down wty2"
],
[
"pick-up tyi4"
],
[
"stack tyi4 wty2"
],
[
"unstack plo1 bct3"
],
[
"put-down plo1"
],
[
"unstack tyi4 wty2"
],
[
"stack tyi4 bct3"
],
[
"pick-up wty2"
],
[
"stack wty2 tyi4"
],
[
"pic... | [
"(on bct3 gez5) (on plo1 bct3) (on-table gez5) (clear tyi4) (on-table tyi4) (holding wty2) (clear plo1)",
"(on bct3 gez5) (on plo1 bct3) (arm-empty) (on-table wty2) (on-table gez5) (clear tyi4) (clear wty2) (on-table tyi4) (clear plo1)",
"(on bct3 gez5) (on plo1 bct3) (on-table wty2) (on-table gez5) (clear wty2... | file_154363 |
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