goal
stringlengths 64
162
| input
stringlengths 130
312
| actions
listlengths 1
18
| next_states
listlengths 1
18
| source_file
stringlengths 6
11
|
|---|---|---|---|---|
GOAL: (on ggx3 ecs4) (clear sal2) (on-table sal2) (on-table lwv1) (holding ckg5) (on-table ecs4) (clear ggx3) (clear lwv1)
|
GOAL: (on ggx3 ecs4) (clear sal2) (on-table sal2) (on-table lwv1) (holding ckg5) (on-table ecs4) (clear ggx3) (clear lwv1)
STATE: (clear sal2) (arm-empty) (on-table sal2) (on-table ckg5) (on-table lwv1) (clear ecs4) (on-table ecs4) (clear ggx3) (clear lwv1) (on-table ggx3) (clear ckg5)
|
[
[
"pick-up ckg5"
],
[
"stack ckg5 sal2"
],
[
"pick-up ggx3"
],
[
"stack ggx3 ecs4"
],
[
"unstack ckg5 sal2"
]
] |
[
"(clear sal2) (on-table sal2) (on-table lwv1) (clear ecs4) (holding ckg5) (on-table ecs4) (clear ggx3) (clear lwv1) (on-table ggx3)",
"(arm-empty) (on-table sal2) (on-table lwv1) (on ckg5 sal2) (clear ecs4) (on-table ecs4) (clear ggx3) (clear lwv1) (on-table ggx3) (clear ckg5)",
"(on-table sal2) (on-table lwv1) (on ckg5 sal2) (clear ecs4) (on-table ecs4) (holding ggx3) (clear lwv1) (clear ckg5)",
"(on ggx3 ecs4) (arm-empty) (on-table sal2) (on-table lwv1) (on ckg5 sal2) (on-table ecs4) (clear ggx3) (clear lwv1) (clear ckg5)",
"(on ggx3 ecs4) (clear sal2) (on-table sal2) (on-table lwv1) (holding ckg5) (on-table ecs4) (clear ggx3) (clear lwv1)"
] |
file_20899
|
GOAL: (arm-empty) (on azj4 zoj5) (clear azj4) (on zoj5 nuh3) (on hkf2 lqn1) (clear hkf2) (on-table lqn1) (on-table nuh3)
|
GOAL: (arm-empty) (on azj4 zoj5) (clear azj4) (on zoj5 nuh3) (on hkf2 lqn1) (clear hkf2) (on-table lqn1) (on-table nuh3)
STATE: (on azj4 lqn1) (arm-empty) (on-table lqn1) (on zoj5 hkf2) (on hkf2 azj4) (clear nuh3) (on-table nuh3) (clear zoj5)
|
[
[
"unstack zoj5 hkf2"
],
[
"stack zoj5 nuh3"
],
[
"unstack hkf2 azj4"
],
[
"put-down hkf2"
],
[
"unstack azj4 lqn1"
],
[
"stack azj4 zoj5"
],
[
"pick-up hkf2"
],
[
"stack hkf2 lqn1"
]
] |
[
"(clear hkf2) (on azj4 lqn1) (on-table lqn1) (holding zoj5) (on hkf2 azj4) (clear nuh3) (on-table nuh3)",
"(clear hkf2) (on azj4 lqn1) (arm-empty) (on-table lqn1) (on zoj5 nuh3) (on hkf2 azj4) (on-table nuh3) (clear zoj5)",
"(on azj4 lqn1) (on-table lqn1) (clear azj4) (on zoj5 nuh3) (holding hkf2) (on-table nuh3) (clear zoj5)",
"(on azj4 lqn1) (arm-empty) (on-table hkf2) (clear azj4) (on zoj5 nuh3) (clear zoj5) (clear hkf2) (on-table lqn1) (on-table nuh3)",
"(clear hkf2) (on-table hkf2) (on-table lqn1) (holding azj4) (on zoj5 nuh3) (clear lqn1) (on-table nuh3) (clear zoj5)",
"(clear hkf2) (arm-empty) (on-table hkf2) (on azj4 zoj5) (on-table lqn1) (clear azj4) (on zoj5 nuh3) (clear lqn1) (on-table nuh3)",
"(on azj4 zoj5) (on-table lqn1) (clear azj4) (on zoj5 nuh3) (holding hkf2) (clear lqn1) (on-table nuh3)",
"(arm-empty) (on azj4 zoj5) (clear azj4) (on zoj5 nuh3) (on hkf2 lqn1) (clear hkf2) (on-table lqn1) (on-table nuh3)"
] |
file_56084
|
GOAL: (on-table fsb2) (clear uts4) (on-table uts4) (on hrj1 fsb2) (clear hrj1) (holding iml3)
|
GOAL: (on-table fsb2) (clear uts4) (on-table uts4) (on hrj1 fsb2) (clear hrj1) (holding iml3)
STATE: (on iml3 uts4) (clear fsb2) (arm-empty) (on-table fsb2) (on-table hrj1) (on-table uts4) (clear iml3) (clear hrj1)
|
[
[
"unstack iml3 uts4"
],
[
"put-down iml3"
],
[
"pick-up hrj1"
],
[
"stack hrj1 fsb2"
],
[
"pick-up iml3"
]
] |
[
"(clear fsb2) (on-table fsb2) (on-table hrj1) (clear uts4) (on-table uts4) (holding iml3) (clear hrj1)",
"(arm-empty) (on-table fsb2) (clear uts4) (clear fsb2) (on-table hrj1) (on-table uts4) (clear iml3) (clear hrj1) (on-table iml3)",
"(holding hrj1) (clear fsb2) (on-table fsb2) (clear uts4) (on-table uts4) (clear iml3) (on-table iml3)",
"(arm-empty) (on-table fsb2) (clear uts4) (on-table uts4) (clear iml3) (on hrj1 fsb2) (clear hrj1) (on-table iml3)",
"(on-table fsb2) (clear uts4) (on-table uts4) (on hrj1 fsb2) (clear hrj1) (holding iml3)"
] |
file_172755
|
GOAL: (clear fhc2) (on zqi4 rkr1) (on-table fhc2) (on-table xxg5) (on-table rkr1) (clear zqi4) (holding xlk3) (clear xxg5)
|
GOAL: (clear fhc2) (on zqi4 rkr1) (on-table fhc2) (on-table xxg5) (on-table rkr1) (clear zqi4) (holding xlk3) (clear xxg5)
STATE: (holding rkr1) (on xxg5 zqi4) (on-table fhc2) (on xlk3 fhc2) (on zqi4 xlk3) (clear xxg5)
|
[
[
"put-down rkr1"
],
[
"unstack xxg5 zqi4"
],
[
"put-down xxg5"
],
[
"unstack zqi4 xlk3"
],
[
"stack zqi4 rkr1"
],
[
"unstack xlk3 fhc2"
]
] |
[
"(arm-empty) (on xxg5 zqi4) (on-table fhc2) (clear xxg5) (on-table rkr1) (on xlk3 fhc2) (on zqi4 xlk3) (clear rkr1)",
"(on-table fhc2) (on-table rkr1) (on xlk3 fhc2) (clear zqi4) (on zqi4 xlk3) (holding xxg5) (clear rkr1)",
"(arm-empty) (on-table fhc2) (on-table xxg5) (clear zqi4) (clear xxg5) (on-table rkr1) (on xlk3 fhc2) (on zqi4 xlk3) (clear rkr1)",
"(on-table fhc2) (on-table xxg5) (on-table rkr1) (holding zqi4) (on xlk3 fhc2) (clear xlk3) (clear rkr1) (clear xxg5)",
"(on zqi4 rkr1) (arm-empty) (on-table fhc2) (on-table xxg5) (on-table rkr1) (on xlk3 fhc2) (clear zqi4) (clear xlk3) (clear xxg5)",
"(clear fhc2) (on zqi4 rkr1) (on-table fhc2) (on-table xxg5) (on-table rkr1) (clear zqi4) (holding xlk3) (clear xxg5)"
] |
file_54932
|
GOAL: (on sdv4 tfe3) (on jyd1 dro5) (clear vnn2) (arm-empty) (on-table dro5) (on tfe3 jyd1) (on vnn2 sdv4)
|
GOAL: (on sdv4 tfe3) (on jyd1 dro5) (clear vnn2) (arm-empty) (on-table dro5) (on tfe3 jyd1) (on vnn2 sdv4)
STATE: (on jyd1 dro5) (on-table dro5) (clear sdv4) (on sdv4 tfe3) (holding vnn2) (on tfe3 jyd1)
|
[
[
"stack vnn2 sdv4"
]
] |
[
"(on sdv4 tfe3) (on jyd1 dro5) (clear vnn2) (arm-empty) (on-table dro5) (on tfe3 jyd1) (on vnn2 sdv4)"
] |
file_110404
|
GOAL: (clear ffp2) (on tta1 wud3) (arm-empty) (on-table vsg5) (on rgv4 vsg5) (on ffp2 rgv4) (clear tta1) (on-table wud3)
|
GOAL: (clear ffp2) (on tta1 wud3) (arm-empty) (on-table vsg5) (on rgv4 vsg5) (on ffp2 rgv4) (clear tta1) (on-table wud3)
STATE: (clear ffp2) (on-table vsg5) (on-table tta1) (on-table rgv4) (on ffp2 rgv4) (holding wud3) (clear tta1) (clear vsg5)
|
[
[
"stack wud3 tta1"
],
[
"unstack ffp2 rgv4"
],
[
"stack ffp2 wud3"
],
[
"pick-up rgv4"
],
[
"stack rgv4 vsg5"
],
[
"unstack ffp2 wud3"
],
[
"stack ffp2 rgv4"
],
[
"unstack wud3 tta1"
],
[
"put-down wud3"
],
[
"pick-up tta1"
],
[
"stack tta1 wud3"
]
] |
[
"(clear ffp2) (arm-empty) (on-table vsg5) (on-table tta1) (on wud3 tta1) (on-table rgv4) (on ffp2 rgv4) (clear wud3) (clear vsg5)",
"(on-table vsg5) (on-table tta1) (clear rgv4) (on-table rgv4) (holding ffp2) (on wud3 tta1) (clear wud3) (clear vsg5)",
"(clear ffp2) (arm-empty) (on-table vsg5) (on-table tta1) (clear rgv4) (on-table rgv4) (on wud3 tta1) (on ffp2 wud3) (clear vsg5)",
"(clear ffp2) (on-table vsg5) (on-table tta1) (holding rgv4) (on wud3 tta1) (on ffp2 wud3) (clear vsg5)",
"(clear ffp2) (arm-empty) (on-table vsg5) (on-table tta1) (on rgv4 vsg5) (clear rgv4) (on wud3 tta1) (on ffp2 wud3)",
"(on-table vsg5) (on-table tta1) (on rgv4 vsg5) (clear rgv4) (holding ffp2) (on wud3 tta1) (clear wud3)",
"(arm-empty) (on-table vsg5) (on rgv4 vsg5) (on wud3 tta1) (on ffp2 rgv4) (clear ffp2) (on-table tta1) (clear wud3)",
"(clear ffp2) (on-table vsg5) (on rgv4 vsg5) (on-table tta1) (on ffp2 rgv4) (holding wud3) (clear tta1)",
"(arm-empty) (on-table vsg5) (on rgv4 vsg5) (on ffp2 rgv4) (clear ffp2) (on-table tta1) (clear wud3) (clear tta1) (on-table wud3)",
"(holding tta1) (clear ffp2) (on-table vsg5) (on rgv4 vsg5) (on ffp2 rgv4) (clear wud3) (on-table wud3)",
"(clear ffp2) (on tta1 wud3) (arm-empty) (on-table vsg5) (on rgv4 vsg5) (on ffp2 rgv4) (clear tta1) (on-table wud3)"
] |
file_126040
|
GOAL: (arm-empty) (on-table cqb2) (clear bex4) (on qti5 rlw3) (on-table bex4) (on pls1 cqb2) (clear pls1) (on-table rlw3) (clear qti5)
|
GOAL: (arm-empty) (on-table cqb2) (clear bex4) (on qti5 rlw3) (on-table bex4) (on pls1 cqb2) (clear pls1) (on-table rlw3) (clear qti5)
STATE: (on bex4 qti5) (on-table pls1) (clear bex4) (on qti5 pls1) (holding cqb2) (clear rlw3) (on-table rlw3)
|
[
[
"put-down cqb2"
],
[
"unstack bex4 qti5"
],
[
"put-down bex4"
],
[
"unstack qti5 pls1"
],
[
"stack qti5 rlw3"
],
[
"pick-up pls1"
],
[
"stack pls1 cqb2"
]
] |
[
"(arm-empty) (on-table cqb2) (on bex4 qti5) (clear bex4) (clear cqb2) (on-table pls1) (on qti5 pls1) (clear rlw3) (on-table rlw3)",
"(clear cqb2) (on-table cqb2) (on-table pls1) (holding bex4) (on qti5 pls1) (clear rlw3) (on-table rlw3) (clear qti5)",
"(clear cqb2) (arm-empty) (on-table cqb2) (on-table pls1) (clear bex4) (on qti5 pls1) (on-table bex4) (clear rlw3) (on-table rlw3) (clear qti5)",
"(clear cqb2) (on-table cqb2) (on-table pls1) (clear bex4) (holding qti5) (on-table bex4) (clear rlw3) (clear pls1) (on-table rlw3)",
"(clear cqb2) (arm-empty) (on-table cqb2) (on-table pls1) (clear bex4) (on qti5 rlw3) (on-table bex4) (clear pls1) (on-table rlw3) (clear qti5)",
"(holding pls1) (clear cqb2) (on-table cqb2) (clear bex4) (on qti5 rlw3) (on-table bex4) (on-table rlw3) (clear qti5)",
"(arm-empty) (on-table cqb2) (clear bex4) (on qti5 rlw3) (on-table bex4) (on pls1 cqb2) (clear pls1) (on-table rlw3) (clear qti5)"
] |
file_18567
|
GOAL: (on fji5 mvc4) (on-table wuk1) (on-table mvc4) (holding ijs2) (clear mfy3) (clear wuk1) (on-table mfy3) (clear fji5)
|
GOAL: (on fji5 mvc4) (on-table wuk1) (on-table mvc4) (holding ijs2) (clear mfy3) (clear wuk1) (on-table mfy3) (clear fji5)
STATE: (arm-empty) (on mvc4 fji5) (on fji5 ijs2) (on wuk1 mvc4) (on ijs2 mfy3) (clear wuk1) (on-table mfy3)
|
[
[
"unstack wuk1 mvc4"
],
[
"put-down wuk1"
],
[
"unstack mvc4 fji5"
],
[
"put-down mvc4"
],
[
"unstack fji5 ijs2"
],
[
"stack fji5 mvc4"
],
[
"unstack ijs2 mfy3"
]
] |
[
"(on mvc4 fji5) (on fji5 ijs2) (clear mvc4) (holding wuk1) (on ijs2 mfy3) (on-table mfy3)",
"(arm-empty) (on mvc4 fji5) (on fji5 ijs2) (clear mvc4) (on-table wuk1) (on ijs2 mfy3) (clear wuk1) (on-table mfy3)",
"(on-table wuk1) (holding mvc4) (on fji5 ijs2) (on ijs2 mfy3) (clear wuk1) (on-table mfy3) (clear fji5)",
"(arm-empty) (on fji5 ijs2) (clear mvc4) (clear fji5) (on-table wuk1) (on-table mvc4) (on ijs2 mfy3) (clear wuk1) (on-table mfy3)",
"(clear ijs2) (on-table wuk1) (clear mvc4) (holding fji5) (on-table mvc4) (on ijs2 mfy3) (clear wuk1) (on-table mfy3)",
"(clear ijs2) (arm-empty) (on fji5 mvc4) (on-table wuk1) (on-table mvc4) (on ijs2 mfy3) (clear wuk1) (on-table mfy3) (clear fji5)",
"(on fji5 mvc4) (on-table wuk1) (on-table mvc4) (holding ijs2) (clear mfy3) (clear wuk1) (on-table mfy3) (clear fji5)"
] |
file_36683
|
GOAL: (on jwc1 wek5) (arm-empty) (on-table sew2) (on-table wek5) (clear vxv4) (on dse3 jwc1) (on vxv4 sew2) (clear dse3)
|
GOAL: (on jwc1 wek5) (arm-empty) (on-table sew2) (on-table wek5) (clear vxv4) (on dse3 jwc1) (on vxv4 sew2) (clear dse3)
STATE: (on jwc1 wek5) (on-table wek5) (clear vxv4) (on vxv4 dse3) (holding sew2) (on dse3 jwc1)
|
[
[
"put-down sew2"
],
[
"unstack vxv4 dse3"
],
[
"stack vxv4 sew2"
]
] |
[
"(on jwc1 wek5) (arm-empty) (on-table sew2) (on-table wek5) (clear vxv4) (on dse3 jwc1) (clear sew2) (on vxv4 dse3)",
"(on jwc1 wek5) (clear sew2) (on-table sew2) (on-table wek5) (holding vxv4) (on dse3 jwc1) (clear dse3)",
"(on jwc1 wek5) (arm-empty) (on-table sew2) (on-table wek5) (clear vxv4) (on dse3 jwc1) (on vxv4 sew2) (clear dse3)"
] |
file_110414
|
GOAL: (clear wob1) (arm-empty) (on-table tzm5) (clear uke4) (on-table uke4) (on jak2 iqz3) (on wob1 jak2) (on-table iqz3) (clear tzm5)
|
GOAL: (clear wob1) (arm-empty) (on-table tzm5) (clear uke4) (on-table uke4) (on jak2 iqz3) (on wob1 jak2) (on-table iqz3) (clear tzm5)
STATE: (on-table tzm5) (on uke4 tzm5) (on jak2 uke4) (holding iqz3) (on wob1 jak2) (clear wob1)
|
[
[
"put-down iqz3"
],
[
"unstack wob1 jak2"
],
[
"stack wob1 iqz3"
],
[
"unstack jak2 uke4"
],
[
"put-down jak2"
],
[
"unstack wob1 iqz3"
],
[
"stack wob1 uke4"
],
[
"pick-up jak2"
],
[
"stack jak2 iqz3"
],
[
"unstack wob1 uke4"
],
[
"put-down wob1"
],
[
"unstack uke4 tzm5"
],
[
"put-down uke4"
],
[
"pick-up wob1"
],
[
"stack wob1 jak2"
]
] |
[
"(arm-empty) (on-table tzm5) (on uke4 tzm5) (on jak2 uke4) (on wob1 jak2) (clear iqz3) (clear wob1) (on-table iqz3)",
"(holding wob1) (clear jak2) (on-table tzm5) (on uke4 tzm5) (on jak2 uke4) (clear iqz3) (on-table iqz3)",
"(clear jak2) (on wob1 iqz3) (arm-empty) (on-table tzm5) (on uke4 tzm5) (on jak2 uke4) (clear wob1) (on-table iqz3)",
"(on wob1 iqz3) (on-table tzm5) (on uke4 tzm5) (clear uke4) (holding jak2) (clear wob1) (on-table iqz3)",
"(on wob1 iqz3) (arm-empty) (on-table jak2) (on-table tzm5) (on uke4 tzm5) (clear uke4) (clear jak2) (clear wob1) (on-table iqz3)",
"(holding wob1) (clear jak2) (on-table jak2) (on-table tzm5) (on uke4 tzm5) (clear uke4) (clear iqz3) (on-table iqz3)",
"(clear jak2) (arm-empty) (on-table jak2) (on-table tzm5) (on uke4 tzm5) (on wob1 uke4) (clear iqz3) (clear wob1) (on-table iqz3)",
"(on-table tzm5) (on uke4 tzm5) (holding jak2) (on wob1 uke4) (clear iqz3) (clear wob1) (on-table iqz3)",
"(clear jak2) (arm-empty) (on-table tzm5) (on uke4 tzm5) (on wob1 uke4) (on jak2 iqz3) (clear wob1) (on-table iqz3)",
"(holding wob1) (clear jak2) (on-table tzm5) (on uke4 tzm5) (clear uke4) (on jak2 iqz3) (on-table iqz3)",
"(arm-empty) (on-table tzm5) (on uke4 tzm5) (clear uke4) (clear jak2) (on-table wob1) (on jak2 iqz3) (clear wob1) (on-table iqz3)",
"(clear jak2) (on-table tzm5) (holding uke4) (on-table wob1) (on jak2 iqz3) (clear wob1) (on-table iqz3) (clear tzm5)",
"(clear jak2) (arm-empty) (on-table tzm5) (on-table wob1) (clear uke4) (on-table uke4) (on jak2 iqz3) (clear wob1) (on-table iqz3) (clear tzm5)",
"(holding wob1) (clear jak2) (on-table tzm5) (clear uke4) (on-table uke4) (on jak2 iqz3) (on-table iqz3) (clear tzm5)",
"(clear wob1) (arm-empty) (on-table tzm5) (clear uke4) (on-table uke4) (on jak2 iqz3) (on wob1 jak2) (on-table iqz3) (clear tzm5)"
] |
file_139063
|
GOAL: (arm-empty) (on-table guc2) (on npv4 mto5) (clear npv4) (clear guc2) (on-table jvx1) (on mto5 jvx1) (clear nkt3) (on-table nkt3)
|
GOAL: (arm-empty) (on-table guc2) (on npv4 mto5) (clear npv4) (clear guc2) (on-table jvx1) (on mto5 jvx1) (clear nkt3) (on-table nkt3)
STATE: (clear guc2) (arm-empty) (on mto5 npv4) (on-table guc2) (on-table jvx1) (on-table npv4) (clear nkt3) (clear jvx1) (on-table nkt3) (clear mto5)
|
[
[
"pick-up guc2"
],
[
"stack guc2 nkt3"
],
[
"unstack mto5 npv4"
],
[
"stack mto5 jvx1"
],
[
"pick-up npv4"
],
[
"stack npv4 mto5"
],
[
"unstack guc2 nkt3"
],
[
"put-down guc2"
]
] |
[
"(on mto5 npv4) (on-table jvx1) (on-table npv4) (holding guc2) (clear nkt3) (clear jvx1) (on-table nkt3) (clear mto5)",
"(clear guc2) (arm-empty) (on mto5 npv4) (on-table jvx1) (on-table npv4) (on guc2 nkt3) (clear jvx1) (on-table nkt3) (clear mto5)",
"(clear guc2) (on-table jvx1) (clear npv4) (holding mto5) (on-table npv4) (on guc2 nkt3) (clear jvx1) (on-table nkt3)",
"(clear guc2) (arm-empty) (on-table jvx1) (clear npv4) (on mto5 jvx1) (on-table npv4) (on guc2 nkt3) (on-table nkt3) (clear mto5)",
"(clear guc2) (on-table jvx1) (holding npv4) (on mto5 jvx1) (on guc2 nkt3) (on-table nkt3) (clear mto5)",
"(clear guc2) (arm-empty) (on npv4 mto5) (on-table jvx1) (clear npv4) (on mto5 jvx1) (on guc2 nkt3) (on-table nkt3)",
"(on npv4 mto5) (on-table jvx1) (clear npv4) (on mto5 jvx1) (holding guc2) (clear nkt3) (on-table nkt3)",
"(arm-empty) (on-table guc2) (on npv4 mto5) (clear npv4) (clear guc2) (on-table jvx1) (on mto5 jvx1) (clear nkt3) (on-table nkt3)"
] |
file_158847
|
GOAL: (arm-empty) (on otv4 yrl5) (clear otv4) (on yrl5 tyq1) (on xdy2 rfd3) (on tyq1 xdy2) (on-table rfd3)
|
GOAL: (arm-empty) (on otv4 yrl5) (clear otv4) (on yrl5 tyq1) (on xdy2 rfd3) (on tyq1 xdy2) (on-table rfd3)
STATE: (arm-empty) (on-table xdy2) (on-table tyq1) (on yrl5 xdy2) (clear otv4) (on-table otv4) (clear rfd3) (clear tyq1) (on-table rfd3) (clear yrl5)
|
[
[
"unstack yrl5 xdy2"
],
[
"stack yrl5 otv4"
],
[
"pick-up xdy2"
],
[
"stack xdy2 rfd3"
],
[
"pick-up tyq1"
],
[
"stack tyq1 xdy2"
],
[
"unstack yrl5 otv4"
],
[
"stack yrl5 tyq1"
],
[
"pick-up otv4"
],
[
"stack otv4 yrl5"
]
] |
[
"(clear xdy2) (on-table xdy2) (on-table tyq1) (clear otv4) (holding yrl5) (on-table otv4) (clear rfd3) (clear tyq1) (on-table rfd3)",
"(clear xdy2) (arm-empty) (on yrl5 otv4) (on-table xdy2) (on-table tyq1) (on-table otv4) (clear rfd3) (clear tyq1) (on-table rfd3) (clear yrl5)",
"(on yrl5 otv4) (on-table tyq1) (on-table otv4) (holding xdy2) (clear rfd3) (clear tyq1) (on-table rfd3) (clear yrl5)",
"(clear xdy2) (arm-empty) (on yrl5 otv4) (on-table tyq1) (on-table otv4) (on xdy2 rfd3) (clear tyq1) (on-table rfd3) (clear yrl5)",
"(holding tyq1) (clear xdy2) (on yrl5 otv4) (on-table otv4) (on xdy2 rfd3) (on-table rfd3) (clear yrl5)",
"(arm-empty) (on yrl5 otv4) (on tyq1 xdy2) (on-table otv4) (on xdy2 rfd3) (clear tyq1) (on-table rfd3) (clear yrl5)",
"(clear otv4) (on tyq1 xdy2) (holding yrl5) (on-table otv4) (on xdy2 rfd3) (clear tyq1) (on-table rfd3)",
"(arm-empty) (clear otv4) (on tyq1 xdy2) (clear yrl5) (on yrl5 tyq1) (on-table otv4) (on xdy2 rfd3) (on-table rfd3)",
"(holding otv4) (on yrl5 tyq1) (on xdy2 rfd3) (on tyq1 xdy2) (on-table rfd3) (clear yrl5)",
"(arm-empty) (on otv4 yrl5) (clear otv4) (on yrl5 tyq1) (on xdy2 rfd3) (on tyq1 xdy2) (on-table rfd3)"
] |
file_70654
|
GOAL: (holding wol1) (on qth3 imn5) (on-table oaz2) (on imn5 oaz2) (clear brv4) (on brv4 qth3)
|
GOAL: (holding wol1) (on qth3 imn5) (on-table oaz2) (on imn5 oaz2) (clear brv4) (on brv4 qth3)
STATE: (on qth3 brv4) (clear oaz2) (on brv4 wol1) (arm-empty) (on-table oaz2) (on-table imn5) (on-table wol1) (clear qth3) (clear imn5)
|
[
[
"pick-up imn5"
],
[
"stack imn5 oaz2"
],
[
"unstack qth3 brv4"
],
[
"stack qth3 imn5"
],
[
"unstack brv4 wol1"
],
[
"stack brv4 qth3"
],
[
"pick-up wol1"
]
] |
[
"(on qth3 brv4) (clear oaz2) (on brv4 wol1) (on-table oaz2) (on-table wol1) (holding imn5) (clear qth3)",
"(on qth3 brv4) (on brv4 wol1) (arm-empty) (on-table oaz2) (on-table wol1) (on imn5 oaz2) (clear qth3) (clear imn5)",
"(on brv4 wol1) (on-table oaz2) (on-table wol1) (on imn5 oaz2) (clear brv4) (holding qth3) (clear imn5)",
"(on qth3 imn5) (on brv4 wol1) (arm-empty) (on-table oaz2) (on-table wol1) (on imn5 oaz2) (clear brv4) (clear qth3)",
"(on qth3 imn5) (on-table oaz2) (on-table wol1) (holding brv4) (on imn5 oaz2) (clear qth3) (clear wol1)",
"(on qth3 imn5) (arm-empty) (on-table oaz2) (on imn5 oaz2) (clear brv4) (on-table wol1) (on brv4 qth3) (clear wol1)",
"(holding wol1) (on qth3 imn5) (on-table oaz2) (on imn5 oaz2) (clear brv4) (on brv4 qth3)"
] |
file_218455
|
GOAL: (on unk1 fcc5) (arm-empty) (clear bbb4) (on bbb4 dxt2) (on dxt2 unk1) (on-table fjj3) (on fcc5 fjj3)
|
GOAL: (on unk1 fcc5) (arm-empty) (clear bbb4) (on bbb4 dxt2) (on dxt2 unk1) (on-table fjj3) (on fcc5 fjj3)
STATE: (on-table dxt2) (on bbb4 dxt2) (holding fcc5) (on unk1 bbb4) (on fjj3 unk1) (clear fjj3)
|
[
[
"put-down fcc5"
],
[
"unstack fjj3 unk1"
],
[
"put-down fjj3"
],
[
"pick-up fcc5"
],
[
"stack fcc5 fjj3"
],
[
"unstack unk1 bbb4"
],
[
"stack unk1 fcc5"
],
[
"unstack bbb4 dxt2"
],
[
"put-down bbb4"
],
[
"pick-up dxt2"
],
[
"stack dxt2 unk1"
],
[
"pick-up bbb4"
],
[
"stack bbb4 dxt2"
]
] |
[
"(arm-empty) (on-table dxt2) (on-table fcc5) (on fjj3 unk1) (clear fcc5) (on unk1 bbb4) (on bbb4 dxt2) (clear fjj3)",
"(on-table dxt2) (on-table fcc5) (on bbb4 dxt2) (on unk1 bbb4) (holding fjj3) (clear unk1) (clear fcc5)",
"(arm-empty) (on-table dxt2) (on-table fcc5) (clear fcc5) (on unk1 bbb4) (on bbb4 dxt2) (clear fjj3) (clear unk1) (on-table fjj3)",
"(on-table dxt2) (holding fcc5) (on unk1 bbb4) (on bbb4 dxt2) (clear fjj3) (clear unk1) (on-table fjj3)",
"(arm-empty) (on-table dxt2) (on fcc5 fjj3) (on unk1 bbb4) (on bbb4 dxt2) (clear unk1) (on-table fjj3) (clear fcc5)",
"(holding unk1) (on-table dxt2) (clear bbb4) (on fcc5 fjj3) (on bbb4 dxt2) (on-table fjj3) (clear fcc5)",
"(on unk1 fcc5) (arm-empty) (on-table dxt2) (clear bbb4) (on fcc5 fjj3) (on bbb4 dxt2) (clear unk1) (on-table fjj3)",
"(on unk1 fcc5) (clear dxt2) (on-table dxt2) (holding bbb4) (on fcc5 fjj3) (clear unk1) (on-table fjj3)",
"(on unk1 fcc5) (arm-empty) (on-table dxt2) (clear bbb4) (on fcc5 fjj3) (clear dxt2) (on-table bbb4) (clear unk1) (on-table fjj3)",
"(on unk1 fcc5) (clear bbb4) (on fcc5 fjj3) (on-table bbb4) (holding dxt2) (clear unk1) (on-table fjj3)",
"(on unk1 fcc5) (arm-empty) (clear bbb4) (on fcc5 fjj3) (on dxt2 unk1) (clear dxt2) (on-table bbb4) (on-table fjj3)",
"(on unk1 fcc5) (clear dxt2) (holding bbb4) (on fcc5 fjj3) (on dxt2 unk1) (on-table fjj3)",
"(on unk1 fcc5) (arm-empty) (clear bbb4) (on bbb4 dxt2) (on dxt2 unk1) (on-table fjj3) (on fcc5 fjj3)"
] |
file_55700
|
GOAL: (holding dkx1) (clear gzy2) (on ipn5 nao3) (on-table ikx4) (on gzy2 ikx4) (on-table nao3) (clear ipn5)
|
GOAL: (holding dkx1) (clear gzy2) (on ipn5 nao3) (on-table ikx4) (on gzy2 ikx4) (on-table nao3) (clear ipn5)
STATE: (on-table gzy2) (holding ipn5) (on dkx1 ikx4) (on ikx4 gzy2) (clear nao3) (clear dkx1) (on-table nao3)
|
[
[
"stack ipn5 nao3"
],
[
"unstack dkx1 ikx4"
],
[
"stack dkx1 ipn5"
],
[
"unstack ikx4 gzy2"
],
[
"put-down ikx4"
],
[
"pick-up gzy2"
],
[
"stack gzy2 ikx4"
],
[
"unstack dkx1 ipn5"
]
] |
[
"(arm-empty) (on-table gzy2) (on ipn5 nao3) (on dkx1 ikx4) (on ikx4 gzy2) (clear dkx1) (on-table nao3) (clear ipn5)",
"(holding dkx1) (on-table gzy2) (clear ikx4) (on ipn5 nao3) (on ikx4 gzy2) (on-table nao3) (clear ipn5)",
"(on dkx1 ipn5) (arm-empty) (on-table gzy2) (clear ikx4) (on ipn5 nao3) (on ikx4 gzy2) (clear dkx1) (on-table nao3)",
"(on dkx1 ipn5) (clear gzy2) (on-table gzy2) (holding ikx4) (on ipn5 nao3) (clear dkx1) (on-table nao3)",
"(on dkx1 ipn5) (arm-empty) (on-table gzy2) (clear ikx4) (on ipn5 nao3) (clear gzy2) (on-table ikx4) (clear dkx1) (on-table nao3)",
"(on dkx1 ipn5) (clear ikx4) (on ipn5 nao3) (on-table ikx4) (holding gzy2) (clear dkx1) (on-table nao3)",
"(on dkx1 ipn5) (clear gzy2) (arm-empty) (on ipn5 nao3) (on-table ikx4) (on gzy2 ikx4) (clear dkx1) (on-table nao3)",
"(holding dkx1) (clear gzy2) (on ipn5 nao3) (on-table ikx4) (on gzy2 ikx4) (on-table nao3) (clear ipn5)"
] |
file_145205
|
GOAL: (arm-empty) (clear wuu4) (on wuu4 qqa2) (on qqa2 yfr1) (clear vpw3) (on-table yfr1) (on-table vpw3)
|
GOAL: (arm-empty) (clear wuu4) (on wuu4 qqa2) (on qqa2 yfr1) (clear vpw3) (on-table yfr1) (on-table vpw3)
STATE: (arm-empty) (on yfr1 wuu4) (on wuu4 qqa2) (on qqa2 vpw3) (clear yfr1) (on-table vpw3)
|
[
[
"unstack yfr1 wuu4"
],
[
"put-down yfr1"
],
[
"unstack wuu4 qqa2"
],
[
"stack wuu4 yfr1"
],
[
"unstack qqa2 vpw3"
],
[
"put-down qqa2"
],
[
"unstack wuu4 yfr1"
],
[
"stack wuu4 vpw3"
],
[
"pick-up qqa2"
],
[
"stack qqa2 yfr1"
],
[
"unstack wuu4 vpw3"
],
[
"stack wuu4 qqa2"
]
] |
[
"(holding yfr1) (clear wuu4) (on wuu4 qqa2) (on qqa2 vpw3) (on-table vpw3)",
"(on-table yfr1) (arm-empty) (on qqa2 vpw3) (on wuu4 qqa2) (clear wuu4) (clear yfr1) (on-table vpw3)",
"(holding wuu4) (clear qqa2) (on-table yfr1) (on qqa2 vpw3) (clear yfr1) (on-table vpw3)",
"(clear qqa2) (on wuu4 yfr1) (arm-empty) (on-table yfr1) (clear wuu4) (on qqa2 vpw3) (on-table vpw3)",
"(on wuu4 yfr1) (clear wuu4) (on-table yfr1) (holding qqa2) (clear vpw3) (on-table vpw3)",
"(on wuu4 yfr1) (arm-empty) (on-table qqa2) (clear wuu4) (clear qqa2) (on-table yfr1) (clear vpw3) (on-table vpw3)",
"(clear qqa2) (on-table qqa2) (on-table yfr1) (holding wuu4) (clear vpw3) (clear yfr1) (on-table vpw3)",
"(arm-empty) (on-table qqa2) (clear wuu4) (clear qqa2) (on-table yfr1) (on wuu4 vpw3) (clear yfr1) (on-table vpw3)",
"(on-table yfr1) (clear wuu4) (on wuu4 vpw3) (holding qqa2) (clear yfr1) (on-table vpw3)",
"(clear qqa2) (arm-empty) (on-table yfr1) (clear wuu4) (on wuu4 vpw3) (on qqa2 yfr1) (on-table vpw3)",
"(holding wuu4) (clear qqa2) (on-table yfr1) (on qqa2 yfr1) (clear vpw3) (on-table vpw3)",
"(arm-empty) (clear wuu4) (on wuu4 qqa2) (on qqa2 yfr1) (clear vpw3) (on-table yfr1) (on-table vpw3)"
] |
file_183782
|
GOAL: (arm-empty) (on-table aqr2) (on-table sda5) (on-table fra1) (on rju4 sda5) (on tko3 aqr2) (clear rju4) (clear tko3) (clear fra1)
|
GOAL: (arm-empty) (on-table aqr2) (on-table sda5) (on-table fra1) (on rju4 sda5) (on tko3 aqr2) (clear rju4) (clear tko3) (clear fra1)
STATE: (clear aqr2) (on-table aqr2) (on-table sda5) (on-table fra1) (on rju4 sda5) (clear rju4) (holding tko3) (clear fra1)
|
[
[
"stack tko3 aqr2"
]
] |
[
"(arm-empty) (on-table aqr2) (on-table sda5) (on-table fra1) (on rju4 sda5) (on tko3 aqr2) (clear rju4) (clear tko3) (clear fra1)"
] |
file_149425
|
GOAL: (on kyo5 ebq2) (on-table kac4) (on xwy1 kac4) (on ebq2 xwy1) (holding uat3) (clear kyo5)
|
GOAL: (on kyo5 ebq2) (on-table kac4) (on xwy1 kac4) (on ebq2 xwy1) (holding uat3) (clear kyo5)
STATE: (clear ebq2) (on-table ebq2) (holding kyo5) (on-table kac4) (on xwy1 kac4) (clear uat3) (clear xwy1) (on-table uat3)
|
[
[
"stack kyo5 uat3"
],
[
"pick-up ebq2"
],
[
"stack ebq2 xwy1"
],
[
"unstack kyo5 uat3"
],
[
"stack kyo5 ebq2"
],
[
"pick-up uat3"
]
] |
[
"(clear ebq2) (arm-empty) (on-table ebq2) (on kyo5 uat3) (on-table kac4) (on xwy1 kac4) (clear xwy1) (on-table uat3) (clear kyo5)",
"(holding ebq2) (on kyo5 uat3) (on-table kac4) (on xwy1 kac4) (clear xwy1) (on-table uat3) (clear kyo5)",
"(clear ebq2) (arm-empty) (on kyo5 uat3) (on-table kac4) (on xwy1 kac4) (on ebq2 xwy1) (on-table uat3) (clear kyo5)",
"(clear ebq2) (holding kyo5) (on-table kac4) (on xwy1 kac4) (on ebq2 xwy1) (clear uat3) (on-table uat3)",
"(arm-empty) (on kyo5 ebq2) (on-table kac4) (on xwy1 kac4) (on ebq2 xwy1) (clear uat3) (on-table uat3) (clear kyo5)",
"(on kyo5 ebq2) (on-table kac4) (on xwy1 kac4) (on ebq2 xwy1) (holding uat3) (clear kyo5)"
] |
file_12309
|
GOAL: (on-table kwq1) (holding pqg4) (on hrs3 ogo2) (on swy5 hrs3) (on ogo2 kwq1) (clear swy5)
|
GOAL: (on-table kwq1) (holding pqg4) (on hrs3 ogo2) (on swy5 hrs3) (on ogo2 kwq1) (clear swy5)
STATE: (arm-empty) (on-table swy5) (on-table kwq1) (on hrs3 ogo2) (clear pqg4) (on pqg4 hrs3) (on ogo2 kwq1) (clear swy5)
|
[
[
"unstack pqg4 hrs3"
],
[
"put-down pqg4"
],
[
"pick-up swy5"
],
[
"stack swy5 hrs3"
],
[
"pick-up pqg4"
]
] |
[
"(on-table swy5) (on-table kwq1) (holding pqg4) (on hrs3 ogo2) (on ogo2 kwq1) (clear hrs3) (clear swy5)",
"(arm-empty) (on-table swy5) (clear pqg4) (on ogo2 kwq1) (clear swy5) (on-table kwq1) (on hrs3 ogo2) (on-table pqg4) (clear hrs3)",
"(on-table kwq1) (on hrs3 ogo2) (clear pqg4) (holding swy5) (on-table pqg4) (on ogo2 kwq1) (clear hrs3)",
"(arm-empty) (on-table kwq1) (on hrs3 ogo2) (clear pqg4) (on swy5 hrs3) (on-table pqg4) (on ogo2 kwq1) (clear swy5)",
"(on-table kwq1) (holding pqg4) (on hrs3 ogo2) (on swy5 hrs3) (on ogo2 kwq1) (clear swy5)"
] |
file_179804
|
GOAL: (on jiv3 pgb5) (on-table pgb5) (on-table bsd1) (clear vhq4) (on-table vhq4) (holding cew2) (clear jiv3) (clear bsd1)
|
GOAL: (on jiv3 pgb5) (on-table pgb5) (on-table bsd1) (clear vhq4) (on-table vhq4) (holding cew2) (clear jiv3) (clear bsd1)
STATE: (on-table pgb5) (on-table bsd1) (clear vhq4) (on vhq4 jiv3) (holding cew2) (on jiv3 bsd1) (clear pgb5)
|
[
[
"put-down cew2"
],
[
"unstack vhq4 jiv3"
],
[
"stack vhq4 cew2"
],
[
"unstack jiv3 bsd1"
],
[
"stack jiv3 pgb5"
],
[
"unstack vhq4 cew2"
],
[
"put-down vhq4"
],
[
"pick-up cew2"
]
] |
[
"(arm-empty) (on-table cew2) (on-table pgb5) (clear vhq4) (on jiv3 bsd1) (clear pgb5) (clear cew2) (on-table bsd1) (on vhq4 jiv3)",
"(clear cew2) (on-table cew2) (on-table pgb5) (on-table bsd1) (holding vhq4) (on jiv3 bsd1) (clear jiv3) (clear pgb5)",
"(arm-empty) (on-table cew2) (on-table pgb5) (on-table bsd1) (on vhq4 cew2) (clear vhq4) (on jiv3 bsd1) (clear jiv3) (clear pgb5)",
"(on-table cew2) (on-table pgb5) (on-table bsd1) (clear vhq4) (on vhq4 cew2) (holding jiv3) (clear bsd1) (clear pgb5)",
"(on jiv3 pgb5) (arm-empty) (on-table cew2) (on-table pgb5) (on-table bsd1) (clear vhq4) (on vhq4 cew2) (clear jiv3) (clear bsd1)",
"(on jiv3 pgb5) (clear cew2) (on-table cew2) (on-table pgb5) (on-table bsd1) (holding vhq4) (clear jiv3) (clear bsd1)",
"(on jiv3 pgb5) (clear cew2) (arm-empty) (on-table cew2) (on-table pgb5) (on-table bsd1) (clear vhq4) (on-table vhq4) (clear jiv3) (clear bsd1)",
"(on jiv3 pgb5) (on-table pgb5) (on-table bsd1) (clear vhq4) (on-table vhq4) (holding cew2) (clear jiv3) (clear bsd1)"
] |
file_71320
|
GOAL: (on xve3 ckr5) (clear wxr2) (on-table pgi1) (holding rkw4) (on ckr5 pgi1) (on wxr2 xve3)
|
GOAL: (on xve3 ckr5) (clear wxr2) (on-table pgi1) (holding rkw4) (on ckr5 pgi1) (on wxr2 xve3)
STATE: (on xve3 ckr5) (on-table ckr5) (on-table pgi1) (clear rkw4) (on-table rkw4) (holding wxr2) (clear xve3) (clear pgi1)
|
[
[
"stack wxr2 rkw4"
],
[
"unstack xve3 ckr5"
],
[
"stack xve3 wxr2"
],
[
"pick-up ckr5"
],
[
"stack ckr5 pgi1"
],
[
"unstack xve3 wxr2"
],
[
"stack xve3 ckr5"
],
[
"unstack wxr2 rkw4"
],
[
"stack wxr2 xve3"
],
[
"pick-up rkw4"
]
] |
[
"(on xve3 ckr5) (clear wxr2) (arm-empty) (on-table ckr5) (on-table pgi1) (on-table rkw4) (on wxr2 rkw4) (clear xve3) (clear pgi1)",
"(clear wxr2) (on-table ckr5) (on-table pgi1) (on-table rkw4) (on wxr2 rkw4) (holding xve3) (clear pgi1) (clear ckr5)",
"(arm-empty) (on-table ckr5) (on-table pgi1) (on xve3 wxr2) (on-table rkw4) (on wxr2 rkw4) (clear xve3) (clear pgi1) (clear ckr5)",
"(on-table pgi1) (on xve3 wxr2) (holding ckr5) (on-table rkw4) (on wxr2 rkw4) (clear xve3) (clear pgi1)",
"(arm-empty) (on wxr2 rkw4) (clear ckr5) (on-table pgi1) (on xve3 wxr2) (on ckr5 pgi1) (on-table rkw4) (clear xve3)",
"(clear wxr2) (on-table pgi1) (on ckr5 pgi1) (on-table rkw4) (on wxr2 rkw4) (holding xve3) (clear ckr5)",
"(clear wxr2) (on xve3 ckr5) (arm-empty) (on-table pgi1) (on ckr5 pgi1) (on-table rkw4) (on wxr2 rkw4) (clear xve3)",
"(on xve3 ckr5) (on-table pgi1) (clear rkw4) (on ckr5 pgi1) (on-table rkw4) (holding wxr2) (clear xve3)",
"(on xve3 ckr5) (clear wxr2) (arm-empty) (on-table pgi1) (clear rkw4) (on ckr5 pgi1) (on-table rkw4) (on wxr2 xve3)",
"(on xve3 ckr5) (clear wxr2) (on-table pgi1) (holding rkw4) (on ckr5 pgi1) (on wxr2 xve3)"
] |
file_85479
|
GOAL: (on zme1 pzm5) (arm-empty) (on-table pzm5) (clear yde4) (clear ahd2) (on-table yde4) (on ahd2 tcq3) (clear zme1) (on-table tcq3)
|
GOAL: (on zme1 pzm5) (arm-empty) (on-table pzm5) (clear yde4) (clear ahd2) (on-table yde4) (on ahd2 tcq3) (clear zme1) (on-table tcq3)
STATE: (on zme1 pzm5) (clear ahd2) (on yde4 zme1) (arm-empty) (on-table pzm5) (on ahd2 yde4) (clear tcq3) (on-table tcq3)
|
[
[
"unstack ahd2 yde4"
],
[
"stack ahd2 tcq3"
],
[
"unstack yde4 zme1"
],
[
"put-down yde4"
]
] |
[
"(on zme1 pzm5) (on yde4 zme1) (on-table pzm5) (clear yde4) (holding ahd2) (clear tcq3) (on-table tcq3)",
"(on zme1 pzm5) (clear ahd2) (on yde4 zme1) (arm-empty) (on-table pzm5) (clear yde4) (on ahd2 tcq3) (on-table tcq3)",
"(on zme1 pzm5) (clear ahd2) (on-table pzm5) (holding yde4) (on ahd2 tcq3) (clear zme1) (on-table tcq3)",
"(on zme1 pzm5) (arm-empty) (on-table pzm5) (clear yde4) (clear ahd2) (on-table yde4) (on ahd2 tcq3) (clear zme1) (on-table tcq3)"
] |
file_136823
|
GOAL: (arm-empty) (on-table uuz2) (on-table hna1) (on znv5 uuz2) (clear twd4) (on twd4 xgy3) (on xgy3 hna1) (clear znv5)
|
GOAL: (arm-empty) (on-table uuz2) (on-table hna1) (on znv5 uuz2) (clear twd4) (on twd4 xgy3) (on xgy3 hna1) (clear znv5)
STATE: (on-table hna1) (on xgy3 uuz2) (clear twd4) (holding znv5) (on-table twd4) (on uuz2 hna1) (clear xgy3)
|
[
[
"put-down znv5"
],
[
"unstack xgy3 uuz2"
],
[
"put-down xgy3"
],
[
"unstack uuz2 hna1"
],
[
"stack uuz2 znv5"
],
[
"pick-up xgy3"
],
[
"stack xgy3 hna1"
],
[
"pick-up twd4"
],
[
"stack twd4 xgy3"
],
[
"unstack uuz2 znv5"
],
[
"put-down uuz2"
],
[
"pick-up znv5"
],
[
"stack znv5 uuz2"
]
] |
[
"(arm-empty) (on-table znv5) (clear twd4) (on uuz2 hna1) (clear znv5) (on-table hna1) (on xgy3 uuz2) (on-table twd4) (clear xgy3)",
"(clear uuz2) (on-table znv5) (on-table hna1) (clear twd4) (on-table twd4) (on uuz2 hna1) (holding xgy3) (clear znv5)",
"(clear uuz2) (arm-empty) (on-table znv5) (on-table hna1) (clear twd4) (on-table twd4) (on uuz2 hna1) (clear xgy3) (on-table xgy3) (clear znv5)",
"(on-table znv5) (on-table hna1) (clear twd4) (on-table twd4) (holding uuz2) (clear xgy3) (clear hna1) (on-table xgy3) (clear znv5)",
"(clear uuz2) (arm-empty) (on-table znv5) (on-table hna1) (clear twd4) (on-table twd4) (on uuz2 znv5) (clear xgy3) (clear hna1) (on-table xgy3)",
"(clear uuz2) (on-table znv5) (on-table hna1) (clear twd4) (on-table twd4) (on uuz2 znv5) (holding xgy3) (clear hna1)",
"(clear uuz2) (arm-empty) (on-table znv5) (on-table hna1) (clear twd4) (on-table twd4) (on xgy3 hna1) (on uuz2 znv5) (clear xgy3)",
"(clear uuz2) (on-table znv5) (on-table hna1) (holding twd4) (on xgy3 hna1) (on uuz2 znv5) (clear xgy3)",
"(arm-empty) (on-table znv5) (clear twd4) (on xgy3 hna1) (on uuz2 znv5) (clear uuz2) (on-table hna1) (on twd4 xgy3)",
"(on-table znv5) (on-table hna1) (clear twd4) (on twd4 xgy3) (holding uuz2) (on xgy3 hna1) (clear znv5)",
"(arm-empty) (on-table uuz2) (on-table znv5) (clear twd4) (on xgy3 hna1) (clear znv5) (clear uuz2) (on-table hna1) (on twd4 xgy3)",
"(clear uuz2) (on-table uuz2) (on-table hna1) (clear twd4) (on twd4 xgy3) (holding znv5) (on xgy3 hna1)",
"(arm-empty) (on-table uuz2) (on-table hna1) (on znv5 uuz2) (clear twd4) (on twd4 xgy3) (on xgy3 hna1) (clear znv5)"
] |
file_112116
|
GOAL: (on qkx4 tye3) (on dto5 zjr1) (arm-empty) (on-table zjr1) (on ruc2 dto5) (on tye3 ruc2) (clear qkx4)
|
GOAL: (on qkx4 tye3) (on dto5 zjr1) (arm-empty) (on-table zjr1) (on ruc2 dto5) (on tye3 ruc2) (clear qkx4)
STATE: (holding qkx4) (on-table zjr1) (on dto5 ruc2) (on ruc2 tye3) (clear zjr1) (on-table tye3) (clear dto5)
|
[
[
"put-down qkx4"
],
[
"unstack dto5 ruc2"
],
[
"stack dto5 zjr1"
],
[
"unstack ruc2 tye3"
],
[
"stack ruc2 dto5"
],
[
"pick-up tye3"
],
[
"stack tye3 ruc2"
],
[
"pick-up qkx4"
],
[
"stack qkx4 tye3"
]
] |
[
"(arm-empty) (on dto5 ruc2) (clear qkx4) (clear dto5) (on-table zjr1) (on-table qkx4) (on ruc2 tye3) (clear zjr1) (on-table tye3)",
"(clear ruc2) (on-table zjr1) (clear qkx4) (holding dto5) (on-table qkx4) (on ruc2 tye3) (clear zjr1) (on-table tye3)",
"(clear ruc2) (arm-empty) (on-table zjr1) (clear qkx4) (on dto5 zjr1) (on-table qkx4) (on ruc2 tye3) (on-table tye3) (clear dto5)",
"(on-table zjr1) (clear qkx4) (on dto5 zjr1) (on-table qkx4) (holding ruc2) (clear tye3) (on-table tye3) (clear dto5)",
"(clear ruc2) (arm-empty) (on-table zjr1) (clear qkx4) (on dto5 zjr1) (on-table qkx4) (on ruc2 dto5) (clear tye3) (on-table tye3)",
"(clear ruc2) (on-table zjr1) (clear qkx4) (on dto5 zjr1) (on-table qkx4) (on ruc2 dto5) (holding tye3)",
"(arm-empty) (on-table zjr1) (on tye3 ruc2) (clear qkx4) (on dto5 zjr1) (on-table qkx4) (on ruc2 dto5) (clear tye3)",
"(on-table zjr1) (holding qkx4) (on tye3 ruc2) (on dto5 zjr1) (on ruc2 dto5) (clear tye3)",
"(on qkx4 tye3) (on dto5 zjr1) (arm-empty) (on-table zjr1) (on ruc2 dto5) (on tye3 ruc2) (clear qkx4)"
] |
file_153737
|
GOAL: (on bbn4 znk3) (arm-empty) (on-table okb2) (on ntl1 bbn4) (on znk3 okb2) (clear ntl1)
|
GOAL: (on bbn4 znk3) (arm-empty) (on-table okb2) (on ntl1 bbn4) (on znk3 okb2) (clear ntl1)
STATE: (arm-empty) (on-table ntl1) (on znk3 okb2) (clear bbn4) (on-table bbn4) (on okb2 ntl1) (clear znk3)
|
[
[
"unstack znk3 okb2"
],
[
"stack znk3 bbn4"
],
[
"unstack okb2 ntl1"
],
[
"put-down okb2"
],
[
"unstack znk3 bbn4"
],
[
"stack znk3 okb2"
],
[
"pick-up bbn4"
],
[
"stack bbn4 znk3"
],
[
"pick-up ntl1"
],
[
"stack ntl1 bbn4"
]
] |
[
"(clear bbn4) (on okb2 ntl1) (clear okb2) (on-table ntl1) (on-table bbn4) (holding znk3)",
"(on znk3 bbn4) (clear okb2) (arm-empty) (on-table ntl1) (on-table bbn4) (on okb2 ntl1) (clear znk3)",
"(on znk3 bbn4) (on-table ntl1) (on-table bbn4) (holding okb2) (clear znk3) (clear ntl1)",
"(arm-empty) (on-table okb2) (on znk3 bbn4) (clear okb2) (on-table ntl1) (on-table bbn4) (clear znk3) (clear ntl1)",
"(clear okb2) (on-table okb2) (on-table ntl1) (clear bbn4) (on-table bbn4) (holding znk3) (clear ntl1)",
"(arm-empty) (on-table okb2) (on-table ntl1) (on znk3 okb2) (clear bbn4) (on-table bbn4) (clear znk3) (clear ntl1)",
"(on-table okb2) (on-table ntl1) (holding bbn4) (on znk3 okb2) (clear znk3) (clear ntl1)",
"(on bbn4 znk3) (arm-empty) (on-table okb2) (on-table ntl1) (on znk3 okb2) (clear bbn4) (clear ntl1)",
"(holding ntl1) (on bbn4 znk3) (on-table okb2) (on znk3 okb2) (clear bbn4)",
"(on bbn4 znk3) (arm-empty) (on-table okb2) (on ntl1 bbn4) (on znk3 okb2) (clear ntl1)"
] |
file_119788
|
GOAL: (arm-empty) (on-table bca2) (clear kye4) (on zpx5 tmq3) (on tmq3 kla1) (clear zpx5) (clear bca2) (on-table kla1) (on-table kye4)
|
GOAL: (arm-empty) (on-table bca2) (clear kye4) (on zpx5 tmq3) (on tmq3 kla1) (clear zpx5) (clear bca2) (on-table kla1) (on-table kye4)
STATE: (on tmq3 kye4) (on kla1 tmq3) (arm-empty) (on-table bca2) (on zpx5 kla1) (on kye4 bca2) (clear zpx5)
|
[
[
"unstack zpx5 kla1"
],
[
"put-down zpx5"
],
[
"unstack kla1 tmq3"
],
[
"put-down kla1"
],
[
"unstack tmq3 kye4"
],
[
"stack tmq3 kla1"
],
[
"pick-up zpx5"
],
[
"stack zpx5 tmq3"
],
[
"unstack kye4 bca2"
],
[
"put-down kye4"
]
] |
[
"(on kla1 tmq3) (on-table bca2) (holding zpx5) (on tmq3 kye4) (on kye4 bca2) (clear kla1)",
"(on kla1 tmq3) (arm-empty) (on-table bca2) (on-table zpx5) (clear zpx5) (on tmq3 kye4) (on kye4 bca2) (clear kla1)",
"(holding kla1) (on tmq3 kye4) (on-table bca2) (on-table zpx5) (on kye4 bca2) (clear tmq3) (clear zpx5)",
"(arm-empty) (on-table bca2) (on-table zpx5) (clear zpx5) (on tmq3 kye4) (on-table kla1) (on kye4 bca2) (clear tmq3) (clear kla1)",
"(on-table bca2) (on-table zpx5) (on-table kla1) (clear kye4) (on kye4 bca2) (holding tmq3) (clear kla1) (clear zpx5)",
"(arm-empty) (on-table bca2) (on-table zpx5) (on-table kla1) (clear kye4) (on tmq3 kla1) (on kye4 bca2) (clear tmq3) (clear zpx5)",
"(on-table bca2) (on-table kla1) (on kye4 bca2) (clear kye4) (holding zpx5) (on tmq3 kla1) (clear tmq3)",
"(arm-empty) (on-table bca2) (on-table kla1) (clear kye4) (on zpx5 tmq3) (on tmq3 kla1) (on kye4 bca2) (clear zpx5)",
"(clear bca2) (on-table bca2) (on-table kla1) (holding kye4) (on zpx5 tmq3) (on tmq3 kla1) (clear zpx5)",
"(arm-empty) (on-table bca2) (clear kye4) (on zpx5 tmq3) (on tmq3 kla1) (clear zpx5) (clear bca2) (on-table kla1) (on-table kye4)"
] |
file_191875
|
GOAL: (clear hmt2) (arm-empty) (on-table ekm5) (on-table ttn4) (on hmt2 ekm5) (clear wlm3) (on yil1 ttn4) (on-table wlm3) (clear yil1)
|
GOAL: (clear hmt2) (arm-empty) (on-table ekm5) (on-table ttn4) (on hmt2 ekm5) (clear wlm3) (on yil1 ttn4) (on-table wlm3) (clear yil1)
STATE: (on wlm3 ekm5) (arm-empty) (on-table hmt2) (on ekm5 hmt2) (on ttn4 wlm3) (on yil1 ttn4) (clear yil1)
|
[
[
"unstack yil1 ttn4"
],
[
"put-down yil1"
],
[
"unstack ttn4 wlm3"
],
[
"put-down ttn4"
],
[
"pick-up yil1"
],
[
"stack yil1 ttn4"
],
[
"unstack wlm3 ekm5"
],
[
"put-down wlm3"
],
[
"unstack ekm5 hmt2"
],
[
"put-down ekm5"
],
[
"pick-up hmt2"
],
[
"stack hmt2 ekm5"
]
] |
[
"(on wlm3 ekm5) (on-table hmt2) (on ekm5 hmt2) (clear ttn4) (holding yil1) (on ttn4 wlm3)",
"(on wlm3 ekm5) (arm-empty) (on-table hmt2) (on ekm5 hmt2) (clear ttn4) (on-table yil1) (on ttn4 wlm3) (clear yil1)",
"(on wlm3 ekm5) (on-table hmt2) (on-table yil1) (holding ttn4) (on ekm5 hmt2) (clear wlm3) (clear yil1)",
"(on wlm3 ekm5) (arm-empty) (on-table hmt2) (on ekm5 hmt2) (clear ttn4) (on-table yil1) (on-table ttn4) (clear wlm3) (clear yil1)",
"(holding yil1) (on wlm3 ekm5) (on-table hmt2) (on ekm5 hmt2) (clear ttn4) (on-table ttn4) (clear wlm3)",
"(on wlm3 ekm5) (arm-empty) (on-table hmt2) (on ekm5 hmt2) (on-table ttn4) (on yil1 ttn4) (clear wlm3) (clear yil1)",
"(on-table hmt2) (on ekm5 hmt2) (on-table ttn4) (on yil1 ttn4) (holding wlm3) (clear yil1) (clear ekm5)",
"(arm-empty) (on-table hmt2) (on ekm5 hmt2) (clear ekm5) (on-table ttn4) (on yil1 ttn4) (clear wlm3) (clear yil1) (on-table wlm3)",
"(clear hmt2) (on-table hmt2) (holding ekm5) (on-table ttn4) (on yil1 ttn4) (clear wlm3) (clear yil1) (on-table wlm3)",
"(clear hmt2) (arm-empty) (on-table hmt2) (on-table ekm5) (on-table ttn4) (on yil1 ttn4) (clear wlm3) (clear yil1) (on-table wlm3) (clear ekm5)",
"(on-table ekm5) (holding hmt2) (on-table ttn4) (on yil1 ttn4) (clear wlm3) (clear yil1) (on-table wlm3) (clear ekm5)",
"(clear hmt2) (arm-empty) (on-table ekm5) (on-table ttn4) (on hmt2 ekm5) (clear wlm3) (on yil1 ttn4) (on-table wlm3) (clear yil1)"
] |
file_33992
|
GOAL: (clear doh2) (on-table doh2) (on-table erz1) (holding ruq4) (on nrd5 erz1) (clear haj3) (on-table haj3) (clear nrd5)
|
GOAL: (clear doh2) (on-table doh2) (on-table erz1) (holding ruq4) (on nrd5 erz1) (clear haj3) (on-table haj3) (clear nrd5)
STATE: (clear doh2) (on haj3 nrd5) (arm-empty) (on-table doh2) (on-table erz1) (clear ruq4) (on nrd5 erz1) (on-table ruq4) (clear haj3)
|
[
[
"pick-up ruq4"
],
[
"stack ruq4 doh2"
],
[
"unstack haj3 nrd5"
],
[
"put-down haj3"
],
[
"unstack ruq4 doh2"
]
] |
[
"(clear doh2) (on haj3 nrd5) (on-table doh2) (on-table erz1) (holding ruq4) (on nrd5 erz1) (clear haj3)",
"(on haj3 nrd5) (arm-empty) (on-table doh2) (on-table erz1) (clear ruq4) (on nrd5 erz1) (on ruq4 doh2) (clear haj3)",
"(on-table doh2) (on-table erz1) (clear ruq4) (on nrd5 erz1) (on ruq4 doh2) (holding haj3) (clear nrd5)",
"(arm-empty) (on-table doh2) (clear ruq4) (clear nrd5) (on-table erz1) (on nrd5 erz1) (on ruq4 doh2) (clear haj3) (on-table haj3)",
"(clear doh2) (on-table doh2) (on-table erz1) (holding ruq4) (on nrd5 erz1) (clear haj3) (on-table haj3) (clear nrd5)"
] |
file_102520
|
GOAL: (arm-empty) (on-table xgg5) (on-table cfi4) (on qqm2 cfi4) (clear plz3) (on gui1 qqm2) (clear gui1) (on-table plz3) (clear xgg5)
|
GOAL: (arm-empty) (on-table xgg5) (on-table cfi4) (on qqm2 cfi4) (clear plz3) (on gui1 qqm2) (clear gui1) (on-table plz3) (clear xgg5)
STATE: (on gui1 xgg5) (clear qqm2) (arm-empty) (on-table qqm2) (on-table xgg5) (clear cfi4) (on-table cfi4) (clear plz3) (clear gui1) (on-table plz3)
|
[
[
"pick-up qqm2"
],
[
"stack qqm2 cfi4"
],
[
"unstack gui1 xgg5"
],
[
"stack gui1 qqm2"
]
] |
[
"(on gui1 xgg5) (on-table xgg5) (clear cfi4) (on-table cfi4) (holding qqm2) (clear plz3) (clear gui1) (on-table plz3)",
"(on gui1 xgg5) (clear qqm2) (arm-empty) (on-table xgg5) (on-table cfi4) (on qqm2 cfi4) (clear plz3) (clear gui1) (on-table plz3)",
"(holding gui1) (clear qqm2) (on-table xgg5) (on-table cfi4) (on qqm2 cfi4) (clear plz3) (on-table plz3) (clear xgg5)",
"(arm-empty) (on-table xgg5) (on-table cfi4) (on qqm2 cfi4) (clear plz3) (on gui1 qqm2) (clear gui1) (on-table plz3) (clear xgg5)"
] |
file_180905
|
GOAL: (clear vqi2) (on uvt1 ygu3) (arm-empty) (clear juh4) (on dxq5 uvt1) (on-table juh4) (on vqi2 dxq5) (on-table ygu3)
|
GOAL: (clear vqi2) (on uvt1 ygu3) (arm-empty) (clear juh4) (on dxq5 uvt1) (on-table juh4) (on vqi2 dxq5) (on-table ygu3)
STATE: (holding uvt1) (on dxq5 vqi2) (on-table juh4) (on vqi2 juh4) (clear ygu3) (on-table ygu3) (clear dxq5)
|
[
[
"stack uvt1 ygu3"
],
[
"unstack dxq5 vqi2"
],
[
"stack dxq5 uvt1"
],
[
"unstack vqi2 juh4"
],
[
"stack vqi2 dxq5"
]
] |
[
"(on uvt1 ygu3) (arm-empty) (on dxq5 vqi2) (on-table juh4) (on vqi2 juh4) (clear uvt1) (on-table ygu3) (clear dxq5)",
"(clear vqi2) (on uvt1 ygu3) (holding dxq5) (on-table juh4) (on vqi2 juh4) (clear uvt1) (on-table ygu3)",
"(clear vqi2) (on uvt1 ygu3) (arm-empty) (on dxq5 uvt1) (on-table juh4) (on vqi2 juh4) (on-table ygu3) (clear dxq5)",
"(on uvt1 ygu3) (clear juh4) (on dxq5 uvt1) (on-table juh4) (holding vqi2) (on-table ygu3) (clear dxq5)",
"(clear vqi2) (on uvt1 ygu3) (arm-empty) (clear juh4) (on dxq5 uvt1) (on-table juh4) (on vqi2 dxq5) (on-table ygu3)"
] |
file_127108
|
GOAL: (arm-empty) (on-table uib2) (clear uwc4) (clear uib2) (on-table nmy1) (on-table uwc4) (clear zes3) (clear nmy1) (on-table zes3)
|
GOAL: (arm-empty) (on-table uib2) (clear uwc4) (clear uib2) (on-table nmy1) (on-table uwc4) (clear zes3) (clear nmy1) (on-table zes3)
STATE: (holding uib2) (on-table uwc4) (on nmy1 uwc4) (clear zes3) (clear nmy1) (on-table zes3)
|
[
[
"put-down uib2"
],
[
"unstack nmy1 uwc4"
],
[
"put-down nmy1"
]
] |
[
"(arm-empty) (on-table uib2) (clear uib2) (on-table uwc4) (on nmy1 uwc4) (clear zes3) (clear nmy1) (on-table zes3)",
"(holding nmy1) (clear uib2) (on-table uib2) (clear uwc4) (on-table uwc4) (clear zes3) (on-table zes3)",
"(arm-empty) (on-table uib2) (clear uwc4) (clear uib2) (on-table nmy1) (on-table uwc4) (clear zes3) (clear nmy1) (on-table zes3)"
] |
file_80707
|
GOAL: (clear mli2) (arm-empty) (on-table nak5) (on-table ajp1) (on lzi4 nak5) (on mli2 lzi4) (on igc3 ajp1) (clear igc3)
|
GOAL: (clear mli2) (arm-empty) (on-table nak5) (on-table ajp1) (on lzi4 nak5) (on mli2 lzi4) (on igc3 ajp1) (clear igc3)
STATE: (on-table nak5) (on lzi4 nak5) (on mli2 lzi4) (holding igc3) (on ajp1 mli2) (clear ajp1)
|
[
[
"put-down igc3"
],
[
"unstack ajp1 mli2"
],
[
"put-down ajp1"
],
[
"pick-up igc3"
],
[
"stack igc3 ajp1"
]
] |
[
"(arm-empty) (on-table nak5) (on lzi4 nak5) (on mli2 lzi4) (on ajp1 mli2) (clear igc3) (clear ajp1) (on-table igc3)",
"(holding ajp1) (clear mli2) (on-table nak5) (on lzi4 nak5) (on mli2 lzi4) (clear igc3) (on-table igc3)",
"(arm-empty) (on-table nak5) (on lzi4 nak5) (on mli2 lzi4) (clear mli2) (on-table ajp1) (clear igc3) (clear ajp1) (on-table igc3)",
"(clear mli2) (on-table nak5) (on lzi4 nak5) (on-table ajp1) (on mli2 lzi4) (holding igc3) (clear ajp1)",
"(clear mli2) (arm-empty) (on-table nak5) (on-table ajp1) (on lzi4 nak5) (on mli2 lzi4) (on igc3 ajp1) (clear igc3)"
] |
file_138976
|
GOAL: (clear yff2) (arm-empty) (on taj5 tvw4) (on-table snx1) (on-table tvw4) (on hcn3 snx1) (on yff2 taj5) (clear hcn3)
|
GOAL: (clear yff2) (arm-empty) (on taj5 tvw4) (on-table snx1) (on-table tvw4) (on hcn3 snx1) (on yff2 taj5) (clear hcn3)
STATE: (on taj5 tvw4) (on-table tvw4) (on yff2 taj5) (on snx1 yff2) (clear snx1) (holding hcn3)
|
[
[
"put-down hcn3"
],
[
"unstack snx1 yff2"
],
[
"put-down snx1"
],
[
"pick-up hcn3"
],
[
"stack hcn3 snx1"
]
] |
[
"(on-table tvw4) (arm-empty) (on taj5 tvw4) (on yff2 taj5) (clear hcn3) (on snx1 yff2) (clear snx1) (on-table hcn3)",
"(holding snx1) (clear yff2) (on taj5 tvw4) (on-table tvw4) (on yff2 taj5) (clear hcn3) (on-table hcn3)",
"(arm-empty) (on taj5 tvw4) (on yff2 taj5) (clear yff2) (on-table snx1) (on-table tvw4) (clear hcn3) (clear snx1) (on-table hcn3)",
"(clear yff2) (on taj5 tvw4) (on-table snx1) (on-table tvw4) (on yff2 taj5) (holding hcn3) (clear snx1)",
"(clear yff2) (arm-empty) (on taj5 tvw4) (on-table snx1) (on-table tvw4) (on hcn3 snx1) (on yff2 taj5) (clear hcn3)"
] |
file_29542
|
GOAL: (clear jmj2) (on fiy4 jwl1) (on kyp5 fiy4) (on-table jwl1) (on jmj2 kyp5) (holding kfa3)
|
GOAL: (clear jmj2) (on fiy4 jwl1) (on kyp5 fiy4) (on-table jwl1) (on jmj2 kyp5) (holding kfa3)
STATE: (clear jmj2) (on fiy4 jwl1) (on-table jmj2) (on-table jwl1) (clear fiy4) (holding kyp5) (clear kfa3) (on-table kfa3)
|
[
[
"stack kyp5 fiy4"
],
[
"pick-up jmj2"
],
[
"stack jmj2 kyp5"
],
[
"pick-up kfa3"
]
] |
[
"(clear jmj2) (on fiy4 jwl1) (on kyp5 fiy4) (on-table jmj2) (arm-empty) (on-table jwl1) (clear kfa3) (on-table kfa3) (clear kyp5)",
"(on fiy4 jwl1) (on kyp5 fiy4) (on-table jwl1) (holding jmj2) (clear kfa3) (on-table kfa3) (clear kyp5)",
"(clear jmj2) (on fiy4 jwl1) (on kyp5 fiy4) (arm-empty) (on-table jwl1) (on jmj2 kyp5) (clear kfa3) (on-table kfa3)",
"(clear jmj2) (on fiy4 jwl1) (on kyp5 fiy4) (on-table jwl1) (on jmj2 kyp5) (holding kfa3)"
] |
file_181605
|
GOAL: (on fmx3 mha4) (on hmn1 pvb5) (arm-empty) (on-table cqg2) (on pvb5 fmx3) (on mha4 cqg2) (clear hmn1)
|
GOAL: (on fmx3 mha4) (on hmn1 pvb5) (arm-empty) (on-table cqg2) (on pvb5 fmx3) (on mha4 cqg2) (clear hmn1)
STATE: (holding hmn1) (on-table cqg2) (on-table pvb5) (clear mha4) (on mha4 cqg2) (clear fmx3) (on-table fmx3) (clear pvb5)
|
[
[
"put-down hmn1"
],
[
"pick-up fmx3"
],
[
"stack fmx3 mha4"
],
[
"pick-up pvb5"
],
[
"stack pvb5 fmx3"
],
[
"pick-up hmn1"
],
[
"stack hmn1 pvb5"
]
] |
[
"(arm-empty) (on-table cqg2) (on-table pvb5) (on-table hmn1) (clear mha4) (on mha4 cqg2) (clear fmx3) (clear hmn1) (on-table fmx3) (clear pvb5)",
"(on-table cqg2) (on-table pvb5) (on-table hmn1) (clear mha4) (on mha4 cqg2) (holding fmx3) (clear hmn1) (clear pvb5)",
"(on fmx3 mha4) (arm-empty) (on-table cqg2) (on-table pvb5) (on-table hmn1) (on mha4 cqg2) (clear fmx3) (clear hmn1) (clear pvb5)",
"(on fmx3 mha4) (on-table cqg2) (on-table hmn1) (holding pvb5) (on mha4 cqg2) (clear fmx3) (clear hmn1)",
"(on fmx3 mha4) (arm-empty) (on-table cqg2) (on-table hmn1) (on pvb5 fmx3) (on mha4 cqg2) (clear hmn1) (clear pvb5)",
"(holding hmn1) (on fmx3 mha4) (on-table cqg2) (on pvb5 fmx3) (on mha4 cqg2) (clear pvb5)",
"(on fmx3 mha4) (on hmn1 pvb5) (arm-empty) (on-table cqg2) (on pvb5 fmx3) (on mha4 cqg2) (clear hmn1)"
] |
file_217312
|
GOAL: (clear lqf2) (on-table lqf2) (holding fra5) (on-table aac4) (on ryr1 aac4) (clear oxi3) (clear ryr1) (on-table oxi3)
|
GOAL: (clear lqf2) (on-table lqf2) (holding fra5) (on-table aac4) (on ryr1 aac4) (clear oxi3) (clear ryr1) (on-table oxi3)
STATE: (clear lqf2) (on aac4 ryr1) (arm-empty) (on-table fra5) (on-table ryr1) (on lqf2 aac4) (clear oxi3) (on-table oxi3) (clear fra5)
|
[
[
"unstack lqf2 aac4"
],
[
"stack lqf2 oxi3"
],
[
"pick-up fra5"
],
[
"stack fra5 lqf2"
],
[
"unstack aac4 ryr1"
],
[
"put-down aac4"
],
[
"pick-up ryr1"
],
[
"stack ryr1 aac4"
],
[
"unstack fra5 lqf2"
],
[
"stack fra5 ryr1"
],
[
"unstack lqf2 oxi3"
],
[
"put-down lqf2"
],
[
"unstack fra5 ryr1"
]
] |
[
"(on aac4 ryr1) (on-table fra5) (on-table ryr1) (clear aac4) (holding lqf2) (clear oxi3) (on-table oxi3) (clear fra5)",
"(clear lqf2) (on aac4 ryr1) (arm-empty) (on-table fra5) (on-table ryr1) (clear aac4) (on lqf2 oxi3) (on-table oxi3) (clear fra5)",
"(clear lqf2) (on aac4 ryr1) (on-table ryr1) (clear aac4) (holding fra5) (on lqf2 oxi3) (on-table oxi3)",
"(on aac4 ryr1) (arm-empty) (on-table ryr1) (on fra5 lqf2) (clear aac4) (on lqf2 oxi3) (on-table oxi3) (clear fra5)",
"(on-table ryr1) (holding aac4) (on fra5 lqf2) (on lqf2 oxi3) (clear ryr1) (on-table oxi3) (clear fra5)",
"(arm-empty) (on fra5 lqf2) (clear aac4) (clear fra5) (on-table ryr1) (on-table aac4) (on lqf2 oxi3) (clear ryr1) (on-table oxi3)",
"(holding ryr1) (on fra5 lqf2) (clear aac4) (on-table aac4) (on lqf2 oxi3) (on-table oxi3) (clear fra5)",
"(arm-empty) (on fra5 lqf2) (on-table aac4) (on ryr1 aac4) (on lqf2 oxi3) (clear ryr1) (on-table oxi3) (clear fra5)",
"(clear lqf2) (holding fra5) (on-table aac4) (on ryr1 aac4) (on lqf2 oxi3) (clear ryr1) (on-table oxi3)",
"(clear lqf2) (arm-empty) (on fra5 ryr1) (on-table aac4) (on ryr1 aac4) (on lqf2 oxi3) (on-table oxi3) (clear fra5)",
"(holding lqf2) (on fra5 ryr1) (on-table aac4) (on ryr1 aac4) (clear oxi3) (on-table oxi3) (clear fra5)",
"(arm-empty) (on-table lqf2) (clear fra5) (clear lqf2) (on fra5 ryr1) (on-table aac4) (on ryr1 aac4) (clear oxi3) (on-table oxi3)",
"(clear lqf2) (on-table lqf2) (holding fra5) (on-table aac4) (on ryr1 aac4) (clear oxi3) (clear ryr1) (on-table oxi3)"
] |
file_39583
|
GOAL: (clear vkw2) (on-table vkw2) (on-table lfe5) (on-table amc1) (holding gjp4) (clear wbe3) (clear amc1) (on-table wbe3) (clear lfe5)
|
GOAL: (clear vkw2) (on-table vkw2) (on-table lfe5) (on-table amc1) (holding gjp4) (clear wbe3) (clear amc1) (on-table wbe3) (clear lfe5)
STATE: (clear vkw2) (on-table vkw2) (on-table amc1) (clear gjp4) (holding lfe5) (on-table gjp4) (on wbe3 amc1) (clear wbe3)
|
[
[
"put-down lfe5"
],
[
"unstack wbe3 amc1"
],
[
"put-down wbe3"
],
[
"pick-up gjp4"
]
] |
[
"(clear vkw2) (arm-empty) (on-table vkw2) (on-table lfe5) (on-table amc1) (clear gjp4) (on-table gjp4) (on wbe3 amc1) (clear wbe3) (clear lfe5)",
"(clear vkw2) (on-table vkw2) (on-table lfe5) (on-table amc1) (clear gjp4) (on-table gjp4) (holding wbe3) (clear amc1) (clear lfe5)",
"(clear vkw2) (arm-empty) (on-table vkw2) (on-table lfe5) (on-table amc1) (clear gjp4) (on-table gjp4) (clear wbe3) (clear amc1) (on-table wbe3) (clear lfe5)",
"(clear vkw2) (on-table vkw2) (on-table lfe5) (on-table amc1) (holding gjp4) (clear wbe3) (clear amc1) (on-table wbe3) (clear lfe5)"
] |
file_9088
|
GOAL: (on ulw4 gqi1) (on yri5 ulw4) (on-table pbj2) (arm-empty) (on-table gqi1) (on nkr3 pbj2) (clear nkr3) (clear yri5)
|
GOAL: (on ulw4 gqi1) (on yri5 ulw4) (on-table pbj2) (arm-empty) (on-table gqi1) (on nkr3 pbj2) (clear nkr3) (clear yri5)
STATE: (holding ulw4) (on-table gqi1) (on yri5 pbj2) (on pbj2 nkr3) (clear gqi1) (on-table nkr3) (clear yri5)
|
[
[
"stack ulw4 gqi1"
],
[
"unstack yri5 pbj2"
],
[
"stack yri5 ulw4"
],
[
"unstack pbj2 nkr3"
],
[
"put-down pbj2"
],
[
"pick-up nkr3"
],
[
"stack nkr3 pbj2"
]
] |
[
"(on ulw4 gqi1) (arm-empty) (on-table gqi1) (on yri5 pbj2) (clear ulw4) (on pbj2 nkr3) (on-table nkr3) (clear yri5)",
"(clear pbj2) (on ulw4 gqi1) (on-table gqi1) (clear ulw4) (holding yri5) (on pbj2 nkr3) (on-table nkr3)",
"(clear pbj2) (on ulw4 gqi1) (on yri5 ulw4) (arm-empty) (on-table gqi1) (on pbj2 nkr3) (on-table nkr3) (clear yri5)",
"(on ulw4 gqi1) (on yri5 ulw4) (on-table gqi1) (holding pbj2) (clear nkr3) (on-table nkr3) (clear yri5)",
"(on ulw4 gqi1) (on yri5 ulw4) (on-table pbj2) (arm-empty) (clear yri5) (clear pbj2) (on-table gqi1) (clear nkr3) (on-table nkr3)",
"(clear pbj2) (on ulw4 gqi1) (on yri5 ulw4) (on-table pbj2) (on-table gqi1) (holding nkr3) (clear yri5)",
"(on ulw4 gqi1) (on yri5 ulw4) (on-table pbj2) (arm-empty) (on-table gqi1) (on nkr3 pbj2) (clear nkr3) (clear yri5)"
] |
file_153702
|
GOAL: (clear qsi2) (on-table qsi2) (on-table nir5) (on-table xpt1) (holding gtb4) (clear qoy3) (clear xpt1) (on-table qoy3) (clear nir5)
|
GOAL: (clear qsi2) (on-table qsi2) (on-table nir5) (on-table xpt1) (holding gtb4) (clear qoy3) (clear xpt1) (on-table qoy3) (clear nir5)
STATE: (on-table nir5) (holding gtb4) (on-table xpt1) (on qoy3 qsi2) (on qsi2 nir5) (clear qoy3) (clear xpt1)
|
[
[
"put-down gtb4"
],
[
"unstack qoy3 qsi2"
],
[
"put-down qoy3"
],
[
"pick-up gtb4"
],
[
"stack gtb4 qoy3"
],
[
"unstack qsi2 nir5"
],
[
"put-down qsi2"
],
[
"unstack gtb4 qoy3"
]
] |
[
"(arm-empty) (on-table nir5) (clear gtb4) (on qsi2 nir5) (on-table xpt1) (on qoy3 qsi2) (on-table gtb4) (clear qoy3) (clear xpt1)",
"(clear qsi2) (on-table nir5) (on-table xpt1) (clear gtb4) (on-table gtb4) (on qsi2 nir5) (holding qoy3) (clear xpt1)",
"(clear qsi2) (arm-empty) (on-table nir5) (on-table xpt1) (clear gtb4) (on-table gtb4) (on qsi2 nir5) (clear qoy3) (clear xpt1) (on-table qoy3)",
"(clear qsi2) (on-table nir5) (on-table xpt1) (holding gtb4) (on qsi2 nir5) (clear qoy3) (clear xpt1) (on-table qoy3)",
"(clear qsi2) (arm-empty) (on-table nir5) (on-table xpt1) (clear gtb4) (on gtb4 qoy3) (on qsi2 nir5) (clear xpt1) (on-table qoy3)",
"(on-table nir5) (on-table xpt1) (clear gtb4) (on gtb4 qoy3) (holding qsi2) (clear xpt1) (on-table qoy3) (clear nir5)",
"(clear qsi2) (arm-empty) (on-table qsi2) (on-table nir5) (on-table xpt1) (clear gtb4) (on gtb4 qoy3) (clear xpt1) (on-table qoy3) (clear nir5)",
"(clear qsi2) (on-table qsi2) (on-table nir5) (on-table xpt1) (holding gtb4) (clear qoy3) (clear xpt1) (on-table qoy3) (clear nir5)"
] |
file_107129
|
GOAL: (on-table ouv2) (on-table clr1) (clear psn4) (on rrm3 clr1) (holding zat5) (on psn4 ouv2) (clear rrm3)
|
GOAL: (on-table ouv2) (on-table clr1) (clear psn4) (on rrm3 clr1) (holding zat5) (on psn4 ouv2) (clear rrm3)
STATE: (on rrm3 psn4) (arm-empty) (on-table zat5) (on psn4 zat5) (on ouv2 rrm3) (on clr1 ouv2) (clear clr1)
|
[
[
"unstack clr1 ouv2"
],
[
"put-down clr1"
],
[
"unstack ouv2 rrm3"
],
[
"put-down ouv2"
],
[
"unstack rrm3 psn4"
],
[
"stack rrm3 clr1"
],
[
"unstack psn4 zat5"
],
[
"stack psn4 ouv2"
],
[
"pick-up zat5"
]
] |
[
"(on-table zat5) (on psn4 zat5) (holding clr1) (on rrm3 psn4) (clear ouv2) (on ouv2 rrm3)",
"(arm-empty) (on-table zat5) (on psn4 zat5) (on rrm3 psn4) (clear ouv2) (on-table clr1) (on ouv2 rrm3) (clear clr1)",
"(on rrm3 psn4) (on-table zat5) (on psn4 zat5) (on-table clr1) (holding ouv2) (clear rrm3) (clear clr1)",
"(arm-empty) (on-table ouv2) (on-table zat5) (on psn4 zat5) (on rrm3 psn4) (clear ouv2) (on-table clr1) (clear rrm3) (clear clr1)",
"(clear ouv2) (on-table ouv2) (on-table zat5) (on psn4 zat5) (on-table clr1) (clear psn4) (holding rrm3) (clear clr1)",
"(clear ouv2) (arm-empty) (on-table ouv2) (on-table zat5) (on psn4 zat5) (on-table clr1) (clear psn4) (on rrm3 clr1) (clear rrm3)",
"(clear ouv2) (on-table ouv2) (on-table zat5) (holding psn4) (on-table clr1) (on rrm3 clr1) (clear rrm3) (clear zat5)",
"(arm-empty) (on-table ouv2) (on-table zat5) (on psn4 ouv2) (on-table clr1) (clear psn4) (on rrm3 clr1) (clear rrm3) (clear zat5)",
"(on-table ouv2) (on-table clr1) (clear psn4) (on rrm3 clr1) (holding zat5) (on psn4 ouv2) (clear rrm3)"
] |
file_223075
|
GOAL: (clear wat2) (on kro4 bpk1) (on-table bpk1) (holding svc5) (on wat2 kro4) (clear txx3) (on-table txx3)
|
GOAL: (clear wat2) (on kro4 bpk1) (on-table bpk1) (holding svc5) (on wat2 kro4) (clear txx3) (on-table txx3)
STATE: (on-table bpk1) (clear kro4) (holding svc5) (on kro4 wat2) (on wat2 bpk1) (clear txx3) (on-table txx3)
|
[
[
"stack svc5 txx3"
],
[
"unstack kro4 wat2"
],
[
"put-down kro4"
],
[
"unstack wat2 bpk1"
],
[
"stack wat2 svc5"
],
[
"pick-up kro4"
],
[
"stack kro4 bpk1"
],
[
"unstack wat2 svc5"
],
[
"stack wat2 kro4"
],
[
"unstack svc5 txx3"
]
] |
[
"(arm-empty) (on-table bpk1) (clear kro4) (on svc5 txx3) (on kro4 wat2) (on wat2 bpk1) (on-table txx3) (clear svc5)",
"(clear wat2) (on-table bpk1) (holding kro4) (on svc5 txx3) (on wat2 bpk1) (on-table txx3) (clear svc5)",
"(arm-empty) (clear kro4) (on svc5 txx3) (on wat2 bpk1) (clear svc5) (clear wat2) (on-table bpk1) (on-table kro4) (on-table txx3)",
"(on-table bpk1) (clear kro4) (on svc5 txx3) (on-table kro4) (holding wat2) (clear bpk1) (on-table txx3) (clear svc5)",
"(clear wat2) (arm-empty) (on-table bpk1) (clear kro4) (on svc5 txx3) (on-table kro4) (on wat2 svc5) (clear bpk1) (on-table txx3)",
"(clear wat2) (on-table bpk1) (holding kro4) (on svc5 txx3) (on wat2 svc5) (clear bpk1) (on-table txx3)",
"(clear wat2) (on kro4 bpk1) (arm-empty) (on-table bpk1) (clear kro4) (on svc5 txx3) (on wat2 svc5) (on-table txx3)",
"(on kro4 bpk1) (on-table bpk1) (clear kro4) (on svc5 txx3) (holding wat2) (on-table txx3) (clear svc5)",
"(clear wat2) (on kro4 bpk1) (arm-empty) (on-table bpk1) (on svc5 txx3) (on wat2 kro4) (on-table txx3) (clear svc5)",
"(clear wat2) (on kro4 bpk1) (on-table bpk1) (holding svc5) (on wat2 kro4) (clear txx3) (on-table txx3)"
] |
file_73944
|
GOAL: (clear pgh2) (arm-empty) (on-table pgh2) (on-table mdb5) (on-table fki1) (clear ola4) (on-table ola4) (on opk3 fki1) (clear opk3) (clear mdb5)
|
GOAL: (clear pgh2) (arm-empty) (on-table pgh2) (on-table mdb5) (on-table fki1) (clear ola4) (on-table ola4) (on opk3 fki1) (clear opk3) (clear mdb5)
STATE: (holding fki1) (on-table pgh2) (on-table mdb5) (on opk3 pgh2) (clear ola4) (on-table ola4) (clear opk3) (clear mdb5)
|
[
[
"put-down fki1"
],
[
"unstack opk3 pgh2"
],
[
"stack opk3 fki1"
]
] |
[
"(arm-empty) (on-table pgh2) (on-table mdb5) (on-table fki1) (on opk3 pgh2) (clear ola4) (on-table ola4) (clear opk3) (clear fki1) (clear mdb5)",
"(clear pgh2) (on-table pgh2) (on-table mdb5) (on-table fki1) (clear ola4) (on-table ola4) (holding opk3) (clear fki1) (clear mdb5)",
"(clear pgh2) (arm-empty) (on-table pgh2) (on-table mdb5) (on-table fki1) (clear ola4) (on-table ola4) (on opk3 fki1) (clear opk3) (clear mdb5)"
] |
file_191487
|
GOAL: (on xox1 ino5) (clear csq2) (on-table ino5) (clear kny4) (on-table kny4) (on csq2 xox1) (holding mne3)
|
GOAL: (on xox1 ino5) (clear csq2) (on-table ino5) (clear kny4) (on-table kny4) (on csq2 xox1) (holding mne3)
STATE: (on mne3 kny4) (arm-empty) (on ino5 xox1) (on-table kny4) (on csq2 mne3) (on xox1 csq2) (clear ino5)
|
[
[
"unstack ino5 xox1"
],
[
"put-down ino5"
],
[
"unstack xox1 csq2"
],
[
"stack xox1 ino5"
],
[
"unstack csq2 mne3"
],
[
"stack csq2 xox1"
],
[
"unstack mne3 kny4"
]
] |
[
"(holding ino5) (on xox1 csq2) (on mne3 kny4) (on-table kny4) (on csq2 mne3) (clear xox1)",
"(arm-empty) (on-table ino5) (on xox1 csq2) (clear ino5) (on mne3 kny4) (on-table kny4) (on csq2 mne3) (clear xox1)",
"(holding xox1) (on mne3 kny4) (clear csq2) (on-table ino5) (on-table kny4) (on csq2 mne3) (clear ino5)",
"(on mne3 kny4) (clear csq2) (on xox1 ino5) (arm-empty) (on-table ino5) (on-table kny4) (on csq2 mne3) (clear xox1)",
"(on mne3 kny4) (on xox1 ino5) (on-table ino5) (on-table kny4) (holding csq2) (clear mne3) (clear xox1)",
"(on mne3 kny4) (on xox1 ino5) (clear csq2) (arm-empty) (on-table ino5) (on-table kny4) (on csq2 xox1) (clear mne3)",
"(on xox1 ino5) (clear csq2) (on-table ino5) (clear kny4) (on-table kny4) (on csq2 xox1) (holding mne3)"
] |
file_220543
|
GOAL: (arm-empty) (on-table mck2) (on qia4 jgy5) (on-table ero1) (on oms3 mck2) (clear qia4) (on jgy5 ero1) (clear oms3)
|
GOAL: (arm-empty) (on-table mck2) (on qia4 jgy5) (on-table ero1) (on oms3 mck2) (clear qia4) (on jgy5 ero1) (clear oms3)
STATE: (on oms3 qia4) (arm-empty) (on jgy5 ero1) (on-table qia4) (on mck2 oms3) (on ero1 mck2) (clear jgy5)
|
[
[
"unstack jgy5 ero1"
],
[
"put-down jgy5"
],
[
"unstack ero1 mck2"
],
[
"put-down ero1"
],
[
"unstack mck2 oms3"
],
[
"put-down mck2"
],
[
"pick-up jgy5"
],
[
"stack jgy5 ero1"
],
[
"unstack oms3 qia4"
],
[
"stack oms3 mck2"
],
[
"pick-up qia4"
],
[
"stack qia4 jgy5"
]
] |
[
"(holding jgy5) (on ero1 mck2) (on oms3 qia4) (on-table qia4) (on mck2 oms3) (clear ero1)",
"(arm-empty) (on-table jgy5) (on ero1 mck2) (clear jgy5) (on oms3 qia4) (on-table qia4) (on mck2 oms3) (clear ero1)",
"(holding ero1) (on oms3 qia4) (clear mck2) (on-table jgy5) (on-table qia4) (on mck2 oms3) (clear jgy5)",
"(arm-empty) (on-table jgy5) (clear jgy5) (on oms3 qia4) (clear mck2) (on-table ero1) (on-table qia4) (on mck2 oms3) (clear ero1)",
"(on oms3 qia4) (on-table jgy5) (on-table ero1) (on-table qia4) (holding mck2) (clear oms3) (clear ero1) (clear jgy5)",
"(on oms3 qia4) (clear mck2) (arm-empty) (on-table mck2) (on-table jgy5) (on-table ero1) (on-table qia4) (clear oms3) (clear ero1) (clear jgy5)",
"(on oms3 qia4) (clear mck2) (on-table mck2) (on-table ero1) (holding jgy5) (on-table qia4) (clear oms3) (clear ero1)",
"(on oms3 qia4) (clear mck2) (arm-empty) (on-table mck2) (on-table ero1) (on jgy5 ero1) (on-table qia4) (clear oms3) (clear jgy5)",
"(clear mck2) (on-table mck2) (on-table ero1) (clear qia4) (on jgy5 ero1) (on-table qia4) (holding oms3) (clear jgy5)",
"(arm-empty) (on-table mck2) (on-table ero1) (on oms3 mck2) (clear qia4) (on jgy5 ero1) (on-table qia4) (clear oms3) (clear jgy5)",
"(on-table mck2) (on-table ero1) (holding qia4) (on oms3 mck2) (on jgy5 ero1) (clear oms3) (clear jgy5)",
"(arm-empty) (on-table mck2) (on qia4 jgy5) (on-table ero1) (on oms3 mck2) (clear qia4) (on jgy5 ero1) (clear oms3)"
] |
file_220630
|
GOAL: (on lmq4 jty1) (on-table bmt2) (on-table xyj5) (clear lmq4) (on jty1 bmt2) (holding lta3) (clear xyj5)
|
GOAL: (on lmq4 jty1) (on-table bmt2) (on-table xyj5) (clear lmq4) (on jty1 bmt2) (holding lta3) (clear xyj5)
STATE: (on-table bmt2) (holding lmq4) (on xyj5 lta3) (on lta3 jty1) (on jty1 bmt2) (clear xyj5)
|
[
[
"put-down lmq4"
],
[
"unstack xyj5 lta3"
],
[
"put-down xyj5"
],
[
"unstack lta3 jty1"
],
[
"stack lta3 xyj5"
],
[
"pick-up lmq4"
],
[
"stack lmq4 jty1"
],
[
"unstack lta3 xyj5"
]
] |
[
"(arm-empty) (on-table bmt2) (clear lmq4) (on xyj5 lta3) (on lta3 jty1) (on jty1 bmt2) (clear xyj5) (on-table lmq4)",
"(on-table bmt2) (clear lmq4) (holding xyj5) (on-table lmq4) (on lta3 jty1) (clear lta3) (on jty1 bmt2)",
"(arm-empty) (on-table bmt2) (on-table xyj5) (clear lmq4) (on lta3 jty1) (on jty1 bmt2) (clear xyj5) (on-table lmq4) (clear lta3)",
"(on-table bmt2) (on-table xyj5) (clear lmq4) (on-table lmq4) (on jty1 bmt2) (clear jty1) (holding lta3) (clear xyj5)",
"(on lta3 xyj5) (arm-empty) (on-table bmt2) (on-table xyj5) (clear lmq4) (on-table lmq4) (clear lta3) (on jty1 bmt2) (clear jty1)",
"(on lta3 xyj5) (on-table bmt2) (on-table xyj5) (holding lmq4) (clear lta3) (on jty1 bmt2) (clear jty1)",
"(on lta3 xyj5) (on lmq4 jty1) (arm-empty) (on-table bmt2) (on-table xyj5) (clear lmq4) (clear lta3) (on jty1 bmt2)",
"(on lmq4 jty1) (on-table bmt2) (on-table xyj5) (clear lmq4) (on jty1 bmt2) (holding lta3) (clear xyj5)"
] |
file_72309
|
GOAL: (arm-empty) (on dkh2 zgr4) (clear ifu5) (on-table ump1) (on rxt3 dkh2) (on ifu5 ump1) (on-table zgr4) (clear rxt3)
|
GOAL: (arm-empty) (on dkh2 zgr4) (clear ifu5) (on-table ump1) (on rxt3 dkh2) (on ifu5 ump1) (on-table zgr4) (clear rxt3)
STATE: (on ump1 ifu5) (arm-empty) (on-table ifu5) (clear zgr4) (on rxt3 ump1) (on zgr4 dkh2) (on dkh2 rxt3)
|
[
[
"unstack zgr4 dkh2"
],
[
"put-down zgr4"
],
[
"unstack dkh2 rxt3"
],
[
"stack dkh2 zgr4"
],
[
"unstack rxt3 ump1"
],
[
"stack rxt3 dkh2"
],
[
"unstack ump1 ifu5"
],
[
"put-down ump1"
],
[
"pick-up ifu5"
],
[
"stack ifu5 ump1"
]
] |
[
"(on ump1 ifu5) (on-table ifu5) (holding zgr4) (on rxt3 ump1) (clear dkh2) (on dkh2 rxt3)",
"(on ump1 ifu5) (arm-empty) (on-table ifu5) (clear zgr4) (on rxt3 ump1) (clear dkh2) (on-table zgr4) (on dkh2 rxt3)",
"(on ump1 ifu5) (on-table ifu5) (clear zgr4) (on-table zgr4) (holding dkh2) (on rxt3 ump1) (clear rxt3)",
"(on ump1 ifu5) (arm-empty) (on-table ifu5) (on rxt3 ump1) (on dkh2 zgr4) (clear dkh2) (on-table zgr4) (clear rxt3)",
"(on ump1 ifu5) (clear dkh2) (on-table ifu5) (on dkh2 zgr4) (on-table zgr4) (holding rxt3) (clear ump1)",
"(on ump1 ifu5) (arm-empty) (on-table ifu5) (on rxt3 dkh2) (on-table zgr4) (on dkh2 zgr4) (clear rxt3) (clear ump1)",
"(holding ump1) (on-table ifu5) (on rxt3 dkh2) (on-table zgr4) (on dkh2 zgr4) (clear rxt3) (clear ifu5)",
"(arm-empty) (on-table ifu5) (on dkh2 zgr4) (clear ifu5) (on-table ump1) (on rxt3 dkh2) (on-table zgr4) (clear rxt3) (clear ump1)",
"(on-table ump1) (on rxt3 dkh2) (holding ifu5) (on-table zgr4) (on dkh2 zgr4) (clear rxt3) (clear ump1)",
"(arm-empty) (on dkh2 zgr4) (clear ifu5) (on-table ump1) (on rxt3 dkh2) (on ifu5 ump1) (on-table zgr4) (clear rxt3)"
] |
file_61969
|
GOAL: (clear vyq2) (on ixq4 pjn5) (on-table mne1) (on pjn5 mne1) (on vyq2 ixq4) (holding cnd3)
|
GOAL: (clear vyq2) (on ixq4 pjn5) (on-table mne1) (on pjn5 mne1) (on vyq2 ixq4) (holding cnd3)
STATE: (on cnd3 ixq4) (on ixq4 pjn5) (on-table mne1) (on pjn5 mne1) (holding vyq2) (clear cnd3)
|
[
[
"put-down vyq2"
],
[
"unstack cnd3 ixq4"
],
[
"put-down cnd3"
],
[
"pick-up vyq2"
],
[
"stack vyq2 ixq4"
],
[
"pick-up cnd3"
]
] |
[
"(arm-empty) (on-table vyq2) (on ixq4 pjn5) (on cnd3 ixq4) (clear vyq2) (on-table mne1) (on pjn5 mne1) (clear cnd3)",
"(clear vyq2) (on-table vyq2) (on ixq4 pjn5) (on-table mne1) (clear ixq4) (on pjn5 mne1) (holding cnd3)",
"(arm-empty) (on-table vyq2) (on ixq4 pjn5) (clear ixq4) (clear vyq2) (on-table mne1) (on pjn5 mne1) (clear cnd3) (on-table cnd3)",
"(on ixq4 pjn5) (on-table mne1) (clear ixq4) (on pjn5 mne1) (holding vyq2) (clear cnd3) (on-table cnd3)",
"(arm-empty) (on ixq4 pjn5) (on vyq2 ixq4) (clear vyq2) (on-table mne1) (on pjn5 mne1) (clear cnd3) (on-table cnd3)",
"(clear vyq2) (on ixq4 pjn5) (on-table mne1) (on pjn5 mne1) (on vyq2 ixq4) (holding cnd3)"
] |
file_40041
|
GOAL: (clear vat2) (holding nyb5) (on-table trn4) (on bvl1 trn4) (on vat2 bvl1) (clear vua3) (on-table vua3)
|
GOAL: (clear vat2) (holding nyb5) (on-table trn4) (on bvl1 trn4) (on vat2 bvl1) (clear vua3) (on-table vua3)
STATE: (arm-empty) (on vua3 vat2) (on nyb5 vua3) (on-table trn4) (on bvl1 trn4) (on vat2 bvl1) (clear nyb5)
|
[
[
"unstack nyb5 vua3"
],
[
"put-down nyb5"
],
[
"unstack vua3 vat2"
],
[
"put-down vua3"
],
[
"pick-up nyb5"
]
] |
[
"(holding nyb5) (on vat2 bvl1) (on vua3 vat2) (on-table trn4) (on bvl1 trn4) (clear vua3)",
"(arm-empty) (on-table nyb5) (on vat2 bvl1) (clear nyb5) (on vua3 vat2) (on-table trn4) (on bvl1 trn4) (clear vua3)",
"(clear vat2) (on-table nyb5) (on-table trn4) (on bvl1 trn4) (on vat2 bvl1) (holding vua3) (clear nyb5)",
"(arm-empty) (on-table nyb5) (on vat2 bvl1) (clear nyb5) (clear vat2) (on-table trn4) (on bvl1 trn4) (clear vua3) (on-table vua3)",
"(clear vat2) (holding nyb5) (on-table trn4) (on bvl1 trn4) (on vat2 bvl1) (clear vua3) (on-table vua3)"
] |
file_99946
|
GOAL: (on ukn3 cco4) (arm-empty) (on-table njs2) (on-table mgq1) (on pwf5 ukn3) (on cco4 njs2) (clear mgq1) (clear pwf5)
|
GOAL: (on ukn3 cco4) (arm-empty) (on-table njs2) (on-table mgq1) (on pwf5 ukn3) (on cco4 njs2) (clear mgq1) (clear pwf5)
STATE: (holding cco4) (on-table mgq1) (on pwf5 njs2) (on ukn3 mgq1) (on njs2 ukn3) (clear pwf5)
|
[
[
"put-down cco4"
],
[
"unstack pwf5 njs2"
],
[
"put-down pwf5"
],
[
"unstack njs2 ukn3"
],
[
"put-down njs2"
],
[
"pick-up cco4"
],
[
"stack cco4 njs2"
],
[
"unstack ukn3 mgq1"
],
[
"stack ukn3 cco4"
],
[
"pick-up pwf5"
],
[
"stack pwf5 ukn3"
]
] |
[
"(arm-empty) (on pwf5 njs2) (clear cco4) (on ukn3 mgq1) (clear pwf5) (on-table mgq1) (on-table cco4) (on njs2 ukn3)",
"(clear njs2) (on-table mgq1) (clear cco4) (holding pwf5) (on-table cco4) (on ukn3 mgq1) (on njs2 ukn3)",
"(arm-empty) (on-table pwf5) (clear cco4) (on ukn3 mgq1) (clear pwf5) (clear njs2) (on-table mgq1) (on-table cco4) (on njs2 ukn3)",
"(on-table pwf5) (on-table mgq1) (clear cco4) (on-table cco4) (holding njs2) (on ukn3 mgq1) (clear ukn3) (clear pwf5)",
"(clear njs2) (arm-empty) (on-table njs2) (on-table pwf5) (on-table mgq1) (clear cco4) (on-table cco4) (on ukn3 mgq1) (clear ukn3) (clear pwf5)",
"(clear njs2) (on-table njs2) (on-table pwf5) (on-table mgq1) (holding cco4) (on ukn3 mgq1) (clear ukn3) (clear pwf5)",
"(arm-empty) (on-table njs2) (on-table pwf5) (on-table mgq1) (on cco4 njs2) (clear cco4) (on ukn3 mgq1) (clear ukn3) (clear pwf5)",
"(on-table njs2) (on-table pwf5) (on-table mgq1) (clear cco4) (on cco4 njs2) (holding ukn3) (clear mgq1) (clear pwf5)",
"(on ukn3 cco4) (arm-empty) (on-table njs2) (on-table pwf5) (on-table mgq1) (on cco4 njs2) (clear ukn3) (clear mgq1) (clear pwf5)",
"(on ukn3 cco4) (on-table njs2) (on-table mgq1) (holding pwf5) (on cco4 njs2) (clear ukn3) (clear mgq1)",
"(on ukn3 cco4) (arm-empty) (on-table njs2) (on-table mgq1) (on pwf5 ukn3) (on cco4 njs2) (clear mgq1) (clear pwf5)"
] |
file_177824
|
GOAL: (clear pcj2) (on-table ejq5) (on-table seo1) (clear hmd4) (on-table hmd4) (on pcj2 ejq5) (holding yfh3) (clear seo1)
|
GOAL: (clear pcj2) (on-table ejq5) (on-table seo1) (clear hmd4) (on-table hmd4) (on pcj2 ejq5) (holding yfh3) (clear seo1)
STATE: (arm-empty) (on yfh3 pcj2) (on ejq5 yfh3) (on-table hmd4) (on seo1 hmd4) (on pcj2 seo1) (clear ejq5)
|
[
[
"unstack ejq5 yfh3"
],
[
"put-down ejq5"
],
[
"unstack yfh3 pcj2"
],
[
"stack yfh3 ejq5"
],
[
"unstack pcj2 seo1"
],
[
"put-down pcj2"
],
[
"unstack yfh3 ejq5"
],
[
"stack yfh3 seo1"
],
[
"pick-up pcj2"
],
[
"stack pcj2 ejq5"
],
[
"unstack yfh3 seo1"
],
[
"put-down yfh3"
],
[
"unstack seo1 hmd4"
],
[
"put-down seo1"
],
[
"pick-up yfh3"
]
] |
[
"(holding ejq5) (on pcj2 seo1) (on yfh3 pcj2) (on-table hmd4) (on seo1 hmd4) (clear yfh3)",
"(arm-empty) (on-table ejq5) (on pcj2 seo1) (clear ejq5) (on yfh3 pcj2) (on-table hmd4) (on seo1 hmd4) (clear yfh3)",
"(clear pcj2) (on-table ejq5) (on-table hmd4) (on seo1 hmd4) (on pcj2 seo1) (holding yfh3) (clear ejq5)",
"(clear pcj2) (on yfh3 ejq5) (arm-empty) (on-table ejq5) (on-table hmd4) (on seo1 hmd4) (on pcj2 seo1) (clear yfh3)",
"(on yfh3 ejq5) (on-table ejq5) (holding pcj2) (on-table hmd4) (on seo1 hmd4) (clear yfh3) (clear seo1)",
"(on yfh3 ejq5) (arm-empty) (on-table pcj2) (on-table ejq5) (clear pcj2) (on-table hmd4) (on seo1 hmd4) (clear yfh3) (clear seo1)",
"(clear pcj2) (on-table pcj2) (on-table ejq5) (on-table hmd4) (on seo1 hmd4) (holding yfh3) (clear seo1) (clear ejq5)",
"(clear pcj2) (arm-empty) (on-table pcj2) (on-table ejq5) (on-table hmd4) (on seo1 hmd4) (on yfh3 seo1) (clear yfh3) (clear ejq5)",
"(on-table ejq5) (holding pcj2) (on-table hmd4) (on seo1 hmd4) (on yfh3 seo1) (clear yfh3) (clear ejq5)",
"(clear pcj2) (arm-empty) (on-table ejq5) (on-table hmd4) (on seo1 hmd4) (on yfh3 seo1) (on pcj2 ejq5) (clear yfh3)",
"(clear pcj2) (on-table ejq5) (on-table hmd4) (on seo1 hmd4) (on pcj2 ejq5) (holding yfh3) (clear seo1)",
"(arm-empty) (on-table ejq5) (on pcj2 ejq5) (clear pcj2) (on-table hmd4) (on seo1 hmd4) (clear yfh3) (clear seo1) (on-table yfh3)",
"(holding seo1) (clear pcj2) (on-table ejq5) (clear hmd4) (on-table hmd4) (on pcj2 ejq5) (clear yfh3) (on-table yfh3)",
"(clear pcj2) (arm-empty) (on-table ejq5) (on-table seo1) (clear hmd4) (on-table hmd4) (on pcj2 ejq5) (clear yfh3) (clear seo1) (on-table yfh3)",
"(clear pcj2) (on-table ejq5) (on-table seo1) (clear hmd4) (on-table hmd4) (on pcj2 ejq5) (holding yfh3) (clear seo1)"
] |
file_100037
|
GOAL: (holding mjb1) (clear ybh2) (on-table bsu5) (on vay4 bsu5) (clear vay4) (on ybh2 xxx3) (on-table xxx3)
|
GOAL: (holding mjb1) (clear ybh2) (on-table bsu5) (on vay4 bsu5) (clear vay4) (on ybh2 xxx3) (on-table xxx3)
STATE: (holding mjb1) (clear ybh2) (on-table bsu5) (on vay4 bsu5) (on ybh2 vay4) (clear xxx3) (on-table xxx3)
|
[
[
"put-down mjb1"
],
[
"unstack ybh2 vay4"
],
[
"stack ybh2 xxx3"
],
[
"pick-up mjb1"
]
] |
[
"(arm-empty) (on-table bsu5) (on vay4 bsu5) (on ybh2 vay4) (clear ybh2) (on-table mjb1) (clear xxx3) (clear mjb1) (on-table xxx3)",
"(on-table bsu5) (on vay4 bsu5) (on-table mjb1) (clear vay4) (holding ybh2) (clear xxx3) (clear mjb1) (on-table xxx3)",
"(clear ybh2) (arm-empty) (on-table bsu5) (on vay4 bsu5) (on-table mjb1) (clear vay4) (on ybh2 xxx3) (clear mjb1) (on-table xxx3)",
"(holding mjb1) (clear ybh2) (on-table bsu5) (on vay4 bsu5) (clear vay4) (on ybh2 xxx3) (on-table xxx3)"
] |
file_180547
|
GOAL: (on tpp3 xyc5) (on etz4 czv1) (arm-empty) (on-table xyc5) (clear etz4) (on ukw2 tpp3) (on czv1 ukw2)
|
GOAL: (on tpp3 xyc5) (on etz4 czv1) (arm-empty) (on-table xyc5) (clear etz4) (on ukw2 tpp3) (on czv1 ukw2)
STATE: (on czv1 xyc5) (clear ukw2) (on-table ukw2) (on-table xyc5) (clear etz4) (on-table etz4) (holding tpp3) (clear czv1)
|
[
[
"stack tpp3 ukw2"
],
[
"unstack czv1 xyc5"
],
[
"stack czv1 etz4"
],
[
"unstack tpp3 ukw2"
],
[
"stack tpp3 xyc5"
],
[
"pick-up ukw2"
],
[
"stack ukw2 tpp3"
],
[
"unstack czv1 etz4"
],
[
"stack czv1 ukw2"
],
[
"pick-up etz4"
],
[
"stack etz4 czv1"
]
] |
[
"(on czv1 xyc5) (arm-empty) (on-table ukw2) (on-table xyc5) (on tpp3 ukw2) (clear etz4) (on-table etz4) (clear tpp3) (clear czv1)",
"(holding czv1) (on-table ukw2) (on-table xyc5) (on tpp3 ukw2) (clear etz4) (on-table etz4) (clear tpp3) (clear xyc5)",
"(arm-empty) (on-table ukw2) (on-table xyc5) (on tpp3 ukw2) (on-table etz4) (on czv1 etz4) (clear tpp3) (clear czv1) (clear xyc5)",
"(clear ukw2) (on-table ukw2) (on-table xyc5) (on-table etz4) (on czv1 etz4) (holding tpp3) (clear czv1) (clear xyc5)",
"(clear ukw2) (on tpp3 xyc5) (arm-empty) (on-table ukw2) (on-table xyc5) (on-table etz4) (on czv1 etz4) (clear tpp3) (clear czv1)",
"(on tpp3 xyc5) (on-table xyc5) (holding ukw2) (on-table etz4) (on czv1 etz4) (clear tpp3) (clear czv1)",
"(on tpp3 xyc5) (clear ukw2) (arm-empty) (on-table xyc5) (on-table etz4) (on czv1 etz4) (on ukw2 tpp3) (clear czv1)",
"(holding czv1) (on tpp3 xyc5) (clear ukw2) (on-table xyc5) (clear etz4) (on-table etz4) (on ukw2 tpp3)",
"(on tpp3 xyc5) (arm-empty) (on-table xyc5) (clear etz4) (on-table etz4) (on ukw2 tpp3) (on czv1 ukw2) (clear czv1)",
"(on tpp3 xyc5) (on-table xyc5) (holding etz4) (on ukw2 tpp3) (on czv1 ukw2) (clear czv1)",
"(on tpp3 xyc5) (on etz4 czv1) (arm-empty) (on-table xyc5) (clear etz4) (on ukw2 tpp3) (on czv1 ukw2)"
] |
file_29747
|
GOAL: (holding vol1) (clear eic2) (on-table eic2) (on-table ngu5) (on iyq4 ngu5) (clear iyq4) (clear uzq3) (on-table uzq3)
|
GOAL: (holding vol1) (clear eic2) (on-table eic2) (on-table ngu5) (on iyq4 ngu5) (clear iyq4) (clear uzq3) (on-table uzq3)
STATE: (on iyq4 ngu5) (on-table vol1) (clear iyq4) (on ngu5 vol1) (holding eic2) (clear uzq3) (on-table uzq3)
|
[
[
"stack eic2 uzq3"
],
[
"unstack iyq4 ngu5"
],
[
"stack iyq4 eic2"
],
[
"unstack ngu5 vol1"
],
[
"put-down ngu5"
],
[
"pick-up vol1"
],
[
"stack vol1 ngu5"
],
[
"unstack iyq4 eic2"
],
[
"put-down iyq4"
],
[
"unstack eic2 uzq3"
],
[
"put-down eic2"
],
[
"unstack vol1 ngu5"
],
[
"stack vol1 uzq3"
],
[
"pick-up iyq4"
],
[
"stack iyq4 ngu5"
],
[
"unstack vol1 uzq3"
]
] |
[
"(clear eic2) (arm-empty) (on iyq4 ngu5) (on-table vol1) (clear iyq4) (on ngu5 vol1) (on eic2 uzq3) (on-table uzq3)",
"(clear eic2) (on-table vol1) (holding iyq4) (on ngu5 vol1) (on eic2 uzq3) (on-table uzq3) (clear ngu5)",
"(arm-empty) (on-table vol1) (clear iyq4) (on ngu5 vol1) (on iyq4 eic2) (on eic2 uzq3) (on-table uzq3) (clear ngu5)",
"(on-table vol1) (clear iyq4) (holding ngu5) (on iyq4 eic2) (on eic2 uzq3) (clear vol1) (on-table uzq3)",
"(arm-empty) (on-table ngu5) (clear iyq4) (clear ngu5) (on-table vol1) (on iyq4 eic2) (on eic2 uzq3) (clear vol1) (on-table uzq3)",
"(holding vol1) (on-table ngu5) (clear iyq4) (on iyq4 eic2) (on eic2 uzq3) (on-table uzq3) (clear ngu5)",
"(on vol1 ngu5) (arm-empty) (on-table ngu5) (clear iyq4) (on iyq4 eic2) (on eic2 uzq3) (clear vol1) (on-table uzq3)",
"(on vol1 ngu5) (clear eic2) (on-table ngu5) (holding iyq4) (on eic2 uzq3) (clear vol1) (on-table uzq3)",
"(on vol1 ngu5) (arm-empty) (on-table ngu5) (clear iyq4) (clear eic2) (on-table iyq4) (on eic2 uzq3) (clear vol1) (on-table uzq3)",
"(on vol1 ngu5) (on-table ngu5) (clear iyq4) (on-table iyq4) (holding eic2) (clear uzq3) (clear vol1) (on-table uzq3)",
"(on vol1 ngu5) (clear eic2) (arm-empty) (on-table eic2) (on-table ngu5) (clear iyq4) (on-table iyq4) (clear uzq3) (clear vol1) (on-table uzq3)",
"(holding vol1) (clear eic2) (on-table eic2) (on-table ngu5) (clear iyq4) (on-table iyq4) (clear uzq3) (on-table uzq3) (clear ngu5)",
"(clear eic2) (on vol1 uzq3) (arm-empty) (on-table eic2) (on-table ngu5) (clear iyq4) (on-table iyq4) (clear vol1) (on-table uzq3) (clear ngu5)",
"(clear eic2) (on vol1 uzq3) (on-table eic2) (on-table ngu5) (holding iyq4) (clear vol1) (on-table uzq3) (clear ngu5)",
"(clear eic2) (on vol1 uzq3) (arm-empty) (on-table eic2) (on-table ngu5) (on iyq4 ngu5) (clear iyq4) (clear vol1) (on-table uzq3)",
"(holding vol1) (clear eic2) (on-table eic2) (on-table ngu5) (on iyq4 ngu5) (clear iyq4) (clear uzq3) (on-table uzq3)"
] |
file_18552
|
GOAL: (holding tzz1) (on-table cwd5) (on tej3 cgi2) (on-table ywl4) (on cgi2 ywl4) (clear tej3) (clear cwd5)
|
GOAL: (holding tzz1) (on-table cwd5) (on tej3 cgi2) (on-table ywl4) (on cgi2 ywl4) (clear tej3) (clear cwd5)
STATE: (on tzz1 cwd5) (clear cgi2) (arm-empty) (on-table cwd5) (clear ywl4) (on-table ywl4) (on cgi2 tzz1) (clear tej3) (on-table tej3)
|
[
[
"unstack cgi2 tzz1"
],
[
"put-down cgi2"
],
[
"pick-up tej3"
],
[
"stack tej3 tzz1"
],
[
"pick-up cgi2"
],
[
"stack cgi2 ywl4"
],
[
"unstack tej3 tzz1"
],
[
"stack tej3 cgi2"
],
[
"unstack tzz1 cwd5"
]
] |
[
"(on tzz1 cwd5) (on-table cwd5) (clear ywl4) (on-table ywl4) (holding cgi2) (clear tej3) (clear tzz1) (on-table tej3)",
"(on tzz1 cwd5) (clear cgi2) (arm-empty) (on-table cgi2) (on-table cwd5) (clear ywl4) (on-table ywl4) (clear tej3) (clear tzz1) (on-table tej3)",
"(on tzz1 cwd5) (clear cgi2) (on-table cgi2) (on-table cwd5) (clear ywl4) (on-table ywl4) (holding tej3) (clear tzz1)",
"(on tzz1 cwd5) (clear cgi2) (arm-empty) (on-table cgi2) (on-table cwd5) (clear ywl4) (on-table ywl4) (on tej3 tzz1) (clear tej3)",
"(on tzz1 cwd5) (on-table cwd5) (clear ywl4) (on-table ywl4) (holding cgi2) (on tej3 tzz1) (clear tej3)",
"(on tzz1 cwd5) (arm-empty) (on-table cwd5) (on tej3 tzz1) (on cgi2 ywl4) (clear cgi2) (on-table ywl4) (clear tej3)",
"(on tzz1 cwd5) (clear cgi2) (on-table cwd5) (on cgi2 ywl4) (on-table ywl4) (holding tej3) (clear tzz1)",
"(on tzz1 cwd5) (arm-empty) (on-table cwd5) (on tej3 cgi2) (on-table ywl4) (on cgi2 ywl4) (clear tej3) (clear tzz1)",
"(holding tzz1) (on-table cwd5) (on tej3 cgi2) (on-table ywl4) (on cgi2 ywl4) (clear tej3) (clear cwd5)"
] |
file_188739
|
GOAL: (clear iqn2) (arm-empty) (on sfj4 ugi3) (on lyd5 avt1) (on avt1 sfj4) (on iqn2 lyd5) (on-table ugi3)
|
GOAL: (clear iqn2) (arm-empty) (on sfj4 ugi3) (on lyd5 avt1) (on avt1 sfj4) (on iqn2 lyd5) (on-table ugi3)
STATE: (arm-empty) (on lyd5 sfj4) (on sfj4 ugi3) (on iqn2 lyd5) (on avt1 iqn2) (clear avt1) (on-table ugi3)
|
[
[
"unstack avt1 iqn2"
],
[
"put-down avt1"
],
[
"unstack iqn2 lyd5"
],
[
"put-down iqn2"
],
[
"unstack lyd5 sfj4"
],
[
"stack lyd5 iqn2"
],
[
"pick-up avt1"
],
[
"stack avt1 sfj4"
],
[
"unstack lyd5 iqn2"
],
[
"stack lyd5 avt1"
],
[
"pick-up iqn2"
],
[
"stack iqn2 lyd5"
]
] |
[
"(on lyd5 sfj4) (on iqn2 lyd5) (holding avt1) (clear iqn2) (on sfj4 ugi3) (on-table ugi3)",
"(arm-empty) (on lyd5 sfj4) (on iqn2 lyd5) (clear iqn2) (on-table avt1) (on sfj4 ugi3) (clear avt1) (on-table ugi3)",
"(on lyd5 sfj4) (on-table avt1) (on sfj4 ugi3) (holding iqn2) (clear avt1) (on-table ugi3) (clear lyd5)",
"(arm-empty) (on lyd5 sfj4) (on-table iqn2) (clear lyd5) (clear iqn2) (on-table avt1) (on sfj4 ugi3) (clear avt1) (on-table ugi3)",
"(clear iqn2) (on-table iqn2) (on-table avt1) (clear sfj4) (on sfj4 ugi3) (holding lyd5) (clear avt1) (on-table ugi3)",
"(arm-empty) (on-table iqn2) (on-table avt1) (on lyd5 iqn2) (clear sfj4) (on sfj4 ugi3) (clear avt1) (on-table ugi3) (clear lyd5)",
"(holding avt1) (on-table iqn2) (on lyd5 iqn2) (clear sfj4) (on sfj4 ugi3) (on-table ugi3) (clear lyd5)",
"(arm-empty) (on-table iqn2) (on lyd5 iqn2) (on sfj4 ugi3) (on avt1 sfj4) (clear avt1) (on-table ugi3) (clear lyd5)",
"(clear iqn2) (on-table iqn2) (on sfj4 ugi3) (holding lyd5) (on avt1 sfj4) (clear avt1) (on-table ugi3)",
"(arm-empty) (on-table iqn2) (clear lyd5) (clear iqn2) (on sfj4 ugi3) (on lyd5 avt1) (on avt1 sfj4) (on-table ugi3)",
"(holding iqn2) (on sfj4 ugi3) (on lyd5 avt1) (on avt1 sfj4) (on-table ugi3) (clear lyd5)",
"(clear iqn2) (arm-empty) (on sfj4 ugi3) (on lyd5 avt1) (on avt1 sfj4) (on iqn2 lyd5) (on-table ugi3)"
] |
file_128357
|
GOAL: (on-table nki1) (holding qmo4) (on ish5 rvw2) (on rvw2 kmm3) (clear nki1) (on-table kmm3) (clear ish5)
|
GOAL: (on-table nki1) (holding qmo4) (on ish5 rvw2) (on rvw2 kmm3) (clear nki1) (on-table kmm3) (clear ish5)
STATE: (arm-empty) (on-table rvw2) (on qmo4 ish5) (on-table nki1) (on kmm3 rvw2) (clear qmo4) (on ish5 kmm3) (clear nki1)
|
[
[
"unstack qmo4 ish5"
],
[
"stack qmo4 nki1"
],
[
"unstack ish5 kmm3"
],
[
"stack ish5 qmo4"
],
[
"unstack kmm3 rvw2"
],
[
"put-down kmm3"
],
[
"pick-up rvw2"
],
[
"stack rvw2 kmm3"
],
[
"unstack ish5 qmo4"
],
[
"stack ish5 rvw2"
],
[
"unstack qmo4 nki1"
]
] |
[
"(on-table rvw2) (on-table nki1) (holding qmo4) (on kmm3 rvw2) (on ish5 kmm3) (clear nki1) (clear ish5)",
"(on qmo4 nki1) (arm-empty) (on-table rvw2) (on-table nki1) (on kmm3 rvw2) (clear qmo4) (on ish5 kmm3) (clear ish5)",
"(on qmo4 nki1) (on-table rvw2) (on-table nki1) (on kmm3 rvw2) (clear qmo4) (holding ish5) (clear kmm3)",
"(on qmo4 nki1) (on ish5 qmo4) (on-table rvw2) (arm-empty) (on-table nki1) (on kmm3 rvw2) (clear kmm3) (clear ish5)",
"(clear rvw2) (on qmo4 nki1) (on ish5 qmo4) (on-table rvw2) (on-table nki1) (holding kmm3) (clear ish5)",
"(on qmo4 nki1) (on ish5 qmo4) (on-table rvw2) (arm-empty) (clear ish5) (clear rvw2) (on-table nki1) (clear kmm3) (on-table kmm3)",
"(on qmo4 nki1) (on ish5 qmo4) (on-table nki1) (holding rvw2) (clear kmm3) (on-table kmm3) (clear ish5)",
"(clear rvw2) (on qmo4 nki1) (on ish5 qmo4) (arm-empty) (on-table nki1) (on rvw2 kmm3) (on-table kmm3) (clear ish5)",
"(clear rvw2) (on qmo4 nki1) (on-table nki1) (clear qmo4) (holding ish5) (on rvw2 kmm3) (on-table kmm3)",
"(on qmo4 nki1) (arm-empty) (on-table nki1) (on ish5 rvw2) (clear qmo4) (on rvw2 kmm3) (on-table kmm3) (clear ish5)",
"(on-table nki1) (holding qmo4) (on ish5 rvw2) (on rvw2 kmm3) (clear nki1) (on-table kmm3) (clear ish5)"
] |
file_204443
|
GOAL: (clear tbw2) (on-table tbw2) (holding gvo5) (on-table iuj4) (on rbe1 iuj4) (on lff3 rbe1) (clear lff3)
|
GOAL: (clear tbw2) (on-table tbw2) (holding gvo5) (on-table iuj4) (on rbe1 iuj4) (on lff3 rbe1) (clear lff3)
STATE: (holding tbw2) (on gvo5 lff3) (on-table iuj4) (on rbe1 iuj4) (on lff3 rbe1) (clear gvo5)
|
[
[
"put-down tbw2"
],
[
"unstack gvo5 lff3"
]
] |
[
"(arm-empty) (on-table tbw2) (on gvo5 lff3) (on lff3 rbe1) (clear gvo5) (clear tbw2) (on-table iuj4) (on rbe1 iuj4)",
"(clear tbw2) (on-table tbw2) (holding gvo5) (on-table iuj4) (on rbe1 iuj4) (on lff3 rbe1) (clear lff3)"
] |
file_117011
|
GOAL: (clear wdy2) (on del4 vba1) (arm-empty) (on-table zvg5) (on-table vba1) (clear del4) (on wdy2 zvg5) (clear lio3) (on-table lio3)
|
GOAL: (clear wdy2) (on del4 vba1) (arm-empty) (on-table zvg5) (on-table vba1) (clear del4) (on wdy2 zvg5) (clear lio3) (on-table lio3)
STATE: (arm-empty) (on zvg5 wdy2) (on del4 lio3) (on vba1 del4) (on wdy2 vba1) (on-table lio3) (clear zvg5)
|
[
[
"unstack zvg5 wdy2"
],
[
"put-down zvg5"
],
[
"unstack wdy2 vba1"
],
[
"stack wdy2 zvg5"
],
[
"unstack vba1 del4"
],
[
"put-down vba1"
],
[
"unstack del4 lio3"
],
[
"stack del4 vba1"
]
] |
[
"(holding zvg5) (on wdy2 vba1) (clear wdy2) (on del4 lio3) (on vba1 del4) (on-table lio3)",
"(arm-empty) (on-table zvg5) (on wdy2 vba1) (clear zvg5) (clear wdy2) (on del4 lio3) (on vba1 del4) (on-table lio3)",
"(on-table zvg5) (holding wdy2) (on del4 lio3) (on vba1 del4) (clear vba1) (on-table lio3) (clear zvg5)",
"(clear wdy2) (arm-empty) (on-table zvg5) (on del4 lio3) (on vba1 del4) (on wdy2 zvg5) (clear vba1) (on-table lio3)",
"(holding vba1) (clear wdy2) (on-table zvg5) (clear del4) (on del4 lio3) (on wdy2 zvg5) (on-table lio3)",
"(arm-empty) (on-table zvg5) (clear del4) (on wdy2 zvg5) (clear wdy2) (on-table vba1) (on del4 lio3) (clear vba1) (on-table lio3)",
"(clear wdy2) (on-table zvg5) (on-table vba1) (holding del4) (on wdy2 zvg5) (clear lio3) (clear vba1) (on-table lio3)",
"(clear wdy2) (on del4 vba1) (arm-empty) (on-table zvg5) (on-table vba1) (clear del4) (on wdy2 zvg5) (clear lio3) (on-table lio3)"
] |
file_89610
|
GOAL: (arm-empty) (on-table tpw2) (on-table cko5) (on-table zoz1) (on oiu3 tpw2) (clear sof4) (on-table sof4) (clear oiu3) (clear zoz1) (clear cko5)
|
GOAL: (arm-empty) (on-table tpw2) (on-table cko5) (on-table zoz1) (on oiu3 tpw2) (clear sof4) (on-table sof4) (clear oiu3) (clear zoz1) (clear cko5)
STATE: (on sof4 zoz1) (on zoz1 oiu3) (arm-empty) (on-table cko5) (on oiu3 tpw2) (clear sof4) (on tpw2 cko5)
|
[
[
"unstack sof4 zoz1"
],
[
"put-down sof4"
],
[
"unstack zoz1 oiu3"
],
[
"put-down zoz1"
],
[
"unstack oiu3 tpw2"
],
[
"stack oiu3 zoz1"
],
[
"unstack tpw2 cko5"
],
[
"put-down tpw2"
],
[
"unstack oiu3 zoz1"
],
[
"stack oiu3 tpw2"
]
] |
[
"(on zoz1 oiu3) (on-table cko5) (holding sof4) (on tpw2 cko5) (on oiu3 tpw2) (clear zoz1)",
"(on zoz1 oiu3) (arm-empty) (on-table cko5) (clear sof4) (on tpw2 cko5) (on oiu3 tpw2) (on-table sof4) (clear zoz1)",
"(holding zoz1) (on-table cko5) (on oiu3 tpw2) (clear sof4) (on-table sof4) (on tpw2 cko5) (clear oiu3)",
"(arm-empty) (on-table cko5) (clear sof4) (on tpw2 cko5) (on-table zoz1) (on oiu3 tpw2) (on-table sof4) (clear oiu3) (clear zoz1)",
"(clear tpw2) (on-table cko5) (on-table zoz1) (clear sof4) (on-table sof4) (on tpw2 cko5) (holding oiu3) (clear zoz1)",
"(clear tpw2) (arm-empty) (on-table cko5) (on-table zoz1) (clear sof4) (on-table sof4) (on oiu3 zoz1) (on tpw2 cko5) (clear oiu3)",
"(on-table cko5) (on-table zoz1) (clear sof4) (on-table sof4) (holding tpw2) (on oiu3 zoz1) (clear oiu3) (clear cko5)",
"(clear tpw2) (arm-empty) (on-table tpw2) (on-table cko5) (on-table zoz1) (clear sof4) (on-table sof4) (on oiu3 zoz1) (clear oiu3) (clear cko5)",
"(clear tpw2) (on-table tpw2) (on-table cko5) (on-table zoz1) (clear sof4) (on-table sof4) (holding oiu3) (clear zoz1) (clear cko5)",
"(arm-empty) (on-table tpw2) (on-table cko5) (on-table zoz1) (on oiu3 tpw2) (clear sof4) (on-table sof4) (clear oiu3) (clear zoz1) (clear cko5)"
] |
file_68853
|
GOAL: (holding bla1) (on-table dch5) (on gky3 vkf2) (on-table bnr4) (on vkf2 bnr4) (clear gky3) (clear dch5)
|
GOAL: (holding bla1) (on-table dch5) (on gky3 vkf2) (on-table bnr4) (on vkf2 bnr4) (clear gky3) (clear dch5)
STATE: (on-table bla1) (on gky3 vkf2) (holding dch5) (on-table bnr4) (on vkf2 bnr4) (clear gky3) (clear bla1)
|
[
[
"put-down dch5"
],
[
"pick-up bla1"
]
] |
[
"(arm-empty) (on-table dch5) (on vkf2 bnr4) (clear dch5) (on-table bla1) (on gky3 vkf2) (on-table bnr4) (clear gky3) (clear bla1)",
"(holding bla1) (on-table dch5) (on gky3 vkf2) (on-table bnr4) (on vkf2 bnr4) (clear gky3) (clear dch5)"
] |
file_60359
|
GOAL: (on fwq1 rlr3) (on emh5 fle4) (on-table lim2) (arm-empty) (on fle4 lim2) (clear fwq1) (on-table rlr3) (clear emh5)
|
GOAL: (on fwq1 rlr3) (on emh5 fle4) (on-table lim2) (arm-empty) (on fle4 lim2) (clear fwq1) (on-table rlr3) (clear emh5)
STATE: (on emh5 fle4) (on-table lim2) (on-table fwq1) (on fle4 lim2) (holding rlr3) (clear fwq1) (clear emh5)
|
[
[
"put-down rlr3"
],
[
"pick-up fwq1"
],
[
"stack fwq1 rlr3"
]
] |
[
"(arm-empty) (on emh5 fle4) (on-table lim2) (clear emh5) (on-table fwq1) (on fle4 lim2) (clear rlr3) (clear fwq1) (on-table rlr3)",
"(holding fwq1) (on emh5 fle4) (on-table lim2) (on fle4 lim2) (clear rlr3) (on-table rlr3) (clear emh5)",
"(on fwq1 rlr3) (on emh5 fle4) (on-table lim2) (arm-empty) (on fle4 lim2) (clear fwq1) (on-table rlr3) (clear emh5)"
] |
file_26409
|
GOAL: (clear zmc2) (arm-empty) (on-table zmc2) (on-table xoi1) (clear qks4) (on eaj5 ezq3) (on-table qks4) (clear xoi1) (on-table ezq3) (clear eaj5)
|
GOAL: (clear zmc2) (arm-empty) (on-table zmc2) (on-table xoi1) (clear qks4) (on eaj5 ezq3) (on-table qks4) (clear xoi1) (on-table ezq3) (clear eaj5)
STATE: (arm-empty) (on-table zmc2) (on-table xoi1) (on ezq3 zmc2) (clear qks4) (on eaj5 ezq3) (on-table qks4) (clear xoi1) (clear eaj5)
|
[
[
"unstack eaj5 ezq3"
],
[
"stack eaj5 xoi1"
],
[
"unstack ezq3 zmc2"
],
[
"put-down ezq3"
],
[
"unstack eaj5 xoi1"
],
[
"stack eaj5 ezq3"
]
] |
[
"(on-table zmc2) (on-table xoi1) (on ezq3 zmc2) (clear qks4) (holding eaj5) (on-table qks4) (clear ezq3) (clear xoi1)",
"(arm-empty) (on-table zmc2) (on-table xoi1) (on ezq3 zmc2) (clear qks4) (on eaj5 xoi1) (on-table qks4) (clear ezq3) (clear eaj5)",
"(clear zmc2) (on-table zmc2) (on-table xoi1) (clear qks4) (on eaj5 xoi1) (on-table qks4) (holding ezq3) (clear eaj5)",
"(clear zmc2) (arm-empty) (on-table zmc2) (on-table xoi1) (clear qks4) (on eaj5 xoi1) (on-table qks4) (clear ezq3) (on-table ezq3) (clear eaj5)",
"(clear zmc2) (on-table zmc2) (on-table xoi1) (clear qks4) (holding eaj5) (on-table qks4) (clear ezq3) (clear xoi1) (on-table ezq3)",
"(clear zmc2) (arm-empty) (on-table zmc2) (on-table xoi1) (clear qks4) (on eaj5 ezq3) (on-table qks4) (clear xoi1) (on-table ezq3) (clear eaj5)"
] |
file_115593
|
GOAL: (on uui1 esd5) (clear pwo2) (arm-empty) (on-table esd5) (clear fpc4) (on-table fpc4) (on pwo2 uui1) (clear rqv3) (on-table rqv3)
|
GOAL: (on uui1 esd5) (clear pwo2) (arm-empty) (on-table esd5) (clear fpc4) (on-table fpc4) (on pwo2 uui1) (clear rqv3) (on-table rqv3)
STATE: (on uui1 esd5) (clear pwo2) (arm-empty) (on-table pwo2) (on-table esd5) (clear fpc4) (on fpc4 rqv3) (on rqv3 uui1)
|
[
[
"unstack fpc4 rqv3"
],
[
"put-down fpc4"
],
[
"unstack rqv3 uui1"
],
[
"put-down rqv3"
],
[
"pick-up pwo2"
],
[
"stack pwo2 uui1"
]
] |
[
"(on uui1 esd5) (clear pwo2) (on-table pwo2) (on-table esd5) (holding fpc4) (on rqv3 uui1) (clear rqv3)",
"(on uui1 esd5) (arm-empty) (on-table pwo2) (on-table esd5) (clear fpc4) (on rqv3 uui1) (clear pwo2) (on-table fpc4) (clear rqv3)",
"(on uui1 esd5) (clear pwo2) (on-table pwo2) (on-table esd5) (clear fpc4) (on-table fpc4) (holding rqv3) (clear uui1)",
"(on uui1 esd5) (clear pwo2) (arm-empty) (on-table pwo2) (on-table esd5) (clear fpc4) (on-table fpc4) (clear rqv3) (clear uui1) (on-table rqv3)",
"(on uui1 esd5) (on-table esd5) (clear fpc4) (on-table fpc4) (holding pwo2) (clear rqv3) (clear uui1) (on-table rqv3)",
"(on uui1 esd5) (clear pwo2) (arm-empty) (on-table esd5) (clear fpc4) (on-table fpc4) (on pwo2 uui1) (clear rqv3) (on-table rqv3)"
] |
file_225376
|
GOAL: (on aak1 tke5) (arm-empty) (on-table yox2) (on tke5 yox2) (clear ign4) (on-table ign4) (on jyh3 aak1) (clear jyh3)
|
GOAL: (on aak1 tke5) (arm-empty) (on-table yox2) (on tke5 yox2) (clear ign4) (on-table ign4) (on jyh3 aak1) (clear jyh3)
STATE: (on aak1 jyh3) (arm-empty) (on tke5 yox2) (clear ign4) (on-table ign4) (on yox2 aak1) (on-table jyh3) (clear tke5)
|
[
[
"unstack tke5 yox2"
],
[
"stack tke5 ign4"
],
[
"unstack yox2 aak1"
],
[
"put-down yox2"
],
[
"unstack tke5 ign4"
],
[
"stack tke5 yox2"
],
[
"unstack aak1 jyh3"
],
[
"stack aak1 tke5"
],
[
"pick-up jyh3"
],
[
"stack jyh3 aak1"
]
] |
[
"(clear yox2) (on aak1 jyh3) (clear ign4) (holding tke5) (on-table ign4) (on yox2 aak1) (on-table jyh3)",
"(clear yox2) (on aak1 jyh3) (on tke5 ign4) (arm-empty) (on-table ign4) (on yox2 aak1) (on-table jyh3) (clear tke5)",
"(on aak1 jyh3) (on tke5 ign4) (on-table ign4) (holding yox2) (clear aak1) (on-table jyh3) (clear tke5)",
"(on aak1 jyh3) (on tke5 ign4) (on-table yox2) (arm-empty) (clear tke5) (clear yox2) (on-table ign4) (clear aak1) (on-table jyh3)",
"(clear yox2) (on aak1 jyh3) (on-table yox2) (clear ign4) (holding tke5) (on-table ign4) (clear aak1) (on-table jyh3)",
"(on aak1 jyh3) (arm-empty) (on-table yox2) (on tke5 yox2) (clear ign4) (on-table ign4) (clear aak1) (on-table jyh3) (clear tke5)",
"(holding aak1) (on-table yox2) (on tke5 yox2) (clear ign4) (on-table ign4) (clear jyh3) (on-table jyh3) (clear tke5)",
"(on aak1 tke5) (arm-empty) (on-table yox2) (on tke5 yox2) (clear ign4) (on-table ign4) (clear jyh3) (clear aak1) (on-table jyh3)",
"(on aak1 tke5) (on-table yox2) (on tke5 yox2) (clear ign4) (on-table ign4) (holding jyh3) (clear aak1)",
"(on aak1 tke5) (arm-empty) (on-table yox2) (on tke5 yox2) (clear ign4) (on-table ign4) (on jyh3 aak1) (clear jyh3)"
] |
file_92958
|
GOAL: (on sgg4 wyf1) (arm-empty) (on-table byv2) (on-table axt5) (clear sgg4) (on wyf1 byv2) (clear axt5) (clear mrm3) (on-table mrm3)
|
GOAL: (on sgg4 wyf1) (arm-empty) (on-table byv2) (on-table axt5) (clear sgg4) (on wyf1 byv2) (clear axt5) (clear mrm3) (on-table mrm3)
STATE: (on mrm3 sgg4) (on sgg4 wyf1) (arm-empty) (on-table byv2) (on axt5 mrm3) (on wyf1 byv2) (clear axt5)
|
[
[
"unstack axt5 mrm3"
],
[
"put-down axt5"
],
[
"unstack mrm3 sgg4"
],
[
"put-down mrm3"
]
] |
[
"(on sgg4 wyf1) (on-table byv2) (holding axt5) (on wyf1 byv2) (on mrm3 sgg4) (clear mrm3)",
"(on sgg4 wyf1) (arm-empty) (on-table byv2) (on-table axt5) (on wyf1 byv2) (clear axt5) (on mrm3 sgg4) (clear mrm3)",
"(on sgg4 wyf1) (on-table byv2) (on-table axt5) (clear sgg4) (on wyf1 byv2) (holding mrm3) (clear axt5)",
"(on sgg4 wyf1) (arm-empty) (on-table byv2) (on-table axt5) (clear sgg4) (on wyf1 byv2) (clear axt5) (clear mrm3) (on-table mrm3)"
] |
file_114945
|
GOAL: (on yfq1 ymj5) (on-table ymj5) (holding icd4) (on qep3 rvi2) (on rvi2 yfq1) (clear qep3)
|
GOAL: (on yfq1 ymj5) (on-table ymj5) (holding icd4) (on qep3 rvi2) (on rvi2 yfq1) (clear qep3)
STATE: (on qep3 icd4) (clear rvi2) (arm-empty) (on-table rvi2) (on-table ymj5) (on-table yfq1) (on-table icd4) (clear qep3) (clear yfq1) (clear ymj5)
|
[
[
"pick-up yfq1"
],
[
"stack yfq1 ymj5"
],
[
"pick-up rvi2"
],
[
"stack rvi2 yfq1"
],
[
"unstack qep3 icd4"
],
[
"stack qep3 rvi2"
],
[
"pick-up icd4"
]
] |
[
"(holding yfq1) (on qep3 icd4) (clear rvi2) (on-table rvi2) (on-table ymj5) (on-table icd4) (clear qep3) (clear ymj5)",
"(on qep3 icd4) (clear rvi2) (on yfq1 ymj5) (arm-empty) (on-table rvi2) (on-table ymj5) (on-table icd4) (clear qep3) (clear yfq1)",
"(on qep3 icd4) (on yfq1 ymj5) (on-table ymj5) (on-table icd4) (holding rvi2) (clear qep3) (clear yfq1)",
"(on qep3 icd4) (on yfq1 ymj5) (clear rvi2) (arm-empty) (on-table ymj5) (on-table icd4) (on rvi2 yfq1) (clear qep3)",
"(on yfq1 ymj5) (clear rvi2) (on-table ymj5) (clear icd4) (on-table icd4) (on rvi2 yfq1) (holding qep3)",
"(on yfq1 ymj5) (arm-empty) (on-table ymj5) (on qep3 rvi2) (clear icd4) (on-table icd4) (on rvi2 yfq1) (clear qep3)",
"(on yfq1 ymj5) (on-table ymj5) (holding icd4) (on qep3 rvi2) (on rvi2 yfq1) (clear qep3)"
] |
file_141698
|
GOAL: (on huu3 tag5) (arm-empty) (on tag5 dzr2) (on-table fov4) (on ttp1 fov4) (on dzr2 ttp1) (clear huu3)
|
GOAL: (on huu3 tag5) (arm-empty) (on tag5 dzr2) (on-table fov4) (on ttp1 fov4) (on dzr2 ttp1) (clear huu3)
STATE: (on ttp1 tag5) (arm-empty) (on-table tag5) (clear fov4) (on fov4 dzr2) (on dzr2 ttp1) (clear huu3) (on-table huu3)
|
[
[
"unstack fov4 dzr2"
],
[
"put-down fov4"
],
[
"unstack dzr2 ttp1"
],
[
"put-down dzr2"
],
[
"unstack ttp1 tag5"
],
[
"stack ttp1 fov4"
],
[
"pick-up tag5"
],
[
"stack tag5 huu3"
],
[
"pick-up dzr2"
],
[
"stack dzr2 ttp1"
],
[
"unstack tag5 huu3"
],
[
"stack tag5 dzr2"
],
[
"pick-up huu3"
],
[
"stack huu3 tag5"
]
] |
[
"(on ttp1 tag5) (clear dzr2) (on-table tag5) (holding fov4) (on dzr2 ttp1) (clear huu3) (on-table huu3)",
"(on ttp1 tag5) (arm-empty) (on-table tag5) (clear fov4) (on dzr2 ttp1) (clear dzr2) (on-table fov4) (clear huu3) (on-table huu3)",
"(on ttp1 tag5) (on-table tag5) (clear fov4) (on-table fov4) (holding dzr2) (clear huu3) (clear ttp1) (on-table huu3)",
"(on ttp1 tag5) (clear dzr2) (arm-empty) (on-table dzr2) (on-table tag5) (clear fov4) (on-table fov4) (clear huu3) (clear ttp1) (on-table huu3)",
"(holding ttp1) (clear dzr2) (on-table dzr2) (on-table tag5) (clear fov4) (on-table fov4) (clear huu3) (on-table huu3) (clear tag5)",
"(clear dzr2) (arm-empty) (on-table dzr2) (on-table tag5) (on-table fov4) (on ttp1 fov4) (clear huu3) (clear ttp1) (on-table huu3) (clear tag5)",
"(clear dzr2) (on-table dzr2) (holding tag5) (on-table fov4) (on ttp1 fov4) (clear huu3) (clear ttp1) (on-table huu3)",
"(clear dzr2) (arm-empty) (on-table dzr2) (on tag5 huu3) (on-table fov4) (on ttp1 fov4) (clear ttp1) (on-table huu3) (clear tag5)",
"(holding dzr2) (on tag5 huu3) (on-table fov4) (on ttp1 fov4) (clear ttp1) (on-table huu3) (clear tag5)",
"(clear dzr2) (arm-empty) (on tag5 huu3) (on-table fov4) (on ttp1 fov4) (on dzr2 ttp1) (on-table huu3) (clear tag5)",
"(clear dzr2) (holding tag5) (on-table fov4) (on ttp1 fov4) (on dzr2 ttp1) (clear huu3) (on-table huu3)",
"(arm-empty) (on tag5 dzr2) (on-table fov4) (on ttp1 fov4) (on dzr2 ttp1) (clear huu3) (on-table huu3) (clear tag5)",
"(on tag5 dzr2) (on-table fov4) (on ttp1 fov4) (on dzr2 ttp1) (holding huu3) (clear tag5)",
"(on huu3 tag5) (arm-empty) (on tag5 dzr2) (on-table fov4) (on ttp1 fov4) (on dzr2 ttp1) (clear huu3)"
] |
file_123799
|
GOAL: (on atq3 wrm4) (on wrm4 xmw1) (arm-empty) (on-table apb2) (on cfj5 atq3) (on xmw1 apb2) (clear cfj5)
|
GOAL: (on atq3 wrm4) (on wrm4 xmw1) (arm-empty) (on-table apb2) (on cfj5 atq3) (on xmw1 apb2) (clear cfj5)
STATE: (on atq3 wrm4) (clear apb2) (arm-empty) (on xmw1 cfj5) (on cfj5 atq3) (on-table wrm4) (on apb2 xmw1)
|
[
[
"unstack apb2 xmw1"
],
[
"put-down apb2"
],
[
"unstack xmw1 cfj5"
],
[
"stack xmw1 apb2"
],
[
"unstack cfj5 atq3"
],
[
"put-down cfj5"
],
[
"unstack atq3 wrm4"
],
[
"stack atq3 cfj5"
],
[
"pick-up wrm4"
],
[
"stack wrm4 xmw1"
],
[
"unstack atq3 cfj5"
],
[
"stack atq3 wrm4"
],
[
"pick-up cfj5"
],
[
"stack cfj5 atq3"
]
] |
[
"(on xmw1 cfj5) (on cfj5 atq3) (on atq3 wrm4) (on-table wrm4) (holding apb2) (clear xmw1)",
"(on xmw1 cfj5) (on atq3 wrm4) (on-table wrm4) (clear apb2) (on-table apb2) (arm-empty) (clear xmw1) (on cfj5 atq3)",
"(holding xmw1) (on atq3 wrm4) (clear apb2) (on-table apb2) (on cfj5 atq3) (on-table wrm4) (clear cfj5)",
"(on atq3 wrm4) (arm-empty) (on-table apb2) (on cfj5 atq3) (on-table wrm4) (on xmw1 apb2) (clear xmw1) (clear cfj5)",
"(on atq3 wrm4) (on-table apb2) (holding cfj5) (on-table wrm4) (clear atq3) (on xmw1 apb2) (clear xmw1)",
"(arm-empty) (on-table apb2) (on-table cfj5) (on xmw1 apb2) (clear cfj5) (on atq3 wrm4) (on-table wrm4) (clear atq3) (clear xmw1)",
"(on-table apb2) (on-table cfj5) (clear wrm4) (on-table wrm4) (on xmw1 apb2) (clear xmw1) (holding atq3) (clear cfj5)",
"(on atq3 cfj5) (arm-empty) (on-table apb2) (on-table cfj5) (clear wrm4) (on-table wrm4) (clear atq3) (on xmw1 apb2) (clear xmw1)",
"(on atq3 cfj5) (on-table apb2) (on-table cfj5) (holding wrm4) (clear atq3) (on xmw1 apb2) (clear xmw1)",
"(on atq3 cfj5) (on wrm4 xmw1) (arm-empty) (on-table apb2) (on-table cfj5) (clear wrm4) (clear atq3) (on xmw1 apb2)",
"(on wrm4 xmw1) (on-table apb2) (on-table cfj5) (clear wrm4) (on xmw1 apb2) (holding atq3) (clear cfj5)",
"(on atq3 wrm4) (on wrm4 xmw1) (arm-empty) (on-table apb2) (on-table cfj5) (clear atq3) (on xmw1 apb2) (clear cfj5)",
"(on atq3 wrm4) (on wrm4 xmw1) (on-table apb2) (holding cfj5) (clear atq3) (on xmw1 apb2)",
"(on atq3 wrm4) (on wrm4 xmw1) (arm-empty) (on-table apb2) (on cfj5 atq3) (on xmw1 apb2) (clear cfj5)"
] |
file_74566
|
GOAL: (on bwc1 uuc5) (on-table uuc5) (clear bsc4) (on-table bsc4) (holding yzc2) (clear uhm3) (clear bwc1) (on-table uhm3)
|
GOAL: (on bwc1 uuc5) (on-table uuc5) (clear bsc4) (on-table bsc4) (holding yzc2) (clear uhm3) (clear bwc1) (on-table uhm3)
STATE: (clear bwc1) (on-table uuc5) (on-table bsc4) (on yzc2 bsc4) (holding uhm3) (on bwc1 yzc2) (clear uuc5)
|
[
[
"put-down uhm3"
],
[
"unstack bwc1 yzc2"
],
[
"stack bwc1 uuc5"
],
[
"unstack yzc2 bsc4"
]
] |
[
"(arm-empty) (on-table uuc5) (on yzc2 bsc4) (on bwc1 yzc2) (clear uuc5) (on-table bsc4) (clear uhm3) (clear bwc1) (on-table uhm3)",
"(holding bwc1) (clear yzc2) (on-table uuc5) (on-table bsc4) (on yzc2 bsc4) (clear uhm3) (on-table uhm3) (clear uuc5)",
"(on bwc1 uuc5) (clear yzc2) (arm-empty) (on-table uuc5) (on-table bsc4) (on yzc2 bsc4) (clear uhm3) (clear bwc1) (on-table uhm3)",
"(on bwc1 uuc5) (on-table uuc5) (clear bsc4) (on-table bsc4) (holding yzc2) (clear uhm3) (clear bwc1) (on-table uhm3)"
] |
file_108810
|
GOAL: (on awz3 wxr5) (arm-empty) (on-table nlj2) (clear elz4) (on wxr5 cxp1) (on elz4 awz3) (on cxp1 nlj2)
|
GOAL: (on awz3 wxr5) (arm-empty) (on-table nlj2) (clear elz4) (on wxr5 cxp1) (on elz4 awz3) (on cxp1 nlj2)
STATE: (on cxp1 wxr5) (clear nlj2) (on elz4 cxp1) (arm-empty) (on-table nlj2) (clear elz4) (on wxr5 awz3) (on-table awz3)
|
[
[
"unstack elz4 cxp1"
],
[
"put-down elz4"
],
[
"unstack cxp1 wxr5"
],
[
"stack cxp1 nlj2"
],
[
"unstack wxr5 awz3"
],
[
"stack wxr5 cxp1"
],
[
"pick-up awz3"
],
[
"stack awz3 wxr5"
],
[
"pick-up elz4"
],
[
"stack elz4 awz3"
]
] |
[
"(on cxp1 wxr5) (clear nlj2) (on-table nlj2) (holding elz4) (on wxr5 awz3) (clear cxp1) (on-table awz3)",
"(on cxp1 wxr5) (arm-empty) (on-table nlj2) (clear elz4) (on wxr5 awz3) (clear nlj2) (on-table elz4) (clear cxp1) (on-table awz3)",
"(holding cxp1) (clear nlj2) (on-table nlj2) (clear elz4) (on wxr5 awz3) (on-table elz4) (on-table awz3) (clear wxr5)",
"(arm-empty) (on-table nlj2) (clear elz4) (on wxr5 awz3) (on-table elz4) (on cxp1 nlj2) (clear cxp1) (on-table awz3) (clear wxr5)",
"(on-table nlj2) (clear elz4) (holding wxr5) (on-table elz4) (clear awz3) (on cxp1 nlj2) (clear cxp1) (on-table awz3)",
"(arm-empty) (on-table nlj2) (clear elz4) (on wxr5 cxp1) (on-table elz4) (clear awz3) (on cxp1 nlj2) (on-table awz3) (clear wxr5)",
"(on-table nlj2) (clear elz4) (on wxr5 cxp1) (on-table elz4) (on cxp1 nlj2) (holding awz3) (clear wxr5)",
"(on awz3 wxr5) (arm-empty) (on-table nlj2) (clear elz4) (on wxr5 cxp1) (on-table elz4) (clear awz3) (on cxp1 nlj2)",
"(on awz3 wxr5) (on-table nlj2) (holding elz4) (on wxr5 cxp1) (clear awz3) (on cxp1 nlj2)",
"(on awz3 wxr5) (arm-empty) (on-table nlj2) (clear elz4) (on wxr5 cxp1) (on elz4 awz3) (on cxp1 nlj2)"
] |
file_96012
|
GOAL: (on sfz1 fzp5) (clear qed2) (on-table qed2) (on-table fzp5) (holding ixl4) (clear lip3) (clear sfz1) (on-table lip3)
|
GOAL: (on sfz1 fzp5) (clear qed2) (on-table qed2) (on-table fzp5) (holding ixl4) (clear lip3) (clear sfz1) (on-table lip3)
STATE: (clear qed2) (arm-empty) (on-table fzp5) (on-table sfz1) (clear ixl4) (on-table ixl4) (on qed2 fzp5) (clear lip3) (clear sfz1) (on-table lip3)
|
[
[
"pick-up sfz1"
],
[
"stack sfz1 lip3"
],
[
"unstack qed2 fzp5"
],
[
"put-down qed2"
],
[
"pick-up ixl4"
],
[
"stack ixl4 qed2"
],
[
"unstack sfz1 lip3"
],
[
"stack sfz1 fzp5"
],
[
"unstack ixl4 qed2"
]
] |
[
"(holding sfz1) (clear qed2) (on-table fzp5) (clear ixl4) (on-table ixl4) (on qed2 fzp5) (clear lip3) (on-table lip3)",
"(clear qed2) (on sfz1 lip3) (arm-empty) (on-table fzp5) (clear ixl4) (on-table ixl4) (on qed2 fzp5) (clear sfz1) (on-table lip3)",
"(on sfz1 lip3) (on-table fzp5) (clear ixl4) (on-table ixl4) (holding qed2) (clear sfz1) (on-table lip3) (clear fzp5)",
"(clear qed2) (on sfz1 lip3) (arm-empty) (on-table qed2) (on-table fzp5) (clear ixl4) (on-table ixl4) (clear sfz1) (on-table lip3) (clear fzp5)",
"(clear qed2) (on sfz1 lip3) (on-table qed2) (on-table fzp5) (holding ixl4) (clear sfz1) (on-table lip3) (clear fzp5)",
"(on sfz1 lip3) (arm-empty) (on-table qed2) (on-table fzp5) (clear ixl4) (on ixl4 qed2) (clear sfz1) (on-table lip3) (clear fzp5)",
"(holding sfz1) (on-table qed2) (on-table fzp5) (clear ixl4) (on ixl4 qed2) (clear lip3) (on-table lip3) (clear fzp5)",
"(on sfz1 fzp5) (arm-empty) (on-table qed2) (on-table fzp5) (clear ixl4) (on ixl4 qed2) (clear lip3) (clear sfz1) (on-table lip3)",
"(on sfz1 fzp5) (clear qed2) (on-table qed2) (on-table fzp5) (holding ixl4) (clear lip3) (clear sfz1) (on-table lip3)"
] |
file_182096
|
GOAL: (on wlj1 wax5) (clear bbj2) (arm-empty) (on wax5 zcl4) (on zcl4 fhn3) (on bbj2 wlj1) (on-table fhn3)
|
GOAL: (on wlj1 wax5) (clear bbj2) (arm-empty) (on wax5 zcl4) (on zcl4 fhn3) (on bbj2 wlj1) (on-table fhn3)
STATE: (clear bbj2) (arm-empty) (on-table bbj2) (on-table wax5) (on-table wlj1) (clear zcl4) (on zcl4 fhn3) (clear wlj1) (on-table fhn3) (clear wax5)
|
[
[
"pick-up wax5"
],
[
"stack wax5 zcl4"
],
[
"pick-up wlj1"
],
[
"stack wlj1 wax5"
],
[
"pick-up bbj2"
],
[
"stack bbj2 wlj1"
]
] |
[
"(clear bbj2) (on-table bbj2) (on-table wlj1) (clear zcl4) (on zcl4 fhn3) (holding wax5) (clear wlj1) (on-table fhn3)",
"(clear bbj2) (arm-empty) (on wax5 zcl4) (on-table bbj2) (on-table wlj1) (on zcl4 fhn3) (clear wlj1) (on-table fhn3) (clear wax5)",
"(holding wlj1) (clear bbj2) (on wax5 zcl4) (on-table bbj2) (on zcl4 fhn3) (on-table fhn3) (clear wax5)",
"(on wlj1 wax5) (clear bbj2) (arm-empty) (on wax5 zcl4) (on-table bbj2) (on zcl4 fhn3) (clear wlj1) (on-table fhn3)",
"(on wlj1 wax5) (on wax5 zcl4) (on zcl4 fhn3) (holding bbj2) (clear wlj1) (on-table fhn3)",
"(on wlj1 wax5) (clear bbj2) (arm-empty) (on wax5 zcl4) (on zcl4 fhn3) (on bbj2 wlj1) (on-table fhn3)"
] |
file_194153
|
GOAL: (on nvx2 bdc4) (holding auj5) (on-table bdc4) (on ydc3 vjh1) (clear ydc3) (on vjh1 nvx2)
|
GOAL: (on nvx2 bdc4) (holding auj5) (on-table bdc4) (on ydc3 vjh1) (clear ydc3) (on vjh1 nvx2)
STATE: (clear nvx2) (on ydc3 auj5) (arm-empty) (on-table nvx2) (on-table vjh1) (clear bdc4) (on auj5 vjh1) (on-table bdc4) (clear ydc3)
|
[
[
"unstack ydc3 auj5"
],
[
"stack ydc3 bdc4"
],
[
"unstack auj5 vjh1"
],
[
"put-down auj5"
],
[
"unstack ydc3 bdc4"
],
[
"stack ydc3 auj5"
],
[
"pick-up nvx2"
],
[
"stack nvx2 bdc4"
],
[
"pick-up vjh1"
],
[
"stack vjh1 nvx2"
],
[
"unstack ydc3 auj5"
],
[
"stack ydc3 vjh1"
],
[
"pick-up auj5"
]
] |
[
"(clear nvx2) (on-table nvx2) (on-table vjh1) (clear bdc4) (on auj5 vjh1) (on-table bdc4) (holding ydc3) (clear auj5)",
"(on ydc3 bdc4) (clear nvx2) (arm-empty) (on-table nvx2) (on-table vjh1) (on auj5 vjh1) (on-table bdc4) (clear ydc3) (clear auj5)",
"(on ydc3 bdc4) (clear nvx2) (on-table nvx2) (on-table vjh1) (holding auj5) (on-table bdc4) (clear ydc3) (clear vjh1)",
"(on ydc3 bdc4) (clear nvx2) (arm-empty) (on-table nvx2) (on-table auj5) (on-table vjh1) (on-table bdc4) (clear ydc3) (clear vjh1) (clear auj5)",
"(clear nvx2) (on-table nvx2) (on-table auj5) (on-table vjh1) (clear bdc4) (on-table bdc4) (holding ydc3) (clear vjh1) (clear auj5)",
"(clear nvx2) (on ydc3 auj5) (arm-empty) (on-table nvx2) (on-table auj5) (on-table vjh1) (clear bdc4) (on-table bdc4) (clear ydc3) (clear vjh1)",
"(on ydc3 auj5) (on-table auj5) (on-table vjh1) (clear bdc4) (on-table bdc4) (holding nvx2) (clear ydc3) (clear vjh1)",
"(on ydc3 auj5) (clear nvx2) (arm-empty) (on-table auj5) (on-table vjh1) (on-table bdc4) (on nvx2 bdc4) (clear ydc3) (clear vjh1)",
"(holding vjh1) (on ydc3 auj5) (clear nvx2) (on-table auj5) (on-table bdc4) (on nvx2 bdc4) (clear ydc3)",
"(on ydc3 auj5) (arm-empty) (on-table auj5) (on-table bdc4) (on nvx2 bdc4) (clear ydc3) (on vjh1 nvx2) (clear vjh1)",
"(on-table auj5) (on-table bdc4) (on nvx2 bdc4) (on vjh1 nvx2) (clear vjh1) (holding ydc3) (clear auj5)",
"(arm-empty) (on-table auj5) (on nvx2 bdc4) (on-table bdc4) (on ydc3 vjh1) (clear ydc3) (on vjh1 nvx2) (clear auj5)",
"(on nvx2 bdc4) (holding auj5) (on-table bdc4) (on ydc3 vjh1) (clear ydc3) (on vjh1 nvx2)"
] |
file_102512
|
GOAL: (on orb1 lga5) (clear wyk2) (on-table lga5) (clear idi4) (on-table idi4) (on wyk2 orb1) (holding pdj3)
|
GOAL: (on orb1 lga5) (clear wyk2) (on-table lga5) (clear idi4) (on-table idi4) (on wyk2 orb1) (holding pdj3)
STATE: (on pdj3 idi4) (clear wyk2) (arm-empty) (on-table wyk2) (on-table orb1) (on lga5 pdj3) (on-table idi4) (clear orb1) (clear lga5)
|
[
[
"pick-up orb1"
],
[
"stack orb1 wyk2"
],
[
"unstack lga5 pdj3"
],
[
"put-down lga5"
],
[
"unstack orb1 wyk2"
],
[
"stack orb1 lga5"
],
[
"pick-up wyk2"
],
[
"stack wyk2 orb1"
],
[
"unstack pdj3 idi4"
]
] |
[
"(holding orb1) (on pdj3 idi4) (clear wyk2) (on-table wyk2) (on lga5 pdj3) (on-table idi4) (clear lga5)",
"(on pdj3 idi4) (arm-empty) (on-table wyk2) (on lga5 pdj3) (on-table idi4) (on orb1 wyk2) (clear orb1) (clear lga5)",
"(on pdj3 idi4) (on-table wyk2) (holding lga5) (on-table idi4) (clear pdj3) (on orb1 wyk2) (clear orb1)",
"(arm-empty) (on-table wyk2) (on-table lga5) (on orb1 wyk2) (clear lga5) (on pdj3 idi4) (on-table idi4) (clear pdj3) (clear orb1)",
"(holding orb1) (on pdj3 idi4) (clear wyk2) (on-table wyk2) (on-table lga5) (on-table idi4) (clear pdj3) (clear lga5)",
"(on pdj3 idi4) (clear wyk2) (on orb1 lga5) (arm-empty) (on-table wyk2) (on-table lga5) (on-table idi4) (clear pdj3) (clear orb1)",
"(on pdj3 idi4) (on orb1 lga5) (on-table lga5) (on-table idi4) (holding wyk2) (clear pdj3) (clear orb1)",
"(on pdj3 idi4) (on orb1 lga5) (clear wyk2) (arm-empty) (on-table lga5) (on-table idi4) (on wyk2 orb1) (clear pdj3)",
"(on orb1 lga5) (clear wyk2) (on-table lga5) (clear idi4) (on-table idi4) (on wyk2 orb1) (holding pdj3)"
] |
file_32200
|
GOAL: (arm-empty) (on-table yib2) (on odc5 yib2) (clear vrg4) (on gej3 lnn1) (clear odc5) (on-table lnn1) (on vrg4 gej3)
|
GOAL: (arm-empty) (on-table yib2) (on odc5 yib2) (clear vrg4) (on gej3 lnn1) (clear odc5) (on-table lnn1) (on vrg4 gej3)
STATE: (holding lnn1) (on-table yib2) (on vrg4 odc5) (on odc5 yib2) (clear vrg4) (clear gej3) (on-table gej3)
|
[
[
"put-down lnn1"
],
[
"pick-up gej3"
],
[
"stack gej3 lnn1"
],
[
"unstack vrg4 odc5"
],
[
"stack vrg4 gej3"
]
] |
[
"(arm-empty) (on-table yib2) (on vrg4 odc5) (on odc5 yib2) (clear vrg4) (on-table lnn1) (clear gej3) (clear lnn1) (on-table gej3)",
"(on-table yib2) (on vrg4 odc5) (on-table lnn1) (on odc5 yib2) (clear vrg4) (holding gej3) (clear lnn1)",
"(arm-empty) (on-table yib2) (on vrg4 odc5) (on-table lnn1) (on odc5 yib2) (clear vrg4) (on gej3 lnn1) (clear gej3)",
"(on-table yib2) (on-table lnn1) (holding vrg4) (on odc5 yib2) (on gej3 lnn1) (clear gej3) (clear odc5)",
"(arm-empty) (on-table yib2) (on odc5 yib2) (clear vrg4) (on gej3 lnn1) (clear odc5) (on-table lnn1) (on vrg4 gej3)"
] |
file_192078
|
GOAL: (on lpd3 qwu5) (clear qwo2) (on qwu5 chf4) (arm-empty) (on-table yxo1) (on-table chf4) (on qwo2 lpd3) (clear yxo1)
|
GOAL: (on lpd3 qwu5) (clear qwo2) (on qwu5 chf4) (arm-empty) (on-table yxo1) (on-table chf4) (on qwo2 lpd3) (clear yxo1)
STATE: (holding yxo1) (clear qwo2) (on lpd3 qwu5) (on qwu5 chf4) (on-table qwo2) (on-table chf4) (clear lpd3)
|
[
[
"put-down yxo1"
],
[
"pick-up qwo2"
],
[
"stack qwo2 lpd3"
]
] |
[
"(on lpd3 qwu5) (arm-empty) (on qwu5 chf4) (on-table qwo2) (clear qwo2) (on-table yxo1) (on-table chf4) (clear lpd3) (clear yxo1)",
"(on lpd3 qwu5) (on qwu5 chf4) (on-table yxo1) (on-table chf4) (holding qwo2) (clear lpd3) (clear yxo1)",
"(on lpd3 qwu5) (clear qwo2) (on qwu5 chf4) (arm-empty) (on-table yxo1) (on-table chf4) (on qwo2 lpd3) (clear yxo1)"
] |
file_93064
|
GOAL: (arm-empty) (on-table wfu5) (on mtp3 hht1) (on pah2 tck4) (clear wfu5) (clear pah2) (on-table hht1) (on-table tck4) (clear mtp3)
|
GOAL: (arm-empty) (on-table wfu5) (on mtp3 hht1) (on pah2 tck4) (clear wfu5) (clear pah2) (on-table hht1) (on-table tck4) (clear mtp3)
STATE: (clear pah2) (arm-empty) (on-table wfu5) (on-table hht1) (clear tck4) (on-table tck4) (on pah2 wfu5) (clear mtp3) (clear hht1) (on-table mtp3)
|
[
[
"unstack pah2 wfu5"
],
[
"stack pah2 tck4"
],
[
"pick-up wfu5"
],
[
"stack wfu5 pah2"
],
[
"pick-up mtp3"
],
[
"stack mtp3 hht1"
],
[
"unstack wfu5 pah2"
],
[
"put-down wfu5"
]
] |
[
"(on-table wfu5) (on-table hht1) (clear tck4) (on-table tck4) (holding pah2) (clear mtp3) (clear hht1) (on-table mtp3) (clear wfu5)",
"(clear pah2) (arm-empty) (on-table wfu5) (on-table hht1) (on-table tck4) (on pah2 tck4) (clear mtp3) (clear hht1) (on-table mtp3) (clear wfu5)",
"(clear pah2) (on-table hht1) (holding wfu5) (on-table tck4) (on pah2 tck4) (clear mtp3) (clear hht1) (on-table mtp3)",
"(arm-empty) (on-table hht1) (on wfu5 pah2) (on-table tck4) (on pah2 tck4) (clear mtp3) (clear hht1) (on-table mtp3) (clear wfu5)",
"(on-table hht1) (on wfu5 pah2) (on-table tck4) (on pah2 tck4) (holding mtp3) (clear hht1) (clear wfu5)",
"(arm-empty) (on-table hht1) (on wfu5 pah2) (on pah2 tck4) (on-table tck4) (on mtp3 hht1) (clear mtp3) (clear wfu5)",
"(clear pah2) (on-table hht1) (on pah2 tck4) (holding wfu5) (on-table tck4) (on mtp3 hht1) (clear mtp3)",
"(arm-empty) (on-table wfu5) (on mtp3 hht1) (on pah2 tck4) (clear wfu5) (clear pah2) (on-table hht1) (on-table tck4) (clear mtp3)"
] |
file_181835
|
GOAL: (on twv1 xdt5) (on gls3 oxp4) (arm-empty) (on-table rvz2) (on xdt5 rvz2) (on-table oxp4) (clear gls3) (clear twv1)
|
GOAL: (on twv1 xdt5) (on gls3 oxp4) (arm-empty) (on-table rvz2) (on xdt5 rvz2) (on-table oxp4) (clear gls3) (clear twv1)
STATE: (on twv1 xdt5) (on oxp4 twv1) (arm-empty) (on-table rvz2) (on xdt5 rvz2) (clear oxp4) (clear gls3) (on-table gls3)
|
[
[
"unstack oxp4 twv1"
],
[
"put-down oxp4"
],
[
"pick-up gls3"
],
[
"stack gls3 oxp4"
]
] |
[
"(on twv1 xdt5) (on-table rvz2) (holding oxp4) (on xdt5 rvz2) (clear gls3) (clear twv1) (on-table gls3)",
"(on twv1 xdt5) (arm-empty) (on-table rvz2) (on xdt5 rvz2) (clear oxp4) (on-table oxp4) (clear gls3) (clear twv1) (on-table gls3)",
"(on twv1 xdt5) (on-table rvz2) (on xdt5 rvz2) (clear oxp4) (on-table oxp4) (holding gls3) (clear twv1)",
"(on twv1 xdt5) (on gls3 oxp4) (arm-empty) (on-table rvz2) (on xdt5 rvz2) (on-table oxp4) (clear gls3) (clear twv1)"
] |
file_1356
|
GOAL: (clear eob2) (on-table eob2) (on-table sog5) (on-table fjc1) (holding tkb4) (clear kwc3) (clear fjc1) (on-table kwc3) (clear sog5)
|
GOAL: (clear eob2) (on-table eob2) (on-table sog5) (on-table fjc1) (holding tkb4) (clear kwc3) (clear fjc1) (on-table kwc3) (clear sog5)
STATE: (on kwc3 tkb4) (clear eob2) (on tkb4 fjc1) (arm-empty) (on-table eob2) (on-table sog5) (on-table fjc1) (clear kwc3) (clear sog5)
|
[
[
"unstack kwc3 tkb4"
],
[
"put-down kwc3"
],
[
"unstack tkb4 fjc1"
]
] |
[
"(clear eob2) (on tkb4 fjc1) (on-table eob2) (on-table sog5) (on-table fjc1) (clear tkb4) (holding kwc3) (clear sog5)",
"(clear eob2) (on tkb4 fjc1) (arm-empty) (on-table eob2) (on-table sog5) (on-table fjc1) (clear tkb4) (clear kwc3) (on-table kwc3) (clear sog5)",
"(clear eob2) (on-table eob2) (on-table sog5) (on-table fjc1) (holding tkb4) (clear kwc3) (clear fjc1) (on-table kwc3) (clear sog5)"
] |
file_218427
|
GOAL: (on kbx1 qjq3) (on see4 kbx1) (on-table gty2) (on-table kmk5) (arm-empty) (on qjq3 gty2) (clear see4) (clear kmk5)
|
GOAL: (on kbx1 qjq3) (on see4 kbx1) (on-table gty2) (on-table kmk5) (arm-empty) (on qjq3 gty2) (clear see4) (clear kmk5)
STATE: (holding kbx1) (on-table gty2) (on see4 kmk5) (on qjq3 gty2) (clear see4) (on kmk5 qjq3)
|
[
[
"put-down kbx1"
],
[
"unstack see4 kmk5"
],
[
"put-down see4"
],
[
"unstack kmk5 qjq3"
],
[
"put-down kmk5"
],
[
"pick-up kbx1"
],
[
"stack kbx1 qjq3"
],
[
"pick-up see4"
],
[
"stack see4 kbx1"
]
] |
[
"(arm-empty) (on-table gty2) (on see4 kmk5) (clear see4) (on kmk5 qjq3) (on-table kbx1) (on qjq3 gty2) (clear kbx1)",
"(on-table gty2) (on-table kbx1) (holding see4) (on qjq3 gty2) (on kmk5 qjq3) (clear kbx1) (clear kmk5)",
"(arm-empty) (on-table gty2) (clear see4) (on kmk5 qjq3) (clear kmk5) (on-table kbx1) (on qjq3 gty2) (on-table see4) (clear kbx1)",
"(on-table gty2) (on-table kbx1) (on qjq3 gty2) (clear see4) (holding kmk5) (on-table see4) (clear qjq3) (clear kbx1)",
"(arm-empty) (on-table gty2) (on-table kmk5) (on-table kbx1) (on qjq3 gty2) (clear see4) (on-table see4) (clear qjq3) (clear kbx1) (clear kmk5)",
"(holding kbx1) (on-table gty2) (on-table kmk5) (on qjq3 gty2) (clear see4) (on-table see4) (clear qjq3) (clear kmk5)",
"(on kbx1 qjq3) (arm-empty) (on-table gty2) (on-table kmk5) (on qjq3 gty2) (clear see4) (on-table see4) (clear kbx1) (clear kmk5)",
"(on kbx1 qjq3) (on-table gty2) (on-table kmk5) (holding see4) (on qjq3 gty2) (clear kbx1) (clear kmk5)",
"(on kbx1 qjq3) (on see4 kbx1) (on-table gty2) (on-table kmk5) (arm-empty) (on qjq3 gty2) (clear see4) (clear kmk5)"
] |
file_201424
|
GOAL: (on xub3 zkv4) (clear aia2) (on zkv4 fno1) (arm-empty) (on-table fno1) (on aia2 xub3)
|
GOAL: (on xub3 zkv4) (clear aia2) (on zkv4 fno1) (arm-empty) (on-table fno1) (on aia2 xub3)
STATE: (on-table aia2) (clear zkv4) (on-table zkv4) (on fno1 aia2) (clear fno1) (holding xub3)
|
[
[
"stack xub3 zkv4"
],
[
"unstack fno1 aia2"
],
[
"put-down fno1"
],
[
"unstack xub3 zkv4"
],
[
"stack xub3 aia2"
],
[
"pick-up zkv4"
],
[
"stack zkv4 fno1"
],
[
"unstack xub3 aia2"
],
[
"stack xub3 zkv4"
],
[
"pick-up aia2"
],
[
"stack aia2 xub3"
]
] |
[
"(on xub3 zkv4) (arm-empty) (on-table aia2) (on-table zkv4) (clear xub3) (on fno1 aia2) (clear fno1)",
"(on-table aia2) (holding fno1) (on xub3 zkv4) (clear aia2) (on-table zkv4) (clear xub3)",
"(arm-empty) (on-table aia2) (on xub3 zkv4) (clear aia2) (on-table fno1) (on-table zkv4) (clear xub3) (clear fno1)",
"(clear aia2) (on-table aia2) (on-table fno1) (clear zkv4) (on-table zkv4) (holding xub3) (clear fno1)",
"(arm-empty) (on-table aia2) (on-table fno1) (on xub3 aia2) (clear zkv4) (on-table zkv4) (clear xub3) (clear fno1)",
"(on-table aia2) (on-table fno1) (holding zkv4) (on xub3 aia2) (clear xub3) (clear fno1)",
"(on zkv4 fno1) (arm-empty) (on-table aia2) (on-table fno1) (on xub3 aia2) (clear zkv4) (clear xub3)",
"(on zkv4 fno1) (on-table aia2) (clear zkv4) (clear aia2) (on-table fno1) (holding xub3)",
"(on xub3 zkv4) (clear aia2) (on zkv4 fno1) (arm-empty) (on-table aia2) (on-table fno1) (clear xub3)",
"(on xub3 zkv4) (on zkv4 fno1) (holding aia2) (on-table fno1) (clear xub3)",
"(on xub3 zkv4) (clear aia2) (on zkv4 fno1) (arm-empty) (on-table fno1) (on aia2 xub3)"
] |
file_212303
|
GOAL: (on xyy4 zvu1) (arm-empty) (on-table zvu1) (on orj5 pgs2) (on pgs2 xyy4) (clear ebw3) (on-table ebw3) (clear orj5)
|
GOAL: (on xyy4 zvu1) (arm-empty) (on-table zvu1) (on orj5 pgs2) (on pgs2 xyy4) (clear ebw3) (on-table ebw3) (clear orj5)
STATE: (clear pgs2) (on xyy4 zvu1) (on-table orj5) (on-table zvu1) (on pgs2 xyy4) (holding ebw3) (clear orj5)
|
[
[
"put-down ebw3"
],
[
"unstack pgs2 xyy4"
],
[
"put-down pgs2"
],
[
"pick-up orj5"
],
[
"stack orj5 ebw3"
],
[
"pick-up pgs2"
],
[
"stack pgs2 xyy4"
],
[
"unstack orj5 ebw3"
],
[
"stack orj5 pgs2"
]
] |
[
"(on xyy4 zvu1) (arm-empty) (on-table orj5) (on pgs2 xyy4) (clear orj5) (clear pgs2) (on-table zvu1) (clear ebw3) (on-table ebw3)",
"(on xyy4 zvu1) (on-table orj5) (on-table zvu1) (clear xyy4) (holding pgs2) (clear ebw3) (on-table ebw3) (clear orj5)",
"(clear pgs2) (on xyy4 zvu1) (arm-empty) (on-table pgs2) (on-table orj5) (on-table zvu1) (clear xyy4) (clear ebw3) (on-table ebw3) (clear orj5)",
"(clear pgs2) (on xyy4 zvu1) (on-table pgs2) (on-table zvu1) (clear xyy4) (holding orj5) (clear ebw3) (on-table ebw3)",
"(clear pgs2) (on xyy4 zvu1) (arm-empty) (on-table pgs2) (on-table zvu1) (clear xyy4) (on orj5 ebw3) (on-table ebw3) (clear orj5)",
"(on xyy4 zvu1) (on-table zvu1) (clear xyy4) (on orj5 ebw3) (holding pgs2) (on-table ebw3) (clear orj5)",
"(clear pgs2) (on xyy4 zvu1) (arm-empty) (on-table zvu1) (on orj5 ebw3) (on pgs2 xyy4) (on-table ebw3) (clear orj5)",
"(clear pgs2) (on xyy4 zvu1) (on-table zvu1) (holding orj5) (on pgs2 xyy4) (clear ebw3) (on-table ebw3)",
"(on xyy4 zvu1) (arm-empty) (on-table zvu1) (on orj5 pgs2) (on pgs2 xyy4) (clear ebw3) (on-table ebw3) (clear orj5)"
] |
file_211238
|
GOAL: (on vae1 kad5) (clear lpx2) (arm-empty) (on-table kad5) (on lpx2 qnc4) (on-table qnc4) (on zrl3 vae1) (clear zrl3)
|
GOAL: (on vae1 kad5) (clear lpx2) (arm-empty) (on-table kad5) (on lpx2 qnc4) (on-table qnc4) (on zrl3 vae1) (clear zrl3)
STATE: (on zrl3 qnc4) (on-table lpx2) (on-table vae1) (holding kad5) (on qnc4 lpx2) (clear zrl3) (clear vae1)
|
[
[
"put-down kad5"
],
[
"pick-up vae1"
],
[
"stack vae1 kad5"
],
[
"unstack zrl3 qnc4"
],
[
"put-down zrl3"
],
[
"unstack qnc4 lpx2"
],
[
"put-down qnc4"
],
[
"pick-up lpx2"
],
[
"stack lpx2 qnc4"
],
[
"pick-up zrl3"
],
[
"stack zrl3 vae1"
]
] |
[
"(arm-empty) (on-table lpx2) (on-table kad5) (clear kad5) (on zrl3 qnc4) (on-table vae1) (on qnc4 lpx2) (clear zrl3) (clear vae1)",
"(holding vae1) (on zrl3 qnc4) (on-table lpx2) (on-table kad5) (on qnc4 lpx2) (clear zrl3) (clear kad5)",
"(on zrl3 qnc4) (on vae1 kad5) (arm-empty) (on-table lpx2) (on-table kad5) (on qnc4 lpx2) (clear zrl3) (clear vae1)",
"(on vae1 kad5) (on-table lpx2) (on-table kad5) (clear qnc4) (on qnc4 lpx2) (holding zrl3) (clear vae1)",
"(on vae1 kad5) (arm-empty) (on-table lpx2) (on-table kad5) (clear qnc4) (on qnc4 lpx2) (clear zrl3) (clear vae1) (on-table zrl3)",
"(on vae1 kad5) (clear lpx2) (on-table lpx2) (on-table kad5) (holding qnc4) (clear zrl3) (clear vae1) (on-table zrl3)",
"(on vae1 kad5) (clear lpx2) (arm-empty) (on-table lpx2) (on-table kad5) (clear qnc4) (on-table qnc4) (clear zrl3) (clear vae1) (on-table zrl3)",
"(on vae1 kad5) (on-table kad5) (clear qnc4) (on-table qnc4) (holding lpx2) (clear zrl3) (clear vae1) (on-table zrl3)",
"(on vae1 kad5) (clear lpx2) (arm-empty) (on-table kad5) (on-table qnc4) (on lpx2 qnc4) (clear zrl3) (clear vae1) (on-table zrl3)",
"(on vae1 kad5) (clear lpx2) (on-table kad5) (on-table qnc4) (on lpx2 qnc4) (holding zrl3) (clear vae1)",
"(on vae1 kad5) (clear lpx2) (arm-empty) (on-table kad5) (on lpx2 qnc4) (on-table qnc4) (on zrl3 vae1) (clear zrl3)"
] |
file_94293
|
GOAL: (on-table pan2) (on-table dco5) (on-table xaz1) (clear mxt4) (on mxt4 pan2) (holding jhr3) (clear xaz1) (clear dco5)
|
GOAL: (on-table pan2) (on-table dco5) (on-table xaz1) (clear mxt4) (on mxt4 pan2) (holding jhr3) (clear xaz1) (clear dco5)
STATE: (on xaz1 dco5) (on-table dco5) (clear mxt4) (on-table mxt4) (holding pan2) (on jhr3 xaz1) (clear jhr3)
|
[
[
"put-down pan2"
],
[
"pick-up mxt4"
],
[
"stack mxt4 pan2"
],
[
"unstack jhr3 xaz1"
],
[
"stack jhr3 mxt4"
],
[
"unstack xaz1 dco5"
],
[
"put-down xaz1"
],
[
"pick-up dco5"
],
[
"stack dco5 xaz1"
],
[
"unstack jhr3 mxt4"
],
[
"put-down jhr3"
],
[
"unstack dco5 xaz1"
],
[
"put-down dco5"
],
[
"pick-up jhr3"
]
] |
[
"(on xaz1 dco5) (arm-empty) (on-table pan2) (on-table dco5) (clear mxt4) (on jhr3 xaz1) (clear pan2) (on-table mxt4) (clear jhr3)",
"(on xaz1 dco5) (clear pan2) (on-table pan2) (on-table dco5) (holding mxt4) (on jhr3 xaz1) (clear jhr3)",
"(on xaz1 dco5) (arm-empty) (on-table pan2) (on-table dco5) (clear mxt4) (on jhr3 xaz1) (on mxt4 pan2) (clear jhr3)",
"(on xaz1 dco5) (on-table pan2) (on-table dco5) (on mxt4 pan2) (clear mxt4) (holding jhr3) (clear xaz1)",
"(on xaz1 dco5) (on jhr3 mxt4) (arm-empty) (on-table pan2) (on-table dco5) (on mxt4 pan2) (clear jhr3) (clear xaz1)",
"(holding xaz1) (on jhr3 mxt4) (on-table pan2) (on-table dco5) (on mxt4 pan2) (clear jhr3) (clear dco5)",
"(arm-empty) (on-table pan2) (on-table dco5) (clear dco5) (on jhr3 mxt4) (on-table xaz1) (on mxt4 pan2) (clear jhr3) (clear xaz1)",
"(on jhr3 mxt4) (on-table pan2) (on-table xaz1) (holding dco5) (on mxt4 pan2) (clear jhr3) (clear xaz1)",
"(on jhr3 mxt4) (arm-empty) (on-table pan2) (on-table xaz1) (on dco5 xaz1) (on mxt4 pan2) (clear jhr3) (clear dco5)",
"(on-table pan2) (on-table xaz1) (clear mxt4) (on dco5 xaz1) (on mxt4 pan2) (holding jhr3) (clear dco5)",
"(arm-empty) (on-table pan2) (clear mxt4) (clear dco5) (on-table xaz1) (on dco5 xaz1) (on mxt4 pan2) (clear jhr3) (on-table jhr3)",
"(on-table pan2) (on-table xaz1) (clear mxt4) (holding dco5) (on mxt4 pan2) (clear jhr3) (clear xaz1) (on-table jhr3)",
"(arm-empty) (on-table pan2) (on-table dco5) (on-table xaz1) (clear mxt4) (on mxt4 pan2) (clear jhr3) (clear xaz1) (on-table jhr3) (clear dco5)",
"(on-table pan2) (on-table dco5) (on-table xaz1) (clear mxt4) (on mxt4 pan2) (holding jhr3) (clear xaz1) (clear dco5)"
] |
file_210104
|
GOAL: (holding bgz1) (on-table gvi5) (on ybf3 zzv2) (clear glw4) (on-table glw4) (on zzv2 gvi5) (clear ybf3)
|
GOAL: (holding bgz1) (on-table gvi5) (on ybf3 zzv2) (clear glw4) (on-table glw4) (on zzv2 gvi5) (clear ybf3)
STATE: (on ybf3 gvi5) (on bgz1 ybf3) (arm-empty) (on gvi5 zzv2) (on-table glw4) (on zzv2 glw4) (clear bgz1)
|
[
[
"unstack bgz1 ybf3"
],
[
"put-down bgz1"
],
[
"unstack ybf3 gvi5"
],
[
"stack ybf3 bgz1"
],
[
"unstack gvi5 zzv2"
],
[
"put-down gvi5"
],
[
"unstack zzv2 glw4"
],
[
"stack zzv2 gvi5"
],
[
"unstack ybf3 bgz1"
],
[
"put-down ybf3"
],
[
"pick-up bgz1"
],
[
"stack bgz1 glw4"
],
[
"pick-up ybf3"
],
[
"stack ybf3 zzv2"
],
[
"unstack bgz1 glw4"
]
] |
[
"(on ybf3 gvi5) (on gvi5 zzv2) (on zzv2 glw4) (holding bgz1) (on-table glw4) (clear ybf3)",
"(on ybf3 gvi5) (arm-empty) (on gvi5 zzv2) (on zzv2 glw4) (on-table bgz1) (on-table glw4) (clear ybf3) (clear bgz1)",
"(on-table bgz1) (on gvi5 zzv2) (on-table glw4) (on zzv2 glw4) (holding ybf3) (clear bgz1) (clear gvi5)",
"(arm-empty) (on-table bgz1) (on gvi5 zzv2) (on zzv2 glw4) (on-table glw4) (on ybf3 bgz1) (clear ybf3) (clear gvi5)",
"(clear zzv2) (on-table bgz1) (on zzv2 glw4) (holding gvi5) (on-table glw4) (on ybf3 bgz1) (clear ybf3)",
"(arm-empty) (on-table gvi5) (on ybf3 bgz1) (on zzv2 glw4) (clear gvi5) (clear zzv2) (on-table bgz1) (on-table glw4) (clear ybf3)",
"(on-table gvi5) (on-table bgz1) (clear glw4) (on-table glw4) (holding zzv2) (on ybf3 bgz1) (clear ybf3) (clear gvi5)",
"(clear zzv2) (arm-empty) (on-table gvi5) (on-table bgz1) (clear glw4) (on-table glw4) (on ybf3 bgz1) (on zzv2 gvi5) (clear ybf3)",
"(clear zzv2) (on-table gvi5) (on-table bgz1) (clear glw4) (on-table glw4) (on zzv2 gvi5) (holding ybf3) (clear bgz1)",
"(clear zzv2) (arm-empty) (on-table gvi5) (on-table bgz1) (clear glw4) (on-table glw4) (on zzv2 gvi5) (clear ybf3) (clear bgz1) (on-table ybf3)",
"(holding bgz1) (clear zzv2) (on-table gvi5) (clear glw4) (on-table glw4) (on zzv2 gvi5) (clear ybf3) (on-table ybf3)",
"(clear zzv2) (arm-empty) (on-table gvi5) (on-table glw4) (on bgz1 glw4) (on zzv2 gvi5) (clear ybf3) (clear bgz1) (on-table ybf3)",
"(clear zzv2) (on-table gvi5) (on-table glw4) (on bgz1 glw4) (on zzv2 gvi5) (holding ybf3) (clear bgz1)",
"(arm-empty) (on-table gvi5) (on ybf3 zzv2) (on-table glw4) (on bgz1 glw4) (on zzv2 gvi5) (clear ybf3) (clear bgz1)",
"(holding bgz1) (on-table gvi5) (on ybf3 zzv2) (clear glw4) (on-table glw4) (on zzv2 gvi5) (clear ybf3)"
] |
file_154138
|
GOAL: (on eoj3 yyw4) (clear jyk2) (on-table vle1) (holding rfo5) (on-table yyw4) (on jyk2 eoj3) (clear vle1)
|
GOAL: (on eoj3 yyw4) (clear jyk2) (on-table vle1) (holding rfo5) (on-table yyw4) (on jyk2 eoj3) (clear vle1)
STATE: (clear jyk2) (on-table rfo5) (on-table vle1) (clear yyw4) (on-table yyw4) (on jyk2 vle1) (holding eoj3) (clear rfo5)
|
[
[
"stack eoj3 yyw4"
],
[
"unstack jyk2 vle1"
],
[
"stack jyk2 eoj3"
],
[
"pick-up rfo5"
]
] |
[
"(on eoj3 yyw4) (clear jyk2) (arm-empty) (on-table rfo5) (on-table vle1) (on-table yyw4) (on jyk2 vle1) (clear eoj3) (clear rfo5)",
"(on eoj3 yyw4) (on-table rfo5) (on-table vle1) (on-table yyw4) (holding jyk2) (clear eoj3) (clear vle1) (clear rfo5)",
"(on eoj3 yyw4) (clear jyk2) (arm-empty) (on-table rfo5) (on-table vle1) (on-table yyw4) (on jyk2 eoj3) (clear vle1) (clear rfo5)",
"(on eoj3 yyw4) (clear jyk2) (on-table vle1) (holding rfo5) (on-table yyw4) (on jyk2 eoj3) (clear vle1)"
] |
file_71887
|
GOAL: (on pcf3 zof4) (on mdt1 pcf3) (arm-empty) (on-table ikl5) (on zof4 sza2) (on sza2 ikl5) (clear mdt1)
|
GOAL: (on pcf3 zof4) (on mdt1 pcf3) (arm-empty) (on-table ikl5) (on zof4 sza2) (on sza2 ikl5) (clear mdt1)
STATE: (clear sza2) (on zof4 mdt1) (on-table sza2) (on-table mdt1) (clear zof4) (holding ikl5) (clear pcf3) (on-table pcf3)
|
[
[
"put-down ikl5"
],
[
"pick-up sza2"
],
[
"stack sza2 ikl5"
],
[
"unstack zof4 mdt1"
],
[
"stack zof4 sza2"
],
[
"pick-up pcf3"
],
[
"stack pcf3 zof4"
],
[
"pick-up mdt1"
],
[
"stack mdt1 pcf3"
]
] |
[
"(clear sza2) (on zof4 mdt1) (arm-empty) (on-table sza2) (on-table ikl5) (on-table mdt1) (clear zof4) (clear pcf3) (on-table pcf3) (clear ikl5)",
"(on zof4 mdt1) (on-table ikl5) (on-table mdt1) (clear zof4) (holding sza2) (clear pcf3) (on-table pcf3) (clear ikl5)",
"(clear sza2) (on zof4 mdt1) (arm-empty) (on-table ikl5) (on-table mdt1) (clear zof4) (on sza2 ikl5) (clear pcf3) (on-table pcf3)",
"(clear sza2) (on-table ikl5) (on-table mdt1) (holding zof4) (on sza2 ikl5) (clear pcf3) (clear mdt1) (on-table pcf3)",
"(arm-empty) (on-table ikl5) (on-table mdt1) (clear zof4) (on zof4 sza2) (on sza2 ikl5) (clear pcf3) (clear mdt1) (on-table pcf3)",
"(on-table ikl5) (on-table mdt1) (clear zof4) (on zof4 sza2) (on sza2 ikl5) (holding pcf3) (clear mdt1)",
"(on pcf3 zof4) (arm-empty) (on-table ikl5) (on-table mdt1) (on zof4 sza2) (on sza2 ikl5) (clear pcf3) (clear mdt1)",
"(holding mdt1) (on pcf3 zof4) (on-table ikl5) (on zof4 sza2) (on sza2 ikl5) (clear pcf3)",
"(on pcf3 zof4) (on mdt1 pcf3) (arm-empty) (on-table ikl5) (on zof4 sza2) (on sza2 ikl5) (clear mdt1)"
] |
file_181717
|
GOAL: (arm-empty) (on-table eig2) (clear ctd4) (clear eig2) (on-table dsb1) (on ctd4 tvv3) (clear dsb1) (on-table tvv3)
|
GOAL: (arm-empty) (on-table eig2) (clear ctd4) (clear eig2) (on-table dsb1) (on ctd4 tvv3) (clear dsb1) (on-table tvv3)
STATE: (holding eig2) (on-table ctd4) (on dsb1 ctd4) (on tvv3 dsb1) (clear tvv3)
|
[
[
"put-down eig2"
],
[
"unstack tvv3 dsb1"
],
[
"put-down tvv3"
],
[
"unstack dsb1 ctd4"
],
[
"stack dsb1 eig2"
],
[
"pick-up ctd4"
],
[
"stack ctd4 tvv3"
],
[
"unstack dsb1 eig2"
],
[
"put-down dsb1"
]
] |
[
"(on-table ctd4) (clear eig2) (arm-empty) (on-table eig2) (on tvv3 dsb1) (clear tvv3) (on dsb1 ctd4)",
"(on-table eig2) (clear eig2) (on-table ctd4) (on dsb1 ctd4) (holding tvv3) (clear dsb1)",
"(arm-empty) (on-table eig2) (clear eig2) (on-table ctd4) (on dsb1 ctd4) (clear tvv3) (clear dsb1) (on-table tvv3)",
"(holding dsb1) (clear eig2) (on-table eig2) (clear ctd4) (on-table ctd4) (clear tvv3) (on-table tvv3)",
"(arm-empty) (on-table eig2) (clear ctd4) (on-table ctd4) (clear tvv3) (on dsb1 eig2) (clear dsb1) (on-table tvv3)",
"(on-table eig2) (holding ctd4) (clear tvv3) (on dsb1 eig2) (clear dsb1) (on-table tvv3)",
"(arm-empty) (on-table eig2) (clear ctd4) (on ctd4 tvv3) (on dsb1 eig2) (clear dsb1) (on-table tvv3)",
"(on-table eig2) (clear ctd4) (holding dsb1) (clear eig2) (on ctd4 tvv3) (on-table tvv3)",
"(arm-empty) (on-table eig2) (clear ctd4) (clear eig2) (on-table dsb1) (on ctd4 tvv3) (clear dsb1) (on-table tvv3)"
] |
file_133076
|
GOAL: (on wfr1 uke3) (arm-empty) (on-table huf2) (on okd4 yjr5) (on uke3 huf2) (clear okd4) (on yjr5 wfr1)
|
GOAL: (on wfr1 uke3) (arm-empty) (on-table huf2) (on okd4 yjr5) (on uke3 huf2) (clear okd4) (on yjr5 wfr1)
STATE: (clear huf2) (arm-empty) (on-table huf2) (on-table yjr5) (on okd4 yjr5) (on wfr1 okd4) (on uke3 wfr1) (clear uke3)
|
[
[
"unstack uke3 wfr1"
],
[
"stack uke3 huf2"
],
[
"unstack wfr1 okd4"
],
[
"stack wfr1 uke3"
],
[
"unstack okd4 yjr5"
],
[
"put-down okd4"
],
[
"pick-up yjr5"
],
[
"stack yjr5 wfr1"
],
[
"pick-up okd4"
],
[
"stack okd4 yjr5"
]
] |
[
"(clear huf2) (on-table huf2) (on-table yjr5) (on okd4 yjr5) (on wfr1 okd4) (holding uke3) (clear wfr1)",
"(arm-empty) (on-table huf2) (on-table yjr5) (on okd4 yjr5) (on uke3 huf2) (on wfr1 okd4) (clear uke3) (clear wfr1)",
"(holding wfr1) (on-table huf2) (on-table yjr5) (on okd4 yjr5) (on uke3 huf2) (clear okd4) (clear uke3)",
"(on wfr1 uke3) (arm-empty) (on-table huf2) (on-table yjr5) (on okd4 yjr5) (on uke3 huf2) (clear okd4) (clear wfr1)",
"(on wfr1 uke3) (on-table huf2) (on-table yjr5) (holding okd4) (on uke3 huf2) (clear wfr1) (clear yjr5)",
"(on wfr1 uke3) (arm-empty) (on-table huf2) (on-table yjr5) (clear okd4) (clear yjr5) (on uke3 huf2) (on-table okd4) (clear wfr1)",
"(on wfr1 uke3) (on-table huf2) (on uke3 huf2) (clear okd4) (holding yjr5) (on-table okd4) (clear wfr1)",
"(on wfr1 uke3) (arm-empty) (on-table huf2) (on uke3 huf2) (clear okd4) (on yjr5 wfr1) (on-table okd4) (clear yjr5)",
"(on wfr1 uke3) (on-table huf2) (holding okd4) (on uke3 huf2) (on yjr5 wfr1) (clear yjr5)",
"(on wfr1 uke3) (arm-empty) (on-table huf2) (on okd4 yjr5) (on uke3 huf2) (clear okd4) (on yjr5 wfr1)"
] |
file_215972
|
GOAL: (clear szr2) (on-table szr2) (on-table arj1) (holding okn4) (on yzx5 arj1) (clear udh3) (on-table udh3) (clear yzx5)
|
GOAL: (clear szr2) (on-table szr2) (on-table arj1) (holding okn4) (on yzx5 arj1) (clear udh3) (on-table udh3) (clear yzx5)
STATE: (on arj1 udh3) (arm-empty) (on udh3 szr2) (on yzx5 arj1) (on-table okn4) (on szr2 okn4) (clear yzx5)
|
[
[
"unstack yzx5 arj1"
],
[
"put-down yzx5"
],
[
"unstack arj1 udh3"
],
[
"put-down arj1"
],
[
"pick-up yzx5"
],
[
"stack yzx5 arj1"
],
[
"unstack udh3 szr2"
],
[
"stack udh3 yzx5"
],
[
"unstack szr2 okn4"
],
[
"put-down szr2"
],
[
"unstack udh3 yzx5"
],
[
"put-down udh3"
],
[
"pick-up okn4"
]
] |
[
"(on arj1 udh3) (holding yzx5) (on szr2 okn4) (on udh3 szr2) (on-table okn4) (clear arj1)",
"(on arj1 udh3) (arm-empty) (on-table yzx5) (on szr2 okn4) (clear yzx5) (on udh3 szr2) (on-table okn4) (clear arj1)",
"(holding arj1) (on-table yzx5) (on udh3 szr2) (on-table okn4) (on szr2 okn4) (clear udh3) (clear yzx5)",
"(arm-empty) (on-table yzx5) (on szr2 okn4) (clear yzx5) (on-table arj1) (on udh3 szr2) (on-table okn4) (clear udh3) (clear arj1)",
"(on-table arj1) (on udh3 szr2) (holding yzx5) (on-table okn4) (on szr2 okn4) (clear udh3) (clear arj1)",
"(arm-empty) (on szr2 okn4) (clear yzx5) (on-table arj1) (on udh3 szr2) (on yzx5 arj1) (on-table okn4) (clear udh3)",
"(clear szr2) (on-table arj1) (on yzx5 arj1) (on-table okn4) (on szr2 okn4) (holding udh3) (clear yzx5)",
"(clear szr2) (on udh3 yzx5) (arm-empty) (on-table arj1) (on yzx5 arj1) (on-table okn4) (on szr2 okn4) (clear udh3)",
"(on udh3 yzx5) (on-table arj1) (clear okn4) (on yzx5 arj1) (on-table okn4) (holding szr2) (clear udh3)",
"(on udh3 yzx5) (arm-empty) (on-table szr2) (clear okn4) (clear szr2) (on-table arj1) (on yzx5 arj1) (on-table okn4) (clear udh3)",
"(clear szr2) (on-table szr2) (on-table arj1) (clear okn4) (on yzx5 arj1) (on-table okn4) (holding udh3) (clear yzx5)",
"(clear szr2) (arm-empty) (on-table szr2) (on-table arj1) (clear okn4) (on yzx5 arj1) (on-table okn4) (clear udh3) (on-table udh3) (clear yzx5)",
"(clear szr2) (on-table szr2) (on-table arj1) (holding okn4) (on yzx5 arj1) (clear udh3) (on-table udh3) (clear yzx5)"
] |
file_67192
|
GOAL: (arm-empty) (on-table eeu5) (on qqm3 ofj2) (on gdg4 qqm3) (on quc1 gdg4) (on ofj2 eeu5) (clear quc1)
|
GOAL: (arm-empty) (on-table eeu5) (on qqm3 ofj2) (on gdg4 qqm3) (on quc1 gdg4) (on ofj2 eeu5) (clear quc1)
STATE: (clear ofj2) (arm-empty) (on-table ofj2) (on-table eeu5) (on-table quc1) (clear gdg4) (on-table gdg4) (clear qqm3) (clear quc1) (on-table qqm3) (clear eeu5)
|
[
[
"pick-up ofj2"
],
[
"stack ofj2 eeu5"
],
[
"pick-up gdg4"
],
[
"stack gdg4 quc1"
],
[
"pick-up qqm3"
],
[
"stack qqm3 ofj2"
],
[
"unstack gdg4 quc1"
],
[
"stack gdg4 qqm3"
],
[
"pick-up quc1"
],
[
"stack quc1 gdg4"
]
] |
[
"(on-table eeu5) (on-table quc1) (clear gdg4) (on-table gdg4) (holding ofj2) (clear qqm3) (clear quc1) (on-table qqm3) (clear eeu5)",
"(clear ofj2) (arm-empty) (on-table eeu5) (on-table quc1) (clear gdg4) (on-table gdg4) (on ofj2 eeu5) (clear qqm3) (clear quc1) (on-table qqm3)",
"(clear ofj2) (on-table eeu5) (on-table quc1) (holding gdg4) (on ofj2 eeu5) (clear qqm3) (clear quc1) (on-table qqm3)",
"(clear ofj2) (on gdg4 quc1) (arm-empty) (on-table eeu5) (on-table quc1) (clear gdg4) (on ofj2 eeu5) (clear qqm3) (on-table qqm3)",
"(clear ofj2) (on gdg4 quc1) (on-table eeu5) (on-table quc1) (clear gdg4) (on ofj2 eeu5) (holding qqm3)",
"(on gdg4 quc1) (arm-empty) (on-table eeu5) (on-table quc1) (on qqm3 ofj2) (clear gdg4) (on ofj2 eeu5) (clear qqm3)",
"(on-table eeu5) (on-table quc1) (holding gdg4) (on qqm3 ofj2) (on ofj2 eeu5) (clear qqm3) (clear quc1)",
"(arm-empty) (on-table eeu5) (clear gdg4) (on ofj2 eeu5) (on-table quc1) (on qqm3 ofj2) (on gdg4 qqm3) (clear quc1)",
"(holding quc1) (on-table eeu5) (on qqm3 ofj2) (clear gdg4) (on gdg4 qqm3) (on ofj2 eeu5)",
"(arm-empty) (on-table eeu5) (on qqm3 ofj2) (on gdg4 qqm3) (on quc1 gdg4) (on ofj2 eeu5) (clear quc1)"
] |
file_20878
|
GOAL: (clear fpo2) (on yak1 yua3) (on-table fpo2) (on-table uak5) (holding sjy4) (clear yak1) (on-table yua3) (clear uak5)
|
GOAL: (clear fpo2) (on yak1 yua3) (on-table fpo2) (on-table uak5) (holding sjy4) (clear yak1) (on-table yua3) (clear uak5)
STATE: (on yua3 sjy4) (on sjy4 yak1) (arm-empty) (on-table yak1) (on uak5 fpo2) (on fpo2 yua3) (clear uak5)
|
[
[
"unstack uak5 fpo2"
],
[
"put-down uak5"
],
[
"unstack fpo2 yua3"
],
[
"put-down fpo2"
],
[
"pick-up uak5"
],
[
"stack uak5 fpo2"
],
[
"unstack yua3 sjy4"
],
[
"put-down yua3"
],
[
"unstack sjy4 yak1"
],
[
"stack sjy4 uak5"
],
[
"pick-up yak1"
],
[
"stack yak1 yua3"
],
[
"unstack sjy4 uak5"
],
[
"put-down sjy4"
],
[
"unstack uak5 fpo2"
],
[
"put-down uak5"
],
[
"pick-up sjy4"
]
] |
[
"(on sjy4 yak1) (holding uak5) (on yua3 sjy4) (clear fpo2) (on-table yak1) (on fpo2 yua3)",
"(on sjy4 yak1) (arm-empty) (on-table uak5) (clear uak5) (on yua3 sjy4) (clear fpo2) (on-table yak1) (on fpo2 yua3)",
"(on yua3 sjy4) (on sjy4 yak1) (on-table uak5) (on-table yak1) (holding fpo2) (clear yua3) (clear uak5)",
"(on sjy4 yak1) (arm-empty) (on-table fpo2) (on-table uak5) (clear uak5) (on yua3 sjy4) (clear fpo2) (on-table yak1) (clear yua3)",
"(on yua3 sjy4) (clear fpo2) (on sjy4 yak1) (on-table fpo2) (on-table yak1) (holding uak5) (clear yua3)",
"(on yua3 sjy4) (on sjy4 yak1) (arm-empty) (on-table fpo2) (on-table yak1) (on uak5 fpo2) (clear yua3) (clear uak5)",
"(on sjy4 yak1) (on-table fpo2) (on-table yak1) (on uak5 fpo2) (clear sjy4) (holding yua3) (clear uak5)",
"(on sjy4 yak1) (arm-empty) (on-table fpo2) (on uak5 fpo2) (clear sjy4) (clear uak5) (on-table yak1) (clear yua3) (on-table yua3)",
"(on-table fpo2) (on-table yak1) (holding sjy4) (on uak5 fpo2) (clear yua3) (clear yak1) (on-table yua3) (clear uak5)",
"(arm-empty) (on-table fpo2) (on sjy4 uak5) (on-table yak1) (on uak5 fpo2) (clear sjy4) (clear yua3) (clear yak1) (on-table yua3)",
"(holding yak1) (on-table fpo2) (on sjy4 uak5) (on uak5 fpo2) (clear sjy4) (clear yua3) (on-table yua3)",
"(on yak1 yua3) (arm-empty) (on-table fpo2) (on sjy4 uak5) (on uak5 fpo2) (clear sjy4) (clear yak1) (on-table yua3)",
"(on yak1 yua3) (on-table fpo2) (holding sjy4) (on uak5 fpo2) (clear yak1) (on-table yua3) (clear uak5)",
"(on yak1 yua3) (arm-empty) (on-table fpo2) (on uak5 fpo2) (clear sjy4) (clear uak5) (on-table sjy4) (clear yak1) (on-table yua3)",
"(clear fpo2) (on yak1 yua3) (on-table fpo2) (clear sjy4) (holding uak5) (on-table sjy4) (clear yak1) (on-table yua3)",
"(clear fpo2) (on yak1 yua3) (arm-empty) (on-table fpo2) (on-table uak5) (clear sjy4) (on-table sjy4) (clear yak1) (on-table yua3) (clear uak5)",
"(clear fpo2) (on yak1 yua3) (on-table fpo2) (on-table uak5) (holding sjy4) (clear yak1) (on-table yua3) (clear uak5)"
] |
file_5427
|
GOAL: (arm-empty) (on-table stn2) (on-table azv5) (on fte4 stn2) (on mdx1 fte4) (on zkb3 mdx1) (clear zkb3) (clear azv5)
|
GOAL: (arm-empty) (on-table stn2) (on-table azv5) (on fte4 stn2) (on mdx1 fte4) (on zkb3 mdx1) (clear zkb3) (clear azv5)
STATE: (on fte4 mdx1) (arm-empty) (on-table stn2) (on-table azv5) (clear fte4) (clear zkb3) (on mdx1 stn2) (on-table zkb3) (clear azv5)
|
[
[
"pick-up zkb3"
],
[
"stack zkb3 azv5"
],
[
"unstack fte4 mdx1"
],
[
"stack fte4 zkb3"
],
[
"unstack mdx1 stn2"
],
[
"put-down mdx1"
],
[
"unstack fte4 zkb3"
],
[
"stack fte4 stn2"
],
[
"pick-up mdx1"
],
[
"stack mdx1 fte4"
],
[
"unstack zkb3 azv5"
],
[
"stack zkb3 mdx1"
]
] |
[
"(on fte4 mdx1) (on-table stn2) (on-table azv5) (clear fte4) (on mdx1 stn2) (holding zkb3) (clear azv5)",
"(on zkb3 azv5) (on fte4 mdx1) (arm-empty) (on-table stn2) (on-table azv5) (clear fte4) (clear zkb3) (on mdx1 stn2)",
"(on zkb3 azv5) (on-table stn2) (on-table azv5) (holding fte4) (clear zkb3) (on mdx1 stn2) (clear mdx1)",
"(on zkb3 azv5) (arm-empty) (on-table stn2) (on-table azv5) (clear fte4) (on fte4 zkb3) (on mdx1 stn2) (clear mdx1)",
"(holding mdx1) (on zkb3 azv5) (clear stn2) (on-table stn2) (on-table azv5) (clear fte4) (on fte4 zkb3)",
"(on zkb3 azv5) (arm-empty) (on-table stn2) (on-table azv5) (clear fte4) (clear stn2) (on-table mdx1) (on fte4 zkb3) (clear mdx1)",
"(on zkb3 azv5) (clear stn2) (on-table stn2) (on-table azv5) (on-table mdx1) (holding fte4) (clear zkb3) (clear mdx1)",
"(on zkb3 azv5) (arm-empty) (on-table stn2) (on-table azv5) (on-table mdx1) (clear fte4) (on fte4 stn2) (clear zkb3) (clear mdx1)",
"(holding mdx1) (on zkb3 azv5) (on-table stn2) (on-table azv5) (clear fte4) (on fte4 stn2) (clear zkb3)",
"(on zkb3 azv5) (arm-empty) (on-table stn2) (on-table azv5) (on mdx1 fte4) (on fte4 stn2) (clear zkb3) (clear mdx1)",
"(on-table stn2) (on-table azv5) (on mdx1 fte4) (on fte4 stn2) (holding zkb3) (clear mdx1) (clear azv5)",
"(arm-empty) (on-table stn2) (on-table azv5) (on fte4 stn2) (on mdx1 fte4) (on zkb3 mdx1) (clear zkb3) (clear azv5)"
] |
file_114848
|
GOAL: (on ihl3 jcm4) (clear gmh2) (on osb1 ihl3) (on-table gmh2) (holding udh5) (on-table jcm4) (clear osb1)
|
GOAL: (on ihl3 jcm4) (clear gmh2) (on osb1 ihl3) (on-table gmh2) (holding udh5) (on-table jcm4) (clear osb1)
STATE: (on osb1 ihl3) (arm-empty) (on-table gmh2) (on jcm4 udh5) (on ihl3 gmh2) (clear jcm4) (on udh5 osb1)
|
[
[
"unstack jcm4 udh5"
],
[
"put-down jcm4"
],
[
"unstack udh5 osb1"
],
[
"put-down udh5"
],
[
"unstack osb1 ihl3"
],
[
"stack osb1 udh5"
],
[
"unstack ihl3 gmh2"
],
[
"stack ihl3 jcm4"
],
[
"unstack osb1 udh5"
],
[
"stack osb1 ihl3"
],
[
"pick-up udh5"
]
] |
[
"(on osb1 ihl3) (on-table gmh2) (holding jcm4) (clear udh5) (on ihl3 gmh2) (on udh5 osb1)",
"(on osb1 ihl3) (arm-empty) (on-table gmh2) (clear jcm4) (clear udh5) (on ihl3 gmh2) (on udh5 osb1) (on-table jcm4)",
"(on osb1 ihl3) (on-table gmh2) (on ihl3 gmh2) (clear jcm4) (holding udh5) (on-table jcm4) (clear osb1)",
"(on osb1 ihl3) (arm-empty) (on-table gmh2) (on-table udh5) (clear jcm4) (clear udh5) (on ihl3 gmh2) (on-table jcm4) (clear osb1)",
"(holding osb1) (on-table gmh2) (on-table udh5) (on ihl3 gmh2) (clear jcm4) (on-table jcm4) (clear ihl3) (clear udh5)",
"(on osb1 udh5) (arm-empty) (on-table gmh2) (on-table udh5) (on ihl3 gmh2) (clear jcm4) (on-table jcm4) (clear ihl3) (clear osb1)",
"(on osb1 udh5) (clear gmh2) (on-table gmh2) (on-table udh5) (clear jcm4) (on-table jcm4) (holding ihl3) (clear osb1)",
"(on osb1 udh5) (clear gmh2) (on ihl3 jcm4) (arm-empty) (on-table gmh2) (on-table udh5) (on-table jcm4) (clear ihl3) (clear osb1)",
"(holding osb1) (clear gmh2) (on ihl3 jcm4) (on-table gmh2) (on-table udh5) (on-table jcm4) (clear ihl3) (clear udh5)",
"(on ihl3 jcm4) (clear gmh2) (on osb1 ihl3) (arm-empty) (on-table gmh2) (on-table udh5) (on-table jcm4) (clear osb1) (clear udh5)",
"(on ihl3 jcm4) (clear gmh2) (on osb1 ihl3) (on-table gmh2) (holding udh5) (on-table jcm4) (clear osb1)"
] |
file_27524
|
GOAL: (clear xmd2) (on-table xmd2) (on-table vnq5) (holding kyg4) (on-table qoa1) (clear bim3) (clear qoa1) (on-table bim3) (clear vnq5)
|
GOAL: (clear xmd2) (on-table xmd2) (on-table vnq5) (holding kyg4) (on-table qoa1) (clear bim3) (clear qoa1) (on-table bim3) (clear vnq5)
STATE: (on-table vnq5) (on kyg4 vnq5) (holding xmd2) (on qoa1 kyg4) (clear bim3) (clear qoa1) (on-table bim3)
|
[
[
"stack xmd2 bim3"
],
[
"unstack qoa1 kyg4"
],
[
"put-down qoa1"
],
[
"unstack xmd2 bim3"
],
[
"put-down xmd2"
],
[
"unstack kyg4 vnq5"
]
] |
[
"(clear xmd2) (arm-empty) (on-table vnq5) (on kyg4 vnq5) (on qoa1 kyg4) (on xmd2 bim3) (clear qoa1) (on-table bim3)",
"(holding qoa1) (clear xmd2) (on-table vnq5) (on kyg4 vnq5) (clear kyg4) (on xmd2 bim3) (on-table bim3)",
"(arm-empty) (on-table vnq5) (on kyg4 vnq5) (clear kyg4) (clear xmd2) (on-table qoa1) (on xmd2 bim3) (clear qoa1) (on-table bim3)",
"(on-table vnq5) (on kyg4 vnq5) (on-table qoa1) (clear kyg4) (holding xmd2) (clear bim3) (clear qoa1) (on-table bim3)",
"(clear xmd2) (arm-empty) (on-table xmd2) (on-table vnq5) (on kyg4 vnq5) (on-table qoa1) (clear kyg4) (clear bim3) (clear qoa1) (on-table bim3)",
"(clear xmd2) (on-table xmd2) (on-table vnq5) (holding kyg4) (on-table qoa1) (clear bim3) (clear qoa1) (on-table bim3) (clear vnq5)"
] |
file_123310
|
GOAL: (holding uxy2) (on thx5 ffa3) (on-table fbn4) (on hij1 fbn4) (on ffa3 hij1) (clear thx5)
|
GOAL: (holding uxy2) (on thx5 ffa3) (on-table fbn4) (on hij1 fbn4) (on ffa3 hij1) (clear thx5)
STATE: (clear uxy2) (holding thx5) (on-table fbn4) (on hij1 fbn4) (on ffa3 hij1) (on uxy2 ffa3)
|
[
[
"put-down thx5"
],
[
"unstack uxy2 ffa3"
],
[
"put-down uxy2"
],
[
"pick-up thx5"
],
[
"stack thx5 ffa3"
],
[
"pick-up uxy2"
]
] |
[
"(arm-empty) (on-table thx5) (on ffa3 hij1) (clear thx5) (clear uxy2) (on-table fbn4) (on hij1 fbn4) (on uxy2 ffa3)",
"(on-table thx5) (holding uxy2) (on-table fbn4) (on hij1 fbn4) (on ffa3 hij1) (clear ffa3) (clear thx5)",
"(arm-empty) (on-table uxy2) (on-table thx5) (on ffa3 hij1) (clear thx5) (clear uxy2) (on-table fbn4) (on hij1 fbn4) (clear ffa3)",
"(clear uxy2) (on-table uxy2) (holding thx5) (on-table fbn4) (on hij1 fbn4) (on ffa3 hij1) (clear ffa3)",
"(clear uxy2) (arm-empty) (on-table uxy2) (on thx5 ffa3) (on-table fbn4) (on hij1 fbn4) (on ffa3 hij1) (clear thx5)",
"(holding uxy2) (on thx5 ffa3) (on-table fbn4) (on hij1 fbn4) (on ffa3 hij1) (clear thx5)"
] |
file_89254
|
GOAL: (holding huy1) (clear wwz2) (on-table wwz2) (on-table iwj5) (on qud4 iwj5) (clear qud4) (clear soi3) (on-table soi3)
|
GOAL: (holding huy1) (clear wwz2) (on-table wwz2) (on-table iwj5) (on qud4 iwj5) (clear qud4) (clear soi3) (on-table soi3)
STATE: (on-table wwz2) (on-table huy1) (clear qud4) (holding iwj5) (on qud4 wwz2) (clear soi3) (clear huy1) (on-table soi3)
|
[
[
"stack iwj5 qud4"
],
[
"pick-up soi3"
],
[
"stack soi3 huy1"
],
[
"unstack iwj5 qud4"
],
[
"put-down iwj5"
],
[
"unstack qud4 wwz2"
],
[
"stack qud4 iwj5"
],
[
"unstack soi3 huy1"
],
[
"put-down soi3"
],
[
"pick-up huy1"
]
] |
[
"(arm-empty) (on iwj5 qud4) (on-table wwz2) (on-table huy1) (on qud4 wwz2) (clear soi3) (clear huy1) (on-table soi3) (clear iwj5)",
"(on iwj5 qud4) (on-table wwz2) (on-table huy1) (on qud4 wwz2) (holding soi3) (clear huy1) (clear iwj5)",
"(arm-empty) (on iwj5 qud4) (on-table wwz2) (on-table huy1) (on soi3 huy1) (on qud4 wwz2) (clear soi3) (clear iwj5)",
"(on-table wwz2) (on-table huy1) (clear qud4) (on soi3 huy1) (holding iwj5) (on qud4 wwz2) (clear soi3)",
"(arm-empty) (on-table wwz2) (on-table iwj5) (clear qud4) (on soi3 huy1) (clear iwj5) (on-table huy1) (on qud4 wwz2) (clear soi3)",
"(clear wwz2) (on-table wwz2) (on-table iwj5) (on-table huy1) (holding qud4) (on soi3 huy1) (clear soi3) (clear iwj5)",
"(clear wwz2) (arm-empty) (on-table wwz2) (on-table iwj5) (on-table huy1) (on qud4 iwj5) (clear qud4) (on soi3 huy1) (clear soi3)",
"(clear wwz2) (on-table wwz2) (on-table iwj5) (on-table huy1) (on qud4 iwj5) (clear qud4) (holding soi3) (clear huy1)",
"(clear wwz2) (arm-empty) (on-table wwz2) (on-table iwj5) (on-table huy1) (on qud4 iwj5) (clear qud4) (clear soi3) (clear huy1) (on-table soi3)",
"(holding huy1) (clear wwz2) (on-table wwz2) (on-table iwj5) (on qud4 iwj5) (clear qud4) (clear soi3) (on-table soi3)"
] |
file_87212
|
GOAL: (on oyc3 bde4) (clear oxu2) (arm-empty) (on-table oxu2) (on bde4 thg5) (on-table vfp1) (on thg5 vfp1) (clear oyc3)
|
GOAL: (on oyc3 bde4) (clear oxu2) (arm-empty) (on-table oxu2) (on bde4 thg5) (on-table vfp1) (on thg5 vfp1) (clear oyc3)
STATE: (arm-empty) (on-table oxu2) (on-table thg5) (on oyc3 oxu2) (on bde4 oyc3) (on vfp1 bde4) (clear vfp1) (clear thg5)
|
[
[
"unstack vfp1 bde4"
],
[
"put-down vfp1"
],
[
"pick-up thg5"
],
[
"stack thg5 vfp1"
],
[
"unstack bde4 oyc3"
],
[
"stack bde4 thg5"
],
[
"unstack oyc3 oxu2"
],
[
"stack oyc3 bde4"
]
] |
[
"(holding vfp1) (on-table oxu2) (on-table thg5) (on oyc3 oxu2) (clear bde4) (on bde4 oyc3) (clear thg5)",
"(arm-empty) (on-table oxu2) (on-table thg5) (clear bde4) (clear thg5) (on-table vfp1) (on oyc3 oxu2) (on bde4 oyc3) (clear vfp1)",
"(on-table oxu2) (on-table vfp1) (on oyc3 oxu2) (clear bde4) (on bde4 oyc3) (holding thg5) (clear vfp1)",
"(arm-empty) (on-table oxu2) (clear bde4) (clear thg5) (on-table vfp1) (on oyc3 oxu2) (on bde4 oyc3) (on thg5 vfp1)",
"(on-table oxu2) (on-table vfp1) (holding bde4) (on oyc3 oxu2) (on thg5 vfp1) (clear oyc3) (clear thg5)",
"(arm-empty) (on-table oxu2) (on bde4 thg5) (on-table vfp1) (on oyc3 oxu2) (clear bde4) (on thg5 vfp1) (clear oyc3)",
"(clear oxu2) (on-table oxu2) (on bde4 thg5) (on-table vfp1) (clear bde4) (on thg5 vfp1) (holding oyc3)",
"(on oyc3 bde4) (clear oxu2) (arm-empty) (on-table oxu2) (on bde4 thg5) (on-table vfp1) (on thg5 vfp1) (clear oyc3)"
] |
file_15916
|
GOAL: (on awp3 bgx4) (clear qjz2) (arm-empty) (on-table aeh1) (on zut5 aeh1) (on-table bgx4) (on qjz2 zut5) (clear awp3)
|
GOAL: (on awp3 bgx4) (clear qjz2) (arm-empty) (on-table aeh1) (on zut5 aeh1) (on-table bgx4) (on qjz2 zut5) (clear awp3)
STATE: (on awp3 bgx4) (clear qjz2) (on-table aeh1) (holding zut5) (on-table bgx4) (on qjz2 awp3) (clear aeh1)
|
[
[
"stack zut5 aeh1"
],
[
"unstack qjz2 awp3"
],
[
"stack qjz2 zut5"
]
] |
[
"(on awp3 bgx4) (clear qjz2) (arm-empty) (on-table aeh1) (on zut5 aeh1) (on-table bgx4) (on qjz2 awp3) (clear zut5)",
"(on awp3 bgx4) (on-table aeh1) (on zut5 aeh1) (on-table bgx4) (holding qjz2) (clear awp3) (clear zut5)",
"(on awp3 bgx4) (clear qjz2) (arm-empty) (on-table aeh1) (on zut5 aeh1) (on-table bgx4) (on qjz2 zut5) (clear awp3)"
] |
file_125702
|
GOAL: (on dfv3 cpf1) (arm-empty) (on-table jnm2) (on cpf1 ipz4) (on ipz4 jnm2) (clear dfv3)
|
GOAL: (on dfv3 cpf1) (arm-empty) (on-table jnm2) (on cpf1 ipz4) (on ipz4 jnm2) (clear dfv3)
STATE: (on-table cpf1) (clear ipz4) (on ipz4 dfv3) (holding jnm2) (clear cpf1) (on-table dfv3)
|
[
[
"put-down jnm2"
],
[
"unstack ipz4 dfv3"
],
[
"stack ipz4 jnm2"
],
[
"pick-up cpf1"
],
[
"stack cpf1 ipz4"
],
[
"pick-up dfv3"
],
[
"stack dfv3 cpf1"
]
] |
[
"(arm-empty) (on-table jnm2) (clear ipz4) (clear jnm2) (on-table cpf1) (on ipz4 dfv3) (clear cpf1) (on-table dfv3)",
"(clear jnm2) (on-table jnm2) (on-table cpf1) (holding ipz4) (clear dfv3) (clear cpf1) (on-table dfv3)",
"(arm-empty) (on-table jnm2) (on-table cpf1) (clear ipz4) (on ipz4 jnm2) (clear dfv3) (clear cpf1) (on-table dfv3)",
"(holding cpf1) (on-table jnm2) (clear ipz4) (on ipz4 jnm2) (clear dfv3) (on-table dfv3)",
"(arm-empty) (on-table jnm2) (on cpf1 ipz4) (on ipz4 jnm2) (clear dfv3) (clear cpf1) (on-table dfv3)",
"(on-table jnm2) (on cpf1 ipz4) (on ipz4 jnm2) (holding dfv3) (clear cpf1)",
"(on dfv3 cpf1) (arm-empty) (on-table jnm2) (on cpf1 ipz4) (on ipz4 jnm2) (clear dfv3)"
] |
file_191234
|
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