Split (1)

test · 3.39k rows

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goal stringlengths 64 162	input stringlengths 130 312	actions listlengths 1 18	next_states listlengths 1 18	source_file stringlengths 6 11
GOAL: (clear jde2) (on iui1 wpm3) (on dbb4 iui1) (on-table jde2) (clear dbb4) (holding sxf5) (on-table wpm3)	GOAL: (clear jde2) (on iui1 wpm3) (on dbb4 iui1) (on-table jde2) (clear dbb4) (holding sxf5) (on-table wpm3) STATE: (on iui1 wpm3) (on dbb4 iui1) (on-table sxf5) (clear dbb4) (holding jde2) (on-table wpm3) (clear sxf5)	[ [ "put-down jde2" ], [ "pick-up sxf5" ] ]	[ "(on iui1 wpm3) (on dbb4 iui1) (on-table jde2) (on-table sxf5) (arm-empty) (clear dbb4) (clear sxf5) (clear jde2) (on-table wpm3)", "(clear jde2) (on iui1 wpm3) (on dbb4 iui1) (on-table jde2) (clear dbb4) (holding sxf5) (on-table wpm3)" ]	file_57301
GOAL: (on tbc3 tln5) (on slk4 syz1) (clear mew2) (arm-empty) (on-table tln5) (on-table syz1) (clear slk4) (on mew2 tbc3)	GOAL: (on tbc3 tln5) (on slk4 syz1) (clear mew2) (arm-empty) (on-table tln5) (on-table syz1) (clear slk4) (on mew2 tbc3) STATE: (clear mew2) (on tbc3 tln5) (arm-empty) (on-table mew2) (on-table tln5) (on-table syz1) (clear slk4) (on slk4 tbc3) (clear syz1)	[ [ "unstack slk4 tbc3" ], [ "stack slk4 syz1" ], [ "pick-up mew2" ], [ "stack mew2 tbc3" ] ]	[ "(clear mew2) (on tbc3 tln5) (on-table mew2) (on-table tln5) (on-table syz1) (holding slk4) (clear tbc3) (clear syz1)", "(clear mew2) (on tbc3 tln5) (on slk4 syz1) (on-table mew2) (on-table tln5) (on-table syz1) (arm-empty) (clear slk4) (clear tbc3)", "(on tbc3 tln5) (on slk4 syz1) (on-table tln5) (on-table syz1) (clear slk4) (holding mew2) (clear tbc3)", "(on tbc3 tln5) (on slk4 syz1) (clear mew2) (arm-empty) (on-table tln5) (on-table syz1) (clear slk4) (on mew2 tbc3)" ]	file_91851
GOAL: (clear yoq2) (arm-empty) (on-table yoq2) (on-table tak5) (clear tak5) (on-table oxz4) (clear ybx3) (on yfz1 oxz4) (on-table ybx3) (clear yfz1)	GOAL: (clear yoq2) (arm-empty) (on-table yoq2) (on-table tak5) (clear tak5) (on-table oxz4) (clear ybx3) (on yfz1 oxz4) (on-table ybx3) (clear yfz1) STATE: (on oxz4 yfz1) (arm-empty) (on-table tak5) (on-table yfz1) (on ybx3 yoq2) (on yoq2 oxz4) (clear ybx3) (clear tak5)	[ [ "unstack ybx3 yoq2" ], [ "put-down ybx3" ], [ "pick-up tak5" ], [ "stack tak5 ybx3" ], [ "unstack yoq2 oxz4" ], [ "put-down yoq2" ], [ "unstack tak5 ybx3" ], [ "put-down tak5" ], [ "unstack oxz4 yfz1" ], [ "put-down oxz4" ], [ "pick-up yoq2" ], [ "stack yoq2 tak5" ], [ "pick-up yfz1" ], [ "stack yfz1 oxz4" ], [ "unstack yoq2 tak5" ], [ "put-down yoq2" ] ]	[ "(clear yoq2) (on oxz4 yfz1) (on-table tak5) (on-table yfz1) (on yoq2 oxz4) (holding ybx3) (clear tak5)", "(on oxz4 yfz1) (arm-empty) (on-table tak5) (on yoq2 oxz4) (clear tak5) (clear yoq2) (on-table yfz1) (clear ybx3) (on-table ybx3)", "(clear yoq2) (on oxz4 yfz1) (on-table yfz1) (holding tak5) (on yoq2 oxz4) (clear ybx3) (on-table ybx3)", "(clear yoq2) (on oxz4 yfz1) (arm-empty) (on-table yfz1) (on tak5 ybx3) (on yoq2 oxz4) (on-table ybx3) (clear tak5)", "(on oxz4 yfz1) (on-table yfz1) (clear oxz4) (on tak5 ybx3) (holding yoq2) (on-table ybx3) (clear tak5)", "(on oxz4 yfz1) (arm-empty) (on-table yoq2) (clear oxz4) (on tak5 ybx3) (clear tak5) (clear yoq2) (on-table yfz1) (on-table ybx3)", "(clear yoq2) (on oxz4 yfz1) (on-table yoq2) (on-table yfz1) (clear oxz4) (holding tak5) (clear ybx3) (on-table ybx3)", "(clear yoq2) (on oxz4 yfz1) (arm-empty) (on-table yoq2) (on-table tak5) (on-table yfz1) (clear oxz4) (clear ybx3) (on-table ybx3) (clear tak5)", "(clear yoq2) (on-table yoq2) (on-table tak5) (on-table yfz1) (holding oxz4) (clear ybx3) (clear yfz1) (on-table ybx3) (clear tak5)", "(clear yoq2) (arm-empty) (on-table yoq2) (on-table tak5) (on-table yfz1) (clear oxz4) (on-table oxz4) (clear ybx3) (clear yfz1) (on-table ybx3) (clear tak5)", "(on-table tak5) (on-table yfz1) (clear oxz4) (on-table oxz4) (holding yoq2) (clear ybx3) (clear yfz1) (on-table ybx3) (clear tak5)", "(clear yoq2) (arm-empty) (on-table tak5) (on-table yfz1) (clear oxz4) (on-table oxz4) (on yoq2 tak5) (clear ybx3) (clear yfz1) (on-table ybx3)", "(holding yfz1) (clear yoq2) (on-table tak5) (clear oxz4) (on-table oxz4) (on yoq2 tak5) (clear ybx3) (on-table ybx3)", "(clear yoq2) (arm-empty) (on-table tak5) (on-table oxz4) (on yfz1 oxz4) (on yoq2 tak5) (clear ybx3) (clear yfz1) (on-table ybx3)", "(on-table tak5) (holding yoq2) (on-table oxz4) (on yfz1 oxz4) (clear ybx3) (clear yfz1) (on-table ybx3) (clear tak5)", "(clear yoq2) (arm-empty) (on-table yoq2) (on-table tak5) (clear tak5) (on-table oxz4) (clear ybx3) (on yfz1 oxz4) (on-table ybx3) (clear yfz1)" ]	file_126617
GOAL: (on lgl1 uhl5) (arm-empty) (on-table ira2) (on uhl5 ira2) (clear mcq4) (on-table mcq4) (clear snv3) (clear lgl1) (on-table snv3)	GOAL: (on lgl1 uhl5) (arm-empty) (on-table ira2) (on uhl5 ira2) (clear mcq4) (on-table mcq4) (clear snv3) (clear lgl1) (on-table snv3) STATE: (on snv3 mcq4) (clear ira2) (arm-empty) (on lgl1 uhl5) (on-table ira2) (on uhl5 snv3) (on-table mcq4) (clear lgl1)	[ [ "unstack lgl1 uhl5" ], [ "put-down lgl1" ], [ "unstack uhl5 snv3" ], [ "stack uhl5 ira2" ], [ "pick-up lgl1" ], [ "stack lgl1 uhl5" ], [ "unstack snv3 mcq4" ], [ "put-down snv3" ] ]	[ "(holding lgl1) (on snv3 mcq4) (clear ira2) (on-table ira2) (on uhl5 snv3) (on-table mcq4) (clear uhl5)", "(arm-empty) (on-table ira2) (on uhl5 snv3) (clear uhl5) (on snv3 mcq4) (clear ira2) (on-table lgl1) (on-table mcq4) (clear lgl1)", "(on snv3 mcq4) (clear ira2) (on-table ira2) (on-table lgl1) (holding uhl5) (on-table mcq4) (clear snv3) (clear lgl1)", "(on snv3 mcq4) (arm-empty) (on-table ira2) (on-table lgl1) (on uhl5 ira2) (on-table mcq4) (clear snv3) (clear lgl1) (clear uhl5)", "(holding lgl1) (on snv3 mcq4) (on-table ira2) (on uhl5 ira2) (on-table mcq4) (clear snv3) (clear uhl5)", "(on snv3 mcq4) (on lgl1 uhl5) (arm-empty) (on-table ira2) (on uhl5 ira2) (on-table mcq4) (clear snv3) (clear lgl1)", "(on lgl1 uhl5) (on-table ira2) (on uhl5 ira2) (clear mcq4) (on-table mcq4) (holding snv3) (clear lgl1)", "(on lgl1 uhl5) (arm-empty) (on-table ira2) (on uhl5 ira2) (clear mcq4) (on-table mcq4) (clear snv3) (clear lgl1) (on-table snv3)" ]	file_64536
GOAL: (on-table jah2) (on-table kyn1) (holding gas4) (on rrc3 jah2) (on ear5 kyn1) (clear rrc3) (clear ear5)	GOAL: (on-table jah2) (on-table kyn1) (holding gas4) (on rrc3 jah2) (on ear5 kyn1) (clear rrc3) (clear ear5) STATE: (on-table jah2) (on ear5 kyn1) (on kyn1 gas4) (on gas4 jah2) (holding rrc3) (clear ear5)	[ [ "put-down rrc3" ], [ "unstack ear5 kyn1" ], [ "put-down ear5" ], [ "pick-up rrc3" ], [ "stack rrc3 ear5" ], [ "unstack kyn1 gas4" ], [ "put-down kyn1" ], [ "unstack rrc3 ear5" ], [ "put-down rrc3" ], [ "pick-up ear5" ], [ "stack ear5 kyn1" ], [ "unstack gas4 jah2" ], [ "stack gas4 ear5" ], [ "pick-up rrc3" ], [ "stack rrc3 jah2" ], [ "unstack gas4 ear5" ] ]	[ "(arm-empty) (on-table jah2) (clear ear5) (on ear5 kyn1) (on kyn1 gas4) (on gas4 jah2) (clear rrc3) (on-table rrc3)", "(on-table jah2) (holding ear5) (on kyn1 gas4) (on gas4 jah2) (clear rrc3) (clear kyn1) (on-table rrc3)", "(arm-empty) (on-table jah2) (on-table ear5) (clear ear5) (on kyn1 gas4) (on gas4 jah2) (clear rrc3) (clear kyn1) (on-table rrc3)", "(on-table jah2) (on-table ear5) (on kyn1 gas4) (on gas4 jah2) (holding rrc3) (clear kyn1) (clear ear5)", "(on rrc3 ear5) (arm-empty) (on-table jah2) (on-table ear5) (on kyn1 gas4) (on gas4 jah2) (clear rrc3) (clear kyn1)", "(holding kyn1) (on rrc3 ear5) (on-table jah2) (on-table ear5) (clear gas4) (on gas4 jah2) (clear rrc3)", "(on rrc3 ear5) (arm-empty) (on-table jah2) (on-table ear5) (clear gas4) (on-table kyn1) (on gas4 jah2) (clear rrc3) (clear kyn1)", "(on-table jah2) (on-table ear5) (on-table kyn1) (clear gas4) (on gas4 jah2) (holding rrc3) (clear kyn1) (clear ear5)", "(arm-empty) (on-table jah2) (on-table ear5) (on-table kyn1) (clear gas4) (on gas4 jah2) (clear rrc3) (clear kyn1) (on-table rrc3) (clear ear5)", "(on-table jah2) (on-table kyn1) (clear gas4) (holding ear5) (on gas4 jah2) (clear rrc3) (clear kyn1) (on-table rrc3)", "(arm-empty) (on-table jah2) (on-table kyn1) (clear gas4) (on ear5 kyn1) (on gas4 jah2) (clear rrc3) (on-table rrc3) (clear ear5)", "(clear jah2) (on-table jah2) (on-table kyn1) (holding gas4) (on ear5 kyn1) (clear rrc3) (on-table rrc3) (clear ear5)", "(clear jah2) (arm-empty) (on-table jah2) (on gas4 ear5) (on-table kyn1) (clear gas4) (on ear5 kyn1) (clear rrc3) (on-table rrc3)", "(clear jah2) (on-table jah2) (on gas4 ear5) (on-table kyn1) (clear gas4) (on ear5 kyn1) (holding rrc3)", "(arm-empty) (on-table jah2) (on gas4 ear5) (on-table kyn1) (on rrc3 jah2) (clear gas4) (on ear5 kyn1) (clear rrc3)", "(on-table jah2) (on-table kyn1) (holding gas4) (on rrc3 jah2) (on ear5 kyn1) (clear rrc3) (clear ear5)" ]	file_145539
GOAL: (holding xsf1) (on row3 kkr4) (clear jml2) (on-table kkr4) (on jml2 row3)	GOAL: (holding xsf1) (on row3 kkr4) (clear jml2) (on-table kkr4) (on jml2 row3) STATE: (on row3 kkr4) (arm-empty) (on-table xsf1) (on kkr4 jml2) (on jml2 xsf1) (clear row3)	[ [ "unstack row3 kkr4" ], [ "put-down row3" ], [ "unstack kkr4 jml2" ], [ "put-down kkr4" ], [ "pick-up row3" ], [ "stack row3 kkr4" ], [ "unstack jml2 xsf1" ], [ "stack jml2 row3" ], [ "pick-up xsf1" ] ]	[ "(on kkr4 jml2) (on-table xsf1) (on jml2 xsf1) (clear kkr4) (holding row3)", "(arm-empty) (clear kkr4) (on kkr4 jml2) (on jml2 xsf1) (clear row3) (on-table xsf1) (on-table row3)", "(clear jml2) (holding kkr4) (on jml2 xsf1) (clear row3) (on-table xsf1) (on-table row3)", "(arm-empty) (clear kkr4) (on jml2 xsf1) (clear jml2) (on-table xsf1) (on-table kkr4) (clear row3) (on-table row3)", "(clear jml2) (on-table xsf1) (clear kkr4) (on-table kkr4) (on jml2 xsf1) (holding row3)", "(on row3 kkr4) (clear jml2) (arm-empty) (on-table xsf1) (on-table kkr4) (on jml2 xsf1) (clear row3)", "(on row3 kkr4) (on-table xsf1) (on-table kkr4) (holding jml2) (clear row3) (clear xsf1)", "(on row3 kkr4) (clear jml2) (arm-empty) (on-table xsf1) (on-table kkr4) (on jml2 row3) (clear xsf1)", "(holding xsf1) (on row3 kkr4) (clear jml2) (on-table kkr4) (on jml2 row3)" ]	file_148065
GOAL: (on dkf1 kzz3) (arm-empty) (on-table kye2) (on bkq4 jpi5) (on kzz3 kye2) (clear bkq4) (on jpi5 dkf1)	GOAL: (on dkf1 kzz3) (arm-empty) (on-table kye2) (on bkq4 jpi5) (on kzz3 kye2) (clear bkq4) (on jpi5 dkf1) STATE: (on dkf1 jpi5) (clear kye2) (on-table jpi5) (holding bkq4) (on kye2 dkf1) (clear kzz3) (on-table kzz3)	[ [ "put-down bkq4" ], [ "unstack kye2 dkf1" ], [ "put-down kye2" ], [ "pick-up kzz3" ], [ "stack kzz3 kye2" ], [ "unstack dkf1 jpi5" ], [ "stack dkf1 kzz3" ], [ "pick-up jpi5" ], [ "stack jpi5 dkf1" ], [ "pick-up bkq4" ], [ "stack bkq4 jpi5" ] ]	[ "(on dkf1 jpi5) (arm-empty) (on-table jpi5) (clear bkq4) (on kye2 dkf1) (clear kye2) (on-table bkq4) (clear kzz3) (on-table kzz3)", "(on dkf1 jpi5) (on-table jpi5) (clear bkq4) (on-table bkq4) (holding kye2) (clear kzz3) (clear dkf1) (on-table kzz3)", "(on dkf1 jpi5) (clear kye2) (arm-empty) (on-table kye2) (on-table jpi5) (clear bkq4) (on-table bkq4) (clear kzz3) (clear dkf1) (on-table kzz3)", "(on dkf1 jpi5) (clear kye2) (on-table kye2) (on-table jpi5) (clear bkq4) (on-table bkq4) (holding kzz3) (clear dkf1)", "(on dkf1 jpi5) (arm-empty) (on-table kye2) (on-table jpi5) (on kzz3 kye2) (clear bkq4) (on-table bkq4) (clear kzz3) (clear dkf1)", "(holding dkf1) (on-table kye2) (on-table jpi5) (on kzz3 kye2) (clear bkq4) (on-table bkq4) (clear kzz3) (clear jpi5)", "(on dkf1 kzz3) (arm-empty) (on-table kye2) (on-table jpi5) (on kzz3 kye2) (clear bkq4) (on-table bkq4) (clear dkf1) (clear jpi5)", "(on dkf1 kzz3) (on-table kye2) (on kzz3 kye2) (clear bkq4) (holding jpi5) (on-table bkq4) (clear dkf1)", "(on dkf1 kzz3) (arm-empty) (on-table kye2) (on kzz3 kye2) (clear bkq4) (on jpi5 dkf1) (on-table bkq4) (clear jpi5)", "(on dkf1 kzz3) (on-table kye2) (holding bkq4) (on kzz3 kye2) (on jpi5 dkf1) (clear jpi5)", "(on dkf1 kzz3) (arm-empty) (on-table kye2) (on bkq4 jpi5) (on kzz3 kye2) (clear bkq4) (on jpi5 dkf1)" ]	file_4361
GOAL: (on vjd3 rce5) (arm-empty) (on-table fbr2) (on-table rce5) (clear tke4) (on-table tke4) (clear vjd3) (on lnc1 fbr2) (clear lnc1)	GOAL: (on vjd3 rce5) (arm-empty) (on-table fbr2) (on-table rce5) (clear tke4) (on-table tke4) (clear vjd3) (on lnc1 fbr2) (clear lnc1) STATE: (on vjd3 rce5) (on lnc1 vjd3) (arm-empty) (on-table fbr2) (on-table rce5) (clear fbr2) (clear tke4) (on-table tke4) (clear lnc1)	[ [ "unstack lnc1 vjd3" ], [ "stack lnc1 fbr2" ] ]	[ "(holding lnc1) (on vjd3 rce5) (on-table fbr2) (on-table rce5) (clear fbr2) (clear tke4) (on-table tke4) (clear vjd3)", "(on vjd3 rce5) (arm-empty) (on-table fbr2) (on-table rce5) (clear tke4) (on-table tke4) (clear vjd3) (on lnc1 fbr2) (clear lnc1)" ]	file_117936
GOAL: (holding pda1) (clear gsb2) (on uei3 uak5) (on-table gsb2) (on-table uak5) (clear yxz4) (on-table yxz4) (clear uei3)	GOAL: (holding pda1) (clear gsb2) (on uei3 uak5) (on-table gsb2) (on-table uak5) (clear yxz4) (on-table yxz4) (clear uei3) STATE: (on-table gsb2) (on-table pda1) (on uak5 gsb2) (clear yxz4) (on-table yxz4) (holding uei3) (clear pda1) (clear uak5)	[ [ "stack uei3 pda1" ], [ "unstack uak5 gsb2" ], [ "put-down uak5" ], [ "unstack uei3 pda1" ], [ "stack uei3 uak5" ], [ "pick-up pda1" ] ]	[ "(arm-empty) (on-table gsb2) (on-table pda1) (on uak5 gsb2) (clear yxz4) (on-table yxz4) (on uei3 pda1) (clear uei3) (clear uak5)", "(clear gsb2) (on-table gsb2) (on-table pda1) (clear yxz4) (holding uak5) (on-table yxz4) (on uei3 pda1) (clear uei3)", "(clear gsb2) (arm-empty) (on-table gsb2) (on-table uak5) (on-table pda1) (clear yxz4) (on-table yxz4) (on uei3 pda1) (clear uei3) (clear uak5)", "(clear gsb2) (on-table gsb2) (on-table uak5) (on-table pda1) (clear yxz4) (on-table yxz4) (holding uei3) (clear pda1) (clear uak5)", "(clear gsb2) (on uei3 uak5) (arm-empty) (on-table gsb2) (on-table uak5) (on-table pda1) (clear yxz4) (on-table yxz4) (clear uei3) (clear pda1)", "(holding pda1) (clear gsb2) (on uei3 uak5) (on-table gsb2) (on-table uak5) (clear yxz4) (on-table yxz4) (clear uei3)" ]	file_32972
GOAL: (clear hvc2) (on-table hvc2) (on-table jzo1) (holding gmq4) (on mba5 vtn3) (clear jzo1) (on-table vtn3) (clear mba5)	GOAL: (clear hvc2) (on-table hvc2) (on-table jzo1) (holding gmq4) (on mba5 vtn3) (clear jzo1) (on-table vtn3) (clear mba5) STATE: (on mba5 gmq4) (on-table hvc2) (on-table jzo1) (on gmq4 hvc2) (holding vtn3) (clear jzo1) (clear mba5)	[ [ "put-down vtn3" ], [ "unstack mba5 gmq4" ], [ "stack mba5 vtn3" ], [ "unstack gmq4 hvc2" ] ]	[ "(arm-empty) (on mba5 gmq4) (on-table hvc2) (clear mba5) (on-table jzo1) (on gmq4 hvc2) (clear vtn3) (clear jzo1) (on-table vtn3)", "(on-table hvc2) (on-table jzo1) (clear gmq4) (holding mba5) (on gmq4 hvc2) (clear vtn3) (clear jzo1) (on-table vtn3)", "(arm-empty) (on-table hvc2) (on-table jzo1) (clear gmq4) (on mba5 vtn3) (on gmq4 hvc2) (clear jzo1) (on-table vtn3) (clear mba5)", "(clear hvc2) (on-table hvc2) (on-table jzo1) (holding gmq4) (on mba5 vtn3) (clear jzo1) (on-table vtn3) (clear mba5)" ]	file_26644
GOAL: (on bvs4 yba1) (arm-empty) (on-table yba1) (on csa5 wth2) (clear bvs4) (on wth2 agt3) (on-table agt3) (clear csa5)	GOAL: (on bvs4 yba1) (arm-empty) (on-table yba1) (on csa5 wth2) (clear bvs4) (on wth2 agt3) (on-table agt3) (clear csa5) STATE: (holding bvs4) (on-table yba1) (on csa5 wth2) (on wth2 agt3) (clear yba1) (on-table agt3) (clear csa5)	[ [ "stack bvs4 yba1" ] ]	[ "(on bvs4 yba1) (arm-empty) (on-table yba1) (on csa5 wth2) (clear bvs4) (on wth2 agt3) (on-table agt3) (clear csa5)" ]	file_153632
GOAL: (clear wzi2) (on-table wzi2) (on-table rjk1) (clear tau4) (on-table tau4) (holding iro3) (clear rjk1)	GOAL: (clear wzi2) (on-table wzi2) (on-table rjk1) (clear tau4) (on-table tau4) (holding iro3) (clear rjk1) STATE: (holding rjk1) (on iro3 tau4) (on-table wzi2) (on tau4 wzi2) (clear iro3)	[ [ "put-down rjk1" ], [ "unstack iro3 tau4" ], [ "stack iro3 rjk1" ], [ "unstack tau4 wzi2" ], [ "put-down tau4" ], [ "unstack iro3 rjk1" ] ]	[ "(on iro3 tau4) (arm-empty) (on-table wzi2) (on tau4 wzi2) (clear iro3) (on-table rjk1) (clear rjk1)", "(on-table wzi2) (clear tau4) (on-table rjk1) (on tau4 wzi2) (holding iro3) (clear rjk1)", "(arm-empty) (on-table wzi2) (on-table rjk1) (clear tau4) (on iro3 rjk1) (on tau4 wzi2) (clear iro3)", "(on-table wzi2) (holding tau4) (on iro3 rjk1) (clear wzi2) (on-table rjk1) (clear iro3)", "(arm-empty) (on-table wzi2) (clear tau4) (on iro3 rjk1) (clear wzi2) (on-table rjk1) (on-table tau4) (clear iro3)", "(clear wzi2) (on-table wzi2) (on-table rjk1) (clear tau4) (on-table tau4) (holding iro3) (clear rjk1)" ]	file_10245
GOAL: (holding svy1) (clear wcy2) (on-table wcy2) (clear pqk4) (on iwi5 jqz3) (on-table pqk4) (on-table jqz3) (clear iwi5)	GOAL: (holding svy1) (clear wcy2) (on-table wcy2) (clear pqk4) (on iwi5 jqz3) (on-table pqk4) (on-table jqz3) (clear iwi5) STATE: (clear wcy2) (on-table wcy2) (holding pqk4) (on-table svy1) (on iwi5 jqz3) (clear svy1) (on-table jqz3) (clear iwi5)	[ [ "put-down pqk4" ], [ "pick-up svy1" ] ]	[ "(clear wcy2) (arm-empty) (on-table wcy2) (on-table svy1) (clear pqk4) (on iwi5 jqz3) (on-table pqk4) (clear svy1) (on-table jqz3) (clear iwi5)", "(holding svy1) (clear wcy2) (on-table wcy2) (clear pqk4) (on iwi5 jqz3) (on-table pqk4) (on-table jqz3) (clear iwi5)" ]	file_144926
GOAL: (holding amo1) (clear rww2) (on-table hhx5) (clear ocs4) (on-table ocs4) (on rww2 djx3) (on-table djx3) (clear hhx5)	GOAL: (holding amo1) (clear rww2) (on-table hhx5) (clear ocs4) (on-table ocs4) (on rww2 djx3) (on-table djx3) (clear hhx5) STATE: (clear rww2) (on-table amo1) (clear ocs4) (holding hhx5) (on-table ocs4) (on rww2 djx3) (clear amo1) (on-table djx3)	[ [ "stack hhx5 amo1" ], [ "unstack rww2 djx3" ], [ "put-down rww2" ], [ "unstack hhx5 amo1" ], [ "put-down hhx5" ], [ "pick-up rww2" ], [ "stack rww2 djx3" ], [ "pick-up amo1" ] ]	[ "(clear rww2) (arm-empty) (on-table amo1) (clear ocs4) (on hhx5 amo1) (on-table ocs4) (on rww2 djx3) (on-table djx3) (clear hhx5)", "(on-table amo1) (clear ocs4) (on hhx5 amo1) (on-table ocs4) (holding rww2) (clear djx3) (on-table djx3) (clear hhx5)", "(clear rww2) (arm-empty) (on-table rww2) (on-table amo1) (clear ocs4) (on hhx5 amo1) (on-table ocs4) (clear djx3) (on-table djx3) (clear hhx5)", "(clear rww2) (on-table rww2) (on-table amo1) (clear ocs4) (holding hhx5) (on-table ocs4) (clear djx3) (clear amo1) (on-table djx3)", "(clear rww2) (arm-empty) (on-table rww2) (on-table hhx5) (on-table amo1) (clear ocs4) (on-table ocs4) (clear djx3) (clear amo1) (on-table djx3) (clear hhx5)", "(on-table hhx5) (on-table amo1) (clear ocs4) (on-table ocs4) (holding rww2) (clear djx3) (clear amo1) (on-table djx3) (clear hhx5)", "(clear rww2) (arm-empty) (on-table hhx5) (on-table amo1) (clear ocs4) (on-table ocs4) (on rww2 djx3) (clear amo1) (on-table djx3) (clear hhx5)", "(holding amo1) (clear rww2) (on-table hhx5) (clear ocs4) (on-table ocs4) (on rww2 djx3) (on-table djx3) (clear hhx5)" ]	file_52764
GOAL: (on kzi3 poe5) (arm-empty) (on voj1 kzi3) (on-table dax2) (on-table poe5) (on ljq4 dax2) (clear ljq4) (clear voj1)	GOAL: (on kzi3 poe5) (arm-empty) (on voj1 kzi3) (on-table dax2) (on-table poe5) (on ljq4 dax2) (clear ljq4) (clear voj1) STATE: (holding voj1) (on kzi3 poe5) (on-table poe5) (clear ljq4) (on ljq4 dax2) (on dax2 kzi3)	[ [ "put-down voj1" ], [ "unstack ljq4 dax2" ], [ "stack ljq4 voj1" ], [ "unstack dax2 kzi3" ], [ "put-down dax2" ], [ "unstack ljq4 voj1" ], [ "stack ljq4 kzi3" ], [ "pick-up voj1" ], [ "stack voj1 dax2" ], [ "unstack ljq4 kzi3" ], [ "put-down ljq4" ], [ "unstack voj1 dax2" ], [ "stack voj1 kzi3" ], [ "pick-up ljq4" ], [ "stack ljq4 dax2" ] ]	[ "(on kzi3 poe5) (arm-empty) (on-table poe5) (clear ljq4) (on-table voj1) (on ljq4 dax2) (on dax2 kzi3) (clear voj1)", "(on kzi3 poe5) (clear dax2) (on-table poe5) (on-table voj1) (holding ljq4) (on dax2 kzi3) (clear voj1)", "(on kzi3 poe5) (clear dax2) (on ljq4 voj1) (arm-empty) (on-table poe5) (on-table voj1) (clear ljq4) (on dax2 kzi3)", "(on kzi3 poe5) (on ljq4 voj1) (on-table poe5) (on-table voj1) (clear ljq4) (holding dax2) (clear kzi3)", "(on kzi3 poe5) (on ljq4 voj1) (arm-empty) (on-table dax2) (on-table poe5) (clear ljq4) (clear dax2) (on-table voj1) (clear kzi3)", "(on kzi3 poe5) (on-table dax2) (on-table poe5) (clear dax2) (on-table voj1) (holding ljq4) (clear kzi3) (clear voj1)", "(on kzi3 poe5) (clear dax2) (arm-empty) (on-table dax2) (on-table poe5) (on-table voj1) (clear ljq4) (on ljq4 kzi3) (clear voj1)", "(holding voj1) (on kzi3 poe5) (clear dax2) (on-table dax2) (on-table poe5) (clear ljq4) (on ljq4 kzi3)", "(on kzi3 poe5) (arm-empty) (on-table dax2) (on-table poe5) (clear ljq4) (on ljq4 kzi3) (on voj1 dax2) (clear voj1)", "(on kzi3 poe5) (on-table dax2) (on-table poe5) (holding ljq4) (clear kzi3) (on voj1 dax2) (clear voj1)", "(on kzi3 poe5) (arm-empty) (on-table dax2) (on-table poe5) (clear ljq4) (on voj1 dax2) (on-table ljq4) (clear kzi3) (clear voj1)", "(holding voj1) (on kzi3 poe5) (clear dax2) (on-table dax2) (on-table poe5) (clear ljq4) (on-table ljq4) (clear kzi3)", "(on kzi3 poe5) (clear dax2) (on voj1 kzi3) (on-table dax2) (on-table poe5) (arm-empty) (clear ljq4) (on-table ljq4) (clear voj1)", "(on kzi3 poe5) (clear dax2) (on voj1 kzi3) (on-table dax2) (on-table poe5) (holding ljq4) (clear voj1)", "(on kzi3 poe5) (arm-empty) (on voj1 kzi3) (on-table dax2) (on-table poe5) (on ljq4 dax2) (clear ljq4) (clear voj1)" ]	file_225764
GOAL: (on twc1 hnj5) (clear xit2) (arm-empty) (on-table hnj5) (on-table ibv4) (on xit2 ibv4) (clear tfx3) (clear twc1) (on-table tfx3)	GOAL: (on twc1 hnj5) (clear xit2) (arm-empty) (on-table hnj5) (on-table ibv4) (on xit2 ibv4) (clear tfx3) (clear twc1) (on-table tfx3) STATE: (holding twc1) (on-table hnj5) (on tfx3 xit2) (clear ibv4) (on-table ibv4) (on xit2 hnj5) (clear tfx3)	[ [ "put-down twc1" ], [ "unstack tfx3 xit2" ], [ "put-down tfx3" ], [ "pick-up ibv4" ], [ "stack ibv4 twc1" ], [ "unstack xit2 hnj5" ], [ "stack xit2 tfx3" ], [ "unstack ibv4 twc1" ], [ "put-down ibv4" ], [ "pick-up twc1" ], [ "stack twc1 hnj5" ], [ "unstack xit2 tfx3" ], [ "stack xit2 ibv4" ] ]	[ "(arm-empty) (on-table hnj5) (clear ibv4) (on xit2 hnj5) (on-table twc1) (on tfx3 xit2) (on-table ibv4) (clear tfx3) (clear twc1)", "(clear xit2) (on-table hnj5) (on-table twc1) (clear ibv4) (on-table ibv4) (on xit2 hnj5) (holding tfx3) (clear twc1)", "(clear xit2) (arm-empty) (on-table hnj5) (on-table twc1) (clear ibv4) (on-table ibv4) (on xit2 hnj5) (clear tfx3) (clear twc1) (on-table tfx3)", "(clear xit2) (on-table hnj5) (on-table twc1) (holding ibv4) (on xit2 hnj5) (clear tfx3) (clear twc1) (on-table tfx3)", "(clear xit2) (on ibv4 twc1) (arm-empty) (on-table hnj5) (on-table twc1) (clear ibv4) (on xit2 hnj5) (clear tfx3) (on-table tfx3)", "(on ibv4 twc1) (on-table hnj5) (on-table twc1) (clear ibv4) (holding xit2) (clear tfx3) (on-table tfx3) (clear hnj5)", "(clear xit2) (on ibv4 twc1) (arm-empty) (on-table hnj5) (on-table twc1) (clear ibv4) (on xit2 tfx3) (on-table tfx3) (clear hnj5)", "(clear xit2) (on-table hnj5) (on-table twc1) (holding ibv4) (on xit2 tfx3) (clear twc1) (on-table tfx3) (clear hnj5)", "(clear xit2) (arm-empty) (on-table hnj5) (on-table twc1) (clear ibv4) (on-table ibv4) (on xit2 tfx3) (clear twc1) (on-table tfx3) (clear hnj5)", "(holding twc1) (clear xit2) (on-table hnj5) (clear ibv4) (on-table ibv4) (on xit2 tfx3) (on-table tfx3) (clear hnj5)", "(on twc1 hnj5) (clear xit2) (arm-empty) (on-table hnj5) (clear ibv4) (on-table ibv4) (on xit2 tfx3) (clear twc1) (on-table tfx3)", "(on twc1 hnj5) (on-table hnj5) (clear ibv4) (on-table ibv4) (holding xit2) (clear tfx3) (clear twc1) (on-table tfx3)", "(on twc1 hnj5) (clear xit2) (arm-empty) (on-table hnj5) (on-table ibv4) (on xit2 ibv4) (clear tfx3) (clear twc1) (on-table tfx3)" ]	file_140062
GOAL: (on lty3 ece4) (on ehn1 iyw5) (clear kkr2) (arm-empty) (on-table iyw5) (on-table ece4) (on kkr2 lty3) (clear ehn1)	GOAL: (on lty3 ece4) (on ehn1 iyw5) (clear kkr2) (arm-empty) (on-table iyw5) (on-table ece4) (on kkr2 lty3) (clear ehn1) STATE: (on lty3 ece4) (clear kkr2) (arm-empty) (on-table kkr2) (on-table ehn1) (on iyw5 lty3) (on-table ece4) (clear ehn1) (clear iyw5)	[ [ "unstack iyw5 lty3" ], [ "put-down iyw5" ], [ "pick-up ehn1" ], [ "stack ehn1 iyw5" ], [ "pick-up kkr2" ], [ "stack kkr2 lty3" ] ]	[ "(on lty3 ece4) (clear kkr2) (on-table kkr2) (on-table ehn1) (holding iyw5) (on-table ece4) (clear lty3) (clear ehn1)", "(on lty3 ece4) (clear kkr2) (arm-empty) (on-table kkr2) (on-table iyw5) (on-table ehn1) (on-table ece4) (clear lty3) (clear ehn1) (clear iyw5)", "(holding ehn1) (on lty3 ece4) (clear kkr2) (on-table kkr2) (on-table iyw5) (on-table ece4) (clear lty3) (clear iyw5)", "(on lty3 ece4) (clear kkr2) (on ehn1 iyw5) (arm-empty) (on-table kkr2) (on-table iyw5) (on-table ece4) (clear lty3) (clear ehn1)", "(on lty3 ece4) (on ehn1 iyw5) (on-table iyw5) (on-table ece4) (holding kkr2) (clear lty3) (clear ehn1)", "(on lty3 ece4) (on ehn1 iyw5) (clear kkr2) (arm-empty) (on-table iyw5) (on-table ece4) (on kkr2 lty3) (clear ehn1)" ]	file_32237
GOAL: (clear msy2) (on-table msy2) (on-table inp5) (on-table apc1) (clear yok4) (on-table yok4) (holding akl3) (clear apc1) (clear inp5)	GOAL: (clear msy2) (on-table msy2) (on-table inp5) (on-table apc1) (clear yok4) (on-table yok4) (holding akl3) (clear apc1) (clear inp5) STATE: (on akl3 inp5) (on yok4 apc1) (arm-empty) (on-table inp5) (clear yok4) (on msy2 akl3) (on apc1 msy2)	[ [ "unstack yok4 apc1" ], [ "put-down yok4" ], [ "unstack apc1 msy2" ], [ "put-down apc1" ], [ "unstack msy2 akl3" ], [ "put-down msy2" ], [ "unstack akl3 inp5" ] ]	[ "(on akl3 inp5) (on-table inp5) (holding yok4) (on apc1 msy2) (on msy2 akl3) (clear apc1)", "(on akl3 inp5) (on-table yok4) (clear yok4) (on msy2 akl3) (on-table inp5) (arm-empty) (on apc1 msy2) (clear apc1)", "(holding apc1) (on akl3 inp5) (clear msy2) (on-table inp5) (clear yok4) (on-table yok4) (on msy2 akl3)", "(on akl3 inp5) (arm-empty) (on-table inp5) (clear yok4) (clear msy2) (on-table apc1) (on-table yok4) (on msy2 akl3) (clear apc1)", "(on akl3 inp5) (on-table inp5) (on-table apc1) (clear yok4) (on-table yok4) (holding msy2) (clear akl3) (clear apc1)", "(on akl3 inp5) (clear msy2) (arm-empty) (on-table msy2) (on-table inp5) (on-table apc1) (clear yok4) (on-table yok4) (clear akl3) (clear apc1)", "(clear msy2) (on-table msy2) (on-table inp5) (on-table apc1) (clear yok4) (on-table yok4) (holding akl3) (clear apc1) (clear inp5)" ]	file_104147
GOAL: (on nio4 bav1) (on bok5 nio4) (on-table spp2) (arm-empty) (clear bok5) (clear spp2) (on-table bav1) (clear ikv3) (on-table ikv3)	GOAL: (on nio4 bav1) (on bok5 nio4) (on-table spp2) (arm-empty) (clear bok5) (clear spp2) (on-table bav1) (clear ikv3) (on-table ikv3) STATE: (arm-empty) (on nio4 bok5) (on bok5 spp2) (on bav1 nio4) (on spp2 ikv3) (clear bav1) (on-table ikv3)	[ [ "unstack bav1 nio4" ], [ "put-down bav1" ], [ "unstack nio4 bok5" ], [ "stack nio4 bav1" ], [ "unstack bok5 spp2" ], [ "stack bok5 nio4" ], [ "unstack spp2 ikv3" ], [ "put-down spp2" ] ]	[ "(on nio4 bok5) (on bok5 spp2) (clear nio4) (holding bav1) (on spp2 ikv3) (on-table ikv3)", "(arm-empty) (on nio4 bok5) (on bok5 spp2) (clear nio4) (on-table bav1) (on spp2 ikv3) (clear bav1) (on-table ikv3)", "(on-table bav1) (holding nio4) (on bok5 spp2) (on spp2 ikv3) (clear bav1) (on-table ikv3) (clear bok5)", "(on nio4 bav1) (arm-empty) (on-table bav1) (on bok5 spp2) (clear nio4) (on spp2 ikv3) (on-table ikv3) (clear bok5)", "(clear spp2) (on nio4 bav1) (on-table bav1) (clear nio4) (holding bok5) (on spp2 ikv3) (on-table ikv3)", "(clear spp2) (on nio4 bav1) (on bok5 nio4) (arm-empty) (on-table bav1) (on spp2 ikv3) (on-table ikv3) (clear bok5)", "(on nio4 bav1) (on bok5 nio4) (on-table bav1) (holding spp2) (clear ikv3) (on-table ikv3) (clear bok5)", "(on nio4 bav1) (on bok5 nio4) (on-table spp2) (arm-empty) (clear bok5) (clear spp2) (on-table bav1) (clear ikv3) (on-table ikv3)" ]	file_36719
GOAL: (on fxd3 rbu5) (on awf1 fxd3) (on hmu4 awf1) (clear yxi2) (on-table rbu5) (arm-empty) (on yxi2 hmu4)	GOAL: (on fxd3 rbu5) (on awf1 fxd3) (on hmu4 awf1) (clear yxi2) (on-table rbu5) (arm-empty) (on yxi2 hmu4) STATE: (on fxd3 rbu5) (on awf1 fxd3) (arm-empty) (on-table yxi2) (on-table rbu5) (clear yxi2) (clear hmu4) (on-table hmu4) (clear awf1)	[ [ "pick-up hmu4" ], [ "stack hmu4 awf1" ], [ "pick-up yxi2" ], [ "stack yxi2 hmu4" ] ]	[ "(on fxd3 rbu5) (on awf1 fxd3) (on-table yxi2) (on-table rbu5) (clear yxi2) (holding hmu4) (clear awf1)", "(on fxd3 rbu5) (on awf1 fxd3) (on hmu4 awf1) (on-table yxi2) (on-table rbu5) (arm-empty) (clear hmu4) (clear yxi2)", "(on fxd3 rbu5) (on awf1 fxd3) (on hmu4 awf1) (on-table rbu5) (clear hmu4) (holding yxi2)", "(on fxd3 rbu5) (on awf1 fxd3) (on hmu4 awf1) (clear yxi2) (on-table rbu5) (arm-empty) (on yxi2 hmu4)" ]	file_117901
GOAL: (holding npv1) (on-table tae2) (on-table xza5) (on ffw3 tae2) (clear mqb4) (on mqb4 ffw3) (clear xza5)	GOAL: (holding npv1) (on-table tae2) (on-table xza5) (on ffw3 tae2) (clear mqb4) (on mqb4 ffw3) (clear xza5) STATE: (on npv1 xza5) (arm-empty) (on xza5 mqb4) (on-table tae2) (on ffw3 tae2) (on mqb4 ffw3) (clear npv1)	[ [ "unstack npv1 xza5" ], [ "put-down npv1" ], [ "unstack xza5 mqb4" ], [ "put-down xza5" ], [ "pick-up npv1" ] ]	[ "(on xza5 mqb4) (on-table tae2) (clear xza5) (holding npv1) (on ffw3 tae2) (on mqb4 ffw3)", "(arm-empty) (on xza5 mqb4) (on-table tae2) (clear xza5) (on-table npv1) (on ffw3 tae2) (on mqb4 ffw3) (clear npv1)", "(on-table tae2) (on-table npv1) (on ffw3 tae2) (clear mqb4) (on mqb4 ffw3) (holding xza5) (clear npv1)", "(arm-empty) (on-table tae2) (on-table xza5) (clear mqb4) (clear xza5) (on-table npv1) (on ffw3 tae2) (on mqb4 ffw3) (clear npv1)", "(holding npv1) (on-table tae2) (on-table xza5) (on ffw3 tae2) (clear mqb4) (on mqb4 ffw3) (clear xza5)" ]	file_31518
GOAL: (clear xtt2) (on nlp4 yaq1) (on-table fbg5) (on-table yaq1) (clear nlp4) (on xtt2 fbg5) (holding rtn3)	GOAL: (clear xtt2) (on nlp4 yaq1) (on-table fbg5) (on-table yaq1) (clear nlp4) (on xtt2 fbg5) (holding rtn3) STATE: (clear xtt2) (on nlp4 yaq1) (arm-empty) (on-table xtt2) (on-table fbg5) (on-table yaq1) (clear nlp4) (clear rtn3) (on-table rtn3) (clear fbg5)	[ [ "pick-up xtt2" ], [ "stack xtt2 fbg5" ], [ "pick-up rtn3" ] ]	[ "(on nlp4 yaq1) (on-table fbg5) (on-table yaq1) (clear nlp4) (holding xtt2) (clear rtn3) (on-table rtn3) (clear fbg5)", "(clear xtt2) (on nlp4 yaq1) (arm-empty) (on-table fbg5) (on-table yaq1) (clear nlp4) (on xtt2 fbg5) (clear rtn3) (on-table rtn3)", "(clear xtt2) (on nlp4 yaq1) (on-table fbg5) (on-table yaq1) (clear nlp4) (on xtt2 fbg5) (holding rtn3)" ]	file_154628
GOAL: (on-table nhp2) (on fkf3 nhp2) (holding zss5) (on-table zjl4) (on sgy1 zjl4) (clear fkf3) (clear sgy1)	GOAL: (on-table nhp2) (on fkf3 nhp2) (holding zss5) (on-table zjl4) (on sgy1 zjl4) (clear fkf3) (clear sgy1) STATE: (on sgy1 zss5) (on-table nhp2) (holding zjl4) (on fkf3 nhp2) (on zss5 fkf3) (clear sgy1)	[ [ "put-down zjl4" ], [ "unstack sgy1 zss5" ], [ "stack sgy1 zjl4" ], [ "unstack zss5 fkf3" ] ]	[ "(on sgy1 zss5) (arm-empty) (on-table nhp2) (clear zjl4) (on zss5 fkf3) (on fkf3 nhp2) (on-table zjl4) (clear sgy1)", "(holding sgy1) (on-table nhp2) (on fkf3 nhp2) (clear zjl4) (on zss5 fkf3) (on-table zjl4) (clear zss5)", "(arm-empty) (on-table nhp2) (on fkf3 nhp2) (on zss5 fkf3) (on-table zjl4) (on sgy1 zjl4) (clear sgy1) (clear zss5)", "(on-table nhp2) (on fkf3 nhp2) (holding zss5) (on-table zjl4) (on sgy1 zjl4) (clear fkf3) (clear sgy1)" ]	file_203153
GOAL: (clear sht2) (on ale1 dff3) (on nix4 ale1) (arm-empty) (on-table rxh5) (clear nix4) (on sht2 rxh5) (on-table dff3)	GOAL: (clear sht2) (on ale1 dff3) (on nix4 ale1) (arm-empty) (on-table rxh5) (clear nix4) (on sht2 rxh5) (on-table dff3) STATE: (clear sht2) (on ale1 dff3) (arm-empty) (on-table sht2) (on nix4 rxh5) (clear nix4) (on rxh5 ale1) (on-table dff3)	[ [ "unstack nix4 rxh5" ], [ "stack nix4 sht2" ], [ "unstack rxh5 ale1" ], [ "put-down rxh5" ], [ "unstack nix4 sht2" ], [ "stack nix4 ale1" ], [ "pick-up sht2" ], [ "stack sht2 rxh5" ] ]	[ "(clear sht2) (on ale1 dff3) (on-table sht2) (holding nix4) (on rxh5 ale1) (on-table dff3) (clear rxh5)", "(on ale1 dff3) (arm-empty) (on-table sht2) (clear nix4) (clear rxh5) (on rxh5 ale1) (on nix4 sht2) (on-table dff3)", "(on ale1 dff3) (on-table sht2) (clear nix4) (holding rxh5) (on nix4 sht2) (clear ale1) (on-table dff3)", "(on ale1 dff3) (arm-empty) (on-table sht2) (on-table rxh5) (clear nix4) (clear rxh5) (on nix4 sht2) (clear ale1) (on-table dff3)", "(clear sht2) (on ale1 dff3) (on-table sht2) (on-table rxh5) (holding nix4) (clear ale1) (on-table dff3) (clear rxh5)", "(clear sht2) (on ale1 dff3) (on nix4 ale1) (on-table sht2) (on-table rxh5) (arm-empty) (clear nix4) (on-table dff3) (clear rxh5)", "(on ale1 dff3) (on nix4 ale1) (on-table rxh5) (clear nix4) (holding sht2) (on-table dff3) (clear rxh5)", "(clear sht2) (on ale1 dff3) (on nix4 ale1) (arm-empty) (on-table rxh5) (clear nix4) (on sht2 rxh5) (on-table dff3)" ]	file_53463
GOAL: (on qhx3 aez5) (arm-empty) (on-table cqc1) (on aez5 btj2) (clear rhj4) (on-table rhj4) (on btj2 cqc1) (clear qhx3)	GOAL: (on qhx3 aez5) (arm-empty) (on-table cqc1) (on aez5 btj2) (clear rhj4) (on-table rhj4) (on btj2 cqc1) (clear qhx3) STATE: (on-table btj2) (on-table aez5) (on-table cqc1) (clear rhj4) (on rhj4 btj2) (holding qhx3) (clear cqc1) (clear aez5)	[ [ "stack qhx3 aez5" ], [ "unstack rhj4 btj2" ], [ "put-down rhj4" ], [ "unstack qhx3 aez5" ], [ "stack qhx3 btj2" ], [ "pick-up aez5" ], [ "stack aez5 cqc1" ], [ "unstack qhx3 btj2" ], [ "stack qhx3 rhj4" ], [ "unstack aez5 cqc1" ], [ "stack aez5 qhx3" ], [ "pick-up btj2" ], [ "stack btj2 cqc1" ], [ "unstack aez5 qhx3" ], [ "stack aez5 btj2" ], [ "unstack qhx3 rhj4" ], [ "stack qhx3 aez5" ] ]	[ "(on qhx3 aez5) (arm-empty) (on-table btj2) (on-table aez5) (on-table cqc1) (clear rhj4) (on rhj4 btj2) (clear qhx3) (clear cqc1)", "(on qhx3 aez5) (clear btj2) (on-table btj2) (on-table aez5) (on-table cqc1) (holding rhj4) (clear qhx3) (clear cqc1)", "(on qhx3 aez5) (clear btj2) (arm-empty) (on-table btj2) (on-table aez5) (on-table cqc1) (clear rhj4) (on-table rhj4) (clear qhx3) (clear cqc1)", "(clear btj2) (on-table btj2) (on-table aez5) (on-table cqc1) (clear rhj4) (on-table rhj4) (holding qhx3) (clear cqc1) (clear aez5)", "(arm-empty) (on-table btj2) (on-table aez5) (on-table cqc1) (on qhx3 btj2) (clear rhj4) (on-table rhj4) (clear qhx3) (clear cqc1) (clear aez5)", "(on-table btj2) (on-table cqc1) (on qhx3 btj2) (clear rhj4) (holding aez5) (on-table rhj4) (clear qhx3) (clear cqc1)", "(arm-empty) (on-table btj2) (on-table cqc1) (on qhx3 btj2) (clear rhj4) (on aez5 cqc1) (on-table rhj4) (clear qhx3) (clear aez5)", "(clear btj2) (on-table btj2) (on-table cqc1) (clear rhj4) (on aez5 cqc1) (on-table rhj4) (holding qhx3) (clear aez5)", "(on qhx3 rhj4) (clear btj2) (arm-empty) (on-table btj2) (on-table cqc1) (on aez5 cqc1) (on-table rhj4) (clear qhx3) (clear aez5)", "(on qhx3 rhj4) (clear btj2) (on-table btj2) (on-table cqc1) (holding aez5) (on-table rhj4) (clear qhx3) (clear cqc1)", "(on qhx3 rhj4) (clear btj2) (arm-empty) (on-table btj2) (on-table cqc1) (on aez5 qhx3) (on-table rhj4) (clear cqc1) (clear aez5)", "(on qhx3 rhj4) (on-table cqc1) (on aez5 qhx3) (on-table rhj4) (holding btj2) (clear cqc1) (clear aez5)", "(on qhx3 rhj4) (clear btj2) (arm-empty) (on-table cqc1) (on aez5 qhx3) (on-table rhj4) (on btj2 cqc1) (clear aez5)", "(on qhx3 rhj4) (clear btj2) (on-table cqc1) (holding aez5) (on-table rhj4) (on btj2 cqc1) (clear qhx3)", "(on qhx3 rhj4) (arm-empty) (on-table cqc1) (on aez5 btj2) (on-table rhj4) (on btj2 cqc1) (clear qhx3) (clear aez5)", "(on-table cqc1) (on aez5 btj2) (clear rhj4) (on-table rhj4) (on btj2 cqc1) (holding qhx3) (clear aez5)", "(on qhx3 aez5) (arm-empty) (on-table cqc1) (on aez5 btj2) (clear rhj4) (on-table rhj4) (on btj2 cqc1) (clear qhx3)" ]	file_122671
GOAL: (on-table jmc2) (clear lou4) (holding xyq5) (on-table lou4) (clear dxa3) (on lks1 jmc2) (clear lks1) (on-table dxa3)	GOAL: (on-table jmc2) (clear lou4) (holding xyq5) (on-table lou4) (clear dxa3) (on lks1 jmc2) (clear lks1) (on-table dxa3) STATE: (clear jmc2) (arm-empty) (on xyq5 lou4) (on-table lks1) (on-table lou4) (on jmc2 xyq5) (clear dxa3) (clear lks1) (on-table dxa3)	[ [ "pick-up lks1" ], [ "stack lks1 dxa3" ], [ "unstack jmc2 xyq5" ], [ "put-down jmc2" ], [ "unstack lks1 dxa3" ], [ "stack lks1 jmc2" ], [ "unstack xyq5 lou4" ] ]	[ "(holding lks1) (clear jmc2) (on xyq5 lou4) (on-table lou4) (on jmc2 xyq5) (clear dxa3) (on-table dxa3)", "(clear jmc2) (on lks1 dxa3) (on xyq5 lou4) (arm-empty) (on-table lou4) (on jmc2 xyq5) (clear lks1) (on-table dxa3)", "(on lks1 dxa3) (on xyq5 lou4) (on-table lou4) (holding jmc2) (clear lks1) (on-table dxa3) (clear xyq5)", "(on lks1 dxa3) (on xyq5 lou4) (on-table jmc2) (arm-empty) (clear xyq5) (clear jmc2) (on-table lou4) (clear lks1) (on-table dxa3)", "(holding lks1) (clear jmc2) (on xyq5 lou4) (on-table jmc2) (on-table lou4) (clear dxa3) (on-table dxa3) (clear xyq5)", "(arm-empty) (on xyq5 lou4) (on-table jmc2) (on-table lou4) (clear dxa3) (on lks1 jmc2) (clear lks1) (on-table dxa3) (clear xyq5)", "(on-table jmc2) (clear lou4) (holding xyq5) (on-table lou4) (clear dxa3) (on lks1 jmc2) (clear lks1) (on-table dxa3)" ]	file_128718
GOAL: (on ofa1 coi3) (on ozh5 ucr4) (on-table sve2) (arm-empty) (clear ozh5) (clear sve2) (on-table ucr4) (clear ofa1) (on-table coi3)	GOAL: (on ofa1 coi3) (on ozh5 ucr4) (on-table sve2) (arm-empty) (clear ozh5) (clear sve2) (on-table ucr4) (clear ofa1) (on-table coi3) STATE: (on-table ozh5) (on-table ofa1) (clear ucr4) (on ucr4 sve2) (on sve2 ozh5) (holding coi3) (clear ofa1)	[ [ "put-down coi3" ], [ "pick-up ofa1" ], [ "stack ofa1 coi3" ], [ "unstack ucr4 sve2" ], [ "put-down ucr4" ], [ "unstack sve2 ozh5" ], [ "stack sve2 ofa1" ], [ "pick-up ozh5" ], [ "stack ozh5 ucr4" ], [ "unstack sve2 ofa1" ], [ "put-down sve2" ] ]	[ "(arm-empty) (on-table ozh5) (clear ucr4) (on sve2 ozh5) (on-table ofa1) (on ucr4 sve2) (clear coi3) (clear ofa1) (on-table coi3)", "(holding ofa1) (on-table ozh5) (clear ucr4) (on ucr4 sve2) (on sve2 ozh5) (clear coi3) (on-table coi3)", "(on ofa1 coi3) (arm-empty) (on-table ozh5) (clear ucr4) (on ucr4 sve2) (on sve2 ozh5) (clear ofa1) (on-table coi3)", "(clear sve2) (on ofa1 coi3) (on-table ozh5) (holding ucr4) (on sve2 ozh5) (clear ofa1) (on-table coi3)", "(on ofa1 coi3) (arm-empty) (on-table ozh5) (clear ucr4) (on sve2 ozh5) (clear sve2) (on-table ucr4) (clear ofa1) (on-table coi3)", "(on ofa1 coi3) (on-table ozh5) (clear ucr4) (on-table ucr4) (holding sve2) (clear ofa1) (on-table coi3) (clear ozh5)", "(clear sve2) (on ofa1 coi3) (arm-empty) (on-table ozh5) (clear ucr4) (on-table ucr4) (on sve2 ofa1) (on-table coi3) (clear ozh5)", "(clear sve2) (on ofa1 coi3) (clear ucr4) (holding ozh5) (on-table ucr4) (on sve2 ofa1) (on-table coi3)", "(clear sve2) (on ofa1 coi3) (on ozh5 ucr4) (arm-empty) (on-table ucr4) (on sve2 ofa1) (on-table coi3) (clear ozh5)", "(on ofa1 coi3) (on ozh5 ucr4) (on-table ucr4) (holding sve2) (clear ofa1) (on-table coi3) (clear ozh5)", "(on ofa1 coi3) (on ozh5 ucr4) (on-table sve2) (arm-empty) (clear ozh5) (clear sve2) (on-table ucr4) (clear ofa1) (on-table coi3)" ]	file_208858
GOAL: (on pem1 rzz3) (on-table ehh5) (clear chy4) (on-table chy4) (holding gsc2) (clear pem1) (on-table rzz3) (clear ehh5)	GOAL: (on pem1 rzz3) (on-table ehh5) (clear chy4) (on-table chy4) (holding gsc2) (clear pem1) (on-table rzz3) (clear ehh5) STATE: (arm-empty) (on-table pem1) (on ehh5 gsc2) (clear chy4) (on-table chy4) (on gsc2 pem1) (clear rzz3) (on-table rzz3) (clear ehh5)	[ [ "unstack ehh5 gsc2" ], [ "stack ehh5 chy4" ], [ "unstack gsc2 pem1" ], [ "stack gsc2 ehh5" ], [ "pick-up pem1" ], [ "stack pem1 rzz3" ], [ "unstack gsc2 ehh5" ], [ "stack gsc2 pem1" ], [ "unstack ehh5 chy4" ], [ "put-down ehh5" ], [ "unstack gsc2 pem1" ] ]	[ "(clear gsc2) (on-table pem1) (clear chy4) (holding ehh5) (on-table chy4) (on gsc2 pem1) (clear rzz3) (on-table rzz3)", "(clear gsc2) (arm-empty) (on ehh5 chy4) (on-table pem1) (on-table chy4) (on gsc2 pem1) (clear rzz3) (on-table rzz3) (clear ehh5)", "(on ehh5 chy4) (on-table pem1) (on-table chy4) (holding gsc2) (clear rzz3) (clear pem1) (on-table rzz3) (clear ehh5)", "(clear gsc2) (arm-empty) (on ehh5 chy4) (on-table pem1) (on-table chy4) (on gsc2 ehh5) (clear rzz3) (clear pem1) (on-table rzz3)", "(holding pem1) (clear gsc2) (on ehh5 chy4) (on-table chy4) (on gsc2 ehh5) (clear rzz3) (on-table rzz3)", "(clear gsc2) (on pem1 rzz3) (on ehh5 chy4) (arm-empty) (on-table chy4) (on gsc2 ehh5) (clear pem1) (on-table rzz3)", "(on pem1 rzz3) (on ehh5 chy4) (on-table chy4) (holding gsc2) (clear pem1) (on-table rzz3) (clear ehh5)", "(clear gsc2) (on pem1 rzz3) (on ehh5 chy4) (arm-empty) (on-table chy4) (on gsc2 pem1) (on-table rzz3) (clear ehh5)", "(clear gsc2) (on pem1 rzz3) (clear chy4) (holding ehh5) (on-table chy4) (on gsc2 pem1) (on-table rzz3)", "(on pem1 rzz3) (arm-empty) (on-table ehh5) (clear chy4) (on gsc2 pem1) (clear ehh5) (clear gsc2) (on-table chy4) (on-table rzz3)", "(on pem1 rzz3) (on-table ehh5) (clear chy4) (on-table chy4) (holding gsc2) (clear pem1) (on-table rzz3) (clear ehh5)" ]	file_195930
GOAL: (on pvf1 ajc5) (clear ael2) (on-table ajc5) (clear vdd4) (on-table vdd4) (on ael2 pvf1) (holding rst3)	GOAL: (on pvf1 ajc5) (clear ael2) (on-table ajc5) (clear vdd4) (on-table vdd4) (on ael2 pvf1) (holding rst3) STATE: (on pvf1 ajc5) (clear ael2) (on-table ael2) (on-table ajc5) (holding vdd4) (clear rst3) (clear pvf1) (on-table rst3)	[ [ "put-down vdd4" ], [ "pick-up rst3" ], [ "stack rst3 vdd4" ], [ "pick-up ael2" ], [ "stack ael2 pvf1" ], [ "unstack rst3 vdd4" ] ]	[ "(on pvf1 ajc5) (clear ael2) (arm-empty) (on-table ael2) (on-table ajc5) (clear vdd4) (on-table vdd4) (clear rst3) (clear pvf1) (on-table rst3)", "(on pvf1 ajc5) (clear ael2) (on-table ael2) (on-table ajc5) (clear vdd4) (on-table vdd4) (holding rst3) (clear pvf1)", "(on pvf1 ajc5) (clear ael2) (on rst3 vdd4) (arm-empty) (on-table ael2) (on-table ajc5) (on-table vdd4) (clear rst3) (clear pvf1)", "(on pvf1 ajc5) (on rst3 vdd4) (on-table ajc5) (on-table vdd4) (holding ael2) (clear rst3) (clear pvf1)", "(on pvf1 ajc5) (on rst3 vdd4) (clear ael2) (arm-empty) (on-table ajc5) (on-table vdd4) (on ael2 pvf1) (clear rst3)", "(on pvf1 ajc5) (clear ael2) (on-table ajc5) (clear vdd4) (on-table vdd4) (on ael2 pvf1) (holding rst3)" ]	file_37219
GOAL: (holding gul2) (on dgt5 wjg1) (on-table hvb4) (on wjg1 hvb4) (clear ztm3) (on-table ztm3) (clear dgt5)	GOAL: (holding gul2) (on dgt5 wjg1) (on-table hvb4) (on wjg1 hvb4) (clear ztm3) (on-table ztm3) (clear dgt5) STATE: (holding wjg1) (clear gul2) (on-table gul2) (clear hvb4) (on dgt5 ztm3) (on-table hvb4) (on-table ztm3) (clear dgt5)	[ [ "stack wjg1 hvb4" ], [ "unstack dgt5 ztm3" ], [ "stack dgt5 wjg1" ], [ "pick-up gul2" ] ]	[ "(clear gul2) (arm-empty) (on-table gul2) (on dgt5 ztm3) (on-table hvb4) (on wjg1 hvb4) (clear wjg1) (on-table ztm3) (clear dgt5)", "(clear gul2) (on-table gul2) (holding dgt5) (on-table hvb4) (on wjg1 hvb4) (clear ztm3) (clear wjg1) (on-table ztm3)", "(clear gul2) (arm-empty) (on-table gul2) (on dgt5 wjg1) (on-table hvb4) (on wjg1 hvb4) (clear ztm3) (on-table ztm3) (clear dgt5)", "(holding gul2) (on dgt5 wjg1) (on-table hvb4) (on wjg1 hvb4) (clear ztm3) (on-table ztm3) (clear dgt5)" ]	file_219610
GOAL: (arm-empty) (on-table uer1) (on mnh5 ozy2) (on-table wxp4) (on ozy2 wxp4) (clear otg3) (clear uer1) (on-table otg3) (clear mnh5)	GOAL: (arm-empty) (on-table uer1) (on mnh5 ozy2) (on-table wxp4) (on ozy2 wxp4) (clear otg3) (clear uer1) (on-table otg3) (clear mnh5) STATE: (on otg3 mnh5) (on uer1 otg3) (arm-empty) (on mnh5 ozy2) (on-table wxp4) (on ozy2 wxp4) (clear uer1)	[ [ "unstack uer1 otg3" ], [ "put-down uer1" ], [ "unstack otg3 mnh5" ], [ "stack otg3 uer1" ], [ "unstack mnh5 ozy2" ], [ "put-down mnh5" ], [ "unstack otg3 uer1" ], [ "put-down otg3" ], [ "pick-up mnh5" ], [ "stack mnh5 ozy2" ] ]	[ "(on otg3 mnh5) (on mnh5 ozy2) (on ozy2 wxp4) (holding uer1) (on-table wxp4) (clear otg3)", "(on otg3 mnh5) (arm-empty) (on mnh5 ozy2) (on ozy2 wxp4) (on-table uer1) (on-table wxp4) (clear otg3) (clear uer1)", "(on-table uer1) (on mnh5 ozy2) (on-table wxp4) (on ozy2 wxp4) (holding otg3) (clear uer1) (clear mnh5)", "(arm-empty) (on-table uer1) (on mnh5 ozy2) (on ozy2 wxp4) (on-table wxp4) (on otg3 uer1) (clear otg3) (clear mnh5)", "(clear ozy2) (on-table uer1) (on ozy2 wxp4) (holding mnh5) (on-table wxp4) (on otg3 uer1) (clear otg3)", "(arm-empty) (on-table mnh5) (on otg3 uer1) (on ozy2 wxp4) (clear mnh5) (clear ozy2) (on-table uer1) (on-table wxp4) (clear otg3)", "(clear ozy2) (on-table mnh5) (on-table uer1) (on ozy2 wxp4) (on-table wxp4) (holding otg3) (clear uer1) (clear mnh5)", "(clear ozy2) (arm-empty) (on-table mnh5) (on-table uer1) (on-table wxp4) (on ozy2 wxp4) (clear otg3) (clear uer1) (on-table otg3) (clear mnh5)", "(clear ozy2) (on-table uer1) (holding mnh5) (on-table wxp4) (on ozy2 wxp4) (clear otg3) (clear uer1) (on-table otg3)", "(arm-empty) (on-table uer1) (on mnh5 ozy2) (on-table wxp4) (on ozy2 wxp4) (clear otg3) (clear uer1) (on-table otg3) (clear mnh5)" ]	file_153969
GOAL: (on cyk3 ywm1) (on ywm1 hzw5) (arm-empty) (clear oka4) (on-table hzw5) (on oka4 pok2) (on pok2 cyk3)	GOAL: (on cyk3 ywm1) (on ywm1 hzw5) (arm-empty) (clear oka4) (on-table hzw5) (on oka4 pok2) (on pok2 cyk3) STATE: (on ywm1 hzw5) (clear pok2) (on-table hzw5) (holding oka4) (on cyk3 ywm1) (on pok2 cyk3)	[ [ "stack oka4 pok2" ] ]	[ "(on cyk3 ywm1) (on ywm1 hzw5) (arm-empty) (clear oka4) (on-table hzw5) (on oka4 pok2) (on pok2 cyk3)" ]	file_157500
GOAL: (arm-empty) (on-table tlw2) (on-table fiw5) (on puw1 tlw2) (clear fiw5) (on hpn3 fsq4) (on-table fsq4) (clear hpn3) (clear puw1)	GOAL: (arm-empty) (on-table tlw2) (on-table fiw5) (on puw1 tlw2) (clear fiw5) (on hpn3 fsq4) (on-table fsq4) (clear hpn3) (clear puw1) STATE: (on hpn3 fsq4) (on fsq4 puw1) (on-table tlw2) (holding fiw5) (clear hpn3) (on puw1 tlw2)	[ [ "put-down fiw5" ], [ "unstack hpn3 fsq4" ], [ "stack hpn3 fiw5" ], [ "unstack fsq4 puw1" ], [ "put-down fsq4" ], [ "unstack hpn3 fiw5" ], [ "put-down hpn3" ], [ "pick-up fiw5" ], [ "stack fiw5 puw1" ], [ "pick-up hpn3" ], [ "stack hpn3 fsq4" ], [ "unstack fiw5 puw1" ], [ "put-down fiw5" ] ]	[ "(on fsq4 puw1) (arm-empty) (on-table tlw2) (on-table fiw5) (on puw1 tlw2) (clear fiw5) (on hpn3 fsq4) (clear hpn3)", "(on fsq4 puw1) (on-table tlw2) (on-table fiw5) (clear fsq4) (on puw1 tlw2) (holding hpn3) (clear fiw5)", "(on hpn3 fiw5) (on fsq4 puw1) (arm-empty) (on-table tlw2) (on-table fiw5) (clear fsq4) (clear hpn3) (on puw1 tlw2)", "(on hpn3 fiw5) (on-table tlw2) (on-table fiw5) (holding fsq4) (clear hpn3) (on puw1 tlw2) (clear puw1)", "(on hpn3 fiw5) (arm-empty) (on-table tlw2) (on-table fiw5) (clear fsq4) (on puw1 tlw2) (on-table fsq4) (clear hpn3) (clear puw1)", "(on-table tlw2) (on-table fiw5) (clear fsq4) (on-table fsq4) (on puw1 tlw2) (clear puw1) (holding hpn3) (clear fiw5)", "(arm-empty) (on-table tlw2) (on-table fiw5) (clear fsq4) (on-table fsq4) (clear hpn3) (on puw1 tlw2) (clear puw1) (on-table hpn3) (clear fiw5)", "(on-table tlw2) (clear fsq4) (holding fiw5) (on-table fsq4) (clear hpn3) (on puw1 tlw2) (clear puw1) (on-table hpn3)", "(arm-empty) (on-table tlw2) (clear fsq4) (on fiw5 puw1) (on-table fsq4) (clear hpn3) (on puw1 tlw2) (on-table hpn3) (clear fiw5)", "(on-table tlw2) (clear fsq4) (on fiw5 puw1) (on-table fsq4) (on puw1 tlw2) (holding hpn3) (clear fiw5)", "(on hpn3 fsq4) (arm-empty) (on-table tlw2) (on fiw5 puw1) (on-table fsq4) (clear hpn3) (on puw1 tlw2) (clear fiw5)", "(on hpn3 fsq4) (on-table tlw2) (holding fiw5) (on-table fsq4) (clear hpn3) (on puw1 tlw2) (clear puw1)", "(arm-empty) (on-table tlw2) (on-table fiw5) (on puw1 tlw2) (clear fiw5) (on hpn3 fsq4) (on-table fsq4) (clear hpn3) (clear puw1)" ]	file_124942
GOAL: (clear ypu2) (arm-empty) (on lfw5 mze4) (on-table dwf1) (on mze4 kwf3) (on kwf3 dwf1) (on ypu2 lfw5)	GOAL: (clear ypu2) (arm-empty) (on lfw5 mze4) (on-table dwf1) (on mze4 kwf3) (on kwf3 dwf1) (on ypu2 lfw5) STATE: (on-table lfw5) (on-table dwf1) (clear mze4) (on mze4 kwf3) (holding ypu2) (on kwf3 dwf1) (clear lfw5)	[ [ "put-down ypu2" ], [ "pick-up lfw5" ], [ "stack lfw5 mze4" ], [ "pick-up ypu2" ], [ "stack ypu2 lfw5" ] ]	[ "(arm-empty) (on-table ypu2) (on-table lfw5) (clear mze4) (on kwf3 dwf1) (clear lfw5) (clear ypu2) (on-table dwf1) (on mze4 kwf3)", "(clear ypu2) (on-table ypu2) (on-table dwf1) (clear mze4) (on mze4 kwf3) (holding lfw5) (on kwf3 dwf1)", "(clear ypu2) (arm-empty) (on lfw5 mze4) (on-table ypu2) (on-table dwf1) (on mze4 kwf3) (on kwf3 dwf1) (clear lfw5)", "(on lfw5 mze4) (on-table dwf1) (on mze4 kwf3) (holding ypu2) (on kwf3 dwf1) (clear lfw5)", "(clear ypu2) (arm-empty) (on lfw5 mze4) (on-table dwf1) (on mze4 kwf3) (on kwf3 dwf1) (on ypu2 lfw5)" ]	file_71104
GOAL: (on ngz3 ulk5) (arm-empty) (on-table aid2) (on-table ulk5) (on-table neb1) (clear rdc4) (on rdc4 aid2) (clear ngz3) (clear neb1)	GOAL: (on ngz3 ulk5) (arm-empty) (on-table aid2) (on-table ulk5) (on-table neb1) (clear rdc4) (on rdc4 aid2) (clear ngz3) (clear neb1) STATE: (arm-empty) (on ngz3 aid2) (on ulk5 neb1) (on-table rdc4) (on neb1 rdc4) (on aid2 ulk5) (clear ngz3)	[ [ "unstack ngz3 aid2" ], [ "put-down ngz3" ], [ "unstack aid2 ulk5" ], [ "put-down aid2" ], [ "unstack ulk5 neb1" ], [ "put-down ulk5" ], [ "pick-up ngz3" ], [ "stack ngz3 aid2" ], [ "unstack neb1 rdc4" ], [ "put-down neb1" ], [ "unstack ngz3 aid2" ], [ "stack ngz3 ulk5" ], [ "pick-up rdc4" ], [ "stack rdc4 aid2" ] ]	[ "(on aid2 ulk5) (clear aid2) (on ulk5 neb1) (on-table rdc4) (on neb1 rdc4) (holding ngz3)", "(arm-empty) (on aid2 ulk5) (clear aid2) (on ulk5 neb1) (on-table rdc4) (on neb1 rdc4) (clear ngz3) (on-table ngz3)", "(holding aid2) (on ulk5 neb1) (on-table rdc4) (on neb1 rdc4) (clear ngz3) (on-table ngz3) (clear ulk5)", "(arm-empty) (on-table aid2) (clear ulk5) (clear aid2) (on ulk5 neb1) (on-table rdc4) (on neb1 rdc4) (clear ngz3) (on-table ngz3)", "(clear aid2) (on-table aid2) (holding ulk5) (on-table rdc4) (on neb1 rdc4) (clear ngz3) (clear neb1) (on-table ngz3)", "(clear aid2) (arm-empty) (on-table aid2) (on-table ulk5) (on-table rdc4) (on neb1 rdc4) (clear ngz3) (clear neb1) (on-table ngz3) (clear ulk5)", "(clear aid2) (on-table aid2) (on-table ulk5) (on-table rdc4) (on neb1 rdc4) (holding ngz3) (clear neb1) (clear ulk5)", "(arm-empty) (on-table aid2) (on-table ulk5) (on ngz3 aid2) (on-table rdc4) (on neb1 rdc4) (clear ngz3) (clear neb1) (clear ulk5)", "(holding neb1) (on-table aid2) (on-table ulk5) (on ngz3 aid2) (clear rdc4) (on-table rdc4) (clear ngz3) (clear ulk5)", "(arm-empty) (on-table aid2) (on-table ulk5) (on-table neb1) (on ngz3 aid2) (clear rdc4) (on-table rdc4) (clear ngz3) (clear neb1) (clear ulk5)", "(clear aid2) (on-table aid2) (on-table ulk5) (on-table neb1) (clear rdc4) (on-table rdc4) (holding ngz3) (clear neb1) (clear ulk5)", "(clear aid2) (on ngz3 ulk5) (arm-empty) (on-table aid2) (on-table ulk5) (on-table neb1) (clear rdc4) (on-table rdc4) (clear ngz3) (clear neb1)", "(clear aid2) (on ngz3 ulk5) (on-table aid2) (on-table ulk5) (on-table neb1) (holding rdc4) (clear ngz3) (clear neb1)", "(on ngz3 ulk5) (arm-empty) (on-table aid2) (on-table ulk5) (on-table neb1) (clear rdc4) (on rdc4 aid2) (clear ngz3) (clear neb1)" ]	file_43315
GOAL: (clear ndj2) (on-table ndj2) (on-table fyt1) (holding eah4) (on uag5 rko3) (clear fyt1) (on-table rko3) (clear uag5)	GOAL: (clear ndj2) (on-table ndj2) (on-table fyt1) (holding eah4) (on uag5 rko3) (clear fyt1) (on-table rko3) (clear uag5) STATE: (on rko3 eah4) (arm-empty) (on-table uag5) (on-table fyt1) (on eah4 ndj2) (on ndj2 fyt1) (clear rko3) (clear uag5)	[ [ "unstack rko3 eah4" ], [ "put-down rko3" ], [ "pick-up uag5" ], [ "stack uag5 rko3" ], [ "unstack eah4 ndj2" ], [ "put-down eah4" ], [ "unstack ndj2 fyt1" ], [ "put-down ndj2" ], [ "pick-up eah4" ] ]	[ "(on-table uag5) (on-table fyt1) (clear eah4) (on eah4 ndj2) (on ndj2 fyt1) (holding rko3) (clear uag5)", "(arm-empty) (on-table uag5) (clear eah4) (on ndj2 fyt1) (clear uag5) (on-table fyt1) (on eah4 ndj2) (clear rko3) (on-table rko3)", "(on-table fyt1) (clear eah4) (holding uag5) (on eah4 ndj2) (on ndj2 fyt1) (clear rko3) (on-table rko3)", "(arm-empty) (on-table fyt1) (clear eah4) (on uag5 rko3) (on eah4 ndj2) (on ndj2 fyt1) (on-table rko3) (clear uag5)", "(clear ndj2) (on-table fyt1) (holding eah4) (on uag5 rko3) (on ndj2 fyt1) (on-table rko3) (clear uag5)", "(arm-empty) (clear eah4) (on uag5 rko3) (on ndj2 fyt1) (clear uag5) (clear ndj2) (on-table fyt1) (on-table eah4) (on-table rko3)", "(on-table fyt1) (clear eah4) (on uag5 rko3) (on-table eah4) (holding ndj2) (clear fyt1) (on-table rko3) (clear uag5)", "(clear ndj2) (arm-empty) (on-table ndj2) (on-table fyt1) (clear eah4) (on uag5 rko3) (on-table eah4) (clear fyt1) (on-table rko3) (clear uag5)", "(clear ndj2) (on-table ndj2) (on-table fyt1) (holding eah4) (on uag5 rko3) (clear fyt1) (on-table rko3) (clear uag5)" ]	file_34685
GOAL: (clear njy2) (on-table qmu1) (clear bwy4) (holding yvr5) (on-table bwy4) (on njy2 cch3) (clear qmu1) (on-table cch3)	GOAL: (clear njy2) (on-table qmu1) (clear bwy4) (holding yvr5) (on-table bwy4) (on njy2 cch3) (clear qmu1) (on-table cch3) STATE: (on bwy4 qmu1) (on-table yvr5) (on-table qmu1) (clear bwy4) (holding njy2) (clear cch3) (on-table cch3) (clear yvr5)	[ [ "stack njy2 cch3" ], [ "unstack bwy4 qmu1" ], [ "put-down bwy4" ], [ "pick-up yvr5" ] ]	[ "(clear njy2) (on bwy4 qmu1) (arm-empty) (on-table yvr5) (on-table qmu1) (clear bwy4) (on njy2 cch3) (on-table cch3) (clear yvr5)", "(clear njy2) (on-table yvr5) (on-table qmu1) (holding bwy4) (on njy2 cch3) (clear qmu1) (on-table cch3) (clear yvr5)", "(clear njy2) (arm-empty) (on-table yvr5) (on-table qmu1) (clear bwy4) (on-table bwy4) (on njy2 cch3) (clear qmu1) (on-table cch3) (clear yvr5)", "(clear njy2) (on-table qmu1) (clear bwy4) (holding yvr5) (on-table bwy4) (on njy2 cch3) (clear qmu1) (on-table cch3)" ]	file_190827
GOAL: (on zja4 arb3) (on viu1 ime5) (clear ijv2) (arm-empty) (on-table ime5) (on arb3 viu1) (on ijv2 zja4)	GOAL: (on zja4 arb3) (on viu1 ime5) (clear ijv2) (arm-empty) (on-table ime5) (on arb3 viu1) (on ijv2 zja4) STATE: (clear ijv2) (arm-empty) (on-table ijv2) (on-table ime5) (on-table viu1) (clear zja4) (on-table zja4) (on arb3 viu1) (clear arb3) (clear ime5)	[ [ "pick-up zja4" ], [ "stack zja4 ijv2" ], [ "unstack arb3 viu1" ], [ "stack arb3 zja4" ], [ "pick-up viu1" ], [ "stack viu1 ime5" ], [ "unstack arb3 zja4" ], [ "stack arb3 viu1" ], [ "unstack zja4 ijv2" ], [ "stack zja4 arb3" ], [ "pick-up ijv2" ], [ "stack ijv2 zja4" ] ]	[ "(clear ijv2) (on-table ijv2) (on-table ime5) (on-table viu1) (holding zja4) (on arb3 viu1) (clear arb3) (clear ime5)", "(arm-empty) (on-table ijv2) (on-table ime5) (on-table viu1) (on zja4 ijv2) (clear zja4) (on arb3 viu1) (clear arb3) (clear ime5)", "(on-table ijv2) (on-table ime5) (on-table viu1) (clear zja4) (on zja4 ijv2) (holding arb3) (clear viu1) (clear ime5)", "(on arb3 zja4) (arm-empty) (on-table ijv2) (on-table ime5) (on-table viu1) (on zja4 ijv2) (clear arb3) (clear viu1) (clear ime5)", "(holding viu1) (on arb3 zja4) (on-table ijv2) (on-table ime5) (on zja4 ijv2) (clear arb3) (clear ime5)", "(on arb3 zja4) (on viu1 ime5) (arm-empty) (on-table ijv2) (on-table ime5) (on zja4 ijv2) (clear arb3) (clear viu1)", "(on viu1 ime5) (on-table ijv2) (on-table ime5) (clear zja4) (on zja4 ijv2) (holding arb3) (clear viu1)", "(on viu1 ime5) (arm-empty) (on-table ijv2) (on-table ime5) (on zja4 ijv2) (clear zja4) (on arb3 viu1) (clear arb3)", "(on viu1 ime5) (clear ijv2) (on-table ijv2) (on-table ime5) (holding zja4) (on arb3 viu1) (clear arb3)", "(on viu1 ime5) (clear ijv2) (arm-empty) (on-table ijv2) (on-table ime5) (clear zja4) (on zja4 arb3) (on arb3 viu1)", "(on viu1 ime5) (on-table ime5) (clear zja4) (on zja4 arb3) (holding ijv2) (on arb3 viu1)", "(on zja4 arb3) (on viu1 ime5) (clear ijv2) (arm-empty) (on-table ime5) (on arb3 viu1) (on ijv2 zja4)" ]	file_98129
GOAL: (on-table opg2) (on-table ukp5) (on-table gvr1) (clear ihe4) (on ihe4 opg2) (holding cys3) (clear gvr1) (clear ukp5)	GOAL: (on-table opg2) (on-table ukp5) (on-table gvr1) (clear ihe4) (on ihe4 opg2) (holding cys3) (clear gvr1) (clear ukp5) STATE: (on gvr1 ukp5) (arm-empty) (on ukp5 opg2) (on ihe4 cys3) (on opg2 ihe4) (clear gvr1) (on-table cys3)	[ [ "unstack gvr1 ukp5" ], [ "put-down gvr1" ], [ "unstack ukp5 opg2" ], [ "stack ukp5 gvr1" ], [ "unstack opg2 ihe4" ], [ "put-down opg2" ], [ "unstack ukp5 gvr1" ], [ "put-down ukp5" ], [ "unstack ihe4 cys3" ], [ "stack ihe4 opg2" ], [ "pick-up cys3" ] ]	[ "(on ukp5 opg2) (on opg2 ihe4) (clear ukp5) (holding gvr1) (on ihe4 cys3) (on-table cys3)", "(arm-empty) (on ukp5 opg2) (on opg2 ihe4) (clear ukp5) (on-table gvr1) (on ihe4 cys3) (clear gvr1) (on-table cys3)", "(clear opg2) (on-table gvr1) (on ihe4 cys3) (holding ukp5) (on opg2 ihe4) (clear gvr1) (on-table cys3)", "(on ihe4 cys3) (on ukp5 gvr1) (clear opg2) (arm-empty) (on-table gvr1) (on opg2 ihe4) (on-table cys3) (clear ukp5)", "(on-table gvr1) (clear ihe4) (on ihe4 cys3) (on ukp5 gvr1) (holding opg2) (on-table cys3) (clear ukp5)", "(arm-empty) (on-table opg2) (clear ihe4) (clear ukp5) (clear opg2) (on-table gvr1) (on ihe4 cys3) (on ukp5 gvr1) (on-table cys3)", "(clear opg2) (on-table opg2) (on-table gvr1) (clear ihe4) (on ihe4 cys3) (holding ukp5) (clear gvr1) (on-table cys3)", "(clear opg2) (arm-empty) (on-table opg2) (on-table ukp5) (on-table gvr1) (clear ihe4) (on ihe4 cys3) (clear gvr1) (on-table cys3) (clear ukp5)", "(clear opg2) (on-table opg2) (on-table ukp5) (on-table gvr1) (holding ihe4) (clear cys3) (clear gvr1) (on-table cys3) (clear ukp5)", "(arm-empty) (on-table opg2) (on-table ukp5) (on-table gvr1) (clear ihe4) (on ihe4 opg2) (clear cys3) (clear gvr1) (on-table cys3) (clear ukp5)", "(on-table opg2) (on-table ukp5) (on-table gvr1) (clear ihe4) (on ihe4 opg2) (holding cys3) (clear gvr1) (clear ukp5)" ]	file_78718
GOAL: (on-table ika1) (holding erp4) (on ykl3 fyt2) (on ydm5 ykl3) (on fyt2 ika1) (clear ydm5)	GOAL: (on-table ika1) (holding erp4) (on ykl3 fyt2) (on ydm5 ykl3) (on fyt2 ika1) (clear ydm5) STATE: (on ykl3 erp4) (arm-empty) (on-table ydm5) (on-table ika1) (on erp4 fyt2) (on fyt2 ika1) (clear ykl3) (clear ydm5)	[ [ "unstack ykl3 erp4" ], [ "stack ykl3 ydm5" ], [ "unstack erp4 fyt2" ], [ "put-down erp4" ], [ "unstack ykl3 ydm5" ], [ "stack ykl3 fyt2" ], [ "pick-up ydm5" ], [ "stack ydm5 ykl3" ], [ "pick-up erp4" ] ]	[ "(on-table ydm5) (on-table ika1) (clear erp4) (on erp4 fyt2) (on fyt2 ika1) (holding ykl3) (clear ydm5)", "(on ykl3 ydm5) (arm-empty) (on-table ydm5) (on-table ika1) (clear erp4) (on erp4 fyt2) (on fyt2 ika1) (clear ykl3)", "(on ykl3 ydm5) (clear fyt2) (on-table ydm5) (on-table ika1) (holding erp4) (on fyt2 ika1) (clear ykl3)", "(on ykl3 ydm5) (arm-empty) (on-table ydm5) (clear erp4) (on fyt2 ika1) (clear fyt2) (on-table ika1) (on-table erp4) (clear ykl3)", "(clear fyt2) (on-table ydm5) (on-table ika1) (clear erp4) (on-table erp4) (on fyt2 ika1) (holding ykl3) (clear ydm5)", "(arm-empty) (on-table ydm5) (on-table ika1) (on ykl3 fyt2) (clear erp4) (on-table erp4) (on fyt2 ika1) (clear ykl3) (clear ydm5)", "(on-table ika1) (on ykl3 fyt2) (clear erp4) (holding ydm5) (on-table erp4) (on fyt2 ika1) (clear ykl3)", "(arm-empty) (on-table ika1) (on ykl3 fyt2) (clear erp4) (on ydm5 ykl3) (on-table erp4) (on fyt2 ika1) (clear ydm5)", "(on-table ika1) (holding erp4) (on ykl3 fyt2) (on ydm5 ykl3) (on fyt2 ika1) (clear ydm5)" ]	file_34557