goal
stringlengths 64
162
| input
stringlengths 130
312
| actions
listlengths 1
18
| next_states
listlengths 1
18
| source_file
stringlengths 6
11
|
|---|---|---|---|---|
GOAL: (on mnt1 jsj5) (clear hxj2) (on-table jsj5) (holding yjp4) (on hxj2 mnt1) (clear rft3) (on-table rft3)
|
GOAL: (on mnt1 jsj5) (clear hxj2) (on-table jsj5) (holding yjp4) (on hxj2 mnt1) (clear rft3) (on-table rft3)
STATE: (on yjp4 mnt1) (arm-empty) (on-table jsj5) (clear yjp4) (on hxj2 jsj5) (clear rft3) (on mnt1 hxj2) (on-table rft3)
|
[
[
"unstack yjp4 mnt1"
],
[
"stack yjp4 rft3"
],
[
"unstack mnt1 hxj2"
],
[
"put-down mnt1"
],
[
"unstack hxj2 jsj5"
],
[
"stack hxj2 yjp4"
],
[
"pick-up mnt1"
],
[
"stack mnt1 jsj5"
],
[
"unstack hxj2 yjp4"
],
[
"stack hxj2 mnt1"
],
[
"unstack yjp4 rft3"
]
] |
[
"(on-table jsj5) (holding yjp4) (on hxj2 jsj5) (clear rft3) (on mnt1 hxj2) (clear mnt1) (on-table rft3)",
"(arm-empty) (on-table jsj5) (clear yjp4) (on yjp4 rft3) (on hxj2 jsj5) (on mnt1 hxj2) (clear mnt1) (on-table rft3)",
"(holding mnt1) (clear hxj2) (on-table jsj5) (clear yjp4) (on yjp4 rft3) (on hxj2 jsj5) (on-table rft3)",
"(arm-empty) (on-table jsj5) (clear yjp4) (on hxj2 jsj5) (clear hxj2) (on-table mnt1) (on yjp4 rft3) (clear mnt1) (on-table rft3)",
"(on-table jsj5) (on-table mnt1) (clear yjp4) (on yjp4 rft3) (holding hxj2) (clear mnt1) (on-table rft3) (clear jsj5)",
"(clear hxj2) (arm-empty) (on-table jsj5) (on-table mnt1) (on yjp4 rft3) (on hxj2 yjp4) (clear mnt1) (on-table rft3) (clear jsj5)",
"(holding mnt1) (clear hxj2) (on-table jsj5) (on yjp4 rft3) (on hxj2 yjp4) (on-table rft3) (clear jsj5)",
"(on mnt1 jsj5) (clear hxj2) (arm-empty) (on-table jsj5) (on yjp4 rft3) (on hxj2 yjp4) (clear mnt1) (on-table rft3)",
"(on mnt1 jsj5) (on-table jsj5) (clear yjp4) (on yjp4 rft3) (holding hxj2) (clear mnt1) (on-table rft3)",
"(on mnt1 jsj5) (clear hxj2) (arm-empty) (on-table jsj5) (clear yjp4) (on yjp4 rft3) (on hxj2 mnt1) (on-table rft3)",
"(on mnt1 jsj5) (clear hxj2) (on-table jsj5) (holding yjp4) (on hxj2 mnt1) (clear rft3) (on-table rft3)"
] |
file_121299
|
GOAL: (on itr4 jou1) (on-table ehi5) (on-table jou1) (clear itr4) (holding fyh2) (clear otq3) (on-table otq3) (clear ehi5)
|
GOAL: (on itr4 jou1) (on-table ehi5) (on-table jou1) (clear itr4) (holding fyh2) (clear otq3) (on-table otq3) (clear ehi5)
STATE: (holding fyh2) (on ehi5 otq3) (on-table itr4) (on jou1 itr4) (on otq3 jou1) (clear ehi5)
|
[
[
"put-down fyh2"
],
[
"unstack ehi5 otq3"
],
[
"stack ehi5 fyh2"
],
[
"unstack otq3 jou1"
],
[
"stack otq3 ehi5"
],
[
"unstack jou1 itr4"
],
[
"put-down jou1"
],
[
"unstack otq3 ehi5"
],
[
"put-down otq3"
],
[
"unstack ehi5 fyh2"
],
[
"put-down ehi5"
],
[
"pick-up itr4"
],
[
"stack itr4 jou1"
],
[
"pick-up fyh2"
]
] |
[
"(arm-empty) (on-table fyh2) (on ehi5 otq3) (on otq3 jou1) (clear ehi5) (clear fyh2) (on-table itr4) (on jou1 itr4)",
"(clear fyh2) (on-table fyh2) (holding ehi5) (on-table itr4) (on jou1 itr4) (on otq3 jou1) (clear otq3)",
"(arm-empty) (on-table fyh2) (on ehi5 fyh2) (on-table itr4) (on jou1 itr4) (on otq3 jou1) (clear otq3) (clear ehi5)",
"(on-table fyh2) (on ehi5 fyh2) (on-table itr4) (on jou1 itr4) (holding otq3) (clear jou1) (clear ehi5)",
"(on otq3 ehi5) (arm-empty) (on-table fyh2) (on ehi5 fyh2) (on-table itr4) (on jou1 itr4) (clear otq3) (clear jou1)",
"(holding jou1) (on otq3 ehi5) (on-table fyh2) (on ehi5 fyh2) (clear itr4) (on-table itr4) (clear otq3)",
"(on otq3 ehi5) (arm-empty) (on-table fyh2) (on ehi5 fyh2) (clear itr4) (on-table jou1) (on-table itr4) (clear otq3) (clear jou1)",
"(on-table fyh2) (on-table jou1) (on ehi5 fyh2) (clear itr4) (on-table itr4) (holding otq3) (clear jou1) (clear ehi5)",
"(arm-empty) (on-table fyh2) (on-table jou1) (on ehi5 fyh2) (clear itr4) (on-table itr4) (clear otq3) (clear jou1) (on-table otq3) (clear ehi5)",
"(clear fyh2) (on-table fyh2) (on-table jou1) (clear itr4) (holding ehi5) (on-table itr4) (clear otq3) (clear jou1) (on-table otq3)",
"(clear fyh2) (arm-empty) (on-table fyh2) (on-table ehi5) (on-table jou1) (clear itr4) (on-table itr4) (clear otq3) (clear jou1) (on-table otq3) (clear ehi5)",
"(clear fyh2) (on-table fyh2) (on-table ehi5) (on-table jou1) (holding itr4) (clear otq3) (clear jou1) (on-table otq3) (clear ehi5)",
"(clear fyh2) (on itr4 jou1) (arm-empty) (on-table fyh2) (on-table ehi5) (on-table jou1) (clear itr4) (clear otq3) (on-table otq3) (clear ehi5)",
"(on itr4 jou1) (on-table ehi5) (on-table jou1) (clear itr4) (holding fyh2) (clear otq3) (on-table otq3) (clear ehi5)"
] |
file_117269
|
GOAL: (clear xkf2) (on tlt1 vnh3) (arm-empty) (on jfy5 tlt1) (on-table zcg4) (on xkf2 zcg4) (on-table vnh3) (clear jfy5)
|
GOAL: (clear xkf2) (on tlt1 vnh3) (arm-empty) (on jfy5 tlt1) (on-table zcg4) (on xkf2 zcg4) (on-table vnh3) (clear jfy5)
STATE: (clear xkf2) (on-table tlt1) (holding jfy5) (on-table zcg4) (on xkf2 zcg4) (clear vnh3) (clear tlt1) (on-table vnh3)
|
[
[
"put-down jfy5"
],
[
"pick-up tlt1"
],
[
"stack tlt1 vnh3"
],
[
"pick-up jfy5"
],
[
"stack jfy5 tlt1"
]
] |
[
"(clear xkf2) (arm-empty) (on-table jfy5) (on-table tlt1) (on-table zcg4) (on xkf2 zcg4) (clear vnh3) (clear tlt1) (on-table vnh3) (clear jfy5)",
"(holding tlt1) (clear xkf2) (on-table jfy5) (on-table zcg4) (on xkf2 zcg4) (clear vnh3) (on-table vnh3) (clear jfy5)",
"(clear xkf2) (on tlt1 vnh3) (arm-empty) (on-table jfy5) (on-table zcg4) (on xkf2 zcg4) (clear tlt1) (on-table vnh3) (clear jfy5)",
"(clear xkf2) (on tlt1 vnh3) (holding jfy5) (on-table zcg4) (on xkf2 zcg4) (clear tlt1) (on-table vnh3)",
"(clear xkf2) (on tlt1 vnh3) (arm-empty) (on jfy5 tlt1) (on-table zcg4) (on xkf2 zcg4) (on-table vnh3) (clear jfy5)"
] |
file_80413
|
GOAL: (clear cvp2) (on-table fwj1) (holding esg4) (on zyv5 fwj1) (on cvp2 lba3) (on-table lba3) (clear zyv5)
|
GOAL: (clear cvp2) (on-table fwj1) (holding esg4) (on zyv5 fwj1) (on cvp2 lba3) (on-table lba3) (clear zyv5)
STATE: (on lba3 esg4) (clear cvp2) (arm-empty) (on-table cvp2) (on esg4 zyv5) (on-table fwj1) (on zyv5 fwj1) (clear lba3)
|
[
[
"unstack lba3 esg4"
],
[
"put-down lba3"
],
[
"pick-up cvp2"
],
[
"stack cvp2 lba3"
],
[
"unstack esg4 zyv5"
]
] |
[
"(clear cvp2) (on-table cvp2) (on esg4 zyv5) (on-table fwj1) (clear esg4) (on zyv5 fwj1) (holding lba3)",
"(arm-empty) (on-table cvp2) (on esg4 zyv5) (clear esg4) (clear cvp2) (on-table fwj1) (on zyv5 fwj1) (clear lba3) (on-table lba3)",
"(on esg4 zyv5) (on-table fwj1) (clear esg4) (on zyv5 fwj1) (holding cvp2) (clear lba3) (on-table lba3)",
"(clear cvp2) (arm-empty) (on esg4 zyv5) (on-table fwj1) (clear esg4) (on zyv5 fwj1) (on cvp2 lba3) (on-table lba3)",
"(clear cvp2) (on-table fwj1) (holding esg4) (on zyv5 fwj1) (on cvp2 lba3) (on-table lba3) (clear zyv5)"
] |
file_159350
|
GOAL: (clear gvw2) (on-table gvw2) (on-table ift1) (holding vce3) (clear ift1)
|
GOAL: (clear gvw2) (on-table gvw2) (on-table ift1) (holding vce3) (clear ift1)
STATE: (holding ift1) (clear gvw2) (on-table gvw2) (clear vce3) (on-table vce3)
|
[
[
"put-down ift1"
],
[
"pick-up vce3"
]
] |
[
"(clear gvw2) (arm-empty) (on-table gvw2) (on-table ift1) (clear vce3) (clear ift1) (on-table vce3)",
"(clear gvw2) (on-table gvw2) (on-table ift1) (holding vce3) (clear ift1)"
] |
file_57059
|
GOAL: (on-table ubu1) (clear kgy4) (on faj5 ura3) (on-table kgy4) (holding bhu2) (clear ubu1) (on-table ura3) (clear faj5)
|
GOAL: (on-table ubu1) (clear kgy4) (on faj5 ura3) (on-table kgy4) (holding bhu2) (clear ubu1) (on-table ura3) (clear faj5)
STATE: (clear bhu2) (on-table ubu1) (holding faj5) (on-table kgy4) (on bhu2 kgy4) (clear ura3) (clear ubu1) (on-table ura3)
|
[
[
"stack faj5 ura3"
],
[
"unstack bhu2 kgy4"
]
] |
[
"(clear bhu2) (arm-empty) (on-table ubu1) (on faj5 ura3) (on-table kgy4) (on bhu2 kgy4) (clear ubu1) (on-table ura3) (clear faj5)",
"(on-table ubu1) (clear kgy4) (on faj5 ura3) (on-table kgy4) (holding bhu2) (clear ubu1) (on-table ura3) (clear faj5)"
] |
file_80519
|
GOAL: (arm-empty) (on-table zfz1) (on utr3 ikm2) (clear lsi4) (on pvl5 utr3) (on-table lsi4) (on ikm2 zfz1) (clear pvl5)
|
GOAL: (arm-empty) (on-table zfz1) (on utr3 ikm2) (clear lsi4) (on pvl5 utr3) (on-table lsi4) (on ikm2 zfz1) (clear pvl5)
STATE: (on utr3 pvl5) (arm-empty) (on pvl5 lsi4) (on-table lsi4) (on ikm2 utr3) (on zfz1 ikm2) (clear zfz1)
|
[
[
"unstack zfz1 ikm2"
],
[
"put-down zfz1"
],
[
"unstack ikm2 utr3"
],
[
"stack ikm2 zfz1"
],
[
"unstack utr3 pvl5"
],
[
"stack utr3 ikm2"
],
[
"unstack pvl5 lsi4"
],
[
"stack pvl5 utr3"
]
] |
[
"(on utr3 pvl5) (on pvl5 lsi4) (holding zfz1) (clear ikm2) (on-table lsi4) (on ikm2 utr3)",
"(on utr3 pvl5) (arm-empty) (on pvl5 lsi4) (clear ikm2) (on-table zfz1) (on-table lsi4) (on ikm2 utr3) (clear zfz1)",
"(on utr3 pvl5) (on pvl5 lsi4) (on-table zfz1) (on-table lsi4) (holding ikm2) (clear utr3) (clear zfz1)",
"(on utr3 pvl5) (clear ikm2) (on pvl5 lsi4) (arm-empty) (on-table zfz1) (on-table lsi4) (on ikm2 zfz1) (clear utr3)",
"(clear ikm2) (on pvl5 lsi4) (on-table zfz1) (on-table lsi4) (on ikm2 zfz1) (holding utr3) (clear pvl5)",
"(arm-empty) (on pvl5 lsi4) (on-table zfz1) (on utr3 ikm2) (on-table lsi4) (on ikm2 zfz1) (clear utr3) (clear pvl5)",
"(on-table zfz1) (on utr3 ikm2) (clear lsi4) (holding pvl5) (on-table lsi4) (on ikm2 zfz1) (clear utr3)",
"(arm-empty) (on-table zfz1) (on utr3 ikm2) (clear lsi4) (on pvl5 utr3) (on-table lsi4) (on ikm2 zfz1) (clear pvl5)"
] |
file_122160
|
GOAL: (clear lwa2) (arm-empty) (on-table lwa2) (on-table kou5) (on-table ccf4) (on xhw1 ccf4) (clear vqx3) (clear xhw1) (on-table vqx3) (clear kou5)
|
GOAL: (clear lwa2) (arm-empty) (on-table lwa2) (on-table kou5) (on-table ccf4) (on xhw1 ccf4) (clear vqx3) (clear xhw1) (on-table vqx3) (clear kou5)
STATE: (holding xhw1) (clear lwa2) (on-table lwa2) (clear ccf4) (on kou5 vqx3) (on-table ccf4) (on-table vqx3) (clear kou5)
|
[
[
"stack xhw1 ccf4"
],
[
"unstack kou5 vqx3"
],
[
"put-down kou5"
]
] |
[
"(clear lwa2) (arm-empty) (on-table lwa2) (on kou5 vqx3) (on-table ccf4) (on xhw1 ccf4) (clear xhw1) (on-table vqx3) (clear kou5)",
"(clear lwa2) (on-table lwa2) (holding kou5) (on-table ccf4) (on xhw1 ccf4) (clear vqx3) (clear xhw1) (on-table vqx3)",
"(clear lwa2) (arm-empty) (on-table lwa2) (on-table kou5) (on-table ccf4) (on xhw1 ccf4) (clear vqx3) (clear xhw1) (on-table vqx3) (clear kou5)"
] |
file_219875
|
GOAL: (on uqq4 gxa1) (arm-empty) (on-table blf2) (on-table gxa1) (on tet5 blf2) (clear uqq4) (clear fuz3) (on-table fuz3) (clear tet5)
|
GOAL: (on uqq4 gxa1) (arm-empty) (on-table blf2) (on-table gxa1) (on tet5 blf2) (clear uqq4) (clear fuz3) (on-table fuz3) (clear tet5)
STATE: (on gxa1 tet5) (on uqq4 gxa1) (arm-empty) (on-table blf2) (on tet5 blf2) (clear uqq4) (clear fuz3) (on-table fuz3)
|
[
[
"unstack uqq4 gxa1"
],
[
"stack uqq4 fuz3"
],
[
"unstack gxa1 tet5"
],
[
"put-down gxa1"
],
[
"unstack uqq4 fuz3"
],
[
"stack uqq4 gxa1"
]
] |
[
"(on gxa1 tet5) (on-table blf2) (holding uqq4) (on tet5 blf2) (clear fuz3) (clear gxa1) (on-table fuz3)",
"(on gxa1 tet5) (arm-empty) (on-table blf2) (on tet5 blf2) (clear uqq4) (on uqq4 fuz3) (clear gxa1) (on-table fuz3)",
"(holding gxa1) (on-table blf2) (on tet5 blf2) (clear uqq4) (on uqq4 fuz3) (on-table fuz3) (clear tet5)",
"(arm-empty) (on-table blf2) (on tet5 blf2) (clear uqq4) (clear tet5) (on-table gxa1) (on uqq4 fuz3) (clear gxa1) (on-table fuz3)",
"(on-table blf2) (on-table gxa1) (holding uqq4) (on tet5 blf2) (clear fuz3) (clear gxa1) (on-table fuz3) (clear tet5)",
"(on uqq4 gxa1) (arm-empty) (on-table blf2) (on-table gxa1) (on tet5 blf2) (clear uqq4) (clear fuz3) (on-table fuz3) (clear tet5)"
] |
file_1228
|
GOAL: (arm-empty) (on-table lls2) (on-table bgm5) (clear zpx4) (on-table zpx4) (clear ocx3) (on xiz1 lls2) (clear xiz1) (on-table ocx3) (clear bgm5)
|
GOAL: (arm-empty) (on-table lls2) (on-table bgm5) (clear zpx4) (on-table zpx4) (clear ocx3) (on xiz1 lls2) (clear xiz1) (on-table ocx3) (clear bgm5)
STATE: (clear lls2) (on-table bgm5) (on-table xiz1) (on zpx4 bgm5) (on lls2 zpx4) (holding ocx3) (clear xiz1)
|
[
[
"put-down ocx3"
],
[
"pick-up xiz1"
],
[
"stack xiz1 ocx3"
],
[
"unstack lls2 zpx4"
],
[
"put-down lls2"
],
[
"unstack zpx4 bgm5"
],
[
"put-down zpx4"
],
[
"unstack xiz1 ocx3"
],
[
"stack xiz1 lls2"
]
] |
[
"(arm-empty) (on-table bgm5) (on zpx4 bgm5) (on lls2 zpx4) (clear lls2) (on-table xiz1) (clear ocx3) (clear xiz1) (on-table ocx3)",
"(holding xiz1) (clear lls2) (on-table bgm5) (on zpx4 bgm5) (on lls2 zpx4) (clear ocx3) (on-table ocx3)",
"(clear lls2) (on xiz1 ocx3) (arm-empty) (on-table bgm5) (on zpx4 bgm5) (on lls2 zpx4) (clear xiz1) (on-table ocx3)",
"(on xiz1 ocx3) (on-table bgm5) (on zpx4 bgm5) (clear zpx4) (holding lls2) (clear xiz1) (on-table ocx3)",
"(on xiz1 ocx3) (arm-empty) (on-table lls2) (on-table bgm5) (on zpx4 bgm5) (clear zpx4) (clear lls2) (clear xiz1) (on-table ocx3)",
"(clear lls2) (on xiz1 ocx3) (on-table lls2) (on-table bgm5) (holding zpx4) (clear xiz1) (on-table ocx3) (clear bgm5)",
"(clear lls2) (on xiz1 ocx3) (arm-empty) (on-table lls2) (on-table bgm5) (clear zpx4) (on-table zpx4) (clear xiz1) (on-table ocx3) (clear bgm5)",
"(holding xiz1) (clear lls2) (on-table lls2) (on-table bgm5) (clear zpx4) (on-table zpx4) (clear ocx3) (on-table ocx3) (clear bgm5)",
"(arm-empty) (on-table lls2) (on-table bgm5) (clear zpx4) (on-table zpx4) (clear ocx3) (on xiz1 lls2) (clear xiz1) (on-table ocx3) (clear bgm5)"
] |
file_58003
|
GOAL: (arm-empty) (on-table tcq2) (on wqv4 dtb5) (on-table dtb5) (on-table cxb1) (on yfi3 tcq2) (clear wqv4) (clear yfi3) (clear cxb1)
|
GOAL: (arm-empty) (on-table tcq2) (on wqv4 dtb5) (on-table dtb5) (on-table cxb1) (on yfi3 tcq2) (clear wqv4) (clear yfi3) (clear cxb1)
STATE: (holding cxb1) (on yfi3 wqv4) (clear tcq2) (on-table tcq2) (on wqv4 dtb5) (on-table dtb5) (clear yfi3)
|
[
[
"put-down cxb1"
],
[
"unstack yfi3 wqv4"
],
[
"stack yfi3 tcq2"
]
] |
[
"(arm-empty) (on-table tcq2) (on wqv4 dtb5) (on-table dtb5) (on yfi3 wqv4) (clear tcq2) (on-table cxb1) (clear yfi3) (clear cxb1)",
"(clear tcq2) (on-table tcq2) (on wqv4 dtb5) (on-table dtb5) (on-table cxb1) (clear wqv4) (holding yfi3) (clear cxb1)",
"(arm-empty) (on-table tcq2) (on wqv4 dtb5) (on-table dtb5) (on-table cxb1) (on yfi3 tcq2) (clear wqv4) (clear yfi3) (clear cxb1)"
] |
file_133261
|
GOAL: (holding owa1) (on ien3 vky4) (clear gur2) (on-table gur2) (on-table mpb5) (on-table vky4) (clear ien3) (clear mpb5)
|
GOAL: (holding owa1) (on ien3 vky4) (clear gur2) (on-table gur2) (on-table mpb5) (on-table vky4) (clear ien3) (clear mpb5)
STATE: (on owa1 mpb5) (on-table gur2) (holding vky4) (on mpb5 gur2) (on ien3 owa1) (clear ien3)
|
[
[
"put-down vky4"
],
[
"unstack ien3 owa1"
],
[
"stack ien3 vky4"
],
[
"unstack owa1 mpb5"
],
[
"stack owa1 ien3"
],
[
"unstack mpb5 gur2"
],
[
"put-down mpb5"
],
[
"unstack owa1 ien3"
]
] |
[
"(on owa1 mpb5) (arm-empty) (on-table gur2) (on mpb5 gur2) (clear vky4) (on ien3 owa1) (on-table vky4) (clear ien3)",
"(on owa1 mpb5) (on-table gur2) (on mpb5 gur2) (clear vky4) (on-table vky4) (holding ien3) (clear owa1)",
"(on owa1 mpb5) (on ien3 vky4) (arm-empty) (on-table gur2) (on mpb5 gur2) (on-table vky4) (clear ien3) (clear owa1)",
"(holding owa1) (on ien3 vky4) (on-table gur2) (on mpb5 gur2) (on-table vky4) (clear ien3) (clear mpb5)",
"(on ien3 vky4) (on owa1 ien3) (arm-empty) (on-table gur2) (on mpb5 gur2) (on-table vky4) (clear owa1) (clear mpb5)",
"(on ien3 vky4) (clear gur2) (on owa1 ien3) (on-table gur2) (holding mpb5) (on-table vky4) (clear owa1)",
"(on owa1 ien3) (arm-empty) (on-table gur2) (on-table mpb5) (clear mpb5) (on ien3 vky4) (clear gur2) (on-table vky4) (clear owa1)",
"(holding owa1) (on ien3 vky4) (clear gur2) (on-table gur2) (on-table mpb5) (on-table vky4) (clear ien3) (clear mpb5)"
] |
file_5853
|
GOAL: (holding vlo1) (on vho3 xoz4) (on-table gov2) (on-table cwb5) (on xoz4 gov2) (clear vho3) (clear cwb5)
|
GOAL: (holding vlo1) (on vho3 xoz4) (on-table gov2) (on-table cwb5) (on xoz4 gov2) (clear vho3) (clear cwb5)
STATE: (clear gov2) (on vho3 cwb5) (arm-empty) (on-table cwb5) (on xoz4 vho3) (on vlo1 xoz4) (on gov2 vlo1)
|
[
[
"unstack gov2 vlo1"
],
[
"put-down gov2"
],
[
"unstack vlo1 xoz4"
],
[
"stack vlo1 gov2"
],
[
"unstack xoz4 vho3"
],
[
"put-down xoz4"
],
[
"unstack vlo1 gov2"
],
[
"put-down vlo1"
],
[
"pick-up xoz4"
],
[
"stack xoz4 gov2"
],
[
"unstack vho3 cwb5"
],
[
"stack vho3 xoz4"
],
[
"pick-up vlo1"
]
] |
[
"(on vho3 cwb5) (on-table cwb5) (on vlo1 xoz4) (on xoz4 vho3) (holding gov2) (clear vlo1)",
"(on xoz4 vho3) (on vho3 cwb5) (clear gov2) (arm-empty) (on-table gov2) (on-table cwb5) (on vlo1 xoz4) (clear vlo1)",
"(holding vlo1) (on vho3 cwb5) (clear gov2) (on-table gov2) (on-table cwb5) (clear xoz4) (on xoz4 vho3)",
"(on vho3 cwb5) (arm-empty) (on-table gov2) (on-table cwb5) (clear xoz4) (on xoz4 vho3) (on vlo1 gov2) (clear vlo1)",
"(on vho3 cwb5) (on-table gov2) (on-table cwb5) (holding xoz4) (clear vho3) (on vlo1 gov2) (clear vlo1)",
"(on vho3 cwb5) (arm-empty) (on-table gov2) (on-table cwb5) (clear xoz4) (on vlo1 gov2) (on-table xoz4) (clear vho3) (clear vlo1)",
"(holding vlo1) (on vho3 cwb5) (clear gov2) (on-table gov2) (on-table cwb5) (clear xoz4) (on-table xoz4) (clear vho3)",
"(on vho3 cwb5) (clear gov2) (arm-empty) (on-table gov2) (on-table cwb5) (on-table vlo1) (clear xoz4) (on-table xoz4) (clear vho3) (clear vlo1)",
"(on vho3 cwb5) (clear gov2) (on-table gov2) (on-table cwb5) (on-table vlo1) (holding xoz4) (clear vho3) (clear vlo1)",
"(on vho3 cwb5) (arm-empty) (on-table gov2) (on-table cwb5) (on-table vlo1) (clear xoz4) (on xoz4 gov2) (clear vho3) (clear vlo1)",
"(on-table gov2) (on-table cwb5) (on-table vlo1) (clear xoz4) (on xoz4 gov2) (holding vho3) (clear vlo1) (clear cwb5)",
"(on vho3 xoz4) (arm-empty) (on-table gov2) (on-table cwb5) (on-table vlo1) (on xoz4 gov2) (clear vho3) (clear vlo1) (clear cwb5)",
"(holding vlo1) (on vho3 xoz4) (on-table gov2) (on-table cwb5) (on xoz4 gov2) (clear vho3) (clear cwb5)"
] |
file_24089
|
GOAL: (arm-empty) (on-table rkh2) (clear uzw4) (clear rkh2) (on-table gol1) (on-table uzw4) (clear vxg3) (clear gol1) (on-table vxg3)
|
GOAL: (arm-empty) (on-table rkh2) (clear uzw4) (clear rkh2) (on-table gol1) (on-table uzw4) (clear vxg3) (clear gol1) (on-table vxg3)
STATE: (arm-empty) (on vxg3 rkh2) (on-table uzw4) (on gol1 uzw4) (on rkh2 gol1) (clear vxg3)
|
[
[
"unstack vxg3 rkh2"
],
[
"put-down vxg3"
],
[
"unstack rkh2 gol1"
],
[
"stack rkh2 vxg3"
],
[
"unstack gol1 uzw4"
],
[
"put-down gol1"
],
[
"unstack rkh2 vxg3"
],
[
"put-down rkh2"
]
] |
[
"(on-table uzw4) (clear rkh2) (on gol1 uzw4) (on rkh2 gol1) (holding vxg3)",
"(on-table uzw4) (clear rkh2) (arm-empty) (on gol1 uzw4) (on rkh2 gol1) (clear vxg3) (on-table vxg3)",
"(on gol1 uzw4) (on-table uzw4) (holding rkh2) (clear vxg3) (clear gol1) (on-table vxg3)",
"(clear rkh2) (arm-empty) (on-table uzw4) (on gol1 uzw4) (on rkh2 vxg3) (clear gol1) (on-table vxg3)",
"(clear uzw4) (holding gol1) (clear rkh2) (on-table uzw4) (on rkh2 vxg3) (on-table vxg3)",
"(arm-empty) (clear uzw4) (clear rkh2) (on-table gol1) (on-table uzw4) (on rkh2 vxg3) (clear gol1) (on-table vxg3)",
"(on-table gol1) (clear uzw4) (on-table uzw4) (holding rkh2) (clear vxg3) (clear gol1) (on-table vxg3)",
"(arm-empty) (on-table rkh2) (clear uzw4) (clear rkh2) (on-table gol1) (on-table uzw4) (clear vxg3) (clear gol1) (on-table vxg3)"
] |
file_162071
|
GOAL: (on kus4 gfj3) (on hma5 ugk1) (arm-empty) (on-table ugk1) (on phz2 hma5) (on gfj3 phz2) (clear kus4)
|
GOAL: (on kus4 gfj3) (on hma5 ugk1) (arm-empty) (on-table ugk1) (on phz2 hma5) (on gfj3 phz2) (clear kus4)
STATE: (arm-empty) (on-table ugk1) (on gfj3 phz2) (clear kus4) (on hma5 ugk1) (on-table kus4) (on phz2 hma5) (clear gfj3)
|
[
[
"pick-up kus4"
],
[
"stack kus4 gfj3"
]
] |
[
"(on-table ugk1) (holding kus4) (on gfj3 phz2) (on hma5 ugk1) (on phz2 hma5) (clear gfj3)",
"(on kus4 gfj3) (on hma5 ugk1) (arm-empty) (on-table ugk1) (on phz2 hma5) (on gfj3 phz2) (clear kus4)"
] |
file_600
|
GOAL: (on-table eim2) (holding crp4) (clear gmw3) (on avq1 eim2) (clear avq1) (on-table gmw3)
|
GOAL: (on-table eim2) (holding crp4) (clear gmw3) (on avq1 eim2) (clear avq1) (on-table gmw3)
STATE: (clear eim2) (arm-empty) (on-table eim2) (on-table crp4) (on avq1 crp4) (clear gmw3) (clear avq1) (on-table gmw3)
|
[
[
"unstack avq1 crp4"
],
[
"stack avq1 eim2"
],
[
"pick-up crp4"
]
] |
[
"(holding avq1) (clear eim2) (on-table eim2) (clear crp4) (on-table crp4) (clear gmw3) (on-table gmw3)",
"(arm-empty) (on-table eim2) (clear crp4) (on-table crp4) (clear gmw3) (on avq1 eim2) (clear avq1) (on-table gmw3)",
"(on-table eim2) (holding crp4) (clear gmw3) (on avq1 eim2) (clear avq1) (on-table gmw3)"
] |
file_28223
|
GOAL: (clear ppc2) (on-table ppc2) (on-table kvs5) (on-table gkb1) (holding bah4) (on wnx3 gkb1) (clear wnx3) (clear kvs5)
|
GOAL: (clear ppc2) (on-table ppc2) (on-table kvs5) (on-table gkb1) (holding bah4) (on wnx3 gkb1) (clear wnx3) (clear kvs5)
STATE: (on-table gkb1) (clear bah4) (on kvs5 gkb1) (on bah4 ppc2) (on ppc2 kvs5) (holding wnx3)
|
[
[
"put-down wnx3"
],
[
"unstack bah4 ppc2"
],
[
"stack bah4 wnx3"
],
[
"unstack ppc2 kvs5"
],
[
"put-down ppc2"
],
[
"unstack kvs5 gkb1"
],
[
"stack kvs5 ppc2"
],
[
"unstack bah4 wnx3"
],
[
"stack bah4 kvs5"
],
[
"pick-up wnx3"
],
[
"stack wnx3 gkb1"
],
[
"unstack bah4 kvs5"
],
[
"stack bah4 wnx3"
],
[
"unstack kvs5 ppc2"
],
[
"put-down kvs5"
],
[
"unstack bah4 wnx3"
]
] |
[
"(on bah4 ppc2) (on kvs5 gkb1) (arm-empty) (on-table gkb1) (on ppc2 kvs5) (clear wnx3) (clear bah4) (on-table wnx3)",
"(clear ppc2) (on-table gkb1) (holding bah4) (on kvs5 gkb1) (on ppc2 kvs5) (clear wnx3) (on-table wnx3)",
"(arm-empty) (clear bah4) (on ppc2 kvs5) (clear ppc2) (on-table gkb1) (on bah4 wnx3) (on kvs5 gkb1) (on-table wnx3)",
"(on-table gkb1) (clear bah4) (on bah4 wnx3) (on kvs5 gkb1) (holding ppc2) (on-table wnx3) (clear kvs5)",
"(arm-empty) (on-table ppc2) (clear bah4) (clear kvs5) (clear ppc2) (on-table gkb1) (on bah4 wnx3) (on kvs5 gkb1) (on-table wnx3)",
"(clear ppc2) (on-table ppc2) (on-table gkb1) (clear bah4) (on bah4 wnx3) (holding kvs5) (clear gkb1) (on-table wnx3)",
"(arm-empty) (on-table ppc2) (on-table gkb1) (on kvs5 ppc2) (clear bah4) (on bah4 wnx3) (clear gkb1) (on-table wnx3) (clear kvs5)",
"(on-table ppc2) (on-table gkb1) (holding bah4) (on kvs5 ppc2) (clear wnx3) (clear gkb1) (on-table wnx3) (clear kvs5)",
"(arm-empty) (on-table ppc2) (on bah4 kvs5) (on-table gkb1) (on kvs5 ppc2) (clear bah4) (clear wnx3) (clear gkb1) (on-table wnx3)",
"(on-table ppc2) (on bah4 kvs5) (on-table gkb1) (on kvs5 ppc2) (clear bah4) (holding wnx3) (clear gkb1)",
"(arm-empty) (on-table ppc2) (on bah4 kvs5) (on-table gkb1) (on kvs5 ppc2) (clear bah4) (on wnx3 gkb1) (clear wnx3)",
"(on-table ppc2) (on-table gkb1) (holding bah4) (on kvs5 ppc2) (on wnx3 gkb1) (clear wnx3) (clear kvs5)",
"(arm-empty) (on-table ppc2) (on kvs5 ppc2) (clear bah4) (on wnx3 gkb1) (clear kvs5) (on-table gkb1) (on bah4 wnx3)",
"(clear ppc2) (on-table ppc2) (on-table gkb1) (clear bah4) (on bah4 wnx3) (holding kvs5) (on wnx3 gkb1)",
"(arm-empty) (on-table ppc2) (on-table kvs5) (clear bah4) (on wnx3 gkb1) (clear kvs5) (clear ppc2) (on-table gkb1) (on bah4 wnx3)",
"(clear ppc2) (on-table ppc2) (on-table kvs5) (on-table gkb1) (holding bah4) (on wnx3 gkb1) (clear wnx3) (clear kvs5)"
] |
file_170646
|
GOAL: (holding xid1) (on rqc3 kjt5) (clear rrw2) (on-table rrw2) (on-table kjt5) (clear irb4) (on-table irb4) (clear rqc3)
|
GOAL: (holding xid1) (on rqc3 kjt5) (clear rrw2) (on-table rrw2) (on-table kjt5) (clear irb4) (on-table irb4) (clear rqc3)
STATE: (clear rrw2) (on rqc3 kjt5) (holding irb4) (on-table xid1) (on kjt5 xid1) (on rrw2 rqc3)
|
[
[
"put-down irb4"
],
[
"unstack rrw2 rqc3"
],
[
"put-down rrw2"
],
[
"unstack rqc3 kjt5"
],
[
"stack rqc3 rrw2"
],
[
"unstack kjt5 xid1"
],
[
"put-down kjt5"
],
[
"unstack rqc3 rrw2"
],
[
"stack rqc3 irb4"
],
[
"pick-up xid1"
],
[
"stack xid1 rrw2"
],
[
"unstack rqc3 irb4"
],
[
"stack rqc3 kjt5"
],
[
"unstack xid1 rrw2"
]
] |
[
"(on kjt5 xid1) (clear rrw2) (on rqc3 kjt5) (on-table irb4) (on rrw2 rqc3) (clear irb4) (arm-empty) (on-table xid1)",
"(on rqc3 kjt5) (on-table xid1) (clear irb4) (on kjt5 xid1) (on-table irb4) (holding rrw2) (clear rqc3)",
"(on rqc3 kjt5) (arm-empty) (on-table rrw2) (clear irb4) (clear rrw2) (on-table xid1) (on kjt5 xid1) (on-table irb4) (clear rqc3)",
"(clear rrw2) (on-table rrw2) (on-table xid1) (clear irb4) (on kjt5 xid1) (on-table irb4) (holding rqc3) (clear kjt5)",
"(arm-empty) (on-table rrw2) (on-table xid1) (on rqc3 rrw2) (clear irb4) (on kjt5 xid1) (on-table irb4) (clear rqc3) (clear kjt5)",
"(on-table rrw2) (on-table xid1) (on rqc3 rrw2) (clear irb4) (holding kjt5) (on-table irb4) (clear rqc3) (clear xid1)",
"(arm-empty) (on-table rrw2) (on-table kjt5) (on-table xid1) (on rqc3 rrw2) (clear irb4) (on-table irb4) (clear rqc3) (clear xid1) (clear kjt5)",
"(clear rrw2) (on-table rrw2) (on-table kjt5) (on-table xid1) (clear irb4) (on-table irb4) (holding rqc3) (clear xid1) (clear kjt5)",
"(on rqc3 irb4) (clear rrw2) (arm-empty) (on-table rrw2) (on-table kjt5) (on-table xid1) (on-table irb4) (clear rqc3) (clear xid1) (clear kjt5)",
"(holding xid1) (on rqc3 irb4) (clear rrw2) (on-table rrw2) (on-table kjt5) (on-table irb4) (clear rqc3) (clear kjt5)",
"(on rqc3 irb4) (arm-empty) (on-table rrw2) (on-table kjt5) (on-table irb4) (clear rqc3) (on xid1 rrw2) (clear xid1) (clear kjt5)",
"(on-table rrw2) (on-table kjt5) (clear irb4) (on-table irb4) (on xid1 rrw2) (clear xid1) (holding rqc3) (clear kjt5)",
"(on rqc3 kjt5) (arm-empty) (on-table rrw2) (on-table kjt5) (clear irb4) (on-table irb4) (clear rqc3) (on xid1 rrw2) (clear xid1)",
"(holding xid1) (on rqc3 kjt5) (clear rrw2) (on-table rrw2) (on-table kjt5) (clear irb4) (on-table irb4) (clear rqc3)"
] |
file_209238
|
GOAL: (on inw3 vsf1) (on-table zqk4) (arm-empty) (on trv2 zqk4) (clear inw3) (on vsf1 trv2)
|
GOAL: (on inw3 vsf1) (on-table zqk4) (arm-empty) (on trv2 zqk4) (clear inw3) (on vsf1 trv2)
STATE: (on-table vsf1) (clear zqk4) (on-table zqk4) (holding trv2) (on inw3 vsf1) (clear inw3)
|
[
[
"stack trv2 zqk4"
],
[
"unstack inw3 vsf1"
],
[
"put-down inw3"
],
[
"pick-up vsf1"
],
[
"stack vsf1 trv2"
],
[
"pick-up inw3"
],
[
"stack inw3 vsf1"
]
] |
[
"(clear trv2) (arm-empty) (on-table vsf1) (on trv2 zqk4) (on-table zqk4) (on inw3 vsf1) (clear inw3)",
"(on trv2 zqk4) (clear trv2) (on-table vsf1) (on-table zqk4) (holding inw3) (clear vsf1)",
"(clear trv2) (on-table zqk4) (arm-empty) (on trv2 zqk4) (clear inw3) (on-table vsf1) (clear vsf1) (on-table inw3)",
"(holding vsf1) (clear trv2) (on-table zqk4) (on trv2 zqk4) (clear inw3) (on-table inw3)",
"(arm-empty) (on-table zqk4) (on trv2 zqk4) (clear inw3) (on vsf1 trv2) (clear vsf1) (on-table inw3)",
"(on-table zqk4) (on trv2 zqk4) (on vsf1 trv2) (clear vsf1) (holding inw3)",
"(on inw3 vsf1) (on-table zqk4) (arm-empty) (on trv2 zqk4) (clear inw3) (on vsf1 trv2)"
] |
file_141525
|
GOAL: (on hef3 pjm4) (clear vna2) (arm-empty) (on-table vna2) (on pjm4 vba5) (on-table hyh1) (on vba5 hyh1) (clear hef3)
|
GOAL: (on hef3 pjm4) (clear vna2) (arm-empty) (on-table vna2) (on pjm4 vba5) (on-table hyh1) (on vba5 hyh1) (clear hef3)
STATE: (clear vna2) (on hef3 vba5) (arm-empty) (on-table vna2) (on-table vba5) (on-table hyh1) (clear pjm4) (on-table pjm4) (clear hef3) (clear hyh1)
|
[
[
"unstack hef3 vba5"
],
[
"stack hef3 vna2"
],
[
"pick-up vba5"
],
[
"stack vba5 hyh1"
],
[
"pick-up pjm4"
],
[
"stack pjm4 vba5"
],
[
"unstack hef3 vna2"
],
[
"stack hef3 pjm4"
]
] |
[
"(clear vna2) (on-table vna2) (on-table vba5) (on-table hyh1) (clear pjm4) (on-table pjm4) (holding hef3) (clear hyh1) (clear vba5)",
"(arm-empty) (on-table vna2) (on-table vba5) (on-table hyh1) (on hef3 vna2) (clear pjm4) (on-table pjm4) (clear hef3) (clear hyh1) (clear vba5)",
"(on-table vna2) (on-table hyh1) (on hef3 vna2) (clear pjm4) (holding vba5) (on-table pjm4) (clear hef3) (clear hyh1)",
"(arm-empty) (on-table vna2) (on-table hyh1) (on hef3 vna2) (clear pjm4) (on vba5 hyh1) (on-table pjm4) (clear hef3) (clear vba5)",
"(on-table vna2) (on-table hyh1) (holding pjm4) (on hef3 vna2) (on vba5 hyh1) (clear hef3) (clear vba5)",
"(arm-empty) (on-table vna2) (on pjm4 vba5) (on-table hyh1) (on hef3 vna2) (clear pjm4) (on vba5 hyh1) (clear hef3)",
"(clear vna2) (on-table vna2) (on pjm4 vba5) (on-table hyh1) (clear pjm4) (on vba5 hyh1) (holding hef3)",
"(on hef3 pjm4) (clear vna2) (arm-empty) (on-table vna2) (on pjm4 vba5) (on-table hyh1) (on vba5 hyh1) (clear hef3)"
] |
file_8487
|
GOAL: (clear cmj2) (arm-empty) (on yvu4 vaj3) (on riw5 akj1) (on akj1 yvu4) (on cmj2 riw5) (on-table vaj3)
|
GOAL: (clear cmj2) (arm-empty) (on yvu4 vaj3) (on riw5 akj1) (on akj1 yvu4) (on cmj2 riw5) (on-table vaj3)
STATE: (on-table riw5) (holding yvu4) (on cmj2 riw5) (clear vaj3) (on akj1 cmj2) (clear akj1) (on-table vaj3)
|
[
[
"stack yvu4 vaj3"
],
[
"unstack akj1 cmj2"
],
[
"stack akj1 yvu4"
],
[
"unstack cmj2 riw5"
],
[
"put-down cmj2"
],
[
"pick-up riw5"
],
[
"stack riw5 akj1"
],
[
"pick-up cmj2"
],
[
"stack cmj2 riw5"
]
] |
[
"(arm-empty) (on-table riw5) (clear yvu4) (on yvu4 vaj3) (on cmj2 riw5) (on akj1 cmj2) (clear akj1) (on-table vaj3)",
"(holding akj1) (clear cmj2) (on-table riw5) (clear yvu4) (on yvu4 vaj3) (on cmj2 riw5) (on-table vaj3)",
"(clear cmj2) (arm-empty) (on-table riw5) (on yvu4 vaj3) (on akj1 yvu4) (on cmj2 riw5) (clear akj1) (on-table vaj3)",
"(on-table riw5) (holding cmj2) (on yvu4 vaj3) (on akj1 yvu4) (clear akj1) (on-table vaj3) (clear riw5)",
"(arm-empty) (on-table cmj2) (on-table riw5) (clear riw5) (clear cmj2) (on yvu4 vaj3) (on akj1 yvu4) (clear akj1) (on-table vaj3)",
"(clear cmj2) (on-table cmj2) (on yvu4 vaj3) (holding riw5) (on akj1 yvu4) (clear akj1) (on-table vaj3)",
"(arm-empty) (on-table cmj2) (clear riw5) (clear cmj2) (on yvu4 vaj3) (on riw5 akj1) (on akj1 yvu4) (on-table vaj3)",
"(holding cmj2) (on yvu4 vaj3) (on riw5 akj1) (on akj1 yvu4) (on-table vaj3) (clear riw5)",
"(clear cmj2) (arm-empty) (on yvu4 vaj3) (on riw5 akj1) (on akj1 yvu4) (on cmj2 riw5) (on-table vaj3)"
] |
file_160033
|
GOAL: (arm-empty) (on-table hrw1) (clear lvs4) (on ynv5 hrw1) (on lvs4 nva2) (on nva2 ynv5) (clear szh3) (on-table szh3)
|
GOAL: (arm-empty) (on-table hrw1) (clear lvs4) (on ynv5 hrw1) (on lvs4 nva2) (on nva2 ynv5) (clear szh3) (on-table szh3)
STATE: (on szh3 lvs4) (clear nva2) (on hrw1 szh3) (arm-empty) (on ynv5 hrw1) (on-table lvs4) (on nva2 ynv5)
|
[
[
"unstack nva2 ynv5"
],
[
"put-down nva2"
],
[
"unstack ynv5 hrw1"
],
[
"put-down ynv5"
],
[
"unstack hrw1 szh3"
],
[
"put-down hrw1"
],
[
"unstack szh3 lvs4"
],
[
"put-down szh3"
],
[
"pick-up lvs4"
],
[
"stack lvs4 szh3"
],
[
"pick-up ynv5"
],
[
"stack ynv5 hrw1"
],
[
"pick-up nva2"
],
[
"stack nva2 ynv5"
],
[
"unstack lvs4 szh3"
],
[
"stack lvs4 nva2"
]
] |
[
"(on hrw1 szh3) (clear ynv5) (on szh3 lvs4) (on ynv5 hrw1) (on-table lvs4) (holding nva2)",
"(on ynv5 hrw1) (on szh3 lvs4) (on-table lvs4) (on hrw1 szh3) (clear nva2) (on-table nva2) (arm-empty) (clear ynv5)",
"(on szh3 lvs4) (clear nva2) (on hrw1 szh3) (on-table nva2) (holding ynv5) (on-table lvs4) (clear hrw1)",
"(on hrw1 szh3) (arm-empty) (on-table nva2) (on-table ynv5) (clear ynv5) (on szh3 lvs4) (clear nva2) (on-table lvs4) (clear hrw1)",
"(holding hrw1) (on szh3 lvs4) (clear nva2) (on-table nva2) (on-table ynv5) (on-table lvs4) (clear szh3) (clear ynv5)",
"(on szh3 lvs4) (clear nva2) (arm-empty) (on-table nva2) (on-table ynv5) (on-table hrw1) (on-table lvs4) (clear szh3) (clear hrw1) (clear ynv5)",
"(clear nva2) (on-table nva2) (on-table ynv5) (on-table hrw1) (clear lvs4) (on-table lvs4) (holding szh3) (clear hrw1) (clear ynv5)",
"(clear nva2) (arm-empty) (on-table nva2) (on-table ynv5) (on-table hrw1) (clear lvs4) (on-table lvs4) (clear szh3) (clear hrw1) (on-table szh3) (clear ynv5)",
"(clear nva2) (on-table nva2) (on-table ynv5) (on-table hrw1) (holding lvs4) (clear szh3) (clear hrw1) (on-table szh3) (clear ynv5)",
"(clear nva2) (arm-empty) (on-table nva2) (on-table ynv5) (on-table hrw1) (clear lvs4) (on lvs4 szh3) (clear hrw1) (on-table szh3) (clear ynv5)",
"(clear nva2) (on-table nva2) (on-table hrw1) (clear lvs4) (on lvs4 szh3) (holding ynv5) (clear hrw1) (on-table szh3)",
"(clear nva2) (arm-empty) (on-table nva2) (on-table hrw1) (clear lvs4) (on lvs4 szh3) (on ynv5 hrw1) (on-table szh3) (clear ynv5)",
"(on-table hrw1) (clear lvs4) (on lvs4 szh3) (on ynv5 hrw1) (holding nva2) (on-table szh3) (clear ynv5)",
"(clear nva2) (arm-empty) (on-table hrw1) (clear lvs4) (on lvs4 szh3) (on ynv5 hrw1) (on nva2 ynv5) (on-table szh3)",
"(clear nva2) (on-table hrw1) (holding lvs4) (on ynv5 hrw1) (on nva2 ynv5) (clear szh3) (on-table szh3)",
"(arm-empty) (on-table hrw1) (clear lvs4) (on ynv5 hrw1) (on lvs4 nva2) (on nva2 ynv5) (clear szh3) (on-table szh3)"
] |
file_99745
|
GOAL: (on bpa3 vfv5) (on-table vfv5) (on-table zad1) (clear kxs4) (on-table kxs4) (holding ssa2) (clear bpa3) (clear zad1)
|
GOAL: (on bpa3 vfv5) (on-table vfv5) (on-table zad1) (clear kxs4) (on-table kxs4) (holding ssa2) (clear bpa3) (clear zad1)
STATE: (clear ssa2) (on bpa3 vfv5) (arm-empty) (on-table zad1) (clear kxs4) (on vfv5 zad1) (on-table kxs4) (on ssa2 bpa3)
|
[
[
"unstack ssa2 bpa3"
],
[
"stack ssa2 kxs4"
],
[
"unstack bpa3 vfv5"
],
[
"stack bpa3 ssa2"
],
[
"unstack vfv5 zad1"
],
[
"put-down vfv5"
],
[
"unstack bpa3 ssa2"
],
[
"stack bpa3 vfv5"
],
[
"unstack ssa2 kxs4"
]
] |
[
"(on bpa3 vfv5) (on-table zad1) (clear kxs4) (on vfv5 zad1) (on-table kxs4) (holding ssa2) (clear bpa3)",
"(on bpa3 vfv5) (clear ssa2) (arm-empty) (on-table zad1) (on vfv5 zad1) (on-table kxs4) (on ssa2 kxs4) (clear bpa3)",
"(clear ssa2) (on-table zad1) (on vfv5 zad1) (on-table kxs4) (on ssa2 kxs4) (holding bpa3) (clear vfv5)",
"(arm-empty) (on-table zad1) (on bpa3 ssa2) (on vfv5 zad1) (on-table kxs4) (on ssa2 kxs4) (clear bpa3) (clear vfv5)",
"(on-table zad1) (on bpa3 ssa2) (holding vfv5) (on-table kxs4) (on ssa2 kxs4) (clear bpa3) (clear zad1)",
"(arm-empty) (on-table vfv5) (on ssa2 kxs4) (clear vfv5) (on-table zad1) (on bpa3 ssa2) (on-table kxs4) (clear bpa3) (clear zad1)",
"(clear ssa2) (on-table vfv5) (on-table zad1) (on-table kxs4) (on ssa2 kxs4) (holding bpa3) (clear zad1) (clear vfv5)",
"(clear ssa2) (on bpa3 vfv5) (arm-empty) (on-table vfv5) (on-table zad1) (on-table kxs4) (on ssa2 kxs4) (clear bpa3) (clear zad1)",
"(on bpa3 vfv5) (on-table vfv5) (on-table zad1) (clear kxs4) (on-table kxs4) (holding ssa2) (clear bpa3) (clear zad1)"
] |
file_127296
|
GOAL: (holding fns1) (on-table cwm2) (on-table gzi5) (clear spg4) (on spg4 cwm2) (clear pxv3) (on-table pxv3) (clear gzi5)
|
GOAL: (holding fns1) (on-table cwm2) (on-table gzi5) (clear spg4) (on spg4 cwm2) (clear pxv3) (on-table pxv3) (clear gzi5)
STATE: (clear cwm2) (on fns1 pxv3) (arm-empty) (on-table cwm2) (on-table gzi5) (clear spg4) (on-table spg4) (clear fns1) (on-table pxv3) (clear gzi5)
|
[
[
"pick-up spg4"
],
[
"stack spg4 cwm2"
],
[
"unstack fns1 pxv3"
]
] |
[
"(clear cwm2) (on fns1 pxv3) (on-table cwm2) (on-table gzi5) (holding spg4) (clear fns1) (on-table pxv3) (clear gzi5)",
"(on fns1 pxv3) (arm-empty) (on-table cwm2) (on-table gzi5) (clear spg4) (on spg4 cwm2) (clear fns1) (on-table pxv3) (clear gzi5)",
"(holding fns1) (on-table cwm2) (on-table gzi5) (clear spg4) (on spg4 cwm2) (clear pxv3) (on-table pxv3) (clear gzi5)"
] |
file_209768
|
GOAL: (on-table yjz1) (on rle5 jmd2) (on-table crg4) (on jmd2 crg4) (holding jyn3) (clear yjz1) (clear rle5)
|
GOAL: (on-table yjz1) (on rle5 jmd2) (on-table crg4) (on jmd2 crg4) (holding jyn3) (clear yjz1) (clear rle5)
STATE: (clear jmd2) (on yjz1 jyn3) (holding crg4) (on rle5 yjz1) (on jmd2 rle5) (on-table jyn3)
|
[
[
"put-down crg4"
],
[
"unstack jmd2 rle5"
],
[
"stack jmd2 crg4"
],
[
"unstack rle5 yjz1"
],
[
"stack rle5 jmd2"
],
[
"unstack yjz1 jyn3"
],
[
"put-down yjz1"
],
[
"pick-up jyn3"
]
] |
[
"(on yjz1 jyn3) (arm-empty) (clear crg4) (on jmd2 rle5) (clear jmd2) (on rle5 yjz1) (on-table crg4) (on-table jyn3)",
"(on yjz1 jyn3) (clear crg4) (on rle5 yjz1) (on-table crg4) (holding jmd2) (on-table jyn3) (clear rle5)",
"(clear jmd2) (on yjz1 jyn3) (arm-empty) (on rle5 yjz1) (on-table crg4) (on jmd2 crg4) (on-table jyn3) (clear rle5)",
"(clear jmd2) (on yjz1 jyn3) (holding rle5) (on-table crg4) (on jmd2 crg4) (clear yjz1) (on-table jyn3)",
"(on yjz1 jyn3) (arm-empty) (on rle5 jmd2) (on-table crg4) (on jmd2 crg4) (clear yjz1) (on-table jyn3) (clear rle5)",
"(holding yjz1) (on rle5 jmd2) (on-table crg4) (on jmd2 crg4) (clear jyn3) (on-table jyn3) (clear rle5)",
"(arm-empty) (on rle5 jmd2) (on jmd2 crg4) (clear rle5) (on-table yjz1) (on-table crg4) (clear jyn3) (clear yjz1) (on-table jyn3)",
"(on-table yjz1) (on rle5 jmd2) (on-table crg4) (on jmd2 crg4) (holding jyn3) (clear yjz1) (clear rle5)"
] |
file_53942
|
GOAL: (on btp1 dkz5) (on-table dkz5) (clear wwn4) (on wwn4 fsc2) (on fsc2 btp1) (holding jxn3)
|
GOAL: (on btp1 dkz5) (on-table dkz5) (clear wwn4) (on wwn4 fsc2) (on fsc2 btp1) (holding jxn3)
STATE: (holding btp1) (on jxn3 wwn4) (on dkz5 fsc2) (on-table wwn4) (on fsc2 jxn3) (clear dkz5)
|
[
[
"put-down btp1"
],
[
"unstack dkz5 fsc2"
],
[
"put-down dkz5"
],
[
"pick-up btp1"
],
[
"stack btp1 dkz5"
],
[
"unstack fsc2 jxn3"
],
[
"stack fsc2 btp1"
],
[
"unstack jxn3 wwn4"
],
[
"put-down jxn3"
],
[
"pick-up wwn4"
],
[
"stack wwn4 fsc2"
],
[
"pick-up jxn3"
]
] |
[
"(arm-empty) (on dkz5 fsc2) (clear dkz5) (on jxn3 wwn4) (on-table btp1) (on-table wwn4) (on fsc2 jxn3) (clear btp1)",
"(on jxn3 wwn4) (clear fsc2) (on-table btp1) (holding dkz5) (on-table wwn4) (on fsc2 jxn3) (clear btp1)",
"(arm-empty) (on-table dkz5) (clear dkz5) (on jxn3 wwn4) (clear fsc2) (on-table btp1) (on-table wwn4) (on fsc2 jxn3) (clear btp1)",
"(holding btp1) (on jxn3 wwn4) (clear fsc2) (on-table dkz5) (on-table wwn4) (on fsc2 jxn3) (clear dkz5)",
"(on jxn3 wwn4) (clear fsc2) (on btp1 dkz5) (arm-empty) (on-table dkz5) (on-table wwn4) (on fsc2 jxn3) (clear btp1)",
"(on jxn3 wwn4) (on btp1 dkz5) (on-table dkz5) (on-table wwn4) (holding fsc2) (clear jxn3) (clear btp1)",
"(on jxn3 wwn4) (on btp1 dkz5) (clear fsc2) (arm-empty) (on-table dkz5) (on-table wwn4) (on fsc2 btp1) (clear jxn3)",
"(on btp1 dkz5) (clear fsc2) (on-table dkz5) (clear wwn4) (on-table wwn4) (on fsc2 btp1) (holding jxn3)",
"(on btp1 dkz5) (arm-empty) (on-table dkz5) (clear wwn4) (on fsc2 btp1) (clear fsc2) (on-table wwn4) (clear jxn3) (on-table jxn3)",
"(on btp1 dkz5) (clear fsc2) (on-table dkz5) (holding wwn4) (on fsc2 btp1) (clear jxn3) (on-table jxn3)",
"(on btp1 dkz5) (arm-empty) (on-table dkz5) (clear wwn4) (on fsc2 btp1) (on wwn4 fsc2) (clear jxn3) (on-table jxn3)",
"(on btp1 dkz5) (on-table dkz5) (clear wwn4) (on wwn4 fsc2) (on fsc2 btp1) (holding jxn3)"
] |
file_207371
|
GOAL: (holding uch1) (on-table iku2) (on-table uzo5) (on bsv3 iku2) (clear ixk4) (on ixk4 bsv3) (clear uzo5)
|
GOAL: (holding uch1) (on-table iku2) (on-table uzo5) (on bsv3 iku2) (clear ixk4) (on ixk4 bsv3) (clear uzo5)
STATE: (on uch1 uzo5) (clear iku2) (on ixk4 uch1) (on bsv3 ixk4) (arm-empty) (on-table uzo5) (on iku2 bsv3)
|
[
[
"unstack iku2 bsv3"
],
[
"put-down iku2"
],
[
"unstack bsv3 ixk4"
],
[
"stack bsv3 iku2"
],
[
"unstack ixk4 uch1"
],
[
"stack ixk4 bsv3"
],
[
"unstack uch1 uzo5"
]
] |
[
"(on uch1 uzo5) (on ixk4 uch1) (on-table uzo5) (on bsv3 ixk4) (holding iku2) (clear bsv3)",
"(on uch1 uzo5) (on ixk4 uch1) (arm-empty) (on-table iku2) (on-table uzo5) (on bsv3 ixk4) (clear iku2) (clear bsv3)",
"(on uch1 uzo5) (on ixk4 uch1) (on-table iku2) (on-table uzo5) (clear iku2) (clear ixk4) (holding bsv3)",
"(on uch1 uzo5) (on ixk4 uch1) (arm-empty) (on-table iku2) (on-table uzo5) (on bsv3 iku2) (clear ixk4) (clear bsv3)",
"(on uch1 uzo5) (on-table iku2) (on-table uzo5) (holding ixk4) (on bsv3 iku2) (clear bsv3) (clear uch1)",
"(on uch1 uzo5) (arm-empty) (on-table iku2) (on-table uzo5) (on bsv3 iku2) (clear ixk4) (on ixk4 bsv3) (clear uch1)",
"(holding uch1) (on-table iku2) (on-table uzo5) (on bsv3 iku2) (clear ixk4) (on ixk4 bsv3) (clear uzo5)"
] |
file_41504
|
GOAL: (on zxi1 gai5) (arm-empty) (on-table rmt2) (on hbi3 rmt2) (clear cts4) (on gai5 hbi3) (on-table cts4) (clear zxi1)
|
GOAL: (on zxi1 gai5) (arm-empty) (on-table rmt2) (on hbi3 rmt2) (clear cts4) (on gai5 hbi3) (on-table cts4) (clear zxi1)
STATE: (holding zxi1) (clear rmt2) (on hbi3 gai5) (on-table rmt2) (on-table gai5) (clear cts4) (on-table cts4) (clear hbi3)
|
[
[
"put-down zxi1"
],
[
"pick-up cts4"
],
[
"stack cts4 zxi1"
],
[
"unstack hbi3 gai5"
],
[
"stack hbi3 rmt2"
],
[
"pick-up gai5"
],
[
"stack gai5 hbi3"
],
[
"unstack cts4 zxi1"
],
[
"put-down cts4"
],
[
"pick-up zxi1"
],
[
"stack zxi1 gai5"
]
] |
[
"(clear rmt2) (on hbi3 gai5) (arm-empty) (on-table rmt2) (on-table gai5) (on-table zxi1) (clear cts4) (on-table cts4) (clear hbi3) (clear zxi1)",
"(clear rmt2) (on hbi3 gai5) (on-table rmt2) (on-table gai5) (on-table zxi1) (holding cts4) (clear hbi3) (clear zxi1)",
"(clear rmt2) (on hbi3 gai5) (on cts4 zxi1) (on-table rmt2) (on-table gai5) (on-table zxi1) (arm-empty) (clear cts4) (clear hbi3)",
"(clear rmt2) (on cts4 zxi1) (on-table rmt2) (on-table gai5) (on-table zxi1) (clear cts4) (holding hbi3) (clear gai5)",
"(on cts4 zxi1) (arm-empty) (on-table rmt2) (on-table gai5) (on-table zxi1) (on hbi3 rmt2) (clear cts4) (clear hbi3) (clear gai5)",
"(on cts4 zxi1) (on-table rmt2) (on-table zxi1) (on hbi3 rmt2) (clear cts4) (holding gai5) (clear hbi3)",
"(on cts4 zxi1) (arm-empty) (on-table rmt2) (on-table zxi1) (on hbi3 rmt2) (clear cts4) (on gai5 hbi3) (clear gai5)",
"(on-table rmt2) (on-table zxi1) (holding cts4) (on hbi3 rmt2) (on gai5 hbi3) (clear zxi1) (clear gai5)",
"(arm-empty) (on-table rmt2) (clear cts4) (on gai5 hbi3) (clear gai5) (on-table zxi1) (on hbi3 rmt2) (on-table cts4) (clear zxi1)",
"(holding zxi1) (on-table rmt2) (on hbi3 rmt2) (clear cts4) (on gai5 hbi3) (on-table cts4) (clear gai5)",
"(on zxi1 gai5) (arm-empty) (on-table rmt2) (on hbi3 rmt2) (clear cts4) (on gai5 hbi3) (on-table cts4) (clear zxi1)"
] |
file_45579
|
GOAL: (on owp3 dae4) (on dae4 gcp1) (arm-empty) (on-table fan2) (clear owp3) (on gcp1 fan2)
|
GOAL: (on owp3 dae4) (on dae4 gcp1) (arm-empty) (on-table fan2) (clear owp3) (on gcp1 fan2)
STATE: (clear fan2) (on-table fan2) (on-table dae4) (on gcp1 dae4) (holding owp3) (clear gcp1)
|
[
[
"put-down owp3"
],
[
"unstack gcp1 dae4"
],
[
"stack gcp1 fan2"
],
[
"pick-up dae4"
],
[
"stack dae4 gcp1"
],
[
"pick-up owp3"
],
[
"stack owp3 dae4"
]
] |
[
"(arm-empty) (on-table fan2) (clear fan2) (on-table dae4) (on gcp1 dae4) (clear owp3) (clear gcp1) (on-table owp3)",
"(holding gcp1) (clear fan2) (on-table fan2) (clear dae4) (on-table dae4) (clear owp3) (on-table owp3)",
"(arm-empty) (on-table fan2) (clear dae4) (on-table dae4) (clear owp3) (on gcp1 fan2) (clear gcp1) (on-table owp3)",
"(on-table fan2) (holding dae4) (clear owp3) (on gcp1 fan2) (clear gcp1) (on-table owp3)",
"(on dae4 gcp1) (arm-empty) (on-table fan2) (clear dae4) (clear owp3) (on gcp1 fan2) (on-table owp3)",
"(on dae4 gcp1) (on-table fan2) (clear dae4) (on gcp1 fan2) (holding owp3)",
"(on owp3 dae4) (on dae4 gcp1) (arm-empty) (on-table fan2) (clear owp3) (on gcp1 fan2)"
] |
file_197636
|
GOAL: (on zon1 adi3) (arm-empty) (on adi3 rol2) (on xnb5 zon1) (on-table spx4) (on rol2 spx4) (clear xnb5)
|
GOAL: (on zon1 adi3) (arm-empty) (on adi3 rol2) (on xnb5 zon1) (on-table spx4) (on rol2 spx4) (clear xnb5)
STATE: (on-table xnb5) (holding spx4) (on-table zon1) (on adi3 rol2) (on rol2 zon1) (clear adi3) (clear xnb5)
|
[
[
"put-down spx4"
],
[
"unstack adi3 rol2"
],
[
"stack adi3 xnb5"
],
[
"unstack rol2 zon1"
],
[
"stack rol2 spx4"
],
[
"unstack adi3 xnb5"
],
[
"stack adi3 rol2"
],
[
"pick-up zon1"
],
[
"stack zon1 adi3"
],
[
"pick-up xnb5"
],
[
"stack xnb5 zon1"
]
] |
[
"(arm-empty) (on-table xnb5) (clear spx4) (on rol2 zon1) (clear xnb5) (on-table zon1) (on adi3 rol2) (on-table spx4) (clear adi3)",
"(clear rol2) (on-table xnb5) (on-table zon1) (clear spx4) (on-table spx4) (on rol2 zon1) (holding adi3) (clear xnb5)",
"(clear rol2) (on adi3 xnb5) (arm-empty) (on-table xnb5) (on-table zon1) (clear spx4) (on-table spx4) (on rol2 zon1) (clear adi3)",
"(on adi3 xnb5) (on-table xnb5) (on-table zon1) (clear spx4) (on-table spx4) (holding rol2) (clear adi3) (clear zon1)",
"(on adi3 xnb5) (clear rol2) (arm-empty) (on-table xnb5) (on-table zon1) (on-table spx4) (on rol2 spx4) (clear adi3) (clear zon1)",
"(clear rol2) (on-table xnb5) (on-table zon1) (on-table spx4) (on rol2 spx4) (holding adi3) (clear zon1) (clear xnb5)",
"(arm-empty) (on-table xnb5) (on-table zon1) (on adi3 rol2) (on-table spx4) (on rol2 spx4) (clear adi3) (clear zon1) (clear xnb5)",
"(holding zon1) (on-table xnb5) (on adi3 rol2) (on-table spx4) (on rol2 spx4) (clear adi3) (clear xnb5)",
"(on zon1 adi3) (arm-empty) (on-table xnb5) (on adi3 rol2) (on-table spx4) (on rol2 spx4) (clear zon1) (clear xnb5)",
"(on zon1 adi3) (on adi3 rol2) (holding xnb5) (on-table spx4) (on rol2 spx4) (clear zon1)",
"(on zon1 adi3) (arm-empty) (on adi3 rol2) (on xnb5 zon1) (on-table spx4) (on rol2 spx4) (clear xnb5)"
] |
file_1122
|
GOAL: (on onz5 qdv4) (on-table vju2) (on-table oef1) (on qdv4 vju2) (holding vcc3) (clear oef1) (clear onz5)
|
GOAL: (on onz5 qdv4) (on-table vju2) (on-table oef1) (on qdv4 vju2) (holding vcc3) (clear oef1) (clear onz5)
STATE: (on oef1 onz5) (on onz5 qdv4) (on-table vju2) (on qdv4 vju2) (holding vcc3) (clear oef1)
|
[
[
"put-down vcc3"
],
[
"unstack oef1 onz5"
],
[
"put-down oef1"
],
[
"pick-up vcc3"
]
] |
[
"(on oef1 onz5) (arm-empty) (on onz5 qdv4) (on-table vju2) (on qdv4 vju2) (clear vcc3) (clear oef1) (on-table vcc3)",
"(holding oef1) (on onz5 qdv4) (on-table vju2) (on qdv4 vju2) (clear vcc3) (on-table vcc3) (clear onz5)",
"(arm-empty) (on onz5 qdv4) (on-table vju2) (clear onz5) (on-table oef1) (on qdv4 vju2) (clear vcc3) (clear oef1) (on-table vcc3)",
"(on onz5 qdv4) (on-table vju2) (on-table oef1) (on qdv4 vju2) (holding vcc3) (clear oef1) (clear onz5)"
] |
file_202296
|
GOAL: (arm-empty) (on nhz3 hpp2) (on eqb5 nhz3) (on-table uuk4) (on car1 uuk4) (on hpp2 car1) (clear eqb5)
|
GOAL: (arm-empty) (on nhz3 hpp2) (on eqb5 nhz3) (on-table uuk4) (on car1 uuk4) (on hpp2 car1) (clear eqb5)
STATE: (on nhz3 hpp2) (holding eqb5) (on-table uuk4) (on car1 uuk4) (on hpp2 car1) (clear nhz3)
|
[
[
"stack eqb5 nhz3"
]
] |
[
"(arm-empty) (on nhz3 hpp2) (on eqb5 nhz3) (on-table uuk4) (on car1 uuk4) (on hpp2 car1) (clear eqb5)"
] |
file_193501
|
GOAL: (on kgy3 fez5) (arm-empty) (on-table nya2) (clear cvp4) (clear nya2) (on-table xol1) (on fez5 xol1) (on-table cvp4) (clear kgy3)
|
GOAL: (on kgy3 fez5) (arm-empty) (on-table nya2) (clear cvp4) (clear nya2) (on-table xol1) (on fez5 xol1) (on-table cvp4) (clear kgy3)
STATE: (on kgy3 fez5) (on-table xol1) (clear cvp4) (on fez5 xol1) (on-table cvp4) (holding nya2) (clear kgy3)
|
[
[
"put-down nya2"
]
] |
[
"(on kgy3 fez5) (arm-empty) (on-table nya2) (clear cvp4) (clear nya2) (on-table xol1) (on fez5 xol1) (on-table cvp4) (clear kgy3)"
] |
file_91004
|
GOAL: (on dra1 qhc5) (arm-empty) (on qhc5 blt2) (on blt2 htb4) (on-table htb4) (on xym3 dra1) (clear xym3)
|
GOAL: (on dra1 qhc5) (arm-empty) (on qhc5 blt2) (on blt2 htb4) (on-table htb4) (on xym3 dra1) (clear xym3)
STATE: (on xym3 qhc5) (arm-empty) (on qhc5 dra1) (on-table htb4) (on blt2 htb4) (clear xym3) (on dra1 blt2)
|
[
[
"unstack xym3 qhc5"
],
[
"put-down xym3"
],
[
"unstack qhc5 dra1"
],
[
"put-down qhc5"
],
[
"unstack dra1 blt2"
],
[
"stack dra1 xym3"
],
[
"pick-up qhc5"
],
[
"stack qhc5 blt2"
],
[
"unstack dra1 xym3"
],
[
"stack dra1 qhc5"
],
[
"pick-up xym3"
],
[
"stack xym3 dra1"
]
] |
[
"(on blt2 htb4) (on dra1 blt2) (clear qhc5) (on qhc5 dra1) (on-table htb4) (holding xym3)",
"(on qhc5 dra1) (on-table htb4) (arm-empty) (on blt2 htb4) (clear xym3) (on dra1 blt2) (on-table xym3) (clear qhc5)",
"(holding qhc5) (on-table htb4) (on blt2 htb4) (clear xym3) (on dra1 blt2) (clear dra1) (on-table xym3)",
"(arm-empty) (on-table qhc5) (on blt2 htb4) (on dra1 blt2) (clear qhc5) (on-table htb4) (clear xym3) (clear dra1) (on-table xym3)",
"(holding dra1) (clear blt2) (on-table qhc5) (on-table htb4) (on blt2 htb4) (clear xym3) (on-table xym3) (clear qhc5)",
"(clear blt2) (on dra1 xym3) (arm-empty) (on-table qhc5) (on-table htb4) (on blt2 htb4) (clear dra1) (on-table xym3) (clear qhc5)",
"(clear blt2) (on dra1 xym3) (holding qhc5) (on-table htb4) (on blt2 htb4) (clear dra1) (on-table xym3)",
"(on dra1 xym3) (arm-empty) (on qhc5 blt2) (on-table htb4) (on blt2 htb4) (clear dra1) (on-table xym3) (clear qhc5)",
"(holding dra1) (on qhc5 blt2) (on-table htb4) (on blt2 htb4) (clear xym3) (on-table xym3) (clear qhc5)",
"(on dra1 qhc5) (arm-empty) (on qhc5 blt2) (on-table htb4) (on blt2 htb4) (clear xym3) (clear dra1) (on-table xym3)",
"(on dra1 qhc5) (on qhc5 blt2) (on-table htb4) (on blt2 htb4) (holding xym3) (clear dra1)",
"(on dra1 qhc5) (arm-empty) (on qhc5 blt2) (on blt2 htb4) (on-table htb4) (on xym3 dra1) (clear xym3)"
] |
file_105620
|
GOAL: (on rqz1 jmf5) (clear hab2) (on-table jmf5) (holding apm4) (on ajj3 rqz1) (on hab2 ajj3)
|
GOAL: (on rqz1 jmf5) (clear hab2) (on-table jmf5) (holding apm4) (on ajj3 rqz1) (on hab2 ajj3)
STATE: (on rqz1 jmf5) (clear hab2) (on-table jmf5) (clear apm4) (on-table apm4) (on hab2 rqz1) (holding ajj3)
|
[
[
"stack ajj3 apm4"
],
[
"unstack hab2 rqz1"
],
[
"put-down hab2"
],
[
"unstack ajj3 apm4"
],
[
"stack ajj3 rqz1"
],
[
"pick-up hab2"
],
[
"stack hab2 ajj3"
],
[
"pick-up apm4"
]
] |
[
"(on rqz1 jmf5) (clear hab2) (on ajj3 apm4) (arm-empty) (on-table jmf5) (on-table apm4) (on hab2 rqz1) (clear ajj3)",
"(on rqz1 jmf5) (on ajj3 apm4) (on-table jmf5) (on-table apm4) (holding hab2) (clear ajj3) (clear rqz1)",
"(on rqz1 jmf5) (arm-empty) (on-table hab2) (on-table jmf5) (on ajj3 apm4) (clear hab2) (on-table apm4) (clear ajj3) (clear rqz1)",
"(on rqz1 jmf5) (clear hab2) (on-table hab2) (on-table jmf5) (clear apm4) (on-table apm4) (holding ajj3) (clear rqz1)",
"(on rqz1 jmf5) (clear hab2) (arm-empty) (on-table hab2) (on-table jmf5) (clear apm4) (on-table apm4) (on ajj3 rqz1) (clear ajj3)",
"(on rqz1 jmf5) (on-table jmf5) (clear apm4) (on-table apm4) (holding hab2) (on ajj3 rqz1) (clear ajj3)",
"(on rqz1 jmf5) (clear hab2) (arm-empty) (on-table jmf5) (clear apm4) (on-table apm4) (on ajj3 rqz1) (on hab2 ajj3)",
"(on rqz1 jmf5) (clear hab2) (on-table jmf5) (holding apm4) (on ajj3 rqz1) (on hab2 ajj3)"
] |
file_17307
|
GOAL: (on vea1 quy5) (on-table quy5) (clear qtc4) (on qtc4 glt3) (holding sgl2) (clear vea1) (on-table glt3)
|
GOAL: (on vea1 quy5) (on-table quy5) (clear qtc4) (on qtc4 glt3) (holding sgl2) (clear vea1) (on-table glt3)
STATE: (on vea1 quy5) (on qtc4 vea1) (on-table quy5) (clear qtc4) (holding sgl2) (clear glt3) (on-table glt3)
|
[
[
"put-down sgl2"
],
[
"unstack qtc4 vea1"
],
[
"stack qtc4 glt3"
],
[
"pick-up sgl2"
]
] |
[
"(on vea1 quy5) (on qtc4 vea1) (arm-empty) (on-table sgl2) (on-table quy5) (clear qtc4) (clear sgl2) (clear glt3) (on-table glt3)",
"(on vea1 quy5) (clear sgl2) (on-table sgl2) (on-table quy5) (holding qtc4) (clear glt3) (clear vea1) (on-table glt3)",
"(on vea1 quy5) (clear sgl2) (arm-empty) (on-table sgl2) (on-table quy5) (clear qtc4) (on qtc4 glt3) (clear vea1) (on-table glt3)",
"(on vea1 quy5) (on-table quy5) (clear qtc4) (on qtc4 glt3) (holding sgl2) (clear vea1) (on-table glt3)"
] |
file_2248
|
GOAL: (arm-empty) (on-table rmo2) (on-table ccr5) (on fxm4 ccr5) (on ipr3 fxm4) (clear rmo2) (on-table kmz1) (clear ipr3) (clear kmz1)
|
GOAL: (arm-empty) (on-table rmo2) (on-table ccr5) (on fxm4 ccr5) (on ipr3 fxm4) (clear rmo2) (on-table kmz1) (clear ipr3) (clear kmz1)
STATE: (on ipr3 fxm4) (on fxm4 kmz1) (arm-empty) (on-table rmo2) (on ccr5 ipr3) (on kmz1 rmo2) (clear ccr5)
|
[
[
"unstack ccr5 ipr3"
],
[
"put-down ccr5"
],
[
"unstack ipr3 fxm4"
],
[
"put-down ipr3"
],
[
"unstack fxm4 kmz1"
],
[
"stack fxm4 ccr5"
],
[
"pick-up ipr3"
],
[
"stack ipr3 fxm4"
],
[
"unstack kmz1 rmo2"
],
[
"put-down kmz1"
]
] |
[
"(on fxm4 kmz1) (on-table rmo2) (holding ccr5) (on kmz1 rmo2) (on ipr3 fxm4) (clear ipr3)",
"(on fxm4 kmz1) (arm-empty) (on-table rmo2) (on-table ccr5) (on kmz1 rmo2) (clear ccr5) (on ipr3 fxm4) (clear ipr3)",
"(on fxm4 kmz1) (on-table rmo2) (on-table ccr5) (clear fxm4) (on kmz1 rmo2) (holding ipr3) (clear ccr5)",
"(on fxm4 kmz1) (arm-empty) (on-table rmo2) (on-table ccr5) (clear fxm4) (on kmz1 rmo2) (clear ccr5) (clear ipr3) (on-table ipr3)",
"(on-table rmo2) (on-table ccr5) (holding fxm4) (clear ipr3) (on kmz1 rmo2) (clear kmz1) (on-table ipr3) (clear ccr5)",
"(arm-empty) (on-table rmo2) (on-table ccr5) (on fxm4 ccr5) (clear fxm4) (clear ipr3) (on kmz1 rmo2) (clear kmz1) (on-table ipr3)",
"(on-table rmo2) (on-table ccr5) (on fxm4 ccr5) (clear fxm4) (on kmz1 rmo2) (clear kmz1) (holding ipr3)",
"(on ipr3 fxm4) (arm-empty) (on-table rmo2) (on-table ccr5) (on fxm4 ccr5) (clear ipr3) (on kmz1 rmo2) (clear kmz1)",
"(holding kmz1) (on ipr3 fxm4) (clear rmo2) (on-table rmo2) (on-table ccr5) (on fxm4 ccr5) (clear ipr3)",
"(arm-empty) (on-table rmo2) (on-table ccr5) (on fxm4 ccr5) (on ipr3 fxm4) (clear rmo2) (on-table kmz1) (clear ipr3) (clear kmz1)"
] |
file_115046
|
GOAL: (arm-empty) (on-table gni2) (on mfl5 jtw3) (on fxn1 zqx4) (on zqx4 gni2) (clear fxn1) (on-table jtw3) (clear mfl5)
|
GOAL: (arm-empty) (on-table gni2) (on mfl5 jtw3) (on fxn1 zqx4) (on zqx4 gni2) (clear fxn1) (on-table jtw3) (clear mfl5)
STATE: (on jtw3 zqx4) (on fxn1 jtw3) (arm-empty) (on-table gni2) (on-table mfl5) (on zqx4 gni2) (clear fxn1) (clear mfl5)
|
[
[
"unstack fxn1 jtw3"
],
[
"put-down fxn1"
],
[
"unstack jtw3 zqx4"
],
[
"put-down jtw3"
],
[
"pick-up fxn1"
],
[
"stack fxn1 zqx4"
],
[
"pick-up mfl5"
],
[
"stack mfl5 jtw3"
]
] |
[
"(holding fxn1) (on jtw3 zqx4) (on-table gni2) (on-table mfl5) (on zqx4 gni2) (clear jtw3) (clear mfl5)",
"(arm-empty) (on-table gni2) (on-table mfl5) (clear mfl5) (on jtw3 zqx4) (on-table fxn1) (on zqx4 gni2) (clear jtw3) (clear fxn1)",
"(on-table gni2) (on-table mfl5) (on-table fxn1) (clear zqx4) (on zqx4 gni2) (holding jtw3) (clear fxn1) (clear mfl5)",
"(arm-empty) (on-table gni2) (on-table mfl5) (on-table fxn1) (clear zqx4) (on zqx4 gni2) (clear jtw3) (clear fxn1) (on-table jtw3) (clear mfl5)",
"(holding fxn1) (on-table gni2) (on-table mfl5) (clear zqx4) (on zqx4 gni2) (clear jtw3) (on-table jtw3) (clear mfl5)",
"(arm-empty) (on-table gni2) (on-table mfl5) (on fxn1 zqx4) (on zqx4 gni2) (clear jtw3) (clear fxn1) (on-table jtw3) (clear mfl5)",
"(on-table gni2) (holding mfl5) (on fxn1 zqx4) (on zqx4 gni2) (clear jtw3) (clear fxn1) (on-table jtw3)",
"(arm-empty) (on-table gni2) (on mfl5 jtw3) (on fxn1 zqx4) (on zqx4 gni2) (clear fxn1) (on-table jtw3) (clear mfl5)"
] |
file_186688
|
GOAL: (on cdh3 idd4) (clear dfq2) (arm-empty) (on-table gic1) (on qwb5 gic1) (on-table idd4) (on dfq2 cdh3) (clear qwb5)
|
GOAL: (on cdh3 idd4) (clear dfq2) (arm-empty) (on-table gic1) (on qwb5 gic1) (on-table idd4) (on dfq2 cdh3) (clear qwb5)
STATE: (on cdh3 idd4) (arm-empty) (on-table dfq2) (on idd4 qwb5) (on qwb5 gic1) (clear cdh3) (on gic1 dfq2)
|
[
[
"unstack cdh3 idd4"
],
[
"put-down cdh3"
],
[
"unstack idd4 qwb5"
],
[
"put-down idd4"
],
[
"pick-up cdh3"
],
[
"stack cdh3 idd4"
],
[
"unstack qwb5 gic1"
],
[
"stack qwb5 cdh3"
],
[
"unstack gic1 dfq2"
],
[
"put-down gic1"
],
[
"unstack qwb5 cdh3"
],
[
"stack qwb5 gic1"
],
[
"pick-up dfq2"
],
[
"stack dfq2 cdh3"
]
] |
[
"(on-table dfq2) (on idd4 qwb5) (clear idd4) (on gic1 dfq2) (on qwb5 gic1) (holding cdh3)",
"(on qwb5 gic1) (arm-empty) (on-table dfq2) (on idd4 qwb5) (clear cdh3) (clear idd4) (on gic1 dfq2) (on-table cdh3)",
"(on-table dfq2) (holding idd4) (on qwb5 gic1) (clear cdh3) (on gic1 dfq2) (on-table cdh3) (clear qwb5)",
"(arm-empty) (on-table dfq2) (clear idd4) (on gic1 dfq2) (clear qwb5) (on qwb5 gic1) (on-table idd4) (clear cdh3) (on-table cdh3)",
"(on-table dfq2) (clear idd4) (on qwb5 gic1) (on-table idd4) (on gic1 dfq2) (holding cdh3) (clear qwb5)",
"(on cdh3 idd4) (arm-empty) (on-table dfq2) (on qwb5 gic1) (on-table idd4) (clear cdh3) (on gic1 dfq2) (clear qwb5)",
"(on cdh3 idd4) (on-table dfq2) (holding qwb5) (on-table idd4) (clear cdh3) (on gic1 dfq2) (clear gic1)",
"(on cdh3 idd4) (arm-empty) (on-table dfq2) (on qwb5 cdh3) (on-table idd4) (on gic1 dfq2) (clear gic1) (clear qwb5)",
"(holding gic1) (on cdh3 idd4) (clear dfq2) (on-table dfq2) (on qwb5 cdh3) (on-table idd4) (clear qwb5)",
"(arm-empty) (on-table dfq2) (on qwb5 cdh3) (clear qwb5) (on cdh3 idd4) (clear dfq2) (on-table gic1) (on-table idd4) (clear gic1)",
"(on cdh3 idd4) (clear dfq2) (on-table dfq2) (on-table gic1) (holding qwb5) (on-table idd4) (clear cdh3) (clear gic1)",
"(on cdh3 idd4) (clear dfq2) (arm-empty) (on-table dfq2) (on-table gic1) (on qwb5 gic1) (on-table idd4) (clear cdh3) (clear qwb5)",
"(on cdh3 idd4) (on-table gic1) (on qwb5 gic1) (on-table idd4) (holding dfq2) (clear cdh3) (clear qwb5)",
"(on cdh3 idd4) (clear dfq2) (arm-empty) (on-table gic1) (on qwb5 gic1) (on-table idd4) (on dfq2 cdh3) (clear qwb5)"
] |
file_143214
|
GOAL: (on-table bqv5) (on-table gjl1) (holding hey4) (on mld3 oef2) (on oef2 bqv5) (clear mld3) (clear gjl1)
|
GOAL: (on-table bqv5) (on-table gjl1) (holding hey4) (on mld3 oef2) (on oef2 bqv5) (clear mld3) (clear gjl1)
STATE: (on mld3 bqv5) (on hey4 gjl1) (on bqv5 hey4) (on-table gjl1) (holding oef2) (clear mld3)
|
[
[
"put-down oef2"
],
[
"unstack mld3 bqv5"
],
[
"stack mld3 oef2"
],
[
"unstack bqv5 hey4"
],
[
"put-down bqv5"
],
[
"unstack mld3 oef2"
],
[
"stack mld3 hey4"
],
[
"pick-up oef2"
],
[
"stack oef2 bqv5"
],
[
"unstack mld3 hey4"
],
[
"stack mld3 oef2"
],
[
"unstack hey4 gjl1"
]
] |
[
"(on mld3 bqv5) (on hey4 gjl1) (on bqv5 hey4) (on-table oef2) (clear oef2) (on-table gjl1) (arm-empty) (clear mld3)",
"(on hey4 gjl1) (on bqv5 hey4) (on-table oef2) (clear oef2) (on-table gjl1) (holding mld3) (clear bqv5)",
"(on hey4 gjl1) (on bqv5 hey4) (on-table oef2) (arm-empty) (on-table gjl1) (on mld3 oef2) (clear mld3) (clear bqv5)",
"(on hey4 gjl1) (on-table oef2) (on-table gjl1) (on mld3 oef2) (clear hey4) (holding bqv5) (clear mld3)",
"(on hey4 gjl1) (arm-empty) (on-table oef2) (on-table bqv5) (clear hey4) (clear bqv5) (on-table gjl1) (on mld3 oef2) (clear mld3)",
"(clear oef2) (on hey4 gjl1) (on-table oef2) (on-table bqv5) (on-table gjl1) (clear hey4) (holding mld3) (clear bqv5)",
"(on mld3 hey4) (clear oef2) (on hey4 gjl1) (arm-empty) (on-table oef2) (on-table bqv5) (on-table gjl1) (clear mld3) (clear bqv5)",
"(on mld3 hey4) (on hey4 gjl1) (on-table bqv5) (on-table gjl1) (holding oef2) (clear mld3) (clear bqv5)",
"(on mld3 hey4) (clear oef2) (on hey4 gjl1) (arm-empty) (on-table bqv5) (on-table gjl1) (on oef2 bqv5) (clear mld3)",
"(clear oef2) (on hey4 gjl1) (on-table bqv5) (on-table gjl1) (clear hey4) (on oef2 bqv5) (holding mld3)",
"(on hey4 gjl1) (arm-empty) (on-table bqv5) (on-table gjl1) (on mld3 oef2) (clear hey4) (on oef2 bqv5) (clear mld3)",
"(on-table bqv5) (on-table gjl1) (holding hey4) (on mld3 oef2) (on oef2 bqv5) (clear mld3) (clear gjl1)"
] |
file_52852
|
GOAL: (clear qpx2) (on pqj4 ben3) (holding kvv5) (on tav1 pqj4) (on qpx2 tav1) (on-table ben3)
|
GOAL: (clear qpx2) (on pqj4 ben3) (holding kvv5) (on tav1 pqj4) (on qpx2 tav1) (on-table ben3)
STATE: (clear qpx2) (arm-empty) (on-table kvv5) (on-table tav1) (on pqj4 ben3) (on qpx2 pqj4) (clear tav1) (on-table ben3) (clear kvv5)
|
[
[
"unstack qpx2 pqj4"
],
[
"stack qpx2 kvv5"
],
[
"pick-up tav1"
],
[
"stack tav1 pqj4"
],
[
"unstack qpx2 kvv5"
],
[
"stack qpx2 tav1"
],
[
"pick-up kvv5"
]
] |
[
"(on-table kvv5) (on-table tav1) (clear pqj4) (on pqj4 ben3) (holding qpx2) (clear tav1) (on-table ben3) (clear kvv5)",
"(clear qpx2) (arm-empty) (on-table kvv5) (on-table tav1) (clear pqj4) (on pqj4 ben3) (on qpx2 kvv5) (clear tav1) (on-table ben3)",
"(holding tav1) (clear qpx2) (on-table kvv5) (clear pqj4) (on pqj4 ben3) (on qpx2 kvv5) (on-table ben3)",
"(clear qpx2) (arm-empty) (on-table kvv5) (on pqj4 ben3) (on tav1 pqj4) (on qpx2 kvv5) (clear tav1) (on-table ben3)",
"(on-table kvv5) (holding qpx2) (on pqj4 ben3) (on tav1 pqj4) (clear tav1) (on-table ben3) (clear kvv5)",
"(arm-empty) (on-table kvv5) (on qpx2 tav1) (clear kvv5) (clear qpx2) (on pqj4 ben3) (on tav1 pqj4) (on-table ben3)",
"(clear qpx2) (on pqj4 ben3) (holding kvv5) (on tav1 pqj4) (on qpx2 tav1) (on-table ben3)"
] |
file_212866
|
GOAL: (clear knf2) (on-table qpw1) (clear nvm4) (on nvm4 kff3) (holding alz5) (on knf2 qpw1) (on-table kff3)
|
GOAL: (clear knf2) (on-table qpw1) (clear nvm4) (on nvm4 kff3) (holding alz5) (on knf2 qpw1) (on-table kff3)
STATE: (arm-empty) (on-table alz5) (on-table qpw1) (on kff3 knf2) (clear nvm4) (on-table nvm4) (on knf2 qpw1) (clear kff3) (clear alz5)
|
[
[
"pick-up nvm4"
],
[
"stack nvm4 alz5"
],
[
"unstack kff3 knf2"
],
[
"put-down kff3"
],
[
"unstack nvm4 alz5"
],
[
"stack nvm4 kff3"
],
[
"pick-up alz5"
]
] |
[
"(on-table alz5) (on-table qpw1) (holding nvm4) (on kff3 knf2) (on knf2 qpw1) (clear kff3) (clear alz5)",
"(arm-empty) (on nvm4 alz5) (on-table alz5) (on-table qpw1) (on kff3 knf2) (clear nvm4) (on knf2 qpw1) (clear kff3)",
"(clear knf2) (on nvm4 alz5) (on-table alz5) (on-table qpw1) (clear nvm4) (on knf2 qpw1) (holding kff3)",
"(arm-empty) (on-table alz5) (on nvm4 alz5) (clear nvm4) (on knf2 qpw1) (clear knf2) (on-table qpw1) (clear kff3) (on-table kff3)",
"(clear knf2) (on-table alz5) (holding nvm4) (on-table qpw1) (on knf2 qpw1) (clear kff3) (on-table kff3) (clear alz5)",
"(clear knf2) (arm-empty) (on-table alz5) (on-table qpw1) (clear nvm4) (on nvm4 kff3) (on knf2 qpw1) (on-table kff3) (clear alz5)",
"(clear knf2) (on-table qpw1) (clear nvm4) (on nvm4 kff3) (holding alz5) (on knf2 qpw1) (on-table kff3)"
] |
file_10784
|
GOAL: (on dsy1 dti5) (on-table dti5) (clear wqx4) (on-table wqx4) (holding cjw2) (clear oro3) (clear dsy1) (on-table oro3)
|
GOAL: (on dsy1 dti5) (on-table dti5) (clear wqx4) (on-table wqx4) (holding cjw2) (clear oro3) (clear dsy1) (on-table oro3)
STATE: (holding dsy1) (on-table dti5) (on oro3 cjw2) (on-table wqx4) (on cjw2 wqx4) (clear oro3) (clear dti5)
|
[
[
"stack dsy1 dti5"
],
[
"unstack oro3 cjw2"
],
[
"put-down oro3"
],
[
"unstack cjw2 wqx4"
]
] |
[
"(on dsy1 dti5) (arm-empty) (on-table dti5) (on oro3 cjw2) (on-table wqx4) (on cjw2 wqx4) (clear oro3) (clear dsy1)",
"(on dsy1 dti5) (clear cjw2) (on-table dti5) (on-table wqx4) (on cjw2 wqx4) (holding oro3) (clear dsy1)",
"(on dsy1 dti5) (arm-empty) (on-table dti5) (on cjw2 wqx4) (clear cjw2) (on-table wqx4) (clear oro3) (clear dsy1) (on-table oro3)",
"(on dsy1 dti5) (on-table dti5) (clear wqx4) (on-table wqx4) (holding cjw2) (clear oro3) (clear dsy1) (on-table oro3)"
] |
file_56595
|
GOAL: (on bjf1 ech3) (on xar4 bjf1) (arm-empty) (on-table ezz5) (on ech3 dlv2) (clear xar4) (on dlv2 ezz5)
|
GOAL: (on bjf1 ech3) (on xar4 bjf1) (arm-empty) (on-table ezz5) (on ech3 dlv2) (clear xar4) (on dlv2 ezz5)
STATE: (arm-empty) (on ech3 dlv2) (on ezz5 ech3) (on-table xar4) (on bjf1 xar4) (on dlv2 bjf1) (clear ezz5)
|
[
[
"unstack ezz5 ech3"
],
[
"put-down ezz5"
],
[
"unstack ech3 dlv2"
],
[
"put-down ech3"
],
[
"unstack dlv2 bjf1"
],
[
"stack dlv2 ezz5"
],
[
"pick-up ech3"
],
[
"stack ech3 dlv2"
],
[
"unstack bjf1 xar4"
],
[
"stack bjf1 ech3"
],
[
"pick-up xar4"
],
[
"stack xar4 bjf1"
]
] |
[
"(holding ezz5) (on dlv2 bjf1) (on ech3 dlv2) (on-table xar4) (on bjf1 xar4) (clear ech3)",
"(arm-empty) (on-table ezz5) (on dlv2 bjf1) (clear ezz5) (on ech3 dlv2) (on-table xar4) (on bjf1 xar4) (clear ech3)",
"(clear dlv2) (on-table ezz5) (on-table xar4) (on bjf1 xar4) (on dlv2 bjf1) (holding ech3) (clear ezz5)",
"(arm-empty) (on-table ezz5) (on dlv2 bjf1) (clear ezz5) (clear dlv2) (on-table xar4) (on bjf1 xar4) (clear ech3) (on-table ech3)",
"(on-table ezz5) (holding dlv2) (on-table xar4) (on bjf1 xar4) (clear ech3) (clear bjf1) (on-table ech3) (clear ezz5)",
"(clear dlv2) (arm-empty) (on-table ezz5) (on-table xar4) (on dlv2 ezz5) (clear ech3) (on bjf1 xar4) (on-table ech3) (clear bjf1)",
"(clear dlv2) (on-table ezz5) (on-table xar4) (on bjf1 xar4) (on dlv2 ezz5) (holding ech3) (clear bjf1)",
"(arm-empty) (on-table ezz5) (on ech3 dlv2) (on-table xar4) (on bjf1 xar4) (on dlv2 ezz5) (clear ech3) (clear bjf1)",
"(holding bjf1) (on-table ezz5) (on ech3 dlv2) (clear xar4) (on-table xar4) (on dlv2 ezz5) (clear ech3)",
"(on bjf1 ech3) (arm-empty) (on-table ezz5) (on ech3 dlv2) (clear xar4) (on-table xar4) (on dlv2 ezz5) (clear bjf1)",
"(on bjf1 ech3) (on-table ezz5) (holding xar4) (on ech3 dlv2) (on dlv2 ezz5) (clear bjf1)",
"(on bjf1 ech3) (on xar4 bjf1) (arm-empty) (on-table ezz5) (on ech3 dlv2) (clear xar4) (on dlv2 ezz5)"
] |
file_99983
|
GOAL: (clear hdi2) (arm-empty) (on ynl5 ote4) (on-table xpp1) (on-table ote4) (on yqs3 xpp1) (on hdi2 yqs3) (clear ynl5)
|
GOAL: (clear hdi2) (arm-empty) (on ynl5 ote4) (on-table xpp1) (on-table ote4) (on yqs3 xpp1) (on hdi2 yqs3) (clear ynl5)
STATE: (clear hdi2) (on-table ynl5) (holding ote4) (on-table xpp1) (on yqs3 xpp1) (on hdi2 yqs3) (clear ynl5)
|
[
[
"put-down ote4"
],
[
"pick-up ynl5"
],
[
"stack ynl5 ote4"
]
] |
[
"(arm-empty) (on-table ynl5) (clear ote4) (on yqs3 xpp1) (clear ynl5) (clear hdi2) (on-table xpp1) (on-table ote4) (on hdi2 yqs3)",
"(clear hdi2) (on-table xpp1) (clear ote4) (holding ynl5) (on-table ote4) (on yqs3 xpp1) (on hdi2 yqs3)",
"(clear hdi2) (arm-empty) (on ynl5 ote4) (on-table xpp1) (on-table ote4) (on yqs3 xpp1) (on hdi2 yqs3) (clear ynl5)"
] |
file_186482
|
GOAL: (clear iac2) (arm-empty) (on-table jxw1) (on nej4 ltj3) (on iac2 nej4) (clear jxw1) (on-table ltj3)
|
GOAL: (clear iac2) (arm-empty) (on-table jxw1) (on nej4 ltj3) (on iac2 nej4) (clear jxw1) (on-table ltj3)
STATE: (arm-empty) (on-table iac2) (on-table jxw1) (on ltj3 iac2) (clear nej4) (on nej4 ltj3) (clear jxw1)
|
[
[
"unstack nej4 ltj3"
],
[
"put-down nej4"
],
[
"unstack ltj3 iac2"
],
[
"put-down ltj3"
],
[
"pick-up iac2"
],
[
"stack iac2 jxw1"
],
[
"pick-up nej4"
],
[
"stack nej4 ltj3"
],
[
"unstack iac2 jxw1"
],
[
"stack iac2 nej4"
]
] |
[
"(holding nej4) (on-table iac2) (clear ltj3) (on-table jxw1) (on ltj3 iac2) (clear jxw1)",
"(arm-empty) (on-table iac2) (clear nej4) (on-table jxw1) (on ltj3 iac2) (on-table nej4) (clear ltj3) (clear jxw1)",
"(clear iac2) (on-table iac2) (on-table jxw1) (clear nej4) (on-table nej4) (holding ltj3) (clear jxw1)",
"(arm-empty) (on-table iac2) (clear nej4) (clear iac2) (on-table jxw1) (on-table nej4) (clear ltj3) (clear jxw1) (on-table ltj3)",
"(on-table jxw1) (clear nej4) (on-table nej4) (holding iac2) (clear ltj3) (clear jxw1) (on-table ltj3)",
"(clear iac2) (arm-empty) (on-table jxw1) (clear nej4) (on-table nej4) (on iac2 jxw1) (clear ltj3) (on-table ltj3)",
"(clear iac2) (on-table jxw1) (holding nej4) (on iac2 jxw1) (clear ltj3) (on-table ltj3)",
"(on nej4 ltj3) (clear iac2) (arm-empty) (on-table jxw1) (on iac2 jxw1) (clear nej4) (on-table ltj3)",
"(clear nej4) (on-table jxw1) (on nej4 ltj3) (holding iac2) (clear jxw1) (on-table ltj3)",
"(clear iac2) (arm-empty) (on-table jxw1) (on nej4 ltj3) (on iac2 nej4) (clear jxw1) (on-table ltj3)"
] |
file_151634
|
GOAL: (on fzp1 wwj5) (on-table wwj5) (clear ugd4) (on ugd4 nsk3) (holding cvk2) (clear fzp1) (on-table nsk3)
|
GOAL: (on fzp1 wwj5) (on-table wwj5) (clear ugd4) (on ugd4 nsk3) (holding cvk2) (clear fzp1) (on-table nsk3)
STATE: (clear cvk2) (arm-empty) (on-table cvk2) (on-table wwj5) (on ugd4 nsk3) (on fzp1 ugd4) (clear fzp1) (on-table nsk3) (clear wwj5)
|
[
[
"unstack fzp1 ugd4"
],
[
"stack fzp1 wwj5"
],
[
"pick-up cvk2"
]
] |
[
"(holding fzp1) (clear cvk2) (on-table cvk2) (on-table wwj5) (clear ugd4) (on ugd4 nsk3) (on-table nsk3) (clear wwj5)",
"(on fzp1 wwj5) (clear cvk2) (arm-empty) (on-table cvk2) (on-table wwj5) (clear ugd4) (on ugd4 nsk3) (clear fzp1) (on-table nsk3)",
"(on fzp1 wwj5) (on-table wwj5) (clear ugd4) (on ugd4 nsk3) (holding cvk2) (clear fzp1) (on-table nsk3)"
] |
file_107425
|
GOAL: (clear wjf2) (on-table wjf2) (on-table vfd5) (on-table vfc1) (holding onf4) (clear lvf3) (clear vfc1) (on-table lvf3) (clear vfd5)
|
GOAL: (clear wjf2) (on-table wjf2) (on-table vfd5) (on-table vfc1) (holding onf4) (clear lvf3) (clear vfc1) (on-table lvf3) (clear vfd5)
STATE: (on-table wjf2) (on-table vfd5) (on-table vfc1) (clear onf4) (on onf4 wjf2) (holding lvf3) (clear vfc1) (clear vfd5)
|
[
[
"put-down lvf3"
],
[
"unstack onf4 wjf2"
]
] |
[
"(arm-empty) (on-table wjf2) (on-table vfd5) (on-table vfc1) (clear onf4) (on onf4 wjf2) (clear lvf3) (clear vfc1) (on-table lvf3) (clear vfd5)",
"(clear wjf2) (on-table wjf2) (on-table vfd5) (on-table vfc1) (holding onf4) (clear lvf3) (clear vfc1) (on-table lvf3) (clear vfd5)"
] |
file_122516
|
GOAL: (on alu5 sjj4) (on-table qrj1) (on sjj4 cxp3) (holding xfp2) (clear qrj1) (on-table cxp3) (clear alu5)
|
GOAL: (on alu5 sjj4) (on-table qrj1) (on sjj4 cxp3) (holding xfp2) (clear qrj1) (on-table cxp3) (clear alu5)
STATE: (on qrj1 alu5) (arm-empty) (on alu5 xfp2) (on sjj4 cxp3) (on xfp2 sjj4) (clear qrj1) (on-table cxp3)
|
[
[
"unstack qrj1 alu5"
],
[
"put-down qrj1"
],
[
"unstack alu5 xfp2"
],
[
"stack alu5 qrj1"
],
[
"unstack xfp2 sjj4"
],
[
"put-down xfp2"
],
[
"unstack alu5 qrj1"
],
[
"stack alu5 sjj4"
],
[
"pick-up xfp2"
]
] |
[
"(on alu5 xfp2) (on xfp2 sjj4) (clear alu5) (holding qrj1) (on sjj4 cxp3) (on-table cxp3)",
"(arm-empty) (on alu5 xfp2) (on xfp2 sjj4) (clear alu5) (on-table qrj1) (on sjj4 cxp3) (clear qrj1) (on-table cxp3)",
"(clear xfp2) (on-table qrj1) (on sjj4 cxp3) (holding alu5) (on xfp2 sjj4) (clear qrj1) (on-table cxp3)",
"(on sjj4 cxp3) (on alu5 qrj1) (clear xfp2) (arm-empty) (on-table qrj1) (on xfp2 sjj4) (on-table cxp3) (clear alu5)",
"(on-table qrj1) (clear sjj4) (on sjj4 cxp3) (on alu5 qrj1) (holding xfp2) (on-table cxp3) (clear alu5)",
"(arm-empty) (on-table xfp2) (clear sjj4) (clear alu5) (clear xfp2) (on-table qrj1) (on sjj4 cxp3) (on alu5 qrj1) (on-table cxp3)",
"(clear xfp2) (on-table xfp2) (on-table qrj1) (clear sjj4) (on sjj4 cxp3) (holding alu5) (clear qrj1) (on-table cxp3)",
"(clear xfp2) (arm-empty) (on alu5 sjj4) (on-table xfp2) (on-table qrj1) (on sjj4 cxp3) (clear qrj1) (on-table cxp3) (clear alu5)",
"(on alu5 sjj4) (on-table qrj1) (on sjj4 cxp3) (holding xfp2) (clear qrj1) (on-table cxp3) (clear alu5)"
] |
file_78618
|
GOAL: (on gjd3 bgz4) (arm-empty) (on-table bft1) (on ewf5 gjd3) (on bgz4 wir2) (on wir2 bft1) (clear ewf5)
|
GOAL: (on gjd3 bgz4) (arm-empty) (on-table bft1) (on ewf5 gjd3) (on bgz4 wir2) (on wir2 bft1) (clear ewf5)
STATE: (arm-empty) (on-table ewf5) (on-table bft1) (clear bgz4) (on bgz4 wir2) (on wir2 bft1) (clear gjd3) (on-table gjd3) (clear ewf5)
|
[
[
"pick-up gjd3"
],
[
"stack gjd3 bgz4"
],
[
"pick-up ewf5"
],
[
"stack ewf5 gjd3"
]
] |
[
"(on-table ewf5) (on-table bft1) (clear bgz4) (on bgz4 wir2) (on wir2 bft1) (holding gjd3) (clear ewf5)",
"(on gjd3 bgz4) (arm-empty) (on-table ewf5) (on-table bft1) (on bgz4 wir2) (on wir2 bft1) (clear gjd3) (clear ewf5)",
"(on gjd3 bgz4) (on-table bft1) (holding ewf5) (on bgz4 wir2) (on wir2 bft1) (clear gjd3)",
"(on gjd3 bgz4) (arm-empty) (on-table bft1) (on ewf5 gjd3) (on bgz4 wir2) (on wir2 bft1) (clear ewf5)"
] |
file_141006
|
GOAL: (arm-empty) (on-table esm2) (on-table osk5) (clear oqr4) (on vfm3 qot1) (clear osk5) (clear esm2) (on-table qot1) (on oqr4 vfm3)
|
GOAL: (arm-empty) (on-table esm2) (on-table osk5) (clear oqr4) (on vfm3 qot1) (clear osk5) (clear esm2) (on-table qot1) (on oqr4 vfm3)
STATE: (arm-empty) (on-table esm2) (on oqr4 osk5) (on-table qot1) (on osk5 esm2) (clear oqr4) (clear vfm3) (clear qot1) (on-table vfm3)
|
[
[
"pick-up vfm3"
],
[
"stack vfm3 qot1"
],
[
"unstack oqr4 osk5"
],
[
"stack oqr4 vfm3"
],
[
"unstack osk5 esm2"
],
[
"put-down osk5"
]
] |
[
"(on-table esm2) (on oqr4 osk5) (on-table qot1) (on osk5 esm2) (clear oqr4) (holding vfm3) (clear qot1)",
"(arm-empty) (on-table esm2) (on oqr4 osk5) (on-table qot1) (on osk5 esm2) (clear oqr4) (on vfm3 qot1) (clear vfm3)",
"(on-table esm2) (on-table qot1) (holding oqr4) (on osk5 esm2) (on vfm3 qot1) (clear vfm3) (clear osk5)",
"(arm-empty) (on-table esm2) (on osk5 esm2) (clear oqr4) (on vfm3 qot1) (clear osk5) (on-table qot1) (on oqr4 vfm3)",
"(clear esm2) (on-table esm2) (on-table qot1) (clear oqr4) (on oqr4 vfm3) (holding osk5) (on vfm3 qot1)",
"(arm-empty) (on-table esm2) (on-table osk5) (clear oqr4) (on vfm3 qot1) (clear osk5) (clear esm2) (on-table qot1) (on oqr4 vfm3)"
] |
file_23419
|
GOAL: (on bpt1 nig3) (arm-empty) (on-table udb2) (on bzk5 udb2) (clear bqb4) (on-table bqb4) (clear bpt1) (on-table nig3) (clear bzk5)
|
GOAL: (on bpt1 nig3) (arm-empty) (on-table udb2) (on bzk5 udb2) (clear bqb4) (on-table bqb4) (clear bpt1) (on-table nig3) (clear bzk5)
STATE: (holding bpt1) (clear udb2) (on-table udb2) (clear bqb4) (on bzk5 nig3) (on-table bqb4) (on-table nig3) (clear bzk5)
|
[
[
"stack bpt1 bqb4"
],
[
"unstack bzk5 nig3"
],
[
"stack bzk5 udb2"
],
[
"unstack bpt1 bqb4"
],
[
"stack bpt1 nig3"
]
] |
[
"(clear udb2) (arm-empty) (on-table udb2) (on bzk5 nig3) (on-table bqb4) (on bpt1 bqb4) (clear bpt1) (on-table nig3) (clear bzk5)",
"(clear udb2) (on-table udb2) (holding bzk5) (on-table bqb4) (on bpt1 bqb4) (clear nig3) (clear bpt1) (on-table nig3)",
"(arm-empty) (on-table udb2) (on bzk5 udb2) (on-table bqb4) (on bpt1 bqb4) (clear nig3) (clear bpt1) (on-table nig3) (clear bzk5)",
"(holding bpt1) (on-table udb2) (on bzk5 udb2) (clear bqb4) (on-table bqb4) (clear nig3) (on-table nig3) (clear bzk5)",
"(on bpt1 nig3) (arm-empty) (on-table udb2) (on bzk5 udb2) (clear bqb4) (on-table bqb4) (clear bpt1) (on-table nig3) (clear bzk5)"
] |
file_219811
|
GOAL: (on myb3 fss5) (arm-empty) (on fss5 rds4) (on-table hre2) (clear hre2) (on-table mkx1) (on-table rds4) (clear myb3) (clear mkx1)
|
GOAL: (on myb3 fss5) (arm-empty) (on fss5 rds4) (on-table hre2) (clear hre2) (on-table mkx1) (on-table rds4) (clear myb3) (clear mkx1)
STATE: (on myb3 fss5) (on mkx1 myb3) (on fss5 rds4) (on-table hre2) (arm-empty) (clear hre2) (on-table rds4) (clear mkx1)
|
[
[
"unstack mkx1 myb3"
],
[
"put-down mkx1"
]
] |
[
"(holding mkx1) (on myb3 fss5) (on fss5 rds4) (on-table hre2) (clear hre2) (on-table rds4) (clear myb3)",
"(on myb3 fss5) (arm-empty) (on fss5 rds4) (on-table hre2) (clear hre2) (on-table mkx1) (on-table rds4) (clear myb3) (clear mkx1)"
] |
file_120629
|
GOAL: (clear owh2) (arm-empty) (on-table hrp1) (on-table rss4) (on owh2 rss4) (clear ljr3) (clear hrp1) (on-table ljr3)
|
GOAL: (clear owh2) (arm-empty) (on-table hrp1) (on-table rss4) (on owh2 rss4) (clear ljr3) (clear hrp1) (on-table ljr3)
STATE: (holding hrp1) (clear owh2) (on-table owh2) (clear rss4) (on-table rss4) (clear ljr3) (on-table ljr3)
|
[
[
"put-down hrp1"
],
[
"pick-up owh2"
],
[
"stack owh2 rss4"
]
] |
[
"(arm-empty) (on-table owh2) (clear rss4) (clear owh2) (on-table hrp1) (on-table rss4) (clear ljr3) (clear hrp1) (on-table ljr3)",
"(on-table hrp1) (clear rss4) (on-table rss4) (holding owh2) (clear ljr3) (clear hrp1) (on-table ljr3)",
"(clear owh2) (arm-empty) (on-table hrp1) (on-table rss4) (on owh2 rss4) (clear ljr3) (clear hrp1) (on-table ljr3)"
] |
file_19085
|
GOAL: (on-table llx2) (on-table tzf1) (on dwa3 llx2) (clear jtw4) (holding cpl5) (on-table jtw4) (clear dwa3) (clear tzf1)
|
GOAL: (on-table llx2) (on-table tzf1) (on dwa3 llx2) (clear jtw4) (holding cpl5) (on-table jtw4) (clear dwa3) (clear tzf1)
STATE: (on tzf1 cpl5) (clear llx2) (arm-empty) (on-table llx2) (on-table cpl5) (clear jtw4) (on-table jtw4) (clear dwa3) (clear tzf1) (on-table dwa3)
|
[
[
"pick-up jtw4"
],
[
"stack jtw4 dwa3"
],
[
"unstack tzf1 cpl5"
],
[
"put-down tzf1"
],
[
"unstack jtw4 dwa3"
],
[
"put-down jtw4"
],
[
"pick-up dwa3"
],
[
"stack dwa3 llx2"
],
[
"pick-up cpl5"
]
] |
[
"(on tzf1 cpl5) (clear llx2) (on-table llx2) (on-table cpl5) (holding jtw4) (clear dwa3) (clear tzf1) (on-table dwa3)",
"(on tzf1 cpl5) (clear llx2) (arm-empty) (on-table llx2) (on-table cpl5) (clear jtw4) (on jtw4 dwa3) (clear tzf1) (on-table dwa3)",
"(holding tzf1) (clear llx2) (on-table llx2) (on-table cpl5) (clear jtw4) (on jtw4 dwa3) (on-table dwa3) (clear cpl5)",
"(clear llx2) (arm-empty) (on-table llx2) (on-table cpl5) (on-table tzf1) (clear jtw4) (on jtw4 dwa3) (clear tzf1) (on-table dwa3) (clear cpl5)",
"(clear llx2) (on-table llx2) (on-table cpl5) (on-table tzf1) (holding jtw4) (clear dwa3) (clear tzf1) (on-table dwa3) (clear cpl5)",
"(clear llx2) (arm-empty) (on-table llx2) (on-table cpl5) (on-table tzf1) (clear jtw4) (on-table jtw4) (clear dwa3) (clear tzf1) (on-table dwa3) (clear cpl5)",
"(clear llx2) (on-table llx2) (on-table cpl5) (on-table tzf1) (clear jtw4) (on-table jtw4) (holding dwa3) (clear tzf1) (clear cpl5)",
"(arm-empty) (on-table llx2) (on-table cpl5) (on-table tzf1) (on dwa3 llx2) (clear jtw4) (on-table jtw4) (clear dwa3) (clear tzf1) (clear cpl5)",
"(on-table llx2) (on-table tzf1) (on dwa3 llx2) (clear jtw4) (holding cpl5) (on-table jtw4) (clear dwa3) (clear tzf1)"
] |
file_180974
|
GOAL: (on gnq1 qjd5) (clear wgr2) (on qjd5 puy4) (on-table wgr2) (on-table puy4) (holding gjt3) (clear gnq1)
|
GOAL: (on gnq1 qjd5) (clear wgr2) (on qjd5 puy4) (on-table wgr2) (on-table puy4) (holding gjt3) (clear gnq1)
STATE: (on-table wgr2) (holding puy4) (on-table gnq1) (on gjt3 wgr2) (on qjd5 gjt3) (clear gnq1) (clear qjd5)
|
[
[
"stack puy4 gnq1"
],
[
"unstack qjd5 gjt3"
],
[
"put-down qjd5"
],
[
"unstack puy4 gnq1"
],
[
"put-down puy4"
],
[
"pick-up qjd5"
],
[
"stack qjd5 puy4"
],
[
"pick-up gnq1"
],
[
"stack gnq1 qjd5"
],
[
"unstack gjt3 wgr2"
]
] |
[
"(on puy4 gnq1) (arm-empty) (on-table wgr2) (on-table gnq1) (on gjt3 wgr2) (clear puy4) (on qjd5 gjt3) (clear qjd5)",
"(on puy4 gnq1) (on-table wgr2) (on-table gnq1) (on gjt3 wgr2) (clear puy4) (holding qjd5) (clear gjt3)",
"(on puy4 gnq1) (arm-empty) (on-table wgr2) (on-table qjd5) (clear puy4) (clear qjd5) (on-table gnq1) (on gjt3 wgr2) (clear gjt3)",
"(on-table wgr2) (on-table qjd5) (on-table gnq1) (holding puy4) (on gjt3 wgr2) (clear gjt3) (clear gnq1) (clear qjd5)",
"(arm-empty) (on-table wgr2) (on-table qjd5) (on-table gnq1) (on gjt3 wgr2) (clear puy4) (on-table puy4) (clear gjt3) (clear gnq1) (clear qjd5)",
"(on-table wgr2) (on-table gnq1) (on gjt3 wgr2) (clear puy4) (holding qjd5) (on-table puy4) (clear gjt3) (clear gnq1)",
"(arm-empty) (on qjd5 puy4) (on-table wgr2) (on-table gnq1) (on gjt3 wgr2) (on-table puy4) (clear gjt3) (clear gnq1) (clear qjd5)",
"(holding gnq1) (on qjd5 puy4) (on-table wgr2) (on gjt3 wgr2) (on-table puy4) (clear gjt3) (clear qjd5)",
"(on gnq1 qjd5) (arm-empty) (on qjd5 puy4) (on-table wgr2) (on gjt3 wgr2) (on-table puy4) (clear gjt3) (clear gnq1)",
"(on gnq1 qjd5) (clear wgr2) (on qjd5 puy4) (on-table wgr2) (on-table puy4) (holding gjt3) (clear gnq1)"
] |
file_27116
|
GOAL: (on imc3 qtg4) (arm-empty) (on-table wzt2) (on qtg4 maw5) (on maw5 abt1) (clear imc3) (on abt1 wzt2)
|
GOAL: (on imc3 qtg4) (arm-empty) (on-table wzt2) (on qtg4 maw5) (on maw5 abt1) (clear imc3) (on abt1 wzt2)
STATE: (clear wzt2) (on abt1 imc3) (arm-empty) (on-table wzt2) (on-table maw5) (clear qtg4) (on-table qtg4) (clear abt1) (on-table imc3) (clear maw5)
|
[
[
"pick-up maw5"
],
[
"stack maw5 qtg4"
],
[
"unstack abt1 imc3"
],
[
"stack abt1 wzt2"
],
[
"unstack maw5 qtg4"
],
[
"stack maw5 abt1"
],
[
"pick-up qtg4"
],
[
"stack qtg4 maw5"
],
[
"pick-up imc3"
],
[
"stack imc3 qtg4"
]
] |
[
"(clear wzt2) (on abt1 imc3) (on-table wzt2) (clear qtg4) (holding maw5) (on-table qtg4) (clear abt1) (on-table imc3)",
"(clear wzt2) (on abt1 imc3) (on maw5 qtg4) (on-table wzt2) (arm-empty) (on-table qtg4) (clear abt1) (on-table imc3) (clear maw5)",
"(holding abt1) (clear wzt2) (on maw5 qtg4) (on-table wzt2) (on-table qtg4) (clear imc3) (on-table imc3) (clear maw5)",
"(arm-empty) (on maw5 qtg4) (on-table wzt2) (on-table qtg4) (clear imc3) (on abt1 wzt2) (clear abt1) (on-table imc3) (clear maw5)",
"(on-table wzt2) (clear qtg4) (holding maw5) (on-table qtg4) (clear imc3) (on abt1 wzt2) (clear abt1) (on-table imc3)",
"(arm-empty) (on-table wzt2) (clear qtg4) (on maw5 abt1) (on-table qtg4) (clear imc3) (on abt1 wzt2) (on-table imc3) (clear maw5)",
"(on-table wzt2) (holding qtg4) (on maw5 abt1) (clear imc3) (on abt1 wzt2) (on-table imc3) (clear maw5)",
"(arm-empty) (on-table wzt2) (on qtg4 maw5) (clear qtg4) (on maw5 abt1) (clear imc3) (on abt1 wzt2) (on-table imc3)",
"(on-table wzt2) (on qtg4 maw5) (clear qtg4) (on maw5 abt1) (on abt1 wzt2) (holding imc3)",
"(on imc3 qtg4) (arm-empty) (on-table wzt2) (on qtg4 maw5) (on maw5 abt1) (clear imc3) (on abt1 wzt2)"
] |
file_209856
|
GOAL: (on khi3 omd5) (on aoq1 khi3) (on sov4 aoq1) (on-table tkt2) (arm-empty) (on omd5 tkt2) (clear sov4)
|
GOAL: (on khi3 omd5) (on aoq1 khi3) (on sov4 aoq1) (on-table tkt2) (arm-empty) (on omd5 tkt2) (clear sov4)
STATE: (on-table omd5) (clear omd5) (on-table sov4) (holding tkt2) (clear khi3) (on aoq1 sov4) (on-table khi3) (clear aoq1)
|
[
[
"put-down tkt2"
],
[
"pick-up omd5"
],
[
"stack omd5 tkt2"
],
[
"pick-up khi3"
],
[
"stack khi3 omd5"
],
[
"unstack aoq1 sov4"
],
[
"stack aoq1 khi3"
],
[
"pick-up sov4"
],
[
"stack sov4 aoq1"
]
] |
[
"(clear tkt2) (arm-empty) (on-table tkt2) (on-table omd5) (clear omd5) (on-table sov4) (clear khi3) (on aoq1 sov4) (on-table khi3) (clear aoq1)",
"(clear tkt2) (on-table tkt2) (holding omd5) (on-table sov4) (on aoq1 sov4) (clear khi3) (clear aoq1) (on-table khi3)",
"(arm-empty) (on-table tkt2) (on omd5 tkt2) (on-table sov4) (on aoq1 sov4) (clear khi3) (clear aoq1) (on-table khi3) (clear omd5)",
"(on-table tkt2) (on omd5 tkt2) (on-table sov4) (on aoq1 sov4) (holding khi3) (clear aoq1) (clear omd5)",
"(on khi3 omd5) (arm-empty) (on-table tkt2) (on omd5 tkt2) (on-table sov4) (on aoq1 sov4) (clear khi3) (clear aoq1)",
"(holding aoq1) (on khi3 omd5) (on-table tkt2) (on omd5 tkt2) (clear sov4) (on-table sov4) (clear khi3)",
"(on khi3 omd5) (on aoq1 khi3) (arm-empty) (on-table tkt2) (on omd5 tkt2) (clear sov4) (on-table sov4) (clear aoq1)",
"(on khi3 omd5) (on aoq1 khi3) (on-table tkt2) (holding sov4) (on omd5 tkt2) (clear aoq1)",
"(on khi3 omd5) (on aoq1 khi3) (on sov4 aoq1) (on-table tkt2) (arm-empty) (on omd5 tkt2) (clear sov4)"
] |
file_35597
|
GOAL: (holding uyd1) (on lwb3 mjc4) (on-table mbj2) (on ssv5 mbj2) (on-table mjc4) (clear lwb3) (clear ssv5)
|
GOAL: (holding uyd1) (on lwb3 mjc4) (on-table mbj2) (on ssv5 mbj2) (on-table mjc4) (clear lwb3) (clear ssv5)
STATE: (holding uyd1) (clear mbj2) (on-table ssv5) (on mjc4 lwb3) (on mbj2 mjc4) (on-table lwb3) (clear ssv5)
|
[
[
"put-down uyd1"
],
[
"pick-up ssv5"
],
[
"stack ssv5 uyd1"
],
[
"unstack mbj2 mjc4"
],
[
"stack mbj2 ssv5"
],
[
"unstack mjc4 lwb3"
],
[
"put-down mjc4"
],
[
"unstack mbj2 ssv5"
],
[
"put-down mbj2"
],
[
"unstack ssv5 uyd1"
],
[
"stack ssv5 mbj2"
],
[
"pick-up lwb3"
],
[
"stack lwb3 mjc4"
],
[
"pick-up uyd1"
]
] |
[
"(arm-empty) (on-table ssv5) (on mbj2 mjc4) (clear ssv5) (clear mbj2) (on-table uyd1) (on mjc4 lwb3) (clear uyd1) (on-table lwb3)",
"(clear mbj2) (on-table uyd1) (on mjc4 lwb3) (holding ssv5) (on mbj2 mjc4) (clear uyd1) (on-table lwb3)",
"(on mjc4 lwb3) (on ssv5 uyd1) (clear mbj2) (arm-empty) (on-table uyd1) (on mbj2 mjc4) (on-table lwb3) (clear ssv5)",
"(on-table uyd1) (clear mjc4) (on mjc4 lwb3) (on ssv5 uyd1) (holding mbj2) (on-table lwb3) (clear ssv5)",
"(clear mbj2) (arm-empty) (on-table uyd1) (clear mjc4) (on mjc4 lwb3) (on ssv5 uyd1) (on mbj2 ssv5) (on-table lwb3)",
"(clear mbj2) (on-table uyd1) (holding mjc4) (on ssv5 uyd1) (on mbj2 ssv5) (clear lwb3) (on-table lwb3)",
"(arm-empty) (clear mjc4) (on mbj2 ssv5) (clear mbj2) (on-table uyd1) (on ssv5 uyd1) (on-table mjc4) (clear lwb3) (on-table lwb3)",
"(on-table uyd1) (clear mjc4) (on ssv5 uyd1) (on-table mjc4) (holding mbj2) (clear lwb3) (on-table lwb3) (clear ssv5)",
"(clear mbj2) (arm-empty) (on-table mbj2) (on-table uyd1) (clear mjc4) (on ssv5 uyd1) (on-table mjc4) (clear lwb3) (on-table lwb3) (clear ssv5)",
"(clear mbj2) (on-table mbj2) (on-table uyd1) (clear mjc4) (holding ssv5) (on-table mjc4) (clear lwb3) (clear uyd1) (on-table lwb3)",
"(arm-empty) (on-table mbj2) (on-table uyd1) (on ssv5 mbj2) (clear mjc4) (on-table mjc4) (clear lwb3) (clear uyd1) (on-table lwb3) (clear ssv5)",
"(on-table mbj2) (on-table uyd1) (on ssv5 mbj2) (clear mjc4) (on-table mjc4) (holding lwb3) (clear uyd1) (clear ssv5)",
"(on lwb3 mjc4) (arm-empty) (on-table mbj2) (on-table uyd1) (on ssv5 mbj2) (on-table mjc4) (clear lwb3) (clear uyd1) (clear ssv5)",
"(holding uyd1) (on lwb3 mjc4) (on-table mbj2) (on ssv5 mbj2) (on-table mjc4) (clear lwb3) (clear ssv5)"
] |
file_134025
|
GOAL: (on rps1 iye3) (arm-empty) (on dus4 zbc2) (on zbc2 rps1) (clear dus4) (on-table iye3)
|
GOAL: (on rps1 iye3) (arm-empty) (on dus4 zbc2) (on zbc2 rps1) (clear dus4) (on-table iye3)
STATE: (clear zbc2) (on dus4 rps1) (on rps1 iye3) (on-table zbc2) (arm-empty) (clear dus4) (on-table iye3)
|
[
[
"unstack dus4 rps1"
],
[
"put-down dus4"
],
[
"pick-up zbc2"
],
[
"stack zbc2 rps1"
],
[
"pick-up dus4"
],
[
"stack dus4 zbc2"
]
] |
[
"(on rps1 iye3) (on-table zbc2) (holding dus4) (clear zbc2) (clear rps1) (on-table iye3)",
"(on rps1 iye3) (arm-empty) (on-table zbc2) (clear dus4) (clear zbc2) (on-table dus4) (clear rps1) (on-table iye3)",
"(on rps1 iye3) (clear dus4) (on-table dus4) (holding zbc2) (clear rps1) (on-table iye3)",
"(clear zbc2) (on rps1 iye3) (arm-empty) (clear dus4) (on-table dus4) (on zbc2 rps1) (on-table iye3)",
"(clear zbc2) (on rps1 iye3) (holding dus4) (on zbc2 rps1) (on-table iye3)",
"(on rps1 iye3) (arm-empty) (on dus4 zbc2) (on zbc2 rps1) (clear dus4) (on-table iye3)"
] |
file_185734
|
GOAL: (clear sph2) (on-table sph2) (on sdb4 hct5) (on-table fbb1) (clear sdb4) (on hct5 fbb1) (holding btk3)
|
GOAL: (clear sph2) (on-table sph2) (on sdb4 hct5) (on-table fbb1) (clear sdb4) (on hct5 fbb1) (holding btk3)
STATE: (clear sph2) (on-table sph2) (holding sdb4) (on-table fbb1) (on hct5 fbb1) (clear btk3) (on-table btk3) (clear hct5)
|
[
[
"put-down sdb4"
],
[
"pick-up sph2"
],
[
"stack sph2 btk3"
],
[
"pick-up sdb4"
],
[
"stack sdb4 hct5"
],
[
"unstack sph2 btk3"
],
[
"put-down sph2"
],
[
"pick-up btk3"
]
] |
[
"(clear sph2) (arm-empty) (on-table sph2) (on-table fbb1) (clear sdb4) (on hct5 fbb1) (on-table sdb4) (clear btk3) (on-table btk3) (clear hct5)",
"(on-table fbb1) (clear sdb4) (on hct5 fbb1) (on-table sdb4) (holding sph2) (clear btk3) (on-table btk3) (clear hct5)",
"(clear sph2) (arm-empty) (on-table fbb1) (clear sdb4) (on hct5 fbb1) (on-table sdb4) (on sph2 btk3) (on-table btk3) (clear hct5)",
"(clear sph2) (on-table fbb1) (holding sdb4) (on hct5 fbb1) (on sph2 btk3) (on-table btk3) (clear hct5)",
"(clear sph2) (arm-empty) (on sdb4 hct5) (on-table fbb1) (clear sdb4) (on hct5 fbb1) (on sph2 btk3) (on-table btk3)",
"(on sdb4 hct5) (on-table fbb1) (clear sdb4) (on hct5 fbb1) (holding sph2) (clear btk3) (on-table btk3)",
"(arm-empty) (on-table sph2) (on sdb4 hct5) (clear sdb4) (clear sph2) (on-table fbb1) (on hct5 fbb1) (clear btk3) (on-table btk3)",
"(clear sph2) (on-table sph2) (on sdb4 hct5) (on-table fbb1) (clear sdb4) (on hct5 fbb1) (holding btk3)"
] |
file_201017
|
GOAL: (on-table mdy2) (on-table kdt1) (holding gnd4) (on wtz5 mdy2) (clear ypp3) (clear kdt1) (on-table ypp3) (clear wtz5)
|
GOAL: (on-table mdy2) (on-table kdt1) (holding gnd4) (on wtz5 mdy2) (clear ypp3) (clear kdt1) (on-table ypp3) (clear wtz5)
STATE: (on-table mdy2) (on gnd4 wtz5) (on wtz5 mdy2) (on kdt1 gnd4) (holding ypp3) (clear kdt1)
|
[
[
"put-down ypp3"
],
[
"unstack kdt1 gnd4"
],
[
"put-down kdt1"
],
[
"unstack gnd4 wtz5"
]
] |
[
"(arm-empty) (on-table mdy2) (on gnd4 wtz5) (on wtz5 mdy2) (on kdt1 gnd4) (clear ypp3) (clear kdt1) (on-table ypp3)",
"(holding kdt1) (on-table mdy2) (on gnd4 wtz5) (on wtz5 mdy2) (clear gnd4) (clear ypp3) (on-table ypp3)",
"(arm-empty) (on-table mdy2) (on gnd4 wtz5) (on wtz5 mdy2) (clear gnd4) (on-table kdt1) (clear ypp3) (clear kdt1) (on-table ypp3)",
"(on-table mdy2) (on-table kdt1) (holding gnd4) (on wtz5 mdy2) (clear ypp3) (clear kdt1) (on-table ypp3) (clear wtz5)"
] |
file_188157
|
GOAL: (arm-empty) (on-table qye5) (on uma3 iwp2) (on-table gos4) (on kyz1 gos4) (on iwp2 qye5) (clear uma3) (clear kyz1)
|
GOAL: (arm-empty) (on-table qye5) (on uma3 iwp2) (on-table gos4) (on kyz1 gos4) (on iwp2 qye5) (clear uma3) (clear kyz1)
STATE: (arm-empty) (on-table qye5) (on-table kyz1) (on uma3 iwp2) (clear gos4) (on gos4 uma3) (on iwp2 qye5) (clear kyz1)
|
[
[
"unstack gos4 uma3"
],
[
"put-down gos4"
],
[
"pick-up kyz1"
],
[
"stack kyz1 gos4"
]
] |
[
"(on-table qye5) (on-table kyz1) (holding gos4) (on uma3 iwp2) (on iwp2 qye5) (clear uma3) (clear kyz1)",
"(arm-empty) (on-table qye5) (clear gos4) (on iwp2 qye5) (on-table kyz1) (on uma3 iwp2) (on-table gos4) (clear uma3) (clear kyz1)",
"(holding kyz1) (on-table qye5) (on uma3 iwp2) (clear gos4) (on-table gos4) (on iwp2 qye5) (clear uma3)",
"(arm-empty) (on-table qye5) (on uma3 iwp2) (on-table gos4) (on kyz1 gos4) (on iwp2 qye5) (clear uma3) (clear kyz1)"
] |
file_12131
|
GOAL: (on oes3 xji4) (clear vnf2) (on pzw1 oes3) (on-table vnf2) (holding eer5) (on-table xji4) (clear pzw1)
|
GOAL: (on oes3 xji4) (clear vnf2) (on pzw1 oes3) (on-table vnf2) (holding eer5) (on-table xji4) (clear pzw1)
STATE: (on-table pzw1) (clear xji4) (on eer5 pzw1) (on-table xji4) (holding vnf2) (clear oes3) (on-table oes3) (clear eer5)
|
[
[
"stack vnf2 eer5"
],
[
"pick-up oes3"
],
[
"stack oes3 xji4"
],
[
"unstack vnf2 eer5"
],
[
"put-down vnf2"
],
[
"unstack oes3 xji4"
],
[
"put-down oes3"
],
[
"unstack eer5 pzw1"
],
[
"stack eer5 vnf2"
],
[
"pick-up oes3"
],
[
"stack oes3 xji4"
],
[
"pick-up pzw1"
],
[
"stack pzw1 oes3"
],
[
"unstack eer5 vnf2"
]
] |
[
"(clear vnf2) (arm-empty) (on-table pzw1) (clear xji4) (on eer5 pzw1) (on-table xji4) (on vnf2 eer5) (clear oes3) (on-table oes3)",
"(clear vnf2) (on-table pzw1) (clear xji4) (on eer5 pzw1) (on-table xji4) (on vnf2 eer5) (holding oes3)",
"(on oes3 xji4) (clear vnf2) (arm-empty) (on-table pzw1) (on eer5 pzw1) (on-table xji4) (on vnf2 eer5) (clear oes3)",
"(on oes3 xji4) (on-table pzw1) (on eer5 pzw1) (on-table xji4) (holding vnf2) (clear oes3) (clear eer5)",
"(arm-empty) (on-table vnf2) (clear eer5) (on oes3 xji4) (clear vnf2) (on-table pzw1) (on eer5 pzw1) (on-table xji4) (clear oes3)",
"(clear vnf2) (on-table vnf2) (on-table pzw1) (clear xji4) (on eer5 pzw1) (on-table xji4) (holding oes3) (clear eer5)",
"(clear vnf2) (arm-empty) (on-table vnf2) (on-table pzw1) (clear xji4) (on eer5 pzw1) (on-table xji4) (clear oes3) (on-table oes3) (clear eer5)",
"(clear vnf2) (on-table vnf2) (on-table pzw1) (clear xji4) (holding eer5) (on-table xji4) (clear oes3) (clear pzw1) (on-table oes3)",
"(arm-empty) (on-table vnf2) (on-table pzw1) (on eer5 vnf2) (clear xji4) (on-table xji4) (clear oes3) (clear pzw1) (on-table oes3) (clear eer5)",
"(on-table vnf2) (on-table pzw1) (on eer5 vnf2) (clear xji4) (on-table xji4) (holding oes3) (clear pzw1) (clear eer5)",
"(on oes3 xji4) (arm-empty) (on-table vnf2) (on-table pzw1) (on eer5 vnf2) (on-table xji4) (clear oes3) (clear pzw1) (clear eer5)",
"(holding pzw1) (on oes3 xji4) (on-table vnf2) (on eer5 vnf2) (on-table xji4) (clear oes3) (clear eer5)",
"(on oes3 xji4) (on pzw1 oes3) (arm-empty) (on-table vnf2) (on eer5 vnf2) (on-table xji4) (clear pzw1) (clear eer5)",
"(on oes3 xji4) (clear vnf2) (on pzw1 oes3) (on-table vnf2) (holding eer5) (on-table xji4) (clear pzw1)"
] |
file_210589
|
GOAL: (on xmh3 vgx4) (clear gqn2) (arm-empty) (on-table scc5) (on-table fth1) (on-table vgx4) (on gqn2 fth1) (clear xmh3) (clear scc5)
|
GOAL: (on xmh3 vgx4) (clear gqn2) (arm-empty) (on-table scc5) (on-table fth1) (on-table vgx4) (on gqn2 fth1) (clear xmh3) (clear scc5)
STATE: (on-table fth1) (on scc5 gqn2) (clear vgx4) (on-table vgx4) (on gqn2 fth1) (holding xmh3) (clear scc5)
|
[
[
"put-down xmh3"
],
[
"unstack scc5 gqn2"
],
[
"put-down scc5"
],
[
"pick-up xmh3"
],
[
"stack xmh3 vgx4"
]
] |
[
"(arm-empty) (on scc5 gqn2) (clear vgx4) (on gqn2 fth1) (clear scc5) (on-table fth1) (on-table vgx4) (clear xmh3) (on-table xmh3)",
"(clear gqn2) (on-table fth1) (clear vgx4) (holding scc5) (on-table vgx4) (on gqn2 fth1) (clear xmh3) (on-table xmh3)",
"(clear gqn2) (arm-empty) (on-table scc5) (on-table fth1) (clear vgx4) (on-table vgx4) (on gqn2 fth1) (clear xmh3) (on-table xmh3) (clear scc5)",
"(clear gqn2) (on-table scc5) (on-table fth1) (clear vgx4) (on-table vgx4) (on gqn2 fth1) (holding xmh3) (clear scc5)",
"(on xmh3 vgx4) (clear gqn2) (arm-empty) (on-table scc5) (on-table fth1) (on-table vgx4) (on gqn2 fth1) (clear xmh3) (clear scc5)"
] |
file_3915
|
GOAL: (clear gzx2) (arm-empty) (on-table gzx2) (on-table api5) (on-table yaw1) (on uiv4 api5) (clear uiv4) (clear vlm3) (clear yaw1) (on-table vlm3)
|
GOAL: (clear gzx2) (arm-empty) (on-table gzx2) (on-table api5) (on-table yaw1) (on uiv4 api5) (clear uiv4) (clear vlm3) (clear yaw1) (on-table vlm3)
STATE: (clear gzx2) (arm-empty) (on-table api5) (on-table yaw1) (clear uiv4) (on-table uiv4) (on gzx2 api5) (clear vlm3) (clear yaw1) (on-table vlm3)
|
[
[
"pick-up uiv4"
],
[
"stack uiv4 yaw1"
],
[
"unstack gzx2 api5"
],
[
"put-down gzx2"
],
[
"unstack uiv4 yaw1"
],
[
"stack uiv4 api5"
]
] |
[
"(clear gzx2) (on-table api5) (on-table yaw1) (holding uiv4) (on gzx2 api5) (clear vlm3) (clear yaw1) (on-table vlm3)",
"(clear gzx2) (on uiv4 yaw1) (arm-empty) (on-table api5) (on-table yaw1) (clear uiv4) (on gzx2 api5) (clear vlm3) (on-table vlm3)",
"(on uiv4 yaw1) (on-table api5) (on-table yaw1) (clear uiv4) (holding gzx2) (clear vlm3) (on-table vlm3) (clear api5)",
"(clear gzx2) (on uiv4 yaw1) (arm-empty) (on-table gzx2) (on-table api5) (on-table yaw1) (clear uiv4) (clear vlm3) (on-table vlm3) (clear api5)",
"(clear gzx2) (on-table gzx2) (on-table api5) (on-table yaw1) (holding uiv4) (clear vlm3) (clear yaw1) (on-table vlm3) (clear api5)",
"(clear gzx2) (arm-empty) (on-table gzx2) (on-table api5) (on-table yaw1) (on uiv4 api5) (clear uiv4) (clear vlm3) (clear yaw1) (on-table vlm3)"
] |
file_181990
|
GOAL: (clear cpd2) (on-table cpd2) (on-table rob1) (holding jhr4) (clear ytw3) (clear rob1) (on-table ytw3)
|
GOAL: (clear cpd2) (on-table cpd2) (on-table rob1) (holding jhr4) (clear ytw3) (clear rob1) (on-table ytw3)
STATE: (clear cpd2) (holding jhr4) (on-table rob1) (on cpd2 ytw3) (clear rob1) (on-table ytw3)
|
[
[
"put-down jhr4"
],
[
"unstack cpd2 ytw3"
],
[
"put-down cpd2"
],
[
"pick-up ytw3"
],
[
"stack ytw3 rob1"
],
[
"pick-up jhr4"
],
[
"stack jhr4 cpd2"
],
[
"unstack ytw3 rob1"
],
[
"put-down ytw3"
],
[
"unstack jhr4 cpd2"
]
] |
[
"(arm-empty) (clear jhr4) (clear cpd2) (on-table rob1) (on-table jhr4) (on cpd2 ytw3) (clear rob1) (on-table ytw3)",
"(on-table rob1) (clear jhr4) (on-table jhr4) (holding cpd2) (clear ytw3) (clear rob1) (on-table ytw3)",
"(arm-empty) (on-table cpd2) (clear jhr4) (clear cpd2) (on-table rob1) (on-table jhr4) (clear ytw3) (clear rob1) (on-table ytw3)",
"(clear cpd2) (on-table cpd2) (on-table rob1) (clear jhr4) (on-table jhr4) (holding ytw3) (clear rob1)",
"(clear cpd2) (arm-empty) (on-table cpd2) (on-table rob1) (clear jhr4) (on-table jhr4) (on ytw3 rob1) (clear ytw3)",
"(clear cpd2) (on-table cpd2) (on-table rob1) (holding jhr4) (on ytw3 rob1) (clear ytw3)",
"(arm-empty) (on-table cpd2) (on-table rob1) (clear jhr4) (on ytw3 rob1) (on jhr4 cpd2) (clear ytw3)",
"(on-table cpd2) (clear jhr4) (on-table rob1) (on jhr4 cpd2) (holding ytw3) (clear rob1)",
"(on jhr4 cpd2) (arm-empty) (on-table cpd2) (on-table rob1) (clear ytw3) (clear jhr4) (clear rob1) (on-table ytw3)",
"(clear cpd2) (on-table cpd2) (on-table rob1) (holding jhr4) (clear ytw3) (clear rob1) (on-table ytw3)"
] |
file_108273
|
GOAL: (clear lnm2) (on ayu4 qmz1) (on omi5 ayu4) (arm-empty) (on-table qmz1) (on lnm2 wos3) (on-table wos3) (clear omi5)
|
GOAL: (clear lnm2) (on ayu4 qmz1) (on omi5 ayu4) (arm-empty) (on-table qmz1) (on lnm2 wos3) (on-table wos3) (clear omi5)
STATE: (holding qmz1) (clear lnm2) (on-table lnm2) (on-table omi5) (on ayu4 omi5) (clear ayu4) (clear wos3) (on-table wos3)
|
[
[
"put-down qmz1"
],
[
"unstack ayu4 omi5"
],
[
"stack ayu4 qmz1"
],
[
"pick-up lnm2"
],
[
"stack lnm2 wos3"
],
[
"pick-up omi5"
],
[
"stack omi5 ayu4"
]
] |
[
"(clear lnm2) (arm-empty) (on-table lnm2) (on-table omi5) (on ayu4 omi5) (on-table qmz1) (clear ayu4) (clear wos3) (clear qmz1) (on-table wos3)",
"(clear lnm2) (on-table lnm2) (on-table omi5) (holding ayu4) (on-table qmz1) (clear wos3) (clear qmz1) (on-table wos3) (clear omi5)",
"(clear lnm2) (on ayu4 qmz1) (arm-empty) (on-table lnm2) (on-table omi5) (on-table qmz1) (clear ayu4) (clear wos3) (on-table wos3) (clear omi5)",
"(on ayu4 qmz1) (on-table omi5) (on-table qmz1) (clear ayu4) (holding lnm2) (clear wos3) (on-table wos3) (clear omi5)",
"(clear lnm2) (on ayu4 qmz1) (arm-empty) (on-table omi5) (on-table qmz1) (clear ayu4) (on lnm2 wos3) (on-table wos3) (clear omi5)",
"(clear lnm2) (on ayu4 qmz1) (on-table qmz1) (clear ayu4) (holding omi5) (on lnm2 wos3) (on-table wos3)",
"(clear lnm2) (on ayu4 qmz1) (on omi5 ayu4) (arm-empty) (on-table qmz1) (on lnm2 wos3) (on-table wos3) (clear omi5)"
] |
file_87347
|
GOAL: (on ere1 jdn3) (arm-empty) (on-table igo2) (on ywu4 lme5) (on jdn3 igo2) (clear ywu4) (on lme5 ere1)
|
GOAL: (on ere1 jdn3) (arm-empty) (on-table igo2) (on ywu4 lme5) (on jdn3 igo2) (clear ywu4) (on lme5 ere1)
STATE: (clear igo2) (arm-empty) (on lme5 ywu4) (on-table ere1) (on-table ywu4) (on igo2 lme5) (clear jdn3) (clear ere1) (on-table jdn3)
|
[
[
"unstack igo2 lme5"
],
[
"put-down igo2"
],
[
"pick-up ere1"
],
[
"stack ere1 lme5"
],
[
"pick-up jdn3"
],
[
"stack jdn3 igo2"
],
[
"unstack ere1 lme5"
],
[
"stack ere1 jdn3"
],
[
"unstack lme5 ywu4"
],
[
"stack lme5 ere1"
],
[
"pick-up ywu4"
],
[
"stack ywu4 lme5"
]
] |
[
"(on lme5 ywu4) (on-table ere1) (on-table ywu4) (holding igo2) (clear jdn3) (clear ere1) (on-table jdn3) (clear lme5)",
"(clear igo2) (arm-empty) (on lme5 ywu4) (on-table igo2) (on-table ere1) (on-table ywu4) (clear jdn3) (clear ere1) (on-table jdn3) (clear lme5)",
"(holding ere1) (clear igo2) (on lme5 ywu4) (on-table igo2) (on-table ywu4) (clear jdn3) (on-table jdn3) (clear lme5)",
"(on ere1 lme5) (clear igo2) (arm-empty) (on lme5 ywu4) (on-table igo2) (on-table ywu4) (clear jdn3) (clear ere1) (on-table jdn3)",
"(on ere1 lme5) (clear igo2) (on lme5 ywu4) (on-table igo2) (on-table ywu4) (holding jdn3) (clear ere1)",
"(on ere1 lme5) (arm-empty) (on lme5 ywu4) (on-table igo2) (on jdn3 igo2) (on-table ywu4) (clear jdn3) (clear ere1)",
"(holding ere1) (on lme5 ywu4) (on-table igo2) (on jdn3 igo2) (on-table ywu4) (clear jdn3) (clear lme5)",
"(on ere1 jdn3) (on lme5 ywu4) (on-table igo2) (arm-empty) (on jdn3 igo2) (on-table ywu4) (clear ere1) (clear lme5)",
"(on ere1 jdn3) (on-table igo2) (on jdn3 igo2) (clear ywu4) (holding lme5) (on-table ywu4) (clear ere1)",
"(on ere1 jdn3) (arm-empty) (on-table igo2) (on jdn3 igo2) (clear ywu4) (on lme5 ere1) (on-table ywu4) (clear lme5)",
"(on ere1 jdn3) (on-table igo2) (holding ywu4) (on jdn3 igo2) (on lme5 ere1) (clear lme5)",
"(on ere1 jdn3) (arm-empty) (on-table igo2) (on ywu4 lme5) (on jdn3 igo2) (clear ywu4) (on lme5 ere1)"
] |
file_128927
|
GOAL: (clear grj2) (arm-empty) (on-table vsy5) (on-table lms1) (on vbh4 vsy5) (clear vbh4) (on grj2 lms1) (clear adq3) (on-table adq3)
|
GOAL: (clear grj2) (arm-empty) (on-table vsy5) (on-table lms1) (on vbh4 vsy5) (clear vbh4) (on grj2 lms1) (clear adq3) (on-table adq3)
STATE: (clear grj2) (on-table vsy5) (on-table lms1) (clear vbh4) (on-table vbh4) (on grj2 vsy5) (holding adq3) (clear lms1)
|
[
[
"put-down adq3"
],
[
"unstack grj2 vsy5"
],
[
"stack grj2 lms1"
],
[
"pick-up vbh4"
],
[
"stack vbh4 vsy5"
]
] |
[
"(clear grj2) (arm-empty) (on-table vsy5) (on-table lms1) (clear vbh4) (on-table vbh4) (on grj2 vsy5) (clear adq3) (clear lms1) (on-table adq3)",
"(on-table vsy5) (on-table lms1) (clear vbh4) (on-table vbh4) (holding grj2) (clear adq3) (clear lms1) (on-table adq3) (clear vsy5)",
"(clear grj2) (arm-empty) (on-table vsy5) (on-table lms1) (clear vbh4) (on-table vbh4) (on grj2 lms1) (clear adq3) (on-table adq3) (clear vsy5)",
"(clear grj2) (on-table vsy5) (on-table lms1) (holding vbh4) (on grj2 lms1) (clear adq3) (on-table adq3) (clear vsy5)",
"(clear grj2) (arm-empty) (on-table vsy5) (on-table lms1) (on vbh4 vsy5) (clear vbh4) (on grj2 lms1) (clear adq3) (on-table adq3)"
] |
file_121504
|
GOAL: (on vqo3 uot4) (arm-empty) (on-table xbn1) (on wlw5 qel2) (on-table uot4) (on qel2 vqo3) (clear xbn1) (clear wlw5)
|
GOAL: (on vqo3 uot4) (arm-empty) (on-table xbn1) (on wlw5 qel2) (on-table uot4) (on qel2 vqo3) (clear xbn1) (clear wlw5)
STATE: (clear qel2) (arm-empty) (on-table qel2) (on-table wlw5) (on-table xbn1) (clear uot4) (on uot4 vqo3) (clear xbn1) (on-table vqo3) (clear wlw5)
|
[
[
"pick-up xbn1"
],
[
"stack xbn1 wlw5"
],
[
"pick-up qel2"
],
[
"stack qel2 xbn1"
],
[
"unstack uot4 vqo3"
],
[
"put-down uot4"
],
[
"pick-up vqo3"
],
[
"stack vqo3 uot4"
],
[
"unstack qel2 xbn1"
],
[
"stack qel2 vqo3"
],
[
"unstack xbn1 wlw5"
],
[
"put-down xbn1"
],
[
"pick-up wlw5"
],
[
"stack wlw5 qel2"
]
] |
[
"(holding xbn1) (clear qel2) (on-table qel2) (on-table wlw5) (clear uot4) (on uot4 vqo3) (on-table vqo3) (clear wlw5)",
"(on xbn1 wlw5) (clear qel2) (arm-empty) (on-table qel2) (on-table wlw5) (clear uot4) (on uot4 vqo3) (clear xbn1) (on-table vqo3)",
"(on xbn1 wlw5) (on-table wlw5) (clear uot4) (on uot4 vqo3) (holding qel2) (clear xbn1) (on-table vqo3)",
"(on xbn1 wlw5) (clear qel2) (arm-empty) (on-table wlw5) (clear uot4) (on uot4 vqo3) (on qel2 xbn1) (on-table vqo3)",
"(on xbn1 wlw5) (clear qel2) (on-table wlw5) (holding uot4) (on qel2 xbn1) (clear vqo3) (on-table vqo3)",
"(on xbn1 wlw5) (arm-empty) (on-table wlw5) (clear uot4) (on qel2 xbn1) (clear qel2) (on-table uot4) (clear vqo3) (on-table vqo3)",
"(on xbn1 wlw5) (clear qel2) (on-table wlw5) (clear uot4) (on-table uot4) (on qel2 xbn1) (holding vqo3)",
"(on xbn1 wlw5) (clear qel2) (on vqo3 uot4) (arm-empty) (on-table wlw5) (on-table uot4) (on qel2 xbn1) (clear vqo3)",
"(on xbn1 wlw5) (on vqo3 uot4) (on-table wlw5) (on-table uot4) (holding qel2) (clear vqo3) (clear xbn1)",
"(on xbn1 wlw5) (on vqo3 uot4) (clear qel2) (arm-empty) (on-table wlw5) (on-table uot4) (on qel2 vqo3) (clear xbn1)",
"(holding xbn1) (on vqo3 uot4) (clear qel2) (on-table wlw5) (on-table uot4) (on qel2 vqo3) (clear wlw5)",
"(arm-empty) (on-table wlw5) (clear wlw5) (on vqo3 uot4) (clear qel2) (on-table xbn1) (on-table uot4) (on qel2 vqo3) (clear xbn1)",
"(on vqo3 uot4) (clear qel2) (on-table xbn1) (holding wlw5) (on-table uot4) (on qel2 vqo3) (clear xbn1)",
"(on vqo3 uot4) (arm-empty) (on-table xbn1) (on wlw5 qel2) (on-table uot4) (on qel2 vqo3) (clear xbn1) (clear wlw5)"
] |
file_194379
|
GOAL: (holding anz1) (on umc5 ysp2) (clear efr4) (on-table efr4) (on ysp2 vxc3) (on-table vxc3) (clear umc5)
|
GOAL: (holding anz1) (on umc5 ysp2) (clear efr4) (on-table efr4) (on ysp2 vxc3) (on-table vxc3) (clear umc5)
STATE: (arm-empty) (on umc5 efr4) (on-table anz1) (on efr4 ysp2) (on ysp2 vxc3) (clear anz1) (on-table vxc3) (clear umc5)
|
[
[
"unstack umc5 efr4"
],
[
"stack umc5 anz1"
],
[
"unstack efr4 ysp2"
],
[
"put-down efr4"
],
[
"unstack umc5 anz1"
],
[
"put-down umc5"
],
[
"pick-up anz1"
],
[
"stack anz1 efr4"
],
[
"pick-up umc5"
],
[
"stack umc5 ysp2"
],
[
"unstack anz1 efr4"
]
] |
[
"(on-table anz1) (clear efr4) (holding umc5) (on efr4 ysp2) (on ysp2 vxc3) (clear anz1) (on-table vxc3)",
"(arm-empty) (on-table anz1) (clear efr4) (on umc5 anz1) (on efr4 ysp2) (on ysp2 vxc3) (on-table vxc3) (clear umc5)",
"(clear ysp2) (on-table anz1) (holding efr4) (on umc5 anz1) (on ysp2 vxc3) (on-table vxc3) (clear umc5)",
"(arm-empty) (clear efr4) (clear umc5) (clear ysp2) (on-table anz1) (on umc5 anz1) (on-table efr4) (on ysp2 vxc3) (on-table vxc3)",
"(clear ysp2) (on-table anz1) (clear efr4) (holding umc5) (on-table efr4) (on ysp2 vxc3) (clear anz1) (on-table vxc3)",
"(clear ysp2) (arm-empty) (on-table umc5) (on-table anz1) (clear efr4) (on-table efr4) (on ysp2 vxc3) (clear anz1) (on-table vxc3) (clear umc5)",
"(holding anz1) (clear ysp2) (on-table umc5) (clear efr4) (on-table efr4) (on ysp2 vxc3) (on-table vxc3) (clear umc5)",
"(clear ysp2) (arm-empty) (on-table umc5) (on-table efr4) (on anz1 efr4) (on ysp2 vxc3) (clear anz1) (on-table vxc3) (clear umc5)",
"(clear ysp2) (holding umc5) (on-table efr4) (on anz1 efr4) (on ysp2 vxc3) (clear anz1) (on-table vxc3)",
"(arm-empty) (on umc5 ysp2) (on-table efr4) (on anz1 efr4) (on ysp2 vxc3) (clear anz1) (on-table vxc3) (clear umc5)",
"(holding anz1) (on umc5 ysp2) (clear efr4) (on-table efr4) (on ysp2 vxc3) (on-table vxc3) (clear umc5)"
] |
file_135782
|
GOAL: (on wbc4 sof1) (on-table kac2) (clear wbc4) (clear kac2) (on-table sof1) (holding ctx3)
|
GOAL: (on wbc4 sof1) (on-table kac2) (clear wbc4) (clear kac2) (on-table sof1) (holding ctx3)
STATE: (clear kac2) (arm-empty) (on-table kac2) (on-table sof1) (clear wbc4) (on wbc4 ctx3) (on ctx3 sof1)
|
[
[
"unstack wbc4 ctx3"
],
[
"put-down wbc4"
],
[
"unstack ctx3 sof1"
],
[
"stack ctx3 kac2"
],
[
"pick-up wbc4"
],
[
"stack wbc4 sof1"
],
[
"unstack ctx3 kac2"
]
] |
[
"(holding wbc4) (on ctx3 sof1) (clear kac2) (on-table kac2) (on-table sof1) (clear ctx3)",
"(arm-empty) (on-table kac2) (clear wbc4) (on ctx3 sof1) (clear kac2) (on-table sof1) (on-table wbc4) (clear ctx3)",
"(clear kac2) (on-table kac2) (on-table sof1) (clear wbc4) (on-table wbc4) (holding ctx3) (clear sof1)",
"(arm-empty) (on-table kac2) (on-table sof1) (on ctx3 kac2) (clear wbc4) (on-table wbc4) (clear ctx3) (clear sof1)",
"(on-table kac2) (on-table sof1) (holding wbc4) (on ctx3 kac2) (clear ctx3) (clear sof1)",
"(on wbc4 sof1) (arm-empty) (on-table kac2) (on-table sof1) (on ctx3 kac2) (clear wbc4) (clear ctx3)",
"(on wbc4 sof1) (on-table kac2) (clear wbc4) (clear kac2) (on-table sof1) (holding ctx3)"
] |
file_178062
|
GOAL: (on gem1 zhl5) (arm-empty) (on zhl5 cyx4) (on-table ksi2) (on cyx4 ksi2) (on uxl3 gem1) (clear uxl3)
|
GOAL: (on gem1 zhl5) (arm-empty) (on zhl5 cyx4) (on-table ksi2) (on cyx4 ksi2) (on uxl3 gem1) (clear uxl3)
STATE: (on gem1 uxl3) (on cyx4 zhl5) (clear cyx4) (on zhl5 gem1) (holding ksi2) (on-table uxl3)
|
[
[
"put-down ksi2"
],
[
"unstack cyx4 zhl5"
],
[
"stack cyx4 ksi2"
],
[
"unstack zhl5 gem1"
],
[
"stack zhl5 cyx4"
],
[
"unstack gem1 uxl3"
],
[
"stack gem1 zhl5"
],
[
"pick-up uxl3"
],
[
"stack uxl3 gem1"
]
] |
[
"(on gem1 uxl3) (arm-empty) (on-table ksi2) (on cyx4 zhl5) (clear cyx4) (clear ksi2) (on zhl5 gem1) (on-table uxl3)",
"(clear ksi2) (on gem1 uxl3) (on-table ksi2) (holding cyx4) (on zhl5 gem1) (on-table uxl3) (clear zhl5)",
"(on gem1 uxl3) (arm-empty) (on-table ksi2) (clear cyx4) (clear zhl5) (on zhl5 gem1) (on cyx4 ksi2) (on-table uxl3)",
"(on gem1 uxl3) (on-table ksi2) (clear cyx4) (holding zhl5) (on cyx4 ksi2) (clear gem1) (on-table uxl3)",
"(on gem1 uxl3) (on zhl5 cyx4) (on-table ksi2) (arm-empty) (on cyx4 ksi2) (clear gem1) (on-table uxl3) (clear zhl5)",
"(holding gem1) (on zhl5 cyx4) (on-table ksi2) (on cyx4 ksi2) (clear uxl3) (on-table uxl3) (clear zhl5)",
"(on gem1 zhl5) (arm-empty) (on zhl5 cyx4) (on-table ksi2) (on cyx4 ksi2) (clear uxl3) (clear gem1) (on-table uxl3)",
"(on gem1 zhl5) (on zhl5 cyx4) (on-table ksi2) (on cyx4 ksi2) (holding uxl3) (clear gem1)",
"(on gem1 zhl5) (arm-empty) (on zhl5 cyx4) (on-table ksi2) (on cyx4 ksi2) (on uxl3 gem1) (clear uxl3)"
] |
file_160485
|
GOAL: (clear hud2) (arm-empty) (on-table hud2) (on-table ktl5) (on-table krh4) (on kvm1 krh4) (on jxj3 kvm1) (clear jxj3) (clear ktl5)
|
GOAL: (clear hud2) (arm-empty) (on-table hud2) (on-table ktl5) (on-table krh4) (on kvm1 krh4) (on jxj3 kvm1) (clear jxj3) (clear ktl5)
STATE: (clear hud2) (on-table hud2) (on-table ktl5) (on-table kvm1) (on krh4 ktl5) (clear krh4) (holding jxj3) (clear kvm1)
|
[
[
"stack jxj3 hud2"
],
[
"unstack krh4 ktl5"
],
[
"put-down krh4"
],
[
"pick-up kvm1"
],
[
"stack kvm1 krh4"
],
[
"unstack jxj3 hud2"
],
[
"stack jxj3 kvm1"
]
] |
[
"(arm-empty) (on-table hud2) (on-table ktl5) (on-table kvm1) (on krh4 ktl5) (on jxj3 hud2) (clear krh4) (clear jxj3) (clear kvm1)",
"(on-table hud2) (on-table ktl5) (on-table kvm1) (holding krh4) (on jxj3 hud2) (clear jxj3) (clear kvm1) (clear ktl5)",
"(arm-empty) (on-table hud2) (on-table ktl5) (on-table kvm1) (on jxj3 hud2) (clear krh4) (on-table krh4) (clear jxj3) (clear kvm1) (clear ktl5)",
"(holding kvm1) (on-table hud2) (on-table ktl5) (on jxj3 hud2) (clear krh4) (on-table krh4) (clear jxj3) (clear ktl5)",
"(arm-empty) (on-table hud2) (on-table ktl5) (on jxj3 hud2) (on-table krh4) (on kvm1 krh4) (clear jxj3) (clear kvm1) (clear ktl5)",
"(clear hud2) (on-table hud2) (on-table ktl5) (on-table krh4) (on kvm1 krh4) (holding jxj3) (clear kvm1) (clear ktl5)",
"(clear hud2) (arm-empty) (on-table hud2) (on-table ktl5) (on-table krh4) (on kvm1 krh4) (on jxj3 kvm1) (clear jxj3) (clear ktl5)"
] |
file_149580
|
GOAL: (clear ulk2) (on sxq1 wpy3) (holding caj4) (on ulk2 sxq1) (on-table wpy3)
|
GOAL: (clear ulk2) (on sxq1 wpy3) (holding caj4) (on ulk2 sxq1) (on-table wpy3)
STATE: (clear ulk2) (on sxq1 wpy3) (arm-empty) (on-table ulk2) (clear caj4) (on-table caj4) (clear sxq1) (on-table wpy3)
|
[
[
"pick-up ulk2"
],
[
"stack ulk2 sxq1"
],
[
"pick-up caj4"
]
] |
[
"(on sxq1 wpy3) (clear caj4) (on-table caj4) (holding ulk2) (clear sxq1) (on-table wpy3)",
"(clear ulk2) (on sxq1 wpy3) (arm-empty) (clear caj4) (on-table caj4) (on ulk2 sxq1) (on-table wpy3)",
"(clear ulk2) (on sxq1 wpy3) (holding caj4) (on ulk2 sxq1) (on-table wpy3)"
] |
file_200461
|
GOAL: (on qpf5 vqb4) (on-table ucj1) (on-table vqb4) (holding nep2) (clear nqk3) (clear ucj1) (on-table nqk3) (clear qpf5)
|
GOAL: (on qpf5 vqb4) (on-table ucj1) (on-table vqb4) (holding nep2) (clear nqk3) (clear ucj1) (on-table nqk3) (clear qpf5)
STATE: (on ucj1 qpf5) (arm-empty) (on qpf5 vqb4) (on-table nep2) (on vqb4 nep2) (on nqk3 ucj1) (clear nqk3)
|
[
[
"unstack nqk3 ucj1"
],
[
"put-down nqk3"
],
[
"unstack ucj1 qpf5"
],
[
"put-down ucj1"
],
[
"unstack qpf5 vqb4"
],
[
"put-down qpf5"
],
[
"unstack vqb4 nep2"
],
[
"stack vqb4 qpf5"
],
[
"pick-up nep2"
],
[
"stack nep2 ucj1"
],
[
"unstack vqb4 qpf5"
],
[
"put-down vqb4"
],
[
"pick-up qpf5"
],
[
"stack qpf5 vqb4"
],
[
"unstack nep2 ucj1"
]
] |
[
"(on ucj1 qpf5) (on qpf5 vqb4) (on-table nep2) (on vqb4 nep2) (holding nqk3) (clear ucj1)",
"(on ucj1 qpf5) (arm-empty) (on qpf5 vqb4) (on-table nep2) (on vqb4 nep2) (clear nqk3) (clear ucj1) (on-table nqk3)",
"(holding ucj1) (on qpf5 vqb4) (on-table nep2) (on vqb4 nep2) (clear nqk3) (on-table nqk3) (clear qpf5)",
"(arm-empty) (on qpf5 vqb4) (on-table nep2) (clear qpf5) (on-table ucj1) (on vqb4 nep2) (clear nqk3) (clear ucj1) (on-table nqk3)",
"(on-table nep2) (on-table ucj1) (clear vqb4) (holding qpf5) (on vqb4 nep2) (clear nqk3) (clear ucj1) (on-table nqk3)",
"(arm-empty) (on-table nep2) (on-table qpf5) (on-table ucj1) (clear vqb4) (on vqb4 nep2) (clear nqk3) (clear ucj1) (on-table nqk3) (clear qpf5)",
"(clear nep2) (on-table nep2) (on-table qpf5) (on-table ucj1) (holding vqb4) (clear nqk3) (clear ucj1) (on-table nqk3) (clear qpf5)",
"(clear nep2) (arm-empty) (on-table nep2) (on-table qpf5) (on-table ucj1) (on vqb4 qpf5) (clear vqb4) (clear nqk3) (clear ucj1) (on-table nqk3)",
"(on-table qpf5) (on-table ucj1) (on vqb4 qpf5) (clear vqb4) (holding nep2) (clear nqk3) (clear ucj1) (on-table nqk3)",
"(clear nep2) (arm-empty) (on-table qpf5) (on-table ucj1) (on vqb4 qpf5) (clear vqb4) (on nep2 ucj1) (clear nqk3) (on-table nqk3)",
"(clear nep2) (on-table qpf5) (on-table ucj1) (holding vqb4) (on nep2 ucj1) (clear nqk3) (on-table nqk3) (clear qpf5)",
"(clear nep2) (arm-empty) (on-table qpf5) (on-table ucj1) (clear vqb4) (on-table vqb4) (on nep2 ucj1) (clear nqk3) (on-table nqk3) (clear qpf5)",
"(clear nep2) (on-table ucj1) (clear vqb4) (holding qpf5) (on-table vqb4) (on nep2 ucj1) (clear nqk3) (on-table nqk3)",
"(clear nep2) (arm-empty) (on qpf5 vqb4) (on-table ucj1) (on-table vqb4) (on nep2 ucj1) (clear nqk3) (on-table nqk3) (clear qpf5)",
"(on qpf5 vqb4) (on-table ucj1) (on-table vqb4) (holding nep2) (clear nqk3) (clear ucj1) (on-table nqk3) (clear qpf5)"
] |
file_166914
|
GOAL: (clear znv2) (on mvi4 esg1) (on zny5 mvi4) (on-table znv2) (arm-empty) (on-table esg1) (clear dye3) (on-table dye3) (clear zny5)
|
GOAL: (clear znv2) (on mvi4 esg1) (on zny5 mvi4) (on-table znv2) (arm-empty) (on-table esg1) (clear dye3) (on-table dye3) (clear zny5)
STATE: (clear znv2) (on mvi4 esg1) (on-table znv2) (on-table esg1) (clear mvi4) (holding zny5) (clear dye3) (on-table dye3)
|
[
[
"stack zny5 mvi4"
]
] |
[
"(clear znv2) (on mvi4 esg1) (on zny5 mvi4) (on-table znv2) (arm-empty) (on-table esg1) (clear dye3) (on-table dye3) (clear zny5)"
] |
file_181547
|
GOAL: (on olp3 dhw4) (clear akv2) (on hsz1 xzy5) (arm-empty) (on-table akv2) (on-table xzy5) (on-table dhw4) (clear olp3) (clear hsz1)
|
GOAL: (on olp3 dhw4) (clear akv2) (on hsz1 xzy5) (arm-empty) (on-table akv2) (on-table xzy5) (on-table dhw4) (clear olp3) (clear hsz1)
STATE: (on olp3 dhw4) (arm-empty) (on-table hsz1) (on xzy5 hsz1) (on dhw4 akv2) (on akv2 xzy5) (clear olp3)
|
[
[
"unstack olp3 dhw4"
],
[
"put-down olp3"
],
[
"unstack dhw4 akv2"
],
[
"put-down dhw4"
],
[
"pick-up olp3"
],
[
"stack olp3 dhw4"
],
[
"unstack akv2 xzy5"
],
[
"put-down akv2"
],
[
"unstack xzy5 hsz1"
],
[
"put-down xzy5"
],
[
"pick-up hsz1"
],
[
"stack hsz1 xzy5"
]
] |
[
"(clear dhw4) (on akv2 xzy5) (on-table hsz1) (on xzy5 hsz1) (on dhw4 akv2) (holding olp3)",
"(on dhw4 akv2) (on xzy5 hsz1) (arm-empty) (on-table hsz1) (on akv2 xzy5) (clear olp3) (clear dhw4) (on-table olp3)",
"(clear akv2) (on-table hsz1) (holding dhw4) (on xzy5 hsz1) (on akv2 xzy5) (clear olp3) (on-table olp3)",
"(arm-empty) (clear dhw4) (on akv2 xzy5) (clear akv2) (on-table hsz1) (on xzy5 hsz1) (on-table dhw4) (clear olp3) (on-table olp3)",
"(clear akv2) (on-table hsz1) (clear dhw4) (on xzy5 hsz1) (on-table dhw4) (on akv2 xzy5) (holding olp3)",
"(on olp3 dhw4) (clear akv2) (arm-empty) (on-table hsz1) (on xzy5 hsz1) (on-table dhw4) (on akv2 xzy5) (clear olp3)",
"(on olp3 dhw4) (on-table hsz1) (on xzy5 hsz1) (on-table dhw4) (holding akv2) (clear olp3) (clear xzy5)",
"(arm-empty) (on-table akv2) (clear xzy5) (on olp3 dhw4) (clear akv2) (on-table hsz1) (on xzy5 hsz1) (on-table dhw4) (clear olp3)",
"(on olp3 dhw4) (clear akv2) (on-table akv2) (on-table hsz1) (holding xzy5) (on-table dhw4) (clear olp3) (clear hsz1)",
"(on olp3 dhw4) (clear akv2) (arm-empty) (on-table akv2) (on-table xzy5) (on-table hsz1) (on-table dhw4) (clear olp3) (clear hsz1) (clear xzy5)",
"(holding hsz1) (on olp3 dhw4) (clear akv2) (on-table akv2) (on-table xzy5) (on-table dhw4) (clear olp3) (clear xzy5)",
"(on olp3 dhw4) (clear akv2) (on hsz1 xzy5) (arm-empty) (on-table akv2) (on-table xzy5) (on-table dhw4) (clear olp3) (clear hsz1)"
] |
file_220104
|
GOAL: (on rfl1 lit5) (on vpm3 xiw4) (clear qjy2) (arm-empty) (on-table lit5) (on-table xiw4) (on qjy2 rfl1) (clear vpm3)
|
GOAL: (on rfl1 lit5) (on vpm3 xiw4) (clear qjy2) (arm-empty) (on-table lit5) (on-table xiw4) (on qjy2 rfl1) (clear vpm3)
STATE: (clear qjy2) (arm-empty) (on-table lit5) (on-table rfl1) (clear xiw4) (on-table xiw4) (on vpm3 rfl1) (on qjy2 vpm3) (clear lit5)
|
[
[
"unstack qjy2 vpm3"
],
[
"put-down qjy2"
],
[
"pick-up xiw4"
],
[
"stack xiw4 lit5"
],
[
"unstack vpm3 rfl1"
],
[
"stack vpm3 qjy2"
],
[
"unstack xiw4 lit5"
],
[
"put-down xiw4"
],
[
"unstack vpm3 qjy2"
],
[
"put-down vpm3"
],
[
"pick-up rfl1"
],
[
"stack rfl1 lit5"
],
[
"pick-up vpm3"
],
[
"stack vpm3 xiw4"
],
[
"pick-up qjy2"
],
[
"stack qjy2 rfl1"
]
] |
[
"(on-table lit5) (on-table rfl1) (clear xiw4) (on-table xiw4) (holding qjy2) (on vpm3 rfl1) (clear vpm3) (clear lit5)",
"(clear qjy2) (arm-empty) (on-table qjy2) (on-table lit5) (on-table rfl1) (clear xiw4) (on-table xiw4) (on vpm3 rfl1) (clear vpm3) (clear lit5)",
"(clear qjy2) (on-table qjy2) (on-table lit5) (on-table rfl1) (holding xiw4) (on vpm3 rfl1) (clear vpm3) (clear lit5)",
"(clear qjy2) (arm-empty) (on-table qjy2) (on-table lit5) (on-table rfl1) (on xiw4 lit5) (clear xiw4) (on vpm3 rfl1) (clear vpm3)",
"(clear qjy2) (on-table qjy2) (on-table lit5) (on-table rfl1) (on xiw4 lit5) (clear xiw4) (holding vpm3) (clear rfl1)",
"(arm-empty) (on-table qjy2) (on-table lit5) (on-table rfl1) (on xiw4 lit5) (on vpm3 qjy2) (clear xiw4) (clear vpm3) (clear rfl1)",
"(on-table qjy2) (on-table lit5) (on-table rfl1) (holding xiw4) (on vpm3 qjy2) (clear vpm3) (clear rfl1) (clear lit5)",
"(arm-empty) (on-table qjy2) (on-table lit5) (on-table rfl1) (on vpm3 qjy2) (clear xiw4) (on-table xiw4) (clear vpm3) (clear rfl1) (clear lit5)",
"(clear qjy2) (on-table qjy2) (on-table lit5) (on-table rfl1) (clear xiw4) (on-table xiw4) (holding vpm3) (clear rfl1) (clear lit5)",
"(clear qjy2) (arm-empty) (on-table qjy2) (on-table lit5) (on-table rfl1) (clear xiw4) (on-table xiw4) (clear vpm3) (clear rfl1) (on-table vpm3) (clear lit5)",
"(holding rfl1) (clear qjy2) (on-table qjy2) (on-table lit5) (clear xiw4) (on-table xiw4) (clear vpm3) (on-table vpm3) (clear lit5)",
"(on rfl1 lit5) (clear qjy2) (arm-empty) (on-table qjy2) (on-table lit5) (clear xiw4) (on-table xiw4) (clear vpm3) (clear rfl1) (on-table vpm3)",
"(on rfl1 lit5) (clear qjy2) (on-table qjy2) (on-table lit5) (clear xiw4) (on-table xiw4) (holding vpm3) (clear rfl1)",
"(on rfl1 lit5) (clear qjy2) (on vpm3 xiw4) (arm-empty) (on-table qjy2) (on-table lit5) (on-table xiw4) (clear vpm3) (clear rfl1)",
"(on rfl1 lit5) (on vpm3 xiw4) (on-table lit5) (on-table xiw4) (holding qjy2) (clear vpm3) (clear rfl1)",
"(on rfl1 lit5) (on vpm3 xiw4) (clear qjy2) (arm-empty) (on-table lit5) (on-table xiw4) (on qjy2 rfl1) (clear vpm3)"
] |
file_10834
|
GOAL: (clear zjq2) (arm-empty) (on-table dac1) (clear ivl4) (on edu5 dac1) (on-table ivl4) (on zjq2 kku3) (on-table kku3) (clear edu5)
|
GOAL: (clear zjq2) (arm-empty) (on-table dac1) (clear ivl4) (on edu5 dac1) (on-table ivl4) (on zjq2 kku3) (on-table kku3) (clear edu5)
STATE: (arm-empty) (on-table edu5) (on-table dac1) (on kku3 zjq2) (clear ivl4) (on ivl4 kku3) (on zjq2 edu5) (clear dac1)
|
[
[
"unstack ivl4 kku3"
],
[
"stack ivl4 dac1"
],
[
"unstack kku3 zjq2"
],
[
"put-down kku3"
],
[
"unstack ivl4 dac1"
],
[
"stack ivl4 kku3"
],
[
"unstack zjq2 edu5"
],
[
"put-down zjq2"
],
[
"pick-up edu5"
],
[
"stack edu5 dac1"
],
[
"unstack ivl4 kku3"
],
[
"put-down ivl4"
],
[
"pick-up zjq2"
],
[
"stack zjq2 kku3"
]
] |
[
"(on-table edu5) (on-table dac1) (holding ivl4) (on kku3 zjq2) (on zjq2 edu5) (clear kku3) (clear dac1)",
"(on ivl4 dac1) (arm-empty) (on-table edu5) (on-table dac1) (on kku3 zjq2) (clear ivl4) (on zjq2 edu5) (clear kku3)",
"(clear zjq2) (on ivl4 dac1) (on-table edu5) (on-table dac1) (clear ivl4) (on zjq2 edu5) (holding kku3)",
"(on ivl4 dac1) (arm-empty) (on-table edu5) (clear ivl4) (on zjq2 edu5) (clear zjq2) (on-table dac1) (clear kku3) (on-table kku3)",
"(clear zjq2) (on-table edu5) (on-table dac1) (holding ivl4) (on zjq2 edu5) (clear kku3) (clear dac1) (on-table kku3)",
"(clear zjq2) (arm-empty) (on-table edu5) (on-table dac1) (clear ivl4) (on ivl4 kku3) (on zjq2 edu5) (clear dac1) (on-table kku3)",
"(on-table edu5) (on-table dac1) (clear ivl4) (on ivl4 kku3) (holding zjq2) (clear dac1) (on-table kku3) (clear edu5)",
"(clear zjq2) (arm-empty) (on-table zjq2) (on-table edu5) (on-table dac1) (clear ivl4) (on ivl4 kku3) (clear dac1) (on-table kku3) (clear edu5)",
"(clear zjq2) (on-table zjq2) (on-table dac1) (clear ivl4) (on ivl4 kku3) (holding edu5) (clear dac1) (on-table kku3)",
"(clear zjq2) (arm-empty) (on-table zjq2) (on-table dac1) (clear ivl4) (on ivl4 kku3) (on edu5 dac1) (on-table kku3) (clear edu5)",
"(clear zjq2) (on-table zjq2) (on-table dac1) (holding ivl4) (on edu5 dac1) (clear kku3) (on-table kku3) (clear edu5)",
"(clear zjq2) (arm-empty) (on-table zjq2) (on-table dac1) (clear ivl4) (on edu5 dac1) (on-table ivl4) (clear kku3) (on-table kku3) (clear edu5)",
"(on-table dac1) (clear ivl4) (on edu5 dac1) (on-table ivl4) (holding zjq2) (clear kku3) (on-table kku3) (clear edu5)",
"(clear zjq2) (arm-empty) (on-table dac1) (clear ivl4) (on edu5 dac1) (on-table ivl4) (on zjq2 kku3) (on-table kku3) (clear edu5)"
] |
file_12233
|
GOAL: (on gei3 ubm4) (arm-empty) (on-table scd2) (on ubm4 kxg5) (on kxg5 uzd1) (clear gei3) (on uzd1 scd2)
|
GOAL: (on gei3 ubm4) (arm-empty) (on-table scd2) (on ubm4 kxg5) (on kxg5 uzd1) (clear gei3) (on uzd1 scd2)
STATE: (clear scd2) (arm-empty) (on-table scd2) (on ubm4 kxg5) (on kxg5 gei3) (on uzd1 ubm4) (clear uzd1) (on-table gei3)
|
[
[
"unstack uzd1 ubm4"
],
[
"stack uzd1 scd2"
],
[
"unstack ubm4 kxg5"
],
[
"put-down ubm4"
],
[
"unstack kxg5 gei3"
],
[
"stack kxg5 uzd1"
],
[
"pick-up ubm4"
],
[
"stack ubm4 kxg5"
],
[
"pick-up gei3"
],
[
"stack gei3 ubm4"
]
] |
[
"(holding uzd1) (clear scd2) (on-table scd2) (on ubm4 kxg5) (clear ubm4) (on kxg5 gei3) (on-table gei3)",
"(arm-empty) (on-table scd2) (on ubm4 kxg5) (clear ubm4) (on kxg5 gei3) (on uzd1 scd2) (clear uzd1) (on-table gei3)",
"(on-table scd2) (holding ubm4) (on kxg5 gei3) (on uzd1 scd2) (clear uzd1) (on-table gei3) (clear kxg5)",
"(arm-empty) (on-table scd2) (clear ubm4) (on kxg5 gei3) (on uzd1 scd2) (clear kxg5) (on-table ubm4) (clear uzd1) (on-table gei3)",
"(on-table scd2) (clear ubm4) (holding kxg5) (on-table ubm4) (clear gei3) (on uzd1 scd2) (clear uzd1) (on-table gei3)",
"(arm-empty) (on-table scd2) (clear ubm4) (on kxg5 uzd1) (on-table ubm4) (clear gei3) (on uzd1 scd2) (on-table gei3) (clear kxg5)",
"(on-table scd2) (holding ubm4) (on kxg5 uzd1) (clear gei3) (on uzd1 scd2) (on-table gei3) (clear kxg5)",
"(arm-empty) (on-table scd2) (on ubm4 kxg5) (clear ubm4) (on kxg5 uzd1) (clear gei3) (on uzd1 scd2) (on-table gei3)",
"(on-table scd2) (on ubm4 kxg5) (clear ubm4) (on kxg5 uzd1) (on uzd1 scd2) (holding gei3)",
"(on gei3 ubm4) (arm-empty) (on-table scd2) (on ubm4 kxg5) (on kxg5 uzd1) (clear gei3) (on uzd1 scd2)"
] |
file_193412
|
GOAL: (on aib3 znb5) (on ygc1 aib3) (on rpa4 ygc1) (on-table znb5) (clear rpa4) (holding azl2)
|
GOAL: (on aib3 znb5) (on ygc1 aib3) (on rpa4 ygc1) (on-table znb5) (clear rpa4) (holding azl2)
STATE: (arm-empty) (on-table azl2) (on rpa4 azl2) (on znb5 aib3) (on ygc1 rpa4) (on aib3 ygc1) (clear znb5)
|
[
[
"unstack znb5 aib3"
],
[
"put-down znb5"
],
[
"unstack aib3 ygc1"
],
[
"stack aib3 znb5"
],
[
"unstack ygc1 rpa4"
],
[
"stack ygc1 aib3"
],
[
"unstack rpa4 azl2"
],
[
"stack rpa4 ygc1"
],
[
"pick-up azl2"
]
] |
[
"(on-table azl2) (holding znb5) (on aib3 ygc1) (on ygc1 rpa4) (on rpa4 azl2) (clear aib3)",
"(arm-empty) (on-table azl2) (on-table znb5) (on aib3 ygc1) (clear znb5) (on ygc1 rpa4) (on rpa4 azl2) (clear aib3)",
"(on-table azl2) (on-table znb5) (on rpa4 azl2) (on ygc1 rpa4) (holding aib3) (clear ygc1) (clear znb5)",
"(on aib3 znb5) (arm-empty) (on-table azl2) (on-table znb5) (on ygc1 rpa4) (on rpa4 azl2) (clear aib3) (clear ygc1)",
"(holding ygc1) (on aib3 znb5) (on-table azl2) (on-table znb5) (clear rpa4) (on rpa4 azl2) (clear aib3)",
"(on aib3 znb5) (on ygc1 aib3) (arm-empty) (on-table azl2) (on-table znb5) (clear rpa4) (on rpa4 azl2) (clear ygc1)",
"(on aib3 znb5) (on ygc1 aib3) (on-table azl2) (on-table znb5) (clear azl2) (holding rpa4) (clear ygc1)",
"(on aib3 znb5) (on ygc1 aib3) (on rpa4 ygc1) (on-table azl2) (on-table znb5) (arm-empty) (clear rpa4) (clear azl2)",
"(on aib3 znb5) (on ygc1 aib3) (on rpa4 ygc1) (on-table znb5) (clear rpa4) (holding azl2)"
] |
file_143743
|
GOAL: (arm-empty) (on-table sut2) (clear vkz4) (clear sut2) (on-table ugg1) (on vkz4 ote3) (clear ugg1) (on-table ote3)
|
GOAL: (arm-empty) (on-table sut2) (clear vkz4) (clear sut2) (on-table ugg1) (on vkz4 ote3) (clear ugg1) (on-table ote3)
STATE: (arm-empty) (clear vkz4) (on-table vkz4) (on sut2 ote3) (on ugg1 sut2) (clear ugg1) (on-table ote3)
|
[
[
"unstack ugg1 sut2"
],
[
"stack ugg1 vkz4"
],
[
"unstack sut2 ote3"
],
[
"put-down sut2"
],
[
"unstack ugg1 vkz4"
],
[
"stack ugg1 sut2"
],
[
"pick-up vkz4"
],
[
"stack vkz4 ote3"
],
[
"unstack ugg1 sut2"
],
[
"put-down ugg1"
]
] |
[
"(clear vkz4) (holding ugg1) (clear sut2) (on-table vkz4) (on sut2 ote3) (on-table ote3)",
"(clear sut2) (arm-empty) (on-table vkz4) (on ugg1 vkz4) (on sut2 ote3) (clear ugg1) (on-table ote3)",
"(on ugg1 vkz4) (on-table vkz4) (holding sut2) (clear ote3) (clear ugg1) (on-table ote3)",
"(arm-empty) (on-table sut2) (clear sut2) (on-table vkz4) (on ugg1 vkz4) (clear ote3) (clear ugg1) (on-table ote3)",
"(holding ugg1) (clear sut2) (on-table sut2) (clear vkz4) (on-table vkz4) (clear ote3) (on-table ote3)",
"(arm-empty) (on-table sut2) (clear vkz4) (on-table vkz4) (clear ote3) (on ugg1 sut2) (clear ugg1) (on-table ote3)",
"(on-table sut2) (holding vkz4) (clear ote3) (on ugg1 sut2) (clear ugg1) (on-table ote3)",
"(arm-empty) (on-table sut2) (clear vkz4) (on vkz4 ote3) (on ugg1 sut2) (clear ugg1) (on-table ote3)",
"(on-table sut2) (clear vkz4) (holding ugg1) (clear sut2) (on vkz4 ote3) (on-table ote3)",
"(arm-empty) (on-table sut2) (clear vkz4) (clear sut2) (on-table ugg1) (on vkz4 ote3) (clear ugg1) (on-table ote3)"
] |
file_106506
|
GOAL: (holding oze1) (on uav4 brb3) (clear fml2) (on fml2 uav4) (on-table brb3)
|
GOAL: (holding oze1) (on uav4 brb3) (clear fml2) (on fml2 uav4) (on-table brb3)
STATE: (on-table oze1) (clear uav4) (on uav4 brb3) (holding fml2) (on brb3 oze1)
|
[
[
"put-down fml2"
],
[
"unstack uav4 brb3"
],
[
"stack uav4 fml2"
],
[
"unstack brb3 oze1"
],
[
"put-down brb3"
],
[
"unstack uav4 fml2"
],
[
"stack uav4 brb3"
],
[
"pick-up fml2"
],
[
"stack fml2 uav4"
],
[
"pick-up oze1"
]
] |
[
"(on uav4 brb3) (on brb3 oze1) (clear fml2) (arm-empty) (on-table fml2) (on-table oze1) (clear uav4)",
"(holding uav4) (clear fml2) (on-table fml2) (on brb3 oze1) (clear brb3) (on-table oze1)",
"(on brb3 oze1) (arm-empty) (clear uav4) (on-table fml2) (on uav4 fml2) (clear brb3) (on-table oze1)",
"(on-table fml2) (clear uav4) (on-table oze1) (on uav4 fml2) (holding brb3) (clear oze1)",
"(on uav4 fml2) (arm-empty) (on-table fml2) (on-table oze1) (clear brb3) (clear uav4) (clear oze1) (on-table brb3)",
"(clear fml2) (on-table fml2) (on-table oze1) (holding uav4) (clear brb3) (clear oze1) (on-table brb3)",
"(arm-empty) (on-table fml2) (clear uav4) (clear fml2) (on-table oze1) (on uav4 brb3) (clear oze1) (on-table brb3)",
"(on-table oze1) (clear uav4) (on uav4 brb3) (holding fml2) (clear oze1) (on-table brb3)",
"(clear fml2) (arm-empty) (on-table oze1) (on uav4 brb3) (on fml2 uav4) (clear oze1) (on-table brb3)",
"(holding oze1) (on uav4 brb3) (clear fml2) (on fml2 uav4) (on-table brb3)"
] |
file_131158
|
GOAL: (on aov3 knb4) (arm-empty) (on-table jgk1) (on sin5 lmm2) (on-table knb4) (on lmm2 jgk1) (clear aov3) (clear sin5)
|
GOAL: (on aov3 knb4) (arm-empty) (on-table jgk1) (on sin5 lmm2) (on-table knb4) (on lmm2 jgk1) (clear aov3) (clear sin5)
STATE: (clear lmm2) (on-table jgk1) (on knb4 aov3) (holding sin5) (on lmm2 knb4) (clear jgk1) (on-table aov3)
|
[
[
"put-down sin5"
],
[
"unstack lmm2 knb4"
],
[
"stack lmm2 jgk1"
],
[
"pick-up sin5"
],
[
"stack sin5 lmm2"
],
[
"unstack knb4 aov3"
],
[
"put-down knb4"
],
[
"pick-up aov3"
],
[
"stack aov3 knb4"
]
] |
[
"(arm-empty) (on-table sin5) (on lmm2 knb4) (clear sin5) (clear lmm2) (on-table jgk1) (on knb4 aov3) (clear jgk1) (on-table aov3)",
"(on-table sin5) (on-table jgk1) (clear knb4) (on knb4 aov3) (holding lmm2) (clear jgk1) (on-table aov3) (clear sin5)",
"(clear lmm2) (arm-empty) (on-table sin5) (on-table jgk1) (clear knb4) (on knb4 aov3) (on lmm2 jgk1) (on-table aov3) (clear sin5)",
"(clear lmm2) (on-table jgk1) (clear knb4) (on knb4 aov3) (holding sin5) (on lmm2 jgk1) (on-table aov3)",
"(arm-empty) (on-table jgk1) (on sin5 lmm2) (clear knb4) (on knb4 aov3) (on lmm2 jgk1) (on-table aov3) (clear sin5)",
"(on-table jgk1) (holding knb4) (on sin5 lmm2) (on lmm2 jgk1) (clear aov3) (on-table aov3) (clear sin5)",
"(arm-empty) (on sin5 lmm2) (clear knb4) (on lmm2 jgk1) (clear sin5) (on-table jgk1) (on-table knb4) (clear aov3) (on-table aov3)",
"(on-table jgk1) (on sin5 lmm2) (clear knb4) (on-table knb4) (on lmm2 jgk1) (holding aov3) (clear sin5)",
"(on aov3 knb4) (arm-empty) (on-table jgk1) (on sin5 lmm2) (on-table knb4) (on lmm2 jgk1) (clear aov3) (clear sin5)"
] |
file_48314
|
GOAL: (clear bav2) (arm-empty) (on-table sjh5) (on-table dyw1) (clear zzr4) (on-table zzr4) (on bav2 sjh5) (clear mrq3) (clear dyw1) (on-table mrq3)
|
GOAL: (clear bav2) (arm-empty) (on-table sjh5) (on-table dyw1) (clear zzr4) (on-table zzr4) (on bav2 sjh5) (clear mrq3) (clear dyw1) (on-table mrq3)
STATE: (holding dyw1) (on-table sjh5) (clear zzr4) (on zzr4 bav2) (on bav2 sjh5) (clear mrq3) (on-table mrq3)
|
[
[
"put-down dyw1"
],
[
"unstack zzr4 bav2"
],
[
"put-down zzr4"
]
] |
[
"(arm-empty) (on-table sjh5) (clear zzr4) (on bav2 sjh5) (on-table dyw1) (on zzr4 bav2) (clear mrq3) (clear dyw1) (on-table mrq3)",
"(clear bav2) (on-table sjh5) (on-table dyw1) (holding zzr4) (on bav2 sjh5) (clear mrq3) (clear dyw1) (on-table mrq3)",
"(clear bav2) (arm-empty) (on-table sjh5) (on-table dyw1) (clear zzr4) (on-table zzr4) (on bav2 sjh5) (clear mrq3) (clear dyw1) (on-table mrq3)"
] |
file_75065
|
GOAL: (on gnc3 kqm4) (on-table kqm4) (arm-empty) (on wce2 gnc3) (on oqf1 wce2) (clear oqf1)
|
GOAL: (on gnc3 kqm4) (on-table kqm4) (arm-empty) (on wce2 gnc3) (on oqf1 wce2) (clear oqf1)
STATE: (arm-empty) (on kqm4 gnc3) (on wce2 kqm4) (on oqf1 wce2) (clear oqf1) (on-table gnc3)
|
[
[
"unstack oqf1 wce2"
],
[
"put-down oqf1"
],
[
"unstack wce2 kqm4"
],
[
"stack wce2 oqf1"
],
[
"unstack kqm4 gnc3"
],
[
"put-down kqm4"
],
[
"pick-up gnc3"
],
[
"stack gnc3 kqm4"
],
[
"unstack wce2 oqf1"
],
[
"stack wce2 gnc3"
],
[
"pick-up oqf1"
],
[
"stack oqf1 wce2"
]
] |
[
"(holding oqf1) (on kqm4 gnc3) (clear wce2) (on wce2 kqm4) (on-table gnc3)",
"(on kqm4 gnc3) (clear wce2) (arm-empty) (on wce2 kqm4) (on-table oqf1) (clear oqf1) (on-table gnc3)",
"(clear kqm4) (on-table oqf1) (on kqm4 gnc3) (holding wce2) (clear oqf1) (on-table gnc3)",
"(clear wce2) (arm-empty) (on-table oqf1) (clear kqm4) (on kqm4 gnc3) (on wce2 oqf1) (on-table gnc3)",
"(holding kqm4) (clear wce2) (on-table oqf1) (on wce2 oqf1) (clear gnc3) (on-table gnc3)",
"(arm-empty) (clear kqm4) (on wce2 oqf1) (clear wce2) (on-table oqf1) (on-table kqm4) (clear gnc3) (on-table gnc3)",
"(clear wce2) (on-table oqf1) (clear kqm4) (on-table kqm4) (on wce2 oqf1) (holding gnc3)",
"(on gnc3 kqm4) (clear wce2) (arm-empty) (on-table oqf1) (on-table kqm4) (on wce2 oqf1) (clear gnc3)",
"(on gnc3 kqm4) (on-table oqf1) (on-table kqm4) (holding wce2) (clear gnc3) (clear oqf1)",
"(on gnc3 kqm4) (clear wce2) (arm-empty) (on-table oqf1) (on-table kqm4) (on wce2 gnc3) (clear oqf1)",
"(holding oqf1) (on gnc3 kqm4) (clear wce2) (on-table kqm4) (on wce2 gnc3)",
"(on gnc3 kqm4) (on-table kqm4) (arm-empty) (on wce2 gnc3) (on oqf1 wce2) (clear oqf1)"
] |
file_2594
|
GOAL: (on-table dpp5) (on rmp4 dpp5) (on-table rgu1) (clear rmp4) (holding kuq2) (clear kap3) (clear rgu1) (on-table kap3)
|
GOAL: (on-table dpp5) (on rmp4 dpp5) (on-table rgu1) (clear rmp4) (holding kuq2) (clear kap3) (clear rgu1) (on-table kap3)
STATE: (on-table rgu1) (on kap3 kuq2) (clear rmp4) (on rmp4 kap3) (holding dpp5) (on kuq2 rgu1)
|
[
[
"put-down dpp5"
],
[
"unstack rmp4 kap3"
],
[
"stack rmp4 dpp5"
],
[
"unstack kap3 kuq2"
],
[
"stack kap3 rmp4"
],
[
"unstack kuq2 rgu1"
],
[
"put-down kuq2"
],
[
"unstack kap3 rmp4"
],
[
"put-down kap3"
],
[
"pick-up kuq2"
]
] |
[
"(arm-empty) (on-table dpp5) (clear rmp4) (on kuq2 rgu1) (clear dpp5) (on-table rgu1) (on kap3 kuq2) (on rmp4 kap3)",
"(on-table dpp5) (on-table rgu1) (holding rmp4) (on kap3 kuq2) (on kuq2 rgu1) (clear kap3) (clear dpp5)",
"(arm-empty) (on rmp4 dpp5) (on-table dpp5) (on-table rgu1) (on kap3 kuq2) (clear rmp4) (on kuq2 rgu1) (clear kap3)",
"(clear kuq2) (on rmp4 dpp5) (on-table dpp5) (on-table rgu1) (clear rmp4) (on kuq2 rgu1) (holding kap3)",
"(on kap3 rmp4) (clear kuq2) (arm-empty) (on-table dpp5) (on rmp4 dpp5) (on-table rgu1) (on kuq2 rgu1) (clear kap3)",
"(on kap3 rmp4) (on-table dpp5) (on rmp4 dpp5) (on-table rgu1) (holding kuq2) (clear kap3) (clear rgu1)",
"(arm-empty) (on-table kuq2) (on-table dpp5) (on rmp4 dpp5) (on kap3 rmp4) (clear kuq2) (on-table rgu1) (clear kap3) (clear rgu1)",
"(clear kuq2) (on-table kuq2) (on-table dpp5) (on rmp4 dpp5) (on-table rgu1) (clear rmp4) (holding kap3) (clear rgu1)",
"(clear kuq2) (arm-empty) (on-table kuq2) (on-table dpp5) (on rmp4 dpp5) (on-table rgu1) (clear rmp4) (clear kap3) (clear rgu1) (on-table kap3)",
"(on-table dpp5) (on rmp4 dpp5) (on-table rgu1) (clear rmp4) (holding kuq2) (clear kap3) (clear rgu1) (on-table kap3)"
] |
file_183326
|
GOAL: (on-table lts2) (clear osf4) (on-table osf4) (on thd1 lts2) (clear thd1) (holding fnj3)
|
GOAL: (on-table lts2) (clear osf4) (on-table osf4) (on thd1 lts2) (clear thd1) (holding fnj3)
STATE: (on-table thd1) (clear osf4) (on osf4 fnj3) (holding lts2) (clear thd1) (on-table fnj3)
|
[
[
"put-down lts2"
],
[
"pick-up thd1"
],
[
"stack thd1 lts2"
],
[
"unstack osf4 fnj3"
],
[
"put-down osf4"
],
[
"pick-up fnj3"
]
] |
[
"(arm-empty) (on-table lts2) (clear osf4) (clear lts2) (on-table thd1) (on osf4 fnj3) (clear thd1) (on-table fnj3)",
"(holding thd1) (clear lts2) (on-table lts2) (clear osf4) (on osf4 fnj3) (on-table fnj3)",
"(arm-empty) (on-table lts2) (clear osf4) (on osf4 fnj3) (on thd1 lts2) (clear thd1) (on-table fnj3)",
"(on-table lts2) (holding osf4) (on thd1 lts2) (clear fnj3) (clear thd1) (on-table fnj3)",
"(arm-empty) (on-table lts2) (clear osf4) (on thd1 lts2) (on-table osf4) (clear fnj3) (clear thd1) (on-table fnj3)",
"(on-table lts2) (clear osf4) (on-table osf4) (on thd1 lts2) (clear thd1) (holding fnj3)"
] |
file_191297
|
GOAL: (on-table xdd5) (on kkb4 xdd5) (on-table any1) (clear kkb4) (holding eyc2) (clear jpy3) (clear any1) (on-table jpy3)
|
GOAL: (on-table xdd5) (on kkb4 xdd5) (on-table any1) (clear kkb4) (holding eyc2) (clear jpy3) (clear any1) (on-table jpy3)
STATE: (clear eyc2) (on any1 jpy3) (arm-empty) (on-table xdd5) (clear kkb4) (on-table kkb4) (on eyc2 any1) (on-table jpy3) (clear xdd5)
|
[
[
"pick-up kkb4"
],
[
"stack kkb4 xdd5"
],
[
"unstack eyc2 any1"
],
[
"put-down eyc2"
],
[
"unstack any1 jpy3"
],
[
"put-down any1"
],
[
"pick-up eyc2"
]
] |
[
"(clear eyc2) (on any1 jpy3) (on-table xdd5) (holding kkb4) (on eyc2 any1) (on-table jpy3) (clear xdd5)",
"(clear eyc2) (on any1 jpy3) (arm-empty) (on kkb4 xdd5) (on-table xdd5) (clear kkb4) (on eyc2 any1) (on-table jpy3)",
"(on any1 jpy3) (on kkb4 xdd5) (on-table xdd5) (clear kkb4) (holding eyc2) (clear any1) (on-table jpy3)",
"(on any1 jpy3) (arm-empty) (on-table eyc2) (on-table xdd5) (on kkb4 xdd5) (clear kkb4) (clear eyc2) (clear any1) (on-table jpy3)",
"(holding any1) (clear eyc2) (on-table eyc2) (on-table xdd5) (on kkb4 xdd5) (clear kkb4) (clear jpy3) (on-table jpy3)",
"(clear eyc2) (arm-empty) (on-table eyc2) (on-table xdd5) (on kkb4 xdd5) (on-table any1) (clear kkb4) (clear jpy3) (clear any1) (on-table jpy3)",
"(on-table xdd5) (on kkb4 xdd5) (on-table any1) (clear kkb4) (holding eyc2) (clear jpy3) (clear any1) (on-table jpy3)"
] |
file_101730
|
GOAL: (on ljo3 xxz4) (clear xrl2) (on gib1 ljo3) (arm-empty) (on-table xrl2) (on-table gtr5) (on xxz4 gtr5) (clear gib1)
|
GOAL: (on ljo3 xxz4) (clear xrl2) (on gib1 ljo3) (arm-empty) (on-table xrl2) (on-table gtr5) (on xxz4 gtr5) (clear gib1)
STATE: (on ljo3 gtr5) (on xxz4 gib1) (on gtr5 xxz4) (on-table xrl2) (arm-empty) (clear ljo3) (on gib1 xrl2)
|
[
[
"unstack ljo3 gtr5"
],
[
"put-down ljo3"
],
[
"unstack gtr5 xxz4"
],
[
"put-down gtr5"
],
[
"unstack xxz4 gib1"
],
[
"put-down xxz4"
],
[
"pick-up ljo3"
],
[
"stack ljo3 gib1"
],
[
"pick-up xxz4"
],
[
"stack xxz4 gtr5"
],
[
"unstack ljo3 gib1"
],
[
"stack ljo3 xxz4"
],
[
"unstack gib1 xrl2"
],
[
"stack gib1 ljo3"
]
] |
[
"(on xxz4 gib1) (on gtr5 xxz4) (on-table xrl2) (on gib1 xrl2) (clear gtr5) (holding ljo3)",
"(on xxz4 gib1) (on gtr5 xxz4) (on-table xrl2) (arm-empty) (clear ljo3) (on gib1 xrl2) (on-table ljo3) (clear gtr5)",
"(on xxz4 gib1) (on-table xrl2) (clear xxz4) (holding gtr5) (clear ljo3) (on gib1 xrl2) (on-table ljo3)",
"(on xxz4 gib1) (arm-empty) (on-table xrl2) (on-table gtr5) (clear xxz4) (on gib1 xrl2) (clear gtr5) (clear ljo3) (on-table ljo3)",
"(on-table xrl2) (on-table gtr5) (holding xxz4) (clear ljo3) (on gib1 xrl2) (clear gib1) (on-table ljo3) (clear gtr5)",
"(arm-empty) (on-table xrl2) (on-table gtr5) (clear xxz4) (on-table xxz4) (clear ljo3) (on gib1 xrl2) (clear gib1) (on-table ljo3) (clear gtr5)",
"(on-table xrl2) (on-table gtr5) (clear xxz4) (on-table xxz4) (on gib1 xrl2) (clear gib1) (holding ljo3) (clear gtr5)",
"(arm-empty) (on-table xrl2) (on-table gtr5) (clear xxz4) (on-table xxz4) (on ljo3 gib1) (clear ljo3) (on gib1 xrl2) (clear gtr5)",
"(on-table xrl2) (on-table gtr5) (holding xxz4) (on ljo3 gib1) (clear ljo3) (on gib1 xrl2) (clear gtr5)",
"(arm-empty) (on-table xrl2) (on-table gtr5) (on xxz4 gtr5) (clear xxz4) (on ljo3 gib1) (clear ljo3) (on gib1 xrl2)",
"(on-table xrl2) (on-table gtr5) (on xxz4 gtr5) (clear xxz4) (on gib1 xrl2) (clear gib1) (holding ljo3)",
"(on ljo3 xxz4) (arm-empty) (on-table xrl2) (on-table gtr5) (on xxz4 gtr5) (clear ljo3) (on gib1 xrl2) (clear gib1)",
"(holding gib1) (on ljo3 xxz4) (clear xrl2) (on-table xrl2) (on-table gtr5) (on xxz4 gtr5) (clear ljo3)",
"(on ljo3 xxz4) (clear xrl2) (on gib1 ljo3) (arm-empty) (on-table xrl2) (on-table gtr5) (on xxz4 gtr5) (clear gib1)"
] |
file_86202
|
GOAL: (on kax1 fyh3) (clear xfo4) (on bma5 kax1) (on-table xfo4) (holding rfw2) (on-table fyh3) (clear bma5)
|
GOAL: (on kax1 fyh3) (clear xfo4) (on bma5 kax1) (on-table xfo4) (holding rfw2) (on-table fyh3) (clear bma5)
STATE: (clear rfw2) (on kax1 fyh3) (arm-empty) (on-table rfw2) (clear xfo4) (on bma5 kax1) (on-table xfo4) (on-table fyh3) (clear bma5)
|
[
[
"pick-up rfw2"
]
] |
[
"(on kax1 fyh3) (clear xfo4) (on bma5 kax1) (on-table xfo4) (holding rfw2) (on-table fyh3) (clear bma5)"
] |
file_14407
|
GOAL: (clear eqi5) (on tvu3 rbm4) (on kvi1 tvu3) (arm-empty) (on-table rbm4) (on zpv2 kvi1) (on eqi5 zpv2)
|
GOAL: (clear eqi5) (on tvu3 rbm4) (on kvi1 tvu3) (arm-empty) (on-table rbm4) (on zpv2 kvi1) (on eqi5 zpv2)
STATE: (arm-empty) (on eqi5 rbm4) (on-table zpv2) (on rbm4 tvu3) (on tvu3 kvi1) (on kvi1 zpv2) (clear eqi5)
|
[
[
"unstack eqi5 rbm4"
],
[
"put-down eqi5"
],
[
"unstack rbm4 tvu3"
],
[
"put-down rbm4"
],
[
"unstack tvu3 kvi1"
],
[
"stack tvu3 rbm4"
],
[
"unstack kvi1 zpv2"
],
[
"stack kvi1 tvu3"
],
[
"pick-up zpv2"
],
[
"stack zpv2 kvi1"
],
[
"pick-up eqi5"
],
[
"stack eqi5 zpv2"
]
] |
[
"(on rbm4 tvu3) (holding eqi5) (clear rbm4) (on-table zpv2) (on tvu3 kvi1) (on kvi1 zpv2)",
"(arm-empty) (on-table zpv2) (on-table eqi5) (clear rbm4) (on tvu3 kvi1) (on kvi1 zpv2) (clear eqi5) (on rbm4 tvu3)",
"(on-table zpv2) (on-table eqi5) (holding rbm4) (on tvu3 kvi1) (clear tvu3) (on kvi1 zpv2) (clear eqi5)",
"(arm-empty) (on-table zpv2) (on-table eqi5) (clear rbm4) (on tvu3 kvi1) (on kvi1 zpv2) (clear eqi5) (on-table rbm4) (clear tvu3)",
"(on-table zpv2) (on-table eqi5) (clear rbm4) (on-table rbm4) (on kvi1 zpv2) (clear kvi1) (holding tvu3) (clear eqi5)",
"(on tvu3 rbm4) (arm-empty) (on-table zpv2) (on-table eqi5) (on-table rbm4) (clear tvu3) (on kvi1 zpv2) (clear kvi1) (clear eqi5)",
"(holding kvi1) (on tvu3 rbm4) (clear zpv2) (on-table zpv2) (on-table eqi5) (on-table rbm4) (clear tvu3) (clear eqi5)",
"(on tvu3 rbm4) (clear zpv2) (on kvi1 tvu3) (arm-empty) (on-table zpv2) (on-table eqi5) (on-table rbm4) (clear kvi1) (clear eqi5)",
"(on tvu3 rbm4) (on kvi1 tvu3) (on-table eqi5) (on-table rbm4) (holding zpv2) (clear kvi1) (clear eqi5)",
"(on tvu3 rbm4) (clear zpv2) (on kvi1 tvu3) (arm-empty) (on-table eqi5) (on-table rbm4) (on zpv2 kvi1) (clear eqi5)",
"(on tvu3 rbm4) (clear zpv2) (on kvi1 tvu3) (holding eqi5) (on-table rbm4) (on zpv2 kvi1)",
"(clear eqi5) (on tvu3 rbm4) (on kvi1 tvu3) (arm-empty) (on-table rbm4) (on zpv2 kvi1) (on eqi5 zpv2)"
] |
file_116931
|
GOAL: (clear ntm2) (on jde4 hvv1) (on zlc3 jfn5) (on-table ntm2) (on-table jfn5) (on-table hvv1) (arm-empty) (clear jde4) (clear zlc3)
|
GOAL: (clear ntm2) (on jde4 hvv1) (on zlc3 jfn5) (on-table ntm2) (on-table jfn5) (on-table hvv1) (arm-empty) (clear jde4) (clear zlc3)
STATE: (on-table ntm2) (on-table jfn5) (holding jde4) (on-table hvv1) (on zlc3 ntm2) (clear zlc3) (clear hvv1) (clear jfn5)
|
[
[
"stack jde4 hvv1"
],
[
"unstack zlc3 ntm2"
],
[
"stack zlc3 jfn5"
]
] |
[
"(on jde4 hvv1) (arm-empty) (on-table ntm2) (on-table jfn5) (on-table hvv1) (on zlc3 ntm2) (clear jde4) (clear zlc3) (clear jfn5)",
"(clear ntm2) (on jde4 hvv1) (on-table ntm2) (on-table jfn5) (on-table hvv1) (clear jde4) (holding zlc3) (clear jfn5)",
"(clear ntm2) (on jde4 hvv1) (on zlc3 jfn5) (on-table ntm2) (on-table jfn5) (on-table hvv1) (arm-empty) (clear jde4) (clear zlc3)"
] |
file_174711
|
GOAL: (on rnv1 ini5) (on qau4 rnv1) (clear qau4) (on ini5 ogu3) (holding prs2) (on-table ogu3)
|
GOAL: (on rnv1 ini5) (on qau4 rnv1) (clear qau4) (on ini5 ogu3) (holding prs2) (on-table ogu3)
STATE: (arm-empty) (on-table prs2) (clear qau4) (on ini5 ogu3) (on-table qau4) (on ogu3 rnv1) (on rnv1 prs2) (clear ini5)
|
[
[
"unstack ini5 ogu3"
],
[
"stack ini5 qau4"
],
[
"unstack ogu3 rnv1"
],
[
"put-down ogu3"
],
[
"unstack ini5 qau4"
],
[
"stack ini5 ogu3"
],
[
"unstack rnv1 prs2"
],
[
"stack rnv1 ini5"
],
[
"pick-up qau4"
],
[
"stack qau4 rnv1"
],
[
"pick-up prs2"
]
] |
[
"(on-table prs2) (clear qau4) (holding ini5) (on-table qau4) (on ogu3 rnv1) (clear ogu3) (on rnv1 prs2)",
"(arm-empty) (on ini5 qau4) (on-table prs2) (on-table qau4) (on ogu3 rnv1) (clear ogu3) (on rnv1 prs2) (clear ini5)",
"(on ini5 qau4) (on-table prs2) (on-table qau4) (on rnv1 prs2) (clear rnv1) (holding ogu3) (clear ini5)",
"(arm-empty) (on ini5 qau4) (on-table prs2) (on rnv1 prs2) (clear ini5) (on-table qau4) (clear ogu3) (clear rnv1) (on-table ogu3)",
"(on-table prs2) (clear qau4) (holding ini5) (on-table qau4) (clear ogu3) (on rnv1 prs2) (clear rnv1) (on-table ogu3)",
"(arm-empty) (on-table prs2) (clear qau4) (on ini5 ogu3) (on-table qau4) (on rnv1 prs2) (clear rnv1) (on-table ogu3) (clear ini5)",
"(holding rnv1) (clear prs2) (on-table prs2) (clear qau4) (on ini5 ogu3) (on-table qau4) (on-table ogu3) (clear ini5)",
"(on rnv1 ini5) (clear prs2) (arm-empty) (on-table prs2) (clear qau4) (on ini5 ogu3) (on-table qau4) (clear rnv1) (on-table ogu3)",
"(on rnv1 ini5) (clear prs2) (on-table prs2) (holding qau4) (on ini5 ogu3) (clear rnv1) (on-table ogu3)",
"(on rnv1 ini5) (clear prs2) (on qau4 rnv1) (arm-empty) (on-table prs2) (clear qau4) (on ini5 ogu3) (on-table ogu3)",
"(on rnv1 ini5) (on qau4 rnv1) (clear qau4) (on ini5 ogu3) (holding prs2) (on-table ogu3)"
] |
file_143000
|
GOAL: (clear std2) (arm-empty) (on ejb5 trv4) (on-table std2) (on-table qhf1) (on-table trv4) (on ibl3 qhf1) (clear ibl3) (clear ejb5)
|
GOAL: (clear std2) (arm-empty) (on ejb5 trv4) (on-table std2) (on-table qhf1) (on-table trv4) (on ibl3 qhf1) (clear ibl3) (clear ejb5)
STATE: (on qhf1 ibl3) (arm-empty) (on-table std2) (on-table ejb5) (on ibl3 std2) (clear trv4) (on-table trv4) (clear qhf1) (clear ejb5)
|
[
[
"pick-up ejb5"
],
[
"stack ejb5 trv4"
],
[
"unstack qhf1 ibl3"
],
[
"put-down qhf1"
],
[
"unstack ibl3 std2"
],
[
"stack ibl3 qhf1"
]
] |
[
"(on qhf1 ibl3) (on-table std2) (on ibl3 std2) (clear trv4) (holding ejb5) (on-table trv4) (clear qhf1)",
"(on qhf1 ibl3) (on ejb5 trv4) (on-table std2) (arm-empty) (on ibl3 std2) (on-table trv4) (clear qhf1) (clear ejb5)",
"(holding qhf1) (on ejb5 trv4) (on-table std2) (on ibl3 std2) (on-table trv4) (clear ibl3) (clear ejb5)",
"(arm-empty) (on ejb5 trv4) (on-table std2) (clear ejb5) (on-table qhf1) (on ibl3 std2) (on-table trv4) (clear ibl3) (clear qhf1)",
"(clear std2) (on ejb5 trv4) (on-table std2) (on-table qhf1) (on-table trv4) (holding ibl3) (clear qhf1) (clear ejb5)",
"(clear std2) (arm-empty) (on ejb5 trv4) (on-table std2) (on-table qhf1) (on-table trv4) (on ibl3 qhf1) (clear ibl3) (clear ejb5)"
] |
file_110781
|
GOAL: (clear yla2) (arm-empty) (on-table noa5) (on-table cux1) (clear ksd4) (on-table ksd4) (on yla2 cux1) (clear gww3) (on-table gww3) (clear noa5)
|
GOAL: (clear yla2) (arm-empty) (on-table noa5) (on-table cux1) (clear ksd4) (on-table ksd4) (on yla2 cux1) (clear gww3) (on-table gww3) (clear noa5)
STATE: (on gww3 noa5) (arm-empty) (on noa5 ksd4) (on-table ksd4) (on yla2 gww3) (on cux1 yla2) (clear cux1)
|
[
[
"unstack cux1 yla2"
],
[
"put-down cux1"
],
[
"unstack yla2 gww3"
],
[
"put-down yla2"
],
[
"unstack gww3 noa5"
],
[
"put-down gww3"
],
[
"pick-up yla2"
],
[
"stack yla2 cux1"
],
[
"unstack noa5 ksd4"
],
[
"put-down noa5"
]
] |
[
"(on gww3 noa5) (on noa5 ksd4) (holding cux1) (clear yla2) (on-table ksd4) (on yla2 gww3)",
"(on gww3 noa5) (arm-empty) (on noa5 ksd4) (clear yla2) (on-table cux1) (on-table ksd4) (on yla2 gww3) (clear cux1)",
"(on gww3 noa5) (on noa5 ksd4) (on-table cux1) (on-table ksd4) (holding yla2) (clear gww3) (clear cux1)",
"(on gww3 noa5) (arm-empty) (on noa5 ksd4) (on-table yla2) (clear yla2) (on-table cux1) (on-table ksd4) (clear gww3) (clear cux1)",
"(on noa5 ksd4) (on-table yla2) (clear yla2) (on-table cux1) (on-table ksd4) (holding gww3) (clear cux1) (clear noa5)",
"(clear yla2) (arm-empty) (on noa5 ksd4) (on-table yla2) (on-table cux1) (on-table ksd4) (clear gww3) (clear cux1) (on-table gww3) (clear noa5)",
"(on noa5 ksd4) (on-table cux1) (on-table ksd4) (holding yla2) (clear gww3) (clear cux1) (on-table gww3) (clear noa5)",
"(clear yla2) (arm-empty) (on noa5 ksd4) (on-table cux1) (on-table ksd4) (on yla2 cux1) (clear gww3) (on-table gww3) (clear noa5)",
"(clear yla2) (on-table cux1) (clear ksd4) (holding noa5) (on-table ksd4) (on yla2 cux1) (clear gww3) (on-table gww3)",
"(clear yla2) (arm-empty) (on-table noa5) (on-table cux1) (clear ksd4) (on-table ksd4) (on yla2 cux1) (clear gww3) (on-table gww3) (clear noa5)"
] |
file_122264
|
GOAL: (arm-empty) (on-table wfc1) (on ylf5 zta2) (on hux4 bia3) (on zta2 hux4) (clear wfc1) (on-table bia3) (clear ylf5)
|
GOAL: (arm-empty) (on-table wfc1) (on ylf5 zta2) (on hux4 bia3) (on zta2 hux4) (clear wfc1) (on-table bia3) (clear ylf5)
STATE: (clear zta2) (on-table zta2) (on-table wfc1) (clear hux4) (on hux4 bia3) (holding ylf5) (clear wfc1) (on-table bia3)
|
[
[
"put-down ylf5"
],
[
"pick-up wfc1"
],
[
"stack wfc1 ylf5"
],
[
"pick-up zta2"
],
[
"stack zta2 hux4"
],
[
"unstack wfc1 ylf5"
],
[
"put-down wfc1"
],
[
"pick-up ylf5"
],
[
"stack ylf5 zta2"
]
] |
[
"(clear zta2) (arm-empty) (on-table zta2) (on-table ylf5) (on-table wfc1) (clear hux4) (on hux4 bia3) (clear wfc1) (on-table bia3) (clear ylf5)",
"(holding wfc1) (clear zta2) (on-table zta2) (on-table ylf5) (clear hux4) (on hux4 bia3) (on-table bia3) (clear ylf5)",
"(on wfc1 ylf5) (clear zta2) (arm-empty) (on-table zta2) (on-table ylf5) (clear hux4) (on hux4 bia3) (clear wfc1) (on-table bia3)",
"(on wfc1 ylf5) (on-table ylf5) (clear hux4) (on hux4 bia3) (holding zta2) (clear wfc1) (on-table bia3)",
"(on wfc1 ylf5) (clear zta2) (arm-empty) (on-table ylf5) (on hux4 bia3) (on zta2 hux4) (clear wfc1) (on-table bia3)",
"(holding wfc1) (clear zta2) (on-table ylf5) (on hux4 bia3) (on zta2 hux4) (on-table bia3) (clear ylf5)",
"(arm-empty) (on-table ylf5) (on zta2 hux4) (clear ylf5) (clear zta2) (on-table wfc1) (on hux4 bia3) (clear wfc1) (on-table bia3)",
"(clear zta2) (on-table wfc1) (on hux4 bia3) (holding ylf5) (on zta2 hux4) (clear wfc1) (on-table bia3)",
"(arm-empty) (on-table wfc1) (on ylf5 zta2) (on hux4 bia3) (on zta2 hux4) (clear wfc1) (on-table bia3) (clear ylf5)"
] |
file_142659
|
GOAL: (on ipm4 xqc3) (arm-empty) (on vnm2 ipm4) (on ryf1 vnm2) (clear ryf1) (on-table xqc3)
|
GOAL: (on ipm4 xqc3) (arm-empty) (on vnm2 ipm4) (on ryf1 vnm2) (clear ryf1) (on-table xqc3)
STATE: (holding ipm4) (on-table ryf1) (on xqc3 vnm2) (on vnm2 ryf1) (clear xqc3)
|
[
[
"put-down ipm4"
],
[
"unstack xqc3 vnm2"
],
[
"put-down xqc3"
],
[
"pick-up ipm4"
],
[
"stack ipm4 xqc3"
],
[
"unstack vnm2 ryf1"
],
[
"stack vnm2 ipm4"
],
[
"pick-up ryf1"
],
[
"stack ryf1 vnm2"
]
] |
[
"(on-table ipm4) (arm-empty) (clear ipm4) (clear xqc3) (on vnm2 ryf1) (on xqc3 vnm2) (on-table ryf1)",
"(clear ipm4) (on vnm2 ryf1) (clear vnm2) (on-table ryf1) (on-table ipm4) (holding xqc3)",
"(clear vnm2) (on-table ipm4) (arm-empty) (on-table ryf1) (on vnm2 ryf1) (clear xqc3) (clear ipm4) (on-table xqc3)",
"(clear vnm2) (on-table ryf1) (holding ipm4) (on vnm2 ryf1) (clear xqc3) (on-table xqc3)",
"(on ipm4 xqc3) (clear vnm2) (arm-empty) (on-table ryf1) (on vnm2 ryf1) (clear ipm4) (on-table xqc3)",
"(clear ipm4) (on-table ryf1) (on ipm4 xqc3) (holding vnm2) (clear ryf1) (on-table xqc3)",
"(clear vnm2) (arm-empty) (on-table ryf1) (on ipm4 xqc3) (on vnm2 ipm4) (clear ryf1) (on-table xqc3)",
"(holding ryf1) (on ipm4 xqc3) (clear vnm2) (on vnm2 ipm4) (on-table xqc3)",
"(on ipm4 xqc3) (arm-empty) (on vnm2 ipm4) (on ryf1 vnm2) (clear ryf1) (on-table xqc3)"
] |
file_156304
|
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