goal
stringlengths 64
162
| input
stringlengths 130
312
| actions
listlengths 1
18
| next_states
listlengths 1
18
| source_file
stringlengths 6
11
|
|---|---|---|---|---|
GOAL: (clear gms2) (on hyj1 egw3) (arm-empty) (on-table trg5) (on mot4 trg5) (on gms2 mot4) (clear hyj1) (on-table egw3)
|
GOAL: (clear gms2) (on hyj1 egw3) (arm-empty) (on-table trg5) (on mot4 trg5) (on gms2 mot4) (clear hyj1) (on-table egw3)
STATE: (arm-empty) (on-table trg5) (on-table hyj1) (clear mot4) (on mot4 gms2) (on gms2 hyj1) (clear egw3) (on-table egw3) (clear trg5)
|
[
[
"unstack mot4 gms2"
],
[
"stack mot4 trg5"
],
[
"unstack gms2 hyj1"
],
[
"stack gms2 mot4"
],
[
"pick-up hyj1"
],
[
"stack hyj1 egw3"
]
] |
[
"(clear gms2) (on-table trg5) (on-table hyj1) (holding mot4) (on gms2 hyj1) (clear egw3) (on-table egw3) (clear trg5)",
"(clear gms2) (arm-empty) (on-table trg5) (on-table hyj1) (on mot4 trg5) (clear mot4) (on gms2 hyj1) (clear egw3) (on-table egw3)",
"(on-table trg5) (on-table hyj1) (on mot4 trg5) (clear mot4) (holding gms2) (clear egw3) (clear hyj1) (on-table egw3)",
"(clear gms2) (arm-empty) (on-table trg5) (on-table hyj1) (on mot4 trg5) (on gms2 mot4) (clear egw3) (clear hyj1) (on-table egw3)",
"(holding hyj1) (clear gms2) (on-table trg5) (on mot4 trg5) (on gms2 mot4) (clear egw3) (on-table egw3)",
"(clear gms2) (on hyj1 egw3) (arm-empty) (on-table trg5) (on mot4 trg5) (on gms2 mot4) (clear hyj1) (on-table egw3)"
] |
file_141292
|
GOAL: (on-table zvj2) (on-table ham5) (on jqp4 ham5) (clear jqp4) (on yqh1 zvj2) (clear yqh1) (holding ieg3)
|
GOAL: (on-table zvj2) (on-table ham5) (on jqp4 ham5) (clear jqp4) (on yqh1 zvj2) (clear yqh1) (holding ieg3)
STATE: (clear zvj2) (on ieg3 ham5) (arm-empty) (on-table zvj2) (on-table yqh1) (clear jqp4) (on ham5 yqh1) (on-table jqp4) (clear ieg3)
|
[
[
"unstack ieg3 ham5"
],
[
"stack ieg3 zvj2"
],
[
"unstack ham5 yqh1"
],
[
"put-down ham5"
],
[
"pick-up jqp4"
],
[
"stack jqp4 ham5"
],
[
"pick-up yqh1"
],
[
"stack yqh1 jqp4"
],
[
"unstack ieg3 zvj2"
],
[
"put-down ieg3"
],
[
"unstack yqh1 jqp4"
],
[
"stack yqh1 zvj2"
],
[
"pick-up ieg3"
]
] |
[
"(clear zvj2) (on-table zvj2) (on-table yqh1) (clear jqp4) (on ham5 yqh1) (on-table jqp4) (holding ieg3) (clear ham5)",
"(arm-empty) (on-table zvj2) (on-table yqh1) (on ieg3 zvj2) (clear jqp4) (on ham5 yqh1) (on-table jqp4) (clear ieg3) (clear ham5)",
"(on-table zvj2) (on-table yqh1) (on ieg3 zvj2) (clear jqp4) (holding ham5) (on-table jqp4) (clear ieg3) (clear yqh1)",
"(arm-empty) (on-table zvj2) (on-table ham5) (on-table yqh1) (on ieg3 zvj2) (clear jqp4) (on-table jqp4) (clear ieg3) (clear yqh1) (clear ham5)",
"(on-table zvj2) (on-table ham5) (on-table yqh1) (holding jqp4) (on ieg3 zvj2) (clear ieg3) (clear yqh1) (clear ham5)",
"(arm-empty) (on-table zvj2) (on-table ham5) (on-table yqh1) (on jqp4 ham5) (on ieg3 zvj2) (clear jqp4) (clear ieg3) (clear yqh1)",
"(holding yqh1) (on-table zvj2) (on-table ham5) (on jqp4 ham5) (on ieg3 zvj2) (clear jqp4) (clear ieg3)",
"(arm-empty) (on-table zvj2) (on-table ham5) (on jqp4 ham5) (on ieg3 zvj2) (on yqh1 jqp4) (clear ieg3) (clear yqh1)",
"(clear zvj2) (on-table zvj2) (on-table ham5) (on jqp4 ham5) (on yqh1 jqp4) (holding ieg3) (clear yqh1)",
"(arm-empty) (on-table zvj2) (on-table ham5) (on jqp4 ham5) (clear zvj2) (on yqh1 jqp4) (clear ieg3) (clear yqh1) (on-table ieg3)",
"(holding yqh1) (clear zvj2) (on-table zvj2) (on-table ham5) (on jqp4 ham5) (clear jqp4) (clear ieg3) (on-table ieg3)",
"(arm-empty) (on-table zvj2) (on-table ham5) (on jqp4 ham5) (clear jqp4) (clear ieg3) (on yqh1 zvj2) (clear yqh1) (on-table ieg3)",
"(on-table zvj2) (on-table ham5) (on jqp4 ham5) (clear jqp4) (on yqh1 zvj2) (clear yqh1) (holding ieg3)"
] |
file_102417
|
GOAL: (on mbe1 zcv3) (on uhg4 mbe1) (arm-empty) (on gib5 rmy2) (on rmy2 uhg4) (on-table zcv3) (clear gib5)
|
GOAL: (on mbe1 zcv3) (on uhg4 mbe1) (arm-empty) (on gib5 rmy2) (on rmy2 uhg4) (on-table zcv3) (clear gib5)
STATE: (holding mbe1) (clear rmy2) (on-table gib5) (on-table uhg4) (on rmy2 uhg4) (clear zcv3) (on-table zcv3) (clear gib5)
|
[
[
"stack mbe1 zcv3"
],
[
"unstack rmy2 uhg4"
],
[
"stack rmy2 mbe1"
],
[
"pick-up uhg4"
],
[
"stack uhg4 gib5"
],
[
"unstack rmy2 mbe1"
],
[
"put-down rmy2"
],
[
"unstack uhg4 gib5"
],
[
"stack uhg4 mbe1"
],
[
"pick-up rmy2"
],
[
"stack rmy2 uhg4"
],
[
"pick-up gib5"
],
[
"stack gib5 rmy2"
]
] |
[
"(clear rmy2) (on mbe1 zcv3) (arm-empty) (on-table gib5) (on-table uhg4) (on rmy2 uhg4) (clear mbe1) (on-table zcv3) (clear gib5)",
"(on mbe1 zcv3) (on-table gib5) (clear uhg4) (on-table uhg4) (holding rmy2) (clear mbe1) (on-table zcv3) (clear gib5)",
"(clear rmy2) (on mbe1 zcv3) (arm-empty) (on-table gib5) (clear uhg4) (on-table uhg4) (on rmy2 mbe1) (on-table zcv3) (clear gib5)",
"(clear rmy2) (on mbe1 zcv3) (on-table gib5) (holding uhg4) (on rmy2 mbe1) (on-table zcv3) (clear gib5)",
"(clear rmy2) (on mbe1 zcv3) (arm-empty) (on uhg4 gib5) (on-table gib5) (clear uhg4) (on rmy2 mbe1) (on-table zcv3)",
"(on mbe1 zcv3) (on uhg4 gib5) (on-table gib5) (clear uhg4) (holding rmy2) (clear mbe1) (on-table zcv3)",
"(on mbe1 zcv3) (arm-empty) (on-table rmy2) (on-table gib5) (on uhg4 gib5) (clear uhg4) (clear rmy2) (clear mbe1) (on-table zcv3)",
"(clear rmy2) (on mbe1 zcv3) (on-table rmy2) (on-table gib5) (holding uhg4) (clear mbe1) (on-table zcv3) (clear gib5)",
"(clear rmy2) (on mbe1 zcv3) (on uhg4 mbe1) (on-table rmy2) (on-table gib5) (arm-empty) (clear uhg4) (on-table zcv3) (clear gib5)",
"(on mbe1 zcv3) (on uhg4 mbe1) (on-table gib5) (clear uhg4) (holding rmy2) (on-table zcv3) (clear gib5)",
"(clear rmy2) (on mbe1 zcv3) (on uhg4 mbe1) (arm-empty) (on-table gib5) (on rmy2 uhg4) (on-table zcv3) (clear gib5)",
"(clear rmy2) (on mbe1 zcv3) (on uhg4 mbe1) (holding gib5) (on rmy2 uhg4) (on-table zcv3)",
"(on mbe1 zcv3) (on uhg4 mbe1) (arm-empty) (on gib5 rmy2) (on rmy2 uhg4) (on-table zcv3) (clear gib5)"
] |
file_165494
|
GOAL: (arm-empty) (clear dtq4) (on txb5 igr3) (on knl2 txb5) (on xui1 knl2) (on-table dtq4) (clear xui1) (on-table igr3)
|
GOAL: (arm-empty) (clear dtq4) (on txb5 igr3) (on knl2 txb5) (on xui1 knl2) (on-table dtq4) (clear xui1) (on-table igr3)
STATE: (holding dtq4) (on txb5 igr3) (on knl2 txb5) (on xui1 knl2) (clear xui1) (on-table igr3)
|
[
[
"put-down dtq4"
]
] |
[
"(arm-empty) (clear dtq4) (on txb5 igr3) (on knl2 txb5) (on xui1 knl2) (on-table dtq4) (clear xui1) (on-table igr3)"
] |
file_102917
|
GOAL: (holding xbh1) (clear dip2) (on mrw5 zqs3) (on-table xba4) (on dip2 xba4) (on-table zqs3) (clear mrw5)
|
GOAL: (holding xbh1) (clear dip2) (on mrw5 zqs3) (on-table xba4) (on dip2 xba4) (on-table zqs3) (clear mrw5)
STATE: (on xbh1 zqs3) (on-table mrw5) (clear xba4) (on-table xba4) (holding dip2) (clear xbh1) (on-table zqs3) (clear mrw5)
|
[
[
"stack dip2 xba4"
],
[
"unstack xbh1 zqs3"
],
[
"stack xbh1 dip2"
],
[
"pick-up mrw5"
],
[
"stack mrw5 zqs3"
],
[
"unstack xbh1 dip2"
]
] |
[
"(clear dip2) (on xbh1 zqs3) (arm-empty) (on-table mrw5) (on-table xba4) (on dip2 xba4) (clear xbh1) (on-table zqs3) (clear mrw5)",
"(holding xbh1) (clear dip2) (on-table mrw5) (on-table xba4) (on dip2 xba4) (clear zqs3) (on-table zqs3) (clear mrw5)",
"(arm-empty) (on-table mrw5) (on-table xba4) (on dip2 xba4) (clear zqs3) (on xbh1 dip2) (clear xbh1) (on-table zqs3) (clear mrw5)",
"(holding mrw5) (on-table xba4) (on dip2 xba4) (clear zqs3) (on xbh1 dip2) (clear xbh1) (on-table zqs3)",
"(arm-empty) (on mrw5 zqs3) (on-table xba4) (on dip2 xba4) (on xbh1 dip2) (clear xbh1) (on-table zqs3) (clear mrw5)",
"(holding xbh1) (clear dip2) (on mrw5 zqs3) (on-table xba4) (on dip2 xba4) (on-table zqs3) (clear mrw5)"
] |
file_122708
|
GOAL: (holding tsh1) (clear zya2) (on-table zya2) (clear grl4) (on-table grl4) (clear yly3) (on-table yly3)
|
GOAL: (holding tsh1) (clear zya2) (on-table zya2) (clear grl4) (on-table grl4) (clear yly3) (on-table yly3)
STATE: (clear zya2) (on-table tsh1) (clear grl4) (on-table grl4) (on zya2 tsh1) (holding yly3)
|
[
[
"put-down yly3"
],
[
"unstack zya2 tsh1"
],
[
"put-down zya2"
],
[
"pick-up tsh1"
]
] |
[
"(clear zya2) (on-table grl4) (arm-empty) (on-table tsh1) (on zya2 tsh1) (clear yly3) (clear grl4) (on-table yly3)",
"(on-table tsh1) (clear grl4) (on-table grl4) (holding zya2) (clear yly3) (clear tsh1) (on-table yly3)",
"(arm-empty) (on-table zya2) (clear grl4) (clear zya2) (on-table tsh1) (on-table grl4) (clear yly3) (clear tsh1) (on-table yly3)",
"(holding tsh1) (clear zya2) (on-table zya2) (clear grl4) (on-table grl4) (clear yly3) (on-table yly3)"
] |
file_44860
|
GOAL: (clear jwn2) (on-table jdq1) (holding awt4) (on jwn2 jdq1) (clear bdu3) (on-table bdu3)
|
GOAL: (clear jwn2) (on-table jdq1) (holding awt4) (on jwn2 jdq1) (clear bdu3) (on-table bdu3)
STATE: (arm-empty) (on-table jdq1) (clear awt4) (on bdu3 jdq1) (on awt4 jwn2) (on jwn2 bdu3)
|
[
[
"unstack awt4 jwn2"
],
[
"put-down awt4"
],
[
"unstack jwn2 bdu3"
],
[
"put-down jwn2"
],
[
"unstack bdu3 jdq1"
],
[
"stack bdu3 awt4"
],
[
"pick-up jwn2"
],
[
"stack jwn2 jdq1"
],
[
"unstack bdu3 awt4"
],
[
"put-down bdu3"
],
[
"pick-up awt4"
]
] |
[
"(on bdu3 jdq1) (holding awt4) (clear jwn2) (on jwn2 bdu3) (on-table jdq1)",
"(on-table jdq1) (clear jwn2) (on-table awt4) (clear awt4) (arm-empty) (on bdu3 jdq1) (on jwn2 bdu3)",
"(clear awt4) (on bdu3 jdq1) (on-table jdq1) (on-table awt4) (holding jwn2) (clear bdu3)",
"(arm-empty) (on-table jwn2) (clear awt4) (on bdu3 jdq1) (clear jwn2) (on-table jdq1) (on-table awt4) (clear bdu3)",
"(clear jwn2) (on-table jwn2) (on-table jdq1) (clear awt4) (on-table awt4) (holding bdu3) (clear jdq1)",
"(on bdu3 awt4) (clear jwn2) (arm-empty) (on-table jwn2) (on-table jdq1) (on-table awt4) (clear bdu3) (clear jdq1)",
"(on bdu3 awt4) (on-table jdq1) (on-table awt4) (holding jwn2) (clear bdu3) (clear jdq1)",
"(on bdu3 awt4) (clear jwn2) (arm-empty) (on-table jdq1) (on-table awt4) (on jwn2 jdq1) (clear bdu3)",
"(clear awt4) (on jwn2 jdq1) (clear jwn2) (on-table jdq1) (on-table awt4) (holding bdu3)",
"(clear jwn2) (on-table awt4) (arm-empty) (on-table jdq1) (on jwn2 jdq1) (clear bdu3) (clear awt4) (on-table bdu3)",
"(clear jwn2) (on-table jdq1) (holding awt4) (on jwn2 jdq1) (clear bdu3) (on-table bdu3)"
] |
file_116102
|
GOAL: (on zkz4 auq3) (on-table qwn1) (clear keq2) (arm-empty) (on auq3 qwn1) (on keq2 zkz4)
|
GOAL: (on zkz4 auq3) (on-table qwn1) (clear keq2) (arm-empty) (on auq3 qwn1) (on keq2 zkz4)
STATE: (holding keq2) (on-table zkz4) (on qwn1 zkz4) (clear auq3) (clear qwn1) (on-table auq3)
|
[
[
"put-down keq2"
],
[
"unstack qwn1 zkz4"
],
[
"put-down qwn1"
],
[
"pick-up auq3"
],
[
"stack auq3 qwn1"
],
[
"pick-up zkz4"
],
[
"stack zkz4 auq3"
],
[
"pick-up keq2"
],
[
"stack keq2 zkz4"
]
] |
[
"(arm-empty) (on-table keq2) (clear keq2) (on-table zkz4) (on qwn1 zkz4) (clear auq3) (clear qwn1) (on-table auq3)",
"(holding qwn1) (clear keq2) (on-table keq2) (clear zkz4) (on-table zkz4) (clear auq3) (on-table auq3)",
"(arm-empty) (on-table keq2) (clear zkz4) (clear keq2) (on-table qwn1) (on-table zkz4) (clear auq3) (clear qwn1) (on-table auq3)",
"(clear keq2) (on-table keq2) (on-table qwn1) (clear zkz4) (on-table zkz4) (holding auq3) (clear qwn1)",
"(clear keq2) (arm-empty) (on-table keq2) (on-table qwn1) (clear zkz4) (on-table zkz4) (on auq3 qwn1) (clear auq3)",
"(clear keq2) (on-table keq2) (on-table qwn1) (holding zkz4) (on auq3 qwn1) (clear auq3)",
"(on zkz4 auq3) (on auq3 qwn1) (clear keq2) (arm-empty) (on-table keq2) (on-table qwn1) (clear zkz4)",
"(on zkz4 auq3) (clear zkz4) (holding keq2) (on auq3 qwn1) (on-table qwn1)",
"(on zkz4 auq3) (on-table qwn1) (clear keq2) (arm-empty) (on auq3 qwn1) (on keq2 zkz4)"
] |
file_80713
|
GOAL: (on mdk3 qeh4) (on qof1 ieg5) (arm-empty) (on ieg5 gny2) (on-table qeh4) (on gny2 mdk3) (clear qof1)
|
GOAL: (on mdk3 qeh4) (on qof1 ieg5) (arm-empty) (on ieg5 gny2) (on-table qeh4) (on gny2 mdk3) (clear qof1)
STATE: (holding qof1) (on-table gny2) (on-table ieg5) (on mdk3 gny2) (clear qeh4) (on-table qeh4) (clear mdk3) (clear ieg5)
|
[
[
"put-down qof1"
],
[
"unstack mdk3 gny2"
],
[
"stack mdk3 qeh4"
],
[
"pick-up ieg5"
],
[
"stack ieg5 qof1"
],
[
"pick-up gny2"
],
[
"stack gny2 mdk3"
],
[
"unstack ieg5 qof1"
],
[
"stack ieg5 gny2"
],
[
"pick-up qof1"
],
[
"stack qof1 ieg5"
]
] |
[
"(arm-empty) (on-table gny2) (on-table ieg5) (on-table qof1) (on mdk3 gny2) (clear qeh4) (on-table qeh4) (clear mdk3) (clear qof1) (clear ieg5)",
"(clear gny2) (on-table gny2) (on-table ieg5) (on-table qof1) (clear qeh4) (on-table qeh4) (holding mdk3) (clear qof1) (clear ieg5)",
"(on mdk3 qeh4) (clear gny2) (arm-empty) (on-table gny2) (on-table ieg5) (on-table qof1) (on-table qeh4) (clear mdk3) (clear qof1) (clear ieg5)",
"(on mdk3 qeh4) (clear gny2) (on-table gny2) (on-table qof1) (holding ieg5) (on-table qeh4) (clear mdk3) (clear qof1)",
"(on mdk3 qeh4) (clear gny2) (arm-empty) (on-table gny2) (on-table qof1) (on ieg5 qof1) (on-table qeh4) (clear mdk3) (clear ieg5)",
"(on mdk3 qeh4) (on-table qof1) (on ieg5 qof1) (on-table qeh4) (holding gny2) (clear mdk3) (clear ieg5)",
"(on mdk3 qeh4) (clear gny2) (arm-empty) (on-table qof1) (on ieg5 qof1) (on-table qeh4) (on gny2 mdk3) (clear ieg5)",
"(on mdk3 qeh4) (clear gny2) (on-table qof1) (holding ieg5) (on-table qeh4) (on gny2 mdk3) (clear qof1)",
"(on mdk3 qeh4) (arm-empty) (on-table qof1) (on ieg5 gny2) (on-table qeh4) (on gny2 mdk3) (clear qof1) (clear ieg5)",
"(holding qof1) (on mdk3 qeh4) (on ieg5 gny2) (on-table qeh4) (on gny2 mdk3) (clear ieg5)",
"(on mdk3 qeh4) (on qof1 ieg5) (arm-empty) (on ieg5 gny2) (on-table qeh4) (on gny2 mdk3) (clear qof1)"
] |
file_191593
|
GOAL: (arm-empty) (on-table ziv2) (clear grn4) (on cxh5 gbf3) (on-table grn4) (on nab1 ziv2) (clear nab1) (on-table gbf3) (clear cxh5)
|
GOAL: (arm-empty) (on-table ziv2) (clear grn4) (on cxh5 gbf3) (on-table grn4) (on nab1 ziv2) (clear nab1) (on-table gbf3) (clear cxh5)
STATE: (on grn4 nab1) (on cxh5 grn4) (arm-empty) (on ziv2 gbf3) (on nab1 ziv2) (on-table gbf3) (clear cxh5)
|
[
[
"unstack cxh5 grn4"
],
[
"put-down cxh5"
],
[
"unstack grn4 nab1"
],
[
"put-down grn4"
],
[
"unstack nab1 ziv2"
],
[
"stack nab1 grn4"
],
[
"pick-up cxh5"
],
[
"stack cxh5 nab1"
],
[
"unstack ziv2 gbf3"
],
[
"put-down ziv2"
],
[
"unstack cxh5 nab1"
],
[
"stack cxh5 gbf3"
],
[
"unstack nab1 grn4"
],
[
"stack nab1 ziv2"
]
] |
[
"(holding cxh5) (on grn4 nab1) (clear grn4) (on ziv2 gbf3) (on nab1 ziv2) (on-table gbf3)",
"(on grn4 nab1) (arm-empty) (on-table cxh5) (clear grn4) (on nab1 ziv2) (clear cxh5) (on ziv2 gbf3) (on-table gbf3)",
"(on-table cxh5) (holding grn4) (on ziv2 gbf3) (on nab1 ziv2) (clear nab1) (on-table gbf3) (clear cxh5)",
"(arm-empty) (on-table cxh5) (clear grn4) (on nab1 ziv2) (clear cxh5) (on-table grn4) (on ziv2 gbf3) (clear nab1) (on-table gbf3)",
"(holding nab1) (clear ziv2) (on-table cxh5) (clear grn4) (on-table grn4) (on ziv2 gbf3) (on-table gbf3) (clear cxh5)",
"(clear ziv2) (arm-empty) (on-table cxh5) (on-table grn4) (on nab1 grn4) (on ziv2 gbf3) (clear nab1) (on-table gbf3) (clear cxh5)",
"(clear ziv2) (holding cxh5) (on-table grn4) (on nab1 grn4) (on ziv2 gbf3) (clear nab1) (on-table gbf3)",
"(clear ziv2) (arm-empty) (on cxh5 nab1) (on-table grn4) (on nab1 grn4) (on ziv2 gbf3) (on-table gbf3) (clear cxh5)",
"(holding ziv2) (on cxh5 nab1) (on-table grn4) (on nab1 grn4) (clear gbf3) (on-table gbf3) (clear cxh5)",
"(arm-empty) (on-table ziv2) (clear cxh5) (clear ziv2) (on cxh5 nab1) (on-table grn4) (on nab1 grn4) (clear gbf3) (on-table gbf3)",
"(clear ziv2) (on-table ziv2) (holding cxh5) (on-table grn4) (on nab1 grn4) (clear gbf3) (clear nab1) (on-table gbf3)",
"(clear ziv2) (arm-empty) (on-table ziv2) (on cxh5 gbf3) (on-table grn4) (on nab1 grn4) (clear nab1) (on-table gbf3) (clear cxh5)",
"(holding nab1) (clear ziv2) (on-table ziv2) (clear grn4) (on cxh5 gbf3) (on-table grn4) (on-table gbf3) (clear cxh5)",
"(arm-empty) (on-table ziv2) (clear grn4) (on cxh5 gbf3) (on-table grn4) (on nab1 ziv2) (clear nab1) (on-table gbf3) (clear cxh5)"
] |
file_64333
|
GOAL: (on xnn3 rni5) (arm-empty) (on-table ved2) (clear uim4) (clear ved2) (on-table ddm1) (on uim4 xnn3) (on rni5 ddm1)
|
GOAL: (on xnn3 rni5) (arm-empty) (on-table ved2) (clear uim4) (clear ved2) (on-table ddm1) (on uim4 xnn3) (on rni5 ddm1)
STATE: (holding ddm1) (clear ved2) (on rni5 uim4) (on-table ved2) (on-table uim4) (clear xnn3) (on-table xnn3) (clear rni5)
|
[
[
"put-down ddm1"
],
[
"unstack rni5 uim4"
],
[
"stack rni5 ddm1"
],
[
"pick-up uim4"
],
[
"stack uim4 rni5"
],
[
"pick-up xnn3"
],
[
"stack xnn3 ved2"
],
[
"unstack uim4 rni5"
],
[
"put-down uim4"
],
[
"unstack xnn3 ved2"
],
[
"stack xnn3 rni5"
],
[
"pick-up uim4"
],
[
"stack uim4 xnn3"
]
] |
[
"(clear ved2) (arm-empty) (on rni5 uim4) (on-table ved2) (on-table ddm1) (on-table uim4) (clear xnn3) (clear ddm1) (on-table xnn3) (clear rni5)",
"(clear ved2) (on-table ved2) (on-table ddm1) (clear uim4) (holding rni5) (on-table uim4) (clear xnn3) (clear ddm1) (on-table xnn3)",
"(clear ved2) (arm-empty) (on-table ved2) (on-table ddm1) (clear uim4) (on rni5 ddm1) (on-table uim4) (clear xnn3) (on-table xnn3) (clear rni5)",
"(clear ved2) (on-table ved2) (on-table ddm1) (holding uim4) (on rni5 ddm1) (clear xnn3) (on-table xnn3) (clear rni5)",
"(clear ved2) (arm-empty) (on-table ved2) (on uim4 rni5) (on-table ddm1) (clear uim4) (on rni5 ddm1) (clear xnn3) (on-table xnn3)",
"(clear ved2) (on-table ved2) (on uim4 rni5) (on-table ddm1) (clear uim4) (on rni5 ddm1) (holding xnn3)",
"(arm-empty) (on-table ved2) (on uim4 rni5) (on-table ddm1) (on xnn3 ved2) (clear uim4) (on rni5 ddm1) (clear xnn3)",
"(on-table ved2) (on-table ddm1) (holding uim4) (on xnn3 ved2) (on rni5 ddm1) (clear xnn3) (clear rni5)",
"(arm-empty) (on-table ved2) (clear uim4) (clear rni5) (on-table ddm1) (on xnn3 ved2) (on rni5 ddm1) (on-table uim4) (clear xnn3)",
"(clear ved2) (on-table ved2) (on-table ddm1) (clear uim4) (on rni5 ddm1) (on-table uim4) (holding xnn3) (clear rni5)",
"(clear ved2) (on xnn3 rni5) (arm-empty) (on-table ved2) (on-table ddm1) (clear uim4) (on rni5 ddm1) (on-table uim4) (clear xnn3)",
"(clear ved2) (on xnn3 rni5) (on-table ved2) (on-table ddm1) (holding uim4) (on rni5 ddm1) (clear xnn3)",
"(on xnn3 rni5) (arm-empty) (on-table ved2) (clear uim4) (clear ved2) (on-table ddm1) (on uim4 xnn3) (on rni5 ddm1)"
] |
file_76385
|
GOAL: (on cuq1 ppk5) (clear bni2) (arm-empty) (on-table bni2) (on-table ppk5) (clear xvd4) (on-table xvd4) (on iik3 cuq1) (clear iik3)
|
GOAL: (on cuq1 ppk5) (clear bni2) (arm-empty) (on-table bni2) (on-table ppk5) (clear xvd4) (on-table xvd4) (on iik3 cuq1) (clear iik3)
STATE: (clear bni2) (on iik3 ppk5) (arm-empty) (on ppk5 xvd4) (on-table bni2) (on-table cuq1) (on-table xvd4) (clear iik3) (clear cuq1)
|
[
[
"unstack iik3 ppk5"
],
[
"stack iik3 bni2"
],
[
"unstack ppk5 xvd4"
],
[
"put-down ppk5"
],
[
"pick-up cuq1"
],
[
"stack cuq1 xvd4"
],
[
"pick-up ppk5"
],
[
"stack ppk5 cuq1"
],
[
"unstack iik3 bni2"
],
[
"put-down iik3"
],
[
"unstack ppk5 cuq1"
],
[
"put-down ppk5"
],
[
"unstack cuq1 xvd4"
],
[
"stack cuq1 ppk5"
],
[
"pick-up iik3"
],
[
"stack iik3 cuq1"
]
] |
[
"(clear bni2) (on ppk5 xvd4) (on-table bni2) (on-table cuq1) (on-table xvd4) (holding iik3) (clear cuq1) (clear ppk5)",
"(arm-empty) (on ppk5 xvd4) (on-table bni2) (on-table cuq1) (on iik3 bni2) (on-table xvd4) (clear iik3) (clear cuq1) (clear ppk5)",
"(on-table bni2) (on-table cuq1) (on iik3 bni2) (clear xvd4) (holding ppk5) (on-table xvd4) (clear iik3) (clear cuq1)",
"(arm-empty) (on-table bni2) (on-table ppk5) (on-table cuq1) (on iik3 bni2) (clear xvd4) (on-table xvd4) (clear iik3) (clear cuq1) (clear ppk5)",
"(holding cuq1) (on-table bni2) (on-table ppk5) (on iik3 bni2) (clear xvd4) (on-table xvd4) (clear iik3) (clear ppk5)",
"(arm-empty) (on-table bni2) (on-table ppk5) (on iik3 bni2) (on-table xvd4) (on cuq1 xvd4) (clear iik3) (clear cuq1) (clear ppk5)",
"(on-table bni2) (on iik3 bni2) (holding ppk5) (on-table xvd4) (on cuq1 xvd4) (clear iik3) (clear cuq1)",
"(arm-empty) (on-table bni2) (on iik3 bni2) (on ppk5 cuq1) (on-table xvd4) (on cuq1 xvd4) (clear iik3) (clear ppk5)",
"(clear bni2) (on-table bni2) (on ppk5 cuq1) (on-table xvd4) (on cuq1 xvd4) (holding iik3) (clear ppk5)",
"(arm-empty) (on-table bni2) (clear ppk5) (clear bni2) (on ppk5 cuq1) (on-table xvd4) (on cuq1 xvd4) (clear iik3) (on-table iik3)",
"(clear bni2) (on-table bni2) (holding ppk5) (on-table xvd4) (on cuq1 xvd4) (clear iik3) (clear cuq1) (on-table iik3)",
"(clear bni2) (arm-empty) (on-table bni2) (on-table ppk5) (on-table xvd4) (on cuq1 xvd4) (clear iik3) (clear cuq1) (on-table iik3) (clear ppk5)",
"(holding cuq1) (clear bni2) (on-table bni2) (on-table ppk5) (clear xvd4) (on-table xvd4) (clear iik3) (on-table iik3) (clear ppk5)",
"(on cuq1 ppk5) (clear bni2) (arm-empty) (on-table bni2) (on-table ppk5) (clear xvd4) (on-table xvd4) (clear iik3) (clear cuq1) (on-table iik3)",
"(on cuq1 ppk5) (clear bni2) (on-table bni2) (on-table ppk5) (clear xvd4) (on-table xvd4) (holding iik3) (clear cuq1)",
"(on cuq1 ppk5) (clear bni2) (arm-empty) (on-table bni2) (on-table ppk5) (clear xvd4) (on-table xvd4) (on iik3 cuq1) (clear iik3)"
] |
file_121809
|
GOAL: (clear aus2) (arm-empty) (on-table aus2) (on-table lrt5) (on-table oyy1) (clear nwx4) (on nwx4 kqt3) (clear oyy1) (on-table kqt3) (clear lrt5)
|
GOAL: (clear aus2) (arm-empty) (on-table aus2) (on-table lrt5) (on-table oyy1) (clear nwx4) (on nwx4 kqt3) (clear oyy1) (on-table kqt3) (clear lrt5)
STATE: (clear aus2) (arm-empty) (on-table aus2) (on-table lrt5) (on nwx4 lrt5) (on oyy1 nwx4) (clear kqt3) (clear oyy1) (on-table kqt3)
|
[
[
"unstack oyy1 nwx4"
],
[
"put-down oyy1"
],
[
"unstack nwx4 lrt5"
],
[
"stack nwx4 kqt3"
]
] |
[
"(holding oyy1) (clear aus2) (on-table aus2) (on-table lrt5) (on nwx4 lrt5) (clear nwx4) (clear kqt3) (on-table kqt3)",
"(clear aus2) (arm-empty) (on-table aus2) (on-table lrt5) (on nwx4 lrt5) (on-table oyy1) (clear nwx4) (clear kqt3) (clear oyy1) (on-table kqt3)",
"(clear aus2) (on-table aus2) (on-table lrt5) (holding nwx4) (on-table oyy1) (clear kqt3) (clear oyy1) (on-table kqt3) (clear lrt5)",
"(clear aus2) (arm-empty) (on-table aus2) (on-table lrt5) (on-table oyy1) (clear nwx4) (on nwx4 kqt3) (clear oyy1) (on-table kqt3) (clear lrt5)"
] |
file_228021
|
GOAL: (on lxs3 lym5) (arm-empty) (on-table lym5) (clear xra4) (on-table xra4) (on rih2 lxs3) (on cde1 rih2) (clear cde1)
|
GOAL: (on lxs3 lym5) (arm-empty) (on-table lym5) (clear xra4) (on-table xra4) (on rih2 lxs3) (on cde1 rih2) (clear cde1)
STATE: (clear rih2) (arm-empty) (on-table lym5) (on-table cde1) (clear xra4) (on-table xra4) (on rih2 cde1) (clear lxs3) (on-table lxs3) (clear lym5)
|
[
[
"pick-up lxs3"
],
[
"stack lxs3 lym5"
],
[
"unstack rih2 cde1"
],
[
"stack rih2 lxs3"
],
[
"pick-up cde1"
],
[
"stack cde1 rih2"
]
] |
[
"(clear rih2) (on-table lym5) (on-table cde1) (clear xra4) (on-table xra4) (on rih2 cde1) (holding lxs3) (clear lym5)",
"(clear rih2) (on lxs3 lym5) (arm-empty) (on-table lym5) (on-table cde1) (clear xra4) (on-table xra4) (on rih2 cde1) (clear lxs3)",
"(on lxs3 lym5) (on-table lym5) (on-table cde1) (clear xra4) (on-table xra4) (holding rih2) (clear lxs3) (clear cde1)",
"(on lxs3 lym5) (clear rih2) (arm-empty) (on-table lym5) (on-table cde1) (clear xra4) (on-table xra4) (on rih2 lxs3) (clear cde1)",
"(holding cde1) (on lxs3 lym5) (clear rih2) (on-table lym5) (clear xra4) (on-table xra4) (on rih2 lxs3)",
"(on lxs3 lym5) (arm-empty) (on-table lym5) (clear xra4) (on-table xra4) (on rih2 lxs3) (on cde1 rih2) (clear cde1)"
] |
file_62158
|
GOAL: (on-table rmq2) (on-table yen1) (holding lop4) (on mwb5 rmq2) (clear cce3) (clear yen1) (on-table cce3) (clear mwb5)
|
GOAL: (on-table rmq2) (on-table yen1) (holding lop4) (on mwb5 rmq2) (clear cce3) (clear yen1) (on-table cce3) (clear mwb5)
STATE: (clear rmq2) (arm-empty) (on-table rmq2) (on-table yen1) (clear lop4) (on mwb5 cce3) (on-table lop4) (clear yen1) (on-table cce3) (clear mwb5)
|
[
[
"unstack mwb5 cce3"
],
[
"stack mwb5 rmq2"
],
[
"pick-up lop4"
]
] |
[
"(clear rmq2) (on-table rmq2) (on-table yen1) (clear lop4) (holding mwb5) (on-table lop4) (clear cce3) (clear yen1) (on-table cce3)",
"(arm-empty) (on-table rmq2) (on-table yen1) (on mwb5 rmq2) (clear lop4) (on-table lop4) (clear cce3) (clear yen1) (on-table cce3) (clear mwb5)",
"(on-table rmq2) (on-table yen1) (holding lop4) (on mwb5 rmq2) (clear cce3) (clear yen1) (on-table cce3) (clear mwb5)"
] |
file_118549
|
GOAL: (holding xsg1) (clear lch2) (on paw5 mig4) (on-table lch2) (on-table mig4) (clear dfb3) (on-table dfb3) (clear paw5)
|
GOAL: (holding xsg1) (clear lch2) (on paw5 mig4) (on-table lch2) (on-table mig4) (clear dfb3) (on-table dfb3) (clear paw5)
STATE: (clear lch2) (on xsg1 dfb3) (arm-empty) (on-table lch2) (clear mig4) (on paw5 xsg1) (on-table mig4) (on-table dfb3) (clear paw5)
|
[
[
"unstack paw5 xsg1"
],
[
"stack paw5 mig4"
],
[
"unstack xsg1 dfb3"
]
] |
[
"(clear lch2) (on xsg1 dfb3) (on-table lch2) (clear mig4) (holding paw5) (on-table mig4) (clear xsg1) (on-table dfb3)",
"(clear lch2) (on xsg1 dfb3) (on paw5 mig4) (on-table lch2) (arm-empty) (on-table mig4) (clear xsg1) (on-table dfb3) (clear paw5)",
"(holding xsg1) (clear lch2) (on paw5 mig4) (on-table lch2) (on-table mig4) (clear dfb3) (on-table dfb3) (clear paw5)"
] |
file_14504
|
GOAL: (on pzr3 xwh5) (clear bvq2) (on xwh5 pwx4) (on-table bvq2) (on ppl1 pzr3) (arm-empty) (on-table pwx4) (clear ppl1)
|
GOAL: (on pzr3 xwh5) (clear bvq2) (on xwh5 pwx4) (on-table bvq2) (on ppl1 pzr3) (arm-empty) (on-table pwx4) (clear ppl1)
STATE: (holding ppl1) (clear bvq2) (on xwh5 pwx4) (on-table pwx4) (on bvq2 xwh5) (clear pzr3) (on-table pzr3)
|
[
[
"put-down ppl1"
],
[
"unstack bvq2 xwh5"
],
[
"stack bvq2 ppl1"
],
[
"unstack xwh5 pwx4"
],
[
"put-down xwh5"
],
[
"pick-up pzr3"
],
[
"stack pzr3 bvq2"
],
[
"pick-up xwh5"
],
[
"stack xwh5 pwx4"
],
[
"unstack pzr3 bvq2"
],
[
"stack pzr3 xwh5"
],
[
"unstack bvq2 ppl1"
],
[
"put-down bvq2"
],
[
"pick-up ppl1"
],
[
"stack ppl1 pzr3"
]
] |
[
"(arm-empty) (on xwh5 pwx4) (on bvq2 xwh5) (clear bvq2) (on-table ppl1) (on-table pwx4) (clear pzr3) (clear ppl1) (on-table pzr3)",
"(on xwh5 pwx4) (on-table ppl1) (on-table pwx4) (holding bvq2) (clear pzr3) (clear ppl1) (on-table pzr3) (clear xwh5)",
"(clear bvq2) (arm-empty) (on xwh5 pwx4) (on-table ppl1) (on-table pwx4) (on bvq2 ppl1) (clear pzr3) (on-table pzr3) (clear xwh5)",
"(clear bvq2) (on-table ppl1) (clear pwx4) (holding xwh5) (on-table pwx4) (on bvq2 ppl1) (clear pzr3) (on-table pzr3)",
"(clear bvq2) (arm-empty) (on-table xwh5) (on-table ppl1) (clear pwx4) (on-table pwx4) (on bvq2 ppl1) (clear pzr3) (on-table pzr3) (clear xwh5)",
"(clear bvq2) (on-table xwh5) (on-table ppl1) (clear pwx4) (on-table pwx4) (on bvq2 ppl1) (holding pzr3) (clear xwh5)",
"(arm-empty) (on-table xwh5) (on-table ppl1) (on pzr3 bvq2) (clear pwx4) (on-table pwx4) (on bvq2 ppl1) (clear pzr3) (clear xwh5)",
"(on-table ppl1) (on pzr3 bvq2) (clear pwx4) (holding xwh5) (on-table pwx4) (on bvq2 ppl1) (clear pzr3)",
"(arm-empty) (on xwh5 pwx4) (on-table ppl1) (on pzr3 bvq2) (on-table pwx4) (on bvq2 ppl1) (clear pzr3) (clear xwh5)",
"(clear bvq2) (on xwh5 pwx4) (on-table ppl1) (on-table pwx4) (on bvq2 ppl1) (holding pzr3) (clear xwh5)",
"(clear bvq2) (on pzr3 xwh5) (on xwh5 pwx4) (arm-empty) (on-table ppl1) (on-table pwx4) (on bvq2 ppl1) (clear pzr3)",
"(on pzr3 xwh5) (on xwh5 pwx4) (on-table ppl1) (on-table pwx4) (holding bvq2) (clear pzr3) (clear ppl1)",
"(on pzr3 xwh5) (arm-empty) (on xwh5 pwx4) (on-table bvq2) (clear bvq2) (on-table ppl1) (on-table pwx4) (clear pzr3) (clear ppl1)",
"(holding ppl1) (on pzr3 xwh5) (on xwh5 pwx4) (on-table bvq2) (clear bvq2) (on-table pwx4) (clear pzr3)",
"(on pzr3 xwh5) (clear bvq2) (on xwh5 pwx4) (on-table bvq2) (on ppl1 pzr3) (arm-empty) (on-table pwx4) (clear ppl1)"
] |
file_187178
|
GOAL: (on rha3 hvn4) (clear tvm2) (on hvn4 ajc1) (arm-empty) (on-table ajc1) (on odj5 rha3) (on tvm2 odj5)
|
GOAL: (on rha3 hvn4) (clear tvm2) (on hvn4 ajc1) (arm-empty) (on-table ajc1) (on odj5 rha3) (on tvm2 odj5)
STATE: (holding ajc1) (on rha3 hvn4) (on-table tvm2) (on hvn4 odj5) (on odj5 tvm2) (clear rha3)
|
[
[
"put-down ajc1"
],
[
"unstack rha3 hvn4"
],
[
"put-down rha3"
],
[
"unstack hvn4 odj5"
],
[
"stack hvn4 ajc1"
],
[
"pick-up rha3"
],
[
"stack rha3 hvn4"
],
[
"unstack odj5 tvm2"
],
[
"stack odj5 rha3"
],
[
"pick-up tvm2"
],
[
"stack tvm2 odj5"
]
] |
[
"(arm-empty) (on-table tvm2) (on hvn4 odj5) (on odj5 tvm2) (on rha3 hvn4) (on-table ajc1) (clear rha3) (clear ajc1)",
"(on-table tvm2) (on hvn4 odj5) (on-table ajc1) (on odj5 tvm2) (clear hvn4) (holding rha3) (clear ajc1)",
"(arm-empty) (on-table tvm2) (on hvn4 odj5) (on odj5 tvm2) (clear hvn4) (on-table ajc1) (clear rha3) (clear ajc1) (on-table rha3)",
"(on-table tvm2) (on-table ajc1) (holding hvn4) (on odj5 tvm2) (clear rha3) (clear ajc1) (on-table rha3) (clear odj5)",
"(on hvn4 ajc1) (arm-empty) (on-table tvm2) (on-table ajc1) (on odj5 tvm2) (clear hvn4) (clear rha3) (on-table rha3) (clear odj5)",
"(on hvn4 ajc1) (on-table tvm2) (on-table ajc1) (on odj5 tvm2) (clear hvn4) (holding rha3) (clear odj5)",
"(on rha3 hvn4) (on hvn4 ajc1) (arm-empty) (on-table tvm2) (on-table ajc1) (on odj5 tvm2) (clear rha3) (clear odj5)",
"(on rha3 hvn4) (clear tvm2) (on hvn4 ajc1) (on-table tvm2) (on-table ajc1) (holding odj5) (clear rha3)",
"(on rha3 hvn4) (clear tvm2) (on hvn4 ajc1) (arm-empty) (on-table tvm2) (on-table ajc1) (on odj5 rha3) (clear odj5)",
"(on rha3 hvn4) (on hvn4 ajc1) (on-table ajc1) (on odj5 rha3) (holding tvm2) (clear odj5)",
"(on rha3 hvn4) (clear tvm2) (on hvn4 ajc1) (arm-empty) (on-table ajc1) (on odj5 rha3) (on tvm2 odj5)"
] |
file_101508
|
GOAL: (on eme3 qjc4) (on qjc4 qtn1) (on-table koe5) (on-table qtn1) (holding tlu2) (clear eme3) (clear koe5)
|
GOAL: (on eme3 qjc4) (on qjc4 qtn1) (on-table koe5) (on-table qtn1) (holding tlu2) (clear eme3) (clear koe5)
STATE: (clear tlu2) (on-table koe5) (on-table qtn1) (clear qjc4) (on-table qjc4) (on tlu2 koe5) (holding eme3) (clear qtn1)
|
[
[
"stack eme3 tlu2"
],
[
"pick-up qjc4"
],
[
"stack qjc4 qtn1"
],
[
"unstack eme3 tlu2"
],
[
"stack eme3 qjc4"
],
[
"unstack tlu2 koe5"
]
] |
[
"(arm-empty) (on-table koe5) (on-table qtn1) (on eme3 tlu2) (clear qjc4) (on-table qjc4) (on tlu2 koe5) (clear eme3) (clear qtn1)",
"(on-table koe5) (on-table qtn1) (holding qjc4) (on eme3 tlu2) (on tlu2 koe5) (clear eme3) (clear qtn1)",
"(on qjc4 qtn1) (arm-empty) (on-table koe5) (on-table qtn1) (on eme3 tlu2) (clear qjc4) (on tlu2 koe5) (clear eme3)",
"(clear tlu2) (on qjc4 qtn1) (on-table koe5) (on-table qtn1) (clear qjc4) (on tlu2 koe5) (holding eme3)",
"(on eme3 qjc4) (clear tlu2) (on qjc4 qtn1) (arm-empty) (on-table koe5) (on-table qtn1) (on tlu2 koe5) (clear eme3)",
"(on eme3 qjc4) (on qjc4 qtn1) (on-table koe5) (on-table qtn1) (holding tlu2) (clear eme3) (clear koe5)"
] |
file_121572
|
GOAL: (clear cej2) (on acx4 xtc1) (on-table cej2) (on-table jbj5) (on-table xtc1) (clear acx4) (holding jlm3) (clear jbj5)
|
GOAL: (clear cej2) (on acx4 xtc1) (on-table cej2) (on-table jbj5) (on-table xtc1) (clear acx4) (holding jlm3) (clear jbj5)
STATE: (on jlm3 acx4) (on acx4 xtc1) (arm-empty) (on-table cej2) (on-table jbj5) (clear jlm3) (on xtc1 cej2) (clear jbj5)
|
[
[
"unstack jlm3 acx4"
],
[
"stack jlm3 jbj5"
],
[
"unstack acx4 xtc1"
],
[
"stack acx4 jlm3"
],
[
"unstack xtc1 cej2"
],
[
"put-down xtc1"
],
[
"unstack acx4 jlm3"
],
[
"stack acx4 xtc1"
],
[
"unstack jlm3 jbj5"
]
] |
[
"(on acx4 xtc1) (on-table cej2) (on-table jbj5) (clear acx4) (on xtc1 cej2) (holding jlm3) (clear jbj5)",
"(on jlm3 jbj5) (on acx4 xtc1) (arm-empty) (on-table cej2) (on-table jbj5) (clear acx4) (clear jlm3) (on xtc1 cej2)",
"(on jlm3 jbj5) (on-table cej2) (on-table jbj5) (holding acx4) (clear jlm3) (on xtc1 cej2) (clear xtc1)",
"(on jlm3 jbj5) (arm-empty) (on-table cej2) (on-table jbj5) (clear acx4) (on acx4 jlm3) (on xtc1 cej2) (clear xtc1)",
"(holding xtc1) (on jlm3 jbj5) (clear cej2) (on-table cej2) (on-table jbj5) (clear acx4) (on acx4 jlm3)",
"(on jlm3 jbj5) (arm-empty) (on-table cej2) (on-table jbj5) (clear acx4) (clear cej2) (on-table xtc1) (on acx4 jlm3) (clear xtc1)",
"(on jlm3 jbj5) (clear cej2) (on-table cej2) (on-table jbj5) (on-table xtc1) (holding acx4) (clear jlm3) (clear xtc1)",
"(on jlm3 jbj5) (clear cej2) (on acx4 xtc1) (on-table cej2) (on-table jbj5) (on-table xtc1) (arm-empty) (clear acx4) (clear jlm3)",
"(clear cej2) (on acx4 xtc1) (on-table cej2) (on-table jbj5) (on-table xtc1) (clear acx4) (holding jlm3) (clear jbj5)"
] |
file_84368
|
GOAL: (on lsb3 woa4) (on woa4 bzs1) (arm-empty) (on-table toi2) (on-table bzs1) (on prg5 toi2) (clear lsb3) (clear prg5)
|
GOAL: (on lsb3 woa4) (on woa4 bzs1) (arm-empty) (on-table toi2) (on-table bzs1) (on prg5 toi2) (clear lsb3) (clear prg5)
STATE: (arm-empty) (on-table toi2) (on-table bzs1) (on prg5 toi2) (clear woa4) (on-table woa4) (clear lsb3) (clear bzs1) (on-table lsb3) (clear prg5)
|
[
[
"pick-up woa4"
],
[
"stack woa4 bzs1"
],
[
"pick-up lsb3"
],
[
"stack lsb3 woa4"
]
] |
[
"(on-table toi2) (on-table bzs1) (holding woa4) (on prg5 toi2) (clear lsb3) (clear bzs1) (on-table lsb3) (clear prg5)",
"(on woa4 bzs1) (arm-empty) (on-table toi2) (on-table bzs1) (on prg5 toi2) (clear woa4) (clear lsb3) (on-table lsb3) (clear prg5)",
"(on woa4 bzs1) (on-table toi2) (on-table bzs1) (on prg5 toi2) (clear woa4) (holding lsb3) (clear prg5)",
"(on lsb3 woa4) (on woa4 bzs1) (arm-empty) (on-table toi2) (on-table bzs1) (on prg5 toi2) (clear lsb3) (clear prg5)"
] |
file_70701
|
GOAL: (holding wbt1) (clear bsc2) (on-table bsc2) (on-table ino5) (clear ucv4) (on ucv4 ywr3) (on-table ywr3) (clear ino5)
|
GOAL: (holding wbt1) (clear bsc2) (on-table bsc2) (on-table ino5) (clear ucv4) (on ucv4 ywr3) (on-table ywr3) (clear ino5)
STATE: (on wbt1 ino5) (clear bsc2) (arm-empty) (on ino5 ucv4) (on-table bsc2) (on ucv4 ywr3) (clear wbt1) (on-table ywr3)
|
[
[
"unstack wbt1 ino5"
],
[
"stack wbt1 bsc2"
],
[
"unstack ino5 ucv4"
],
[
"put-down ino5"
],
[
"unstack wbt1 bsc2"
]
] |
[
"(holding wbt1) (clear bsc2) (on ino5 ucv4) (on-table bsc2) (on ucv4 ywr3) (on-table ywr3) (clear ino5)",
"(arm-empty) (on ino5 ucv4) (on-table bsc2) (on ucv4 ywr3) (on wbt1 bsc2) (clear wbt1) (on-table ywr3) (clear ino5)",
"(on-table bsc2) (clear ucv4) (on ucv4 ywr3) (holding ino5) (on wbt1 bsc2) (clear wbt1) (on-table ywr3)",
"(arm-empty) (on-table bsc2) (on-table ino5) (clear ucv4) (on wbt1 bsc2) (clear ino5) (on ucv4 ywr3) (clear wbt1) (on-table ywr3)",
"(holding wbt1) (clear bsc2) (on-table bsc2) (on-table ino5) (clear ucv4) (on ucv4 ywr3) (on-table ywr3) (clear ino5)"
] |
file_61358
|
GOAL: (arm-empty) (on-table fuz1) (clear cuw4) (on xls5 mxp3) (on mxp3 fuz1) (on cuw4 pon2) (on pon2 xls5)
|
GOAL: (arm-empty) (on-table fuz1) (clear cuw4) (on xls5 mxp3) (on mxp3 fuz1) (on cuw4 pon2) (on pon2 xls5)
STATE: (holding fuz1) (on mxp3 xls5) (on-table pon2) (on xls5 pon2) (clear cuw4) (on-table cuw4) (clear mxp3)
|
[
[
"put-down fuz1"
],
[
"unstack mxp3 xls5"
],
[
"stack mxp3 fuz1"
],
[
"pick-up cuw4"
],
[
"stack cuw4 mxp3"
],
[
"unstack xls5 pon2"
],
[
"put-down xls5"
],
[
"unstack cuw4 mxp3"
],
[
"put-down cuw4"
],
[
"pick-up xls5"
],
[
"stack xls5 mxp3"
],
[
"pick-up pon2"
],
[
"stack pon2 xls5"
],
[
"pick-up cuw4"
],
[
"stack cuw4 pon2"
]
] |
[
"(on mxp3 xls5) (arm-empty) (on-table pon2) (on xls5 pon2) (clear cuw4) (on-table fuz1) (on-table cuw4) (clear mxp3) (clear fuz1)",
"(on-table pon2) (on-table fuz1) (on xls5 pon2) (clear cuw4) (on-table cuw4) (holding mxp3) (clear fuz1) (clear xls5)",
"(arm-empty) (on-table pon2) (on-table fuz1) (on xls5 pon2) (clear cuw4) (on-table cuw4) (on mxp3 fuz1) (clear mxp3) (clear xls5)",
"(on-table pon2) (on-table fuz1) (holding cuw4) (on xls5 pon2) (on mxp3 fuz1) (clear mxp3) (clear xls5)",
"(arm-empty) (on-table pon2) (on xls5 pon2) (clear cuw4) (on mxp3 fuz1) (clear xls5) (on-table fuz1) (on cuw4 mxp3)",
"(clear pon2) (on-table pon2) (on-table fuz1) (clear cuw4) (on cuw4 mxp3) (holding xls5) (on mxp3 fuz1)",
"(arm-empty) (on-table pon2) (on-table xls5) (clear cuw4) (on mxp3 fuz1) (clear xls5) (clear pon2) (on-table fuz1) (on cuw4 mxp3)",
"(clear pon2) (on-table pon2) (on-table xls5) (on-table fuz1) (holding cuw4) (on mxp3 fuz1) (clear mxp3) (clear xls5)",
"(clear pon2) (arm-empty) (on-table pon2) (on-table xls5) (on-table fuz1) (clear cuw4) (on-table cuw4) (on mxp3 fuz1) (clear mxp3) (clear xls5)",
"(clear pon2) (on-table pon2) (on-table fuz1) (clear cuw4) (holding xls5) (on-table cuw4) (on mxp3 fuz1) (clear mxp3)",
"(clear pon2) (arm-empty) (on-table pon2) (on-table fuz1) (clear cuw4) (on xls5 mxp3) (on-table cuw4) (on mxp3 fuz1) (clear xls5)",
"(on-table fuz1) (clear cuw4) (on xls5 mxp3) (on-table cuw4) (holding pon2) (on mxp3 fuz1) (clear xls5)",
"(clear pon2) (arm-empty) (on-table fuz1) (clear cuw4) (on xls5 mxp3) (on-table cuw4) (on mxp3 fuz1) (on pon2 xls5)",
"(clear pon2) (on-table fuz1) (holding cuw4) (on xls5 mxp3) (on mxp3 fuz1) (on pon2 xls5)",
"(arm-empty) (on-table fuz1) (clear cuw4) (on xls5 mxp3) (on mxp3 fuz1) (on cuw4 pon2) (on pon2 xls5)"
] |
file_207949
|
GOAL: (on-table vij2) (on-table npx1) (holding svh4) (on jgo5 vij2) (clear cum3) (clear npx1) (on-table cum3) (clear jgo5)
|
GOAL: (on-table vij2) (on-table npx1) (holding svh4) (on jgo5 vij2) (clear cum3) (clear npx1) (on-table cum3) (clear jgo5)
STATE: (holding npx1) (clear vij2) (on jgo5 svh4) (on-table vij2) (on svh4 cum3) (on-table cum3) (clear jgo5)
|
[
[
"put-down npx1"
],
[
"unstack jgo5 svh4"
],
[
"stack jgo5 vij2"
],
[
"unstack svh4 cum3"
]
] |
[
"(arm-empty) (on jgo5 svh4) (on-table vij2) (clear jgo5) (clear vij2) (on-table npx1) (on svh4 cum3) (clear npx1) (on-table cum3)",
"(clear vij2) (on-table vij2) (on-table npx1) (clear svh4) (on svh4 cum3) (holding jgo5) (clear npx1) (on-table cum3)",
"(arm-empty) (on-table vij2) (on-table npx1) (on jgo5 vij2) (clear svh4) (on svh4 cum3) (clear npx1) (on-table cum3) (clear jgo5)",
"(on-table vij2) (on-table npx1) (holding svh4) (on jgo5 vij2) (clear cum3) (clear npx1) (on-table cum3) (clear jgo5)"
] |
file_138675
|
GOAL: (on kho3 etz4) (on tgm1 kho3) (on byu5 tgm1) (on-table etz4) (holding owa2) (clear byu5)
|
GOAL: (on kho3 etz4) (on tgm1 kho3) (on byu5 tgm1) (on-table etz4) (holding owa2) (clear byu5)
STATE: (on kho3 etz4) (clear owa2) (on tgm1 kho3) (arm-empty) (on-table byu5) (on-table etz4) (on owa2 tgm1) (clear byu5)
|
[
[
"unstack owa2 tgm1"
],
[
"put-down owa2"
],
[
"pick-up byu5"
],
[
"stack byu5 tgm1"
],
[
"pick-up owa2"
]
] |
[
"(on kho3 etz4) (on tgm1 kho3) (on-table byu5) (on-table etz4) (holding owa2) (clear tgm1) (clear byu5)",
"(on tgm1 kho3) (arm-empty) (on-table owa2) (on-table byu5) (clear byu5) (on kho3 etz4) (clear owa2) (on-table etz4) (clear tgm1)",
"(on kho3 etz4) (clear owa2) (on tgm1 kho3) (on-table owa2) (holding byu5) (on-table etz4) (clear tgm1)",
"(on kho3 etz4) (clear owa2) (on tgm1 kho3) (arm-empty) (on-table owa2) (on byu5 tgm1) (on-table etz4) (clear byu5)",
"(on kho3 etz4) (on tgm1 kho3) (on byu5 tgm1) (on-table etz4) (holding owa2) (clear byu5)"
] |
file_131611
|
GOAL: (arm-empty) (on-table slg2) (on-table att1) (on tma3 slg2) (clear jaj4) (on-table jaj4) (clear tma3) (clear att1)
|
GOAL: (arm-empty) (on-table slg2) (on-table att1) (on tma3 slg2) (clear jaj4) (on-table jaj4) (clear tma3) (clear att1)
STATE: (clear slg2) (on jaj4 att1) (on-table att1) (on slg2 jaj4) (holding tma3)
|
[
[
"put-down tma3"
],
[
"unstack slg2 jaj4"
],
[
"put-down slg2"
],
[
"unstack jaj4 att1"
],
[
"put-down jaj4"
],
[
"pick-up tma3"
],
[
"stack tma3 slg2"
]
] |
[
"(clear slg2) (on jaj4 att1) (arm-empty) (on-table att1) (clear tma3) (on slg2 jaj4) (on-table tma3)",
"(on jaj4 att1) (clear jaj4) (on-table att1) (holding slg2) (clear tma3) (on-table tma3)",
"(on jaj4 att1) (arm-empty) (on-table slg2) (clear jaj4) (clear slg2) (on-table att1) (clear tma3) (on-table tma3)",
"(clear slg2) (on-table slg2) (on-table att1) (holding jaj4) (clear tma3) (clear att1) (on-table tma3)",
"(arm-empty) (on-table slg2) (clear jaj4) (clear slg2) (on-table att1) (on-table jaj4) (clear tma3) (clear att1) (on-table tma3)",
"(clear slg2) (on-table slg2) (on-table att1) (clear jaj4) (on-table jaj4) (holding tma3) (clear att1)",
"(arm-empty) (on-table slg2) (on-table att1) (on tma3 slg2) (clear jaj4) (on-table jaj4) (clear tma3) (clear att1)"
] |
file_18874
|
GOAL: (on blx1 xpf3) (on yjp5 oad4) (on-table qcs2) (arm-empty) (on oad4 qcs2) (clear blx1) (on-table xpf3) (clear yjp5)
|
GOAL: (on blx1 xpf3) (on yjp5 oad4) (on-table qcs2) (arm-empty) (on oad4 qcs2) (clear blx1) (on-table xpf3) (clear yjp5)
STATE: (clear qcs2) (arm-empty) (on-table blx1) (clear oad4) (on yjp5 blx1) (on-table oad4) (on qcs2 yjp5) (clear xpf3) (on-table xpf3)
|
[
[
"unstack qcs2 yjp5"
],
[
"stack qcs2 oad4"
],
[
"unstack yjp5 blx1"
],
[
"stack yjp5 qcs2"
],
[
"pick-up blx1"
],
[
"stack blx1 xpf3"
],
[
"unstack yjp5 qcs2"
],
[
"stack yjp5 blx1"
],
[
"unstack qcs2 oad4"
],
[
"put-down qcs2"
],
[
"pick-up oad4"
],
[
"stack oad4 qcs2"
],
[
"unstack yjp5 blx1"
],
[
"stack yjp5 oad4"
]
] |
[
"(on-table blx1) (clear oad4) (on yjp5 blx1) (on-table oad4) (holding qcs2) (clear xpf3) (on-table xpf3) (clear yjp5)",
"(clear qcs2) (arm-empty) (on-table blx1) (on yjp5 blx1) (on-table oad4) (on qcs2 oad4) (clear xpf3) (on-table xpf3) (clear yjp5)",
"(clear qcs2) (on-table blx1) (holding yjp5) (on-table oad4) (on qcs2 oad4) (clear xpf3) (clear blx1) (on-table xpf3)",
"(arm-empty) (on-table blx1) (on yjp5 qcs2) (on-table oad4) (on qcs2 oad4) (clear xpf3) (clear blx1) (on-table xpf3) (clear yjp5)",
"(holding blx1) (on yjp5 qcs2) (on-table oad4) (on qcs2 oad4) (clear xpf3) (on-table xpf3) (clear yjp5)",
"(on blx1 xpf3) (arm-empty) (on yjp5 qcs2) (on-table oad4) (on qcs2 oad4) (clear blx1) (on-table xpf3) (clear yjp5)",
"(clear qcs2) (on blx1 xpf3) (holding yjp5) (on-table oad4) (on qcs2 oad4) (clear blx1) (on-table xpf3)",
"(clear qcs2) (on blx1 xpf3) (arm-empty) (on yjp5 blx1) (on-table oad4) (on qcs2 oad4) (on-table xpf3) (clear yjp5)",
"(on blx1 xpf3) (clear oad4) (on yjp5 blx1) (on-table oad4) (holding qcs2) (on-table xpf3) (clear yjp5)",
"(on blx1 xpf3) (arm-empty) (on-table qcs2) (clear oad4) (clear yjp5) (clear qcs2) (on yjp5 blx1) (on-table oad4) (on-table xpf3)",
"(clear qcs2) (on blx1 xpf3) (on-table qcs2) (holding oad4) (on yjp5 blx1) (on-table xpf3) (clear yjp5)",
"(on blx1 xpf3) (arm-empty) (on-table qcs2) (clear oad4) (clear yjp5) (on yjp5 blx1) (on oad4 qcs2) (on-table xpf3)",
"(on blx1 xpf3) (on-table qcs2) (clear oad4) (holding yjp5) (on oad4 qcs2) (clear blx1) (on-table xpf3)",
"(on blx1 xpf3) (on yjp5 oad4) (on-table qcs2) (arm-empty) (on oad4 qcs2) (clear blx1) (on-table xpf3) (clear yjp5)"
] |
file_170346
|
GOAL: (holding vnv1) (clear idi4) (on tvs5 kbw3) (on idi4 wgc2) (on wgc2 tvs5) (on-table kbw3)
|
GOAL: (holding vnv1) (clear idi4) (on tvs5 kbw3) (on idi4 wgc2) (on wgc2 tvs5) (on-table kbw3)
STATE: (on idi4 vnv1) (on-table vnv1) (on tvs5 wgc2) (on wgc2 idi4) (holding kbw3) (clear tvs5)
|
[
[
"put-down kbw3"
],
[
"unstack tvs5 wgc2"
],
[
"stack tvs5 kbw3"
],
[
"unstack wgc2 idi4"
],
[
"stack wgc2 tvs5"
],
[
"unstack idi4 vnv1"
],
[
"stack idi4 wgc2"
],
[
"pick-up vnv1"
]
] |
[
"(on idi4 vnv1) (arm-empty) (on tvs5 wgc2) (on wgc2 idi4) (clear tvs5) (on-table vnv1) (clear kbw3) (on-table kbw3)",
"(clear wgc2) (on idi4 vnv1) (on-table vnv1) (holding tvs5) (on wgc2 idi4) (clear kbw3) (on-table kbw3)",
"(clear wgc2) (on idi4 vnv1) (arm-empty) (on-table vnv1) (on tvs5 kbw3) (on wgc2 idi4) (on-table kbw3) (clear tvs5)",
"(on idi4 vnv1) (on-table vnv1) (clear idi4) (on tvs5 kbw3) (holding wgc2) (on-table kbw3) (clear tvs5)",
"(clear wgc2) (on idi4 vnv1) (arm-empty) (on-table vnv1) (clear idi4) (on tvs5 kbw3) (on wgc2 tvs5) (on-table kbw3)",
"(clear wgc2) (on-table vnv1) (holding idi4) (on tvs5 kbw3) (on wgc2 tvs5) (clear vnv1) (on-table kbw3)",
"(arm-empty) (on-table vnv1) (clear idi4) (on tvs5 kbw3) (on idi4 wgc2) (on wgc2 tvs5) (clear vnv1) (on-table kbw3)",
"(holding vnv1) (clear idi4) (on tvs5 kbw3) (on idi4 wgc2) (on wgc2 tvs5) (on-table kbw3)"
] |
file_113817
|
GOAL: (arm-empty) (on-table khc1) (on kje3 lsb2) (clear bym4) (on gfn5 khc1) (on-table bym4) (on lsb2 gfn5) (clear kje3)
|
GOAL: (arm-empty) (on-table khc1) (on kje3 lsb2) (clear bym4) (on gfn5 khc1) (on-table bym4) (on lsb2 gfn5) (clear kje3)
STATE: (clear lsb2) (on khc1 kje3) (clear bym4) (holding gfn5) (on-table bym4) (on lsb2 khc1) (on-table kje3)
|
[
[
"stack gfn5 bym4"
],
[
"unstack lsb2 khc1"
],
[
"stack lsb2 gfn5"
],
[
"unstack khc1 kje3"
],
[
"put-down khc1"
],
[
"unstack lsb2 gfn5"
],
[
"put-down lsb2"
],
[
"unstack gfn5 bym4"
],
[
"stack gfn5 khc1"
],
[
"pick-up kje3"
],
[
"stack kje3 bym4"
],
[
"pick-up lsb2"
],
[
"stack lsb2 gfn5"
],
[
"unstack kje3 bym4"
],
[
"stack kje3 lsb2"
]
] |
[
"(clear lsb2) (on khc1 kje3) (on gfn5 bym4) (arm-empty) (on-table bym4) (on lsb2 khc1) (on-table kje3) (clear gfn5)",
"(on khc1 kje3) (on gfn5 bym4) (on-table bym4) (holding lsb2) (clear khc1) (on-table kje3) (clear gfn5)",
"(clear lsb2) (on khc1 kje3) (on gfn5 bym4) (arm-empty) (on-table bym4) (on lsb2 gfn5) (clear khc1) (on-table kje3)",
"(holding khc1) (clear lsb2) (on gfn5 bym4) (on-table bym4) (on lsb2 gfn5) (clear kje3) (on-table kje3)",
"(arm-empty) (on gfn5 bym4) (on lsb2 gfn5) (clear lsb2) (on-table khc1) (on-table bym4) (clear kje3) (clear khc1) (on-table kje3)",
"(on gfn5 bym4) (on-table khc1) (on-table bym4) (holding lsb2) (clear kje3) (clear khc1) (on-table kje3) (clear gfn5)",
"(clear lsb2) (arm-empty) (on gfn5 bym4) (on-table lsb2) (on-table khc1) (on-table bym4) (clear kje3) (clear khc1) (on-table kje3) (clear gfn5)",
"(clear lsb2) (on-table lsb2) (on-table khc1) (clear bym4) (holding gfn5) (on-table bym4) (clear kje3) (clear khc1) (on-table kje3)",
"(clear lsb2) (arm-empty) (on-table lsb2) (on-table khc1) (clear bym4) (on gfn5 khc1) (on-table bym4) (clear kje3) (on-table kje3) (clear gfn5)",
"(clear lsb2) (on-table lsb2) (on-table khc1) (clear bym4) (on gfn5 khc1) (on-table bym4) (holding kje3) (clear gfn5)",
"(on kje3 bym4) (clear lsb2) (arm-empty) (on-table lsb2) (on-table khc1) (on gfn5 khc1) (on-table bym4) (clear kje3) (clear gfn5)",
"(on kje3 bym4) (on-table khc1) (on gfn5 khc1) (on-table bym4) (holding lsb2) (clear kje3) (clear gfn5)",
"(on kje3 bym4) (clear lsb2) (arm-empty) (on-table khc1) (on gfn5 khc1) (on-table bym4) (on lsb2 gfn5) (clear kje3)",
"(clear lsb2) (on-table khc1) (clear bym4) (on gfn5 khc1) (on-table bym4) (on lsb2 gfn5) (holding kje3)",
"(arm-empty) (on-table khc1) (on kje3 lsb2) (clear bym4) (on gfn5 khc1) (on-table bym4) (on lsb2 gfn5) (clear kje3)"
] |
file_109718
|
GOAL: (on uzf4 vvt1) (arm-empty) (clear uzf4) (on lmy5 lco3) (on uly2 lmy5) (on vvt1 uly2) (on-table lco3)
|
GOAL: (on uzf4 vvt1) (arm-empty) (clear uzf4) (on lmy5 lco3) (on uly2 lmy5) (on vvt1 uly2) (on-table lco3)
STATE: (clear uly2) (on-table uly2) (holding lmy5) (on-table uzf4) (on vvt1 uzf4) (clear lco3) (clear vvt1) (on-table lco3)
|
[
[
"stack lmy5 lco3"
],
[
"pick-up uly2"
],
[
"stack uly2 lmy5"
],
[
"unstack vvt1 uzf4"
],
[
"stack vvt1 uly2"
],
[
"pick-up uzf4"
],
[
"stack uzf4 vvt1"
]
] |
[
"(clear uly2) (arm-empty) (on-table uly2) (on lmy5 lco3) (on-table uzf4) (on vvt1 uzf4) (clear vvt1) (on-table lco3) (clear lmy5)",
"(holding uly2) (on lmy5 lco3) (on-table uzf4) (on vvt1 uzf4) (clear vvt1) (on-table lco3) (clear lmy5)",
"(clear uly2) (arm-empty) (on lmy5 lco3) (on-table uzf4) (on vvt1 uzf4) (on uly2 lmy5) (clear vvt1) (on-table lco3)",
"(holding vvt1) (clear uly2) (clear uzf4) (on lmy5 lco3) (on-table uzf4) (on uly2 lmy5) (on-table lco3)",
"(arm-empty) (clear uzf4) (on lmy5 lco3) (on-table uzf4) (on uly2 lmy5) (on vvt1 uly2) (clear vvt1) (on-table lco3)",
"(holding uzf4) (on lmy5 lco3) (on uly2 lmy5) (on vvt1 uly2) (clear vvt1) (on-table lco3)",
"(on uzf4 vvt1) (arm-empty) (clear uzf4) (on lmy5 lco3) (on uly2 lmy5) (on vvt1 uly2) (on-table lco3)"
] |
file_12398
|
GOAL: (on ofk1 tti5) (clear cep2) (on-table cep2) (holding jpr4) (on tti5 zri3) (clear ofk1) (on-table zri3)
|
GOAL: (on ofk1 tti5) (clear cep2) (on-table cep2) (holding jpr4) (on tti5 zri3) (clear ofk1) (on-table zri3)
STATE: (on ofk1 tti5) (on jpr4 ofk1) (clear jpr4) (on tti5 zri3) (holding cep2) (on-table zri3)
|
[
[
"put-down cep2"
],
[
"unstack jpr4 ofk1"
]
] |
[
"(on ofk1 tti5) (on jpr4 ofk1) (arm-empty) (on-table cep2) (clear jpr4) (on tti5 zri3) (clear cep2) (on-table zri3)",
"(on ofk1 tti5) (clear cep2) (on-table cep2) (holding jpr4) (on tti5 zri3) (clear ofk1) (on-table zri3)"
] |
file_174305
|
GOAL: (arm-empty) (on-table xxv5) (clear mmj4) (on rff2 xxv5) (on-table vgr1) (on mmj4 rff2) (clear saq3) (clear vgr1) (on-table saq3)
|
GOAL: (arm-empty) (on-table xxv5) (clear mmj4) (on rff2 xxv5) (on-table vgr1) (on mmj4 rff2) (clear saq3) (clear vgr1) (on-table saq3)
STATE: (arm-empty) (on-table vgr1) (on xxv5 rff2) (clear mmj4) (on-table mmj4) (on saq3 vgr1) (on rff2 saq3) (clear xxv5)
|
[
[
"unstack xxv5 rff2"
],
[
"put-down xxv5"
],
[
"pick-up mmj4"
],
[
"stack mmj4 xxv5"
],
[
"unstack rff2 saq3"
],
[
"put-down rff2"
],
[
"unstack mmj4 xxv5"
],
[
"stack mmj4 saq3"
],
[
"pick-up rff2"
],
[
"stack rff2 xxv5"
],
[
"unstack mmj4 saq3"
],
[
"stack mmj4 rff2"
],
[
"unstack saq3 vgr1"
],
[
"put-down saq3"
]
] |
[
"(clear rff2) (on-table vgr1) (clear mmj4) (holding xxv5) (on-table mmj4) (on saq3 vgr1) (on rff2 saq3)",
"(arm-empty) (on-table xxv5) (clear mmj4) (on saq3 vgr1) (clear xxv5) (clear rff2) (on-table vgr1) (on-table mmj4) (on rff2 saq3)",
"(clear rff2) (on-table xxv5) (on-table vgr1) (holding mmj4) (on saq3 vgr1) (on rff2 saq3) (clear xxv5)",
"(clear rff2) (arm-empty) (on-table xxv5) (on-table vgr1) (on mmj4 xxv5) (clear mmj4) (on saq3 vgr1) (on rff2 saq3)",
"(on-table xxv5) (on-table vgr1) (on mmj4 xxv5) (clear mmj4) (holding rff2) (on saq3 vgr1) (clear saq3)",
"(arm-empty) (on-table rff2) (on-table xxv5) (on mmj4 xxv5) (clear mmj4) (on saq3 vgr1) (clear rff2) (on-table vgr1) (clear saq3)",
"(clear rff2) (on-table rff2) (on-table xxv5) (holding mmj4) (on-table vgr1) (on saq3 vgr1) (clear saq3) (clear xxv5)",
"(clear rff2) (arm-empty) (on-table rff2) (on-table xxv5) (on-table vgr1) (clear mmj4) (on mmj4 saq3) (on saq3 vgr1) (clear xxv5)",
"(on-table xxv5) (on-table vgr1) (clear mmj4) (on mmj4 saq3) (holding rff2) (on saq3 vgr1) (clear xxv5)",
"(clear rff2) (arm-empty) (on-table xxv5) (on-table vgr1) (clear mmj4) (on mmj4 saq3) (on saq3 vgr1) (on rff2 xxv5)",
"(clear rff2) (on-table xxv5) (on-table vgr1) (holding mmj4) (on saq3 vgr1) (on rff2 xxv5) (clear saq3)",
"(arm-empty) (on-table xxv5) (on-table vgr1) (clear mmj4) (on saq3 vgr1) (on mmj4 rff2) (on rff2 xxv5) (clear saq3)",
"(on-table xxv5) (on-table vgr1) (clear mmj4) (on mmj4 rff2) (on rff2 xxv5) (holding saq3) (clear vgr1)",
"(arm-empty) (on-table xxv5) (clear mmj4) (on rff2 xxv5) (on-table vgr1) (on mmj4 rff2) (clear saq3) (clear vgr1) (on-table saq3)"
] |
file_24638
|
GOAL: (on jeo3 iwt4) (clear cii2) (arm-empty) (on-table cii2) (on-table wxh1) (on-table iwt4) (clear jeo3) (clear wxh1)
|
GOAL: (on jeo3 iwt4) (clear cii2) (arm-empty) (on-table cii2) (on-table wxh1) (on-table iwt4) (clear jeo3) (clear wxh1)
STATE: (clear cii2) (arm-empty) (on-table wxh1) (on iwt4 jeo3) (on jeo3 wxh1) (on cii2 iwt4)
|
[
[
"unstack cii2 iwt4"
],
[
"put-down cii2"
],
[
"unstack iwt4 jeo3"
],
[
"put-down iwt4"
],
[
"pick-up cii2"
],
[
"stack cii2 iwt4"
],
[
"unstack jeo3 wxh1"
],
[
"put-down jeo3"
],
[
"unstack cii2 iwt4"
],
[
"put-down cii2"
],
[
"pick-up jeo3"
],
[
"stack jeo3 iwt4"
]
] |
[
"(on iwt4 jeo3) (on jeo3 wxh1) (holding cii2) (on-table wxh1) (clear iwt4)",
"(on iwt4 jeo3) (clear cii2) (arm-empty) (clear iwt4) (on-table cii2) (on jeo3 wxh1) (on-table wxh1)",
"(holding iwt4) (on-table wxh1) (clear cii2) (on-table cii2) (on jeo3 wxh1) (clear jeo3)",
"(arm-empty) (on-table cii2) (clear iwt4) (on jeo3 wxh1) (clear cii2) (on-table wxh1) (on-table iwt4) (clear jeo3)",
"(on-table wxh1) (clear iwt4) (on-table iwt4) (holding cii2) (on jeo3 wxh1) (clear jeo3)",
"(clear cii2) (arm-empty) (on-table wxh1) (on cii2 iwt4) (on-table iwt4) (on jeo3 wxh1) (clear jeo3)",
"(on cii2 iwt4) (clear cii2) (on-table wxh1) (on-table iwt4) (holding jeo3) (clear wxh1)",
"(clear cii2) (on-table iwt4) (arm-empty) (on cii2 iwt4) (clear jeo3) (on-table wxh1) (clear wxh1) (on-table jeo3)",
"(on-table wxh1) (clear iwt4) (on-table iwt4) (holding cii2) (clear jeo3) (clear wxh1) (on-table jeo3)",
"(arm-empty) (on-table cii2) (clear iwt4) (clear cii2) (on-table wxh1) (on-table iwt4) (clear jeo3) (clear wxh1) (on-table jeo3)",
"(clear cii2) (on-table cii2) (on-table wxh1) (clear iwt4) (on-table iwt4) (holding jeo3) (clear wxh1)",
"(on jeo3 iwt4) (clear cii2) (arm-empty) (on-table cii2) (on-table wxh1) (on-table iwt4) (clear jeo3) (clear wxh1)"
] |
file_109440
|
GOAL: (clear rhm2) (arm-empty) (on-table irs1) (on bbt5 irs1) (on-table ejy4) (on rhm2 ejy4) (clear diu3) (on-table diu3) (clear bbt5)
|
GOAL: (clear rhm2) (arm-empty) (on-table irs1) (on bbt5 irs1) (on-table ejy4) (on rhm2 ejy4) (clear diu3) (on-table diu3) (clear bbt5)
STATE: (on-table bbt5) (on-table irs1) (clear ejy4) (on-table ejy4) (holding rhm2) (clear diu3) (clear irs1) (on-table diu3) (clear bbt5)
|
[
[
"stack rhm2 ejy4"
],
[
"pick-up bbt5"
],
[
"stack bbt5 irs1"
]
] |
[
"(clear rhm2) (arm-empty) (on-table bbt5) (on-table irs1) (on-table ejy4) (on rhm2 ejy4) (clear diu3) (clear irs1) (on-table diu3) (clear bbt5)",
"(clear rhm2) (on-table irs1) (holding bbt5) (on-table ejy4) (on rhm2 ejy4) (clear diu3) (clear irs1) (on-table diu3)",
"(clear rhm2) (arm-empty) (on-table irs1) (on bbt5 irs1) (on-table ejy4) (on rhm2 ejy4) (clear diu3) (on-table diu3) (clear bbt5)"
] |
file_91597
|
GOAL: (clear isa2) (arm-empty) (on-table gbg1) (clear gzs4) (on czr5 ykc3) (on-table gzs4) (on isa2 gbg1) (on-table ykc3) (clear czr5)
|
GOAL: (clear isa2) (arm-empty) (on-table gbg1) (clear gzs4) (on czr5 ykc3) (on-table gzs4) (on isa2 gbg1) (on-table ykc3) (clear czr5)
STATE: (on czr5 gzs4) (on-table gbg1) (on-table gzs4) (holding isa2) (clear ykc3) (clear gbg1) (on-table ykc3) (clear czr5)
|
[
[
"stack isa2 gbg1"
],
[
"unstack czr5 gzs4"
],
[
"stack czr5 ykc3"
]
] |
[
"(clear isa2) (arm-empty) (on czr5 gzs4) (on-table gbg1) (on-table gzs4) (on isa2 gbg1) (clear ykc3) (on-table ykc3) (clear czr5)",
"(clear isa2) (on-table gbg1) (clear gzs4) (holding czr5) (on-table gzs4) (on isa2 gbg1) (clear ykc3) (on-table ykc3)",
"(clear isa2) (arm-empty) (on-table gbg1) (clear gzs4) (on czr5 ykc3) (on-table gzs4) (on isa2 gbg1) (on-table ykc3) (clear czr5)"
] |
file_34220
|
GOAL: (clear vtm2) (on zma4 xuy1) (on-table xxw5) (on-table xuy1) (clear zma4) (on vtm2 xxw5) (holding wui3)
|
GOAL: (clear vtm2) (on zma4 xuy1) (on-table xxw5) (on-table xuy1) (clear zma4) (on vtm2 xxw5) (holding wui3)
STATE: (on wui3 zma4) (clear vtm2) (on zma4 xuy1) (on-table vtm2) (on-table xuy1) (holding xxw5) (clear wui3)
|
[
[
"put-down xxw5"
],
[
"pick-up vtm2"
],
[
"stack vtm2 xxw5"
],
[
"unstack wui3 zma4"
]
] |
[
"(on zma4 xuy1) (arm-empty) (on-table vtm2) (on-table xxw5) (clear xxw5) (on wui3 zma4) (clear vtm2) (on-table xuy1) (clear wui3)",
"(on wui3 zma4) (on zma4 xuy1) (on-table xxw5) (on-table xuy1) (holding vtm2) (clear wui3) (clear xxw5)",
"(on wui3 zma4) (clear vtm2) (on zma4 xuy1) (arm-empty) (on-table xxw5) (on-table xuy1) (on vtm2 xxw5) (clear wui3)",
"(clear vtm2) (on zma4 xuy1) (on-table xxw5) (on-table xuy1) (clear zma4) (on vtm2 xxw5) (holding wui3)"
] |
file_227783
|
GOAL: (on xxs3 iqs4) (clear iga2) (arm-empty) (on-table low1) (on pvg5 low1) (on-table iqs4) (on iga2 pvg5) (clear xxs3)
|
GOAL: (on xxs3 iqs4) (clear iga2) (arm-empty) (on-table low1) (on pvg5 low1) (on-table iqs4) (on iga2 pvg5) (clear xxs3)
STATE: (on xxs3 iqs4) (arm-empty) (on-table low1) (on pvg5 iga2) (on-table iqs4) (on iga2 xxs3) (clear low1) (clear pvg5)
|
[
[
"unstack pvg5 iga2"
],
[
"stack pvg5 low1"
],
[
"unstack iga2 xxs3"
],
[
"stack iga2 pvg5"
]
] |
[
"(on xxs3 iqs4) (clear iga2) (on-table low1) (holding pvg5) (on-table iqs4) (on iga2 xxs3) (clear low1)",
"(on xxs3 iqs4) (clear iga2) (arm-empty) (on-table low1) (on pvg5 low1) (on-table iqs4) (on iga2 xxs3) (clear pvg5)",
"(on xxs3 iqs4) (on-table low1) (on pvg5 low1) (on-table iqs4) (holding iga2) (clear xxs3) (clear pvg5)",
"(on xxs3 iqs4) (clear iga2) (arm-empty) (on-table low1) (on pvg5 low1) (on-table iqs4) (on iga2 pvg5) (clear xxs3)"
] |
file_103822
|
GOAL: (on vui1 svb5) (arm-empty) (on svb5 mkm4) (on-table lwc2) (on izj3 lwc2) (on-table mkm4) (clear izj3) (clear vui1)
|
GOAL: (on vui1 svb5) (arm-empty) (on svb5 mkm4) (on-table lwc2) (on izj3 lwc2) (on-table mkm4) (clear izj3) (clear vui1)
STATE: (clear lwc2) (on izj3 svb5) (arm-empty) (on-table lwc2) (on-table vui1) (clear mkm4) (on svb5 vui1) (on mkm4 izj3)
|
[
[
"unstack mkm4 izj3"
],
[
"put-down mkm4"
],
[
"unstack izj3 svb5"
],
[
"stack izj3 lwc2"
],
[
"unstack svb5 vui1"
],
[
"stack svb5 mkm4"
],
[
"pick-up vui1"
],
[
"stack vui1 svb5"
]
] |
[
"(clear lwc2) (on izj3 svb5) (on-table lwc2) (on-table vui1) (holding mkm4) (on svb5 vui1) (clear izj3)",
"(on izj3 svb5) (arm-empty) (on-table lwc2) (clear mkm4) (clear lwc2) (on-table vui1) (on svb5 vui1) (on-table mkm4) (clear izj3)",
"(clear lwc2) (on-table lwc2) (on-table vui1) (clear mkm4) (on svb5 vui1) (on-table mkm4) (holding izj3) (clear svb5)",
"(arm-empty) (on-table lwc2) (on-table vui1) (on izj3 lwc2) (clear mkm4) (on svb5 vui1) (on-table mkm4) (clear izj3) (clear svb5)",
"(on-table lwc2) (on-table vui1) (on izj3 lwc2) (clear mkm4) (holding svb5) (on-table mkm4) (clear izj3) (clear vui1)",
"(arm-empty) (on svb5 mkm4) (on-table lwc2) (on-table vui1) (on izj3 lwc2) (on-table mkm4) (clear izj3) (clear vui1) (clear svb5)",
"(holding vui1) (on svb5 mkm4) (on-table lwc2) (on izj3 lwc2) (on-table mkm4) (clear izj3) (clear svb5)",
"(on vui1 svb5) (arm-empty) (on svb5 mkm4) (on-table lwc2) (on izj3 lwc2) (on-table mkm4) (clear izj3) (clear vui1)"
] |
file_37663
|
GOAL: (clear jcm2) (on-table gtp4) (arm-empty) (on jcm2 gtp4) (clear zgb3) (on-table elh1) (clear elh1) (on-table zgb3)
|
GOAL: (clear jcm2) (on-table gtp4) (arm-empty) (on jcm2 gtp4) (clear zgb3) (on-table elh1) (clear elh1) (on-table zgb3)
STATE: (clear jcm2) (holding gtp4) (on-table elh1) (on zgb3 elh1) (on jcm2 zgb3)
|
[
[
"put-down gtp4"
],
[
"unstack jcm2 zgb3"
],
[
"stack jcm2 gtp4"
],
[
"unstack zgb3 elh1"
],
[
"put-down zgb3"
]
] |
[
"(on zgb3 elh1) (clear jcm2) (on-table gtp4) (clear gtp4) (on jcm2 zgb3) (arm-empty) (on-table elh1)",
"(clear gtp4) (on zgb3 elh1) (on-table elh1) (on-table gtp4) (holding jcm2) (clear zgb3)",
"(clear jcm2) (arm-empty) (on-table elh1) (on jcm2 gtp4) (on-table gtp4) (on zgb3 elh1) (clear zgb3)",
"(on jcm2 gtp4) (clear jcm2) (on-table elh1) (on-table gtp4) (holding zgb3) (clear elh1)",
"(clear jcm2) (on-table gtp4) (arm-empty) (on jcm2 gtp4) (clear zgb3) (on-table elh1) (clear elh1) (on-table zgb3)"
] |
file_100258
|
GOAL: (clear pfs2) (arm-empty) (on-table nfb5) (on amm4 nfb5) (on tkf1 amm4) (on pfs2 fgm3) (clear tkf1) (on-table fgm3)
|
GOAL: (clear pfs2) (arm-empty) (on-table nfb5) (on amm4 nfb5) (on tkf1 amm4) (on pfs2 fgm3) (clear tkf1) (on-table fgm3)
STATE: (holding tkf1) (clear pfs2) (on-table nfb5) (clear amm4) (on-table amm4) (on pfs2 nfb5) (clear fgm3) (on-table fgm3)
|
[
[
"put-down tkf1"
],
[
"pick-up fgm3"
],
[
"stack fgm3 tkf1"
],
[
"unstack pfs2 nfb5"
],
[
"put-down pfs2"
],
[
"pick-up amm4"
],
[
"stack amm4 nfb5"
],
[
"unstack fgm3 tkf1"
],
[
"put-down fgm3"
],
[
"pick-up pfs2"
],
[
"stack pfs2 fgm3"
],
[
"pick-up tkf1"
],
[
"stack tkf1 amm4"
]
] |
[
"(clear pfs2) (arm-empty) (on-table nfb5) (on-table tkf1) (clear amm4) (on-table amm4) (on pfs2 nfb5) (clear fgm3) (clear tkf1) (on-table fgm3)",
"(clear pfs2) (on-table nfb5) (on-table tkf1) (clear amm4) (on-table amm4) (on pfs2 nfb5) (holding fgm3) (clear tkf1)",
"(clear pfs2) (arm-empty) (on-table nfb5) (on-table tkf1) (clear amm4) (on-table amm4) (on fgm3 tkf1) (on pfs2 nfb5) (clear fgm3)",
"(on-table nfb5) (on-table tkf1) (clear amm4) (on-table amm4) (holding pfs2) (on fgm3 tkf1) (clear fgm3) (clear nfb5)",
"(clear pfs2) (arm-empty) (on-table pfs2) (on-table nfb5) (on-table tkf1) (clear amm4) (on-table amm4) (on fgm3 tkf1) (clear fgm3) (clear nfb5)",
"(clear pfs2) (on-table pfs2) (on-table nfb5) (on-table tkf1) (holding amm4) (on fgm3 tkf1) (clear fgm3) (clear nfb5)",
"(clear pfs2) (arm-empty) (on-table pfs2) (on-table nfb5) (on-table tkf1) (on amm4 nfb5) (clear amm4) (on fgm3 tkf1) (clear fgm3)",
"(clear pfs2) (on-table pfs2) (on-table nfb5) (on-table tkf1) (on amm4 nfb5) (clear amm4) (holding fgm3) (clear tkf1)",
"(clear pfs2) (arm-empty) (on-table pfs2) (on-table nfb5) (on-table tkf1) (on amm4 nfb5) (clear amm4) (clear fgm3) (clear tkf1) (on-table fgm3)",
"(on-table nfb5) (on-table tkf1) (on amm4 nfb5) (clear amm4) (holding pfs2) (clear fgm3) (clear tkf1) (on-table fgm3)",
"(clear pfs2) (arm-empty) (on-table nfb5) (on-table tkf1) (on amm4 nfb5) (clear amm4) (on pfs2 fgm3) (clear tkf1) (on-table fgm3)",
"(holding tkf1) (clear pfs2) (on-table nfb5) (on amm4 nfb5) (clear amm4) (on pfs2 fgm3) (on-table fgm3)",
"(clear pfs2) (arm-empty) (on-table nfb5) (on amm4 nfb5) (on tkf1 amm4) (on pfs2 fgm3) (clear tkf1) (on-table fgm3)"
] |
file_109093
|
GOAL: (on xpx1 oig5) (on-table oig5) (clear paf4) (on paf4 epy2) (on epy2 xpx1) (holding upb3)
|
GOAL: (on xpx1 oig5) (on-table oig5) (clear paf4) (on paf4 epy2) (on epy2 xpx1) (holding upb3)
STATE: (on xpx1 oig5) (clear epy2) (arm-empty) (on-table epy2) (on-table oig5) (clear paf4) (on-table paf4) (clear upb3) (clear xpx1) (on-table upb3)
|
[
[
"pick-up upb3"
],
[
"stack upb3 xpx1"
],
[
"pick-up paf4"
],
[
"stack paf4 epy2"
],
[
"unstack upb3 xpx1"
],
[
"put-down upb3"
],
[
"unstack paf4 epy2"
],
[
"stack paf4 upb3"
],
[
"pick-up epy2"
],
[
"stack epy2 xpx1"
],
[
"unstack paf4 upb3"
],
[
"stack paf4 epy2"
],
[
"pick-up upb3"
]
] |
[
"(on xpx1 oig5) (clear epy2) (on-table epy2) (on-table oig5) (clear paf4) (on-table paf4) (holding upb3) (clear xpx1)",
"(on xpx1 oig5) (clear epy2) (arm-empty) (on-table epy2) (on-table oig5) (clear paf4) (on-table paf4) (on upb3 xpx1) (clear upb3)",
"(on xpx1 oig5) (clear epy2) (on-table epy2) (on-table oig5) (holding paf4) (on upb3 xpx1) (clear upb3)",
"(on xpx1 oig5) (arm-empty) (on-table epy2) (on-table oig5) (clear paf4) (on upb3 xpx1) (on paf4 epy2) (clear upb3)",
"(on xpx1 oig5) (on-table epy2) (on-table oig5) (on paf4 epy2) (clear paf4) (holding upb3) (clear xpx1)",
"(on xpx1 oig5) (arm-empty) (on-table epy2) (on-table oig5) (clear paf4) (on paf4 epy2) (clear upb3) (clear xpx1) (on-table upb3)",
"(on xpx1 oig5) (clear epy2) (on-table epy2) (on-table oig5) (holding paf4) (clear upb3) (clear xpx1) (on-table upb3)",
"(on xpx1 oig5) (clear epy2) (arm-empty) (on-table epy2) (on-table oig5) (clear paf4) (on paf4 upb3) (clear xpx1) (on-table upb3)",
"(on xpx1 oig5) (on-table oig5) (clear paf4) (on paf4 upb3) (holding epy2) (clear xpx1) (on-table upb3)",
"(on xpx1 oig5) (clear epy2) (arm-empty) (on-table oig5) (clear paf4) (on paf4 upb3) (on epy2 xpx1) (on-table upb3)",
"(on xpx1 oig5) (clear epy2) (on-table oig5) (holding paf4) (on epy2 xpx1) (clear upb3) (on-table upb3)",
"(on xpx1 oig5) (arm-empty) (on-table oig5) (clear paf4) (on epy2 xpx1) (on paf4 epy2) (clear upb3) (on-table upb3)",
"(on xpx1 oig5) (on-table oig5) (clear paf4) (on paf4 epy2) (on epy2 xpx1) (holding upb3)"
] |
file_181023
|
GOAL: (on meo1 ozf3) (arm-empty) (on-table szu5) (on vja2 bgx4) (on bgx4 szu5) (on ozf3 vja2) (clear meo1)
|
GOAL: (on meo1 ozf3) (arm-empty) (on-table szu5) (on vja2 bgx4) (on bgx4 szu5) (on ozf3 vja2) (clear meo1)
STATE: (clear vja2) (on-table vja2) (on-table szu5) (holding bgx4) (on-table meo1) (on ozf3 meo1) (clear ozf3) (clear szu5)
|
[
[
"stack bgx4 szu5"
],
[
"pick-up vja2"
],
[
"stack vja2 bgx4"
],
[
"unstack ozf3 meo1"
],
[
"stack ozf3 vja2"
],
[
"pick-up meo1"
],
[
"stack meo1 ozf3"
]
] |
[
"(clear vja2) (arm-empty) (on-table vja2) (on-table szu5) (on bgx4 szu5) (on-table meo1) (clear bgx4) (on ozf3 meo1) (clear ozf3)",
"(on-table szu5) (on bgx4 szu5) (on-table meo1) (clear bgx4) (holding vja2) (on ozf3 meo1) (clear ozf3)",
"(arm-empty) (on-table szu5) (on bgx4 szu5) (on ozf3 meo1) (on vja2 bgx4) (clear vja2) (on-table meo1) (clear ozf3)",
"(clear vja2) (on-table szu5) (on bgx4 szu5) (on-table meo1) (on vja2 bgx4) (holding ozf3) (clear meo1)",
"(arm-empty) (on-table szu5) (on-table meo1) (on bgx4 szu5) (on ozf3 vja2) (on vja2 bgx4) (clear ozf3) (clear meo1)",
"(holding meo1) (on-table szu5) (on bgx4 szu5) (on ozf3 vja2) (on vja2 bgx4) (clear ozf3)",
"(on meo1 ozf3) (arm-empty) (on-table szu5) (on vja2 bgx4) (on bgx4 szu5) (on ozf3 vja2) (clear meo1)"
] |
file_216253
|
GOAL: (on fni4 ugv1) (arm-empty) (on-table sps5) (clear fni4) (on gxe2 egp3) (on ugv1 gxe2) (on-table egp3) (clear sps5)
|
GOAL: (on fni4 ugv1) (arm-empty) (on-table sps5) (clear fni4) (on gxe2 egp3) (on ugv1 gxe2) (on-table egp3) (clear sps5)
STATE: (holding ugv1) (on sps5 gxe2) (clear fni4) (on-table fni4) (on gxe2 egp3) (on-table egp3) (clear sps5)
|
[
[
"stack ugv1 fni4"
],
[
"unstack sps5 gxe2"
],
[
"put-down sps5"
],
[
"unstack ugv1 fni4"
],
[
"put-down ugv1"
],
[
"pick-up fni4"
],
[
"stack fni4 sps5"
],
[
"pick-up ugv1"
],
[
"stack ugv1 gxe2"
],
[
"unstack fni4 sps5"
],
[
"stack fni4 ugv1"
]
] |
[
"(arm-empty) (on sps5 gxe2) (on-table fni4) (on ugv1 fni4) (on gxe2 egp3) (clear ugv1) (on-table egp3) (clear sps5)",
"(clear gxe2) (holding sps5) (on-table fni4) (on ugv1 fni4) (on gxe2 egp3) (clear ugv1) (on-table egp3)",
"(arm-empty) (on-table sps5) (clear sps5) (clear gxe2) (on-table fni4) (on ugv1 fni4) (on gxe2 egp3) (clear ugv1) (on-table egp3)",
"(holding ugv1) (clear gxe2) (on-table sps5) (clear fni4) (on-table fni4) (on gxe2 egp3) (on-table egp3) (clear sps5)",
"(clear gxe2) (arm-empty) (on-table sps5) (on-table ugv1) (clear fni4) (on-table fni4) (on gxe2 egp3) (clear ugv1) (on-table egp3) (clear sps5)",
"(clear gxe2) (on-table sps5) (on-table ugv1) (holding fni4) (on gxe2 egp3) (clear ugv1) (on-table egp3) (clear sps5)",
"(clear gxe2) (arm-empty) (on-table sps5) (on-table ugv1) (on fni4 sps5) (clear fni4) (on gxe2 egp3) (clear ugv1) (on-table egp3)",
"(holding ugv1) (clear gxe2) (on-table sps5) (on fni4 sps5) (clear fni4) (on gxe2 egp3) (on-table egp3)",
"(arm-empty) (on-table sps5) (on fni4 sps5) (clear fni4) (on gxe2 egp3) (on ugv1 gxe2) (on-table egp3) (clear ugv1)",
"(on-table sps5) (holding fni4) (clear sps5) (on gxe2 egp3) (on ugv1 gxe2) (on-table egp3) (clear ugv1)",
"(on fni4 ugv1) (arm-empty) (on-table sps5) (clear fni4) (on gxe2 egp3) (on ugv1 gxe2) (on-table egp3) (clear sps5)"
] |
file_182135
|
GOAL: (on-table ybx1) (on aws5 llo2) (clear nay4) (on-table nay4) (on llo2 ybx1) (holding xzj3) (clear aws5)
|
GOAL: (on-table ybx1) (on aws5 llo2) (clear nay4) (on-table nay4) (on llo2 ybx1) (holding xzj3) (clear aws5)
STATE: (clear llo2) (arm-empty) (on-table llo2) (on-table aws5) (on-table ybx1) (clear nay4) (on-table nay4) (clear xzj3) (clear ybx1) (on-table xzj3) (clear aws5)
|
[
[
"pick-up llo2"
],
[
"stack llo2 ybx1"
],
[
"pick-up aws5"
],
[
"stack aws5 llo2"
],
[
"pick-up xzj3"
]
] |
[
"(on-table aws5) (on-table ybx1) (clear nay4) (on-table nay4) (holding llo2) (clear xzj3) (clear ybx1) (on-table xzj3) (clear aws5)",
"(clear llo2) (arm-empty) (on-table aws5) (on-table ybx1) (clear nay4) (on-table nay4) (on llo2 ybx1) (clear xzj3) (on-table xzj3) (clear aws5)",
"(clear llo2) (on-table ybx1) (clear nay4) (holding aws5) (on-table nay4) (on llo2 ybx1) (clear xzj3) (on-table xzj3)",
"(arm-empty) (on-table ybx1) (on aws5 llo2) (clear nay4) (on-table nay4) (on llo2 ybx1) (clear xzj3) (on-table xzj3) (clear aws5)",
"(on-table ybx1) (on aws5 llo2) (clear nay4) (on-table nay4) (on llo2 ybx1) (holding xzj3) (clear aws5)"
] |
file_20935
|
GOAL: (clear oqc2) (holding kzr5) (on-table ztk4) (on dlh1 ztk4) (on oqc2 ldj3) (clear dlh1) (on-table ldj3)
|
GOAL: (clear oqc2) (holding kzr5) (on-table ztk4) (on dlh1 ztk4) (on oqc2 ldj3) (clear dlh1) (on-table ldj3)
STATE: (clear oqc2) (on-table oqc2) (on-table kzr5) (on-table dlh1) (clear ztk4) (on-table ztk4) (holding ldj3) (clear dlh1) (clear kzr5)
|
[
[
"put-down ldj3"
],
[
"pick-up kzr5"
],
[
"stack kzr5 dlh1"
],
[
"pick-up oqc2"
],
[
"stack oqc2 ldj3"
],
[
"pick-up ztk4"
],
[
"stack ztk4 oqc2"
],
[
"unstack kzr5 dlh1"
],
[
"put-down kzr5"
],
[
"unstack ztk4 oqc2"
],
[
"put-down ztk4"
],
[
"pick-up dlh1"
],
[
"stack dlh1 ztk4"
],
[
"pick-up kzr5"
]
] |
[
"(clear oqc2) (arm-empty) (on-table oqc2) (on-table kzr5) (on-table dlh1) (clear ztk4) (on-table ztk4) (clear ldj3) (clear dlh1) (on-table ldj3) (clear kzr5)",
"(clear oqc2) (on-table oqc2) (on-table dlh1) (clear ztk4) (holding kzr5) (on-table ztk4) (clear ldj3) (clear dlh1) (on-table ldj3)",
"(clear oqc2) (arm-empty) (on-table oqc2) (on-table dlh1) (clear ztk4) (on kzr5 dlh1) (on-table ztk4) (clear ldj3) (on-table ldj3) (clear kzr5)",
"(on-table dlh1) (clear ztk4) (on kzr5 dlh1) (on-table ztk4) (holding oqc2) (clear ldj3) (on-table ldj3) (clear kzr5)",
"(clear oqc2) (arm-empty) (on-table dlh1) (clear ztk4) (on kzr5 dlh1) (on-table ztk4) (on oqc2 ldj3) (on-table ldj3) (clear kzr5)",
"(clear oqc2) (on-table dlh1) (holding ztk4) (on kzr5 dlh1) (on oqc2 ldj3) (on-table ldj3) (clear kzr5)",
"(arm-empty) (on-table dlh1) (clear ztk4) (on kzr5 dlh1) (on ztk4 oqc2) (on oqc2 ldj3) (on-table ldj3) (clear kzr5)",
"(on-table dlh1) (clear ztk4) (holding kzr5) (on ztk4 oqc2) (on oqc2 ldj3) (clear dlh1) (on-table ldj3)",
"(arm-empty) (on-table kzr5) (clear ztk4) (clear kzr5) (on-table dlh1) (on ztk4 oqc2) (on oqc2 ldj3) (clear dlh1) (on-table ldj3)",
"(clear oqc2) (on-table kzr5) (on-table dlh1) (holding ztk4) (on oqc2 ldj3) (clear dlh1) (on-table ldj3) (clear kzr5)",
"(clear oqc2) (arm-empty) (on-table kzr5) (on-table dlh1) (clear ztk4) (on-table ztk4) (on oqc2 ldj3) (clear dlh1) (on-table ldj3) (clear kzr5)",
"(holding dlh1) (clear oqc2) (on-table kzr5) (clear ztk4) (on-table ztk4) (on oqc2 ldj3) (on-table ldj3) (clear kzr5)",
"(clear oqc2) (arm-empty) (on-table kzr5) (on-table ztk4) (on dlh1 ztk4) (on oqc2 ldj3) (clear dlh1) (on-table ldj3) (clear kzr5)",
"(clear oqc2) (holding kzr5) (on-table ztk4) (on dlh1 ztk4) (on oqc2 ldj3) (clear dlh1) (on-table ldj3)"
] |
file_115811
|
GOAL: (on ldj4 tin1) (arm-empty) (on-table yzu2) (on-table doj5) (clear ldj4) (clear snd3) (on tin1 yzu2) (on-table snd3) (clear doj5)
|
GOAL: (on ldj4 tin1) (arm-empty) (on-table yzu2) (on-table doj5) (clear ldj4) (clear snd3) (on tin1 yzu2) (on-table snd3) (clear doj5)
STATE: (arm-empty) (on doj5 tin1) (on-table ldj4) (on yzu2 ldj4) (clear snd3) (on tin1 yzu2) (on-table snd3) (clear doj5)
|
[
[
"unstack doj5 tin1"
],
[
"put-down doj5"
],
[
"unstack tin1 yzu2"
],
[
"stack tin1 doj5"
],
[
"unstack yzu2 ldj4"
],
[
"stack yzu2 tin1"
],
[
"pick-up ldj4"
],
[
"stack ldj4 snd3"
],
[
"unstack yzu2 tin1"
],
[
"put-down yzu2"
],
[
"unstack tin1 doj5"
],
[
"stack tin1 yzu2"
],
[
"unstack ldj4 snd3"
],
[
"stack ldj4 tin1"
]
] |
[
"(holding doj5) (on-table ldj4) (on yzu2 ldj4) (clear snd3) (on tin1 yzu2) (clear tin1) (on-table snd3)",
"(arm-empty) (on-table doj5) (on yzu2 ldj4) (on tin1 yzu2) (clear doj5) (on-table ldj4) (clear snd3) (clear tin1) (on-table snd3)",
"(holding tin1) (clear yzu2) (on-table doj5) (on-table ldj4) (on yzu2 ldj4) (clear snd3) (on-table snd3) (clear doj5)",
"(on tin1 doj5) (clear yzu2) (arm-empty) (on-table doj5) (on-table ldj4) (on yzu2 ldj4) (clear snd3) (clear tin1) (on-table snd3)",
"(on tin1 doj5) (on-table doj5) (clear ldj4) (on-table ldj4) (holding yzu2) (clear snd3) (clear tin1) (on-table snd3)",
"(on tin1 doj5) (clear yzu2) (arm-empty) (on-table doj5) (clear ldj4) (on-table ldj4) (on yzu2 tin1) (clear snd3) (on-table snd3)",
"(on tin1 doj5) (clear yzu2) (on-table doj5) (holding ldj4) (on yzu2 tin1) (clear snd3) (on-table snd3)",
"(on tin1 doj5) (clear yzu2) (arm-empty) (on-table doj5) (clear ldj4) (on ldj4 snd3) (on yzu2 tin1) (on-table snd3)",
"(on tin1 doj5) (on-table doj5) (clear ldj4) (on ldj4 snd3) (holding yzu2) (clear tin1) (on-table snd3)",
"(on tin1 doj5) (arm-empty) (on-table yzu2) (on-table doj5) (clear ldj4) (clear yzu2) (on ldj4 snd3) (clear tin1) (on-table snd3)",
"(holding tin1) (clear yzu2) (on-table yzu2) (on-table doj5) (clear ldj4) (on ldj4 snd3) (on-table snd3) (clear doj5)",
"(arm-empty) (on-table yzu2) (on-table doj5) (clear ldj4) (on ldj4 snd3) (on tin1 yzu2) (clear tin1) (on-table snd3) (clear doj5)",
"(on-table yzu2) (on-table doj5) (holding ldj4) (clear snd3) (on tin1 yzu2) (clear tin1) (on-table snd3) (clear doj5)",
"(on ldj4 tin1) (arm-empty) (on-table yzu2) (on-table doj5) (clear ldj4) (clear snd3) (on tin1 yzu2) (on-table snd3) (clear doj5)"
] |
file_218780
|
GOAL: (arm-empty) (on-table spj2) (on-table wvq5) (on qvz1 spj2) (clear wvq5) (on nfq3 dby4) (on-table dby4) (clear nfq3) (clear qvz1)
|
GOAL: (arm-empty) (on-table spj2) (on-table wvq5) (on qvz1 spj2) (clear wvq5) (on nfq3 dby4) (on-table dby4) (clear nfq3) (clear qvz1)
STATE: (arm-empty) (on-table spj2) (clear dby4) (on wvq5 qvz1) (on-table dby4) (clear nfq3) (on qvz1 spj2) (on-table nfq3) (clear wvq5)
|
[
[
"pick-up nfq3"
],
[
"stack nfq3 dby4"
],
[
"unstack wvq5 qvz1"
],
[
"put-down wvq5"
]
] |
[
"(on-table spj2) (clear dby4) (on wvq5 qvz1) (on-table dby4) (on qvz1 spj2) (holding nfq3) (clear wvq5)",
"(on nfq3 dby4) (arm-empty) (on-table spj2) (on wvq5 qvz1) (on-table dby4) (clear nfq3) (on qvz1 spj2) (clear wvq5)",
"(on nfq3 dby4) (on-table spj2) (holding wvq5) (on-table dby4) (clear nfq3) (on qvz1 spj2) (clear qvz1)",
"(arm-empty) (on-table spj2) (on-table wvq5) (on qvz1 spj2) (clear wvq5) (on nfq3 dby4) (on-table dby4) (clear nfq3) (clear qvz1)"
] |
file_159122
|
GOAL: (clear yzv2) (on-table rkr1) (clear xvr4) (holding tfq5) (on-table xvr4) (on yzv2 hqb3) (clear rkr1) (on-table hqb3)
|
GOAL: (clear yzv2) (on-table rkr1) (clear xvr4) (holding tfq5) (on-table xvr4) (on yzv2 hqb3) (clear rkr1) (on-table hqb3)
STATE: (holding rkr1) (clear yzv2) (on-table tfq5) (on-table xvr4) (on yzv2 xvr4) (clear hqb3) (on-table hqb3) (clear tfq5)
|
[
[
"stack rkr1 hqb3"
],
[
"pick-up tfq5"
],
[
"stack tfq5 rkr1"
],
[
"unstack yzv2 xvr4"
],
[
"put-down yzv2"
],
[
"unstack tfq5 rkr1"
],
[
"stack tfq5 xvr4"
],
[
"unstack rkr1 hqb3"
],
[
"stack rkr1 tfq5"
],
[
"pick-up yzv2"
],
[
"stack yzv2 hqb3"
],
[
"unstack rkr1 tfq5"
],
[
"put-down rkr1"
],
[
"unstack tfq5 xvr4"
]
] |
[
"(clear yzv2) (on rkr1 hqb3) (arm-empty) (on-table tfq5) (on-table xvr4) (on yzv2 xvr4) (clear rkr1) (on-table hqb3) (clear tfq5)",
"(clear yzv2) (on rkr1 hqb3) (holding tfq5) (on-table xvr4) (on yzv2 xvr4) (clear rkr1) (on-table hqb3)",
"(clear yzv2) (on rkr1 hqb3) (arm-empty) (on tfq5 rkr1) (on-table xvr4) (on yzv2 xvr4) (on-table hqb3) (clear tfq5)",
"(on rkr1 hqb3) (clear xvr4) (on tfq5 rkr1) (on-table xvr4) (holding yzv2) (on-table hqb3) (clear tfq5)",
"(on rkr1 hqb3) (arm-empty) (on-table yzv2) (clear xvr4) (clear tfq5) (clear yzv2) (on tfq5 rkr1) (on-table xvr4) (on-table hqb3)",
"(clear yzv2) (on rkr1 hqb3) (on-table yzv2) (clear xvr4) (holding tfq5) (on-table xvr4) (clear rkr1) (on-table hqb3)",
"(clear yzv2) (on rkr1 hqb3) (on tfq5 xvr4) (on-table yzv2) (arm-empty) (on-table xvr4) (clear rkr1) (on-table hqb3) (clear tfq5)",
"(holding rkr1) (clear yzv2) (on tfq5 xvr4) (on-table yzv2) (on-table xvr4) (clear hqb3) (on-table hqb3) (clear tfq5)",
"(on rkr1 tfq5) (clear yzv2) (arm-empty) (on tfq5 xvr4) (on-table yzv2) (on-table xvr4) (clear hqb3) (clear rkr1) (on-table hqb3)",
"(on rkr1 tfq5) (on tfq5 xvr4) (on-table xvr4) (holding yzv2) (clear hqb3) (clear rkr1) (on-table hqb3)",
"(on rkr1 tfq5) (clear yzv2) (arm-empty) (on tfq5 xvr4) (on-table xvr4) (on yzv2 hqb3) (clear rkr1) (on-table hqb3)",
"(holding rkr1) (clear yzv2) (on tfq5 xvr4) (on-table xvr4) (on yzv2 hqb3) (on-table hqb3) (clear tfq5)",
"(arm-empty) (on tfq5 xvr4) (clear tfq5) (clear yzv2) (on-table rkr1) (on-table xvr4) (on yzv2 hqb3) (clear rkr1) (on-table hqb3)",
"(clear yzv2) (on-table rkr1) (clear xvr4) (holding tfq5) (on-table xvr4) (on yzv2 hqb3) (clear rkr1) (on-table hqb3)"
] |
file_165578
|
GOAL: (on jqg1 ljp5) (clear ppn2) (arm-empty) (on ljp5 rgf4) (on rgf4 owd3) (on ppn2 jqg1) (on-table owd3)
|
GOAL: (on jqg1 ljp5) (clear ppn2) (arm-empty) (on ljp5 rgf4) (on rgf4 owd3) (on ppn2 jqg1) (on-table owd3)
STATE: (on owd3 rgf4) (arm-empty) (on-table ppn2) (on-table ljp5) (on-table jqg1) (on rgf4 ppn2) (clear owd3) (clear jqg1) (clear ljp5)
|
[
[
"unstack owd3 rgf4"
],
[
"put-down owd3"
],
[
"unstack rgf4 ppn2"
],
[
"stack rgf4 owd3"
],
[
"pick-up jqg1"
],
[
"stack jqg1 ppn2"
],
[
"pick-up ljp5"
],
[
"stack ljp5 rgf4"
],
[
"unstack jqg1 ppn2"
],
[
"stack jqg1 ljp5"
],
[
"pick-up ppn2"
],
[
"stack ppn2 jqg1"
]
] |
[
"(on-table ppn2) (on-table ljp5) (on-table jqg1) (clear rgf4) (on rgf4 ppn2) (holding owd3) (clear jqg1) (clear ljp5)",
"(arm-empty) (on-table ppn2) (on-table ljp5) (on-table jqg1) (clear rgf4) (on rgf4 ppn2) (clear owd3) (clear jqg1) (on-table owd3) (clear ljp5)",
"(clear ppn2) (on-table ppn2) (on-table ljp5) (on-table jqg1) (holding rgf4) (clear owd3) (clear jqg1) (on-table owd3) (clear ljp5)",
"(clear ppn2) (arm-empty) (on-table ppn2) (on-table ljp5) (on-table jqg1) (clear rgf4) (on rgf4 owd3) (clear jqg1) (on-table owd3) (clear ljp5)",
"(holding jqg1) (clear ppn2) (on-table ppn2) (on-table ljp5) (clear rgf4) (on rgf4 owd3) (on-table owd3) (clear ljp5)",
"(arm-empty) (on-table ppn2) (on-table ljp5) (clear rgf4) (on rgf4 owd3) (on jqg1 ppn2) (clear jqg1) (on-table owd3) (clear ljp5)",
"(on-table ppn2) (clear rgf4) (on rgf4 owd3) (holding ljp5) (on jqg1 ppn2) (clear jqg1) (on-table owd3)",
"(arm-empty) (on ljp5 rgf4) (on-table ppn2) (on rgf4 owd3) (on jqg1 ppn2) (clear jqg1) (on-table owd3) (clear ljp5)",
"(holding jqg1) (clear ppn2) (on ljp5 rgf4) (on-table ppn2) (on rgf4 owd3) (on-table owd3) (clear ljp5)",
"(on jqg1 ljp5) (clear ppn2) (arm-empty) (on ljp5 rgf4) (on-table ppn2) (on rgf4 owd3) (clear jqg1) (on-table owd3)",
"(on jqg1 ljp5) (on ljp5 rgf4) (on rgf4 owd3) (holding ppn2) (clear jqg1) (on-table owd3)",
"(on jqg1 ljp5) (clear ppn2) (arm-empty) (on ljp5 rgf4) (on rgf4 owd3) (on ppn2 jqg1) (on-table owd3)"
] |
file_221269
|
GOAL: (holding kzz1) (clear lbn2) (on jyt3 yvr5) (on-table lbn2) (on-table yvr5) (clear lif4) (on-table lif4) (clear jyt3)
|
GOAL: (holding kzz1) (clear lbn2) (on jyt3 yvr5) (on-table lbn2) (on-table yvr5) (clear lif4) (on-table lif4) (clear jyt3)
STATE: (on jyt3 lif4) (clear lbn2) (arm-empty) (on-table lbn2) (on-table yvr5) (on-table kzz1) (on-table lif4) (clear jyt3) (clear kzz1) (clear yvr5)
|
[
[
"pick-up lbn2"
],
[
"stack lbn2 yvr5"
],
[
"pick-up kzz1"
],
[
"stack kzz1 lbn2"
],
[
"unstack jyt3 lif4"
],
[
"put-down jyt3"
],
[
"unstack kzz1 lbn2"
],
[
"stack kzz1 lif4"
],
[
"unstack lbn2 yvr5"
],
[
"put-down lbn2"
],
[
"pick-up jyt3"
],
[
"stack jyt3 yvr5"
],
[
"unstack kzz1 lif4"
]
] |
[
"(on jyt3 lif4) (on-table yvr5) (on-table kzz1) (on-table lif4) (holding lbn2) (clear jyt3) (clear kzz1) (clear yvr5)",
"(on jyt3 lif4) (clear lbn2) (arm-empty) (on-table yvr5) (on-table kzz1) (on-table lif4) (on lbn2 yvr5) (clear jyt3) (clear kzz1)",
"(holding kzz1) (on jyt3 lif4) (clear lbn2) (on-table yvr5) (on-table lif4) (on lbn2 yvr5) (clear jyt3)",
"(on jyt3 lif4) (arm-empty) (on-table yvr5) (on-table lif4) (on lbn2 yvr5) (clear jyt3) (on kzz1 lbn2) (clear kzz1)",
"(on-table yvr5) (clear lif4) (on-table lif4) (on lbn2 yvr5) (on kzz1 lbn2) (clear kzz1) (holding jyt3)",
"(arm-empty) (on-table yvr5) (clear lif4) (on lbn2 yvr5) (on kzz1 lbn2) (on-table lif4) (clear jyt3) (clear kzz1) (on-table jyt3)",
"(holding kzz1) (clear lbn2) (on-table yvr5) (clear lif4) (on-table lif4) (on lbn2 yvr5) (clear jyt3) (on-table jyt3)",
"(clear lbn2) (arm-empty) (on-table yvr5) (on-table lif4) (on kzz1 lif4) (on lbn2 yvr5) (clear jyt3) (clear kzz1) (on-table jyt3)",
"(on-table yvr5) (holding lbn2) (on-table lif4) (on kzz1 lif4) (clear jyt3) (clear kzz1) (on-table jyt3) (clear yvr5)",
"(clear lbn2) (arm-empty) (on-table lbn2) (on-table yvr5) (clear yvr5) (on-table lif4) (clear jyt3) (on kzz1 lif4) (on-table jyt3) (clear kzz1)",
"(clear lbn2) (on-table lbn2) (on-table yvr5) (on-table lif4) (on kzz1 lif4) (holding jyt3) (clear kzz1) (clear yvr5)",
"(clear lbn2) (on jyt3 yvr5) (arm-empty) (on-table lbn2) (on-table yvr5) (on-table lif4) (on kzz1 lif4) (clear jyt3) (clear kzz1)",
"(holding kzz1) (clear lbn2) (on jyt3 yvr5) (on-table lbn2) (on-table yvr5) (clear lif4) (on-table lif4) (clear jyt3)"
] |
file_141667
|
GOAL: (arm-empty) (on-table fhh2) (on-table itl5) (clear mfr4) (on-table mfr4) (clear jxv3) (on dcq1 fhh2) (clear dcq1) (on-table jxv3) (clear itl5)
|
GOAL: (arm-empty) (on-table fhh2) (on-table itl5) (clear mfr4) (on-table mfr4) (clear jxv3) (on dcq1 fhh2) (clear dcq1) (on-table jxv3) (clear itl5)
STATE: (clear fhh2) (on mfr4 dcq1) (arm-empty) (on-table itl5) (on-table dcq1) (on fhh2 mfr4) (clear jxv3) (on-table jxv3) (clear itl5)
|
[
[
"unstack fhh2 mfr4"
],
[
"put-down fhh2"
],
[
"unstack mfr4 dcq1"
],
[
"put-down mfr4"
],
[
"pick-up dcq1"
],
[
"stack dcq1 fhh2"
]
] |
[
"(on mfr4 dcq1) (on-table itl5) (on-table dcq1) (clear mfr4) (holding fhh2) (clear jxv3) (on-table jxv3) (clear itl5)",
"(clear fhh2) (on mfr4 dcq1) (arm-empty) (on-table fhh2) (on-table itl5) (on-table dcq1) (clear mfr4) (clear jxv3) (on-table jxv3) (clear itl5)",
"(clear fhh2) (on-table fhh2) (on-table itl5) (on-table dcq1) (holding mfr4) (clear jxv3) (clear dcq1) (on-table jxv3) (clear itl5)",
"(clear fhh2) (arm-empty) (on-table fhh2) (on-table itl5) (on-table dcq1) (clear mfr4) (on-table mfr4) (clear jxv3) (clear dcq1) (on-table jxv3) (clear itl5)",
"(holding dcq1) (clear fhh2) (on-table fhh2) (on-table itl5) (clear mfr4) (on-table mfr4) (clear jxv3) (on-table jxv3) (clear itl5)",
"(arm-empty) (on-table fhh2) (on-table itl5) (clear mfr4) (on-table mfr4) (clear jxv3) (on dcq1 fhh2) (clear dcq1) (on-table jxv3) (clear itl5)"
] |
file_39359
|
GOAL: (clear krg2) (on-table ors1) (clear gsm4) (holding gpr5) (on-table gsm4) (on krg2 ors1) (clear gdv3) (on-table gdv3)
|
GOAL: (clear krg2) (on-table ors1) (clear gsm4) (holding gpr5) (on-table gsm4) (on krg2 ors1) (clear gdv3) (on-table gdv3)
STATE: (clear krg2) (on-table krg2) (on-table gpr5) (holding gsm4) (on-table ors1) (clear gdv3) (clear ors1) (on-table gdv3) (clear gpr5)
|
[
[
"stack gsm4 gdv3"
],
[
"pick-up krg2"
],
[
"stack krg2 ors1"
],
[
"unstack gsm4 gdv3"
],
[
"put-down gsm4"
],
[
"pick-up gpr5"
]
] |
[
"(clear krg2) (arm-empty) (on-table krg2) (on-table gpr5) (on-table ors1) (clear gsm4) (on gsm4 gdv3) (clear ors1) (on-table gdv3) (clear gpr5)",
"(on-table gpr5) (on-table ors1) (clear gsm4) (on gsm4 gdv3) (holding krg2) (clear ors1) (on-table gdv3) (clear gpr5)",
"(clear krg2) (arm-empty) (on-table gpr5) (on-table ors1) (clear gsm4) (on gsm4 gdv3) (on krg2 ors1) (on-table gdv3) (clear gpr5)",
"(clear krg2) (on-table gpr5) (on-table ors1) (holding gsm4) (on krg2 ors1) (clear gdv3) (on-table gdv3) (clear gpr5)",
"(clear krg2) (arm-empty) (on-table gpr5) (on-table ors1) (clear gsm4) (on-table gsm4) (on krg2 ors1) (clear gdv3) (on-table gdv3) (clear gpr5)",
"(clear krg2) (on-table ors1) (clear gsm4) (holding gpr5) (on-table gsm4) (on krg2 ors1) (clear gdv3) (on-table gdv3)"
] |
file_184204
|
GOAL: (on zqb3 psw5) (arm-empty) (on-table ggy2) (on-table lqz1) (clear yff4) (on psw5 lqz1) (on yff4 ggy2) (clear zqb3)
|
GOAL: (on zqb3 psw5) (arm-empty) (on-table ggy2) (on-table lqz1) (clear yff4) (on psw5 lqz1) (on yff4 ggy2) (clear zqb3)
STATE: (on zqb3 yff4) (on lqz1 zqb3) (arm-empty) (on-table ggy2) (on psw5 lqz1) (on yff4 ggy2) (clear psw5)
|
[
[
"unstack psw5 lqz1"
],
[
"put-down psw5"
],
[
"unstack lqz1 zqb3"
],
[
"put-down lqz1"
],
[
"pick-up psw5"
],
[
"stack psw5 lqz1"
],
[
"unstack zqb3 yff4"
],
[
"stack zqb3 psw5"
]
] |
[
"(on lqz1 zqb3) (on-table ggy2) (holding psw5) (on zqb3 yff4) (on yff4 ggy2) (clear lqz1)",
"(on lqz1 zqb3) (arm-empty) (on-table ggy2) (on-table psw5) (clear psw5) (on zqb3 yff4) (on yff4 ggy2) (clear lqz1)",
"(holding lqz1) (on zqb3 yff4) (on-table ggy2) (on-table psw5) (on yff4 ggy2) (clear zqb3) (clear psw5)",
"(arm-empty) (on-table ggy2) (on-table psw5) (clear psw5) (on zqb3 yff4) (on-table lqz1) (on yff4 ggy2) (clear zqb3) (clear lqz1)",
"(on zqb3 yff4) (on-table ggy2) (on-table lqz1) (holding psw5) (on yff4 ggy2) (clear zqb3) (clear lqz1)",
"(on zqb3 yff4) (arm-empty) (on-table ggy2) (on-table lqz1) (on psw5 lqz1) (on yff4 ggy2) (clear zqb3) (clear psw5)",
"(on-table ggy2) (on-table lqz1) (clear yff4) (on psw5 lqz1) (on yff4 ggy2) (holding zqb3) (clear psw5)",
"(on zqb3 psw5) (arm-empty) (on-table ggy2) (on-table lqz1) (clear yff4) (on psw5 lqz1) (on yff4 ggy2) (clear zqb3)"
] |
file_191708
|
GOAL: (on-table spo5) (on sex1 xmm4) (on xmm4 gsu2) (on gsu2 spo5) (holding jwo3) (clear sex1)
|
GOAL: (on-table spo5) (on sex1 xmm4) (on xmm4 gsu2) (on gsu2 spo5) (holding jwo3) (clear sex1)
STATE: (holding sex1) (on-table spo5) (clear xmm4) (on xmm4 gsu2) (on gsu2 spo5) (clear jwo3) (on-table jwo3)
|
[
[
"stack sex1 xmm4"
],
[
"pick-up jwo3"
]
] |
[
"(arm-empty) (on-table spo5) (on sex1 xmm4) (on xmm4 gsu2) (on gsu2 spo5) (clear jwo3) (clear sex1) (on-table jwo3)",
"(on-table spo5) (on sex1 xmm4) (on xmm4 gsu2) (on gsu2 spo5) (holding jwo3) (clear sex1)"
] |
file_75067
|
GOAL: (arm-empty) (on-table htx2) (clear vyw4) (on vyw4 rjw3) (on tzn1 htx2) (clear tzn1) (on-table rjw3)
|
GOAL: (arm-empty) (on-table htx2) (clear vyw4) (on vyw4 rjw3) (on tzn1 htx2) (clear tzn1) (on-table rjw3)
STATE: (clear htx2) (holding vyw4) (on-table tzn1) (on htx2 rjw3) (clear tzn1) (on-table rjw3)
|
[
[
"stack vyw4 tzn1"
],
[
"unstack htx2 rjw3"
],
[
"put-down htx2"
],
[
"unstack vyw4 tzn1"
],
[
"stack vyw4 rjw3"
],
[
"pick-up tzn1"
],
[
"stack tzn1 htx2"
]
] |
[
"(clear htx2) (on vyw4 tzn1) (arm-empty) (on-table tzn1) (clear vyw4) (on htx2 rjw3) (on-table rjw3)",
"(on vyw4 tzn1) (clear vyw4) (on-table tzn1) (holding htx2) (clear rjw3) (on-table rjw3)",
"(on vyw4 tzn1) (arm-empty) (on-table htx2) (clear vyw4) (clear htx2) (on-table tzn1) (clear rjw3) (on-table rjw3)",
"(clear htx2) (on-table htx2) (on-table tzn1) (holding vyw4) (clear rjw3) (clear tzn1) (on-table rjw3)",
"(arm-empty) (on-table htx2) (clear vyw4) (clear htx2) (on-table tzn1) (on vyw4 rjw3) (clear tzn1) (on-table rjw3)",
"(holding tzn1) (clear htx2) (on-table htx2) (clear vyw4) (on vyw4 rjw3) (on-table rjw3)",
"(arm-empty) (on-table htx2) (clear vyw4) (on vyw4 rjw3) (on tzn1 htx2) (clear tzn1) (on-table rjw3)"
] |
file_108134
|
GOAL: (on wbx3 mln4) (clear wah2) (arm-empty) (on-table ndz1) (on-table mln4) (on wah2 ndz1) (clear wbx3)
|
GOAL: (on wbx3 mln4) (clear wah2) (arm-empty) (on-table ndz1) (on-table mln4) (on wah2 ndz1) (clear wbx3)
STATE: (on-table wah2) (clear mln4) (on-table mln4) (on ndz1 wah2) (clear ndz1) (holding wbx3)
|
[
[
"stack wbx3 mln4"
],
[
"unstack ndz1 wah2"
],
[
"put-down ndz1"
],
[
"pick-up wah2"
],
[
"stack wah2 ndz1"
]
] |
[
"(on wbx3 mln4) (arm-empty) (on-table wah2) (on-table mln4) (clear wbx3) (on ndz1 wah2) (clear ndz1)",
"(on-table wah2) (holding ndz1) (on wbx3 mln4) (clear wah2) (on-table mln4) (clear wbx3)",
"(arm-empty) (on-table wah2) (on wbx3 mln4) (clear wah2) (on-table ndz1) (on-table mln4) (clear wbx3) (clear ndz1)",
"(on wbx3 mln4) (on-table ndz1) (on-table mln4) (holding wah2) (clear wbx3) (clear ndz1)",
"(on wbx3 mln4) (clear wah2) (arm-empty) (on-table ndz1) (on-table mln4) (on wah2 ndz1) (clear wbx3)"
] |
file_212228
|
GOAL: (arm-empty) (on-table ksx2) (clear vgw4) (on-table ozm1) (on vgw4 ksx2) (clear gtx3) (clear ozm1) (on-table gtx3)
|
GOAL: (arm-empty) (on-table ksx2) (clear vgw4) (on-table ozm1) (on vgw4 ksx2) (clear gtx3) (clear ozm1) (on-table gtx3)
STATE: (clear ksx2) (on ozm1 gtx3) (holding vgw4) (on ksx2 ozm1) (on-table gtx3)
|
[
[
"put-down vgw4"
],
[
"unstack ksx2 ozm1"
],
[
"put-down ksx2"
],
[
"pick-up vgw4"
],
[
"stack vgw4 ksx2"
],
[
"unstack ozm1 gtx3"
],
[
"put-down ozm1"
]
] |
[
"(clear ksx2) (on ozm1 gtx3) (on-table vgw4) (arm-empty) (on ksx2 ozm1) (clear vgw4) (on-table gtx3)",
"(on ozm1 gtx3) (clear vgw4) (on-table vgw4) (holding ksx2) (clear ozm1) (on-table gtx3)",
"(on-table vgw4) (on ozm1 gtx3) (clear ksx2) (on-table ksx2) (arm-empty) (clear vgw4) (clear ozm1) (on-table gtx3)",
"(clear ksx2) (on ozm1 gtx3) (on-table ksx2) (holding vgw4) (clear ozm1) (on-table gtx3)",
"(on ozm1 gtx3) (arm-empty) (on-table ksx2) (on vgw4 ksx2) (clear vgw4) (clear ozm1) (on-table gtx3)",
"(on-table ksx2) (clear vgw4) (holding ozm1) (on vgw4 ksx2) (clear gtx3) (on-table gtx3)",
"(arm-empty) (on-table ksx2) (clear vgw4) (on-table ozm1) (on vgw4 ksx2) (clear gtx3) (clear ozm1) (on-table gtx3)"
] |
file_15054
|
GOAL: (arm-empty) (on-table zzs5) (clear mrf4) (on-table mrf4) (on vao3 kvb1) (on ucy2 zzs5) (clear vao3) (on kvb1 ucy2)
|
GOAL: (arm-empty) (on-table zzs5) (clear mrf4) (on-table mrf4) (on vao3 kvb1) (on ucy2 zzs5) (clear vao3) (on kvb1 ucy2)
STATE: (on vao3 mrf4) (clear ucy2) (on-table kvb1) (holding zzs5) (on-table mrf4) (on ucy2 vao3) (clear kvb1)
|
[
[
"put-down zzs5"
],
[
"unstack ucy2 vao3"
],
[
"stack ucy2 zzs5"
],
[
"pick-up kvb1"
],
[
"stack kvb1 ucy2"
],
[
"unstack vao3 mrf4"
],
[
"stack vao3 kvb1"
]
] |
[
"(arm-empty) (on-table zzs5) (clear zzs5) (on vao3 mrf4) (clear ucy2) (on-table kvb1) (on-table mrf4) (on ucy2 vao3) (clear kvb1)",
"(on vao3 mrf4) (on-table zzs5) (on-table kvb1) (on-table mrf4) (holding ucy2) (clear vao3) (clear kvb1) (clear zzs5)",
"(on vao3 mrf4) (clear ucy2) (arm-empty) (on-table zzs5) (on-table kvb1) (on-table mrf4) (on ucy2 zzs5) (clear vao3) (clear kvb1)",
"(holding kvb1) (on vao3 mrf4) (clear ucy2) (on-table zzs5) (on-table mrf4) (on ucy2 zzs5) (clear vao3)",
"(on vao3 mrf4) (arm-empty) (on-table zzs5) (on-table mrf4) (on ucy2 zzs5) (clear vao3) (on kvb1 ucy2) (clear kvb1)",
"(on-table zzs5) (clear mrf4) (on-table mrf4) (on ucy2 zzs5) (on kvb1 ucy2) (clear kvb1) (holding vao3)",
"(arm-empty) (on-table zzs5) (clear mrf4) (on-table mrf4) (on vao3 kvb1) (on ucy2 zzs5) (clear vao3) (on kvb1 ucy2)"
] |
file_125759
|
GOAL: (on zzj3 rzc5) (arm-empty) (on-table rdq2) (on rzc5 rdq2) (on oys4 zzj3) (on tzi1 oys4) (clear tzi1)
|
GOAL: (on zzj3 rzc5) (arm-empty) (on-table rdq2) (on rzc5 rdq2) (on oys4 zzj3) (on tzi1 oys4) (clear tzi1)
STATE: (on rzc5 oys4) (on-table tzi1) (on-table oys4) (holding rdq2) (clear zzj3) (clear tzi1) (on-table zzj3) (clear rzc5)
|
[
[
"put-down rdq2"
],
[
"unstack rzc5 oys4"
],
[
"stack rzc5 rdq2"
],
[
"pick-up zzj3"
],
[
"stack zzj3 rzc5"
],
[
"pick-up oys4"
],
[
"stack oys4 zzj3"
],
[
"pick-up tzi1"
],
[
"stack tzi1 oys4"
]
] |
[
"(clear rdq2) (arm-empty) (on rzc5 oys4) (on-table rdq2) (on-table tzi1) (on-table oys4) (clear zzj3) (clear tzi1) (on-table zzj3) (clear rzc5)",
"(clear rdq2) (on-table rdq2) (on-table tzi1) (clear oys4) (holding rzc5) (on-table oys4) (clear zzj3) (clear tzi1) (on-table zzj3)",
"(arm-empty) (on-table rdq2) (on-table tzi1) (on rzc5 rdq2) (clear oys4) (on-table oys4) (clear zzj3) (clear tzi1) (on-table zzj3) (clear rzc5)",
"(on-table rdq2) (on-table tzi1) (on rzc5 rdq2) (clear oys4) (on-table oys4) (holding zzj3) (clear tzi1) (clear rzc5)",
"(on zzj3 rzc5) (arm-empty) (on-table rdq2) (on-table tzi1) (on rzc5 rdq2) (clear oys4) (on-table oys4) (clear zzj3) (clear tzi1)",
"(on zzj3 rzc5) (on-table rdq2) (on-table tzi1) (holding oys4) (on rzc5 rdq2) (clear zzj3) (clear tzi1)",
"(on zzj3 rzc5) (arm-empty) (on-table rdq2) (on rzc5 rdq2) (clear oys4) (on-table tzi1) (on oys4 zzj3) (clear tzi1)",
"(holding tzi1) (on zzj3 rzc5) (on-table rdq2) (on rzc5 rdq2) (clear oys4) (on oys4 zzj3)",
"(on zzj3 rzc5) (arm-empty) (on-table rdq2) (on rzc5 rdq2) (on oys4 zzj3) (on tzi1 oys4) (clear tzi1)"
] |
file_34363
|
GOAL: (arm-empty) (on-table doa2) (on-table oyu5) (clear oyu5) (on tld1 igs4) (on igs4 doa2) (clear wxv3) (clear tld1) (on-table wxv3)
|
GOAL: (arm-empty) (on-table doa2) (on-table oyu5) (clear oyu5) (on tld1 igs4) (on igs4 doa2) (clear wxv3) (clear tld1) (on-table wxv3)
STATE: (on-table doa2) (holding oyu5) (on tld1 igs4) (on igs4 doa2) (clear wxv3) (clear tld1) (on-table wxv3)
|
[
[
"put-down oyu5"
]
] |
[
"(arm-empty) (on-table doa2) (on-table oyu5) (clear oyu5) (on tld1 igs4) (on igs4 doa2) (clear wxv3) (clear tld1) (on-table wxv3)"
] |
file_145277
|
GOAL: (arm-empty) (on-table usa2) (on-table mxy5) (on-table ede1) (clear kwy4) (on kwy4 usa2) (clear wsw3) (clear ede1) (on-table wsw3) (clear mxy5)
|
GOAL: (arm-empty) (on-table usa2) (on-table mxy5) (on-table ede1) (clear kwy4) (on kwy4 usa2) (clear wsw3) (clear ede1) (on-table wsw3) (clear mxy5)
STATE: (clear usa2) (on-table usa2) (holding kwy4) (on-table ede1) (on mxy5 wsw3) (on wsw3 ede1) (clear mxy5)
|
[
[
"stack kwy4 usa2"
],
[
"unstack mxy5 wsw3"
],
[
"put-down mxy5"
],
[
"unstack wsw3 ede1"
],
[
"put-down wsw3"
]
] |
[
"(arm-empty) (on-table usa2) (clear kwy4) (on mxy5 wsw3) (on wsw3 ede1) (clear mxy5) (on-table ede1) (on kwy4 usa2)",
"(on-table usa2) (on-table ede1) (on kwy4 usa2) (clear kwy4) (holding mxy5) (on wsw3 ede1) (clear wsw3)",
"(arm-empty) (on-table usa2) (on-table mxy5) (clear kwy4) (on wsw3 ede1) (clear mxy5) (on-table ede1) (on kwy4 usa2) (clear wsw3)",
"(on-table usa2) (on-table mxy5) (on-table ede1) (on kwy4 usa2) (clear kwy4) (holding wsw3) (clear ede1) (clear mxy5)",
"(arm-empty) (on-table usa2) (on-table mxy5) (on-table ede1) (clear kwy4) (on kwy4 usa2) (clear wsw3) (clear ede1) (on-table wsw3) (clear mxy5)"
] |
file_30343
|
GOAL: (on-table gbk5) (on tpq4 gbk5) (on-table inh1) (clear tpq4) (holding wdj2) (clear kbu3) (clear inh1) (on-table kbu3)
|
GOAL: (on-table gbk5) (on tpq4 gbk5) (on-table inh1) (clear tpq4) (holding wdj2) (clear kbu3) (clear inh1) (on-table kbu3)
STATE: (clear wdj2) (on-table gbk5) (holding tpq4) (on-table inh1) (on wdj2 inh1) (clear kbu3) (on-table kbu3) (clear gbk5)
|
[
[
"stack tpq4 gbk5"
],
[
"unstack wdj2 inh1"
]
] |
[
"(clear wdj2) (arm-empty) (on-table gbk5) (on tpq4 gbk5) (on-table inh1) (clear tpq4) (on wdj2 inh1) (clear kbu3) (on-table kbu3)",
"(on-table gbk5) (on tpq4 gbk5) (on-table inh1) (clear tpq4) (holding wdj2) (clear kbu3) (clear inh1) (on-table kbu3)"
] |
file_157851
|
GOAL: (clear rnr2) (on qik5 cym4) (on-table rnr2) (on-table sct1) (on-table cym4) (holding ara3) (clear sct1) (clear qik5)
|
GOAL: (clear rnr2) (on qik5 cym4) (on-table rnr2) (on-table sct1) (on-table cym4) (holding ara3) (clear sct1) (clear qik5)
STATE: (holding sct1) (on ara3 cym4) (on-table rnr2) (on cym4 qik5) (on qik5 rnr2) (clear ara3)
|
[
[
"put-down sct1"
],
[
"unstack ara3 cym4"
],
[
"stack ara3 sct1"
],
[
"unstack cym4 qik5"
],
[
"put-down cym4"
],
[
"unstack ara3 sct1"
],
[
"put-down ara3"
],
[
"unstack qik5 rnr2"
],
[
"stack qik5 cym4"
],
[
"pick-up ara3"
]
] |
[
"(arm-empty) (on-table rnr2) (on cym4 qik5) (on qik5 rnr2) (on ara3 cym4) (on-table sct1) (clear ara3) (clear sct1)",
"(on-table rnr2) (on cym4 qik5) (on-table sct1) (on qik5 rnr2) (clear cym4) (holding ara3) (clear sct1)",
"(arm-empty) (on-table rnr2) (on cym4 qik5) (on-table sct1) (on qik5 rnr2) (clear cym4) (on ara3 sct1) (clear ara3)",
"(on-table rnr2) (on-table sct1) (holding cym4) (on qik5 rnr2) (on ara3 sct1) (clear ara3) (clear qik5)",
"(arm-empty) (on-table rnr2) (on qik5 rnr2) (clear cym4) (on ara3 sct1) (clear qik5) (on-table sct1) (on-table cym4) (clear ara3)",
"(on-table rnr2) (on-table sct1) (on qik5 rnr2) (clear cym4) (on-table cym4) (holding ara3) (clear sct1) (clear qik5)",
"(arm-empty) (on-table rnr2) (on-table sct1) (on qik5 rnr2) (clear cym4) (on-table cym4) (clear ara3) (clear sct1) (on-table ara3) (clear qik5)",
"(clear rnr2) (on-table rnr2) (on-table sct1) (clear cym4) (holding qik5) (on-table cym4) (clear ara3) (clear sct1) (on-table ara3)",
"(clear rnr2) (arm-empty) (on qik5 cym4) (on-table rnr2) (on-table sct1) (on-table cym4) (clear ara3) (clear sct1) (on-table ara3) (clear qik5)",
"(clear rnr2) (on qik5 cym4) (on-table rnr2) (on-table sct1) (on-table cym4) (holding ara3) (clear sct1) (clear qik5)"
] |
file_101449
|
GOAL: (holding yvr2) (on zzy5 zmb3) (on-table vud4) (on wjt1 vud4) (clear wjt1) (on-table zmb3) (clear zzy5)
|
GOAL: (holding yvr2) (on zzy5 zmb3) (on-table vud4) (on wjt1 vud4) (clear wjt1) (on-table zmb3) (clear zzy5)
STATE: (arm-empty) (on zzy5 yvr2) (on-table vud4) (on wjt1 vud4) (on yvr2 wjt1) (clear zmb3) (on-table zmb3) (clear zzy5)
|
[
[
"unstack zzy5 yvr2"
],
[
"stack zzy5 zmb3"
],
[
"unstack yvr2 wjt1"
]
] |
[
"(clear yvr2) (holding zzy5) (on-table vud4) (on wjt1 vud4) (on yvr2 wjt1) (clear zmb3) (on-table zmb3)",
"(clear yvr2) (arm-empty) (on zzy5 zmb3) (on-table vud4) (on wjt1 vud4) (on yvr2 wjt1) (on-table zmb3) (clear zzy5)",
"(holding yvr2) (on zzy5 zmb3) (on-table vud4) (on wjt1 vud4) (clear wjt1) (on-table zmb3) (clear zzy5)"
] |
file_185112
|
GOAL: (arm-empty) (on-table jfw1) (on exj5 qdo2) (on qdo2 fdo4) (on-table fdo4) (on bjo3 jfw1) (clear bjo3) (clear exj5)
|
GOAL: (arm-empty) (on-table jfw1) (on exj5 qdo2) (on qdo2 fdo4) (on-table fdo4) (on bjo3 jfw1) (clear bjo3) (clear exj5)
STATE: (clear qdo2) (arm-empty) (on-table exj5) (on-table jfw1) (clear fdo4) (on-table fdo4) (on bjo3 jfw1) (on qdo2 bjo3) (clear exj5)
|
[
[
"pick-up exj5"
],
[
"stack exj5 fdo4"
],
[
"unstack qdo2 bjo3"
],
[
"put-down qdo2"
],
[
"unstack exj5 fdo4"
],
[
"stack exj5 bjo3"
],
[
"pick-up qdo2"
],
[
"stack qdo2 fdo4"
],
[
"unstack exj5 bjo3"
],
[
"put-down exj5"
],
[
"unstack bjo3 jfw1"
],
[
"put-down bjo3"
],
[
"pick-up exj5"
],
[
"stack exj5 qdo2"
],
[
"pick-up bjo3"
],
[
"stack bjo3 jfw1"
]
] |
[
"(clear qdo2) (on-table jfw1) (clear fdo4) (holding exj5) (on-table fdo4) (on bjo3 jfw1) (on qdo2 bjo3)",
"(clear qdo2) (arm-empty) (on exj5 fdo4) (on-table jfw1) (on-table fdo4) (on bjo3 jfw1) (on qdo2 bjo3) (clear exj5)",
"(on exj5 fdo4) (on-table jfw1) (on-table fdo4) (holding qdo2) (on bjo3 jfw1) (clear bjo3) (clear exj5)",
"(arm-empty) (on exj5 fdo4) (on-table qdo2) (on bjo3 jfw1) (clear exj5) (clear qdo2) (on-table jfw1) (on-table fdo4) (clear bjo3)",
"(clear qdo2) (on-table qdo2) (on-table jfw1) (clear fdo4) (holding exj5) (on-table fdo4) (on bjo3 jfw1) (clear bjo3)",
"(clear qdo2) (arm-empty) (on-table qdo2) (on-table jfw1) (clear fdo4) (on exj5 bjo3) (on-table fdo4) (on bjo3 jfw1) (clear exj5)",
"(on-table jfw1) (clear fdo4) (on exj5 bjo3) (on-table fdo4) (holding qdo2) (on bjo3 jfw1) (clear exj5)",
"(clear qdo2) (arm-empty) (on-table jfw1) (on qdo2 fdo4) (on exj5 bjo3) (on-table fdo4) (on bjo3 jfw1) (clear exj5)",
"(clear qdo2) (on-table jfw1) (on qdo2 fdo4) (holding exj5) (on-table fdo4) (on bjo3 jfw1) (clear bjo3)",
"(arm-empty) (on-table exj5) (on bjo3 jfw1) (on qdo2 fdo4) (clear exj5) (clear qdo2) (on-table jfw1) (on-table fdo4) (clear bjo3)",
"(clear qdo2) (on-table exj5) (on-table jfw1) (on qdo2 fdo4) (on-table fdo4) (holding bjo3) (clear jfw1) (clear exj5)",
"(clear qdo2) (arm-empty) (on-table exj5) (on-table jfw1) (on-table fdo4) (on qdo2 fdo4) (clear bjo3) (clear jfw1) (on-table bjo3) (clear exj5)",
"(clear qdo2) (on-table jfw1) (holding exj5) (on-table fdo4) (on qdo2 fdo4) (clear bjo3) (clear jfw1) (on-table bjo3)",
"(arm-empty) (on-table jfw1) (on exj5 qdo2) (on-table fdo4) (on qdo2 fdo4) (clear bjo3) (clear jfw1) (on-table bjo3) (clear exj5)",
"(on-table jfw1) (on exj5 qdo2) (on-table fdo4) (on qdo2 fdo4) (holding bjo3) (clear jfw1) (clear exj5)",
"(arm-empty) (on-table jfw1) (on exj5 qdo2) (on qdo2 fdo4) (on-table fdo4) (on bjo3 jfw1) (clear bjo3) (clear exj5)"
] |
file_11092
|
GOAL: (arm-empty) (on-table ava2) (on qld4 jpd5) (clear qld4) (on jpd5 yib3) (on yib3 rjk1) (on rjk1 ava2)
|
GOAL: (arm-empty) (on-table ava2) (on qld4 jpd5) (clear qld4) (on jpd5 yib3) (on yib3 rjk1) (on rjk1 ava2)
STATE: (on yib3 qld4) (clear ava2) (on rjk1 yib3) (arm-empty) (on-table ava2) (on jpd5 rjk1) (on-table qld4) (clear jpd5)
|
[
[
"unstack jpd5 rjk1"
],
[
"put-down jpd5"
],
[
"unstack rjk1 yib3"
],
[
"stack rjk1 ava2"
],
[
"unstack yib3 qld4"
],
[
"stack yib3 rjk1"
],
[
"pick-up jpd5"
],
[
"stack jpd5 yib3"
],
[
"pick-up qld4"
],
[
"stack qld4 jpd5"
]
] |
[
"(on yib3 qld4) (clear ava2) (on rjk1 yib3) (on-table ava2) (holding jpd5) (on-table qld4) (clear rjk1)",
"(on rjk1 yib3) (arm-empty) (on-table ava2) (on-table jpd5) (clear jpd5) (on yib3 qld4) (clear ava2) (on-table qld4) (clear rjk1)",
"(holding rjk1) (on yib3 qld4) (clear ava2) (on-table ava2) (on-table jpd5) (on-table qld4) (clear yib3) (clear jpd5)",
"(on yib3 qld4) (arm-empty) (on-table ava2) (on-table jpd5) (on-table qld4) (clear yib3) (on rjk1 ava2) (clear rjk1) (clear jpd5)",
"(on-table ava2) (on-table jpd5) (clear qld4) (on-table qld4) (on rjk1 ava2) (clear rjk1) (holding yib3) (clear jpd5)",
"(arm-empty) (on-table ava2) (on-table jpd5) (clear qld4) (on-table qld4) (on yib3 rjk1) (clear yib3) (on rjk1 ava2) (clear jpd5)",
"(on-table ava2) (clear qld4) (holding jpd5) (on-table qld4) (on yib3 rjk1) (clear yib3) (on rjk1 ava2)",
"(arm-empty) (on-table ava2) (clear qld4) (on jpd5 yib3) (on-table qld4) (on yib3 rjk1) (on rjk1 ava2) (clear jpd5)",
"(on-table ava2) (holding qld4) (on jpd5 yib3) (on yib3 rjk1) (on rjk1 ava2) (clear jpd5)",
"(arm-empty) (on-table ava2) (on qld4 jpd5) (clear qld4) (on jpd5 yib3) (on yib3 rjk1) (on rjk1 ava2)"
] |
file_3733
|
GOAL: (clear hfv4) (on-table ump1) (on hfv4 csw3) (holding hol2) (clear ump1) (on-table csw3)
|
GOAL: (clear hfv4) (on-table ump1) (on hfv4 csw3) (holding hol2) (clear ump1) (on-table csw3)
STATE: (clear hol2) (on-table ump1) (clear hfv4) (on-table hfv4) (on hol2 ump1) (holding csw3)
|
[
[
"put-down csw3"
],
[
"pick-up hfv4"
],
[
"stack hfv4 csw3"
],
[
"unstack hol2 ump1"
]
] |
[
"(clear hol2) (on-table hfv4) (arm-empty) (on-table ump1) (on hol2 ump1) (clear csw3) (clear hfv4) (on-table csw3)",
"(clear hol2) (on-table ump1) (holding hfv4) (on hol2 ump1) (clear csw3) (on-table csw3)",
"(on hfv4 csw3) (clear hol2) (arm-empty) (on-table ump1) (on hol2 ump1) (clear hfv4) (on-table csw3)",
"(clear hfv4) (on-table ump1) (on hfv4 csw3) (holding hol2) (clear ump1) (on-table csw3)"
] |
file_44940
|
GOAL: (clear hoa2) (arm-empty) (on eiv5 ryb4) (on-table bqx1) (on ryb4 gbd3) (on hoa2 bqx1) (on-table gbd3) (clear eiv5)
|
GOAL: (clear hoa2) (arm-empty) (on eiv5 ryb4) (on-table bqx1) (on ryb4 gbd3) (on hoa2 bqx1) (on-table gbd3) (clear eiv5)
STATE: (on-table eiv5) (on-table bqx1) (on ryb4 eiv5) (clear ryb4) (holding hoa2) (clear gbd3) (clear bqx1) (on-table gbd3)
|
[
[
"stack hoa2 bqx1"
],
[
"unstack ryb4 eiv5"
],
[
"stack ryb4 gbd3"
],
[
"pick-up eiv5"
],
[
"stack eiv5 ryb4"
]
] |
[
"(clear hoa2) (arm-empty) (on-table eiv5) (on-table bqx1) (on ryb4 eiv5) (clear ryb4) (on hoa2 bqx1) (clear gbd3) (on-table gbd3)",
"(clear hoa2) (on-table eiv5) (on-table bqx1) (holding ryb4) (on hoa2 bqx1) (clear gbd3) (on-table gbd3) (clear eiv5)",
"(clear hoa2) (arm-empty) (on-table eiv5) (on-table bqx1) (clear ryb4) (on ryb4 gbd3) (on hoa2 bqx1) (on-table gbd3) (clear eiv5)",
"(clear hoa2) (on-table bqx1) (clear ryb4) (on ryb4 gbd3) (holding eiv5) (on hoa2 bqx1) (on-table gbd3)",
"(clear hoa2) (arm-empty) (on eiv5 ryb4) (on-table bqx1) (on ryb4 gbd3) (on hoa2 bqx1) (on-table gbd3) (clear eiv5)"
] |
file_33163
|
GOAL: (on qxf1 idr3) (on mxo5 lni4) (on-table imh2) (arm-empty) (on idr3 imh2) (on-table lni4) (clear qxf1) (clear mxo5)
|
GOAL: (on qxf1 idr3) (on mxo5 lni4) (on-table imh2) (arm-empty) (on idr3 imh2) (on-table lni4) (clear qxf1) (clear mxo5)
STATE: (on qxf1 mxo5) (clear imh2) (arm-empty) (on mxo5 lni4) (on-table lni4) (on imh2 qxf1) (clear idr3) (on-table idr3)
|
[
[
"unstack imh2 qxf1"
],
[
"stack imh2 idr3"
],
[
"unstack qxf1 mxo5"
],
[
"put-down qxf1"
],
[
"unstack imh2 idr3"
],
[
"put-down imh2"
],
[
"pick-up idr3"
],
[
"stack idr3 imh2"
],
[
"pick-up qxf1"
],
[
"stack qxf1 idr3"
]
] |
[
"(on qxf1 mxo5) (on mxo5 lni4) (on-table lni4) (holding imh2) (clear idr3) (clear qxf1) (on-table idr3)",
"(on qxf1 mxo5) (clear imh2) (arm-empty) (on mxo5 lni4) (on-table lni4) (on imh2 idr3) (clear qxf1) (on-table idr3)",
"(holding qxf1) (clear imh2) (on mxo5 lni4) (on-table lni4) (on imh2 idr3) (on-table idr3) (clear mxo5)",
"(arm-empty) (on mxo5 lni4) (clear mxo5) (clear imh2) (on-table qxf1) (on-table lni4) (on imh2 idr3) (clear qxf1) (on-table idr3)",
"(on mxo5 lni4) (on-table qxf1) (on-table lni4) (holding imh2) (clear idr3) (clear qxf1) (on-table idr3) (clear mxo5)",
"(clear imh2) (arm-empty) (on mxo5 lni4) (on-table imh2) (on-table qxf1) (on-table lni4) (clear idr3) (clear qxf1) (on-table idr3) (clear mxo5)",
"(clear imh2) (on mxo5 lni4) (on-table imh2) (on-table qxf1) (on-table lni4) (holding idr3) (clear qxf1) (clear mxo5)",
"(arm-empty) (on mxo5 lni4) (on-table imh2) (on-table qxf1) (on idr3 imh2) (on-table lni4) (clear idr3) (clear qxf1) (clear mxo5)",
"(holding qxf1) (on mxo5 lni4) (on-table imh2) (on idr3 imh2) (on-table lni4) (clear idr3) (clear mxo5)",
"(on qxf1 idr3) (on mxo5 lni4) (on-table imh2) (arm-empty) (on idr3 imh2) (on-table lni4) (clear qxf1) (clear mxo5)"
] |
file_54059
|
GOAL: (on-table nly1) (clear uet4) (on-table uet4) (holding tnf2) (clear svz3) (clear nly1) (on-table svz3)
|
GOAL: (on-table nly1) (clear uet4) (on-table uet4) (holding tnf2) (clear svz3) (clear nly1) (on-table svz3)
STATE: (on-table nly1) (clear uet4) (on uet4 svz3) (holding tnf2) (clear nly1) (on-table svz3)
|
[
[
"stack tnf2 nly1"
],
[
"unstack uet4 svz3"
],
[
"put-down uet4"
],
[
"unstack tnf2 nly1"
]
] |
[
"(clear tnf2) (arm-empty) (on-table nly1) (clear uet4) (on uet4 svz3) (on tnf2 nly1) (on-table svz3)",
"(holding uet4) (clear tnf2) (on-table nly1) (on tnf2 nly1) (clear svz3) (on-table svz3)",
"(arm-empty) (clear uet4) (on tnf2 nly1) (clear tnf2) (on-table nly1) (on-table uet4) (clear svz3) (on-table svz3)",
"(on-table nly1) (clear uet4) (on-table uet4) (holding tnf2) (clear svz3) (clear nly1) (on-table svz3)"
] |
file_191219
|
GOAL: (on dot3 ide5) (arm-empty) (on-table vdi2) (clear xdo4) (on ide5 xzr1) (on-table xdo4) (clear dot3) (on xzr1 vdi2)
|
GOAL: (on dot3 ide5) (arm-empty) (on-table vdi2) (clear xdo4) (on ide5 xzr1) (on-table xdo4) (clear dot3) (on xzr1 vdi2)
STATE: (on dot3 xdo4) (clear vdi2) (arm-empty) (on xzr1 ide5) (on-table vdi2) (on ide5 dot3) (on-table xdo4) (clear xzr1)
|
[
[
"unstack xzr1 ide5"
],
[
"stack xzr1 vdi2"
],
[
"unstack ide5 dot3"
],
[
"stack ide5 xzr1"
],
[
"unstack dot3 xdo4"
],
[
"stack dot3 ide5"
]
] |
[
"(holding xzr1) (on dot3 xdo4) (clear vdi2) (on-table vdi2) (on ide5 dot3) (on-table xdo4) (clear ide5)",
"(on dot3 xdo4) (arm-empty) (on-table vdi2) (on ide5 dot3) (on-table xdo4) (on xzr1 vdi2) (clear xzr1) (clear ide5)",
"(on dot3 xdo4) (on-table vdi2) (holding ide5) (on-table xdo4) (clear dot3) (on xzr1 vdi2) (clear xzr1)",
"(on dot3 xdo4) (arm-empty) (on-table vdi2) (on ide5 xzr1) (on-table xdo4) (clear dot3) (on xzr1 vdi2) (clear ide5)",
"(on-table vdi2) (clear xdo4) (on ide5 xzr1) (on-table xdo4) (on xzr1 vdi2) (holding dot3) (clear ide5)",
"(on dot3 ide5) (arm-empty) (on-table vdi2) (clear xdo4) (on ide5 xzr1) (on-table xdo4) (clear dot3) (on xzr1 vdi2)"
] |
file_64562
|
GOAL: (arm-empty) (on lza5 fce4) (on-table fdb1) (on rcy3 fdb1) (on fce4 itu2) (on itu2 rcy3) (clear lza5)
|
GOAL: (arm-empty) (on lza5 fce4) (on-table fdb1) (on rcy3 fdb1) (on fce4 itu2) (on itu2 rcy3) (clear lza5)
STATE: (holding fdb1) (on lza5 fce4) (on rcy3 itu2) (on-table fce4) (on itu2 lza5) (clear rcy3)
|
[
[
"put-down fdb1"
],
[
"unstack rcy3 itu2"
],
[
"stack rcy3 fdb1"
],
[
"unstack itu2 lza5"
],
[
"stack itu2 rcy3"
],
[
"unstack lza5 fce4"
],
[
"put-down lza5"
],
[
"pick-up fce4"
],
[
"stack fce4 itu2"
],
[
"pick-up lza5"
],
[
"stack lza5 fce4"
]
] |
[
"(arm-empty) (on lza5 fce4) (on itu2 lza5) (on-table fdb1) (on rcy3 itu2) (on-table fce4) (clear rcy3) (clear fdb1)",
"(clear itu2) (on lza5 fce4) (on-table fdb1) (on-table fce4) (on itu2 lza5) (holding rcy3) (clear fdb1)",
"(clear itu2) (arm-empty) (on lza5 fce4) (on-table fdb1) (on-table fce4) (on rcy3 fdb1) (on itu2 lza5) (clear rcy3)",
"(on lza5 fce4) (on-table fdb1) (on-table fce4) (holding itu2) (on rcy3 fdb1) (clear rcy3) (clear lza5)",
"(clear itu2) (arm-empty) (on lza5 fce4) (on-table fdb1) (on-table fce4) (on rcy3 fdb1) (on itu2 rcy3) (clear lza5)",
"(clear itu2) (on-table fdb1) (clear fce4) (holding lza5) (on-table fce4) (on rcy3 fdb1) (on itu2 rcy3)",
"(arm-empty) (on-table lza5) (clear fce4) (on rcy3 fdb1) (clear lza5) (clear itu2) (on-table fdb1) (on-table fce4) (on itu2 rcy3)",
"(clear itu2) (on-table lza5) (on-table fdb1) (holding fce4) (on rcy3 fdb1) (on itu2 rcy3) (clear lza5)",
"(arm-empty) (on-table lza5) (on-table fdb1) (clear fce4) (on rcy3 fdb1) (on fce4 itu2) (on itu2 rcy3) (clear lza5)",
"(on-table fdb1) (clear fce4) (on rcy3 fdb1) (holding lza5) (on fce4 itu2) (on itu2 rcy3)",
"(arm-empty) (on lza5 fce4) (on-table fdb1) (on rcy3 fdb1) (on fce4 itu2) (on itu2 rcy3) (clear lza5)"
] |
file_40604
|
GOAL: (on rog1 hzb3) (on zjt4 rog1) (on-table uzi2) (on hzb3 uzi2) (clear zjt4) (holding ooq5)
|
GOAL: (on rog1 hzb3) (on zjt4 rog1) (on-table uzi2) (on hzb3 uzi2) (clear zjt4) (holding ooq5)
STATE: (clear uzi2) (arm-empty) (on-table ooq5) (on zjt4 ooq5) (on rog1 zjt4) (on hzb3 rog1) (on uzi2 hzb3)
|
[
[
"unstack uzi2 hzb3"
],
[
"put-down uzi2"
],
[
"unstack hzb3 rog1"
],
[
"stack hzb3 uzi2"
],
[
"unstack rog1 zjt4"
],
[
"stack rog1 hzb3"
],
[
"unstack zjt4 ooq5"
],
[
"stack zjt4 rog1"
],
[
"pick-up ooq5"
]
] |
[
"(on-table ooq5) (on zjt4 ooq5) (on hzb3 rog1) (on rog1 zjt4) (holding uzi2) (clear hzb3)",
"(clear uzi2) (arm-empty) (on-table uzi2) (on-table ooq5) (on hzb3 rog1) (on zjt4 ooq5) (clear hzb3) (on rog1 zjt4)",
"(clear uzi2) (on-table uzi2) (on-table ooq5) (on zjt4 ooq5) (on rog1 zjt4) (holding hzb3) (clear rog1)",
"(arm-empty) (on-table uzi2) (on-table ooq5) (on zjt4 ooq5) (on hzb3 uzi2) (on rog1 zjt4) (clear hzb3) (clear rog1)",
"(holding rog1) (on-table uzi2) (on-table ooq5) (on zjt4 ooq5) (on hzb3 uzi2) (clear zjt4) (clear hzb3)",
"(on rog1 hzb3) (arm-empty) (on-table uzi2) (on-table ooq5) (on zjt4 ooq5) (on hzb3 uzi2) (clear zjt4) (clear rog1)",
"(on rog1 hzb3) (on-table uzi2) (on-table ooq5) (holding zjt4) (on hzb3 uzi2) (clear rog1) (clear ooq5)",
"(on rog1 hzb3) (on zjt4 rog1) (on-table uzi2) (on-table ooq5) (arm-empty) (on hzb3 uzi2) (clear zjt4) (clear ooq5)",
"(on rog1 hzb3) (on zjt4 rog1) (on-table uzi2) (on hzb3 uzi2) (clear zjt4) (holding ooq5)"
] |
file_137158
|
GOAL: (on jpr1 dmf5) (arm-empty) (on-table idi2) (on srh3 idi2) (clear cqd4) (on dmf5 srh3) (on-table cqd4) (clear jpr1)
|
GOAL: (on jpr1 dmf5) (arm-empty) (on-table idi2) (on srh3 idi2) (clear cqd4) (on dmf5 srh3) (on-table cqd4) (clear jpr1)
STATE: (arm-empty) (on-table idi2) (on cqd4 dmf5) (on srh3 idi2) (on dmf5 srh3) (on jpr1 cqd4) (clear jpr1)
|
[
[
"unstack jpr1 cqd4"
],
[
"put-down jpr1"
],
[
"unstack cqd4 dmf5"
],
[
"put-down cqd4"
],
[
"pick-up jpr1"
],
[
"stack jpr1 dmf5"
]
] |
[
"(on-table idi2) (on cqd4 dmf5) (clear cqd4) (on dmf5 srh3) (holding jpr1) (on srh3 idi2)",
"(arm-empty) (on-table idi2) (on cqd4 dmf5) (clear cqd4) (on dmf5 srh3) (on-table jpr1) (on srh3 idi2) (clear jpr1)",
"(on-table idi2) (on-table jpr1) (holding cqd4) (on srh3 idi2) (on dmf5 srh3) (clear jpr1) (clear dmf5)",
"(arm-empty) (on-table idi2) (clear cqd4) (on dmf5 srh3) (clear dmf5) (on-table jpr1) (on srh3 idi2) (on-table cqd4) (clear jpr1)",
"(holding jpr1) (on-table idi2) (on srh3 idi2) (clear cqd4) (on dmf5 srh3) (on-table cqd4) (clear dmf5)",
"(on jpr1 dmf5) (arm-empty) (on-table idi2) (on srh3 idi2) (clear cqd4) (on dmf5 srh3) (on-table cqd4) (clear jpr1)"
] |
file_25016
|
GOAL: (on-table rai4) (clear osy2) (arm-empty) (on lhq1 rai4) (on scj3 lhq1) (on osy2 scj3)
|
GOAL: (on-table rai4) (clear osy2) (arm-empty) (on lhq1 rai4) (on scj3 lhq1) (on osy2 scj3)
STATE: (on rai4 lhq1) (on-table lhq1) (clear rai4) (holding osy2) (clear scj3) (on-table scj3)
|
[
[
"put-down osy2"
],
[
"pick-up scj3"
],
[
"stack scj3 osy2"
],
[
"unstack rai4 lhq1"
],
[
"put-down rai4"
],
[
"pick-up lhq1"
],
[
"stack lhq1 rai4"
],
[
"unstack scj3 osy2"
],
[
"stack scj3 lhq1"
],
[
"pick-up osy2"
],
[
"stack osy2 scj3"
]
] |
[
"(on rai4 lhq1) (arm-empty) (on-table osy2) (clear rai4) (clear osy2) (on-table lhq1) (clear scj3) (on-table scj3)",
"(clear osy2) (on rai4 lhq1) (on-table osy2) (on-table lhq1) (clear rai4) (holding scj3)",
"(on rai4 lhq1) (arm-empty) (on-table osy2) (on-table lhq1) (on scj3 osy2) (clear rai4) (clear scj3)",
"(on-table osy2) (holding rai4) (on-table lhq1) (on scj3 osy2) (clear scj3) (clear lhq1)",
"(arm-empty) (on-table osy2) (clear rai4) (on-table lhq1) (on scj3 osy2) (on-table rai4) (clear scj3) (clear lhq1)",
"(holding lhq1) (on-table osy2) (on scj3 osy2) (clear rai4) (on-table rai4) (clear scj3)",
"(arm-empty) (on-table osy2) (on scj3 osy2) (on-table rai4) (on lhq1 rai4) (clear scj3) (clear lhq1)",
"(on-table osy2) (clear osy2) (on-table rai4) (on lhq1 rai4) (holding scj3) (clear lhq1)",
"(clear osy2) (arm-empty) (on-table osy2) (on-table rai4) (on lhq1 rai4) (on scj3 lhq1) (clear scj3)",
"(on-table rai4) (on lhq1 rai4) (on scj3 lhq1) (clear scj3) (holding osy2)",
"(on-table rai4) (clear osy2) (arm-empty) (on lhq1 rai4) (on scj3 lhq1) (on osy2 scj3)"
] |
file_63204
|
GOAL: (on car1 wnh3) (on vty4 car1) (arm-empty) (on sdr5 frl2) (on frl2 vty4) (on-table wnh3) (clear sdr5)
|
GOAL: (on car1 wnh3) (on vty4 car1) (arm-empty) (on sdr5 frl2) (on frl2 vty4) (on-table wnh3) (clear sdr5)
STATE: (on wnh3 vty4) (arm-empty) (on-table sdr5) (on-table car1) (on vty4 frl2) (on frl2 sdr5) (clear wnh3) (clear car1)
|
[
[
"unstack wnh3 vty4"
],
[
"put-down wnh3"
],
[
"pick-up car1"
],
[
"stack car1 wnh3"
],
[
"unstack vty4 frl2"
],
[
"stack vty4 car1"
],
[
"unstack frl2 sdr5"
],
[
"stack frl2 vty4"
],
[
"pick-up sdr5"
],
[
"stack sdr5 frl2"
]
] |
[
"(on-table sdr5) (on-table car1) (clear vty4) (on vty4 frl2) (on frl2 sdr5) (holding wnh3) (clear car1)",
"(arm-empty) (on-table sdr5) (clear vty4) (on frl2 sdr5) (on-table car1) (on vty4 frl2) (clear wnh3) (clear car1) (on-table wnh3)",
"(holding car1) (on-table sdr5) (clear vty4) (on vty4 frl2) (on frl2 sdr5) (clear wnh3) (on-table wnh3)",
"(on car1 wnh3) (arm-empty) (on-table sdr5) (clear vty4) (on vty4 frl2) (on frl2 sdr5) (clear car1) (on-table wnh3)",
"(clear frl2) (on car1 wnh3) (on-table sdr5) (holding vty4) (on frl2 sdr5) (clear car1) (on-table wnh3)",
"(clear frl2) (on car1 wnh3) (on vty4 car1) (arm-empty) (on-table sdr5) (clear vty4) (on frl2 sdr5) (on-table wnh3)",
"(on car1 wnh3) (on vty4 car1) (on-table sdr5) (clear vty4) (holding frl2) (on-table wnh3) (clear sdr5)",
"(clear frl2) (on car1 wnh3) (on vty4 car1) (arm-empty) (on-table sdr5) (on frl2 vty4) (on-table wnh3) (clear sdr5)",
"(clear frl2) (on car1 wnh3) (on vty4 car1) (holding sdr5) (on frl2 vty4) (on-table wnh3)",
"(on car1 wnh3) (on vty4 car1) (arm-empty) (on sdr5 frl2) (on frl2 vty4) (on-table wnh3) (clear sdr5)"
] |
file_215090
|
GOAL: (holding jgj1) (clear vuh2) (on-table ykn5) (clear bhq4) (on bhq4 baz3) (on vuh2 ykn5) (on-table baz3)
|
GOAL: (holding jgj1) (clear vuh2) (on-table ykn5) (clear bhq4) (on bhq4 baz3) (on vuh2 ykn5) (on-table baz3)
STATE: (arm-empty) (on-table ykn5) (on jgj1 bhq4) (on bhq4 vuh2) (on vuh2 ykn5) (clear baz3) (clear jgj1) (on-table baz3)
|
[
[
"unstack jgj1 bhq4"
],
[
"put-down jgj1"
],
[
"unstack bhq4 vuh2"
],
[
"stack bhq4 baz3"
],
[
"pick-up jgj1"
]
] |
[
"(holding jgj1) (on-table ykn5) (clear bhq4) (on bhq4 vuh2) (on vuh2 ykn5) (clear baz3) (on-table baz3)",
"(arm-empty) (on-table ykn5) (clear bhq4) (on vuh2 ykn5) (on-table jgj1) (on bhq4 vuh2) (clear baz3) (clear jgj1) (on-table baz3)",
"(clear vuh2) (on-table ykn5) (on-table jgj1) (holding bhq4) (on vuh2 ykn5) (clear baz3) (clear jgj1) (on-table baz3)",
"(clear vuh2) (arm-empty) (on-table ykn5) (on-table jgj1) (clear bhq4) (on bhq4 baz3) (on vuh2 ykn5) (clear jgj1) (on-table baz3)",
"(holding jgj1) (clear vuh2) (on-table ykn5) (clear bhq4) (on bhq4 baz3) (on vuh2 ykn5) (on-table baz3)"
] |
file_72741
|
GOAL: (clear pyr2) (arm-empty) (on-table kyx5) (on euv4 kyx5) (on nqq1 euv4) (on pyr2 fxg3) (clear nqq1) (on-table fxg3)
|
GOAL: (clear pyr2) (arm-empty) (on-table kyx5) (on euv4 kyx5) (on nqq1 euv4) (on pyr2 fxg3) (clear nqq1) (on-table fxg3)
STATE: (on nqq1 fxg3) (on kyx5 euv4) (arm-empty) (on euv4 pyr2) (on pyr2 nqq1) (on-table fxg3) (clear kyx5)
|
[
[
"unstack kyx5 euv4"
],
[
"put-down kyx5"
],
[
"unstack euv4 pyr2"
],
[
"stack euv4 kyx5"
],
[
"unstack pyr2 nqq1"
],
[
"put-down pyr2"
],
[
"unstack nqq1 fxg3"
],
[
"stack nqq1 euv4"
],
[
"pick-up pyr2"
],
[
"stack pyr2 fxg3"
]
] |
[
"(on nqq1 fxg3) (clear euv4) (holding kyx5) (on pyr2 nqq1) (on euv4 pyr2) (on-table fxg3)",
"(on nqq1 fxg3) (arm-empty) (on-table kyx5) (clear euv4) (on pyr2 nqq1) (clear kyx5) (on euv4 pyr2) (on-table fxg3)",
"(clear pyr2) (on nqq1 fxg3) (on-table kyx5) (holding euv4) (on pyr2 nqq1) (on-table fxg3) (clear kyx5)",
"(clear pyr2) (on nqq1 fxg3) (arm-empty) (on euv4 kyx5) (on-table kyx5) (clear euv4) (on pyr2 nqq1) (on-table fxg3)",
"(on nqq1 fxg3) (on euv4 kyx5) (on-table kyx5) (clear euv4) (holding pyr2) (clear nqq1) (on-table fxg3)",
"(on nqq1 fxg3) (arm-empty) (on-table pyr2) (on-table kyx5) (on euv4 kyx5) (clear euv4) (clear pyr2) (clear nqq1) (on-table fxg3)",
"(holding nqq1) (clear pyr2) (on-table pyr2) (on-table kyx5) (on euv4 kyx5) (clear euv4) (clear fxg3) (on-table fxg3)",
"(clear pyr2) (arm-empty) (on-table pyr2) (on-table kyx5) (on euv4 kyx5) (on nqq1 euv4) (clear fxg3) (clear nqq1) (on-table fxg3)",
"(on-table kyx5) (on euv4 kyx5) (holding pyr2) (on nqq1 euv4) (clear fxg3) (clear nqq1) (on-table fxg3)",
"(clear pyr2) (arm-empty) (on-table kyx5) (on euv4 kyx5) (on nqq1 euv4) (on pyr2 fxg3) (clear nqq1) (on-table fxg3)"
] |
file_54738
|
GOAL: (on ngc1 fcb3) (arm-empty) (on-table kbo2) (on-table clb5) (clear clb5) (on fcb3 csp4) (clear kbo2) (on-table csp4) (clear ngc1)
|
GOAL: (on ngc1 fcb3) (arm-empty) (on-table kbo2) (on-table clb5) (clear clb5) (on fcb3 csp4) (clear kbo2) (on-table csp4) (clear ngc1)
STATE: (on fcb3 csp4) (on-table ngc1) (on clb5 fcb3) (on-table csp4) (holding kbo2) (clear ngc1) (clear clb5)
|
[
[
"put-down kbo2"
],
[
"unstack clb5 fcb3"
],
[
"stack clb5 kbo2"
],
[
"pick-up ngc1"
],
[
"stack ngc1 fcb3"
],
[
"unstack clb5 kbo2"
],
[
"put-down clb5"
]
] |
[
"(arm-empty) (on-table kbo2) (on clb5 fcb3) (clear clb5) (on fcb3 csp4) (clear kbo2) (on-table ngc1) (on-table csp4) (clear ngc1)",
"(on fcb3 csp4) (clear kbo2) (on-table kbo2) (on-table ngc1) (holding clb5) (on-table csp4) (clear fcb3) (clear ngc1)",
"(on fcb3 csp4) (arm-empty) (on-table kbo2) (on-table ngc1) (on clb5 kbo2) (on-table csp4) (clear fcb3) (clear ngc1) (clear clb5)",
"(holding ngc1) (on fcb3 csp4) (on-table kbo2) (on clb5 kbo2) (on-table csp4) (clear fcb3) (clear clb5)",
"(on fcb3 csp4) (on ngc1 fcb3) (arm-empty) (on-table kbo2) (on clb5 kbo2) (on-table csp4) (clear ngc1) (clear clb5)",
"(on fcb3 csp4) (clear kbo2) (on ngc1 fcb3) (on-table kbo2) (holding clb5) (on-table csp4) (clear ngc1)",
"(on ngc1 fcb3) (arm-empty) (on-table kbo2) (on-table clb5) (clear clb5) (on fcb3 csp4) (clear kbo2) (on-table csp4) (clear ngc1)"
] |
file_42430
|
GOAL: (on xfd3 bpd4) (clear iky2) (arm-empty) (on-table ofi5) (on-table abw1) (on-table bpd4) (on iky2 abw1) (clear xfd3) (clear ofi5)
|
GOAL: (on xfd3 bpd4) (clear iky2) (arm-empty) (on-table ofi5) (on-table abw1) (on-table bpd4) (on iky2 abw1) (clear xfd3) (clear ofi5)
STATE: (clear iky2) (on-table iky2) (on-table ofi5) (on-table abw1) (clear bpd4) (on-table bpd4) (holding xfd3) (clear abw1) (clear ofi5)
|
[
[
"stack xfd3 bpd4"
],
[
"pick-up abw1"
],
[
"stack abw1 xfd3"
],
[
"pick-up iky2"
],
[
"stack iky2 ofi5"
],
[
"unstack abw1 xfd3"
],
[
"put-down abw1"
],
[
"unstack iky2 ofi5"
],
[
"stack iky2 abw1"
]
] |
[
"(on xfd3 bpd4) (clear iky2) (arm-empty) (on-table iky2) (on-table ofi5) (on-table abw1) (on-table bpd4) (clear xfd3) (clear abw1) (clear ofi5)",
"(holding abw1) (on xfd3 bpd4) (clear iky2) (on-table iky2) (on-table ofi5) (on-table bpd4) (clear xfd3) (clear ofi5)",
"(on xfd3 bpd4) (clear iky2) (on abw1 xfd3) (arm-empty) (on-table iky2) (on-table ofi5) (on-table bpd4) (clear abw1) (clear ofi5)",
"(on xfd3 bpd4) (on abw1 xfd3) (on-table ofi5) (on-table bpd4) (holding iky2) (clear abw1) (clear ofi5)",
"(on xfd3 bpd4) (clear iky2) (on abw1 xfd3) (arm-empty) (on-table ofi5) (on-table bpd4) (on iky2 ofi5) (clear abw1)",
"(holding abw1) (on xfd3 bpd4) (clear iky2) (on-table ofi5) (on-table bpd4) (on iky2 ofi5) (clear xfd3)",
"(arm-empty) (on-table ofi5) (on iky2 ofi5) (on xfd3 bpd4) (clear iky2) (on-table abw1) (on-table bpd4) (clear xfd3) (clear abw1)",
"(on xfd3 bpd4) (on-table ofi5) (on-table abw1) (on-table bpd4) (holding iky2) (clear xfd3) (clear abw1) (clear ofi5)",
"(on xfd3 bpd4) (clear iky2) (arm-empty) (on-table ofi5) (on-table abw1) (on-table bpd4) (on iky2 abw1) (clear xfd3) (clear ofi5)"
] |
file_115859
|
GOAL: (holding ryu1) (on gvq3 sdt5) (clear ncc2) (on-table sdt5) (clear jpy4) (on-table jpy4) (on ncc2 gvq3)
|
GOAL: (holding ryu1) (on gvq3 sdt5) (clear ncc2) (on-table sdt5) (clear jpy4) (on-table jpy4) (on ncc2 gvq3)
STATE: (arm-empty) (on-table sdt5) (on-table ryu1) (on gvq3 ncc2) (clear jpy4) (on-table jpy4) (on ncc2 ryu1) (clear gvq3) (clear sdt5)
|
[
[
"unstack gvq3 ncc2"
],
[
"put-down gvq3"
],
[
"unstack ncc2 ryu1"
],
[
"stack ncc2 jpy4"
],
[
"pick-up gvq3"
],
[
"stack gvq3 sdt5"
],
[
"unstack ncc2 jpy4"
],
[
"stack ncc2 gvq3"
],
[
"pick-up ryu1"
]
] |
[
"(clear ncc2) (on-table sdt5) (on-table ryu1) (clear jpy4) (on-table jpy4) (on ncc2 ryu1) (holding gvq3) (clear sdt5)",
"(clear ncc2) (arm-empty) (on-table sdt5) (on-table ryu1) (clear jpy4) (on-table jpy4) (on ncc2 ryu1) (clear gvq3) (on-table gvq3) (clear sdt5)",
"(on-table sdt5) (on-table ryu1) (clear jpy4) (on-table jpy4) (holding ncc2) (clear gvq3) (clear ryu1) (on-table gvq3) (clear sdt5)",
"(clear ncc2) (arm-empty) (on-table sdt5) (on-table ryu1) (on-table jpy4) (on ncc2 jpy4) (clear gvq3) (clear ryu1) (on-table gvq3) (clear sdt5)",
"(clear ncc2) (on-table sdt5) (on-table ryu1) (on-table jpy4) (on ncc2 jpy4) (holding gvq3) (clear ryu1) (clear sdt5)",
"(clear ncc2) (on gvq3 sdt5) (arm-empty) (on-table sdt5) (on-table ryu1) (on-table jpy4) (on ncc2 jpy4) (clear gvq3) (clear ryu1)",
"(on gvq3 sdt5) (on-table sdt5) (on-table ryu1) (clear jpy4) (on-table jpy4) (holding ncc2) (clear gvq3) (clear ryu1)",
"(on gvq3 sdt5) (clear ncc2) (arm-empty) (on-table sdt5) (on-table ryu1) (clear jpy4) (on-table jpy4) (on ncc2 gvq3) (clear ryu1)",
"(holding ryu1) (on gvq3 sdt5) (clear ncc2) (on-table sdt5) (clear jpy4) (on-table jpy4) (on ncc2 gvq3)"
] |
file_10504
|
GOAL: (on gna3 vmd4) (clear odd2) (arm-empty) (on-table odd2) (on-table bny5) (on-table xog1) (on-table vmd4) (clear gna3) (clear xog1) (clear bny5)
|
GOAL: (on gna3 vmd4) (clear odd2) (arm-empty) (on-table odd2) (on-table bny5) (on-table xog1) (on-table vmd4) (clear gna3) (clear xog1) (clear bny5)
STATE: (on gna3 vmd4) (clear odd2) (on xog1 gna3) (holding bny5) (on-table vmd4) (on odd2 xog1)
|
[
[
"put-down bny5"
],
[
"unstack odd2 xog1"
],
[
"put-down odd2"
],
[
"unstack xog1 gna3"
],
[
"put-down xog1"
]
] |
[
"(on gna3 vmd4) (clear odd2) (on xog1 gna3) (arm-empty) (on-table vmd4) (on-table bny5) (on odd2 xog1) (clear bny5)",
"(on gna3 vmd4) (on xog1 gna3) (on-table bny5) (on-table vmd4) (holding odd2) (clear xog1) (clear bny5)",
"(on xog1 gna3) (arm-empty) (on-table odd2) (on-table bny5) (clear bny5) (on gna3 vmd4) (clear odd2) (on-table vmd4) (clear xog1)",
"(holding xog1) (on gna3 vmd4) (clear odd2) (on-table odd2) (on-table bny5) (on-table vmd4) (clear gna3) (clear bny5)",
"(on gna3 vmd4) (clear odd2) (arm-empty) (on-table odd2) (on-table bny5) (on-table xog1) (on-table vmd4) (clear gna3) (clear xog1) (clear bny5)"
] |
file_135203
|
GOAL: (on-table cwm1) (on gfo3 uvh2) (clear zrq4) (holding hrv5) (on-table zrq4) (on uvh2 cwm1) (clear gfo3)
|
GOAL: (on-table cwm1) (on gfo3 uvh2) (clear zrq4) (holding hrv5) (on-table zrq4) (on uvh2 cwm1) (clear gfo3)
STATE: (clear uvh2) (on-table hrv5) (on-table cwm1) (clear zrq4) (on-table zrq4) (on uvh2 cwm1) (holding gfo3) (clear hrv5)
|
[
[
"stack gfo3 uvh2"
],
[
"pick-up hrv5"
]
] |
[
"(arm-empty) (on-table hrv5) (on-table cwm1) (on gfo3 uvh2) (clear zrq4) (on-table zrq4) (on uvh2 cwm1) (clear gfo3) (clear hrv5)",
"(on-table cwm1) (on gfo3 uvh2) (clear zrq4) (holding hrv5) (on-table zrq4) (on uvh2 cwm1) (clear gfo3)"
] |
file_71712
|
GOAL: (arm-empty) (on-table vbg1) (clear ldn4) (on ldn4 bye2) (on bye2 vbg1) (clear dpn3) (on-table dpn3)
|
GOAL: (arm-empty) (on-table vbg1) (clear ldn4) (on ldn4 bye2) (on bye2 vbg1) (clear dpn3) (on-table dpn3)
STATE: (on vbg1 dpn3) (arm-empty) (on-table bye2) (on dpn3 bye2) (clear ldn4) (on-table ldn4) (clear vbg1)
|
[
[
"unstack vbg1 dpn3"
],
[
"put-down vbg1"
],
[
"pick-up ldn4"
],
[
"stack ldn4 vbg1"
],
[
"unstack dpn3 bye2"
],
[
"put-down dpn3"
],
[
"pick-up bye2"
],
[
"stack bye2 dpn3"
],
[
"unstack ldn4 vbg1"
],
[
"put-down ldn4"
],
[
"unstack bye2 dpn3"
],
[
"stack bye2 vbg1"
],
[
"pick-up ldn4"
],
[
"stack ldn4 bye2"
]
] |
[
"(on-table bye2) (clear ldn4) (holding vbg1) (on dpn3 bye2) (on-table ldn4) (clear dpn3)",
"(arm-empty) (on-table bye2) (clear ldn4) (on-table vbg1) (on dpn3 bye2) (on-table ldn4) (clear dpn3) (clear vbg1)",
"(on-table bye2) (on-table vbg1) (holding ldn4) (on dpn3 bye2) (clear dpn3) (clear vbg1)",
"(on ldn4 vbg1) (arm-empty) (on-table bye2) (on-table vbg1) (on dpn3 bye2) (clear ldn4) (clear dpn3)",
"(on ldn4 vbg1) (on-table bye2) (clear ldn4) (clear bye2) (on-table vbg1) (holding dpn3)",
"(clear bye2) (on ldn4 vbg1) (arm-empty) (on-table bye2) (on-table vbg1) (clear dpn3) (clear ldn4) (on-table dpn3)",
"(on ldn4 vbg1) (on-table vbg1) (clear ldn4) (holding bye2) (clear dpn3) (on-table dpn3)",
"(clear bye2) (on ldn4 vbg1) (arm-empty) (on-table vbg1) (clear ldn4) (on bye2 dpn3) (on-table dpn3)",
"(holding ldn4) (clear bye2) (on-table vbg1) (on bye2 dpn3) (clear vbg1) (on-table dpn3)",
"(arm-empty) (clear ldn4) (clear bye2) (on-table vbg1) (on-table ldn4) (on bye2 dpn3) (clear vbg1) (on-table dpn3)",
"(on-table vbg1) (clear ldn4) (on-table ldn4) (holding bye2) (clear dpn3) (clear vbg1) (on-table dpn3)",
"(clear bye2) (arm-empty) (on-table vbg1) (clear ldn4) (on-table ldn4) (on bye2 vbg1) (clear dpn3) (on-table dpn3)",
"(clear bye2) (on-table vbg1) (holding ldn4) (on bye2 vbg1) (clear dpn3) (on-table dpn3)",
"(arm-empty) (on-table vbg1) (clear ldn4) (on ldn4 bye2) (on bye2 vbg1) (clear dpn3) (on-table dpn3)"
] |
file_225182
|
GOAL: (on uay3 yht1) (on zrx4 uay3) (arm-empty) (clear zrx4) (on-table qvk2) (on yht1 qvk2)
|
GOAL: (on uay3 yht1) (on zrx4 uay3) (arm-empty) (clear zrx4) (on-table qvk2) (on yht1 qvk2)
STATE: (arm-empty) (on-table qvk2) (on-table yht1) (on uay3 qvk2) (clear zrx4) (on-table zrx4) (clear uay3) (clear yht1)
|
[
[
"unstack uay3 qvk2"
],
[
"stack uay3 zrx4"
],
[
"pick-up yht1"
],
[
"stack yht1 qvk2"
],
[
"unstack uay3 zrx4"
],
[
"stack uay3 yht1"
],
[
"pick-up zrx4"
],
[
"stack zrx4 uay3"
]
] |
[
"(clear qvk2) (on-table qvk2) (on-table yht1) (clear zrx4) (on-table zrx4) (holding uay3) (clear yht1)",
"(on uay3 zrx4) (clear qvk2) (arm-empty) (on-table qvk2) (on-table yht1) (on-table zrx4) (clear uay3) (clear yht1)",
"(holding yht1) (on uay3 zrx4) (clear qvk2) (on-table qvk2) (on-table zrx4) (clear uay3)",
"(on uay3 zrx4) (arm-empty) (on-table qvk2) (on-table zrx4) (clear uay3) (on yht1 qvk2) (clear yht1)",
"(on-table qvk2) (clear zrx4) (on yht1 qvk2) (on-table zrx4) (holding uay3) (clear yht1)",
"(arm-empty) (on-table qvk2) (clear zrx4) (on-table zrx4) (on uay3 yht1) (clear uay3) (on yht1 qvk2)",
"(holding zrx4) (on-table qvk2) (on uay3 yht1) (clear uay3) (on yht1 qvk2)",
"(on uay3 yht1) (on zrx4 uay3) (arm-empty) (clear zrx4) (on-table qvk2) (on yht1 qvk2)"
] |
file_66615
|
GOAL: (clear xmf2) (on kww1 vnl3) (on qml4 kww1) (arm-empty) (on xmf2 qml4) (on-table vnl3)
|
GOAL: (clear xmf2) (on kww1 vnl3) (on qml4 kww1) (arm-empty) (on xmf2 qml4) (on-table vnl3)
STATE: (clear xmf2) (arm-empty) (on-table kww1) (on qml4 vnl3) (on vnl3 kww1) (on xmf2 qml4)
|
[
[
"unstack xmf2 qml4"
],
[
"put-down xmf2"
],
[
"unstack qml4 vnl3"
],
[
"stack qml4 xmf2"
],
[
"unstack vnl3 kww1"
],
[
"put-down vnl3"
],
[
"pick-up kww1"
],
[
"stack kww1 vnl3"
],
[
"unstack qml4 xmf2"
],
[
"stack qml4 kww1"
],
[
"pick-up xmf2"
],
[
"stack xmf2 qml4"
]
] |
[
"(on qml4 vnl3) (on vnl3 kww1) (holding xmf2) (on-table kww1) (clear qml4)",
"(on qml4 vnl3) (clear xmf2) (arm-empty) (clear qml4) (on-table xmf2) (on vnl3 kww1) (on-table kww1)",
"(holding qml4) (on-table kww1) (clear xmf2) (on-table xmf2) (on vnl3 kww1) (clear vnl3)",
"(on vnl3 kww1) (arm-empty) (clear qml4) (on-table xmf2) (on qml4 xmf2) (clear vnl3) (on-table kww1)",
"(on-table xmf2) (clear qml4) (on-table kww1) (on qml4 xmf2) (holding vnl3) (clear kww1)",
"(on qml4 xmf2) (arm-empty) (on-table xmf2) (on-table kww1) (clear vnl3) (clear qml4) (clear kww1) (on-table vnl3)",
"(holding kww1) (on-table xmf2) (clear qml4) (on qml4 xmf2) (clear vnl3) (on-table vnl3)",
"(on kww1 vnl3) (arm-empty) (on-table xmf2) (clear qml4) (on qml4 xmf2) (clear kww1) (on-table vnl3)",
"(clear xmf2) (on kww1 vnl3) (on-table xmf2) (holding qml4) (clear kww1) (on-table vnl3)",
"(clear xmf2) (on kww1 vnl3) (on qml4 kww1) (on-table xmf2) (arm-empty) (clear qml4) (on-table vnl3)",
"(on kww1 vnl3) (on qml4 kww1) (clear qml4) (holding xmf2) (on-table vnl3)",
"(clear xmf2) (on kww1 vnl3) (on qml4 kww1) (arm-empty) (on xmf2 qml4) (on-table vnl3)"
] |
file_109270
|
GOAL: (clear fuz2) (on-table jdp1) (holding zpp4) (on kml5 jdp1) (on fuz2 twm3) (on-table twm3) (clear kml5)
|
GOAL: (clear fuz2) (on-table jdp1) (holding zpp4) (on kml5 jdp1) (on fuz2 twm3) (on-table twm3) (clear kml5)
STATE: (clear fuz2) (on-table jdp1) (clear zpp4) (on kml5 jdp1) (on-table zpp4) (on fuz2 kml5) (holding twm3)
|
[
[
"put-down twm3"
],
[
"unstack fuz2 kml5"
],
[
"stack fuz2 twm3"
],
[
"pick-up zpp4"
]
] |
[
"(arm-empty) (clear zpp4) (on fuz2 kml5) (clear fuz2) (on-table jdp1) (on kml5 jdp1) (on-table zpp4) (clear twm3) (on-table twm3)",
"(on-table jdp1) (clear zpp4) (on kml5 jdp1) (on-table zpp4) (holding fuz2) (clear twm3) (on-table twm3) (clear kml5)",
"(clear fuz2) (arm-empty) (on-table jdp1) (clear zpp4) (on kml5 jdp1) (on-table zpp4) (on fuz2 twm3) (on-table twm3) (clear kml5)",
"(clear fuz2) (on-table jdp1) (holding zpp4) (on kml5 jdp1) (on fuz2 twm3) (on-table twm3) (clear kml5)"
] |
file_22976
|
GOAL: (holding oam1) (on qgq3 uvi5) (on uvi5 ged4) (on-table yfl2) (on ged4 yfl2) (clear qgq3)
|
GOAL: (holding oam1) (on qgq3 uvi5) (on uvi5 ged4) (on-table yfl2) (on ged4 yfl2) (clear qgq3)
STATE: (clear yfl2) (on-table yfl2) (holding ged4) (on-table oam1) (on uvi5 qgq3) (clear oam1) (on-table qgq3) (clear uvi5)
|
[
[
"stack ged4 yfl2"
],
[
"unstack uvi5 qgq3"
],
[
"stack uvi5 ged4"
],
[
"pick-up qgq3"
],
[
"stack qgq3 uvi5"
],
[
"pick-up oam1"
]
] |
[
"(arm-empty) (on-table yfl2) (on-table oam1) (clear ged4) (on uvi5 qgq3) (on ged4 yfl2) (clear oam1) (on-table qgq3) (clear uvi5)",
"(on-table yfl2) (on-table oam1) (clear ged4) (holding uvi5) (on ged4 yfl2) (clear qgq3) (clear oam1) (on-table qgq3)",
"(arm-empty) (on uvi5 ged4) (on-table yfl2) (on-table oam1) (on ged4 yfl2) (clear qgq3) (clear oam1) (on-table qgq3) (clear uvi5)",
"(on uvi5 ged4) (on-table yfl2) (on-table oam1) (on ged4 yfl2) (holding qgq3) (clear oam1) (clear uvi5)",
"(on qgq3 uvi5) (arm-empty) (on uvi5 ged4) (on-table yfl2) (on-table oam1) (on ged4 yfl2) (clear qgq3) (clear oam1)",
"(holding oam1) (on qgq3 uvi5) (on uvi5 ged4) (on-table yfl2) (on ged4 yfl2) (clear qgq3)"
] |
file_145098
|
GOAL: (clear bdg2) (arm-empty) (on-table phk1) (clear abc4) (on opd5 phk1) (on-table abc4) (on bdg2 opd5) (clear ekt3) (on-table ekt3)
|
GOAL: (clear bdg2) (arm-empty) (on-table phk1) (clear abc4) (on opd5 phk1) (on-table abc4) (on bdg2 opd5) (clear ekt3) (on-table ekt3)
STATE: (arm-empty) (on-table bdg2) (on-table phk1) (on opd5 bdg2) (clear abc4) (on-table abc4) (clear ekt3) (clear phk1) (on-table ekt3) (clear opd5)
|
[
[
"pick-up ekt3"
],
[
"stack ekt3 phk1"
],
[
"unstack opd5 bdg2"
],
[
"stack opd5 abc4"
],
[
"pick-up bdg2"
],
[
"stack bdg2 opd5"
],
[
"unstack ekt3 phk1"
],
[
"put-down ekt3"
],
[
"unstack bdg2 opd5"
],
[
"stack bdg2 ekt3"
],
[
"unstack opd5 abc4"
],
[
"stack opd5 phk1"
],
[
"unstack bdg2 ekt3"
],
[
"stack bdg2 opd5"
]
] |
[
"(on-table bdg2) (on-table phk1) (on opd5 bdg2) (clear abc4) (on-table abc4) (holding ekt3) (clear phk1) (clear opd5)",
"(arm-empty) (on-table bdg2) (on-table phk1) (on opd5 bdg2) (clear abc4) (on-table abc4) (on ekt3 phk1) (clear ekt3) (clear opd5)",
"(clear bdg2) (on-table bdg2) (on-table phk1) (clear abc4) (holding opd5) (on-table abc4) (on ekt3 phk1) (clear ekt3)",
"(clear bdg2) (arm-empty) (on opd5 abc4) (on-table bdg2) (on-table phk1) (on-table abc4) (on ekt3 phk1) (clear ekt3) (clear opd5)",
"(on opd5 abc4) (on-table phk1) (on-table abc4) (holding bdg2) (on ekt3 phk1) (clear ekt3) (clear opd5)",
"(clear bdg2) (arm-empty) (on opd5 abc4) (on-table phk1) (on-table abc4) (on ekt3 phk1) (on bdg2 opd5) (clear ekt3)",
"(clear bdg2) (on opd5 abc4) (on-table phk1) (on-table abc4) (on bdg2 opd5) (holding ekt3) (clear phk1)",
"(arm-empty) (on opd5 abc4) (on bdg2 opd5) (clear bdg2) (on-table phk1) (on-table abc4) (clear ekt3) (clear phk1) (on-table ekt3)",
"(on opd5 abc4) (on-table phk1) (on-table abc4) (holding bdg2) (clear ekt3) (clear phk1) (on-table ekt3) (clear opd5)",
"(clear bdg2) (arm-empty) (on opd5 abc4) (on-table phk1) (on-table abc4) (on bdg2 ekt3) (clear phk1) (on-table ekt3) (clear opd5)",
"(clear bdg2) (on-table phk1) (clear abc4) (holding opd5) (on-table abc4) (on bdg2 ekt3) (clear phk1) (on-table ekt3)",
"(clear bdg2) (arm-empty) (on-table phk1) (clear abc4) (on opd5 phk1) (on-table abc4) (on bdg2 ekt3) (on-table ekt3) (clear opd5)",
"(on-table phk1) (clear abc4) (on opd5 phk1) (on-table abc4) (holding bdg2) (clear ekt3) (on-table ekt3) (clear opd5)",
"(clear bdg2) (arm-empty) (on-table phk1) (clear abc4) (on opd5 phk1) (on-table abc4) (on bdg2 opd5) (clear ekt3) (on-table ekt3)"
] |
file_70730
|
GOAL: (holding lbx1) (on ddv3 djs4) (clear duf2) (on-table duf2) (on-table rmq5) (on djs4 rmq5) (clear ddv3)
|
GOAL: (holding lbx1) (on ddv3 djs4) (clear duf2) (on-table duf2) (on-table rmq5) (on djs4 rmq5) (clear ddv3)
STATE: (on-table rmq5) (on-table lbx1) (clear djs4) (on djs4 ddv3) (holding duf2) (clear lbx1) (on-table ddv3) (clear rmq5)
|
[
[
"stack duf2 djs4"
],
[
"pick-up lbx1"
],
[
"stack lbx1 rmq5"
],
[
"unstack duf2 djs4"
],
[
"put-down duf2"
],
[
"unstack lbx1 rmq5"
],
[
"stack lbx1 duf2"
],
[
"unstack djs4 ddv3"
],
[
"stack djs4 rmq5"
],
[
"pick-up ddv3"
],
[
"stack ddv3 djs4"
],
[
"unstack lbx1 duf2"
]
] |
[
"(clear duf2) (arm-empty) (on-table rmq5) (on-table lbx1) (on djs4 ddv3) (on duf2 djs4) (clear lbx1) (on-table ddv3) (clear rmq5)",
"(holding lbx1) (clear duf2) (on-table rmq5) (on djs4 ddv3) (on duf2 djs4) (on-table ddv3) (clear rmq5)",
"(on lbx1 rmq5) (clear duf2) (arm-empty) (on-table rmq5) (on djs4 ddv3) (on duf2 djs4) (clear lbx1) (on-table ddv3)",
"(on lbx1 rmq5) (on-table rmq5) (clear djs4) (on djs4 ddv3) (holding duf2) (clear lbx1) (on-table ddv3)",
"(on lbx1 rmq5) (arm-empty) (on-table duf2) (on-table rmq5) (clear djs4) (clear duf2) (on djs4 ddv3) (clear lbx1) (on-table ddv3)",
"(holding lbx1) (clear duf2) (on-table duf2) (on-table rmq5) (clear djs4) (on djs4 ddv3) (on-table ddv3) (clear rmq5)",
"(arm-empty) (on-table duf2) (on-table rmq5) (clear djs4) (on djs4 ddv3) (on lbx1 duf2) (clear lbx1) (on-table ddv3) (clear rmq5)",
"(on-table duf2) (on-table rmq5) (holding djs4) (clear ddv3) (on lbx1 duf2) (clear lbx1) (on-table ddv3) (clear rmq5)",
"(arm-empty) (on-table duf2) (on-table rmq5) (on djs4 rmq5) (clear djs4) (clear ddv3) (on lbx1 duf2) (clear lbx1) (on-table ddv3)",
"(on-table duf2) (on-table rmq5) (on djs4 rmq5) (clear djs4) (on lbx1 duf2) (clear lbx1) (holding ddv3)",
"(on ddv3 djs4) (arm-empty) (on-table duf2) (on-table rmq5) (on djs4 rmq5) (clear ddv3) (on lbx1 duf2) (clear lbx1)",
"(holding lbx1) (on ddv3 djs4) (clear duf2) (on-table duf2) (on-table rmq5) (on djs4 rmq5) (clear ddv3)"
] |
file_104751
|
GOAL: (arm-empty) (on-table djt2) (on-table ywc5) (on-table onw1) (clear mzo4) (on mzo4 djt2) (clear igp3) (clear onw1) (on-table igp3) (clear ywc5)
|
GOAL: (arm-empty) (on-table djt2) (on-table ywc5) (on-table onw1) (clear mzo4) (on mzo4 djt2) (clear igp3) (clear onw1) (on-table igp3) (clear ywc5)
STATE: (arm-empty) (on-table djt2) (on-table ywc5) (on onw1 mzo4) (on mzo4 djt2) (clear igp3) (clear onw1) (on-table igp3) (clear ywc5)
|
[
[
"pick-up igp3"
],
[
"stack igp3 ywc5"
],
[
"unstack onw1 mzo4"
],
[
"put-down onw1"
],
[
"unstack igp3 ywc5"
],
[
"put-down igp3"
]
] |
[
"(on-table djt2) (on-table ywc5) (on onw1 mzo4) (on mzo4 djt2) (holding igp3) (clear onw1) (clear ywc5)",
"(on igp3 ywc5) (arm-empty) (on-table djt2) (on-table ywc5) (on onw1 mzo4) (on mzo4 djt2) (clear igp3) (clear onw1)",
"(holding onw1) (on igp3 ywc5) (on-table djt2) (on-table ywc5) (clear mzo4) (on mzo4 djt2) (clear igp3)",
"(on igp3 ywc5) (arm-empty) (on-table djt2) (on-table ywc5) (clear mzo4) (on-table onw1) (on mzo4 djt2) (clear igp3) (clear onw1)",
"(on-table djt2) (on-table ywc5) (on-table onw1) (clear mzo4) (on mzo4 djt2) (holding igp3) (clear onw1) (clear ywc5)",
"(arm-empty) (on-table djt2) (on-table ywc5) (on-table onw1) (clear mzo4) (on mzo4 djt2) (clear igp3) (clear onw1) (on-table igp3) (clear ywc5)"
] |
file_168672
|
GOAL: (on sdf1 rwf5) (clear qgz2) (on-table rwf5) (holding nux4) (on qgz2 xnn3) (clear sdf1) (on-table xnn3)
|
GOAL: (on sdf1 rwf5) (clear qgz2) (on-table rwf5) (holding nux4) (on qgz2 xnn3) (clear sdf1) (on-table xnn3)
STATE: (on nux4 sdf1) (on rwf5 nux4) (arm-empty) (on qgz2 xnn3) (on sdf1 qgz2) (on-table xnn3) (clear rwf5)
|
[
[
"unstack rwf5 nux4"
],
[
"put-down rwf5"
],
[
"unstack nux4 sdf1"
],
[
"put-down nux4"
],
[
"unstack sdf1 qgz2"
],
[
"stack sdf1 rwf5"
],
[
"pick-up nux4"
]
] |
[
"(holding rwf5) (on nux4 sdf1) (clear nux4) (on qgz2 xnn3) (on sdf1 qgz2) (on-table xnn3)",
"(on nux4 sdf1) (arm-empty) (on-table rwf5) (clear nux4) (on sdf1 qgz2) (clear rwf5) (on qgz2 xnn3) (on-table xnn3)",
"(on-table rwf5) (holding nux4) (on qgz2 xnn3) (on sdf1 qgz2) (clear sdf1) (on-table xnn3) (clear rwf5)",
"(arm-empty) (on-table rwf5) (clear nux4) (on sdf1 qgz2) (clear rwf5) (on-table nux4) (on qgz2 xnn3) (clear sdf1) (on-table xnn3)",
"(holding sdf1) (clear qgz2) (on-table rwf5) (clear nux4) (on-table nux4) (on qgz2 xnn3) (on-table xnn3) (clear rwf5)",
"(on sdf1 rwf5) (clear qgz2) (arm-empty) (on-table rwf5) (clear nux4) (on-table nux4) (on qgz2 xnn3) (clear sdf1) (on-table xnn3)",
"(on sdf1 rwf5) (clear qgz2) (on-table rwf5) (holding nux4) (on qgz2 xnn3) (clear sdf1) (on-table xnn3)"
] |
file_64256
|
GOAL: (clear sqi2) (on zxy4 xdx3) (holding etv5) (on tzn1 zxy4) (on sqi2 tzn1) (on-table xdx3)
|
GOAL: (clear sqi2) (on zxy4 xdx3) (holding etv5) (on tzn1 zxy4) (on sqi2 tzn1) (on-table xdx3)
STATE: (on tzn1 etv5) (clear sqi2) (arm-empty) (on-table etv5) (on zxy4 xdx3) (on xdx3 tzn1) (on sqi2 zxy4)
|
[
[
"unstack sqi2 zxy4"
],
[
"put-down sqi2"
],
[
"unstack zxy4 xdx3"
],
[
"stack zxy4 sqi2"
],
[
"unstack xdx3 tzn1"
],
[
"put-down xdx3"
],
[
"unstack tzn1 etv5"
],
[
"put-down tzn1"
],
[
"unstack zxy4 sqi2"
],
[
"stack zxy4 xdx3"
],
[
"pick-up tzn1"
],
[
"stack tzn1 zxy4"
],
[
"pick-up sqi2"
],
[
"stack sqi2 tzn1"
],
[
"pick-up etv5"
]
] |
[
"(on zxy4 xdx3) (on tzn1 etv5) (on-table etv5) (on xdx3 tzn1) (clear zxy4) (holding sqi2)",
"(on tzn1 etv5) (arm-empty) (on-table sqi2) (on-table etv5) (clear zxy4) (on xdx3 tzn1) (clear sqi2) (on zxy4 xdx3)",
"(on tzn1 etv5) (clear sqi2) (on-table sqi2) (on-table etv5) (holding zxy4) (on xdx3 tzn1) (clear xdx3)",
"(on tzn1 etv5) (arm-empty) (on-table sqi2) (on-table etv5) (clear zxy4) (on xdx3 tzn1) (on zxy4 sqi2) (clear xdx3)",
"(on tzn1 etv5) (on-table sqi2) (on-table etv5) (on zxy4 sqi2) (clear zxy4) (holding xdx3) (clear tzn1)",
"(on tzn1 etv5) (arm-empty) (on-table sqi2) (on-table etv5) (clear zxy4) (on zxy4 sqi2) (clear xdx3) (clear tzn1) (on-table xdx3)",
"(holding tzn1) (on-table sqi2) (on-table etv5) (clear zxy4) (on zxy4 sqi2) (clear xdx3) (on-table xdx3) (clear etv5)",
"(arm-empty) (on-table sqi2) (on-table etv5) (on-table tzn1) (clear zxy4) (on zxy4 sqi2) (clear xdx3) (clear tzn1) (on-table xdx3) (clear etv5)",
"(clear sqi2) (on-table sqi2) (on-table etv5) (on-table tzn1) (holding zxy4) (clear xdx3) (clear tzn1) (on-table xdx3) (clear etv5)",
"(clear sqi2) (arm-empty) (on-table sqi2) (on-table etv5) (on-table tzn1) (clear zxy4) (on zxy4 xdx3) (clear tzn1) (on-table xdx3) (clear etv5)",
"(holding tzn1) (clear sqi2) (on-table sqi2) (on-table etv5) (clear zxy4) (on zxy4 xdx3) (on-table xdx3) (clear etv5)",
"(clear sqi2) (arm-empty) (on-table sqi2) (on-table etv5) (on zxy4 xdx3) (on tzn1 zxy4) (clear tzn1) (on-table xdx3) (clear etv5)",
"(on-table etv5) (holding sqi2) (on zxy4 xdx3) (on tzn1 zxy4) (clear tzn1) (on-table xdx3) (clear etv5)",
"(arm-empty) (on-table etv5) (on sqi2 tzn1) (clear etv5) (clear sqi2) (on zxy4 xdx3) (on tzn1 zxy4) (on-table xdx3)",
"(clear sqi2) (on zxy4 xdx3) (holding etv5) (on tzn1 zxy4) (on sqi2 tzn1) (on-table xdx3)"
] |
file_90384
|
GOAL: (holding cpa2) (on nvn4 con3) (on aeq5 dwt1) (on dwt1 nvn4) (on-table con3) (clear aeq5)
|
GOAL: (holding cpa2) (on nvn4 con3) (on aeq5 dwt1) (on dwt1 nvn4) (on-table con3) (clear aeq5)
STATE: (on dwt1 aeq5) (arm-empty) (on-table aeq5) (on con3 cpa2) (clear nvn4) (on-table nvn4) (on cpa2 dwt1) (clear con3)
|
[
[
"unstack con3 cpa2"
],
[
"put-down con3"
],
[
"pick-up nvn4"
],
[
"stack nvn4 con3"
],
[
"unstack cpa2 dwt1"
],
[
"put-down cpa2"
],
[
"unstack dwt1 aeq5"
],
[
"stack dwt1 nvn4"
],
[
"pick-up aeq5"
],
[
"stack aeq5 dwt1"
],
[
"pick-up cpa2"
]
] |
[
"(on dwt1 aeq5) (clear cpa2) (on-table aeq5) (clear nvn4) (on-table nvn4) (on cpa2 dwt1) (holding con3)",
"(on dwt1 aeq5) (arm-empty) (on-table aeq5) (clear nvn4) (on cpa2 dwt1) (clear cpa2) (on-table nvn4) (clear con3) (on-table con3)",
"(on dwt1 aeq5) (clear cpa2) (on-table aeq5) (holding nvn4) (on cpa2 dwt1) (clear con3) (on-table con3)",
"(on dwt1 aeq5) (clear cpa2) (arm-empty) (on-table aeq5) (clear nvn4) (on nvn4 con3) (on cpa2 dwt1) (on-table con3)",
"(on dwt1 aeq5) (on-table aeq5) (clear nvn4) (on nvn4 con3) (holding cpa2) (clear dwt1) (on-table con3)",
"(on dwt1 aeq5) (arm-empty) (on-table cpa2) (on-table aeq5) (clear nvn4) (clear cpa2) (on nvn4 con3) (clear dwt1) (on-table con3)",
"(holding dwt1) (clear cpa2) (on-table cpa2) (on-table aeq5) (clear nvn4) (on nvn4 con3) (on-table con3) (clear aeq5)",
"(clear cpa2) (arm-empty) (on-table cpa2) (on-table aeq5) (on nvn4 con3) (on dwt1 nvn4) (clear dwt1) (on-table con3) (clear aeq5)",
"(clear cpa2) (on-table cpa2) (on nvn4 con3) (holding aeq5) (on dwt1 nvn4) (clear dwt1) (on-table con3)",
"(arm-empty) (on-table cpa2) (clear aeq5) (clear cpa2) (on nvn4 con3) (on aeq5 dwt1) (on dwt1 nvn4) (on-table con3)",
"(holding cpa2) (on nvn4 con3) (on aeq5 dwt1) (on dwt1 nvn4) (on-table con3) (clear aeq5)"
] |
file_214035
|
GOAL: (on hsj3 cnb5) (clear qgg2) (arm-empty) (on-table axp1) (on rpp4 hsj3) (on cnb5 axp1) (on qgg2 rpp4)
|
GOAL: (on hsj3 cnb5) (clear qgg2) (arm-empty) (on-table axp1) (on rpp4 hsj3) (on cnb5 axp1) (on qgg2 rpp4)
STATE: (clear qgg2) (on-table qgg2) (on rpp4 cnb5) (on-table axp1) (clear rpp4) (on cnb5 axp1) (holding hsj3)
|
[
[
"put-down hsj3"
],
[
"unstack rpp4 cnb5"
],
[
"stack rpp4 qgg2"
],
[
"pick-up hsj3"
],
[
"stack hsj3 cnb5"
],
[
"unstack rpp4 qgg2"
],
[
"stack rpp4 hsj3"
],
[
"pick-up qgg2"
],
[
"stack qgg2 rpp4"
]
] |
[
"(arm-empty) (on-table qgg2) (on rpp4 cnb5) (clear rpp4) (clear qgg2) (on-table axp1) (on cnb5 axp1) (clear hsj3) (on-table hsj3)",
"(clear qgg2) (on-table qgg2) (on-table axp1) (holding rpp4) (on cnb5 axp1) (clear hsj3) (on-table hsj3) (clear cnb5)",
"(arm-empty) (on-table qgg2) (on-table axp1) (clear rpp4) (on cnb5 axp1) (on rpp4 qgg2) (clear hsj3) (on-table hsj3) (clear cnb5)",
"(on-table qgg2) (on-table axp1) (clear rpp4) (on cnb5 axp1) (on rpp4 qgg2) (holding hsj3) (clear cnb5)",
"(on hsj3 cnb5) (arm-empty) (on-table qgg2) (on-table axp1) (clear rpp4) (on cnb5 axp1) (on rpp4 qgg2) (clear hsj3)",
"(on hsj3 cnb5) (clear qgg2) (on-table qgg2) (on-table axp1) (holding rpp4) (on cnb5 axp1) (clear hsj3)",
"(on hsj3 cnb5) (arm-empty) (on-table qgg2) (clear rpp4) (clear qgg2) (on-table axp1) (on rpp4 hsj3) (on cnb5 axp1)",
"(on hsj3 cnb5) (on-table axp1) (clear rpp4) (on rpp4 hsj3) (on cnb5 axp1) (holding qgg2)",
"(on hsj3 cnb5) (clear qgg2) (arm-empty) (on-table axp1) (on rpp4 hsj3) (on cnb5 axp1) (on qgg2 rpp4)"
] |
file_175809
|
GOAL: (clear dpz2) (on-table dpz2) (on-table zjx5) (on ber4 zjx5) (on ncc1 ber4) (holding kke3) (clear ncc1)
|
GOAL: (clear dpz2) (on-table dpz2) (on-table zjx5) (on ber4 zjx5) (on ncc1 ber4) (holding kke3) (clear ncc1)
STATE: (clear dpz2) (on ncc1 kke3) (on ber4 ncc1) (on-table dpz2) (clear ber4) (holding zjx5) (on-table kke3)
|
[
[
"put-down zjx5"
],
[
"unstack ber4 ncc1"
],
[
"stack ber4 zjx5"
],
[
"unstack ncc1 kke3"
],
[
"stack ncc1 ber4"
],
[
"pick-up kke3"
]
] |
[
"(on ncc1 kke3) (on ber4 ncc1) (on-table dpz2) (on-table zjx5) (arm-empty) (clear ber4) (clear zjx5) (clear dpz2) (on-table kke3)",
"(clear dpz2) (on ncc1 kke3) (on-table dpz2) (on-table zjx5) (holding ber4) (clear ncc1) (on-table kke3) (clear zjx5)",
"(clear dpz2) (on ncc1 kke3) (arm-empty) (on-table dpz2) (on-table zjx5) (on ber4 zjx5) (clear ber4) (clear ncc1) (on-table kke3)",
"(holding ncc1) (clear dpz2) (on-table dpz2) (on-table zjx5) (on ber4 zjx5) (clear ber4) (clear kke3) (on-table kke3)",
"(clear dpz2) (arm-empty) (on-table dpz2) (on-table zjx5) (on ber4 zjx5) (on ncc1 ber4) (clear kke3) (clear ncc1) (on-table kke3)",
"(clear dpz2) (on-table dpz2) (on-table zjx5) (on ber4 zjx5) (on ncc1 ber4) (holding kke3) (clear ncc1)"
] |
file_204688
|
GOAL: (clear nad2) (on amk4 mdd1) (arm-empty) (on-table mdd1) (clear amk4) (on zmf5 gnt3) (on nad2 zmf5) (on-table gnt3)
|
GOAL: (clear nad2) (on amk4 mdd1) (arm-empty) (on-table mdd1) (clear amk4) (on zmf5 gnt3) (on nad2 zmf5) (on-table gnt3)
STATE: (on-table mdd1) (clear amk4) (on zmf5 gnt3) (on-table amk4) (holding nad2) (clear mdd1) (on-table gnt3) (clear zmf5)
|
[
[
"stack nad2 zmf5"
],
[
"pick-up amk4"
],
[
"stack amk4 mdd1"
]
] |
[
"(clear nad2) (arm-empty) (on-table mdd1) (clear amk4) (on zmf5 gnt3) (on-table amk4) (on nad2 zmf5) (clear mdd1) (on-table gnt3)",
"(clear nad2) (on-table mdd1) (holding amk4) (on zmf5 gnt3) (on nad2 zmf5) (clear mdd1) (on-table gnt3)",
"(clear nad2) (on amk4 mdd1) (arm-empty) (on-table mdd1) (clear amk4) (on zmf5 gnt3) (on nad2 zmf5) (on-table gnt3)"
] |
file_178934
|
GOAL: (on rxb3 xax4) (clear qaz2) (arm-empty) (on-table rfx1) (on ocx5 rxb3) (on-table xax4) (on qaz2 ocx5) (clear rfx1)
|
GOAL: (on rxb3 xax4) (clear qaz2) (arm-empty) (on-table rfx1) (on ocx5 rxb3) (on-table xax4) (on qaz2 ocx5) (clear rfx1)
STATE: (arm-empty) (on-table rfx1) (on rxb3 qaz2) (clear xax4) (on ocx5 rfx1) (on xax4 rxb3) (on qaz2 ocx5)
|
[
[
"unstack xax4 rxb3"
],
[
"put-down xax4"
],
[
"unstack rxb3 qaz2"
],
[
"stack rxb3 xax4"
],
[
"unstack qaz2 ocx5"
],
[
"put-down qaz2"
],
[
"unstack ocx5 rfx1"
],
[
"stack ocx5 rxb3"
],
[
"pick-up qaz2"
],
[
"stack qaz2 ocx5"
]
] |
[
"(on ocx5 rfx1) (holding xax4) (clear rxb3) (on-table rfx1) (on qaz2 ocx5) (on rxb3 qaz2)",
"(arm-empty) (clear xax4) (on qaz2 ocx5) (on-table rfx1) (on rxb3 qaz2) (on ocx5 rfx1) (on-table xax4) (clear rxb3)",
"(clear qaz2) (on-table rfx1) (clear xax4) (on ocx5 rfx1) (on-table xax4) (on qaz2 ocx5) (holding rxb3)",
"(on rxb3 xax4) (clear qaz2) (arm-empty) (on-table rfx1) (on ocx5 rfx1) (on-table xax4) (on qaz2 ocx5) (clear rxb3)",
"(on rxb3 xax4) (on-table rfx1) (on ocx5 rfx1) (on-table xax4) (holding qaz2) (clear rxb3) (clear ocx5)",
"(arm-empty) (on-table qaz2) (clear ocx5) (on rxb3 xax4) (clear qaz2) (on-table rfx1) (on ocx5 rfx1) (on-table xax4) (clear rxb3)",
"(on rxb3 xax4) (clear qaz2) (on-table qaz2) (on-table rfx1) (holding ocx5) (on-table xax4) (clear rxb3) (clear rfx1)",
"(on rxb3 xax4) (clear qaz2) (arm-empty) (on-table qaz2) (on-table rfx1) (on ocx5 rxb3) (on-table xax4) (clear rfx1) (clear ocx5)",
"(on rxb3 xax4) (on-table rfx1) (on ocx5 rxb3) (on-table xax4) (holding qaz2) (clear rfx1) (clear ocx5)",
"(on rxb3 xax4) (clear qaz2) (arm-empty) (on-table rfx1) (on ocx5 rxb3) (on-table xax4) (on qaz2 ocx5) (clear rfx1)"
] |
file_215388
|
GOAL: (on gzg3 idu4) (on-table mwe2) (holding nzo5) (on-table idu4) (clear gzg3) (on zwu1 mwe2) (clear zwu1)
|
GOAL: (on gzg3 idu4) (on-table mwe2) (holding nzo5) (on-table idu4) (clear gzg3) (on zwu1 mwe2) (clear zwu1)
STATE: (holding zwu1) (on gzg3 idu4) (on nzo5 mwe2) (on-table idu4) (on mwe2 gzg3) (clear nzo5)
|
[
[
"put-down zwu1"
],
[
"unstack nzo5 mwe2"
],
[
"put-down nzo5"
],
[
"pick-up zwu1"
],
[
"stack zwu1 nzo5"
],
[
"unstack mwe2 gzg3"
],
[
"put-down mwe2"
],
[
"unstack zwu1 nzo5"
],
[
"stack zwu1 mwe2"
],
[
"pick-up nzo5"
]
] |
[
"(arm-empty) (on nzo5 mwe2) (clear nzo5) (on gzg3 idu4) (on-table zwu1) (on-table idu4) (on mwe2 gzg3) (clear zwu1)",
"(on gzg3 idu4) (clear mwe2) (on-table zwu1) (holding nzo5) (on-table idu4) (on mwe2 gzg3) (clear zwu1)",
"(arm-empty) (on-table nzo5) (clear nzo5) (on gzg3 idu4) (clear mwe2) (on-table zwu1) (on-table idu4) (on mwe2 gzg3) (clear zwu1)",
"(holding zwu1) (on gzg3 idu4) (clear mwe2) (on-table nzo5) (on-table idu4) (on mwe2 gzg3) (clear nzo5)",
"(on gzg3 idu4) (clear mwe2) (on zwu1 nzo5) (arm-empty) (on-table nzo5) (on-table idu4) (on mwe2 gzg3) (clear zwu1)",
"(on gzg3 idu4) (on zwu1 nzo5) (on-table nzo5) (on-table idu4) (holding mwe2) (clear gzg3) (clear zwu1)",
"(on zwu1 nzo5) (arm-empty) (on-table mwe2) (on-table nzo5) (on gzg3 idu4) (clear mwe2) (on-table idu4) (clear gzg3) (clear zwu1)",
"(holding zwu1) (on gzg3 idu4) (clear mwe2) (on-table mwe2) (on-table nzo5) (on-table idu4) (clear gzg3) (clear nzo5)",
"(on gzg3 idu4) (arm-empty) (on-table mwe2) (on-table nzo5) (on-table idu4) (clear gzg3) (on zwu1 mwe2) (clear zwu1) (clear nzo5)",
"(on gzg3 idu4) (on-table mwe2) (holding nzo5) (on-table idu4) (clear gzg3) (on zwu1 mwe2) (clear zwu1)"
] |
file_207409
|
GOAL: (holding tnp1) (on ryq3 vbk5) (clear ahu2) (on-table ahu2) (on-table vbk5) (clear tat4) (on-table tat4) (clear ryq3)
|
GOAL: (holding tnp1) (on ryq3 vbk5) (clear ahu2) (on-table ahu2) (on-table vbk5) (clear tat4) (on-table tat4) (clear ryq3)
STATE: (clear ahu2) (arm-empty) (on-table vbk5) (on-table tnp1) (on tat4 vbk5) (on ahu2 tat4) (clear ryq3) (clear tnp1) (on-table ryq3)
|
[
[
"unstack ahu2 tat4"
],
[
"stack ahu2 tnp1"
],
[
"pick-up ryq3"
],
[
"stack ryq3 ahu2"
],
[
"unstack tat4 vbk5"
],
[
"put-down tat4"
],
[
"unstack ryq3 ahu2"
],
[
"stack ryq3 vbk5"
],
[
"unstack ahu2 tnp1"
],
[
"put-down ahu2"
],
[
"pick-up tnp1"
]
] |
[
"(on-table vbk5) (on-table tnp1) (on tat4 vbk5) (clear tat4) (holding ahu2) (clear ryq3) (clear tnp1) (on-table ryq3)",
"(clear ahu2) (arm-empty) (on-table vbk5) (on-table tnp1) (on tat4 vbk5) (clear tat4) (on ahu2 tnp1) (clear ryq3) (on-table ryq3)",
"(clear ahu2) (on-table vbk5) (on-table tnp1) (on tat4 vbk5) (clear tat4) (on ahu2 tnp1) (holding ryq3)",
"(arm-empty) (on-table vbk5) (on-table tnp1) (on tat4 vbk5) (on ryq3 ahu2) (clear tat4) (on ahu2 tnp1) (clear ryq3)",
"(on-table vbk5) (on-table tnp1) (holding tat4) (on ryq3 ahu2) (on ahu2 tnp1) (clear ryq3) (clear vbk5)",
"(arm-empty) (on-table vbk5) (clear tat4) (on ahu2 tnp1) (clear vbk5) (on-table tnp1) (on ryq3 ahu2) (on-table tat4) (clear ryq3)",
"(clear ahu2) (on-table vbk5) (on-table tnp1) (clear tat4) (on-table tat4) (on ahu2 tnp1) (holding ryq3) (clear vbk5)",
"(clear ahu2) (on ryq3 vbk5) (arm-empty) (on-table vbk5) (on-table tnp1) (clear tat4) (on-table tat4) (on ahu2 tnp1) (clear ryq3)",
"(on ryq3 vbk5) (on-table vbk5) (on-table tnp1) (clear tat4) (on-table tat4) (holding ahu2) (clear ryq3) (clear tnp1)",
"(on ryq3 vbk5) (clear ahu2) (arm-empty) (on-table ahu2) (on-table vbk5) (on-table tnp1) (clear tat4) (on-table tat4) (clear ryq3) (clear tnp1)",
"(holding tnp1) (on ryq3 vbk5) (clear ahu2) (on-table ahu2) (on-table vbk5) (clear tat4) (on-table tat4) (clear ryq3)"
] |
file_137440
|
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