goal stringlengths 64 162 | input stringlengths 130 312 | actions listlengths 1 18 | next_states listlengths 1 18 | source_file stringlengths 6 11 |
|---|---|---|---|---|
GOAL: (clear sxw2) (arm-empty) (on-table rib5) (on bky4 jjq3) (on ikn1 bky4) (on sxw2 rib5) (clear ikn1) (on-table jjq3) | GOAL: (clear sxw2) (arm-empty) (on-table rib5) (on bky4 jjq3) (on ikn1 bky4) (on sxw2 rib5) (clear ikn1) (on-table jjq3)
STATE: (on ikn1 rib5) (on bky4 ikn1) (on-table rib5) (clear bky4) (holding sxw2) (clear jjq3) (on-table jjq3) | [
[
"put-down sxw2"
],
[
"unstack bky4 ikn1"
],
[
"stack bky4 jjq3"
],
[
"unstack ikn1 rib5"
],
[
"stack ikn1 bky4"
],
[
"pick-up sxw2"
],
[
"stack sxw2 rib5"
]
] | [
"(on ikn1 rib5) (on bky4 ikn1) (arm-empty) (on-table sxw2) (on-table rib5) (clear bky4) (clear sxw2) (clear jjq3) (on-table jjq3)",
"(on ikn1 rib5) (clear sxw2) (on-table sxw2) (on-table rib5) (holding bky4) (clear jjq3) (clear ikn1) (on-table jjq3)",
"(on ikn1 rib5) (clear sxw2) (arm-empty) (on-table sxw2) (on... | file_2358 |
GOAL: (on eqx3 lqd4) (arm-empty) (on-table jnx5) (on-table ptt1) (on lqd4 snt2) (on snt2 ptt1) (clear eqx3) (clear jnx5) | GOAL: (on eqx3 lqd4) (arm-empty) (on-table jnx5) (on-table ptt1) (on lqd4 snt2) (on snt2 ptt1) (clear eqx3) (clear jnx5)
STATE: (on ptt1 jnx5) (on-table snt2) (holding lqd4) (on jnx5 snt2) (on eqx3 ptt1) (clear eqx3) | [
[
"put-down lqd4"
],
[
"unstack eqx3 ptt1"
],
[
"stack eqx3 lqd4"
],
[
"unstack ptt1 jnx5"
],
[
"put-down ptt1"
],
[
"unstack jnx5 snt2"
],
[
"stack jnx5 eqx3"
],
[
"pick-up snt2"
],
[
"stack snt2 ptt1"
],
[
"unstack jnx5 eqx3"
],
[
... | [
"(on ptt1 jnx5) (arm-empty) (on-table snt2) (on jnx5 snt2) (clear lqd4) (on eqx3 ptt1) (on-table lqd4) (clear eqx3)",
"(on ptt1 jnx5) (on-table snt2) (on jnx5 snt2) (clear lqd4) (on-table lqd4) (holding eqx3) (clear ptt1)",
"(on ptt1 jnx5) (on eqx3 lqd4) (arm-empty) (on-table snt2) (on jnx5 snt2) (on-table lqd4... | file_5875 |
GOAL: (clear mim2) (on qkh1 ffu3) (arm-empty) (on-table oby5) (clear wfo4) (on-table wfo4) (on mim2 qkh1) (on-table ffu3) (clear oby5) | GOAL: (clear mim2) (on qkh1 ffu3) (arm-empty) (on-table oby5) (clear wfo4) (on-table wfo4) (on mim2 qkh1) (on-table ffu3) (clear oby5)
STATE: (clear mim2) (on-table mim2) (on wfo4 ffu3) (holding oby5) (on qkh1 wfo4) (clear qkh1) (on-table ffu3) | [
[
"stack oby5 mim2"
],
[
"unstack qkh1 wfo4"
],
[
"stack qkh1 oby5"
],
[
"unstack wfo4 ffu3"
],
[
"put-down wfo4"
],
[
"unstack qkh1 oby5"
],
[
"stack qkh1 ffu3"
],
[
"unstack oby5 mim2"
],
[
"put-down oby5"
],
[
"pick-up mim2"
],
[
... | [
"(arm-empty) (on-table mim2) (on oby5 mim2) (on wfo4 ffu3) (on qkh1 wfo4) (clear qkh1) (on-table ffu3) (clear oby5)",
"(holding qkh1) (on-table mim2) (on oby5 mim2) (clear wfo4) (on wfo4 ffu3) (on-table ffu3) (clear oby5)",
"(on qkh1 oby5) (arm-empty) (on-table mim2) (on oby5 mim2) (clear wfo4) (on wfo4 ffu3) (... | file_205132 |
GOAL: (clear eam2) (on-table rcw1) (clear xbu4) (holding fsf5) (on-table xbu4) (on eam2 tph3) (clear rcw1) (on-table tph3) | GOAL: (clear eam2) (on-table rcw1) (clear xbu4) (holding fsf5) (on-table xbu4) (on eam2 tph3) (clear rcw1) (on-table tph3)
STATE: (on xbu4 fsf5) (on-table rcw1) (clear xbu4) (on fsf5 rcw1) (holding eam2) (clear tph3) (on-table tph3) | [
[
"stack eam2 tph3"
],
[
"unstack xbu4 fsf5"
],
[
"put-down xbu4"
],
[
"unstack fsf5 rcw1"
]
] | [
"(clear eam2) (arm-empty) (on xbu4 fsf5) (on-table rcw1) (clear xbu4) (on fsf5 rcw1) (on eam2 tph3) (on-table tph3)",
"(clear eam2) (on-table rcw1) (holding xbu4) (on fsf5 rcw1) (on eam2 tph3) (on-table tph3) (clear fsf5)",
"(arm-empty) (clear xbu4) (clear fsf5) (clear eam2) (on-table rcw1) (on fsf5 rcw1) (on-t... | file_18379 |
GOAL: (on cvr3 mxp5) (clear xbm2) (on jhx1 cvr3) (on-table xbm2) (on-table mxp5) (arm-empty) (clear wtx4) (on-table wtx4) (clear jhx1) | GOAL: (on cvr3 mxp5) (clear xbm2) (on jhx1 cvr3) (on-table xbm2) (on-table mxp5) (arm-empty) (clear wtx4) (on-table wtx4) (clear jhx1)
STATE: (on wtx4 jhx1) (on-table xbm2) (on-table mxp5) (clear wtx4) (holding cvr3) (on jhx1 xbm2) (clear mxp5) | [
[
"stack cvr3 mxp5"
],
[
"unstack wtx4 jhx1"
],
[
"put-down wtx4"
],
[
"unstack jhx1 xbm2"
],
[
"stack jhx1 cvr3"
]
] | [
"(on cvr3 mxp5) (on wtx4 jhx1) (arm-empty) (on-table xbm2) (on-table mxp5) (clear wtx4) (clear cvr3) (on jhx1 xbm2)",
"(on cvr3 mxp5) (on-table xbm2) (on-table mxp5) (holding wtx4) (clear cvr3) (on jhx1 xbm2) (clear jhx1)",
"(on cvr3 mxp5) (arm-empty) (on-table xbm2) (on-table mxp5) (clear wtx4) (on jhx1 xbm2) ... | file_148474 |
GOAL: (holding tds1) (on-table qft2) (on zkd3 qft2) (clear kaw4) (on vkv5 zkd3) (on-table kaw4) (clear vkv5) | GOAL: (holding tds1) (on-table qft2) (on zkd3 qft2) (clear kaw4) (on vkv5 zkd3) (on-table kaw4) (clear vkv5)
STATE: (holding tds1) (clear qft2) (on zkd3 vkv5) (on-table qft2) (on-table vkv5) (clear kaw4) (on kaw4 zkd3) | [
[
"put-down tds1"
],
[
"unstack kaw4 zkd3"
],
[
"stack kaw4 tds1"
],
[
"unstack zkd3 vkv5"
],
[
"stack zkd3 qft2"
],
[
"pick-up vkv5"
],
[
"stack vkv5 zkd3"
],
[
"unstack kaw4 tds1"
],
[
"put-down kaw4"
],
[
"pick-up tds1"
]
] | [
"(on zkd3 vkv5) (arm-empty) (on-table qft2) (on-table vkv5) (clear kaw4) (clear qft2) (on-table tds1) (on kaw4 zkd3) (clear tds1)",
"(on zkd3 vkv5) (clear qft2) (on-table qft2) (on-table vkv5) (on-table tds1) (holding kaw4) (clear zkd3) (clear tds1)",
"(on zkd3 vkv5) (clear qft2) (on kaw4 tds1) (on-table qft2) ... | file_25984 |
GOAL: (clear xjx2) (arm-empty) (on-table giv4) (on ogy1 giv4) (on xjx2 ogy1) (clear qhn3) (on-table qhn3) | GOAL: (clear xjx2) (arm-empty) (on-table giv4) (on ogy1 giv4) (on xjx2 ogy1) (clear qhn3) (on-table qhn3)
STATE: (arm-empty) (on giv4 qhn3) (on xjx2 giv4) (on ogy1 xjx2) (clear ogy1) (on-table qhn3) | [
[
"unstack ogy1 xjx2"
],
[
"put-down ogy1"
],
[
"unstack xjx2 giv4"
],
[
"put-down xjx2"
],
[
"pick-up ogy1"
],
[
"stack ogy1 xjx2"
],
[
"unstack giv4 qhn3"
],
[
"put-down giv4"
],
[
"unstack ogy1 xjx2"
],
[
"stack ogy1 giv4"
],
[
"... | [
"(holding ogy1) (on giv4 qhn3) (clear xjx2) (on xjx2 giv4) (on-table qhn3)",
"(on giv4 qhn3) (clear xjx2) (arm-empty) (on xjx2 giv4) (on-table ogy1) (clear ogy1) (on-table qhn3)",
"(clear giv4) (on-table ogy1) (on giv4 qhn3) (holding xjx2) (clear ogy1) (on-table qhn3)",
"(arm-empty) (on-table xjx2) (clear giv... | file_2456 |
GOAL: (clear tlk2) (on-table mcc5) (on-table auc1) (clear rzo4) (on-table rzo4) (on tlk2 mcc5) (holding nds3) (clear auc1) | GOAL: (clear tlk2) (on-table mcc5) (on-table auc1) (clear rzo4) (on-table rzo4) (on tlk2 mcc5) (holding nds3) (clear auc1)
STATE: (on auc1 mcc5) (on mcc5 rzo4) (on-table rzo4) (holding tlk2) (clear nds3) (clear auc1) (on-table nds3) | [
[
"put-down tlk2"
],
[
"unstack auc1 mcc5"
],
[
"put-down auc1"
],
[
"pick-up tlk2"
],
[
"stack tlk2 nds3"
],
[
"unstack mcc5 rzo4"
],
[
"put-down mcc5"
],
[
"unstack tlk2 nds3"
],
[
"stack tlk2 mcc5"
],
[
"pick-up nds3"
]
] | [
"(on auc1 mcc5) (arm-empty) (on mcc5 rzo4) (on-table tlk2) (clear tlk2) (on-table rzo4) (clear nds3) (clear auc1) (on-table nds3)",
"(holding auc1) (clear tlk2) (on mcc5 rzo4) (on-table tlk2) (on-table rzo4) (clear nds3) (on-table nds3) (clear mcc5)",
"(clear tlk2) (arm-empty) (on mcc5 rzo4) (on-table tlk2) (on... | file_146803 |
GOAL: (clear dmt2) (arm-empty) (on-table yxc5) (on-table zis1) (on btj3 zis1) (on-table uaf4) (on dmt2 uaf4) (clear btj3) (clear yxc5) | GOAL: (clear dmt2) (arm-empty) (on-table yxc5) (on-table zis1) (on btj3 zis1) (on-table uaf4) (on dmt2 uaf4) (clear btj3) (clear yxc5)
STATE: (on zis1 yxc5) (on-table yxc5) (clear uaf4) (on-table uaf4) (holding dmt2) (on btj3 zis1) (clear btj3) | [
[
"stack dmt2 uaf4"
],
[
"unstack btj3 zis1"
],
[
"stack btj3 dmt2"
],
[
"unstack zis1 yxc5"
],
[
"put-down zis1"
],
[
"unstack btj3 dmt2"
],
[
"stack btj3 zis1"
]
] | [
"(on zis1 yxc5) (arm-empty) (on-table yxc5) (on btj3 zis1) (on dmt2 uaf4) (clear dmt2) (on-table uaf4) (clear btj3)",
"(on zis1 yxc5) (clear dmt2) (on-table yxc5) (on dmt2 uaf4) (on-table uaf4) (holding btj3) (clear zis1)",
"(on zis1 yxc5) (arm-empty) (on-table yxc5) (on btj3 dmt2) (on-table uaf4) (on dmt2 uaf4... | file_210117 |
GOAL: (clear oan2) (arm-empty) (on-table njd5) (clear njd5) (on-table xfc4) (on oan2 clo3) (on mub1 xfc4) (on-table clo3) (clear mub1) | GOAL: (clear oan2) (arm-empty) (on-table njd5) (clear njd5) (on-table xfc4) (on oan2 clo3) (on mub1 xfc4) (on-table clo3) (clear mub1)
STATE: (on clo3 oan2) (holding njd5) (on-table xfc4) (on mub1 xfc4) (on oan2 mub1) (clear clo3) | [
[
"put-down njd5"
],
[
"unstack clo3 oan2"
],
[
"put-down clo3"
],
[
"unstack oan2 mub1"
],
[
"stack oan2 clo3"
]
] | [
"(arm-empty) (on-table njd5) (on oan2 mub1) (clear njd5) (on clo3 oan2) (on-table xfc4) (on mub1 xfc4) (clear clo3)",
"(clear oan2) (on-table njd5) (on-table xfc4) (on mub1 xfc4) (on oan2 mub1) (holding clo3) (clear njd5)",
"(arm-empty) (on-table njd5) (on oan2 mub1) (clear njd5) (clear oan2) (on-table xfc4) (o... | file_193767 |
GOAL: (on vcm1 yki3) (on nfs4 vcm1) (on-table qvi2) (on-table mfi5) (arm-empty) (clear nfs4) (clear mfi5) (clear qvi2) (on-table yki3) | GOAL: (on vcm1 yki3) (on nfs4 vcm1) (on-table qvi2) (on-table mfi5) (arm-empty) (clear nfs4) (clear mfi5) (clear qvi2) (on-table yki3)
STATE: (on vcm1 yki3) (clear nfs4) (on mfi5 vcm1) (on-table nfs4) (holding qvi2) (on-table yki3) (clear mfi5) | [
[
"put-down qvi2"
],
[
"unstack mfi5 vcm1"
],
[
"stack mfi5 qvi2"
],
[
"pick-up nfs4"
],
[
"stack nfs4 vcm1"
],
[
"unstack mfi5 qvi2"
],
[
"put-down mfi5"
]
] | [
"(on vcm1 yki3) (arm-empty) (on-table qvi2) (clear nfs4) (clear mfi5) (clear qvi2) (on mfi5 vcm1) (on-table nfs4) (on-table yki3)",
"(clear qvi2) (on vcm1 yki3) (on-table qvi2) (clear nfs4) (holding mfi5) (on-table nfs4) (clear vcm1) (on-table yki3)",
"(on vcm1 yki3) (arm-empty) (on-table qvi2) (on mfi5 qvi2) (... | file_213280 |
GOAL: (arm-empty) (on-table brx2) (clear pca4) (clear brx2) (on-table hvw1) (on-table pca4) (clear hen3) (clear hvw1) (on-table hen3) | GOAL: (arm-empty) (on-table brx2) (clear pca4) (clear brx2) (on-table hvw1) (on-table pca4) (clear hen3) (clear hvw1) (on-table hen3)
STATE: (on hen3 pca4) (clear brx2) (arm-empty) (on-table brx2) (on-table hvw1) (on-table pca4) (clear hen3) (clear hvw1) | [
[
"unstack hen3 pca4"
],
[
"stack hen3 hvw1"
],
[
"pick-up brx2"
],
[
"stack brx2 pca4"
],
[
"unstack hen3 hvw1"
],
[
"put-down hen3"
],
[
"unstack brx2 pca4"
],
[
"put-down brx2"
]
] | [
"(clear brx2) (on-table brx2) (on-table hvw1) (clear pca4) (on-table pca4) (holding hen3) (clear hvw1)",
"(clear brx2) (arm-empty) (on-table brx2) (on-table hvw1) (clear pca4) (on-table pca4) (on hen3 hvw1) (clear hen3)",
"(on-table hvw1) (clear pca4) (on-table pca4) (holding brx2) (on hen3 hvw1) (clear hen3)",... | file_172500 |
GOAL: (arm-empty) (on mqo5 khh4) (on-table zgm2) (on khh4 xgi3) (on neu1 zgm2) (clear neu1) (on-table xgi3) (clear mqo5) | GOAL: (arm-empty) (on mqo5 khh4) (on-table zgm2) (on khh4 xgi3) (on neu1 zgm2) (clear neu1) (on-table xgi3) (clear mqo5)
STATE: (clear zgm2) (arm-empty) (on-table zgm2) (on-table mqo5) (on-table neu1) (clear khh4) (on khh4 xgi3) (clear neu1) (on-table xgi3) (clear mqo5) | [
[
"pick-up mqo5"
],
[
"stack mqo5 khh4"
],
[
"pick-up neu1"
],
[
"stack neu1 zgm2"
]
] | [
"(clear zgm2) (on-table zgm2) (on-table neu1) (clear khh4) (on khh4 xgi3) (holding mqo5) (clear neu1) (on-table xgi3)",
"(clear zgm2) (arm-empty) (on mqo5 khh4) (on-table zgm2) (on-table neu1) (on khh4 xgi3) (clear neu1) (on-table xgi3) (clear mqo5)",
"(holding neu1) (clear zgm2) (on mqo5 khh4) (on-table zgm2) ... | file_194160 |
GOAL: (on rot4 woj1) (arm-empty) (on-table ytq5) (on tig2 rot4) (clear ytq5) (clear tig2) (on-table woj1) (clear pdw3) (on-table pdw3) | GOAL: (on rot4 woj1) (arm-empty) (on-table ytq5) (on tig2 rot4) (clear ytq5) (clear tig2) (on-table woj1) (clear pdw3) (on-table pdw3)
STATE: (clear tig2) (on-table ytq5) (on-table rot4) (on woj1 rot4) (on tig2 woj1) (holding pdw3) (clear ytq5) | [
[
"stack pdw3 ytq5"
],
[
"unstack tig2 woj1"
],
[
"stack tig2 pdw3"
],
[
"unstack woj1 rot4"
],
[
"put-down woj1"
],
[
"pick-up rot4"
],
[
"stack rot4 woj1"
],
[
"unstack tig2 pdw3"
],
[
"stack tig2 rot4"
],
[
"unstack pdw3 ytq5"
],
[
... | [
"(clear tig2) (on pdw3 ytq5) (arm-empty) (on-table ytq5) (on-table rot4) (on woj1 rot4) (on tig2 woj1) (clear pdw3)",
"(on pdw3 ytq5) (on-table ytq5) (holding tig2) (on-table rot4) (on woj1 rot4) (clear pdw3) (clear woj1)",
"(on pdw3 ytq5) (clear tig2) (arm-empty) (on-table ytq5) (on-table rot4) (on woj1 rot4) ... | file_68665 |
GOAL: (on lww4 mdm1) (on zrb5 lww4) (arm-empty) (on iem2 dlk3) (on mdm1 iem2) (on-table dlk3) (clear zrb5) | GOAL: (on lww4 mdm1) (on zrb5 lww4) (arm-empty) (on iem2 dlk3) (on mdm1 iem2) (on-table dlk3) (clear zrb5)
STATE: (on mdm1 zrb5) (clear iem2) (on lww4 mdm1) (arm-empty) (on-table iem2) (on-table zrb5) (clear lww4) (clear dlk3) (on-table dlk3) | [
[
"pick-up iem2"
],
[
"stack iem2 dlk3"
],
[
"unstack lww4 mdm1"
],
[
"put-down lww4"
],
[
"unstack mdm1 zrb5"
],
[
"stack mdm1 iem2"
],
[
"pick-up lww4"
],
[
"stack lww4 mdm1"
],
[
"pick-up zrb5"
],
[
"stack zrb5 lww4"
]
] | [
"(on mdm1 zrb5) (on lww4 mdm1) (on-table zrb5) (clear lww4) (holding iem2) (clear dlk3) (on-table dlk3)",
"(on mdm1 zrb5) (clear iem2) (on lww4 mdm1) (arm-empty) (on-table zrb5) (clear lww4) (on iem2 dlk3) (on-table dlk3)",
"(on mdm1 zrb5) (clear iem2) (on-table zrb5) (holding lww4) (on iem2 dlk3) (clear mdm1) ... | file_151919 |
GOAL: (arm-empty) (on-table xyy2) (on-table xcc5) (clear nfj4) (clear xcc5) (on-table vgw1) (on nrm3 xyy2) (on nfj4 nrm3) (clear vgw1) | GOAL: (arm-empty) (on-table xyy2) (on-table xcc5) (clear nfj4) (clear xcc5) (on-table vgw1) (on nrm3 xyy2) (on nfj4 nrm3) (clear vgw1)
STATE: (arm-empty) (on-table xyy2) (on nrm3 xyy2) (on nfj4 nrm3) (on xcc5 vgw1) (on vgw1 nfj4) (clear xcc5) | [
[
"unstack xcc5 vgw1"
],
[
"put-down xcc5"
],
[
"unstack vgw1 nfj4"
],
[
"put-down vgw1"
]
] | [
"(on nfj4 nrm3) (holding xcc5) (on-table xyy2) (on vgw1 nfj4) (on nrm3 xyy2) (clear vgw1)",
"(arm-empty) (on-table xyy2) (on-table xcc5) (clear xcc5) (on nrm3 xyy2) (on nfj4 nrm3) (on vgw1 nfj4) (clear vgw1)",
"(holding vgw1) (on-table xyy2) (on-table xcc5) (on nrm3 xyy2) (clear nfj4) (on nfj4 nrm3) (clear xcc5... | file_42052 |
GOAL: (arm-empty) (on-table qlq5) (clear gxx4) (on qcc2 qlq5) (on dlx1 qcc2) (on-table gxx4) (clear kfz3) (clear dlx1) (on-table kfz3) | GOAL: (arm-empty) (on-table qlq5) (clear gxx4) (on qcc2 qlq5) (on dlx1 qcc2) (on-table gxx4) (clear kfz3) (clear dlx1) (on-table kfz3)
STATE: (clear qcc2) (on gxx4 kfz3) (holding qlq5) (on dlx1 gxx4) (on qcc2 dlx1) (on-table kfz3) | [
[
"put-down qlq5"
],
[
"unstack qcc2 dlx1"
],
[
"stack qcc2 qlq5"
],
[
"unstack dlx1 gxx4"
],
[
"stack dlx1 qcc2"
],
[
"unstack gxx4 kfz3"
],
[
"put-down gxx4"
]
] | [
"(arm-empty) (on-table qlq5) (on qcc2 dlx1) (clear qlq5) (clear qcc2) (on gxx4 kfz3) (on dlx1 gxx4) (on-table kfz3)",
"(on-table qlq5) (holding qcc2) (on gxx4 kfz3) (on dlx1 gxx4) (clear dlx1) (on-table kfz3) (clear qlq5)",
"(clear qcc2) (arm-empty) (on-table qlq5) (on gxx4 kfz3) (on dlx1 gxx4) (on qcc2 qlq5) (... | file_46640 |
GOAL: (on pee3 orp5) (clear rnz2) (arm-empty) (on orp5 npa1) (on-table pjk4) (on npa1 pjk4) (on rnz2 pee3) | GOAL: (on pee3 orp5) (clear rnz2) (arm-empty) (on orp5 npa1) (on-table pjk4) (on npa1 pjk4) (on rnz2 pee3)
STATE: (on npa1 orp5) (on pjk4 npa1) (arm-empty) (on-table rnz2) (on pee3 rnz2) (clear pjk4) (on orp5 pee3) | [
[
"unstack pjk4 npa1"
],
[
"put-down pjk4"
],
[
"unstack npa1 orp5"
],
[
"stack npa1 pjk4"
],
[
"unstack orp5 pee3"
],
[
"stack orp5 npa1"
],
[
"unstack pee3 rnz2"
],
[
"stack pee3 orp5"
],
[
"pick-up rnz2"
],
[
"stack rnz2 pee3"
]
] | [
"(on npa1 orp5) (on-table rnz2) (holding pjk4) (on orp5 pee3) (on pee3 rnz2) (clear npa1)",
"(on npa1 orp5) (arm-empty) (on-table rnz2) (clear pjk4) (on orp5 pee3) (on pee3 rnz2) (on-table pjk4) (clear npa1)",
"(holding npa1) (on-table rnz2) (on pee3 rnz2) (clear pjk4) (on orp5 pee3) (on-table pjk4) (clear orp5... | file_77583 |
GOAL: (on ukx4 xpf3) (on lbs5 ybh1) (arm-empty) (on kul2 ukx4) (on ybh1 kul2) (on-table xpf3) (clear lbs5) | GOAL: (on ukx4 xpf3) (on lbs5 ybh1) (arm-empty) (on kul2 ukx4) (on ybh1 kul2) (on-table xpf3) (clear lbs5)
STATE: (clear kul2) (arm-empty) (on lbs5 ukx4) (on-table kul2) (on-table ybh1) (on ukx4 xpf3) (clear ybh1) (on-table xpf3) (clear lbs5) | [
[
"unstack lbs5 ukx4"
],
[
"put-down lbs5"
],
[
"pick-up kul2"
],
[
"stack kul2 ukx4"
],
[
"pick-up ybh1"
],
[
"stack ybh1 kul2"
],
[
"pick-up lbs5"
],
[
"stack lbs5 ybh1"
]
] | [
"(clear kul2) (on-table kul2) (on-table ybh1) (clear ukx4) (on ukx4 xpf3) (holding lbs5) (clear ybh1) (on-table xpf3)",
"(clear kul2) (arm-empty) (on-table kul2) (on-table lbs5) (on-table ybh1) (clear ukx4) (on ukx4 xpf3) (clear ybh1) (on-table xpf3) (clear lbs5)",
"(on-table lbs5) (on-table ybh1) (clear ukx4) ... | file_76609 |
GOAL: (holding ksa1) (clear ofl2) (on-table lve5) (on-table ldv4) (on ofl2 ldv4) (clear xfr3) (on-table xfr3) (clear lve5) | GOAL: (holding ksa1) (clear ofl2) (on-table lve5) (on-table ldv4) (on ofl2 ldv4) (clear xfr3) (on-table xfr3) (clear lve5)
STATE: (holding ksa1) (on xfr3 lve5) (on lve5 ofl2) (on-table ldv4) (on ofl2 ldv4) (clear xfr3) | [
[
"put-down ksa1"
],
[
"unstack xfr3 lve5"
],
[
"put-down xfr3"
],
[
"unstack lve5 ofl2"
],
[
"put-down lve5"
],
[
"pick-up ksa1"
]
] | [
"(on xfr3 lve5) (arm-empty) (on lve5 ofl2) (on ofl2 ldv4) (on-table ksa1) (on-table ldv4) (clear xfr3) (clear ksa1)",
"(on-table ksa1) (on lve5 ofl2) (on-table ldv4) (on ofl2 ldv4) (holding xfr3) (clear ksa1) (clear lve5)",
"(arm-empty) (on lve5 ofl2) (on ofl2 ldv4) (clear lve5) (on-table ksa1) (on-table ldv4) ... | file_88838 |
GOAL: (clear efw2) (on-table efw2) (holding ags5) (on-table pzk4) (on zbh1 pzk4) (clear ckc3) (clear zbh1) (on-table ckc3) | GOAL: (clear efw2) (on-table efw2) (holding ags5) (on-table pzk4) (on zbh1 pzk4) (clear ckc3) (clear zbh1) (on-table ckc3)
STATE: (on-table ags5) (on-table zbh1) (on pzk4 ags5) (clear pzk4) (holding efw2) (clear ckc3) (clear zbh1) (on-table ckc3) | [
[
"stack efw2 ckc3"
],
[
"unstack pzk4 ags5"
],
[
"stack pzk4 zbh1"
],
[
"pick-up ags5"
],
[
"stack ags5 efw2"
],
[
"unstack pzk4 zbh1"
],
[
"put-down pzk4"
],
[
"pick-up zbh1"
],
[
"stack zbh1 pzk4"
],
[
"unstack ags5 efw2"
],
[
"s... | [
"(clear efw2) (arm-empty) (on-table ags5) (on-table zbh1) (on pzk4 ags5) (clear pzk4) (on efw2 ckc3) (clear zbh1) (on-table ckc3)",
"(clear efw2) (on-table ags5) (on-table zbh1) (holding pzk4) (on efw2 ckc3) (clear zbh1) (on-table ckc3) (clear ags5)",
"(clear efw2) (on pzk4 zbh1) (arm-empty) (on-table ags5) (on... | file_33259 |
GOAL: (clear zml2) (arm-empty) (on-table zml2) (on-table avy5) (on-table xfb1) (clear hyy4) (on hyy4 inr3) (clear xfb1) (on-table inr3) (clear avy5) | GOAL: (clear zml2) (arm-empty) (on-table zml2) (on-table avy5) (on-table xfb1) (clear hyy4) (on hyy4 inr3) (clear xfb1) (on-table inr3) (clear avy5)
STATE: (on inr3 hyy4) (on xfb1 inr3) (arm-empty) (on-table zml2) (on hyy4 avy5) (on avy5 zml2) (clear xfb1) | [
[
"unstack xfb1 inr3"
],
[
"put-down xfb1"
],
[
"unstack inr3 hyy4"
],
[
"put-down inr3"
],
[
"unstack hyy4 avy5"
],
[
"stack hyy4 xfb1"
],
[
"unstack avy5 zml2"
],
[
"stack avy5 hyy4"
],
[
"pick-up inr3"
],
[
"stack inr3 zml2"
],
[
... | [
"(on-table zml2) (on hyy4 avy5) (on avy5 zml2) (holding xfb1) (on inr3 hyy4) (clear inr3)",
"(arm-empty) (on-table zml2) (on hyy4 avy5) (on avy5 zml2) (on inr3 hyy4) (on-table xfb1) (clear inr3) (clear xfb1)",
"(on-table zml2) (on hyy4 avy5) (on-table xfb1) (on avy5 zml2) (clear hyy4) (holding inr3) (clear xfb1... | file_189932 |
GOAL: (on qzl1 snm5) (clear sdh4) (on snm5 jck3) (on-table sdh4) (holding qlx2) (clear qzl1) (on-table jck3) | GOAL: (on qzl1 snm5) (clear sdh4) (on snm5 jck3) (on-table sdh4) (holding qlx2) (clear qzl1) (on-table jck3)
STATE: (holding qzl1) (clear qlx2) (on-table qlx2) (clear sdh4) (on snm5 jck3) (on-table sdh4) (on-table jck3) (clear snm5) | [
[
"stack qzl1 snm5"
],
[
"pick-up qlx2"
]
] | [
"(on qzl1 snm5) (clear qlx2) (arm-empty) (on-table qlx2) (clear sdh4) (on snm5 jck3) (on-table sdh4) (clear qzl1) (on-table jck3)",
"(on qzl1 snm5) (clear sdh4) (on snm5 jck3) (on-table sdh4) (holding qlx2) (clear qzl1) (on-table jck3)"
] | file_219710 |
GOAL: (holding wzm1) (on cfu5 efr4) (on-table byq2) (on efr4 byq2) (clear bmt3) (on-table bmt3) (clear cfu5) | GOAL: (holding wzm1) (on cfu5 efr4) (on-table byq2) (on efr4 byq2) (clear bmt3) (on-table bmt3) (clear cfu5)
STATE: (arm-empty) (on-table cfu5) (on efr4 cfu5) (on byq2 efr4) (on bmt3 wzm1) (clear bmt3) (on wzm1 byq2) | [
[
"unstack bmt3 wzm1"
],
[
"put-down bmt3"
],
[
"unstack wzm1 byq2"
],
[
"stack wzm1 bmt3"
],
[
"unstack byq2 efr4"
],
[
"put-down byq2"
],
[
"unstack efr4 cfu5"
],
[
"stack efr4 byq2"
],
[
"pick-up cfu5"
],
[
"stack cfu5 efr4"
],
[
... | [
"(on-table cfu5) (on efr4 cfu5) (on byq2 efr4) (on wzm1 byq2) (holding bmt3) (clear wzm1)",
"(arm-empty) (on-table cfu5) (on byq2 efr4) (on efr4 cfu5) (clear bmt3) (on wzm1 byq2) (clear wzm1) (on-table bmt3)",
"(holding wzm1) (clear byq2) (on-table cfu5) (on efr4 cfu5) (on byq2 efr4) (clear bmt3) (on-table bmt3... | file_79313 |
GOAL: (arm-empty) (on-table dza2) (clear xta4) (on bip5 aux3) (clear bip5) (on-table eax1) (on xta4 dza2) (clear eax1) (on-table aux3) | GOAL: (arm-empty) (on-table dza2) (clear xta4) (on bip5 aux3) (clear bip5) (on-table eax1) (on xta4 dza2) (clear eax1) (on-table aux3)
STATE: (on-table dza2) (on-table bip5) (on eax1 xta4) (on xta4 dza2) (holding aux3) (clear eax1) (clear bip5) | [
[
"put-down aux3"
],
[
"pick-up bip5"
],
[
"stack bip5 aux3"
],
[
"unstack eax1 xta4"
],
[
"put-down eax1"
]
] | [
"(arm-empty) (on-table dza2) (on-table bip5) (clear bip5) (on eax1 xta4) (on xta4 dza2) (clear aux3) (clear eax1) (on-table aux3)",
"(on-table dza2) (holding bip5) (on eax1 xta4) (on xta4 dza2) (clear aux3) (clear eax1) (on-table aux3)",
"(arm-empty) (on-table dza2) (on bip5 aux3) (on eax1 xta4) (on xta4 dza2) ... | file_106381 |
GOAL: (on jgx1 avj3) (on-table rqk2) (clear xcl4) (holding nsb5) (on xcl4 rqk2) (clear jgx1) (on-table avj3) | GOAL: (on jgx1 avj3) (on-table rqk2) (clear xcl4) (holding nsb5) (on xcl4 rqk2) (clear jgx1) (on-table avj3)
STATE: (on-table rqk2) (on-table nsb5) (on jgx1 xcl4) (on xcl4 rqk2) (holding avj3) (clear jgx1) (clear nsb5) | [
[
"stack avj3 nsb5"
],
[
"unstack jgx1 xcl4"
],
[
"put-down jgx1"
],
[
"unstack avj3 nsb5"
],
[
"put-down avj3"
],
[
"pick-up jgx1"
],
[
"stack jgx1 avj3"
],
[
"pick-up nsb5"
]
] | [
"(on avj3 nsb5) (arm-empty) (on-table rqk2) (on-table nsb5) (on jgx1 xcl4) (on xcl4 rqk2) (clear avj3) (clear jgx1)",
"(holding jgx1) (on avj3 nsb5) (on-table rqk2) (on-table nsb5) (clear xcl4) (on xcl4 rqk2) (clear avj3)",
"(on avj3 nsb5) (arm-empty) (on-table rqk2) (on-table nsb5) (clear xcl4) (on-table jgx1)... | file_106468 |
GOAL: (arm-empty) (clear qin4) (on sdu2 vrj3) (on qin4 sdu2) (on-table ygl1) (clear ygl1) (on-table vrj3) | GOAL: (arm-empty) (clear qin4) (on sdu2 vrj3) (on qin4 sdu2) (on-table ygl1) (clear ygl1) (on-table vrj3)
STATE: (on qin4 ygl1) (on-table ygl1) (clear qin4) (holding sdu2) (clear vrj3) (on-table vrj3) | [
[
"stack sdu2 vrj3"
],
[
"unstack qin4 ygl1"
],
[
"stack qin4 sdu2"
]
] | [
"(clear sdu2) (on qin4 ygl1) (arm-empty) (on-table ygl1) (clear qin4) (on sdu2 vrj3) (on-table vrj3)",
"(holding qin4) (clear sdu2) (on-table ygl1) (on sdu2 vrj3) (clear ygl1) (on-table vrj3)",
"(arm-empty) (clear qin4) (on sdu2 vrj3) (on qin4 sdu2) (on-table ygl1) (clear ygl1) (on-table vrj3)"
] | file_63077 |
GOAL: (clear glp2) (arm-empty) (on-table kmn5) (on-table gpn1) (on glp2 tyu4) (on-table tyu4) (on tit3 gpn1) (clear tit3) (clear kmn5) | GOAL: (clear glp2) (arm-empty) (on-table kmn5) (on-table gpn1) (on glp2 tyu4) (on-table tyu4) (on tit3 gpn1) (clear tit3) (clear kmn5)
STATE: (clear glp2) (on-table glp2) (on-table gpn1) (clear tyu4) (on kmn5 gpn1) (on-table tyu4) (holding tit3) (clear kmn5) | [
[
"put-down tit3"
],
[
"unstack kmn5 gpn1"
],
[
"put-down kmn5"
],
[
"pick-up tit3"
],
[
"stack tit3 gpn1"
],
[
"pick-up glp2"
],
[
"stack glp2 tyu4"
]
] | [
"(clear glp2) (arm-empty) (on-table glp2) (on-table gpn1) (clear tyu4) (on kmn5 gpn1) (on-table tyu4) (clear tit3) (on-table tit3) (clear kmn5)",
"(clear glp2) (on-table glp2) (on-table gpn1) (clear tyu4) (holding kmn5) (on-table tyu4) (clear tit3) (clear gpn1) (on-table tit3)",
"(clear glp2) (arm-empty) (on-ta... | file_8919 |
GOAL: (on jum3 yab4) (arm-empty) (on-table pso2) (on-table akj5) (on-table sdd1) (on yab4 pso2) (clear jum3) (clear sdd1) (clear akj5) | GOAL: (on jum3 yab4) (arm-empty) (on-table pso2) (on-table akj5) (on-table sdd1) (on yab4 pso2) (clear jum3) (clear sdd1) (clear akj5)
STATE: (clear pso2) (on jum3 akj5) (on sdd1 jum3) (on-table akj5) (holding yab4) (on pso2 sdd1) | [
[
"put-down yab4"
],
[
"unstack pso2 sdd1"
],
[
"put-down pso2"
],
[
"pick-up yab4"
],
[
"stack yab4 pso2"
],
[
"unstack sdd1 jum3"
],
[
"put-down sdd1"
],
[
"unstack jum3 akj5"
],
[
"stack jum3 yab4"
]
] | [
"(clear pso2) (on jum3 akj5) (on sdd1 jum3) (on-table yab4) (on-table akj5) (arm-empty) (on pso2 sdd1) (clear yab4)",
"(on jum3 akj5) (on sdd1 jum3) (on-table akj5) (clear yab4) (on-table yab4) (holding pso2) (clear sdd1)",
"(on jum3 akj5) (on sdd1 jum3) (arm-empty) (on-table pso2) (on-table akj5) (clear yab4) ... | file_140387 |
GOAL: (on bue3 bki5) (on mfu4 grg1) (arm-empty) (on-table bki5) (on ljc2 mfu4) (clear ljc2) (on-table grg1) (clear bue3) | GOAL: (on bue3 bki5) (on mfu4 grg1) (arm-empty) (on-table bki5) (on ljc2 mfu4) (clear ljc2) (on-table grg1) (clear bue3)
STATE: (clear ljc2) (on mfu4 grg1) (on-table ljc2) (on-table bki5) (on-table grg1) (clear mfu4) (holding bue3) (clear bki5) | [
[
"stack bue3 bki5"
],
[
"pick-up ljc2"
],
[
"stack ljc2 mfu4"
]
] | [
"(clear ljc2) (on mfu4 grg1) (on bue3 bki5) (on-table ljc2) (on-table bki5) (on-table grg1) (arm-empty) (clear mfu4) (clear bue3)",
"(on mfu4 grg1) (on bue3 bki5) (on-table bki5) (on-table grg1) (clear mfu4) (holding ljc2) (clear bue3)",
"(on bue3 bki5) (on mfu4 grg1) (arm-empty) (on-table bki5) (on ljc2 mfu4) ... | file_74865 |
GOAL: (on sba1 cum3) (on lxr5 ipf4) (on-table rkf2) (arm-empty) (on cum3 rkf2) (on-table ipf4) (clear sba1) (clear lxr5) | GOAL: (on sba1 cum3) (on lxr5 ipf4) (on-table rkf2) (arm-empty) (on cum3 rkf2) (on-table ipf4) (clear sba1) (clear lxr5)
STATE: (on sba1 cum3) (arm-empty) (on-table rkf2) (on ipf4 lxr5) (on cum3 rkf2) (clear ipf4) (on lxr5 sba1) | [
[
"unstack ipf4 lxr5"
],
[
"put-down ipf4"
],
[
"unstack lxr5 sba1"
],
[
"stack lxr5 ipf4"
]
] | [
"(on sba1 cum3) (on-table rkf2) (holding ipf4) (clear lxr5) (on cum3 rkf2) (on lxr5 sba1)",
"(on sba1 cum3) (arm-empty) (on-table rkf2) (clear ipf4) (clear lxr5) (on cum3 rkf2) (on lxr5 sba1) (on-table ipf4)",
"(on sba1 cum3) (on-table rkf2) (on cum3 rkf2) (clear ipf4) (holding lxr5) (on-table ipf4) (clear sba1... | file_27336 |
GOAL: (on djg1 pkr5) (clear zxt2) (on cdi4 djg1) (arm-empty) (on-table zxt2) (clear cdi4) (on pkr5 rkw3) (on-table rkw3) | GOAL: (on djg1 pkr5) (clear zxt2) (on cdi4 djg1) (arm-empty) (on-table zxt2) (clear cdi4) (on pkr5 rkw3) (on-table rkw3)
STATE: (on rkw3 pkr5) (arm-empty) (on-table zxt2) (clear cdi4) (on pkr5 djg1) (on cdi4 rkw3) (on djg1 zxt2) | [
[
"unstack cdi4 rkw3"
],
[
"put-down cdi4"
],
[
"unstack rkw3 pkr5"
],
[
"put-down rkw3"
],
[
"unstack pkr5 djg1"
],
[
"stack pkr5 rkw3"
],
[
"unstack djg1 zxt2"
],
[
"stack djg1 pkr5"
],
[
"pick-up cdi4"
],
[
"stack cdi4 djg1"
]
] | [
"(on rkw3 pkr5) (on-table zxt2) (holding cdi4) (on djg1 zxt2) (on pkr5 djg1) (clear rkw3)",
"(on rkw3 pkr5) (arm-empty) (on-table zxt2) (clear cdi4) (on djg1 zxt2) (on pkr5 djg1) (on-table cdi4) (clear rkw3)",
"(on-table zxt2) (clear cdi4) (on pkr5 djg1) (on-table cdi4) (on djg1 zxt2) (holding rkw3) (clear pkr5... | file_59414 |
GOAL: (clear slx2) (on rum4 adz1) (on cig3 pxj5) (on-table slx2) (on-table pxj5) (on-table adz1) (arm-empty) (clear rum4) (clear cig3) | GOAL: (clear slx2) (on rum4 adz1) (on cig3 pxj5) (on-table slx2) (on-table pxj5) (on-table adz1) (arm-empty) (clear rum4) (clear cig3)
STATE: (holding adz1) (on rum4 pxj5) (on pxj5 slx2) (clear rum4) (on slx2 cig3) (on-table cig3) | [
[
"put-down adz1"
],
[
"unstack rum4 pxj5"
],
[
"stack rum4 adz1"
],
[
"unstack pxj5 slx2"
],
[
"put-down pxj5"
],
[
"unstack slx2 cig3"
],
[
"put-down slx2"
],
[
"pick-up cig3"
],
[
"stack cig3 pxj5"
]
] | [
"(arm-empty) (on rum4 pxj5) (on pxj5 slx2) (clear rum4) (on-table adz1) (on slx2 cig3) (clear adz1) (on-table cig3)",
"(on-table adz1) (holding rum4) (on pxj5 slx2) (on slx2 cig3) (clear adz1) (on-table cig3) (clear pxj5)",
"(on rum4 adz1) (arm-empty) (on-table adz1) (on pxj5 slx2) (clear rum4) (on slx2 cig3) (... | file_95753 |
GOAL: (arm-empty) (on ope5 qxt4) (on-table zkc2) (on-table tex1) (on ksm3 tex1) (on qxt4 zkc2) (clear ksm3) (clear ope5) | GOAL: (arm-empty) (on ope5 qxt4) (on-table zkc2) (on-table tex1) (on ksm3 tex1) (on qxt4 zkc2) (clear ksm3) (clear ope5)
STATE: (on qxt4 tex1) (on-table zkc2) (on-table ope5) (clear qxt4) (holding ksm3) (on tex1 zkc2) (clear ope5) | [
[
"put-down ksm3"
],
[
"unstack qxt4 tex1"
],
[
"stack qxt4 ope5"
],
[
"unstack tex1 zkc2"
],
[
"put-down tex1"
],
[
"unstack qxt4 ope5"
],
[
"put-down qxt4"
],
[
"pick-up ksm3"
],
[
"stack ksm3 ope5"
],
[
"pick-up qxt4"
],
[
"stack... | [
"(on qxt4 tex1) (arm-empty) (on-table zkc2) (on-table ope5) (clear qxt4) (on tex1 zkc2) (clear ope5) (clear ksm3) (on-table ksm3)",
"(on-table zkc2) (on-table ope5) (holding qxt4) (clear ksm3) (on tex1 zkc2) (clear tex1) (on-table ksm3) (clear ope5)",
"(arm-empty) (on-table zkc2) (on-table ope5) (on qxt4 ope5) ... | file_148270 |
GOAL: (on qec1 tud5) (clear mjy2) (arm-empty) (on tud5 kbx4) (on-table kbx4) (on mjy2 ohz3) (clear qec1) (on-table ohz3) | GOAL: (on qec1 tud5) (clear mjy2) (arm-empty) (on tud5 kbx4) (on-table kbx4) (on mjy2 ohz3) (clear qec1) (on-table ohz3)
STATE: (on ohz3 tud5) (holding kbx4) (on-table qec1) (on tud5 mjy2) (on mjy2 qec1) (clear ohz3) | [
[
"put-down kbx4"
],
[
"unstack ohz3 tud5"
],
[
"put-down ohz3"
],
[
"unstack tud5 mjy2"
],
[
"stack tud5 kbx4"
],
[
"unstack mjy2 qec1"
],
[
"stack mjy2 ohz3"
],
[
"pick-up qec1"
],
[
"stack qec1 tud5"
]
] | [
"(on ohz3 tud5) (arm-empty) (on tud5 mjy2) (clear kbx4) (on mjy2 qec1) (on-table qec1) (on-table kbx4) (clear ohz3)",
"(on-table qec1) (on tud5 mjy2) (clear kbx4) (on-table kbx4) (on mjy2 qec1) (holding ohz3) (clear tud5)",
"(arm-empty) (on tud5 mjy2) (clear kbx4) (on mjy2 qec1) (clear tud5) (on-table qec1) (on... | file_47367 |
GOAL: (on-table eoe2) (on-table ayh1) (holding sce4) (on ihh5 eoe2) (on vwz3 ayh1) (clear vwz3) (clear ihh5) | GOAL: (on-table eoe2) (on-table ayh1) (holding sce4) (on ihh5 eoe2) (on vwz3 ayh1) (clear vwz3) (clear ihh5)
STATE: (arm-empty) (on-table ayh1) (on vwz3 eoe2) (clear sce4) (on ihh5 ayh1) (on sce4 vwz3) (on eoe2 ihh5) | [
[
"unstack sce4 vwz3"
],
[
"put-down sce4"
],
[
"unstack vwz3 eoe2"
],
[
"stack vwz3 sce4"
],
[
"unstack eoe2 ihh5"
],
[
"put-down eoe2"
],
[
"unstack ihh5 ayh1"
],
[
"stack ihh5 eoe2"
],
[
"unstack vwz3 sce4"
],
[
"stack vwz3 ayh1"
],
... | [
"(on ihh5 ayh1) (holding sce4) (clear vwz3) (on-table ayh1) (on eoe2 ihh5) (on vwz3 eoe2)",
"(arm-empty) (clear sce4) (on eoe2 ihh5) (on-table ayh1) (on vwz3 eoe2) (on ihh5 ayh1) (on-table sce4) (clear vwz3)",
"(clear eoe2) (on-table ayh1) (clear sce4) (on ihh5 ayh1) (on-table sce4) (on eoe2 ihh5) (holding vwz3... | file_215184 |
GOAL: (on msn4 qnp1) (on-table pyd2) (on-table zmq5) (clear msn4) (on qnp1 pyd2) (holding ffb3) (clear zmq5) | GOAL: (on msn4 qnp1) (on-table pyd2) (on-table zmq5) (clear msn4) (on qnp1 pyd2) (holding ffb3) (clear zmq5)
STATE: (on msn4 qnp1) (on zmq5 msn4) (on-table pyd2) (on qnp1 pyd2) (holding ffb3) (clear zmq5) | [
[
"put-down ffb3"
],
[
"unstack zmq5 msn4"
],
[
"put-down zmq5"
],
[
"pick-up ffb3"
]
] | [
"(on msn4 qnp1) (on zmq5 msn4) (on-table pyd2) (arm-empty) (clear ffb3) (on qnp1 pyd2) (on-table ffb3) (clear zmq5)",
"(on msn4 qnp1) (on-table pyd2) (clear msn4) (holding zmq5) (clear ffb3) (on qnp1 pyd2) (on-table ffb3)",
"(on msn4 qnp1) (arm-empty) (on-table pyd2) (on-table zmq5) (clear msn4) (on qnp1 pyd2) ... | file_27740 |
GOAL: (on pty3 ogk4) (on ztv1 pty3) (arm-empty) (on-table ewv2) (on hee5 ewv2) (on-table ogk4) (clear ztv1) (clear hee5) | GOAL: (on pty3 ogk4) (on ztv1 pty3) (arm-empty) (on-table ewv2) (on hee5 ewv2) (on-table ogk4) (clear ztv1) (clear hee5)
STATE: (holding ztv1) (on pty3 hee5) (on-table ewv2) (on hee5 ewv2) (clear ogk4) (on ogk4 pty3) | [
[
"put-down ztv1"
],
[
"unstack ogk4 pty3"
],
[
"put-down ogk4"
],
[
"unstack pty3 hee5"
],
[
"stack pty3 ogk4"
],
[
"pick-up ztv1"
],
[
"stack ztv1 pty3"
]
] | [
"(on pty3 hee5) (arm-empty) (on-table ewv2) (on hee5 ewv2) (clear ogk4) (on-table ztv1) (on ogk4 pty3) (clear ztv1)",
"(on pty3 hee5) (on-table ewv2) (on-table ztv1) (holding ogk4) (on hee5 ewv2) (clear pty3) (clear ztv1)",
"(on pty3 hee5) (arm-empty) (on-table ewv2) (on hee5 ewv2) (clear ogk4) (on-table ztv1) ... | file_48181 |
GOAL: (holding olz1) (on-table bku2) (on xbp4 upo5) (on rmx3 bku2) (clear xbp4) (on upo5 rmx3) | GOAL: (holding olz1) (on-table bku2) (on xbp4 upo5) (on rmx3 bku2) (clear xbp4) (on upo5 rmx3)
STATE: (on olz1 upo5) (arm-empty) (on-table bku2) (on rmx3 bku2) (clear xbp4) (on upo5 rmx3) (on-table xbp4) (clear olz1) | [
[
"unstack olz1 upo5"
],
[
"put-down olz1"
],
[
"pick-up xbp4"
],
[
"stack xbp4 upo5"
],
[
"pick-up olz1"
]
] | [
"(holding olz1) (on-table bku2) (on rmx3 bku2) (clear xbp4) (on upo5 rmx3) (on-table xbp4) (clear upo5)",
"(arm-empty) (on-table bku2) (clear xbp4) (on upo5 rmx3) (clear upo5) (on-table olz1) (on rmx3 bku2) (on-table xbp4) (clear olz1)",
"(on-table bku2) (on-table olz1) (holding xbp4) (on rmx3 bku2) (on upo5 rm... | file_132069 |
GOAL: (on mmj3 yrc5) (on cov1 mmj3) (on yrc5 glk4) (on-table glk4) (clear rru2) (arm-empty) (on rru2 cov1) | GOAL: (on mmj3 yrc5) (on cov1 mmj3) (on yrc5 glk4) (on-table glk4) (clear rru2) (arm-empty) (on rru2 cov1)
STATE: (holding cov1) (on yrc5 glk4) (on mmj3 rru2) (on-table glk4) (on rru2 yrc5) (clear mmj3) | [
[
"put-down cov1"
],
[
"unstack mmj3 rru2"
],
[
"stack mmj3 cov1"
],
[
"unstack rru2 yrc5"
],
[
"put-down rru2"
],
[
"unstack mmj3 cov1"
],
[
"stack mmj3 yrc5"
],
[
"pick-up cov1"
],
[
"stack cov1 mmj3"
],
[
"pick-up rru2"
],
[
"sta... | [
"(arm-empty) (on yrc5 glk4) (on rru2 yrc5) (on-table cov1) (on mmj3 rru2) (on-table glk4) (clear mmj3) (clear cov1)",
"(clear rru2) (on yrc5 glk4) (on-table cov1) (on-table glk4) (on rru2 yrc5) (holding mmj3) (clear cov1)",
"(clear rru2) (arm-empty) (on yrc5 glk4) (on-table cov1) (on-table glk4) (on mmj3 cov1) ... | file_40512 |
GOAL: (on vfp3 rjp5) (arm-empty) (on rjp5 vot4) (on-table vui1) (on vot4 tni2) (on tni2 vui1) (clear vfp3) | GOAL: (on vfp3 rjp5) (arm-empty) (on rjp5 vot4) (on-table vui1) (on vot4 tni2) (on tni2 vui1) (clear vfp3)
STATE: (arm-empty) (on-table rjp5) (on-table vui1) (on vfp3 tni2) (clear vot4) (on-table vot4) (on tni2 vui1) (clear vfp3) (clear rjp5) | [
[
"unstack vfp3 tni2"
],
[
"put-down vfp3"
],
[
"pick-up vot4"
],
[
"stack vot4 tni2"
],
[
"pick-up rjp5"
],
[
"stack rjp5 vot4"
],
[
"pick-up vfp3"
],
[
"stack vfp3 rjp5"
]
] | [
"(clear tni2) (on-table rjp5) (on-table vui1) (clear vot4) (on-table vot4) (on tni2 vui1) (holding vfp3) (clear rjp5)",
"(clear tni2) (arm-empty) (on-table rjp5) (on-table vui1) (clear vot4) (on-table vot4) (on tni2 vui1) (clear vfp3) (on-table vfp3) (clear rjp5)",
"(clear tni2) (on-table rjp5) (on-table vui1) ... | file_10584 |
GOAL: (clear iku2) (on nul1 jhp3) (on-table iku2) (holding sxo4) (on dpr5 nul1) (on-table jhp3) (clear dpr5) | GOAL: (clear iku2) (on nul1 jhp3) (on-table iku2) (holding sxo4) (on dpr5 nul1) (on-table jhp3) (clear dpr5)
STATE: (on-table iku2) (on sxo4 dpr5) (on-table nul1) (on dpr5 iku2) (clear sxo4) (holding jhp3) (clear nul1) | [
[
"put-down jhp3"
],
[
"unstack sxo4 dpr5"
],
[
"put-down sxo4"
],
[
"pick-up nul1"
],
[
"stack nul1 jhp3"
],
[
"pick-up sxo4"
],
[
"stack sxo4 nul1"
],
[
"unstack dpr5 iku2"
],
[
"put-down dpr5"
],
[
"unstack sxo4 nul1"
],
[
"stack... | [
"(arm-empty) (on-table iku2) (on sxo4 dpr5) (on dpr5 iku2) (clear sxo4) (on-table nul1) (clear jhp3) (clear nul1) (on-table jhp3)",
"(on-table iku2) (on-table nul1) (holding sxo4) (on dpr5 iku2) (clear jhp3) (clear nul1) (on-table jhp3) (clear dpr5)",
"(arm-empty) (on-table iku2) (on-table nul1) (on dpr5 iku2) ... | file_80142 |
GOAL: (on mad5 mpm4) (on-table cwf1) (on-table mpm4) (holding zjg2) (clear lju3) (clear cwf1) (on-table lju3) (clear mad5) | GOAL: (on mad5 mpm4) (on-table cwf1) (on-table mpm4) (holding zjg2) (clear lju3) (clear cwf1) (on-table lju3) (clear mad5)
STATE: (on mpm4 mad5) (on-table cwf1) (clear mpm4) (on mad5 lju3) (holding zjg2) (clear cwf1) (on-table lju3) | [
[
"stack zjg2 cwf1"
],
[
"unstack mpm4 mad5"
],
[
"put-down mpm4"
],
[
"unstack mad5 lju3"
],
[
"stack mad5 mpm4"
],
[
"unstack zjg2 cwf1"
]
] | [
"(arm-empty) (on mpm4 mad5) (clear mpm4) (on mad5 lju3) (on zjg2 cwf1) (clear zjg2) (on-table cwf1) (on-table lju3)",
"(clear zjg2) (on-table cwf1) (holding mpm4) (on mad5 lju3) (on zjg2 cwf1) (on-table lju3) (clear mad5)",
"(arm-empty) (clear mpm4) (on mad5 lju3) (on zjg2 cwf1) (clear mad5) (clear zjg2) (on-ta... | file_213460 |
GOAL: (on mct4 arw1) (arm-empty) (on-table jbq5) (clear mct4) (on laz2 yxe3) (on arw1 laz2) (on-table yxe3) (clear jbq5) | GOAL: (on mct4 arw1) (arm-empty) (on-table jbq5) (clear mct4) (on laz2 yxe3) (on arw1 laz2) (on-table yxe3) (clear jbq5)
STATE: (clear laz2) (on arw1 yxe3) (on-table laz2) (on-table jbq5) (holding mct4) (clear arw1) (on-table yxe3) (clear jbq5) | [
[
"stack mct4 jbq5"
],
[
"unstack arw1 yxe3"
],
[
"stack arw1 mct4"
],
[
"pick-up laz2"
],
[
"stack laz2 yxe3"
],
[
"unstack arw1 mct4"
],
[
"stack arw1 laz2"
],
[
"unstack mct4 jbq5"
],
[
"stack mct4 arw1"
]
] | [
"(clear laz2) (on arw1 yxe3) (arm-empty) (on-table laz2) (on-table jbq5) (on mct4 jbq5) (clear mct4) (clear arw1) (on-table yxe3)",
"(holding arw1) (clear laz2) (on-table laz2) (on-table jbq5) (on mct4 jbq5) (clear mct4) (clear yxe3) (on-table yxe3)",
"(clear laz2) (arm-empty) (on-table laz2) (on-table jbq5) (o... | file_59089 |
GOAL: (arm-empty) (clear qei4) (on xrn5 zdw3) (on-table qei4) (on zut2 xrn5) (on dwn1 zut2) (clear dwn1) (on-table zdw3) | GOAL: (arm-empty) (clear qei4) (on xrn5 zdw3) (on-table qei4) (on zut2 xrn5) (on dwn1 zut2) (clear dwn1) (on-table zdw3)
STATE: (clear zut2) (arm-empty) (on-table zut2) (on qei4 xrn5) (on-table dwn1) (clear qei4) (on xrn5 zdw3) (clear dwn1) (on-table zdw3) | [
[
"unstack qei4 xrn5"
],
[
"stack qei4 dwn1"
],
[
"pick-up zut2"
],
[
"stack zut2 xrn5"
],
[
"unstack qei4 dwn1"
],
[
"put-down qei4"
],
[
"pick-up dwn1"
],
[
"stack dwn1 zut2"
]
] | [
"(clear zut2) (on-table zut2) (on-table dwn1) (holding qei4) (on xrn5 zdw3) (clear dwn1) (on-table zdw3) (clear xrn5)",
"(clear zut2) (on qei4 dwn1) (arm-empty) (on-table zut2) (on-table dwn1) (clear qei4) (on xrn5 zdw3) (on-table zdw3) (clear xrn5)",
"(on qei4 dwn1) (on-table dwn1) (clear qei4) (on xrn5 zdw3) ... | file_14879 |
GOAL: (on lfl1 jif5) (arm-empty) (on jif5 mcj4) (on-table yqv2) (on cnx3 yqv2) (on-table mcj4) (clear cnx3) (clear lfl1) | GOAL: (on lfl1 jif5) (arm-empty) (on jif5 mcj4) (on-table yqv2) (on cnx3 yqv2) (on-table mcj4) (clear cnx3) (clear lfl1)
STATE: (on-table yqv2) (on-table jif5) (holding mcj4) (on-table lfl1) (on cnx3 yqv2) (clear cnx3) (clear lfl1) (clear jif5) | [
[
"stack mcj4 jif5"
],
[
"pick-up lfl1"
],
[
"stack lfl1 cnx3"
],
[
"unstack mcj4 jif5"
],
[
"put-down mcj4"
],
[
"pick-up jif5"
],
[
"stack jif5 mcj4"
],
[
"unstack lfl1 cnx3"
],
[
"stack lfl1 jif5"
]
] | [
"(arm-empty) (on-table yqv2) (on-table jif5) (on mcj4 jif5) (on-table lfl1) (on cnx3 yqv2) (clear mcj4) (clear cnx3) (clear lfl1)",
"(holding lfl1) (on-table yqv2) (on-table jif5) (on mcj4 jif5) (on cnx3 yqv2) (clear mcj4) (clear cnx3)",
"(on lfl1 cnx3) (arm-empty) (on-table yqv2) (on-table jif5) (on mcj4 jif5)... | file_174780 |
GOAL: (clear hpj2) (on-table wsr1) (on hpj2 wsr1) (holding mbo3) | GOAL: (clear hpj2) (on-table wsr1) (on hpj2 wsr1) (holding mbo3)
STATE: (arm-empty) (on-table hpj2) (on mbo3 wsr1) (clear mbo3) (on wsr1 hpj2) | [
[
"unstack mbo3 wsr1"
],
[
"put-down mbo3"
],
[
"unstack wsr1 hpj2"
],
[
"put-down wsr1"
],
[
"pick-up hpj2"
],
[
"stack hpj2 wsr1"
],
[
"pick-up mbo3"
]
] | [
"(on-table hpj2) (on wsr1 hpj2) (clear wsr1) (holding mbo3)",
"(arm-empty) (on-table hpj2) (clear mbo3) (on wsr1 hpj2) (clear wsr1) (on-table mbo3)",
"(holding wsr1) (clear hpj2) (on-table hpj2) (clear mbo3) (on-table mbo3)",
"(clear hpj2) (arm-empty) (on-table hpj2) (on-table wsr1) (clear mbo3) (clear wsr1) ... | file_78404 |
GOAL: (clear dne2) (on imo4 cvy1) (on-table cvy1) (clear imo4) (holding npw5) (on dne2 zuz3) (on-table zuz3) | GOAL: (clear dne2) (on imo4 cvy1) (on-table cvy1) (clear imo4) (holding npw5) (on dne2 zuz3) (on-table zuz3)
STATE: (on-table cvy1) (clear imo4) (holding npw5) (on imo4 dne2) (on dne2 zuz3) (clear cvy1) (on-table zuz3) | [
[
"put-down npw5"
],
[
"unstack imo4 dne2"
],
[
"stack imo4 cvy1"
],
[
"pick-up npw5"
]
] | [
"(arm-empty) (on-table npw5) (clear imo4) (clear npw5) (on-table cvy1) (on imo4 dne2) (on dne2 zuz3) (clear cvy1) (on-table zuz3)",
"(clear dne2) (on-table npw5) (on-table cvy1) (holding imo4) (on dne2 zuz3) (clear cvy1) (on-table zuz3) (clear npw5)",
"(clear dne2) (on imo4 cvy1) (arm-empty) (on-table npw5) (on... | file_226332 |
GOAL: (on ddh3 vyy4) (on-table vyy4) (arm-empty) (on abh2 ddh3) (on nee1 abh2) (clear nee1) | GOAL: (on ddh3 vyy4) (on-table vyy4) (arm-empty) (on abh2 ddh3) (on nee1 abh2) (clear nee1)
STATE: (on vyy4 nee1) (on-table nee1) (clear vyy4) (holding abh2) (clear ddh3) (on-table ddh3) | [
[
"put-down abh2"
],
[
"unstack vyy4 nee1"
],
[
"stack vyy4 ddh3"
],
[
"pick-up nee1"
],
[
"stack nee1 abh2"
],
[
"unstack vyy4 ddh3"
],
[
"put-down vyy4"
],
[
"pick-up ddh3"
],
[
"stack ddh3 vyy4"
],
[
"unstack nee1 abh2"
],
[
"put... | [
"(on vyy4 nee1) (arm-empty) (on-table abh2) (clear vyy4) (clear abh2) (on-table nee1) (clear ddh3) (on-table ddh3)",
"(clear abh2) (on-table abh2) (on-table nee1) (holding vyy4) (clear ddh3) (clear nee1) (on-table ddh3)",
"(arm-empty) (on-table abh2) (clear vyy4) (clear abh2) (on-table nee1) (on vyy4 ddh3) (cle... | file_63237 |
GOAL: (clear sry2) (arm-empty) (on lcp5 iyv4) (on-table sry2) (on-table khr1) (on iyv4 lsd3) (on lsd3 khr1) (clear lcp5) | GOAL: (clear sry2) (arm-empty) (on lcp5 iyv4) (on-table sry2) (on-table khr1) (on iyv4 lsd3) (on lsd3 khr1) (clear lcp5)
STATE: (holding khr1) (on lcp5 iyv4) (on lsd3 sry2) (on-table iyv4) (on sry2 lcp5) (clear lsd3) | [
[
"put-down khr1"
],
[
"unstack lsd3 sry2"
],
[
"stack lsd3 khr1"
],
[
"unstack sry2 lcp5"
],
[
"put-down sry2"
],
[
"unstack lcp5 iyv4"
],
[
"stack lcp5 sry2"
],
[
"pick-up iyv4"
],
[
"stack iyv4 lsd3"
],
[
"unstack lcp5 sry2"
],
[
... | [
"(arm-empty) (on lcp5 iyv4) (on sry2 lcp5) (on-table khr1) (on lsd3 sry2) (on-table iyv4) (clear lsd3) (clear khr1)",
"(clear sry2) (on lcp5 iyv4) (on-table khr1) (on-table iyv4) (on sry2 lcp5) (holding lsd3) (clear khr1)",
"(clear sry2) (arm-empty) (on lcp5 iyv4) (on-table khr1) (on-table iyv4) (on lsd3 khr1) ... | file_40621 |
GOAL: (holding kwl1) (on-table fds5) (clear kik4) (on kik4 jre2) (on jre2 ynn3) (on-table ynn3) (clear fds5) | GOAL: (holding kwl1) (on-table fds5) (clear kik4) (on kik4 jre2) (on jre2 ynn3) (on-table ynn3) (clear fds5)
STATE: (holding kwl1) (on fds5 kik4) (on kik4 jre2) (on jre2 ynn3) (on-table ynn3) (clear fds5) | [
[
"put-down kwl1"
],
[
"unstack fds5 kik4"
],
[
"put-down fds5"
],
[
"pick-up kwl1"
]
] | [
"(arm-empty) (on fds5 kik4) (clear fds5) (on-table kwl1) (on kik4 jre2) (on jre2 ynn3) (clear kwl1) (on-table ynn3)",
"(on-table kwl1) (clear kik4) (holding fds5) (on kik4 jre2) (on jre2 ynn3) (clear kwl1) (on-table ynn3)",
"(arm-empty) (on-table fds5) (clear kik4) (clear fds5) (on-table kwl1) (on kik4 jre2) (o... | file_170941 |
GOAL: (clear xbo2) (on-table tjm1) (clear nkg4) (holding itf5) (on-table nkg4) (on xbo2 tjm1) (clear cix3) (on-table cix3) | GOAL: (clear xbo2) (on-table tjm1) (clear nkg4) (holding itf5) (on-table nkg4) (on xbo2 tjm1) (clear cix3) (on-table cix3)
STATE: (on cix3 nkg4) (on-table tjm1) (holding itf5) (on nkg4 xbo2) (on xbo2 tjm1) (clear cix3) | [
[
"put-down itf5"
],
[
"unstack cix3 nkg4"
],
[
"put-down cix3"
],
[
"pick-up itf5"
],
[
"stack itf5 cix3"
],
[
"unstack nkg4 xbo2"
],
[
"put-down nkg4"
],
[
"unstack itf5 cix3"
]
] | [
"(arm-empty) (on-table itf5) (on xbo2 tjm1) (clear itf5) (on cix3 nkg4) (on-table tjm1) (on nkg4 xbo2) (clear cix3)",
"(on-table itf5) (on-table tjm1) (clear nkg4) (on nkg4 xbo2) (on xbo2 tjm1) (holding cix3) (clear itf5)",
"(arm-empty) (on-table itf5) (clear nkg4) (on xbo2 tjm1) (clear itf5) (on-table tjm1) (o... | file_167326 |
GOAL: (arm-empty) (on-table fvt1) (clear vgx4) (on dri5 skh3) (on skh3 fvt1) (on vgx4 tsi2) (on tsi2 dri5) | GOAL: (arm-empty) (on-table fvt1) (clear vgx4) (on dri5 skh3) (on skh3 fvt1) (on vgx4 tsi2) (on tsi2 dri5)
STATE: (holding fvt1) (on skh3 dri5) (on dri5 vgx4) (on-table tsi2) (on vgx4 tsi2) (clear skh3) | [
[
"put-down fvt1"
],
[
"unstack skh3 dri5"
],
[
"stack skh3 fvt1"
],
[
"unstack dri5 vgx4"
],
[
"stack dri5 skh3"
],
[
"unstack vgx4 tsi2"
],
[
"put-down vgx4"
],
[
"pick-up tsi2"
],
[
"stack tsi2 dri5"
],
[
"pick-up vgx4"
],
[
"sta... | [
"(on skh3 dri5) (arm-empty) (on dri5 vgx4) (on-table tsi2) (on-table fvt1) (on vgx4 tsi2) (clear skh3) (clear fvt1)",
"(on dri5 vgx4) (on-table tsi2) (on-table fvt1) (on vgx4 tsi2) (holding skh3) (clear fvt1) (clear dri5)",
"(arm-empty) (on dri5 vgx4) (on-table tsi2) (on-table fvt1) (on skh3 fvt1) (on vgx4 tsi2... | file_102268 |
GOAL: (clear mfp2) (arm-empty) (on-table mfp2) (on-table qag4) (on cdz1 qag4) (clear bdh3) (clear cdz1) (on-table bdh3) | GOAL: (clear mfp2) (arm-empty) (on-table mfp2) (on-table qag4) (on cdz1 qag4) (clear bdh3) (clear cdz1) (on-table bdh3)
STATE: (on-table mfp2) (clear qag4) (on-table qag4) (on cdz1 mfp2) (clear cdz1) (holding bdh3) | [
[
"put-down bdh3"
],
[
"unstack cdz1 mfp2"
],
[
"stack cdz1 qag4"
]
] | [
"(on-table qag4) (arm-empty) (on-table mfp2) (clear bdh3) (clear qag4) (on cdz1 mfp2) (on-table bdh3) (clear cdz1)",
"(holding cdz1) (clear mfp2) (on-table mfp2) (clear qag4) (on-table qag4) (clear bdh3) (on-table bdh3)",
"(clear mfp2) (arm-empty) (on-table mfp2) (on-table qag4) (on cdz1 qag4) (clear bdh3) (cle... | file_212160 |
GOAL: (clear mdc2) (arm-empty) (on-table abt1) (clear vfe4) (on-table vfe4) (on bkb3 abt1) (on mdc2 bkb3) | GOAL: (clear mdc2) (arm-empty) (on-table abt1) (clear vfe4) (on-table vfe4) (on bkb3 abt1) (on mdc2 bkb3)
STATE: (clear mdc2) (on-table abt1) (on-table vfe4) (on mdc2 vfe4) (holding bkb3) (clear abt1) | [
[
"stack bkb3 abt1"
],
[
"unstack mdc2 vfe4"
],
[
"stack mdc2 bkb3"
]
] | [
"(clear mdc2) (arm-empty) (on-table abt1) (on mdc2 vfe4) (on-table vfe4) (on bkb3 abt1) (clear bkb3)",
"(clear vfe4) (on bkb3 abt1) (on-table abt1) (on-table vfe4) (holding mdc2) (clear bkb3)",
"(clear mdc2) (arm-empty) (on-table abt1) (clear vfe4) (on-table vfe4) (on bkb3 abt1) (on mdc2 bkb3)"
] | file_149772 |
GOAL: (clear vhj2) (on bgu3 upq5) (on upq5 efw4) (on-table vhj2) (arm-empty) (on-table kro1) (on-table efw4) (clear bgu3) (clear kro1) | GOAL: (clear vhj2) (on bgu3 upq5) (on upq5 efw4) (on-table vhj2) (arm-empty) (on-table kro1) (on-table efw4) (clear bgu3) (clear kro1)
STATE: (clear efw4) (holding upq5) (on-table efw4) (on vhj2 bgu3) (on kro1 vhj2) (clear kro1) (on-table bgu3) | [
[
"stack upq5 efw4"
],
[
"unstack kro1 vhj2"
],
[
"stack kro1 upq5"
],
[
"unstack vhj2 bgu3"
],
[
"put-down vhj2"
],
[
"unstack kro1 upq5"
],
[
"put-down kro1"
],
[
"pick-up bgu3"
],
[
"stack bgu3 upq5"
]
] | [
"(clear kro1) (arm-empty) (on upq5 efw4) (on-table efw4) (on vhj2 bgu3) (on kro1 vhj2) (on-table bgu3) (clear upq5)",
"(holding kro1) (clear vhj2) (on upq5 efw4) (on-table efw4) (on vhj2 bgu3) (on-table bgu3) (clear upq5)",
"(on kro1 upq5) (clear vhj2) (arm-empty) (on upq5 efw4) (on-table efw4) (on vhj2 bgu3) (... | file_69137 |
GOAL: (clear hhg2) (arm-empty) (on-table qci1) (on xze4 ckb3) (on hhg2 xze4) (clear qci1) (on-table ckb3) | GOAL: (clear hhg2) (arm-empty) (on-table qci1) (on xze4 ckb3) (on hhg2 xze4) (clear qci1) (on-table ckb3)
STATE: (arm-empty) (on hhg2 xze4) (on-table xze4) (on ckb3 qci1) (clear ckb3) (on qci1 hhg2) | [
[
"unstack ckb3 qci1"
],
[
"put-down ckb3"
],
[
"unstack qci1 hhg2"
],
[
"put-down qci1"
],
[
"unstack hhg2 xze4"
],
[
"stack hhg2 qci1"
],
[
"pick-up xze4"
],
[
"stack xze4 ckb3"
],
[
"unstack hhg2 qci1"
],
[
"stack hhg2 xze4"
]
] | [
"(on-table xze4) (on hhg2 xze4) (on qci1 hhg2) (clear qci1) (holding ckb3)",
"(on-table xze4) (arm-empty) (on hhg2 xze4) (clear ckb3) (on qci1 hhg2) (clear qci1) (on-table ckb3)",
"(on hhg2 xze4) (holding qci1) (clear hhg2) (on-table xze4) (clear ckb3) (on-table ckb3)",
"(arm-empty) (on hhg2 xze4) (clear hhg2... | file_31854 |
GOAL: (clear jro2) (on-table jro2) (on-table njn5) (on-table cec1) (clear zlm4) (on-table zlm4) (holding hnw3) (clear cec1) (clear njn5) | GOAL: (clear jro2) (on-table jro2) (on-table njn5) (on-table cec1) (clear zlm4) (on-table zlm4) (holding hnw3) (clear cec1) (clear njn5)
STATE: (on hnw3 zlm4) (on cec1 hnw3) (on-table njn5) (on-table zlm4) (holding jro2) (clear cec1) (clear njn5) | [
[
"stack jro2 njn5"
],
[
"unstack cec1 hnw3"
],
[
"put-down cec1"
],
[
"unstack jro2 njn5"
],
[
"put-down jro2"
],
[
"unstack hnw3 zlm4"
]
] | [
"(on hnw3 zlm4) (clear jro2) (on cec1 hnw3) (arm-empty) (on-table njn5) (on-table zlm4) (on jro2 njn5) (clear cec1)",
"(holding cec1) (on hnw3 zlm4) (clear jro2) (on-table njn5) (on-table zlm4) (on jro2 njn5) (clear hnw3)",
"(arm-empty) (on-table njn5) (on jro2 njn5) (on hnw3 zlm4) (clear jro2) (on-table cec1) ... | file_39775 |
GOAL: (clear deg2) (arm-empty) (on-table deg2) (on-table fvd5) (on xsd4 fvd5) (on mtb1 xsd4) (clear yog3) (clear mtb1) (on-table yog3) | GOAL: (clear deg2) (arm-empty) (on-table deg2) (on-table fvd5) (on xsd4 fvd5) (on mtb1 xsd4) (clear yog3) (clear mtb1) (on-table yog3)
STATE: (holding mtb1) (clear deg2) (on fvd5 xsd4) (on-table deg2) (on xsd4 yog3) (on-table yog3) (clear fvd5) | [
[
"stack mtb1 deg2"
],
[
"unstack fvd5 xsd4"
],
[
"put-down fvd5"
],
[
"unstack xsd4 yog3"
],
[
"stack xsd4 fvd5"
],
[
"unstack mtb1 deg2"
],
[
"stack mtb1 xsd4"
]
] | [
"(arm-empty) (on fvd5 xsd4) (on-table deg2) (on xsd4 yog3) (on mtb1 deg2) (clear mtb1) (on-table yog3) (clear fvd5)",
"(on-table deg2) (clear xsd4) (on xsd4 yog3) (holding fvd5) (on mtb1 deg2) (clear mtb1) (on-table yog3)",
"(arm-empty) (on-table deg2) (on-table fvd5) (clear xsd4) (on mtb1 deg2) (clear fvd5) (o... | file_138786 |
GOAL: (clear coo2) (on-table coo2) (on-table inz1) (clear kby4) (holding pcf5) (on-table kby4) (clear pgm3) (clear inz1) (on-table pgm3) | GOAL: (clear coo2) (on-table coo2) (on-table inz1) (clear kby4) (holding pcf5) (on-table kby4) (clear pgm3) (clear inz1) (on-table pgm3)
STATE: (clear coo2) (on-table coo2) (on-table pcf5) (holding kby4) (on-table inz1) (clear pgm3) (clear inz1) (on-table pgm3) (clear pcf5) | [
[
"put-down kby4"
],
[
"pick-up pcf5"
]
] | [
"(clear coo2) (arm-empty) (on-table coo2) (on-table pcf5) (on-table inz1) (clear kby4) (on-table kby4) (clear pgm3) (clear inz1) (on-table pgm3) (clear pcf5)",
"(clear coo2) (on-table coo2) (on-table inz1) (clear kby4) (holding pcf5) (on-table kby4) (clear pgm3) (clear inz1) (on-table pgm3)"
] | file_184296 |
GOAL: (clear jxu2) (on yws1 fve3) (on-table jxu2) (clear blg4) (holding peu5) (on-table blg4) (clear yws1) (on-table fve3) | GOAL: (clear jxu2) (on yws1 fve3) (on-table jxu2) (clear blg4) (holding peu5) (on-table blg4) (clear yws1) (on-table fve3)
STATE: (on fve3 blg4) (on yws1 fve3) (arm-empty) (on-table jxu2) (on blg4 peu5) (on peu5 jxu2) (clear yws1) | [
[
"unstack yws1 fve3"
],
[
"put-down yws1"
],
[
"unstack fve3 blg4"
],
[
"stack fve3 yws1"
],
[
"unstack blg4 peu5"
],
[
"put-down blg4"
],
[
"unstack fve3 yws1"
],
[
"put-down fve3"
],
[
"unstack peu5 jxu2"
],
[
"stack peu5 blg4"
],
[
... | [
"(on-table jxu2) (on blg4 peu5) (on peu5 jxu2) (holding yws1) (on fve3 blg4) (clear fve3)",
"(arm-empty) (on-table jxu2) (on blg4 peu5) (on peu5 jxu2) (on fve3 blg4) (on-table yws1) (clear fve3) (clear yws1)",
"(on-table jxu2) (on blg4 peu5) (on-table yws1) (on peu5 jxu2) (clear blg4) (holding fve3) (clear yws1... | file_190076 |
GOAL: (clear hov2) (arm-empty) (on qfd5 rpq4) (on-table tnd1) (on rpq4 lei3) (on lei3 tnd1) (on hov2 qfd5) | GOAL: (clear hov2) (arm-empty) (on qfd5 rpq4) (on-table tnd1) (on rpq4 lei3) (on lei3 tnd1) (on hov2 qfd5)
STATE: (on-table hov2) (on-table qfd5) (on-table tnd1) (clear rpq4) (on rpq4 hov2) (holding lei3) (clear tnd1) (clear qfd5) | [
[
"stack lei3 tnd1"
],
[
"unstack rpq4 hov2"
],
[
"stack rpq4 lei3"
],
[
"pick-up qfd5"
],
[
"stack qfd5 rpq4"
],
[
"pick-up hov2"
],
[
"stack hov2 qfd5"
]
] | [
"(arm-empty) (on-table hov2) (on-table qfd5) (on-table tnd1) (clear rpq4) (on lei3 tnd1) (on rpq4 hov2) (clear lei3) (clear qfd5)",
"(clear hov2) (on-table hov2) (on-table qfd5) (on-table tnd1) (holding rpq4) (on lei3 tnd1) (clear lei3) (clear qfd5)",
"(clear hov2) (arm-empty) (on-table hov2) (on-table qfd5) (o... | file_122426 |
GOAL: (on-table npc5) (on pfs4 npc5) (on-table ecx1) (clear pfs4) (holding ntt2) (clear mdm3) (clear ecx1) (on-table mdm3) | GOAL: (on-table npc5) (on pfs4 npc5) (on-table ecx1) (clear pfs4) (holding ntt2) (clear mdm3) (clear ecx1) (on-table mdm3)
STATE: (on ecx1 mdm3) (on-table npc5) (clear pfs4) (on-table pfs4) (holding ntt2) (clear ecx1) (on-table mdm3) (clear npc5) | [
[
"put-down ntt2"
],
[
"pick-up pfs4"
],
[
"stack pfs4 npc5"
],
[
"unstack ecx1 mdm3"
],
[
"stack ecx1 pfs4"
],
[
"pick-up ntt2"
],
[
"stack ntt2 mdm3"
],
[
"unstack ecx1 pfs4"
],
[
"put-down ecx1"
],
[
"unstack ntt2 mdm3"
]
] | [
"(clear ntt2) (on ecx1 mdm3) (arm-empty) (on-table ntt2) (on-table npc5) (clear pfs4) (on-table pfs4) (clear ecx1) (on-table mdm3) (clear npc5)",
"(clear ntt2) (on ecx1 mdm3) (on-table ntt2) (on-table npc5) (holding pfs4) (clear ecx1) (on-table mdm3) (clear npc5)",
"(clear ntt2) (on ecx1 mdm3) (arm-empty) (on-t... | file_122739 |
GOAL: (on ghl1 jvm5) (arm-empty) (on jvm5 ivc2) (clear elc4) (on-table elc4) (on ivc2 mpk3) (clear ghl1) (on-table mpk3) | GOAL: (on ghl1 jvm5) (arm-empty) (on jvm5 ivc2) (clear elc4) (on-table elc4) (on ivc2 mpk3) (clear ghl1) (on-table mpk3)
STATE: (arm-empty) (on mpk3 ivc2) (on jvm5 ghl1) (on-table elc4) (on ghl1 elc4) (on ivc2 jvm5) (clear mpk3) | [
[
"unstack mpk3 ivc2"
],
[
"put-down mpk3"
],
[
"unstack ivc2 jvm5"
],
[
"stack ivc2 mpk3"
],
[
"unstack jvm5 ghl1"
],
[
"stack jvm5 ivc2"
],
[
"unstack ghl1 elc4"
],
[
"stack ghl1 jvm5"
]
] | [
"(on ivc2 jvm5) (clear ivc2) (on jvm5 ghl1) (on-table elc4) (on ghl1 elc4) (holding mpk3)",
"(arm-empty) (on ivc2 jvm5) (clear ivc2) (on jvm5 ghl1) (on-table elc4) (on ghl1 elc4) (clear mpk3) (on-table mpk3)",
"(holding ivc2) (on jvm5 ghl1) (on-table elc4) (on ghl1 elc4) (clear mpk3) (on-table mpk3) (clear jvm5... | file_43202 |
GOAL: (arm-empty) (on jey5 dzk2) (clear dnx4) (on dzk2 oht1) (clear jey5) (on-table oht1) (on dnx4 avs3) (on-table avs3) | GOAL: (arm-empty) (on jey5 dzk2) (clear dnx4) (on dzk2 oht1) (clear jey5) (on-table oht1) (on dnx4 avs3) (on-table avs3)
STATE: (arm-empty) (on dnx4 jey5) (on-table oht1) (on jey5 dzk2) (clear dnx4) (on dzk2 oht1) (clear avs3) (on-table avs3) | [
[
"unstack dnx4 jey5"
],
[
"stack dnx4 avs3"
]
] | [
"(on-table oht1) (holding dnx4) (on jey5 dzk2) (on dzk2 oht1) (clear avs3) (on-table avs3) (clear jey5)",
"(arm-empty) (on jey5 dzk2) (clear dnx4) (on dzk2 oht1) (clear jey5) (on-table oht1) (on dnx4 avs3) (on-table avs3)"
] | file_114317 |
GOAL: (on ucl3 yrr5) (on yrr5 rzb4) (on sfq1 ucl3) (on-table rzb4) (holding cht2) (clear sfq1) | GOAL: (on ucl3 yrr5) (on yrr5 rzb4) (on sfq1 ucl3) (on-table rzb4) (holding cht2) (clear sfq1)
STATE: (on rzb4 sfq1) (on yrr5 rzb4) (on-table sfq1) (holding cht2) (clear ucl3) (on-table ucl3) (clear yrr5) | [
[
"put-down cht2"
],
[
"unstack yrr5 rzb4"
],
[
"stack yrr5 cht2"
],
[
"unstack rzb4 sfq1"
],
[
"put-down rzb4"
],
[
"pick-up ucl3"
],
[
"stack ucl3 sfq1"
],
[
"unstack yrr5 cht2"
],
[
"stack yrr5 rzb4"
],
[
"unstack ucl3 sfq1"
],
[
... | [
"(on rzb4 sfq1) (on yrr5 rzb4) (on-table cht2) (arm-empty) (clear yrr5) (clear cht2) (on-table sfq1) (clear ucl3) (on-table ucl3)",
"(clear cht2) (on rzb4 sfq1) (on-table cht2) (on-table sfq1) (clear rzb4) (holding yrr5) (clear ucl3) (on-table ucl3)",
"(on rzb4 sfq1) (arm-empty) (on-table cht2) (on-table sfq1) ... | file_50203 |
GOAL: (arm-empty) (on-table ljt1) (on wny5 pkx2) (clear xfa4) (on-table xfa4) (on pkx2 zyz3) (clear ljt1) (on-table zyz3) (clear wny5) | GOAL: (arm-empty) (on-table ljt1) (on wny5 pkx2) (clear xfa4) (on-table xfa4) (on pkx2 zyz3) (clear ljt1) (on-table zyz3) (clear wny5)
STATE: (on-table wny5) (on xfa4 wny5) (holding pkx2) (on ljt1 xfa4) (clear zyz3) (clear ljt1) (on-table zyz3) | [
[
"stack pkx2 zyz3"
],
[
"unstack ljt1 xfa4"
],
[
"stack ljt1 pkx2"
],
[
"unstack xfa4 wny5"
],
[
"put-down xfa4"
],
[
"pick-up wny5"
],
[
"stack wny5 xfa4"
],
[
"unstack ljt1 pkx2"
],
[
"put-down ljt1"
],
[
"unstack wny5 xfa4"
],
[
... | [
"(clear pkx2) (arm-empty) (on-table wny5) (on xfa4 wny5) (on ljt1 xfa4) (on pkx2 zyz3) (clear ljt1) (on-table zyz3)",
"(holding ljt1) (clear pkx2) (on-table wny5) (on xfa4 wny5) (clear xfa4) (on pkx2 zyz3) (on-table zyz3)",
"(arm-empty) (on-table wny5) (on xfa4 wny5) (clear xfa4) (on pkx2 zyz3) (on ljt1 pkx2) (... | file_123590 |
GOAL: (on wrm1 qrm5) (on-table qrm5) (clear jll4) (on jll4 nfx3) (holding shv2) (clear wrm1) (on-table nfx3) | GOAL: (on wrm1 qrm5) (on-table qrm5) (clear jll4) (on jll4 nfx3) (holding shv2) (clear wrm1) (on-table nfx3)
STATE: (on wrm1 qrm5) (on nfx3 jll4) (on jll4 wrm1) (arm-empty) (on-table shv2) (on qrm5 shv2) (clear nfx3) | [
[
"unstack nfx3 jll4"
],
[
"put-down nfx3"
],
[
"unstack jll4 wrm1"
],
[
"stack jll4 nfx3"
],
[
"unstack wrm1 qrm5"
],
[
"stack wrm1 jll4"
],
[
"unstack qrm5 shv2"
],
[
"put-down qrm5"
],
[
"unstack wrm1 jll4"
],
[
"stack wrm1 qrm5"
],
... | [
"(on wrm1 qrm5) (on jll4 wrm1) (on-table shv2) (on qrm5 shv2) (clear jll4) (holding nfx3)",
"(on wrm1 qrm5) (on jll4 wrm1) (arm-empty) (on-table shv2) (on qrm5 shv2) (clear nfx3) (clear jll4) (on-table nfx3)",
"(on wrm1 qrm5) (on-table shv2) (holding jll4) (on qrm5 shv2) (clear nfx3) (clear wrm1) (on-table nfx3... | file_177486 |
GOAL: (clear ndg2) (on uqg4 xmt1) (on ume5 uqg4) (on-table ndg2) (arm-empty) (on-table xmt1) (clear nqm3) (on-table nqm3) (clear ume5) | GOAL: (clear ndg2) (on uqg4 xmt1) (on ume5 uqg4) (on-table ndg2) (arm-empty) (on-table xmt1) (clear nqm3) (on-table nqm3) (clear ume5)
STATE: (on uqg4 xmt1) (on ume5 uqg4) (on-table xmt1) (holding ndg2) (clear nqm3) (on-table nqm3) (clear ume5) | [
[
"stack ndg2 nqm3"
],
[
"unstack ume5 uqg4"
],
[
"put-down ume5"
],
[
"unstack ndg2 nqm3"
],
[
"put-down ndg2"
],
[
"pick-up ume5"
],
[
"stack ume5 uqg4"
]
] | [
"(clear ndg2) (on uqg4 xmt1) (on ume5 uqg4) (arm-empty) (on-table xmt1) (on ndg2 nqm3) (on-table nqm3) (clear ume5)",
"(clear ndg2) (on uqg4 xmt1) (on-table xmt1) (clear uqg4) (holding ume5) (on ndg2 nqm3) (on-table nqm3)",
"(on uqg4 xmt1) (arm-empty) (on-table ume5) (clear uqg4) (clear ume5) (clear ndg2) (on-t... | file_50259 |
GOAL: (on bmg3 sqs5) (arm-empty) (on sqs5 cei4) (on-table zlv2) (on-table gfw1) (on cei4 zlv2) (clear bmg3) (clear gfw1) | GOAL: (on bmg3 sqs5) (arm-empty) (on sqs5 cei4) (on-table zlv2) (on-table gfw1) (on cei4 zlv2) (clear bmg3) (clear gfw1)
STATE: (on-table zlv2) (on-table gfw1) (clear cei4) (holding sqs5) (on cei4 zlv2) (clear bmg3) (clear gfw1) (on-table bmg3) | [
[
"stack sqs5 cei4"
],
[
"pick-up bmg3"
],
[
"stack bmg3 sqs5"
]
] | [
"(arm-empty) (on sqs5 cei4) (on-table zlv2) (on-table gfw1) (on cei4 zlv2) (clear bmg3) (clear gfw1) (on-table bmg3) (clear sqs5)",
"(on sqs5 cei4) (on-table zlv2) (on-table gfw1) (on cei4 zlv2) (holding bmg3) (clear gfw1) (clear sqs5)",
"(on bmg3 sqs5) (arm-empty) (on sqs5 cei4) (on-table zlv2) (on-table gfw1)... | file_87033 |
GOAL: (clear mbd2) (on-table cxp1) (clear cwb4) (holding gch5) (on-table cwb4) (on mbd2 jhm3) (clear cxp1) (on-table jhm3) | GOAL: (clear mbd2) (on-table cxp1) (clear cwb4) (holding gch5) (on-table cwb4) (on mbd2 jhm3) (clear cxp1) (on-table jhm3)
STATE: (clear mbd2) (arm-empty) (on-table mbd2) (on-table gch5) (on-table cwb4) (on cxp1 cwb4) (on jhm3 cxp1) (clear jhm3) (clear gch5) | [
[
"unstack jhm3 cxp1"
],
[
"put-down jhm3"
],
[
"pick-up mbd2"
],
[
"stack mbd2 jhm3"
],
[
"pick-up gch5"
],
[
"stack gch5 mbd2"
],
[
"unstack cxp1 cwb4"
],
[
"put-down cxp1"
],
[
"unstack gch5 mbd2"
]
] | [
"(clear mbd2) (on-table mbd2) (on-table gch5) (on-table cwb4) (on cxp1 cwb4) (holding jhm3) (clear cxp1) (clear gch5)",
"(clear mbd2) (arm-empty) (on-table mbd2) (on-table gch5) (on-table cwb4) (on cxp1 cwb4) (clear jhm3) (clear cxp1) (on-table jhm3) (clear gch5)",
"(on-table gch5) (holding mbd2) (on-table cwb4... | file_65117 |
GOAL: (arm-empty) (on-table vhw2) (on fbx4 hgd5) (clear fbx4) (on hgd5 ftm3) (on urg1 vhw2) (clear urg1) (on-table ftm3) | GOAL: (arm-empty) (on-table vhw2) (on fbx4 hgd5) (clear fbx4) (on hgd5 ftm3) (on urg1 vhw2) (clear urg1) (on-table ftm3)
STATE: (clear vhw2) (arm-empty) (on-table hgd5) (on-table urg1) (clear fbx4) (on-table fbx4) (on vhw2 ftm3) (clear urg1) (on-table ftm3) (clear hgd5) | [
[
"pick-up hgd5"
],
[
"stack hgd5 fbx4"
],
[
"pick-up urg1"
],
[
"stack urg1 hgd5"
],
[
"unstack vhw2 ftm3"
],
[
"put-down vhw2"
],
[
"unstack urg1 hgd5"
],
[
"stack urg1 vhw2"
],
[
"unstack hgd5 fbx4"
],
[
"stack hgd5 ftm3"
],
[
"p... | [
"(clear vhw2) (on-table urg1) (clear fbx4) (holding hgd5) (on-table fbx4) (on vhw2 ftm3) (clear urg1) (on-table ftm3)",
"(clear vhw2) (arm-empty) (on hgd5 fbx4) (on-table urg1) (on-table fbx4) (on vhw2 ftm3) (clear urg1) (on-table ftm3) (clear hgd5)",
"(holding urg1) (clear vhw2) (on hgd5 fbx4) (on-table fbx4) ... | file_56279 |
GOAL: (holding hux1) (on-table ezb2) (on els4 bpi5) (on bpi5 ezb2) (clear els4) (clear oyy3) (on-table oyy3) | GOAL: (holding hux1) (on-table ezb2) (on els4 bpi5) (on bpi5 ezb2) (clear els4) (clear oyy3) (on-table oyy3)
STATE: (clear ezb2) (arm-empty) (on-table ezb2) (on-table bpi5) (on-table hux1) (clear els4) (on els4 oyy3) (on oyy3 hux1) (clear bpi5) | [
[
"pick-up bpi5"
],
[
"stack bpi5 ezb2"
],
[
"unstack els4 oyy3"
],
[
"stack els4 bpi5"
],
[
"unstack oyy3 hux1"
],
[
"put-down oyy3"
],
[
"pick-up hux1"
]
] | [
"(clear ezb2) (on-table ezb2) (on-table hux1) (clear els4) (on els4 oyy3) (holding bpi5) (on oyy3 hux1)",
"(arm-empty) (on-table ezb2) (on-table hux1) (on bpi5 ezb2) (clear els4) (on els4 oyy3) (on oyy3 hux1) (clear bpi5)",
"(on-table ezb2) (on-table hux1) (holding els4) (on bpi5 ezb2) (on oyy3 hux1) (clear oyy... | file_197807 |
GOAL: (on olr4 prr2) (holding hru1) (on prr2 ygx3) (clear olr4) (on-table ygx3) | GOAL: (on olr4 prr2) (holding hru1) (on prr2 ygx3) (clear olr4) (on-table ygx3)
STATE: (clear prr2) (on olr4 hru1) (on hru1 ygx3) (arm-empty) (on prr2 olr4) (on-table ygx3) | [
[
"unstack prr2 olr4"
],
[
"put-down prr2"
],
[
"unstack olr4 hru1"
],
[
"put-down olr4"
],
[
"unstack hru1 ygx3"
],
[
"put-down hru1"
],
[
"pick-up prr2"
],
[
"stack prr2 ygx3"
],
[
"pick-up olr4"
],
[
"stack olr4 prr2"
],
[
"pick-... | [
"(on olr4 hru1) (on hru1 ygx3) (holding prr2) (clear olr4) (on-table ygx3)",
"(clear prr2) (on olr4 hru1) (on hru1 ygx3) (on-table prr2) (arm-empty) (clear olr4) (on-table ygx3)",
"(on hru1 ygx3) (on-table prr2) (holding olr4) (clear prr2) (clear hru1) (on-table ygx3)",
"(on hru1 ygx3) (arm-empty) (on-table p... | file_210968 |
GOAL: (arm-empty) (on-table dtl2) (on dls5 dtl2) (on sfs4 aws3) (on sly1 sfs4) (clear sly1) (on-table aws3) (clear dls5) | GOAL: (arm-empty) (on-table dtl2) (on dls5 dtl2) (on sfs4 aws3) (on sly1 sfs4) (clear sly1) (on-table aws3) (clear dls5)
STATE: (clear dtl2) (arm-empty) (on sfs4 aws3) (on dls5 sly1) (on sly1 sfs4) (on dtl2 dls5) (on-table aws3) | [
[
"unstack dtl2 dls5"
],
[
"put-down dtl2"
],
[
"unstack dls5 sly1"
],
[
"stack dls5 dtl2"
]
] | [
"(holding dtl2) (clear dls5) (on sfs4 aws3) (on dls5 sly1) (on sly1 sfs4) (on-table aws3)",
"(arm-empty) (on-table dtl2) (clear dls5) (clear dtl2) (on sfs4 aws3) (on dls5 sly1) (on sly1 sfs4) (on-table aws3)",
"(clear dtl2) (on-table dtl2) (on sfs4 aws3) (holding dls5) (on sly1 sfs4) (clear sly1) (on-table aws3... | file_156621 |
GOAL: (clear mdm2) (on-table wuv1) (clear mpn4) (holding qcl5) (on-table mpn4) (on mdm2 qbb3) (clear wuv1) (on-table qbb3) | GOAL: (clear mdm2) (on-table wuv1) (clear mpn4) (holding qcl5) (on-table mpn4) (on mdm2 qbb3) (clear wuv1) (on-table qbb3)
STATE: (on wuv1 qcl5) (clear mdm2) (on mpn4 wuv1) (arm-empty) (on-table qcl5) (on mdm2 mpn4) (clear qbb3) (on-table qbb3) | [
[
"unstack mdm2 mpn4"
],
[
"stack mdm2 qbb3"
],
[
"unstack mpn4 wuv1"
],
[
"put-down mpn4"
],
[
"unstack wuv1 qcl5"
],
[
"put-down wuv1"
],
[
"pick-up qcl5"
]
] | [
"(on wuv1 qcl5) (on mpn4 wuv1) (on-table qcl5) (clear mpn4) (holding mdm2) (clear qbb3) (on-table qbb3)",
"(on wuv1 qcl5) (clear mdm2) (on mpn4 wuv1) (arm-empty) (on-table qcl5) (clear mpn4) (on mdm2 qbb3) (on-table qbb3)",
"(on wuv1 qcl5) (clear mdm2) (on-table qcl5) (holding mpn4) (on mdm2 qbb3) (clear wuv1) ... | file_136808 |
GOAL: (clear jmi2) (on-table jmi2) (on-table zqy5) (on-table nkh1) (clear xfe4) (on-table xfe4) (holding nzv3) (clear nkh1) (clear zqy5) | GOAL: (clear jmi2) (on-table jmi2) (on-table zqy5) (on-table nkh1) (clear xfe4) (on-table xfe4) (holding nzv3) (clear nkh1) (clear zqy5)
STATE: (on nkh1 zqy5) (clear jmi2) (arm-empty) (on zqy5 xfe4) (on-table jmi2) (on xfe4 nzv3) (clear nkh1) (on-table nzv3) | [
[
"unstack nkh1 zqy5"
],
[
"put-down nkh1"
],
[
"pick-up jmi2"
],
[
"stack jmi2 nkh1"
],
[
"unstack zqy5 xfe4"
],
[
"put-down zqy5"
],
[
"unstack xfe4 nzv3"
],
[
"stack xfe4 jmi2"
],
[
"pick-up nzv3"
],
[
"stack nzv3 zqy5"
],
[
"uns... | [
"(holding nkh1) (clear jmi2) (on zqy5 xfe4) (on-table jmi2) (on xfe4 nzv3) (on-table nzv3) (clear zqy5)",
"(arm-empty) (on zqy5 xfe4) (on-table jmi2) (clear zqy5) (clear jmi2) (on-table nkh1) (on xfe4 nzv3) (clear nkh1) (on-table nzv3)",
"(on zqy5 xfe4) (on-table nkh1) (on xfe4 nzv3) (holding jmi2) (clear nkh1)... | file_61475 |
GOAL: (on qst5 lzo4) (on-table qws2) (on-table lzo4) (on dnt1 qws2) (clear dnt1) (holding iwn3) (clear qst5) | GOAL: (on qst5 lzo4) (on-table qws2) (on-table lzo4) (on dnt1 qws2) (clear dnt1) (holding iwn3) (clear qst5)
STATE: (on iwn3 qst5) (on qst5 lzo4) (on-table dnt1) (on-table lzo4) (holding qws2) (clear iwn3) (clear dnt1) | [
[
"put-down qws2"
],
[
"pick-up dnt1"
],
[
"stack dnt1 qws2"
],
[
"unstack iwn3 qst5"
]
] | [
"(on iwn3 qst5) (arm-empty) (on qst5 lzo4) (on-table qws2) (clear qws2) (on-table dnt1) (on-table lzo4) (clear iwn3) (clear dnt1)",
"(holding dnt1) (on iwn3 qst5) (on qst5 lzo4) (on-table qws2) (clear qws2) (on-table lzo4) (clear iwn3)",
"(on iwn3 qst5) (arm-empty) (on qst5 lzo4) (on-table qws2) (on-table lzo4)... | file_155493 |
GOAL: (on-table uvr2) (on-table ubc1) (clear kxi4) (holding luj5) (on kxi4 uvr2) (clear xcj3) (clear ubc1) (on-table xcj3) | GOAL: (on-table uvr2) (on-table ubc1) (clear kxi4) (holding luj5) (on kxi4 uvr2) (clear xcj3) (clear ubc1) (on-table xcj3)
STATE: (on-table uvr2) (on-table luj5) (on-table ubc1) (clear kxi4) (on kxi4 uvr2) (holding xcj3) (clear ubc1) (clear luj5) | [
[
"put-down xcj3"
],
[
"pick-up luj5"
]
] | [
"(arm-empty) (on-table uvr2) (on-table luj5) (on-table ubc1) (clear kxi4) (on kxi4 uvr2) (clear xcj3) (clear ubc1) (on-table xcj3) (clear luj5)",
"(on-table uvr2) (on-table ubc1) (clear kxi4) (holding luj5) (on kxi4 uvr2) (clear xcj3) (clear ubc1) (on-table xcj3)"
] | file_122419 |
GOAL: (clear moq2) (on bvk1 cgo3) (arm-empty) (on-table moq2) (on-table pry5) (on inr4 pry5) (clear inr4) (clear bvk1) (on-table cgo3) | GOAL: (clear moq2) (on bvk1 cgo3) (arm-empty) (on-table moq2) (on-table pry5) (on inr4 pry5) (clear inr4) (clear bvk1) (on-table cgo3)
STATE: (clear moq2) (on inr4 bvk1) (on bvk1 cgo3) (on-table moq2) (arm-empty) (on-table pry5) (clear inr4) (on-table cgo3) (clear pry5) | [
[
"unstack inr4 bvk1"
],
[
"stack inr4 pry5"
]
] | [
"(clear moq2) (on bvk1 cgo3) (on-table moq2) (on-table pry5) (holding inr4) (clear bvk1) (on-table cgo3) (clear pry5)",
"(clear moq2) (on bvk1 cgo3) (arm-empty) (on-table moq2) (on-table pry5) (on inr4 pry5) (clear inr4) (clear bvk1) (on-table cgo3)"
] | file_202535 |
GOAL: (on rdd4 fsc1) (on zyf5 rdd4) (on-table fsc1) (holding xsi2) (clear zux3) (on-table zux3) (clear zyf5) | GOAL: (on rdd4 fsc1) (on zyf5 rdd4) (on-table fsc1) (holding xsi2) (clear zux3) (on-table zux3) (clear zyf5)
STATE: (on rdd4 fsc1) (arm-empty) (on-table fsc1) (on zyf5 xsi2) (on xsi2 rdd4) (clear zux3) (on-table zux3) (clear zyf5) | [
[
"unstack zyf5 xsi2"
],
[
"put-down zyf5"
],
[
"unstack xsi2 rdd4"
],
[
"stack xsi2 zux3"
],
[
"pick-up zyf5"
],
[
"stack zyf5 rdd4"
],
[
"unstack xsi2 zux3"
]
] | [
"(clear xsi2) (on rdd4 fsc1) (on-table fsc1) (holding zyf5) (on xsi2 rdd4) (clear zux3) (on-table zux3)",
"(on rdd4 fsc1) (arm-empty) (on-table zyf5) (on xsi2 rdd4) (clear zyf5) (clear xsi2) (on-table fsc1) (clear zux3) (on-table zux3)",
"(on rdd4 fsc1) (on-table zyf5) (on-table fsc1) (clear rdd4) (holding xsi2... | file_55825 |
GOAL: (clear agt2) (on-table eex1) (clear ork4) (holding nqt5) (on-table ork4) (on agt2 eex1) (clear qoq3) (on-table qoq3) | GOAL: (clear agt2) (on-table eex1) (clear ork4) (holding nqt5) (on-table ork4) (on agt2 eex1) (clear qoq3) (on-table qoq3)
STATE: (on eex1 nqt5) (arm-empty) (on-table agt2) (on nqt5 agt2) (clear ork4) (on-table ork4) (clear qoq3) (clear eex1) (on-table qoq3) | [
[
"unstack eex1 nqt5"
],
[
"stack eex1 ork4"
],
[
"pick-up qoq3"
],
[
"stack qoq3 nqt5"
],
[
"unstack eex1 ork4"
],
[
"put-down eex1"
],
[
"unstack qoq3 nqt5"
],
[
"put-down qoq3"
],
[
"unstack nqt5 agt2"
],
[
"put-down nqt5"
],
[
"... | [
"(holding eex1) (on-table agt2) (on nqt5 agt2) (clear ork4) (on-table ork4) (clear qoq3) (on-table qoq3) (clear nqt5)",
"(arm-empty) (on-table agt2) (on nqt5 agt2) (on-table ork4) (on eex1 ork4) (clear qoq3) (clear eex1) (on-table qoq3) (clear nqt5)",
"(on-table agt2) (on nqt5 agt2) (on-table ork4) (on eex1 ork... | file_98585 |
GOAL: (clear uof2) (arm-empty) (on-table uof2) (on-table fnf5) (on xtb4 fnf5) (on-table crw1) (clear xtb4) (on tpk3 crw1) (clear tpk3) | GOAL: (clear uof2) (arm-empty) (on-table uof2) (on-table fnf5) (on xtb4 fnf5) (on-table crw1) (clear xtb4) (on tpk3 crw1) (clear tpk3)
STATE: (clear uof2) (on-table fnf5) (holding xtb4) (on-table crw1) (on uof2 tpk3) (clear crw1) (on-table tpk3) (clear fnf5) | [
[
"stack xtb4 fnf5"
],
[
"unstack uof2 tpk3"
],
[
"stack uof2 xtb4"
],
[
"pick-up crw1"
],
[
"stack crw1 tpk3"
],
[
"unstack uof2 xtb4"
],
[
"put-down uof2"
],
[
"unstack crw1 tpk3"
],
[
"put-down crw1"
],
[
"pick-up tpk3"
],
[
"sta... | [
"(clear uof2) (arm-empty) (on-table fnf5) (on xtb4 fnf5) (on-table crw1) (clear xtb4) (on uof2 tpk3) (clear crw1) (on-table tpk3)",
"(on-table fnf5) (on xtb4 fnf5) (on-table crw1) (clear xtb4) (holding uof2) (clear tpk3) (clear crw1) (on-table tpk3)",
"(clear uof2) (arm-empty) (on-table fnf5) (on xtb4 fnf5) (on... | file_213606 |
GOAL: (clear xab2) (on uxt1 vlc3) (clear whz4) (holding oyc5) (on-table whz4) (on xab2 uxt1) (on-table vlc3) | GOAL: (clear xab2) (on uxt1 vlc3) (clear whz4) (holding oyc5) (on-table whz4) (on xab2 uxt1) (on-table vlc3)
STATE: (arm-empty) (on-table oyc5) (on whz4 xab2) (on uxt1 whz4) (on vlc3 uxt1) (on xab2 oyc5) (clear vlc3) | [
[
"unstack vlc3 uxt1"
],
[
"put-down vlc3"
],
[
"unstack uxt1 whz4"
],
[
"stack uxt1 vlc3"
],
[
"unstack whz4 xab2"
],
[
"put-down whz4"
],
[
"unstack xab2 oyc5"
],
[
"stack xab2 uxt1"
],
[
"pick-up oyc5"
]
] | [
"(on-table oyc5) (on xab2 oyc5) (on uxt1 whz4) (on whz4 xab2) (holding vlc3) (clear uxt1)",
"(arm-empty) (on-table oyc5) (on xab2 oyc5) (on uxt1 whz4) (on whz4 xab2) (clear vlc3) (clear uxt1) (on-table vlc3)",
"(holding uxt1) (on-table oyc5) (clear whz4) (on whz4 xab2) (on xab2 oyc5) (clear vlc3) (on-table vlc3... | file_15571 |
GOAL: (arm-empty) (on-table dyu2) (on-table npw1) (on nyb5 dyu2) (clear gfn4) (on-table gfn4) (clear kcu3) (clear npw1) (on-table kcu3) (clear nyb5) | GOAL: (arm-empty) (on-table dyu2) (on-table npw1) (on nyb5 dyu2) (clear gfn4) (on-table gfn4) (clear kcu3) (clear npw1) (on-table kcu3) (clear nyb5)
STATE: (on npw1 nyb5) (clear dyu2) (on gfn4 npw1) (arm-empty) (on-table dyu2) (clear gfn4) (on nyb5 kcu3) (on-table kcu3) | [
[
"unstack gfn4 npw1"
],
[
"put-down gfn4"
],
[
"unstack npw1 nyb5"
],
[
"put-down npw1"
],
[
"unstack nyb5 kcu3"
],
[
"stack nyb5 dyu2"
]
] | [
"(on npw1 nyb5) (clear dyu2) (on-table dyu2) (holding gfn4) (on nyb5 kcu3) (clear npw1) (on-table kcu3)",
"(on npw1 nyb5) (arm-empty) (on-table dyu2) (clear gfn4) (on nyb5 kcu3) (clear dyu2) (on-table gfn4) (clear npw1) (on-table kcu3)",
"(holding npw1) (clear dyu2) (on-table dyu2) (clear gfn4) (on nyb5 kcu3) (... | file_96059 |
GOAL: (clear lms2) (arm-empty) (on-table gcn1) (on-table uae4) (on lms2 uae4) (clear dxu3) (clear gcn1) (on-table dxu3) | GOAL: (clear lms2) (arm-empty) (on-table gcn1) (on-table uae4) (on lms2 uae4) (clear dxu3) (clear gcn1) (on-table dxu3)
STATE: (clear lms2) (arm-empty) (on-table gcn1) (clear uae4) (on-table uae4) (on lms2 gcn1) (clear dxu3) (on-table dxu3) | [
[
"unstack lms2 gcn1"
],
[
"stack lms2 uae4"
]
] | [
"(on-table gcn1) (clear uae4) (on-table uae4) (holding lms2) (clear dxu3) (clear gcn1) (on-table dxu3)",
"(clear lms2) (arm-empty) (on-table gcn1) (on-table uae4) (on lms2 uae4) (clear dxu3) (clear gcn1) (on-table dxu3)"
] | file_49857 |
GOAL: (clear yea2) (on ieu1 mat3) (holding uri4) (on yea2 ieu1) (on-table mat3) | GOAL: (clear yea2) (on ieu1 mat3) (holding uri4) (on yea2 ieu1) (on-table mat3)
STATE: (clear yea2) (arm-empty) (on-table yea2) (on-table ieu1) (clear uri4) (on uri4 mat3) (on mat3 ieu1) | [
[
"unstack uri4 mat3"
],
[
"stack uri4 yea2"
],
[
"unstack mat3 ieu1"
],
[
"put-down mat3"
],
[
"pick-up ieu1"
],
[
"stack ieu1 mat3"
],
[
"unstack uri4 yea2"
],
[
"put-down uri4"
],
[
"pick-up yea2"
],
[
"stack yea2 ieu1"
],
[
"pic... | [
"(holding uri4) (on mat3 ieu1) (clear yea2) (on-table yea2) (on-table ieu1) (clear mat3)",
"(on mat3 ieu1) (arm-empty) (clear uri4) (on-table yea2) (on uri4 yea2) (clear mat3) (on-table ieu1)",
"(on-table yea2) (clear uri4) (on-table ieu1) (on uri4 yea2) (holding mat3) (clear ieu1)",
"(on uri4 yea2) (arm-empt... | file_177960 |
GOAL: (on bik3 pod4) (on ypx1 bik3) (arm-empty) (on-table vkj2) (on pod4 ova5) (on ova5 vkj2) (clear ypx1) | GOAL: (on bik3 pod4) (on ypx1 bik3) (arm-empty) (on-table vkj2) (on pod4 ova5) (on ova5 vkj2) (clear ypx1)
STATE: (clear vkj2) (on-table vkj2) (on-table ova5) (holding pod4) (on-table ypx1) (on bik3 ypx1) (clear bik3) (clear ova5) | [
[
"put-down pod4"
],
[
"pick-up ova5"
],
[
"stack ova5 vkj2"
],
[
"pick-up pod4"
],
[
"stack pod4 ova5"
],
[
"unstack bik3 ypx1"
],
[
"stack bik3 pod4"
],
[
"pick-up ypx1"
],
[
"stack ypx1 bik3"
]
] | [
"(clear vkj2) (arm-empty) (on-table vkj2) (on-table ova5) (on-table ypx1) (clear pod4) (on-table pod4) (on bik3 ypx1) (clear bik3) (clear ova5)",
"(clear vkj2) (on-table vkj2) (on-table ypx1) (clear pod4) (holding ova5) (on-table pod4) (on bik3 ypx1) (clear bik3)",
"(arm-empty) (on-table vkj2) (on-table ypx1) (... | file_216124 |
GOAL: (clear vzb2) (on-table wbi1) (on vzb2 wbi1) (holding xxt3) | GOAL: (clear vzb2) (on-table wbi1) (on vzb2 wbi1) (holding xxt3)
STATE: (clear vzb2) (arm-empty) (on-table vzb2) (on-table wbi1) (clear xxt3) (clear wbi1) (on-table xxt3) | [
[
"pick-up vzb2"
],
[
"stack vzb2 wbi1"
],
[
"pick-up xxt3"
]
] | [
"(holding vzb2) (on-table wbi1) (clear xxt3) (clear wbi1) (on-table xxt3)",
"(clear vzb2) (arm-empty) (on-table wbi1) (on vzb2 wbi1) (clear xxt3) (on-table xxt3)",
"(clear vzb2) (on-table wbi1) (on vzb2 wbi1) (holding xxt3)"
] | file_173410 |
GOAL: (on mxo1 btd5) (on-table btd5) (clear rau4) (on rau4 xxn3) (holding ygs2) (on xxn3 mxo1) | GOAL: (on mxo1 btd5) (on-table btd5) (clear rau4) (on rau4 xxn3) (holding ygs2) (on xxn3 mxo1)
STATE: (on mxo1 btd5) (clear ygs2) (arm-empty) (on-table btd5) (clear rau4) (on-table rau4) (on ygs2 mxo1) (clear xxn3) (on-table xxn3) | [
[
"unstack ygs2 mxo1"
],
[
"stack ygs2 xxn3"
],
[
"pick-up rau4"
],
[
"stack rau4 mxo1"
],
[
"unstack ygs2 xxn3"
],
[
"put-down ygs2"
],
[
"unstack rau4 mxo1"
],
[
"stack rau4 ygs2"
],
[
"pick-up xxn3"
],
[
"stack xxn3 mxo1"
],
[
"u... | [
"(on mxo1 btd5) (on-table btd5) (clear rau4) (on-table rau4) (holding ygs2) (clear xxn3) (clear mxo1) (on-table xxn3)",
"(on mxo1 btd5) (clear ygs2) (arm-empty) (on-table btd5) (clear rau4) (on-table rau4) (on ygs2 xxn3) (clear mxo1) (on-table xxn3)",
"(on mxo1 btd5) (clear ygs2) (on-table btd5) (holding rau4) ... | file_188939 |
GOAL: (arm-empty) (on-table hst2) (clear oft4) (on oft4 ags3) (on nte1 hst2) (clear nte1) (on-table ags3) | GOAL: (arm-empty) (on-table hst2) (clear oft4) (on oft4 ags3) (on nte1 hst2) (clear nte1) (on-table ags3)
STATE: (on nte1 ags3) (arm-empty) (clear oft4) (on oft4 hst2) (on hst2 nte1) (on-table ags3) | [
[
"unstack oft4 hst2"
],
[
"put-down oft4"
],
[
"unstack hst2 nte1"
],
[
"put-down hst2"
],
[
"unstack nte1 ags3"
],
[
"stack nte1 hst2"
],
[
"pick-up oft4"
],
[
"stack oft4 ags3"
]
] | [
"(clear hst2) (on nte1 ags3) (holding oft4) (on hst2 nte1) (on-table ags3)",
"(clear hst2) (on nte1 ags3) (on-table oft4) (arm-empty) (on hst2 nte1) (clear oft4) (on-table ags3)",
"(on nte1 ags3) (clear oft4) (on-table oft4) (holding hst2) (clear nte1) (on-table ags3)",
"(on-table oft4) (on nte1 ags3) (clear ... | file_224511 |
GOAL: (on-table esv2) (clear qai4) (on qai4 pdi3) (holding lcs5) (on pdi3 iao1) (on iao1 esv2) | GOAL: (on-table esv2) (clear qai4) (on qai4 pdi3) (holding lcs5) (on pdi3 iao1) (on iao1 esv2)
STATE: (clear esv2) (arm-empty) (on-table esv2) (on-table lcs5) (on qai4 lcs5) (on iao1 qai4) (clear pdi3) (clear iao1) (on-table pdi3) | [
[
"unstack iao1 qai4"
],
[
"stack iao1 esv2"
],
[
"pick-up pdi3"
],
[
"stack pdi3 iao1"
],
[
"unstack qai4 lcs5"
],
[
"stack qai4 pdi3"
],
[
"pick-up lcs5"
]
] | [
"(holding iao1) (clear esv2) (on-table esv2) (on-table lcs5) (on qai4 lcs5) (clear qai4) (clear pdi3) (on-table pdi3)",
"(arm-empty) (on-table esv2) (on-table lcs5) (on qai4 lcs5) (clear qai4) (clear pdi3) (on iao1 esv2) (clear iao1) (on-table pdi3)",
"(on-table esv2) (on-table lcs5) (on qai4 lcs5) (clear qai4)... | file_228188 |
GOAL: (on-table feb5) (on-table ljp1) (clear rbp4) (on rbp4 bpk2) (on bpk2 ljp1) (holding evh3) (clear feb5) | GOAL: (on-table feb5) (on-table ljp1) (clear rbp4) (on rbp4 bpk2) (on bpk2 ljp1) (holding evh3) (clear feb5)
STATE: (on feb5 rbp4) (on-table ljp1) (on rbp4 evh3) (holding bpk2) (clear ljp1) (on-table evh3) (clear feb5) | [
[
"stack bpk2 ljp1"
],
[
"unstack feb5 rbp4"
],
[
"put-down feb5"
],
[
"unstack rbp4 evh3"
],
[
"stack rbp4 bpk2"
],
[
"pick-up evh3"
]
] | [
"(clear bpk2) (arm-empty) (on feb5 rbp4) (on-table ljp1) (on rbp4 evh3) (on bpk2 ljp1) (on-table evh3) (clear feb5)",
"(clear bpk2) (on-table ljp1) (clear rbp4) (on rbp4 evh3) (holding feb5) (on bpk2 ljp1) (on-table evh3)",
"(arm-empty) (on-table feb5) (clear rbp4) (on bpk2 ljp1) (clear feb5) (clear bpk2) (on-t... | file_181220 |
GOAL: (arm-empty) (on emc5 hml3) (on-table uxa4) (on sxq2 uxa4) (on epe1 sxq2) (clear epe1) (on-table hml3) (clear emc5) | GOAL: (arm-empty) (on emc5 hml3) (on-table uxa4) (on sxq2 uxa4) (on epe1 sxq2) (clear epe1) (on-table hml3) (clear emc5)
STATE: (clear sxq2) (arm-empty) (on-table sxq2) (on-table emc5) (on-table epe1) (clear uxa4) (on uxa4 hml3) (on hml3 epe1) (clear emc5) | [
[
"unstack uxa4 hml3"
],
[
"put-down uxa4"
],
[
"unstack hml3 epe1"
],
[
"put-down hml3"
],
[
"pick-up emc5"
],
[
"stack emc5 hml3"
],
[
"pick-up sxq2"
],
[
"stack sxq2 uxa4"
],
[
"pick-up epe1"
],
[
"stack epe1 sxq2"
]
] | [
"(clear sxq2) (on-table sxq2) (on-table emc5) (on-table epe1) (holding uxa4) (on hml3 epe1) (clear hml3) (clear emc5)",
"(clear sxq2) (arm-empty) (on-table sxq2) (on-table emc5) (on-table epe1) (clear uxa4) (on-table uxa4) (on hml3 epe1) (clear hml3) (clear emc5)",
"(clear sxq2) (on-table sxq2) (on-table emc5) ... | file_197760 |
GOAL: (on iqn3 unt4) (arm-empty) (on-table zje1) (on zet5 zje1) (on unt4 brh2) (on brh2 zet5) (clear iqn3) | GOAL: (on iqn3 unt4) (arm-empty) (on-table zje1) (on zet5 zje1) (on unt4 brh2) (on brh2 zet5) (clear iqn3)
STATE: (arm-empty) (on-table zje1) (on zet5 brh2) (clear unt4) (on-table unt4) (on brh2 iqn3) (clear zje1) (on-table iqn3) (clear zet5) | [
[
"unstack zet5 brh2"
],
[
"stack zet5 zje1"
],
[
"unstack brh2 iqn3"
],
[
"stack brh2 zet5"
],
[
"pick-up unt4"
],
[
"stack unt4 brh2"
],
[
"pick-up iqn3"
],
[
"stack iqn3 unt4"
]
] | [
"(clear brh2) (on-table zje1) (clear unt4) (holding zet5) (on-table unt4) (on brh2 iqn3) (clear zje1) (on-table iqn3)",
"(clear brh2) (arm-empty) (on-table zje1) (clear unt4) (on zet5 zje1) (on-table unt4) (on brh2 iqn3) (on-table iqn3) (clear zet5)",
"(on-table zje1) (clear unt4) (on zet5 zje1) (on-table unt4)... | file_223876 |
GOAL: (clear lbl2) (arm-empty) (on-table lbl2) (on-table woa5) (on-table ecd1) (clear lps4) (on lps4 alf3) (clear ecd1) (on-table alf3) (clear woa5) | GOAL: (clear lbl2) (arm-empty) (on-table lbl2) (on-table woa5) (on-table ecd1) (clear lps4) (on lps4 alf3) (clear ecd1) (on-table alf3) (clear woa5)
STATE: (holding ecd1) (on alf3 woa5) (on-table lbl2) (on woa5 lbl2) (clear lps4) (on lps4 alf3) | [
[
"put-down ecd1"
],
[
"unstack lps4 alf3"
],
[
"stack lps4 ecd1"
],
[
"unstack alf3 woa5"
],
[
"put-down alf3"
],
[
"unstack lps4 ecd1"
],
[
"stack lps4 alf3"
],
[
"unstack woa5 lbl2"
],
[
"put-down woa5"
]
] | [
"(on alf3 woa5) (arm-empty) (on-table lbl2) (on woa5 lbl2) (clear lps4) (on-table ecd1) (on lps4 alf3) (clear ecd1)",
"(on alf3 woa5) (on-table lbl2) (on-table ecd1) (holding lps4) (on woa5 lbl2) (clear alf3) (clear ecd1)",
"(on alf3 woa5) (on lps4 ecd1) (arm-empty) (on-table lbl2) (on-table ecd1) (on woa5 lbl2... | file_48126 |
GOAL: (on zwj4 vty1) (arm-empty) (on-table krz2) (clear zwj4) (on fhr5 fcf3) (on vty1 krz2) (on-table fcf3) (clear fhr5) | GOAL: (on zwj4 vty1) (arm-empty) (on-table krz2) (clear zwj4) (on fhr5 fcf3) (on vty1 krz2) (on-table fcf3) (clear fhr5)
STATE: (on-table krz2) (on-table fhr5) (holding zwj4) (clear fcf3) (on vty1 krz2) (clear vty1) (on-table fcf3) (clear fhr5) | [
[
"stack zwj4 vty1"
],
[
"pick-up fhr5"
],
[
"stack fhr5 fcf3"
]
] | [
"(on zwj4 vty1) (arm-empty) (on-table krz2) (on-table fhr5) (clear zwj4) (clear fcf3) (on vty1 krz2) (on-table fcf3) (clear fhr5)",
"(on zwj4 vty1) (on-table krz2) (clear zwj4) (holding fhr5) (clear fcf3) (on vty1 krz2) (on-table fcf3)",
"(on zwj4 vty1) (arm-empty) (on-table krz2) (clear zwj4) (on fhr5 fcf3) (o... | file_117387 |
GOAL: (on qjz3 uar4) (clear ojg2) (on rsl1 qjz3) (on-table ojg2) (holding jdn5) (on-table uar4) (clear rsl1) | GOAL: (on qjz3 uar4) (clear ojg2) (on rsl1 qjz3) (on-table ojg2) (holding jdn5) (on-table uar4) (clear rsl1)
STATE: (clear ojg2) (arm-empty) (on-table ojg2) (on-table rsl1) (clear uar4) (on jdn5 qjz3) (on-table uar4) (clear rsl1) (on-table qjz3) (clear jdn5) | [
[
"pick-up rsl1"
],
[
"stack rsl1 ojg2"
],
[
"unstack jdn5 qjz3"
],
[
"put-down jdn5"
],
[
"pick-up qjz3"
],
[
"stack qjz3 uar4"
],
[
"unstack rsl1 ojg2"
],
[
"stack rsl1 qjz3"
],
[
"pick-up jdn5"
]
] | [
"(holding rsl1) (clear ojg2) (on-table ojg2) (clear uar4) (on jdn5 qjz3) (on-table uar4) (on-table qjz3) (clear jdn5)",
"(arm-empty) (on-table ojg2) (clear uar4) (on jdn5 qjz3) (on-table uar4) (on rsl1 ojg2) (clear rsl1) (on-table qjz3) (clear jdn5)",
"(on-table ojg2) (clear uar4) (holding jdn5) (on-table uar4)... | file_118646 |
GOAL: (arm-empty) (on-table ddt2) (clear nhy4) (on-table nhy4) (clear mig3) (on sxa1 ddt2) (clear sxa1) (on-table mig3) | GOAL: (arm-empty) (on-table ddt2) (clear nhy4) (on-table nhy4) (clear mig3) (on sxa1 ddt2) (clear sxa1) (on-table mig3)
STATE: (arm-empty) (on-table ddt2) (on-table sxa1) (clear nhy4) (on nhy4 ddt2) (clear mig3) (clear sxa1) (on-table mig3) | [
[
"unstack nhy4 ddt2"
],
[
"put-down nhy4"
],
[
"pick-up sxa1"
],
[
"stack sxa1 ddt2"
]
] | [
"(clear ddt2) (on-table ddt2) (on-table sxa1) (holding nhy4) (clear mig3) (clear sxa1) (on-table mig3)",
"(arm-empty) (on-table ddt2) (clear nhy4) (clear ddt2) (on-table sxa1) (on-table nhy4) (clear mig3) (clear sxa1) (on-table mig3)",
"(holding sxa1) (clear ddt2) (on-table ddt2) (clear nhy4) (on-table nhy4) (c... | file_227428 |
GOAL: (arm-empty) (clear onu4) (on hfp2 itb1) (clear hfp2) (on-table itb1) (on-table onu4) (clear fcp3) (on-table fcp3) | GOAL: (arm-empty) (clear onu4) (on hfp2 itb1) (clear hfp2) (on-table itb1) (on-table onu4) (clear fcp3) (on-table fcp3)
STATE: (arm-empty) (on-table hfp2) (clear onu4) (on-table onu4) (clear fcp3) (on itb1 hfp2) (clear itb1) (on-table fcp3) | [
[
"unstack itb1 hfp2"
],
[
"put-down itb1"
],
[
"pick-up fcp3"
],
[
"stack fcp3 hfp2"
],
[
"pick-up onu4"
],
[
"stack onu4 itb1"
],
[
"unstack fcp3 hfp2"
],
[
"put-down fcp3"
],
[
"unstack onu4 itb1"
],
[
"stack onu4 fcp3"
],
[
"pic... | [
"(holding itb1) (clear hfp2) (on-table hfp2) (clear onu4) (on-table onu4) (clear fcp3) (on-table fcp3)",
"(arm-empty) (on-table hfp2) (clear onu4) (clear hfp2) (on-table itb1) (on-table onu4) (clear fcp3) (clear itb1) (on-table fcp3)",
"(clear hfp2) (on-table hfp2) (on-table itb1) (clear onu4) (on-table onu4) (... | file_207154 |
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